CN207189653U - A kind of six shaft machine hand charging and discharging mechanism - Google Patents
A kind of six shaft machine hand charging and discharging mechanism Download PDFInfo
- Publication number
- CN207189653U CN207189653U CN201720820184.5U CN201720820184U CN207189653U CN 207189653 U CN207189653 U CN 207189653U CN 201720820184 U CN201720820184 U CN 201720820184U CN 207189653 U CN207189653 U CN 207189653U
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- CN
- China
- Prior art keywords
- actuating arm
- connecting shaft
- machine hand
- shaft
- discharging mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
It the utility model is related to electronic product technical field of automation equipment,A kind of more particularly to six shaft machine hand charging and discharging mechanism,Including base,The upper end of base is provided with six axle actuating arms,One end base of six axle actuating arms is fixedly connected,The other end of six axle actuating arms is provided with material grasping mechanism,Material grasping mechanism includes the connecting plate being connected with six axle actuating arms,One end of connecting plate and six axle actuating arm drive connections,The other end of connecting plate is provided with connecting shaft,The cross section of connecting shaft is polygon,One of end face of connecting shaft is provided with clip claw assembly,Other end faces of connecting shaft are provided with Suction cup assembly,The utility model drives material grasping mechanism to carry out x by six axle actuating arms,y,The rotation and movement of z-axis,Loading and unloading once can be carried out to multiple materials,Improve operating efficiency,Suitable for the automated production pattern of enterprise.
Description
Technical field
It the utility model is related to electronic product technical field of automation equipment, more particularly to a kind of six shaft machine hand loading and unloading
Mechanism.
Background technology
In today that manufacturing industry is opened up at a high speed, robot application is expanding to increasing industry, including 3D printing, agriculture
Many other industries such as industry, assembling, building, electronics, logistics and storage, the manufacturing, medicine, mining and transport can be seen
The figure of robot.
On traditional electronic product automatic production line, the mechanism for carrying out material loading and unloading is three axle robert machine
Structure, but three axle robert mechanism once can only carry out loading and unloading to a material, operating efficiency is slow, has not been suitable for enterprise
Automated production pattern.
The content of the invention
The purpose of this utility model is to provide a kind of six shaft machine hand charging and discharging mechanism in view of the shortcomings of the prior art, this
Utility model drives the rotation and movement of material grasping mechanism progress x, y, z axle by six axle actuating arms, can be once to multiple things
Material carries out loading and unloading, operating efficiency is improved, suitable for the automated production pattern of enterprise.
The utility model is achieved through the following technical solutions, a kind of six shaft machine hand charging and discharging mechanism, including bottom
Seat, the upper end of the base are provided with six axle actuating arms, and one end base of the six axles actuating arm is fixedly connected, and six axle drives
The other end of swing arm is provided with material grasping mechanism, and the material grasping mechanism includes the connecting plate being connected with six axle actuating arms,
One end of the connecting plate and six axle actuating arm drive connections, the other end of the connecting plate are provided with connecting shaft, the connection
The cross section of axle is polygon, and one of end face of the connecting shaft is provided with clip claw assembly, other ends of the connecting shaft
Face is provided with Suction cup assembly.
Preferably, the cross section of the connecting shaft is quadrangle, pentagon or hexagon.
Preferably, the Suction cup assembly includes three suckers for being fixedly installed on connection axial end, three suckers
Set in isosceles triangle.
Preferably, the clip claw assembly includes two calvus being oppositely arranged and for driving two calvus to be gripped
The drive mechanism of action.
Preferably, the six axles actuating arm include fixed seat, the first actuating arm, the second actuating arm, the 3rd actuating arm and
4th actuating arm, the fixed seat are fixedly installed on the upper end of base；First actuating arm is rotatably arranged at fixed seat
Upper end；One end and one end of the first actuating arm of second actuating arm are hinged, the other end of the second actuating arm and the 3rd driving
One end of arm is hinged；The other end of the actuating arm of one end the 3rd of 4th actuating arm is hinged；4th actuating arm it is another
End is provided with rolling bearing.
Preferably, the connecting plate is connected with rolling bearing.
The beneficial effects of the utility model：A kind of six shaft machine hand charging and discharging mechanism, including base, the upper end of the base
Six axle actuating arms are provided with, one end base of the six axles actuating arm is fixedly connected, and the other end of the six axles actuating arm is set
There is material grasping mechanism, the material grasping mechanism includes the connecting plate being connected with six axle actuating arms, one end of the connecting plate
With six axle actuating arm drive connections, the other end of the connecting plate is provided with connecting shaft, and the cross section of the connecting shaft is polygon
Shape, one of end face of the connecting shaft are provided with clip claw assembly, and other end faces of the connecting shaft are provided with sucker group
Part, material grasping mechanism is driven to carry out the rotation and movement of x, y, z axle by six axle actuating arms, clip claw assembly, which is used to grip, expects
Disk, after charging tray places, Suction cup assembly is used to draw the material on charging tray or material is placed on into charging tray, wherein, connection
The cross section of axle is polygon, is often rotated a certain angle, and a Suction cup assembly can carry out feeding or blanking, improves work effect
Rate, suitable for the automated production pattern of enterprise.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is the mplifying structure schematic diagram at A in Fig. 1.
Fig. 3 is the dimensional structure diagram of the utility model material grasping mechanism.
Fig. 4 is the front view of the utility model material grasping mechanism.
Embodiment
1 the utility model is described further to accompanying drawing 4, and embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 4, a kind of six shaft machine hand charging and discharging mechanism, including base 1, the upper end of the base 1 are set
There are six axle actuating arms 2, one end base 1 of the six axles actuating arm 2 is fixedly connected, and the other end of the six axles actuating arm 2 is set
There is material grasping mechanism 3, the material grasping mechanism 3 includes the connecting plate 31 being connected with six axle actuating arms 2, the connecting plate 31
One end and the drive connection of six axle actuating arm 2, the other end of the connecting plate 31 is provided with connecting shaft 32, the connecting shaft 32
Cross section is polygon, and one of end face of the connecting shaft 32 is provided with clip claw assembly 33, the connecting shaft 32 it is other
End face is provided with Suction cup assembly 34.
The present embodiment drives the rotation and movement of the progress x, y, z axle of material grasping mechanism 3 by six axle actuating arms 2；Connection
The cross section of axle 32 is the polygons such as quadrangle, pentagon, hexagon；As one of preferred embodiment, the present embodiment connection
The cross section of axle 32 is hexagon, is provided with a clip claw assembly 33 and five Suction cup assemblies 34, when feeding or blanking, clamping jaw
Component 33 is used to grip charging tray, and charging tray is placed, material that Suction cup assembly 34 is used to draw on charging tray or by sucker
Material be placed on charging tray；Connecting shaft 32 often rotates 60 degree, a Suction cup assembly 34 can be carried out on charging tray feeding or under
Material, the utility model once can carry out loading and unloading to multiple materials, operating efficiency be improved, suitable for the automated production mould of enterprise
Formula.
In the present embodiment, the Suction cup assembly 34 includes three suckers 341 for being fixedly installed on the end face of connecting shaft 32, three
The sucker 341 is set in isosceles triangle, increases the stability of the suction of sucker 341, prevents six axle actuating arms 2 in driving material crawl
When mechanism 3 acts, material comes off from sucker 341.
Preferably, the clip claw assembly 33 includes two calvus 331 being oppositely arranged and for driving two calvus 331
Carry out the drive mechanism of gripping action, during feeding, clip claw assembly 33 grips charging tray, the subsequent drive connection axle 32 of six axles actuating arm 2
60 degree are often rotated, one of Suction cup assembly 34 carries out suction, and the cross section of the present embodiment connecting shaft 32 is hexagon, therefore can
Simultaneously to drawing five materials, operating efficiency is effectively improved.
In the present embodiment, the six axles actuating arm 2 includes fixed seat 21, the first actuating arm 22, the second actuating arm the 23, the 3rd
The actuating arm 25 of actuating arm 24 and the 4th, the fixed seat 21 are fixedly installed on the upper end of base 1；First actuating arm 22 can turn
The dynamic upper end for being arranged at fixed seat 21；One end of second actuating arm 23 and one end of the first actuating arm 22 are hinged, and second drives
One end of the other end of swing arm 23 and the 3rd actuating arm 24 is hinged；The actuating arm 24 of one end the 3rd of 4th actuating arm 25 it is another
One end is hinged；The other end of 4th actuating arm 25 is provided with rolling bearing 26；First actuating arm 22 is rotatably arranged at solid
The upper end of reservation 21, its role is to cause whole six axles actuating arm 2 itself is realized to rotate, the driving of the second actuating arm the 23, the 3rd
The actuating arm 25 of arm 24 and the 4th is made of being to drive material grasping mechanism 3 along XYZ three-axis movings, the other end of the 4th actuating arm 25
Rolling bearing 26 is provided with, the connecting plate 31 is connected with rolling bearing 26, and rolling bearing 26 drives connecting shaft 32 to rotate, and is realized
Switching between clip claw assembly 33, each clip claw assembly 33 so that the utility model once can carry out loading and unloading to multiple materials,
Improve operating efficiency.
Above content is only preferred embodiment of the present utility model, for one of ordinary skill in the art, according to this reality
With new thought, there will be changes, this specification content should not be construed as in specific embodiments and applications
To limitation of the present utility model.
Claims (6)
1. a kind of six shaft machine hand charging and discharging mechanism, including base, it is characterised in that：The upper end of the base is provided with the drive of six axles
Swing arm, one end base of the six axles actuating arm are fixedly connected, and the other end of the six axles actuating arm is provided with material gripper
Structure, the material grasping mechanism include the connecting plate being connected with six axle actuating arms, one end of the connecting plate and six axle actuating arms
Drive connection, the other end of the connecting plate are provided with connecting shaft, and the cross section of the connecting shaft is polygon, the connecting shaft
One of end face be provided with clip claw assembly, other end faces of the connecting shaft are provided with Suction cup assembly.
A kind of 2. six shaft machine hand charging and discharging mechanism according to claim 1, it is characterised in that：The connecting shaft it is transversal
Face is quadrangle, pentagon or hexagon.
A kind of 3. six shaft machine hand charging and discharging mechanism according to claim 1, it is characterised in that：The Suction cup assembly includes
Three suckers for being fixedly installed on connection axial end, three suckers are set in isosceles triangle.
A kind of 4. six shaft machine hand charging and discharging mechanism according to claim 1, it is characterised in that：The clip claw assembly includes
Two calvus being oppositely arranged and the drive mechanism that gripping action is carried out for two calvus of driving.
A kind of 5. six shaft machine hand charging and discharging mechanism according to claim 1, it is characterised in that：The six axles actuating arm bag
Fixed seat, the first actuating arm, the second actuating arm, the 3rd actuating arm and the 4th actuating arm are included, the fixed seat is fixedly installed on bottom
The upper end of seat；First actuating arm is rotatably arranged at the upper end of fixed seat；Driven with first one end of second actuating arm
One end of swing arm is hinged, and one end of the other end of the second actuating arm and the 3rd actuating arm is hinged；One end of 4th actuating arm
The other end of 3rd actuating arm is hinged；The other end of 4th actuating arm is provided with rolling bearing.
A kind of 6. six shaft machine hand charging and discharging mechanism according to claim 5, it is characterised in that：The connecting plate is with rotating
Bearing connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720820184.5U CN207189653U (en) | 2017-07-07 | 2017-07-07 | A kind of six shaft machine hand charging and discharging mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720820184.5U CN207189653U (en) | 2017-07-07 | 2017-07-07 | A kind of six shaft machine hand charging and discharging mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207189653U true CN207189653U (en) | 2018-04-06 |
Family
ID=61784551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720820184.5U Expired - Fee Related CN207189653U (en) | 2017-07-07 | 2017-07-07 | A kind of six shaft machine hand charging and discharging mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207189653U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650003A (en) * | 2021-10-20 | 2021-11-16 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
-
2017
- 2017-07-07 CN CN201720820184.5U patent/CN207189653U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650003A (en) * | 2021-10-20 | 2021-11-16 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
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Legal Events
| 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: 20180406 Termination date: 20200707 |