CN206645515U - A kind of puma manipulator handling device - Google Patents

A kind of puma manipulator handling device Download PDF

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Publication number
CN206645515U
CN206645515U CN201621494884.1U CN201621494884U CN206645515U CN 206645515 U CN206645515 U CN 206645515U CN 201621494884 U CN201621494884 U CN 201621494884U CN 206645515 U CN206645515 U CN 206645515U
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China
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mentioned
horizontal
cylinder
straight line
tong
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CN201621494884.1U
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Inventor
许林标
张盛耿
陈志鹏
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SHANTOU XINQING CANNERY MACHINERY CO Ltd
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SHANTOU XINQING CANNERY MACHINERY CO Ltd
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Abstract

A kind of puma manipulator handling device, it is characterised in that:Including frame, horizontal linear sliding equipment, straight line elevating mechanism and manipulator mechanism;Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar;Above-mentioned horizontal linear sliding equipment can horizontal linear be slidably mounted on crossbeam;Above-mentioned straight line elevating mechanism can straight line up and down be arranged on horizontal linear sliding equipment on;Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism.Therefore, thing to be handled automatically can be transported to destination by this puma manipulator handling device from a place, so as to reduce labor intensity, improve production efficiency.Meanwhile this puma manipulator handling device also have the advantages that simple in construction, novel in design, automaticity is high, cost is low, small volume, space-consuming are few, flexible arrangement, grab send precisely, fast response time, operate steadily, be simple to operate, installation and easy to maintenance, easy to spread.

Description

A kind of puma manipulator handling device
Technical field
A kind of handling device is the utility model is related to, specifically, is related to a kind of puma manipulator handling device.
Background technology
At present, if by thing to be handled(Such as iron plate heap)Destination is transported to from a place, typically by manually removing Completion is shipped, and manually carries and the shortcomings of big labor intensity, low production efficiency be present.
In order to reduce labor intensity, improve production efficiency, designing one kind can be automatically by thing to be handled from a ground Side is transported to the puma manipulator handling device of destination, and this has become technical problem urgently to be resolved hurrily at present.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of puma manipulator handling device, the puma manipulator Thing to be handled automatically can be transported to destination by handling device from a place, so as to reduce labor intensity, improve Production efficiency.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is as follows:
A kind of puma manipulator handling device, it is characterised in that:Including frame, horizontal linear sliding equipment, straight line lifting Mechanism and manipulator mechanism;
Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar;
Above-mentioned horizontal linear sliding equipment can horizontal linear be slidably mounted on crossbeam;
Above-mentioned straight line elevating mechanism can straight line up and down be arranged on horizontal linear sliding equipment on;
Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism.
During carrying, manipulator mechanism is set to be located at the surface of thing to be handled, and be first using the position of now manipulator mechanism Beginning position(The initial position includes horizontal initial position and longitudinal initial position);
Then, straight line elevating mechanism straight line declines, now, mechanical until manipulator mechanism be located at the side of thing to be handled Mobile phone structure is located on horizontal initial position;
Then, manipulator mechanism clamps thing to be handled from the both sides of thing to be handled;
Then, straight line elevating mechanism ramps, until manipulator mechanism is located on initial position, i.e. manipulator mechanism position In on horizontal initial position and longitudinal initial position;
Then, horizontal linear sliding equipment horizontal linear slides into the surface of carrying destination, now, manipulator mechanism On longitudinal initial position;
Then, straight line elevating mechanism straight line declines, until the thing to be handled on manipulator mechanism is located in carrying destination;
Then, manipulator mechanism decontrols thing to be handled, and so, thing to be handled is just transported to destination from a place;
Then, straight line elevating mechanism ramps, until manipulator mechanism is located on longitudinal initial position;
Finally, horizontal linear sliding equipment horizontal linear slides, until manipulator mechanism is located at horizontal initial position and indulges To on initial position, so that manipulator mechanism resets, so as to the progress carried next time.
Optimal technical scheme as the horizontal linear sliding equipment in the utility model:
The horizontal linear sliding equipment includes horizontal linear guide rail, horizontal sliding seat, horizontal drive mechanism;
Above-mentioned horizontal linear guide rail is flatly fixedly mounted on crossbeam;
Above-mentioned horizontal sliding seat by horizontal linear guide rail can horizontal linear be slidably mounted on crossbeam;
Above-mentioned horizontal drive mechanism is located on crossbeam and horizontal sliding seat, and above-mentioned horizontal drive mechanism passes with horizontal sliding seat Dynamic connection.
Optimal technical scheme as the horizontal drive mechanism in the utility model:
The horizontal drive mechanism includes horizontal rack, horizontal drive motor and horizontal conveyor gear;
Above-mentioned horizontal rack is flatly fixedly mounted on crossbeam, and above-mentioned horizontal rack is set with horizontal linear guide rail parallel Put;
Above-mentioned horizontal drive motor is fixedly mounted on horizontal sliding seat;
Above-mentioned horizontal conveyor gear is coaxially fixedly mounted on the power output shaft of horizontal drive motor, above-mentioned horizontal biography Moving gear engages with horizontal rack.
When horizontal drive motor rotates, horizontal drive motor driving horizontal conveyor pinion rotation, horizontal conveyor gear exists In the presence of horizontal rack, horizontal sliding seat is driven to be slided along horizontal linear guide rail horizontal linear, so that horizontal sliding seat On manipulator mechanism between horizontal initial position and destination lateral attitude to and fro horizontal linear slide.
Optimal technical scheme as the straight line elevating mechanism in the utility model:
The straight line elevating mechanism includes vertical straight line guide rail, linear pattern mechanical arm and lift drive mechanism;
Above-mentioned vertical straight line guide rail is vertically fixedly mounted on linear pattern mechanical arm;
Above-mentioned linear pattern mechanical arm can be linearly slideably mounted on horizontal sliding seat up and down by vertical straight line guide rail, The lower end of above-mentioned linear pattern mechanical arm is connected with manipulator mechanism;
Above-mentioned lift drive mechanism is located on horizontal sliding seat and linear pattern mechanical arm, above-mentioned lift drive mechanism with it is straight Line style mechanical arm is connected.
Optimal technical scheme as the lift drive mechanism in the utility model:
The lift drive mechanism includes vertical rack, lifting motor and lifting and driving gear;
Above-mentioned vertical rack is vertically mounted on linear pattern mechanical arm, and above-mentioned vertical rack is put down with vertical straight line guide rail Row is set;
Above-mentioned lifting motor is fixedly mounted on horizontal sliding seat;
Above-mentioned lifting and driving gear is coaxially fixedly mounted on the power output shaft of lifting motor, and above-mentioned lifting passes Moving gear engages with vertical rack.
When lifting motor rotation, lifting motor driving lifting and driving pinion rotation, lifting and driving gear exists In the presence of vertical rack, linear pattern mechanical arm is driven along linear slide above and below vertical straight line guide rail, so that linear pattern Manipulator mechanism on mechanical arm moves along a straight line up and down to and fro between longitudinal initial position and destination lengthwise position.
Optimal technical scheme as the manipulator mechanism in the utility model:
The manipulator mechanism includes connector, mounting seat, is horizontally mounted axle, the first tong and the second tong;
Above-mentioned connector is arranged on the lower end of straight line elevating mechanism;
Above-mentioned mounting seat is fixedly mounted on connector;
The above-mentioned axle that is horizontally mounted is horizontally mounted in mounting seat;
Above-mentioned first tong and the second tong are separately mounted to be horizontally mounted on the both ends of axle, above-mentioned first tong and second Tong is in the same plane.
The effect of above-mentioned connector is:For connecting lower end and the mounting seat of straight line elevating mechanism, so as to be convenient to straight line The installation of elevating mechanism and mounting seat.
Further improved technology scheme as the manipulator mechanism in the utility model:
The connector is arranged on by a connecting mechanism for rotating on the lower end of straight line elevating mechanism;
Above-mentioned connecting mechanism for rotating includes connecting seat and oscillating cylinder;
Above-mentioned connecting seat is fixedly mounted on the lower end of straight line elevating mechanism;
The cylinder body of above-mentioned oscillating cylinder is fixedly mounted on connecting seat;
The rotary disk of above-mentioned oscillating cylinder is fixedly connected with connector.
The effect of above-mentioned connecting seat is:For connecting the lower end of straight line elevating mechanism and the cylinder body of oscillating cylinder, so as to side It is easy to the installation of straight line elevating mechanism and oscillating cylinder.
Above-mentioned oscillating cylinder is also referred to as rotary cylinder, and its effect is:The first tong and the second tong is set to rotate certain angle Degree, to realize that the angle of thing to be handled converts.
When oscillating cylinder starts, the rotary disk of oscillating cylinder turns over certain angle, and the rotary disk of oscillating cylinder drives Connector, mounting seat, it is horizontally mounted axle, the first tong and the second tong and turns over certain angle together, so that the first tong Certain angle is also turned over the thing to be handled on the second tong, to realize that the angle of thing to be handled converts.
As the first tong and the optimal technical scheme of the setting angle of the second tong in the utility model:
First tong and the second tong are set, towards being oppositely arranged or towards arranged in a crossed manner towards identical.
When the first tong and the second tong are towards during identical setting, the first tong and the second tong are from the same of thing to be handled Clamp thing to be handled and carried in side;
When the first tong and the second tong are towards when being oppositely arranged, the first tong and the second tong are from the relative of thing to be handled Clamp thing to be handled and carried in two sides;
When the first tong and the second tong towards it is arranged in a crossed manner when, the first tong and the second tong are from the adjacent of thing to be handled Clamp thing to be handled and carried in two sides;
As the first tong and the optimal technical scheme of the concrete structure of the second tong in the utility model:
First tong includes the first mounting bracket, the first guide rod cylinder, the first holder, the first stationary jaw, the first folder Pawl cylinder and the first movable jaw;
Above-mentioned first mounting bracket is fixedly mounted on the one end for being horizontally mounted axle;
The cylinder body of above-mentioned first guide rod cylinder is arranged on the first mounting bracket;
Above-mentioned first holder is fixedly mounted on the piston rod of the first guide rod cylinder;
Above-mentioned first stationary jaw is fixedly mounted on the first holder;
The cylinder body of above-mentioned first clamping jaw cylinder is fixedly mounted on the first holder;
Above-mentioned first movable jaw is fixedly mounted on the piston rod of the first clamping jaw cylinder, above-mentioned first movable jaw and One stationary jaw is closer or far from cooperation;
Second tong includes the second mounting bracket, the second guide rod cylinder, the second holder, the second stationary jaw, the second folder Pawl cylinder and the second movable jaw;
Above-mentioned second mounting bracket is fixedly mounted on the other end for being horizontally mounted axle;
The cylinder body of above-mentioned second guide rod cylinder is arranged on the second mounting bracket;
Above-mentioned second holder is fixedly mounted on the piston rod of the second guide rod cylinder;
Above-mentioned second stationary jaw is fixedly mounted on the second holder;
The cylinder body of above-mentioned second clamping jaw cylinder is fixedly mounted on the second holder;
Above-mentioned second movable jaw is fixedly mounted on the piston rod of the second clamping jaw cylinder, above-mentioned second movable jaw and Two stationary jaws are closer or far from cooperation.
When the piston rod elongation of the first guide rod cylinder, the piston rod of the first guide rod cylinder drives the first holder to be treated to close The direction motion of thing is carried, until the first stationary jaw and the first movable jaw are enclosed on the side of thing to be handled;Then, first The piston rod elongation of clamping jaw cylinder, the piston rod of the first clamping jaw cylinder drives the first movable jaw and the first stationary jaw is close matches somebody with somebody Close, until the first movable jaw and the first stationary jaw clamp thing to be handled;Similarly, when the piston rod of the second guide rod cylinder extends When, the piston rod of the second guide rod cylinder drives the second holder to be moved to the direction close to thing to be handled, until the second stationary jaw It is enclosed on the second movable jaw on the side of thing to be handled;Then, the piston rod elongation of the second clamping jaw cylinder, the second clamping jaw cylinder Piston rod drive the second movable jaw and the second stationary jaw close to cooperation, until the second movable jaw and the second stationary jaw Clamp thing to be handled.
When the piston rod of the first clamping jaw cylinder shortens, the piston rod of the first clamping jaw cylinder drives the first movable jaw and the One stationary jaw is away from coordinating, until the first movable jaw and the first stationary jaw decontrol thing to be handled;Then, the first guide rod gas The piston rod of cylinder shortens, and the piston rod of the first guide rod cylinder drives the first holder to be moved to the direction away from thing to be handled, until First stationary jaw and the first movable jaw separate with thing to be handled;Similarly, when the piston rod of the second clamping jaw cylinder shortens, the The piston rods of two clamping jaw cylinders drives the second movable jaw and the second stationary jaw away from cooperation, until the second movable jaw and the Two stationary jaws decontrol thing to be handled;Then, the piston rod of the second guide rod cylinder shortens, the piston rod driving of the second guide rod cylinder Second holder is to remote object space to be handled to motion, until the second stationary jaw and the second movable jaw separate with thing to be handled.
As the first tong and the more preferred technical scheme of the second tong in the utility model:
The cylinder body of first guide rod cylinder and the second guide rod cylinder has a certain degree with horizontal plane shape.
When the cylinder body of the first guide rod cylinder and the second guide rod cylinder and horizontal plane shape have a certain degree, make thing to be handled Also have a certain degree placement with horizontal plane shape, so, the first stationary jaw and first on its piston rod of the first guide rod cylinder The second stationary jaw and the second movable jaw on movable jaw, the second guide rod cylinder its piston rod, can be directly to be handled The side of thing is clamped thing to be handled and carried, so as to reduce the intermediate link of handling process(Such as transition transfer station is removed Fortune), greatly increase production efficiency, saved cost, the volume of equipment is greatly reduced, saved the occupancy of equipment Space, therefore, equipment is limited small by space, and the arrangement of equipment is more flexible, so as to be advantageous to improve the utilization of hall space Rate.
The beneficial effect of the utility model against existing technologies is:
Because this puma manipulator handling device includes frame, horizontal linear sliding equipment, straight line elevating mechanism and machinery Mobile phone structure;Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar;Above-mentioned water Flat line sliding equipment can horizontal linear be slidably mounted on crossbeam;Above-mentioned straight line elevating mechanism can straight line be arranged on up and down On horizontal linear sliding equipment;Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism;So this puma manipulator Thing to be handled automatically can be transported to destination by handling device from a place, so as to reduce labor intensity, improve Production efficiency.
Meanwhile this puma manipulator handling device also have it is simple in construction, novel in design, automaticity is high, cost is low, Small volume, space-consuming are few, flexible arrangement, grab send precisely, fast response time, operate steadily, be simple to operate, installation and maintenance side Just the advantages that, easy to spread.
This puma manipulator handling device is applied to the carrying of various sizes tank iron plate heap, and this puma manipulator carries dress Put the carrying especially suitable for big tank diameter tank iron plate heap.
The utility model is described in further detail with reference to the accompanying drawings and detailed description, so that this area Technical staff can be more fully understood from technology contents of the present utility model.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model preferred embodiment;
Fig. 2 is structural representation of the utility model preferred embodiment in the case where carrying original state;
Fig. 3 is that structure of the utility model preferred embodiment when manipulator mechanism straight line declines and clamps thing to be handled is shown It is intended to;
Fig. 4 is that the utility model preferred embodiment clamps thing to be handled in manipulator mechanism and ramps initial position When structural representation;
Fig. 5 is that the utility model preferred embodiment clamps thing to be handled in manipulator mechanism and horizontal linear slides into carrying Structural representation when above destination;
Fig. 6, which is the utility model preferred embodiment, to be clamped thing to be handled in manipulator mechanism and turns under certain angle and straight line Drop to structural representation when in carrying destination;
Fig. 7 is that the utility model preferred embodiment decontrols thing to be handled in manipulator mechanism and ramps carrying purpose Structural representation when above ground;
Fig. 8 is that the utility model preferred embodiment turns round reset in manipulator mechanism and slided to initial position horizontal linear When structural representation.
Embodiment
As shown in figure 1, the puma manipulator handling device in this preferred embodiment, including frame 1, horizontal linear skate machine Structure 2, straight line elevating mechanism 3 and manipulator mechanism 4.
Above-mentioned frame 1 includes pillar 11 and crossbeam 12, and above-mentioned pillar 11 is vertically arranged, and the above-mentioned level of crossbeam 12 is located at pillar On 11.
Above-mentioned horizontal linear sliding equipment 2 includes horizontal linear guide rail 21, horizontal sliding seat 22, horizontal drive mechanism 23;
Above-mentioned horizontal linear guide rail 21 is flatly fixedly mounted on crossbeam 12;
Above-mentioned horizontal sliding seat 22 by horizontal linear guide rail 21 can horizontal linear be slidably disposed within crossbeam 12;
Above-mentioned horizontal drive mechanism 23 includes horizontal rack 231, horizontal drive motor 232 and horizontal conveyor gear 233;
Above-mentioned horizontal rack 231 is flatly fixedly mounted on crossbeam 12, above-mentioned horizontal rack 231 and horizontal linear guide rail 21 be arranged in parallel;
Above-mentioned horizontal drive motor 232 is fixedly mounted on horizontal sliding seat 22;
Above-mentioned horizontal conveyor gear 233 is coaxially fixedly mounted on the power output shaft of horizontal drive motor 232, above-mentioned Horizontal conveyor gear 233 engages with horizontal rack 231;
So, the horizontal drive motor 232 of horizontal drive mechanism 23 will pass through horizontal conveyor gear 233 and horizontal rack 231 engage and are connected with horizontal sliding seat 22.
Above-mentioned straight line elevating mechanism 3 includes vertical straight line guide rail 31, linear pattern mechanical arm 32 and lift drive mechanism 33;
Above-mentioned vertical straight line guide rail 31 is vertically fixedly mounted on linear pattern mechanical arm 32;
Above-mentioned linear pattern mechanical arm 32 can be linearly slideably mounted to horizontal slip up and down by vertical straight line guide rail 31 On seat 22;
Above-mentioned lift drive mechanism 33 includes vertical rack 331, lifting motor 332 and lifting and driving gear(In Fig. 1 Do not show);
Above-mentioned vertical rack 331 is vertically mounted on linear pattern mechanical arm 32, above-mentioned vertical rack 331 with it is vertical straight Line guide rail 31 be arranged in parallel;
Above-mentioned lifting motor 332 is fixedly mounted on horizontal sliding seat 22;
Above-mentioned lifting and driving gear is coaxially fixedly mounted on the power output shaft of lifting motor 332, above-mentioned liter Drop travelling gear engages with vertical rack 331;
So, the lifting motor 332 of lift drive mechanism 33 will pass through lifting and driving gear and vertical rack 331 is nibbled Close and be connected with linear pattern mechanical arm 32.
Above-mentioned manipulator mechanism 4 includes connector 41, connecting mechanism for rotating 42, mounting seat 43, is horizontally mounted axle 44, first The tong 46 of tong 45 and second.
Above-mentioned connecting mechanism for rotating 42 includes connecting seat 421 and oscillating cylinder 422;
Above-mentioned connecting seat 421 is fixedly mounted on the lower end of its linear pattern mechanical arm 32 of straight line elevating mechanism 3;
The cylinder body 4221 of above-mentioned oscillating cylinder 422 is fixedly mounted on connecting seat 421;
Above-mentioned connector 41 is fixed and is located on the rotary disk 4222 of its oscillating cylinder 422 of connecting mechanism for rotating 42;
Above-mentioned mounting seat 43 is fixedly mounted on connector 41;
The above-mentioned axle 44 that is horizontally mounted is horizontally mounted in mounting seat 43.
The above-mentioned tong 46 of first tong 45 and second is separately mounted to be horizontally mounted on the both ends of axle 44, above-mentioned first tong 45 and second tong 46 it is in the same plane, the above-mentioned tong 46 of first tong 45 and second is towards arranged in a crossed manner.
Above-mentioned first tong 45, which includes the first mounting bracket 451, the first guide rod cylinder 452, the first holder 453, first, to be fixed Clamping jaw 454, the first clamping jaw cylinder 455 and the first movable jaw 456;
Above-mentioned first mounting bracket 451, which is fixedly mounted on, to be horizontally mounted on one end of axle 44;
The cylinder body of above-mentioned first guide rod cylinder 452 is arranged on the first mounting bracket 451;
Above-mentioned first holder 453 is fixedly mounted on the piston rod of the first guide rod cylinder 452;
Above-mentioned first stationary jaw 454 is fixedly mounted on the first holder 453;
The cylinder body of above-mentioned first clamping jaw cylinder 455 is fixedly mounted on the first holder 453;
Above-mentioned first movable jaw 456 is fixedly mounted on the piston rod of the first clamping jaw cylinder 455, above-mentioned first activity folder The stationary jaw 454 of pawl 456 and first is closer or far from cooperation.
Above-mentioned second tong 46, which includes the second mounting bracket 461, the second guide rod cylinder 462, the second holder 463, second, to be fixed Clamping jaw 464, the second clamping jaw cylinder 465 and the second movable jaw 466;
Above-mentioned second mounting bracket 461, which is fixedly mounted on, to be horizontally mounted on the other end of axle 44;
The cylinder body of above-mentioned second guide rod cylinder 462 is arranged on the second mounting bracket 461;
Above-mentioned second holder 463 is fixedly mounted on the piston rod of the second guide rod cylinder 462;
Above-mentioned second stationary jaw 464 is fixedly mounted on the second holder 463;
The cylinder body of above-mentioned second clamping jaw cylinder 465 is fixedly mounted on the second holder 463;
Above-mentioned second movable jaw 466 is fixedly mounted on the piston rod of the second clamping jaw cylinder 465, above-mentioned second activity folder The stationary jaw 464 of pawl 466 and second is closer or far from cooperation.
The cylinder body of above-mentioned first guide rod cylinder 452 and the cylinder body of the second guide rod cylinder 462 form certain angle with horizontal plane Degree.
The course of work to this preferred embodiment and related work principle are described in further detail below in conjunction with the accompanying drawings, To enable those skilled in the art to be more fully understood from technology contents of the present utility model:
During carrying, as shown in Fig. 2 manipulator mechanism 4 is located at the surface of thing 10 to be handled, and with now mechanical mobile phone The position of structure 4 is initial position(The initial position includes horizontal initial position and longitudinal initial position);Meanwhile make thing to be handled 10 also have a certain degree placement with horizontal plane shape;Then, lifting motor 332 rotates forward, and lifting motor 332 drives Dynamic lifting and driving gear rotates forward, and lifting and driving gear drives linear pattern mechanical arm 32 in the presence of vertical rack 331 Along 31 downward linear slide of vertical straight line guide rail, until the manipulator mechanism 4 on linear pattern mechanical arm 32 is positioned to be handled The side of thing 10, now, manipulator mechanism 4 are located on horizontal initial position, as shown in Figure 3;Then, the first guide rod cylinder 452 Piston rod elongation, the piston rod of the first guide rod cylinder 452 drives the first holder 453 to be transported to close to the direction of thing 10 to be handled It is dynamic, until the first stationary jaw 454 and the first movable jaw 456 are enclosed on a side of thing 10 to be handled;At the same time, second The piston rod elongation of guide rod cylinder 462, the piston rod of the second guide rod cylinder 462 drive the second holder 463 to close to thing to be handled 10 direction motion, until the second stationary jaw 464 and the second movable jaw 466 are enclosed on another adjacent side of thing 10 to be handled On;Then, the piston rod elongation of the first clamping jaw cylinder 455, the piston rod of the first clamping jaw cylinder 455 drive the first movable jaw 456 and first stationary jaw 454 close to coordinating, until the first movable jaw 456 and the first stationary jaw 454 clamp thing to be handled 10;At the same time, the piston rod elongation of the second clamping jaw cylinder 465, piston rod driving the second activity folder of the second clamping jaw cylinder 465 The stationary jaw 464 of pawl 466 and second close to coordinating, until the second movable jaw 466 and the second stationary jaw 464 clamp it is to be handled Thing 10, as shown in Figure 3;
As shown in figure 3, when the first movable jaw 456 and the first stationary jaw 454, the second movable jaw 466 and second are solid When clamp pawl 464 clamps thing 10 to be handled respectively, as shown in figure 3, lifting motor 332 rotates backward, motor is lifted 332 driving lifting and driving gears rotate backward, and lifting and driving gear drives linear pattern machinery in the presence of vertical rack 331 Arm 32 is along 31 upward linear slide of vertical straight line guide rail, until the manipulator mechanism 4 on linear pattern mechanical arm 32 is located at On initial position, i.e., manipulator mechanism 4 is located on horizontal initial position and longitudinal initial position, as shown in Figure 4.
As shown in figure 4, when the manipulator mechanism 4 for accompanying thing 10 to be handled is located at initial position, horizontal drive motor 232 Rotate forward, horizontal drive motor 232 drives horizontal conveyor gear 233 to rotate forward, and horizontal conveyor gear 233 is in horizontal rack In the presence of 231, horizontal sliding seat 22 is driven along the horizontal linear slide to the right of horizontal linear guide rail 21, until horizontal sliding seat Manipulator mechanism 4 on 22 is moved on the lateral attitude of destination, i.e., the manipulator mechanism 4 on horizontal sliding seat 22 is moved to mesh Ground surface, now, manipulator mechanism 4 is located on longitudinal initial position, as shown in Figure 5.
As shown in figure 5, when the manipulator mechanism 4 for accompanying thing 10 to be handled is moved to the surface of destination, gas is swung The rotary disk 4222 of cylinder 422 turns over certain angle, and the rotary disk 4222 of oscillating cylinder 422 is with follower link 41, connecting seat 421st, axle 44, the first tong 45 and the second tong 46 are horizontally mounted and turns over certain angle together, so that the He of the first tong 45 Thing to be handled 10 on second tong 46 also turns over certain angle, to realize that the angle of thing 10 to be handled converts;Then;Lifting Motor 332 rotates forward, and lifting motor 332 drives lifting and driving gear to rotate forward, and lifting and driving gear is perpendicular In the presence of spur rack 331, linear pattern mechanical arm 32 is driven along 31 downward linear slide of vertical straight line guide rail, until machinery Thing to be handled 10 on mobile phone structure 4 is located in carrying destination, as shown in Figure 6.
As shown in fig. 6, the thing to be handled 10 on the first tong 45 and the second tong 46 turns over certain angle and decline When on to carrying destination, the piston rod of the first clamping jaw cylinder 455 shortens, the piston rod driving first of the first clamping jaw cylinder 455 The stationary jaw 454 of movable jaw 456 and first is away from coordinating, until the first movable jaw 456 and the first stationary jaw 454 are decontroled Thing 10 to be handled;At the same time, the piston rod of the second clamping jaw cylinder 465 shortens, the piston rod of the second clamping jaw cylinder 465 driving the Two movable jaws 466 and the second stationary jaw 464 are away from coordinating, until the second movable jaw 466 and the second stationary jaw 464 are put Open thing 10 to be handled;Then, the piston rod of the first guide rod cylinder 452 shortens, the piston rod driving first of the first guide rod cylinder 452 Holder 453 moves to the direction away from thing 10 to be handled, until the first stationary jaw 454 and the first movable jaw 456 are removed with waiting Fortune thing 10 separates;At the same time, the piston rod of the second guide rod cylinder 462 shortens, the piston rod of the second guide rod cylinder 462 driving the Two holders 463 move to away from the direction of thing 10 to be handled, until the second stationary jaw 464 and the second movable jaw 466 are with treating Thing 10 is carried to separate;So, manipulator mechanism 4 just decontrols thing 10 to be handled, and thing 10 to be handled is just transported to from a place Destination;Then, lifting motor 332 rotates backward, and lifting motor 332 drives lifting and driving gear to rotate backward, Lifting and driving gear drives linear pattern mechanical arm 32 upward along vertical straight line guide rail 31 in the presence of vertical rack 331 Linear slide, until the manipulator mechanism 4 on linear pattern mechanical arm 32 is positioned at the surface for being transported to destination, now, machine Tool mobile phone structure 4 is located on longitudinal initial position, as shown in Figure 7.
As shown in fig. 7, when manipulator mechanism 4 decontrols the surface that thing 10 to be handled and ramping is transported to destination When, the revolution of rotary disk 4222 of oscillating cylinder 422 resets, and the rotary disk 4222 of oscillating cylinder 422 is with follower link 41, mounting seat 43rd, axle 44, the first tong 45 and the second tong 46 are horizontally mounted and turns round reset together, as shown in Figure 8;Then, horizontal drive electricity Machine 232 rotates backward, and horizontal drive motor 232 drives horizontal conveyor gear 233 to rotate backward, and horizontal conveyor gear 233 is in water In the presence of flat tooth bar 231, horizontal sliding seat 22 is driven along the horizontal linear slide to the left of horizontal linear guide rail 21, until level Manipulator mechanism 4 on sliding seat 22 is moved on initial position, i.e., manipulator mechanism 4 is located at horizontal initial position and longitudinal direction just On beginning position, so that manipulator mechanism 4 resets, so as to the progress carried next time, as shown in Figure 2.
Direction in accompanying drawing shown in arrow lifts direction for horizontal linear glide direction or straight line.
The content of above-mentioned embodiment is preferred embodiment of the present utility model, and above preferred embodiment is not used To limit practical range of the present utility model, therefore, every its scope of the claims according to the utility model is made Various equivalents, by the utility model, its scope of the claims covers.

Claims (10)

  1. A kind of 1. puma manipulator handling device, it is characterised in that:Including frame, horizontal linear sliding equipment, straight line lift Structure and manipulator mechanism;
    Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar;
    Above-mentioned horizontal linear sliding equipment can horizontal linear be slidably mounted on crossbeam;
    Above-mentioned straight line elevating mechanism can straight line up and down be arranged on horizontal linear sliding equipment on;
    Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism.
  2. 2. puma manipulator handling device according to claim 1, it is characterised in that:The horizontal linear sliding equipment bag Include horizontal linear guide rail, horizontal sliding seat, horizontal drive mechanism;
    Above-mentioned horizontal linear guide rail is flatly fixedly mounted on crossbeam;
    Above-mentioned horizontal sliding seat by horizontal linear guide rail can horizontal linear be slidably mounted on crossbeam;
    Above-mentioned horizontal drive mechanism is located on crossbeam and horizontal sliding seat, and above-mentioned horizontal drive mechanism connects with the transmission of horizontal sliding seat Connect.
  3. 3. puma manipulator handling device according to claim 2, it is characterised in that:The horizontal drive mechanism includes water Flat tooth bar, horizontal drive motor and horizontal conveyor gear;
    Above-mentioned horizontal rack is flatly fixedly mounted on crossbeam, and above-mentioned horizontal rack is set with horizontal linear guide rail parallel;
    Above-mentioned horizontal drive motor is fixedly mounted on horizontal sliding seat;
    Above-mentioned horizontal conveyor gear is coaxially fixedly mounted on the power output shaft of horizontal drive motor, above-mentioned horizontal conveyor tooth Wheel engages with horizontal rack.
  4. 4. puma manipulator handling device according to claim 2, it is characterised in that:The straight line elevating mechanism includes perpendicular Straight line slideway, linear pattern mechanical arm and lift drive mechanism;
    Above-mentioned vertical straight line guide rail is vertically fixedly mounted on linear pattern mechanical arm;
    Above-mentioned linear pattern mechanical arm can be linearly slideably mounted on horizontal sliding seat up and down by vertical straight line guide rail, above-mentioned The lower end of linear pattern mechanical arm is connected with manipulator mechanism;
    Above-mentioned lift drive mechanism is located on horizontal sliding seat and linear pattern mechanical arm, above-mentioned lift drive mechanism and linear pattern Mechanical arm is connected.
  5. 5. puma manipulator handling device according to claim 4, it is characterised in that:The lift drive mechanism includes perpendicular Spur rack, lifting motor and lifting and driving gear;
    Above-mentioned vertical rack is vertically mounted on linear pattern mechanical arm, and above-mentioned vertical rack is set with vertical straight line guide rail parallel Put;
    Above-mentioned lifting motor is fixedly mounted on horizontal sliding seat;
    Above-mentioned lifting and driving gear is coaxially fixedly mounted on the power output shaft of lifting motor, above-mentioned lifting and driving tooth Wheel engages with vertical rack.
  6. 6. puma manipulator handling device according to claim 1, it is characterised in that:The manipulator mechanism includes connection Part, mounting seat, it is horizontally mounted axle, the first tong and the second tong;
    Above-mentioned connector is arranged on the lower end of straight line elevating mechanism;
    Above-mentioned mounting seat is fixedly mounted on connector;
    The above-mentioned axle that is horizontally mounted is horizontally mounted in mounting seat;
    Above-mentioned first tong and the second tong are separately mounted to be horizontally mounted on the both ends of axle, above-mentioned first tong and the second tong It is in the same plane.
  7. 7. puma manipulator handling device according to claim 6, it is characterised in that:The connector passes through a rotation Bindiny mechanism is arranged on the lower end of straight line elevating mechanism;
    Above-mentioned connecting mechanism for rotating includes connecting seat and oscillating cylinder;
    Above-mentioned connecting seat is fixedly mounted on the lower end of straight line elevating mechanism;
    The cylinder body of above-mentioned oscillating cylinder is fixedly mounted on connecting seat;
    The rotary disk of above-mentioned oscillating cylinder is fixedly connected with connector;
    The effect of above-mentioned connecting seat is:For connecting the lower end of straight line elevating mechanism and the cylinder body of oscillating cylinder, so as to be convenient to The installation of straight line elevating mechanism and oscillating cylinder.
  8. 8. puma manipulator handling device according to claim 6, it is characterised in that:First tong and the second tong Set, towards identical towards being oppositely arranged or towards arranged in a crossed manner.
  9. 9. puma manipulator handling device according to claim 6, it is characterised in that:First tong includes the first peace Shelve, the first guide rod cylinder, the first holder, the first stationary jaw, the first clamping jaw cylinder and the first movable jaw;
    Above-mentioned first mounting bracket is fixedly mounted on the one end for being horizontally mounted axle;
    The cylinder body of above-mentioned first guide rod cylinder is arranged on the first mounting bracket;
    Above-mentioned first holder is fixedly mounted on the piston rod of the first guide rod cylinder;
    Above-mentioned first stationary jaw is fixedly mounted on the first holder;
    The cylinder body of above-mentioned first clamping jaw cylinder is fixedly mounted on the first holder;
    Above-mentioned first movable jaw is fixedly mounted on the piston rod of the first clamping jaw cylinder, and above-mentioned first movable jaw and first is consolidated Clamp pawl is closer or far from cooperation;
    Second tong includes the second mounting bracket, the second guide rod cylinder, the second holder, the second stationary jaw, the second clamping jaw gas Cylinder and the second movable jaw;
    Above-mentioned second mounting bracket is fixedly mounted on the other end for being horizontally mounted axle;
    The cylinder body of above-mentioned second guide rod cylinder is arranged on the second mounting bracket;
    Above-mentioned second holder is fixedly mounted on the piston rod of the second guide rod cylinder;
    Above-mentioned second stationary jaw is fixedly mounted on the second holder;
    The cylinder body of above-mentioned second clamping jaw cylinder is fixedly mounted on the second holder;
    Above-mentioned second movable jaw is fixedly mounted on the piston rod of the second clamping jaw cylinder, and above-mentioned second movable jaw and second is consolidated Clamp pawl is closer or far from cooperation.
  10. 10. puma manipulator handling device according to claim 9, it is characterised in that:First guide rod cylinder and The cylinder body of two guide rod cylinders has a certain degree with horizontal plane shape.
CN201621494884.1U 2016-12-31 2016-12-31 A kind of puma manipulator handling device Active CN206645515U (en)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621494884.1U CN206645515U (en) 2016-12-31 2016-12-31 A kind of puma manipulator handling device

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CN206645515U true CN206645515U (en) 2017-11-17

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108770600A (en) * 2018-05-22 2018-11-09 河北机电职业技术学院 Needle mushroom picker
CN111422611A (en) * 2020-03-31 2020-07-17 厦门奇达电子有限公司 Device for feeding and discharging 3C products and AGV material conveying method
CN112298996A (en) * 2020-09-29 2021-02-02 武汉纺织大学 M5 subassembly stackers of stainbel module transport

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108770600A (en) * 2018-05-22 2018-11-09 河北机电职业技术学院 Needle mushroom picker
CN111422611A (en) * 2020-03-31 2020-07-17 厦门奇达电子有限公司 Device for feeding and discharging 3C products and AGV material conveying method
CN112298996A (en) * 2020-09-29 2021-02-02 武汉纺织大学 M5 subassembly stackers of stainbel module transport
CN112298996B (en) * 2020-09-29 2022-03-11 武汉纺织大学 M5 subassembly stackers of stainbel module transport

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