CN206939926U - A kind of end turn-over cutting agency of manipulator - Google Patents
A kind of end turn-over cutting agency of manipulator Download PDFInfo
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- CN206939926U CN206939926U CN201720814637.3U CN201720814637U CN206939926U CN 206939926 U CN206939926 U CN 206939926U CN 201720814637 U CN201720814637 U CN 201720814637U CN 206939926 U CN206939926 U CN 206939926U
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- 230000007306 turnover Effects 0.000 title claims abstract description 19
- 238000005520 cutting process Methods 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 230000004069 differentiation Effects 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 6
- 230000000740 bleeding effect Effects 0.000 description 6
- 210000000078 claw Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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Abstract
The utility model discloses a kind of end turn-over cutting agency of manipulator,Manipulator includes lifting support,Traverse beam and conveying arm,Traverse beam is located in horizontal plane horizontal and is slidably connected on lifting support,Conveying arm also is located in horizontal plane horizontal and vertical sliding motion and is connected in traverse beam,The end turn-over cutting agency of this manipulator includes jig plate and turnover driving mechanism,Turnover driving mechanism is located at the end of conveying arm,Jig plate is connected in the movement output ends of upset driving sub-agencies,Conveying arm distal end faces are provided with upset driving sub-agencies installation portion,The upset driving sub-agencies include rotary cylinder,Rotary cylinder is fixedly arranged on the upset driving sub-agencies installation portion,Jig plate is fixedly arranged on the output end of rotary cylinder,Lifting support,Traverse beam,Conveying arm and upset driving sub-agencies are connected in a PLC system,An identification device is further connected with the PLC system.The utility model can improve the sort efficiency of the differentiation customed product of collinear production.
Description
Technical field
A kind of operating mechanism of automation equipment is the utility model is related to, more specifically, it relates to a kind of manipulator
End turn-over cutting agency.
Background technology
In some new high-tech industries, the processing and manufacturing of such as photovoltaic device, wiring board, CD product needs to use height
The equipment of precision is completed, and the production line of many products employs process of flexible production, can be produced on same production line
The different differentiation customed product of the processing request such as identical size but color, production number, decorative pattern, this just needs finally producing
Product and categorised collection are distinguished in strict identification before the offline collection of product, if this process is completed using manual sorting's mode, work
Efficiency is low, labor intensity is big and cost of labor is high, if using multitask, various dimensions manipulator as different product sorting
Pinpoint transfer device, it is possible to greatly improve the sort efficiency of product, reduce personnel depaly.Publication No. CN201300418's
Utility model disclosed a kind of Sidle manipulator on 2nd in September in 2009, it include it is horizontal walk part, pulling part and descending arms or arm
Part, it is horizontal to walk partly to include origin inductive switch, terminal inductive switch and servomotor, and rotation is provided with servomotor
Turn encoder, manipulator is placed after taking out product with multiple spot, and can arrange in order, circulate glove, will not be overlapping,
Deformation of products will not be caused, colored surface will not be touched, and automatic boxing can be realized, can also realize that in-mold label equally accurate will
Ask high action.But descending arms or arm is located at arm end in the utility model, there is certain altitude, if unfavorable for sorting product
Height categorised collection straggly is carried out in inhomogeneity product, it is difficult to makes full use of space.
Utility model content
The differentiation customed product produced on same production line using process of flexible production is easily obscured, if using people
Work sorting mode is completed, and operating efficiency is low, labor intensity is big and cost of labor is high, and to overcome these defects, the utility model carries
A kind of sort efficiency for the differentiation customed product that can greatly improve collinear production has been supplied, has reduced the end of the manipulator of personnel depaly
Hold turn-over cutting agency.
The technical solution of the utility model is：A kind of end turn-over cutting agency of manipulator, manipulator include lifting branch
Post, traverse beam and conveying arm, traverse beam are located in horizontal plane horizontal and are slidably connected on lifting support, and conveying arm also is located at water
Horizontal and vertical sliding motion is connected in traverse beam in plane, and the end turn-over cutting agency of this manipulator includes jig plate and upset
Drive mechanism, turnover driving mechanism are located at the end of conveying arm, and jig plate is connected in the movement output ends of upset driving sub-agencies,
Conveying arm distal end faces are provided with upset driving sub-agencies installation portion, and the upset driving sub-agencies include rotary cylinder, turned round
Cylinder is fixedly arranged on the upset driving sub-agencies installation portion, and jig plate is fixedly arranged on the output end of rotary cylinder, lifting support, traversing
Beam, conveying arm and upset driving sub-agencies are connected in a PLC system, and an identification device is further connected with the PLC system.From production
The product shifted on line is positioned on jig plate, and product identification is carried out at identification device and control is generated in PLC system
Output end 180 ° of corners of output of signal processed, then rotary cylinder, can be achieved the upset of jig plate, are follow-up identification and fixture
Prepared on plate release product, the product movement of falling object to collection position.According to control signal again the lifting through different distance,
It is traversing to wait motion to discharge product after being sent to different bleeding points, complete the sorting stacking of product.Conveying arm is located in the utility model
The end of manipulator, it also can preferably enter, reach for the different bleeding points of vertical distribution, can more fully utilize sky
Between.
Preferably, being provided with conveying trough of belt on conveying arm vertically, trough of belt endcapped is conveyed, is provided with conveying trough of belt defeated
Send band.Conveyer belt is set on conveying arm, multiple products can be kept in, turns into a transfer buffer area, is given birth to beneficial to production line is kept
Produce the stability of beat.
Preferably, lifting support is provided with lifter rack and lifting guide rod, traverse beam is provided with lifting seat, lifts
Support is slidably socketed on lifting guide rod, and lifting seat is provided with lifting motor and lifter wheel, lifter wheel and lifting electricity
Machine is connected and engaged with lifter rack.Lifting motor drives lifter wheel, lifter wheel and the lifting being meshed when rotating
Repulsion effect is produced between rack, so as to promote lifting of the lifting seat on lifting guide rod, finally realizes that traverse beam is lifting
Lift adjustment on pillar.
Preferably, traverse beam is provided with traversing rack and traversing guide rod, conveying arm is provided with traversing support, horizontal
Telephone-moving seat is slidably socketed on traversing guide rod, and traversing support is provided with traversing motor and traversing gear, traversing gear with it is traversing
Motor is connected and engaged with traversing rack.The traversing traversing pinion rotation of motor driven, between traversing gear and traversing rack
It is traversing that repulsive force can be such that traversing support is slided on traversing guide rod, so as to realize that lateral attitude of the conveying arm along traverse beam is adjusted
Section.
The beneficial effects of the utility model are：
Improve the sort efficiency of the differentiation customed product of collinear production.The utility model can incite somebody to action under PLC system control
Identified differentiation customed product discharges after the motion such as the lifting of different distance, traversing is sent to different bleeding points, completes production
The sorting stacking of product.
Reduce artificial, reduction human cost.The utility model automatically completes the differentiation customed product of collinear production
Sorting, personnel depaly can be reduced, reduce human cost.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present utility model；
Fig. 2 is a kind of top view of the present utility model.
In figure, 1- lifting supports, 2- traverse beams, 3- conveying arms, 4- jig plates, 5- rotary cylinders, 6- lifting seats, 7- horizontal strokes
Telephone-moving seat.
Embodiment
The utility model is described in further detail for specific embodiment below in conjunction with the accompanying drawings.
Embodiment：
As shown in Figure 1 to Figure 2, the end turn-over cutting agency of a kind of manipulator, is connected on compact disc production line end, for altogether
Line production, there is the offline sorting of the DVDs of different marking ID codes, manipulator includes lifting support 1, traverse beam 2 and defeated
Arm 3 is sent, traverse beam 2 is located in horizontal plane horizontal and is slidably connected on lifting support 1, and conveying arm 3 also is located at water in horizontal plane
Flat and vertical sliding motion is connected in traverse beam 2, and the end turn-over cutting agency of this manipulator includes jig plate 4 and upset driving point
Mechanism, upset driving sub-agencies are located at the end of conveying arm 3, and jig plate 4 is connected in the movement output ends of upset driving sub-agencies,
Lifting support 1, traverse beam 2, conveying arm 3 and upset driving sub-agencies are connected in a PLC system, are further connected with the PLC system
One identification device, the identification device is ID code code readers, under the ID code code readers lie in the jig plate 4 on origin position just
Side.Conveying trough of belt is provided with conveying arm 3 vertically, conveys trough of belt endcapped, conveys and conveyer belt is provided with trough of belt, on conveyer belt
Equidistantly it is installed with stem saddle, each stem saddle lifts a CD, the stem adaptation insertion CD core on stem saddle
Hole.The distal end faces of conveying arm 3 are provided with upset driving sub-agencies installation portion, and the upset driving sub-agencies include rotary cylinder 5,
Rotary cylinder 5 is fixedly arranged on the upset driving sub-agencies installation portion, and jig plate 4 is fixedly arranged on the output end of rotary cylinder 5.Jig plate
4 are provided with pneumatic three claw that can be inserted into CD core bore, and an actuated by cams is provided with by conveying trough of belt end side, can lift, revolve
Turning the transfer spiral arm of resultant motion, transfer spiral arm end is provided with a sucker, in the rotating path of transfer spiral arm, the initial point position of sucker
Put near a stem saddle of jig plate 4 on corresponding conveyer belt, final position then corresponds to pneumatic three claw, lifting support 1
Lifter rack and lifting guide rod are provided with, traverse beam 2 is provided with lifting seat 6, and lifting seat 6 is slidably socketed to be oriented in lifting
On bar, lifting seat 6 is provided with lifting motor and lifter wheel, and lifter wheel is connected with lifting motor and and lifter rack
Engagement.Traverse beam 2 is provided with traversing rack and traversing guide rod, and conveying arm 3 is provided with traversing support 7, and traversing support 7 is slided
Dynamic to be socketed on traversing guide rod, traversing support 7 is provided with traversing motor and traversing gear, and traversing gear is driven with traversing motor
Connect and engaged with traversing rack.When the end turn-over cutting agency of this manipulator is in work origin, traverse beam 2 is in lifting branch
Minimum point is on post 1, conveying arm 3 is also at conveying zero point in traverse beam 2, i.e., not yet moved outward.
During the end turn-over cutting agency work of this manipulator, the conveyer that is carried on compact disc production line is by the light of shaping
Disk is transferred on the conveyer belt of conveying arm 3 one by one, is positioned one by one on stem saddle, and conveyer belt drives work interval defeated by a motor
Send, the last CD grabbing on conveyer belt is transferred on jig plate 4 by described transfer spiral arm, and CD core bore is enclosed on pneumatic three
On claw, subsequent pneumatic three claw struts, by CD core bore hole wall caused frictional force CD is clamped.Then return
Rotaring cylinder 5 starts, 180 ° of the upset of jig plate 4, CD face ID code code readers, and then ID codes code reader starts to read every CD
On complete the ID codes of printing on line, according to result is read, distribute the final unloadings of the Zhang Guangpan and collect position.Point of CD
Class bleeding point office is upper and lower two layers, totally four bleeding points, you can four different orders of mixed production.Pass through traverse beam 2, conveying
The routing motion of arm 3, product is discharged after the motion such as the lifting of different distance, traversing is sent to different bleeding points, completes product
Sort stacking.
Claims (4)
1. a kind of end turn-over cutting agency of manipulator, manipulator include lifting support（1）, traverse beam（2）And conveying arm
（3）, traverse beam（2）It is horizontal and be slidably connected at lifting support in horizontal plane（1）On, conveying arm（3）It also is located at horizontal plane
Interior horizontal and vertical sliding motion is connected to traverse beam（2）On, it is characterized in that including jig plate（4）Sub-agencies, upset are driven with upset
Driving sub-agencies are located at conveying arm（3）End, jig plate（4）It is connected in the movement output ends of upset driving sub-agencies, conveying
Arm（3）Distal end faces are provided with upset driving sub-agencies installation portion, and the upset driving sub-agencies include rotary cylinder（5）, return
Rotaring cylinder（5）It is fixedly arranged on the upset driving sub-agencies installation portion, jig plate（4）It is fixedly arranged on rotary cylinder（5）Output end, rise
Descending branch post（1）, traverse beam（2）, conveying arm（3）It is connected in a PLC system with upset driving sub-agencies, in the PLC system also
It is connected to an identification device.
2. the end turn-over cutting agency of manipulator according to claim 1, it is characterized in that conveying arm（3）On set vertically
There is conveying trough of belt, convey trough of belt endcapped, conveyer belt is provided with conveying trough of belt.
3. the end turn-over cutting agency of manipulator according to claim 1, it is characterized in that lifting support（1）It is provided with and rises
Rack and lifting guide rod, traverse beam drop（2）It is provided with lifting seat（6）, lifting seat（6）It is slidably socketed in lifting guide rod
On, lifting seat（6）Lifting motor and lifter wheel are provided with, lifter wheel is connected with lifting motor and and lifter rack
Engagement.
4. the end turn-over cutting agency of the manipulator according to claim 1 or 2 or 3, it is characterized in that traverse beam（2）On set
Have and be provided with traversing rack and traversing guide rod, conveying arm（3）It is provided with traversing support（7）, traversing support（7）It is slidably socketed in horizontal stroke
Move on guide rod, traversing support（7）Be provided with traversing motor and traversing gear, traversing gear be connected with traversing motor and with
Traversing rack engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720814637.3U CN206939926U (en) | 2017-07-06 | 2017-07-06 | A kind of end turn-over cutting agency of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720814637.3U CN206939926U (en) | 2017-07-06 | 2017-07-06 | A kind of end turn-over cutting agency of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206939926U true CN206939926U (en) | 2018-01-30 |
Family
ID=61368200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720814637.3U Expired - Fee Related CN206939926U (en) | 2017-07-06 | 2017-07-06 | A kind of end turn-over cutting agency of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206939926U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109051843A (en) * | 2018-07-12 | 2018-12-21 | 深圳智慧者机器人科技有限公司 | Pcb board automatic blanking palletizing apparatus |
| CN111137687A (en) * | 2020-01-22 | 2020-05-12 | 山东交通学院 | Stacking device and stacking method for concrete rectangular groove |
-
2017
- 2017-07-06 CN CN201720814637.3U patent/CN206939926U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109051843A (en) * | 2018-07-12 | 2018-12-21 | 深圳智慧者机器人科技有限公司 | Pcb board automatic blanking palletizing apparatus |
| CN109051843B (en) * | 2018-07-12 | 2024-01-30 | 深圳智慧者机器人科技有限公司 | Automatic unloading pile up neatly device of PCB board |
| CN111137687A (en) * | 2020-01-22 | 2020-05-12 | 山东交通学院 | Stacking device and stacking method for concrete rectangular groove |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 |