CN205704148U - One picks and places material mechanical hand - Google Patents

One picks and places material mechanical hand Download PDF

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Publication number
CN205704148U
CN205704148U CN201620185870.5U CN201620185870U CN205704148U CN 205704148 U CN205704148 U CN 205704148U CN 201620185870 U CN201620185870 U CN 201620185870U CN 205704148 U CN205704148 U CN 205704148U
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CN
China
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plate
fixed
linear slide
level framework
grades
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CN201620185870.5U
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Chinese (zh)
Inventor
崔伟
陶顺兴
王宁
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中国电器科学研究院有限公司
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Priority to CN201620185870.5U priority Critical patent/CN205704148U/en
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Publication of CN205704148U publication Critical patent/CN205704148U/en

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Abstract

The utility model discloses one and pick and place material mechanical hand, this picks and places material mechanical hand can be driven Suction cup assembly translational motion between material feeding position and material emptying position by horizontal movement assembly, and realized carrying out material feeding in material feeding position and carrying out material emptying in material emptying position by vertical motion assemblies and Suction cup assembly, thus realize material pick and place material;And, this picks and places material mechanical hand employing and is provided with one-level framework, speed plate, two grades of frameworks and the horizontal movement assembly of side plate, making horizontal movement assembly be divided into upper and lower two-stage framework and carry out transmission, one-level framework, speed plate and the two grades of frameworks translational motion velocity in transmission process goes forward one by one the most step by step.This utility model has that Suction cup assembly translational motion velocity is fast, material picks and places that efficiency is high, the compact stability of horizontal movement modular construction is high, the advantage of low cost of manufacture.

Description

One picks and places material mechanical hand
Technical field
This utility model relates to one and picks and places material mechanical hand, belongs to automatization's household electrical appliances assembling field.
Background technology
Existing frequently-used single-station vacuum forming machine, is all to use manually to pick and place material, i.e. flitch is taken off by workman from buttress material platform, it is put in the shaping area on vacuum tank.After flitch molding, workman to shaping area takes away the product of forming, then carries out the molding of next product from buttress material platform feeding.This material that manually picks and places has several drawbacks in that: 1, shaping area is positioned at vacuum tank top, and General Proper empty van is high more than 2 meters, and workman needs the shaping area climbing on vacuum tank with flitch, is then return to ground.Climb to shaping area again after formed product is good, take product and return to ground.One product of molding, needs workman to carry out repeating and heavy physical work.2, having pressing plate above shaping area, during vacuum forming machine work, pressing plate must be driven from oil cylinder and compress toward shaping area, and when workman's blowing plate is to shaping area, the pressing plate of top can have uncertain threat to the personal safety of workman.3, when flitch is placed on shaping area, need the position of flitch is positioned accurately, when workman's repeated work, may position because of tired inaccurate, thus the quality of product is impacted.
Utility model content
Technical problem to be solved in the utility model is: provide one to pick and place material mechanical hand.
Solving above-mentioned technical problem, the technical scheme that this utility model is used is as follows:
nullOne picks and places material mechanical hand,By housing assembly、Vertical motion assemblies、Horizontal movement assembly forms with picking up the Suction cup assembly putting down material,Described vertical motion assemblies is arranged on described housing assembly,Described vertical motion assemblies can drive described horizontal movement assembly and Suction cup assembly to move up and down,Described horizontal movement assembly can drive described Suction cup assembly side-to-side movement,It is characterized in that: described horizontal movement assembly is provided with servomotor、Planetary reduction gear、One-level framework、Speed plate、Two grades of frameworks and side plate,Described one-level framework、Speed plate and two grades of frameworks are the most horizontally disposed,Second linear slide is installed secondary between end face and the bottom surface of described vertical motion assemblies of described one-level framework、3rd linear slide is installed secondary between the top of sidewall and described side plate,4th linear slide is installed secondary between end face and the bottom surface of described one-level framework of described speed plate、Sidewall is fixing with the middle part of described side plate to be connected,5th linear slide is installed secondary between sidewall and the bottom of described side plate of described two grades of frameworks,And,The glide direction of described second to the 5th linear slide pair is arranged the most in left-right direction;Described servomotor and planetary reduction gear are each attached in described vertical motion assemblies, and the shaft coupling of described planetary reduction gear couples with the motor shaft of servomotor, force-output shaft penetrates into position in the frame of described one-level framework;In the frame of described one-level framework, position is provided with the first gear, first tooth bar, left end synchronous pulley, right-hand member synchronous pulley, first Timing Belt, second Timing Belt, second tooth bar and the second gear, in the frame of described two grades of frameworks, position is provided with the 3rd gear and the 3rd tooth bar, wherein, described first tooth bar, the mounting seat of left end synchronous pulley, the mounting seat of right-hand member synchronous pulley and the second tooth bar are each attached on described one-level framework, and the bearing of trend of described first tooth bar, line direction between left end synchronous pulley and right-hand member synchronous pulley, the bearing of trend of the second tooth bar is arranged the most in left-right direction, described first gear set is fixed on the force-output shaft of described planetary reduction gear and is connected with described first tooth bar engagement;Described first Timing Belt is connected with the engagement of left end synchronous pulley, described second Timing Belt is connected with the engagement of right-hand member synchronous pulley, one end of described first Timing Belt and the second Timing Belt is each attached on the bottom surface of described vertical motion assemblies, the other end is each attached on the end face of described speed plate, and the bearing of trend of described first Timing Belt and the second Timing Belt is arranged the most in left-right direction;Described 3rd tooth bar is fixed on described two grades of frameworks in the way of bearing of trend is arranged in left-right direction, it is fixed with bearing block on described speed plate, this bearing block is provided with that upper end penetrates position in described one-level framework frame, lower end penetrates the gear shaft of position in described two grades of framework frames, described second gear set is fixed on the upper end of gear shaft and is connected with described second tooth bar engagement, and described 3rd gear set is fixed on the lower end of gear shaft and is connected with described 3rd tooth bar engagement;Described Suction cup assembly is fixed on described two grades of frameworks.
As a kind of preferred implementation of the present utility model, described vertical motion assemblies is provided with cylinder, connects seat, class L-type support and the first linear slide pair;Described cylinder is fixed on described housing assembly, and the piston rod of described cylinder is arranged upward, described class L-type support is made up of with the horizontal plate being connected to vertical rod subordinate's end face vertical rod portion, the upper end in described vertical rod portion is connected by described connection seat is fixing with the piston rod of cylinder, described first linear slide pair is arranged between middle part and the described housing assembly in described vertical rod portion, and the glide direction of described first linear slide pair is arranged along the vertical direction;Second linear slide is installed secondary between end face and the bottom surface of described vertical motion assemblies of described one-level framework, it may be assumed that described second linear slide pair is arranged between the end face of described one-level framework and the horizontal plate bottom surface of described class L-type support;Described servomotor and planetary reduction gear are each attached in described vertical motion assemblies, it may be assumed that described servomotor and planetary reduction gear are each attached on the horizontal plate end face of described class L-type support;The force-output shaft of described planetary reduction gear penetrates into position in the frame of described one-level framework, it may be assumed that the force-output shaft of described planetary reduction gear penetrates into position in the frame of described one-level framework by the through hole being opened on described horizontal plate.
As a kind of embodiment of the present utility model, described housing assembly is made up of two support columns and the crossbeam being connected between two support columns;Described cylinder is fixed on described housing assembly, that is: described cylinder is fixed on described crossbeam, described first linear slide pair is arranged between middle part and the described housing assembly in described vertical rod portion, that is: being fixed with installing plate on described crossbeam, described first linear slide pair is arranged between middle part and the described installing plate in described vertical rod portion.
As a kind of embodiment of the present utility model, the first described linear slide pair is made up of the first guide rail and the first slide block, and described first guide rail is fixed in the vertical rod portion of described class L-type support, and described first slide block is fixed on described installing plate.
As a kind of embodiment of the present utility model, two sets described second linear slide is installed secondary between end face and the horizontal plate bottom surface of described class L-type support of described one-level framework, this two sets, second linear slide pair lays respectively at both sides, position in the frame of described one-level framework, and the second linear slide described in every suit is secondary by the second slide block being fixed on described horizontal plate bottom surface be fixed on the second guide rail on described one-level framework end face and constitute.
For the kinetic stability of moving parts of improving the standard, as a kind of preferred implementation of the present utility model, described horizontal movement assembly is provided with two blocks of described side plates;Described two blocks of side plates lay respectively at described one-level framework, speed plate and the both sides of two grades of frameworks;The both sides sidewall of described one-level framework respectively and is provided with a set of described 3rd linear slide between the top of respective side side plate secondary, and the 3rd linear slide described in every suit is secondary to be constituted with being fixed on the 3rd guide rail on described one-level framework respective side sidewall by the 3rd slide block being fixed on described respective side side plate top;Two set the 4th linear slide are installed secondary between end face and the bottom surface of described one-level framework of described speed plate, this two sets the 4th linear slide pair lays respectively at both sides, position in the frame of described one-level framework, and the 4th linear slide described in every suit is secondary to be constituted by the 4th guide rail being fixed on described one-level framework bottom surface and the Four-slider being fixed on described speed plate top surface;The both sides sidewall of described two grades of frameworks respectively and is provided with a set of described 5th linear slide between the bottom of respective side side plate secondary, and the 5th linear slide described in every suit is secondary to be constituted by the 5th slide block being fixed on described respective side side plate bottom and the 5th guide rail being fixed on described two grades of framework respective side sidewalls.
As a kind of embodiment of the present utility model, one end of described first Timing Belt is fixed on the horizontal plate bottom surface of described class L-type support by the first pressing plate, the other end is fixed on the end face of described speed plate by the second pressing plate, and one end of described second Timing Belt is fixed on the horizontal plate bottom surface of described class L-type support by the 3rd pressing plate, the other end is fixed on the end face of described speed plate by the 4th pressing plate.
As a kind of embodiment of the present utility model, described Suction cup assembly is made up of sucker framework and multiple vacuum cup, each vacuum cup is fixed in the way of down on described sucker framework by sucker, and described sucker framework is fixed on described two grades of frameworks and is positioned at the lower position of two grades of frameworks.
Compared with prior art, this utility model has the advantages that
This utility model is by receiving the control signal to servomotor, vertical motion assemblies and Suction cup assembly, Suction cup assembly translational motion between material feeding position and material emptying position can be driven by horizontal movement assembly, and realized carrying out material feeding in material feeding position and carrying out material emptying in material emptying position by vertical motion assemblies and Suction cup assembly, thus realize material pick and place material;
It is provided with one-level framework owing to this utility model uses, speed plate, two grades of frameworks and the horizontal movement assembly of side plate, make horizontal movement assembly be divided into upper and lower two-stage framework and carry out transmission, one-level framework, speed plate and the two grades of frameworks translational motion velocity in transmission process goes forward one by one the most step by step, significantly improve the Suction cup assembly being fixed under two grades of frameworks translational motion velocity between material feeding position and material emptying position, particularly material size is bigger, the situation that distance between material feeding position and material emptying position is longer, the advantage that this translational motion velocity promotes becomes apparent from;
Further, above-mentioned horizontal movement assembly belongs to a kind of concertina construction so that its structure is the compactest, and the setting of side plate is able to ensure that horizontal movement assembly keeps stable in the transmission process of height;
Additionally, above-mentioned horizontal movement assembly only needs directly to drive one-level framework by a servomotor, the power resources of two grades of frameworks differential property between one-level framework and speed plate, namely a servomotor only need to be used to can be achieved with whole horizontal movement assembly transmission agency, reduce manufacturing cost;
Therefore, this utility model has that Suction cup assembly translational motion velocity is fast, material picks and places that efficiency is high, the compact stability of horizontal movement modular construction is high, the advantage of low cost of manufacture.
Accompanying drawing explanation
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the axonometric drawing picking and placeing material mechanical hand of the present utility model;
Fig. 2 is the front view picking and placeing material mechanical hand of the present utility model;
Fig. 3 is the left view picking and placeing material mechanical hand of the present utility model;
Fig. 4 is the upward view picking and placeing material mechanical hand of the present utility model.
Detailed description of the invention
As shown in Figures 1 to 4, of the present utility model pick and place material mechanical hand, housing assembly, vertical motion assemblies, horizontal movement assembly and can picking up the Suction cup assembly putting down material forms.
Above-mentioned housing assembly is made up of two support columns 1 and the crossbeam 2 being connected between two support columns 1, and two support columns 1 can be fixed on to pick and place expects that mechanical hand is laid on place.Above-mentioned vertical motion assemblies is provided with cylinder 3, connects seat 4, class L-type support 5 and the first linear slide pair, and wherein, class L-type support 5 is made up of with the horizontal plate 502 being connected to lower surface, vertical rod portion 501 vertical rod portion 501;Cylinder 3 is fixed on crossbeam 2, and the piston rod of cylinder 3 is arranged upward, and by connecting, seat 4 is fixing with the piston rod of cylinder 3 to be connected in the upper end in vertical rod portion 501;Installing plate 8 it is fixed with on crossbeam 2, first linear slide pair is constituted by the first guide rail 6 and the first slide block 7 and is arranged between the middle part in vertical rod portion 501 and installing plate 8, wherein, first guide rail 6 is fixed in the vertical rod portion 501 of class L-type support 5, first slide block 7 is fixed on installing plate 8, further, the glide direction that the first linear slide is secondary is arranged along the vertical direction.Thus, when above-mentioned horizontal movement assembly be fixed in class L-type support 5, above-mentioned Suction cup assembly be fixed on horizontal movement assembly time, vertical motion assemblies can drive horizontal movement assembly and Suction cup assembly to move up and down.
Concrete, above-mentioned horizontal movement assembly is provided with servomotor 9, planetary reduction gear 10, one-level framework 13,22, two grades of frameworks 23 of speed plate and two blocks of side plates 14.One-level framework 13, speed plate 22 and two grades of frameworks 23 are the most horizontally disposed, and two blocks of side plates 14 lay respectively at one-level framework 13, speed plate 22 and the both sides of two grades of frameworks 23;Two set the second linear slide are installed secondary between end face and horizontal plate 502 bottom surface of class L-type support 5 of one-level framework 13, this two sets, second linear slide pair lays respectively at both sides, position in the frame of one-level framework 13, and every suit the second linear slide is secondary by the second slide block 11 being fixed on horizontal plate 502 bottom surface be fixed on the second guide rail 12 on one-level framework 13 end face and constitute;The both sides sidewall of one-level framework 13 respectively and is provided with a set of 3rd linear slide between the top of respective side side plate 14 secondary, and every suit the 3rd linear slide is secondary by the 3rd slide block 16 being fixed on respective side side plate 14 top be fixed on the 3rd guide rail 17 on one-level framework 13 respective side sidewall and constitute;Two set the 4th linear slide are installed secondary between end face and the bottom surface of one-level framework 13 of speed plate 22, this two sets the 4th linear slide pair lays respectively at both sides, position in the frame of one-level framework 13, and every suit the 4th linear slide is secondary to be constituted by the 4th guide rail 18 being fixed on one-level framework 13 bottom surface and the Four-slider 19 being fixed on speed plate 22 end face;The sidewall of speed plate 22 is bolted to connection with the middle part of side plate 14;The both sides sidewall of two grades of frameworks 23 respectively and is provided with a set of 5th linear slide between the bottom of respective side side plate 14 secondary, and every suit the 5th linear slide is secondary to be constituted by the 5th slide block 20 being fixed on respective side side plate 14 bottom and the 5th guide rail 21 being fixed on two grades of framework 23 respective side sidewalls;Further, the glide direction that the second to the 5th linear slide is secondary is arranged the most in left-right direction so that vertical motion assemblies, one-level framework 13, speed plate 22 can the most relative slide each other with two grades of frameworks 23.
Above-mentioned servomotor 9 and planetary reduction gear 10 are each attached on horizontal plate 502 end face of class L-type support 5, and the shaft coupling of planetary reduction gear 10 couples with the motor shaft of servomotor 9, force-output shaft penetrates into position in the frame of one-level framework 13 by the through hole being opened on horizontal plate 502;nullIn the frame of one-level framework 13, position is provided with the first gear 37、First tooth bar 27、Left end synchronous pulley 24、Right-hand member synchronous pulley 28、First Timing Belt 25、Second Timing Belt 26、Second tooth bar 31 and the second gear 30,In the frame of two grades of frameworks 23, position is provided with the 3rd gear 34 and the 3rd tooth bar 33,Wherein,First tooth bar 27、The mounting seat of left end synchronous pulley 24、Mounting seat and second tooth bar 31 of right-hand member synchronous pulley 28 are each attached on one-level framework 13,And the bearing of trend of the first tooth bar 27、Line direction between left end synchronous pulley 24 and right-hand member synchronous pulley 28、The bearing of trend of the second tooth bar 31 is arranged the most in left-right direction,First gear 37 suit is fixed on the force-output shaft of planetary reduction gear 10 and engages with the first tooth bar 27 and connects and composes the first gear driving pair,Make servomotor 9 one-level framework 13 can be driven to move in left-right direction by planetary reduction gear 10 and the first gear driving pair.
nullAbove-mentioned first Timing Belt 25 is connected with left end synchronous pulley 24 engagement,Second Timing Belt 26 is connected with right-hand member synchronous pulley 28 engagement,One end of first Timing Belt 25 is fixed on horizontal plate 502 bottom surface of class L-type support 5 by the first pressing plate 38、The other end is fixed on the end face of speed plate 22 by the second pressing plate 32,One end of second Timing Belt 26 is fixed on horizontal plate 502 bottom surface of class L-type support 5 by the 3rd pressing plate 39、The other end is fixed on the end face of speed plate 22 by the 4th pressing plate 29,And,The bearing of trend of the first Timing Belt 25 and the second Timing Belt 26 is arranged the most in left-right direction,Make one-level framework 13 can pass through left end synchronous pulley 24、Right-hand member synchronous pulley 28、The synchronization wheel transmission that first Timing Belt 25 and the second Timing Belt 26 are constituted drives speed plate 22 to move in left-right direction.
Above-mentioned 3rd tooth bar 33 is fixed on two grades of frameworks 23 in the way of bearing of trend is arranged in left-right direction, bearing block 36 it is fixed with on speed plate 22, this bearing block 36 is provided with upper end and penetrates position in one-level framework 13 frame, lower end penetrates the gear shaft 35 of position in two grades of framework 23 frames, second gear 30 suit is fixed on the upper end of gear shaft 35 and engages with the second tooth bar 31 and connect and compose the second gear driving pair, 3rd gear 34 suit is fixed on the lower end of gear shaft 35 and engages with the 3rd tooth bar 33 and connect and compose the 3rd gear driving pair, make speed plate 22 can pass sequentially through the second gear driving pair, gear shaft 35 and the 3rd gear driving pair drive two grades of frameworks 23 to move in left-right direction.
Above-mentioned Suction cup assembly is made up of sucker framework and multiple vacuum cup 15, each vacuum cup 15 is fixed in the way of down on sucker framework by sucker, sucker framework is fixed on two grades of frameworks 23 and is positioned at the lower position of two grades of frameworks 23, Suction cup assembly can be moved in left-right direction, to realize picking and placeing material with two grades of frameworks 23.
Manipulate according to the following steps, i.e. may utilize of the present utility model picking and placeing and expect that mechanical hand realizes the position to material plate and carries:
Step one, vertical ascent: pushing up on cylinder 3, class L-type support 5 is connected to horizontal movement assembly and Suction cup assembly, the first linear slide parafacies constituted along the first guide rail 6 and the first slide block 7 is to housing assembly entirety upwards.
Step 2, horizontal movement: the servomotor 9 in class L-type support 5 starts, the first gear driving pair consisted of the first gear 37 and the first tooth bar 27 drives one-level framework 13 to move, the wheel transmission that synchronizes simultaneously being made up of left end synchronous pulley 24, right-hand member synchronous pulley the 28, first Timing Belt 25 and the second Timing Belt 26 pulls speed plate 22 to drive two grades of frameworks 23 to move along equidirectional faster speed with the equidirectional motion of speed of one-level framework 13 twice, the second gear driving pair and the 3rd gear driving pair.When reaching above material feeding position, servomotor 9 stops, and one-level framework 13, speed plate 22 and two grades of frameworks 23 stop the most simultaneously.
Step 3, vertically decline: cylinder 3 shrinks, and class L-type support 5 is connected to horizontal movement assembly and Suction cup assembly, overall downwards to housing assembly along the first linear slide parafacies.
Step 4, sucker adhesive: each vacuum cup 15 evacuation, hold material plate.
Step 5, vertical ascent: pushing up on cylinder 3, class L-type support 5 is connected to horizontal movement assembly and Suction cup assembly and material plate, along the first linear slide parafacies to housing assembly entirety upwards.
Step 6, horizontal movement: the servomotor 9 in class L-type support 5 starts (with step 2 adverse movement), one-level framework 13 is driven to move by the first gear driving pair, Timing Belt pulls speed plate 22 to drive two grades of frameworks 23 to move along equidirectional faster speed with the equidirectional motion of speed of one-level framework 13 twice, the second gear driving pair and the 3rd gear driving pair simultaneously.When reaching above material emptying position, servomotor 9 stops, and one-level framework 13, speed plate 22 and two grades of frameworks 23 stop the most simultaneously.
Step 7, vertically decline: cylinder 3 shrinks, and class L-type support 5 is connected to horizontal movement assembly and Suction cup assembly, overall downwards to housing assembly along the first linear slide parafacies.
Step 8, return to step one repetition.
The material mechanical hand that picks and places of the present utility model has the advantage that translational motion velocity is fast, below to pick and place the principle that realizes that this advantage is described as a example by material mechanical hand carries out feeding:
Servomotor 9 in class L-type support 5 starts, the first gear 37 on planetary reducer 10 output shaft, engages with the first tooth bar 27, drives one-level framework 13 to move with speed V1, and the direction of motion is from right to left.Because the first Timing Belt 25 is by left end synchronous pulley 24, and its one end is fixed on horizontal plate 502 bottom surface of class L-type support 5 with the first pressing plate 38, the other end is fixed on the end face of speed plate 22 with the second pressing plate 32, now left end synchronous pulley 24 is equivalent to a movable pulley (in like manner, when picking and placeing material mechanical hand and carrying out blowing, right-hand member synchronous pulley 28 is equivalent to movable pulley), in the identical time, when one-level framework 13 displacement is L, speed plate 22 displacement is 2L, so the movement velocity of speed plate 22 is 2V1.From the foregoing, it will be observed that the relative velocity of speed plate 22 and one-level framework 13 is V1.Being fixedly connected on gear shaft 35 because of the second gear 30 again and engage with the second tooth bar 31, therefore the velocity of rotation of the second gear 30 is the V1/R2 reference radius of the second gear (R2 be).Being connected on gear shaft 35 because of the second gear 30 and the 3rd gear 34 again, therefore the 3rd gear 34 velocity of rotation is V1/R2.And the velocity of rotation of the 3rd gear 34 also can regard the relative velocity between two grades of frameworks 23 and speed plate 22 as.Therefore the speed of two grades of frameworks 23 is the 2V1+V1/R2*R3 reference radius of the 3rd gear (R3 be), and when R2 with R3 is equal, the speed of two grades of frameworks 23 is 3V1, and now, the length of one-level framework 13 and two grades of frameworks 23 should be equal.Suction cup assembly is fixed on two grades of frameworks 23 times, and when Suction cup assembly reaches material feeding position, servomotor 9 stops, and one-level framework 13, speed plate 22 and two grades of frameworks 23 stop the most simultaneously.It follows that the translational motion velocity of one-level framework 13, speed plate 22 and two grades of frameworks 23 goes forward one by one the most step by step so that the Suction cup assembly being fixed under two grades of frameworks 23 translational motion velocity between material feeding position and material emptying position is faster.
This utility model is not limited to above-mentioned detailed description of the invention; according to foregoing; ordinary technical knowledge and customary means according to this area; without departing under this utility model above-mentioned basic fundamental thought premise; this utility model can also be made the equivalent modifications of other various ways, replace or change, and all falls among protection domain of the present utility model.

Claims (7)

  1. null1. one kind picks and places material mechanical hand,By housing assembly、Vertical motion assemblies、Horizontal movement assembly forms with picking up the Suction cup assembly putting down material,Described vertical motion assemblies is arranged on described housing assembly,Described vertical motion assemblies can drive described horizontal movement assembly and Suction cup assembly to move up and down,Described horizontal movement assembly can drive described Suction cup assembly side-to-side movement,It is characterized in that: described horizontal movement assembly is provided with servomotor (9)、Planetary reduction gear (10)、One-level framework (13)、Speed plate (22)、Two grades of frameworks (23) and side plate (14),Described one-level framework (13)、Speed plate (22) and two grades of frameworks (23) are the most horizontally disposed,Second linear slide is installed secondary between end face and the bottom surface of described vertical motion assemblies of described one-level framework (13)、3rd linear slide is installed secondary between the top of sidewall and described side plate (14),4th linear slide is installed secondary between end face and the bottom surface of described one-level framework (13) of described speed plate (22)、Sidewall is fixing with the middle part of described side plate (14) to be connected,5th linear slide is installed secondary between sidewall and the bottom of described side plate (14) of described two grades of frameworks (23),And,The glide direction of described second to the 5th linear slide pair is arranged the most in left-right direction;Described servomotor (9) and planetary reduction gear (10) are each attached in described vertical motion assemblies, and the shaft coupling of described planetary reduction gear (10) couples with the motor shaft of servomotor (9), force-output shaft penetrates into position in the frame of described one-level framework (13);nullIn the frame of described one-level framework (13), position is provided with the first gear (37)、First tooth bar (27)、Left end synchronous pulley (24)、Right-hand member synchronous pulley (28)、First Timing Belt (25)、Second Timing Belt (26)、Second tooth bar (31) and the second gear (30),In the frame of described two grades of frameworks (23), position is provided with the 3rd gear (34) and the 3rd tooth bar (33),Wherein,Described first tooth bar (27)、The mounting seat of left end synchronous pulley (24)、The mounting seat of right-hand member synchronous pulley (28) and the second tooth bar (31) are each attached on described one-level framework (13),And the bearing of trend of described first tooth bar (27)、Line direction between left end synchronous pulley (24) and right-hand member synchronous pulley (28)、The bearing of trend of the second tooth bar (31) is arranged the most in left-right direction,Described first gear (37) suit is fixed on the force-output shaft of described planetary reduction gear (10) and is connected with the engagement of described first tooth bar (27);Described first Timing Belt (25) is connected with left end synchronous pulley (24) engagement, described second Timing Belt (26) is connected with right-hand member synchronous pulley (28) engagement, one end of described first Timing Belt (25) and the second Timing Belt (26) is each attached on the bottom surface of described vertical motion assemblies, the other end is each attached on the end face of described speed plate (22), and the bearing of trend of described first Timing Belt (25) and the second Timing Belt (26) is arranged the most in left-right direction;Described 3rd tooth bar (33) is fixed on described two grades of frameworks (23) in the way of bearing of trend is arranged in left-right direction, it is fixed with bearing block (36) on described speed plate (22), this bearing block (36) is provided with upper end and penetrates position in described one-level framework (13) frame, lower end penetrates the gear shaft (35) of position in described two grades of framework (23) frames, described second gear (30) suit is fixed on the upper end of gear shaft (35) and is connected with the engagement of described second tooth bar (31), described 3rd gear (34) suit is fixed on the lower end of gear shaft (35) and is connected with described 3rd tooth bar (33) engagement;Described Suction cup assembly is fixed on described two grades of frameworks (23).
  2. The most according to claim 1 pick and place material mechanical hand, it is characterised in that: described vertical motion assemblies is provided with cylinder (3), connects seat (4), class L-type support (5) and the first linear slide pair;Described cylinder (3) is fixed on described housing assembly, and the piston rod of described cylinder (3) is arranged upward, described class L-type support (5) is by vertical rod portion (501) and is connected to the horizontal plate (502) of vertical rod portion (501) lower surface and constitutes, the upper end of described vertical rod portion (501) is connected by described connection seat (4) is fixing with the piston rod of cylinder (3), described first linear slide pair is arranged between middle part and the described housing assembly of described vertical rod portion (501), and the glide direction of described first linear slide pair is arranged along the vertical direction;Second linear slide is installed secondary between end face and the bottom surface of described vertical motion assemblies of described one-level framework (13), it may be assumed that described second linear slide pair is arranged between end face and horizontal plate (502) bottom surface of described class L-type support (5) of described one-level framework (13);Described servomotor (9) and planetary reduction gear (10) are each attached in described vertical motion assemblies, it may be assumed that described servomotor (9) and planetary reduction gear (10) are each attached on horizontal plate (502) end face of described class L-type support (5);The force-output shaft of described planetary reduction gear (10) penetrates into position in the frame of described one-level framework (13), it may be assumed that the force-output shaft of described planetary reduction gear (10) penetrates into position in the frame of described one-level framework (13) by the through hole being opened on described horizontal plate (502).
  3. The most according to claim 2 pick and place material mechanical hand, it is characterised in that: described housing assembly is made up of two support columns (1) and the crossbeam (2) being connected between two support columns (1);Described cylinder (3) is fixed on described housing assembly, that is: described cylinder (3) is fixed on described crossbeam (2), described first linear slide pair is arranged between middle part and the described housing assembly of described vertical rod portion (501), that is: being fixed with installing plate (8) on described crossbeam (2), described first linear slide pair is arranged between middle part and the described installing plate (8) of described vertical rod portion (501).
  4. The most according to claim 3 pick and place material mechanical hand, it is characterized in that: the first described linear slide pair is made up of the first guide rail (6) and the first slide block (7), described first guide rail (6) is fixed in the vertical rod portion (501) of described class L-type support (5), and described first slide block (7) is fixed on described installing plate (8).
  5. The most according to claim 2 pick and place material mechanical hand, it is characterized in that: two sets described second linear slide is installed secondary between end face and horizontal plate (502) bottom surface of described class L-type support (5) of described one-level framework (13), this two sets, second linear slide pair lays respectively at both sides, position in the frame of described one-level framework (13), and the second linear slide described in every suit is secondary by the second slide block (11) being fixed on described horizontal plate (502) bottom surface be fixed on the second guide rail (12) composition on described one-level framework (13) end face.
  6. 6. according to picking and placeing material mechanical hand described in claim 1 to 5 any one, it is characterised in that: described horizontal movement assembly is provided with two pieces of described side plates (14);Described two pieces of side plates (14) lay respectively at described one-level framework (13), speed plate (22) and the both sides of two grades of frameworks (23);The both sides sidewall of described one-level framework (13) respectively and is provided with a set of described 3rd linear slide between the top of respective side side plate (14) secondary, and the 3rd linear slide pair described in every suit is by the 3rd slide block (16) being fixed on described respective side side plate (14) top and is fixed on the 3rd guide rail (17) composition on described one-level framework (13) respective side sidewall;Two set the 4th linear slide are installed secondary between end face and the bottom surface of described one-level framework (13) of described speed plate (22), this two sets the 4th linear slide pair lays respectively at both sides, position in the frame of described one-level framework (13), and the 4th linear slide described in every suit is secondary by the 4th guide rail (18) being fixed on described one-level framework (13) bottom surface with the Four-slider (19) being fixed on described speed plate (22) end face composition;The both sides sidewall of described two grades of frameworks (23) respectively and is provided with a set of described 5th linear slide between the bottom of respective side side plate (14) secondary, and the 5th linear slide described in every suit is secondary to be constituted by the 5th slide block (20) being fixed on described respective side side plate (14) bottom and the 5th guide rail (21) being fixed on described two grades of framework (23) respective side sidewalls.
  7. 7. according to picking and placeing material mechanical hand described in claim 2 to 5 any one, it is characterized in that: one end of described first Timing Belt (25) is fixed on horizontal plate (502) bottom surface of described class L-type support (5) by the first pressing plate (38), the other end is fixed on the end face of described speed plate (22) by the second pressing plate (32), one end of described second Timing Belt (26) is fixed on horizontal plate (502) bottom surface of described class L-type support (5) by the 3rd pressing plate (39), the other end is fixed on the end face of described speed plate (22) by the 4th pressing plate (29).
CN201620185870.5U 2016-03-10 2016-03-10 One picks and places material mechanical hand CN205704148U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105666464A (en) * 2016-03-10 2016-06-15 中国电器科学研究院有限公司 Material taking and releasing manipulator
CN108115716A (en) * 2017-12-20 2018-06-05 辰星(天津)自动化设备有限公司 A kind of sucking disc type mechanical hand
CN109605691A (en) * 2018-12-11 2019-04-12 安徽泰珂森智能装备科技有限公司 A kind of automatic material taking blowing truss equipment applied to foam injection molding machine
CN110732977A (en) * 2019-10-25 2020-01-31 安庆创跃电器有限公司 High-pressure water deburring device for laser blades

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105666464A (en) * 2016-03-10 2016-06-15 中国电器科学研究院有限公司 Material taking and releasing manipulator
CN108115716A (en) * 2017-12-20 2018-06-05 辰星(天津)自动化设备有限公司 A kind of sucking disc type mechanical hand
CN109605691A (en) * 2018-12-11 2019-04-12 安徽泰珂森智能装备科技有限公司 A kind of automatic material taking blowing truss equipment applied to foam injection molding machine
CN110732977A (en) * 2019-10-25 2020-01-31 安庆创跃电器有限公司 High-pressure water deburring device for laser blades

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Patentee after: China Electrical Appliance Research Institute Co., Ltd.

Address before: 510302 No. 204 West Xingang Road, Guangdong, Guangzhou

Patentee before: China National Electric Apparatus Research Institute Co., Ltd.