CN206798604U - It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product - Google Patents

It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product Download PDF

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Publication number
CN206798604U
CN206798604U CN201720638230.XU CN201720638230U CN206798604U CN 206798604 U CN206798604 U CN 206798604U CN 201720638230 U CN201720638230 U CN 201720638230U CN 206798604 U CN206798604 U CN 206798604U
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China
Prior art keywords
swing arm
armstand
motor
synchronizing wheel
clamping jaw
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CN201720638230.XU
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Chinese (zh)
Inventor
孙彦福
王俊岩
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Shenzhen City Gold Tingpu Deli Technology Co Ltd
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Shenzhen City Gold Tingpu Deli Technology Co Ltd
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Abstract

This manipulator passes through the swing arm of servo motor driven second, after second swing arm stress, connecting rod with the first swing arm composition is around the first fulcrum shaft and the motion of the second fulcrum shaft and folding swing, so as to drive the swing and reciprocating motion of the armstand being connected with the 3rd swing arm work up and down;Meanwhile first synchronizing wheel be fixed on slide plate, the second synchronizing wheel is connected with armstand by rotating shaft, and the first synchronizing wheel and the second synchronizing wheel make armstand keep vertical in swing up and down moves back and forth by synchronous band connection rear-guard.When armstand is in low spot, clamping jaw clamping and release, after clamping jaw clamps material, drive device drives displacement of the X sliding blocks in X-direction, and swing arm Xun gyrations are made to pick and place action so as to complete the whole series of shaping finished product or material head.Compared with prior art, the utility model provides the mechanism type reciprocating motion of power using motor, the track of the path walked parabolically, shortens movement travel, shortens the period of motion.Overall take up space diminishes.

Description

It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product
Technical field
Automation equipment design field is the utility model is related to, it is espespecially a kind of to be used for forming machine gripping material head and pick and place finished product Manipulator.
Background technology
At present, material field is picked and placeed in forming machine manipulator, used along the axle of X.Y.Z axles three linear motion pattern.
Locational space based on forming machine make it that the mode stroke of this linear motion is big, and being combined with sternly between three axles The action sequencing of lattice, has the stand-by period in the linking of action, and it is cumbersome that this results in writing program, and the period of motion is longer etc. all More problems.Again because this traditional linear material arm length that picks and places causes positioning precision and stability poor, in addition, straight up and down Linear motion pattern take up too much space and cause inconvenience to maintenance.
The content of the invention
To solve the above problems, the utility model provides a kind of machinery for being used for forming machine gripping material head and picking and placeing finished product Hand, can shorten movement travel, not act the stand-by period of linking, shorten the period of motion, and the overall change that takes up space It is small.
To achieve the above object, the technical solution adopted in the utility model is:One kind is used for forming machine gripping material head and taken The manipulator of finished product is put, including fixed seat, X-direction base, X sliding blocks, support frame, slide plate, wherein X-direction base are fixedly installed on In fixed seat, the X sliding blocks are slidably arranged on X-direction base, and are connected with the drive device that driving X sliding blocks slide;It is described Support frame is vertically set on X sliding blocks, and the slide plate bottom surface is arranged on the side of support frame and vertically slided;Also wrap Include swing arm seat, the first swing arm, the second swing arm, the 3rd swing arm, armstand, clamping jaw;The swing arm seat is fixedly installed on X sliding blocks, institute The one end for stating the first swing arm is hinged by the first fulcrum shaft with swing arm seat, the other end pass through the second fulcrum shaft and the second swing arm one End is be hinged, and the other end of second swing arm is fixedly connected with the 3rd swing arm one end, the other end and armstand of the 3rd swing arm Upper end be hinged, the clamping jaw is fixedly installed on the lower end of armstand;The surface of wherein described slide plate is provided with the first synchronizing wheel, sliding Another surface of plate is provided with the rotating shaft drive connection of motor, the first synchronizing wheel and motor, and second swing arm is set In the first synchronizing wheel and with the rotating shaft drive connection of motor, it is synchronous that the 3rd swing arm with the hinged place of armstand is connected with second Wheel, the timing belt are socketed in the first synchronizing wheel and the second synchronizing wheel.
Specifically, in addition to motor reducer, the motor reducer are arranged in motor rotating shaft, and the motor subtracts The output flange of fast machine and the first synchronizing wheel drive connection, the output shaft of motor reducer are fixedly connected with the second swing arm.
Specifically, the motor is servo motor.
Specifically, in addition to cylinder, the cylinder body of the cylinder is fixedly installed on the side of slide plate, piston rod and support frame Side is fixedly connected.
Specifically, in addition to clamping jaw fixed seat, one end of the clamping jaw fixed seat are fixedly connected with clamping jaw, and the other end is with standing The lower end of arm is fixedly connected.
The beneficial effects of the utility model are:This manipulator by the swing arm of servo motor driven second, the second swing arm by After power, and the first swing arm composition connecting rod around the first fulcrum shaft and the motion of the second fulcrum shaft and folding swing, so as to drive and the The connected armstand of three swing arms makees swing and reciprocating motion up and down;Meanwhile first synchronizing wheel be fixed on slide plate, second is same Step wheel is connected with armstand by rotating shaft, and the first synchronizing wheel makes armstand in upper bottom left with the second synchronizing wheel by synchronous band connection rear-guard Right swing keeps vertical in moving back and forth.When armstand is in low spot, clamping jaw clamping and release, when clamping jaw clamps material Afterwards, drive device drives displacement of the X sliding blocks in X-direction, and swing arm Xun gyrations are made so as to complete the whole series of shaping finished product or material head Pick and place action.Compared with prior art, the utility model provides the mechanism type reciprocating motion of power, the path walked using motor Track parabolically, shortens movement travel, does not act the stand-by period of linking, shortens the period of motion.Shared by entirety Space diminishes.
Brief description of the drawings
Fig. 1 is the utility model explosive view.
Fig. 2 is the utility model structure chart.
Drawing reference numeral explanation:1- fixed seats;2-X sliding blocks;3-X directions base;The servo motors of 4- first;5- timing belts;6- Support frame;The servo motors of 7- second;8- slide plates;The synchronizing wheels of 9- second;10- cylinders;The swing arms of 11- the 3rd;12- armstand fixed seats; The synchronizing wheels of 13- first;14- armstands;The swing arms of 15- second;16- clamping jaw fixed seats;The swing arms of 17- first;18- clamping jaws;19- first Fulcrum shaft;20- swing arm seats;The fulcrum shafts of 21- second;22- motor reducers.
Embodiment
Referring to shown in Fig. 1, the utility model for forming machine gripping material head and picks and places the manipulator of finished product on a kind of, Including fixed seat 1, X-direction base 3, X sliding blocks 2, support frame 6, slide plate 8, swing arm seat 20, the first swing arm 17, the second swing arm 15, Three swing arms 11, armstand 14, clamping jaw 18, armstand fixed seat 12;Wherein X-direction base 3 is fixedly installed in fixed seat 1, and the X is slided Block 2 is slidably arranged on X-direction base 3, and is connected with the drive device that driving X sliding blocks 2 slide;Support frame as described above 6 is vertically set Put on X sliding blocks 2, the wherein side of support frame as described above 6 is provided with the slide rail of corresponding slide plate 8, the both ends of the bottom surface of slide plate 8 with Slide rail is fixedly connected, and the slide plate 8 can slide up and down along slide direction;The swing arm seat 20 is fixedly installed on X sliding blocks 2, One end of first swing arm 17 is be hinged with swing arm seat 20 by the first fulcrum shaft 19, and the other end passes through the second fulcrum shaft 21 and the One end of two swing arms 15 is hinged, and the other end of second swing arm 15 is fixedly connected with the one end of the 3rd swing arm 11, the 3rd pendulum The other end of arm 11 is be hinged with armstand fixed seat 12, and the armstand 14 is plugged in corresponding armstand fixed seat 12, the folder Pawl 18 is fixedly installed on the lower end of armstand 14;The surface of wherein described slide plate 8 is provided with the first synchronizing wheel 13, the slide plate 8 Another surface is provided with motor, and the first synchronizing wheel 13 and the rotating shaft drive connection of motor, second swing arm 15 are set The is connected with the first synchronizing wheel 13 and with the rotating shaft drive connection of motor, the hinged place of the 3rd swing arm 11 and armstand 14 Two synchronizing wheels 9, the timing belt 5 are socketed in the first synchronizing wheel 13 and the second synchronizing wheel 9, pass through the pendulum of motor driving first Arm 17, the second swing arm 15 are made to fold around the first fulcrum shaft 19 to be moved back and forth.
Specifically, in addition to motor reducer 22, the motor reducer 22 are arranged in motor rotating shaft, the electricity The output flange of machine reductor 22 and the drive connection of the first synchronizing wheel 13, the output shaft of motor reducer 22 and the second swing arm 15 are solid Fixed connection.Increase motor reducer 22 can reduce rotating speed while improve output torque, can stablize the first synchronizing wheel 13 and the second pendulum Arm 15.
Specifically, the motor is servo motor.Motor is Fig. 1 or Fig. 2 institutes in this embodiment The second servo motor 7 shown, the second servo motor 7 drive the first swing arm 17, the second swing arm 15 to be folded around the first fulcrum shaft 19 Move back and forth;And above-mentioned drive device is the first servo motor 4 shown in Fig. 1 or Fig. 2, the first servo motor 4 driving X is slided Block 2 in the displacement of X-direction, make so as to complete the whole series of shaping finished product or material head to pick and place action by swing arm Xun gyrations.
This manipulator drives the second swing arm 15 by the second servo motor 7, after the stress of the second swing arm 15, and the first swing arm 17 The connecting rod of composition is connected around the first fulcrum shaft 19 and the motion of the second fulcrum shaft 21 and folding swing so as to drive with the 3rd swing arm 11 Armstand 14 make swing and reciprocating motion up and down;Meanwhile first synchronizing wheel 13 be fixed on slide plate 8, the second synchronizing wheel 9 It is connected with armstand 14 by rotating shaft, the first synchronizing wheel 13 drives armstand 14 upper after being connected with the second synchronizing wheel 9 by timing belt 5 The swing of lower left and right keeps vertical in moving back and forth.When armstand 14 is in low spot, clamping jaw 18 is clamped and unclamped, when clamping jaw presss from both sides Firmly after material, the first servo motor 4 drives displacement of the X sliding blocks 2 in X-direction, and swing arm Xun gyrations are made so as to complete shaping finished product Or the whole series of material head pick and place action.Compared with prior art, the utility model is back and forth transported using the mechanism type of motor offer power Dynamic, the track of the path walked parabolically shortens movement travel, and single motor provides the driving power of Y-axis .Z axles, do not moved Make the stand-by period being connected, shorten the period of motion.Overall take up space diminishes.
Specifically, in addition to cylinder 10, the cylinder body of the cylinder 10 are fixedly installed on the side of slide plate 8, piston rod and branch The side of support 6 is fixedly connected.The cylinder body of cylinder 1 is connected with slide plate 8, and piston rod is connected with support frame 6, in a whole set of do action Play stable cushioning effect.
Specifically, in addition to clamping jaw fixed seat 16, one end of the clamping jaw fixed seat 16 is fixedly connected with clamping jaw 18, another End is fixedly connected with the lower end of armstand 14.Because clamping jaw 18 is directly to be contacted with product, so setting up a clamping jaw fixed seat 16 The stability of clamping jaw 18 can be improved.
Embodiment of above is only that preferred embodiment of the present utility model is described, not to the utility model Scope be defined, on the premise of the utility model design spirit is not departed from, this area ordinary skill technical staff to this The various modifications and improvement that the technical scheme of utility model is made, the guarantor that claims of the present utility model determine all should be fallen into In the range of shield.

Claims (5)

  1. It is 1. a kind of for forming machine gripping material head and the manipulator for picking and placeing finished product, including fixed seat, X-direction base, X sliding blocks, branch Support, slide plate, wherein X-direction base are fixedly installed in fixed seat, and the X sliding blocks are slidably arranged on X-direction base, and even It is connected to the drive device that driving X sliding blocks slide;Support frame as described above is vertically set on X sliding blocks, and the slide plate bottom surface is arranged on branch Slide on the side of support and vertically;It is characterized in that:Also include swing arm seat, the first swing arm, the second swing arm, the 3rd pendulum Arm, armstand, clamping jaw;The swing arm seat is fixedly installed on X sliding blocks, and one end of first swing arm passes through the first fulcrum shaft and pendulum Arm seat is hinged, and the other end is hinged by the second fulcrum shaft and one end of the second swing arm, the other end and the 3rd of second swing arm Swing arm one end is fixedly connected, and the other end of the 3rd swing arm and the upper end of armstand are hinged, and the clamping jaw is fixedly installed on armstand Lower end;The surface of wherein described slide plate is provided with the first synchronizing wheel, and another surface of slide plate is provided with motor, and first is synchronous The rotating shaft drive connection of wheel and motor, second swing arm are arranged in the first synchronizing wheel and driven with the rotating shaft of motor The hinged place of dynamic connection, the 3rd swing arm and armstand is connected with the second synchronizing wheel, and the timing belt is socketed in the first synchronizing wheel and the In two synchronizing wheels.
  2. It is 2. according to claim 1 a kind of for forming machine gripping material head and the manipulator for picking and placeing finished product, it is characterised in that: Also include motor reducer, the motor reducer is arranged in motor rotating shaft, the output flange of the motor reducer With the first synchronizing wheel drive connection, the output shaft of motor reducer is fixedly connected with the second swing arm.
  3. It is 3. according to claim 1 a kind of for forming machine gripping material head and the manipulator for picking and placeing finished product, it is characterised in that: The motor is servo motor.
  4. It is 4. according to claim 1 a kind of for forming machine gripping material head and the manipulator for picking and placeing finished product, it is characterised in that: Also include cylinder, the cylinder body of the cylinder is fixedly installed on the side of slide plate, and piston rod is fixedly connected with the side of support frame.
  5. It is 5. according to claim 1 a kind of for forming machine gripping material head and the manipulator for picking and placeing finished product, it is characterised in that: Also include clamping jaw fixed seat, one end of the clamping jaw fixed seat is fixedly connected with clamping jaw, and the lower end of the other end and armstand, which is fixed, to be connected Connect.
CN201720638230.XU 2017-06-03 2017-06-03 It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product Active CN206798604U (en)

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Application Number Priority Date Filing Date Title
CN201720638230.XU CN206798604U (en) 2017-06-03 2017-06-03 It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product

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Application Number Priority Date Filing Date Title
CN201720638230.XU CN206798604U (en) 2017-06-03 2017-06-03 It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product

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CN206798604U true CN206798604U (en) 2017-12-26

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108160899A (en) * 2018-01-04 2018-06-15 无锡职业技术学院 Fully automatic feeding, blanking rotation riveting equipment
CN109571117A (en) * 2019-01-18 2019-04-05 宁波嘉怡机器人有限公司 A kind of manipulator
CN109677917A (en) * 2019-01-14 2019-04-26 佛山市南海区广工大数控装备协同创新研究院 A kind of swing clamping manipulator and plastic cement tube vision inspection device
CN110315516A (en) * 2019-06-13 2019-10-11 佛山市埃科机器人科技有限公司 Three axis curved arm rod mechanical arms
CN111187887A (en) * 2019-12-17 2020-05-22 凯斯炉业科技江苏有限公司 Quenching and carrying manipulator for workpieces in quenching tank
CN113001527A (en) * 2021-04-09 2021-06-22 苏州普洛泰科精密工业有限公司 Bionic semiconductor sheet material taking and placing mechanism
CN114368619A (en) * 2022-01-05 2022-04-19 深圳市智信精密仪器股份有限公司 High-efficiency low-cost two-axis movement mechanism
CN114955122A (en) * 2022-07-07 2022-08-30 广东西尼科技有限公司 Automatic detection and packaging equipment and automatic detection and packaging method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108160899A (en) * 2018-01-04 2018-06-15 无锡职业技术学院 Fully automatic feeding, blanking rotation riveting equipment
CN109677917A (en) * 2019-01-14 2019-04-26 佛山市南海区广工大数控装备协同创新研究院 A kind of swing clamping manipulator and plastic cement tube vision inspection device
CN109571117A (en) * 2019-01-18 2019-04-05 宁波嘉怡机器人有限公司 A kind of manipulator
CN110315516A (en) * 2019-06-13 2019-10-11 佛山市埃科机器人科技有限公司 Three axis curved arm rod mechanical arms
CN111187887A (en) * 2019-12-17 2020-05-22 凯斯炉业科技江苏有限公司 Quenching and carrying manipulator for workpieces in quenching tank
CN113001527A (en) * 2021-04-09 2021-06-22 苏州普洛泰科精密工业有限公司 Bionic semiconductor sheet material taking and placing mechanism
CN114368619A (en) * 2022-01-05 2022-04-19 深圳市智信精密仪器股份有限公司 High-efficiency low-cost two-axis movement mechanism
CN114955122A (en) * 2022-07-07 2022-08-30 广东西尼科技有限公司 Automatic detection and packaging equipment and automatic detection and packaging method
CN114955122B (en) * 2022-07-07 2023-03-14 广东西尼科技有限公司 Automatic detection and packaging equipment and automatic detection and packaging method

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