CN208099132U - A kind of automatic transportation manipulator arm for circular grip - Google Patents
A kind of automatic transportation manipulator arm for circular grip Download PDFInfo
- Publication number
- CN208099132U CN208099132U CN201820336150.3U CN201820336150U CN208099132U CN 208099132 U CN208099132 U CN 208099132U CN 201820336150 U CN201820336150 U CN 201820336150U CN 208099132 U CN208099132 U CN 208099132U
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- China
- Prior art keywords
- actuator
- support arm
- circular grip
- automatic transportation
- clamping
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Abstract
The utility model discloses a kind of automatic transportation manipulator arms for circular grip, including manipulator clamping arm, it is characterised in that：Manipulator clamping arm includes direction actuator and four support arms；Direction actuator includes the reciprocal actuator of left and right horizontal, the up and down reciprocatingly reciprocal actuator of actuator, anterior-posterior horizontal；Support arm includes branch armed lever and clamping part, and branch armed lever is vertically connected in the horizontal plane on support arm beam, and clamping part includes a pair of of supporting rod, and clamping part carries out periodical folding by folding actuator.Compared with prior art, the utility model has the beneficial effects that：It drives four support arms to transport circular grip back and forth on punching machine with direction actuator, not only improves production efficiency, but also improve the stability of product quality and the safety of worker's production.
Description
Technical field
The utility model relates to a kind of automatic transportation manipulator arms for circular grip.
Background technique
Existing circular grip punching course is that circular grip is sleeved in stamping station with hand by worker, completes to rush to punching machine
After press operation, then the good circular grip of punching press is rushed in stamping station and is removed, which holds stabilization and safety
Difference.
Utility model content
The utility model is that in view of the above shortcomings of the prior art, and it is mechanical to provide a kind of automatic transhipment for circular grip
Arm.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of automatic transportation manipulator arm for circular grip, including manipulator clamping arm, manipulator clamping arm include side
To actuator and four support arms；Direction actuator includes the reciprocal actuator of left and right horizontal, up and down reciprocatingly actuator, anterior-posterior horizontal are past
Multiple actuator；It includes motor and crawler belt that left and right horizontal, which back and forth drives, and motor-driven caterpillar tracks left and right horizontal moves back and forth, and is set on crawler belt
There is bottom plate, bottom plate is moved synchronously with crawler belt；Up and down reciprocatingly actuator includes elevating lever and substrate, and the lower end of elevating lever and bottom plate connect
It connects, the upper end of elevating lever is connect with substrate, and substrate is moved back and forth up and down by elevating lever；The reciprocal actuator packet of anterior-posterior horizontal
Telescopic rod and support arm beam are included, support arm beam is movably connected on substrate, and one end of telescopic rod is connect with substrate, the other end and support arm beam
Connection, support arm beam carry out front and back reciprocating movement by telescopic rod；Support arm includes branch armed lever and clamping part, and branch armed lever is in the horizontal plane
It is vertically connected on support arm beam, clamping part includes a pair of of supporting rod, and clamping part carries out periodical folding by folding actuator.
The clamping face of supporting rod is equipped with elastic component.
Elastic component is ball, and the longitudinal section of ball is in 8 fonts, and the clamping face of each supporting rod is equipped with 2 side by side
Ball.
Elastic component is rubber pad, and rubber pad is serrated.
Elevating lever and telescopic rod are hydraulic stem or atmospheric pressure pole.
The joint face of support arm beam and substrate is equipped with guide part, and guide part includes guiding groove and directive wheel.
Opening and closing actuator is hydraulic cylinder or pneumatic cylinder.
Compared with prior art, the utility model has the beneficial effects that：Drive four support arms in punching machine with direction actuator
Upper round-trip transhipment circular grip, not only improves production efficiency, but also improves the stability of product quality and the safety of worker's production.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the automatic transportation manipulator arm for circular grip of the utility model.
Wherein, 1- crawler belt, 2- bottom plate, 3- elevating lever, 4- substrate, 5- telescopic rod, 6- support arm beam, 7- branch armed lever, 8- clamping
Bar, 9- ball.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
It should be understood that following specific embodiments are merely to illustrate the utility model rather than limit the model of the utility model
It encloses.It should be noted that word "front", "rear" used in the following description, "left", "right", "up" and "down" refer to attached drawing
In direction, word "inner" and "outside" refer respectively to the direction towards or away from geometric center of specific component.
It include with lower component in figure：1- crawler belt, 2- bottom plate, 3- elevating lever, 4- substrate, 5- telescopic rod, 6- support arm beam, 7- branch
Armed lever, 8- supporting rod and 9- ball.
As shown in Figure 1, a kind of automatic transportation manipulator arm for circular grip, including manipulator clamping arm, manipulator folder
Gripping arm includes direction actuator and four support arms；Direction actuator include the reciprocal actuator of left and right horizontal, up and down reciprocatingly actuator,
The reciprocal actuator of anterior-posterior horizontal；It includes motor and crawler belt that left and right horizontal, which back and forth drives, and motor-driven caterpillar tracks left and right horizontal is back and forth moved
Dynamic, crawler belt is equipped with bottom plate, and bottom plate is moved synchronously with crawler belt；Up and down reciprocatingly actuator includes elevating lever and substrate, elevating lever
Lower end is connect with bottom plate, and the upper end of elevating lever is connect with substrate, and substrate is moved back and forth up and down by elevating lever；Anterior-posterior horizontal
Reciprocal actuator includes telescopic rod and support arm beam, and support arm beam is movably connected on substrate, and one end of telescopic rod is connect with substrate, separately
One end is connect with support arm beam, and support arm beam carries out front and back reciprocating movement by telescopic rod；Support arm includes branch armed lever and clamping part, support arm
Bar is vertically connected in the horizontal plane on support arm beam, and clamping part includes a pair of of supporting rod, and clamping part is carried out by folding actuator
Periodically folding.
The clamping face of supporting rod is equipped with elastic component.
Elastic component is ball, and the longitudinal section of ball is in 8 fonts, and the clamping face of each supporting rod is equipped with 2 side by side
Ball.
Elastic component is rubber pad, and rubber pad is serrated.
Elevating lever and telescopic rod are hydraulic stem or atmospheric pressure pole.
The joint face of support arm beam and substrate is equipped with guide part, and guide part includes guiding groove and directive wheel.
Opening and closing actuator is hydraulic cylinder or pneumatic cylinder.
It include that antirust station, No. 1 stamping station and No. 2 stamping stations, the side of workbench are equipped on the workbench of punching machine
Feed station, the other side are equipped with discharging station, feed station, antirust station, No. 1 stamping station, No. 2 stamping stations and discharging work
Position is located on the same line, and the spacing between them is equal.
When work, include the following steps：
(1) clamping part is the state opened, and the reciprocal actuator of left and right horizontal drives support arm to be moved to the left, is located at leftmost
Support arm is aligned with feed station；
(2) the reciprocal actuator of anterior-posterior horizontal drives support arm to move forward, and circular grip is made to be located at the clamping target position of clamping part
Set place；
(3) folding actuator driving clamping part closure, clamps circular grip；
(4) up and down reciprocatingly actuator drives support arm to move up, and support arm takes off circular grip from the station of punching machine；
(5) the reciprocal actuator of left and right horizontal drives support arm to move right, and up and down reciprocatingly actuator drives support arm to move down,
Circular grip is transferred on next station by support arm；
(6) folding actuator driving clamping part is opened, and clamping part unclamps circular grip；
(7) the reciprocal actuator of anterior-posterior horizontal drives support arm to move backward；
(8) it completes once to change station manipulation, repeat the above steps.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technical idea completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to its technology is determined according to scope of the claims
Property range.
Claims (7)
1. a kind of automatic transportation manipulator arm for circular grip, including manipulator clamping arm, it is characterised in that：Manipulator clamping
Arm includes direction actuator and four support arms；Direction actuator includes the reciprocal actuator of left and right horizontal, up and down reciprocatingly actuator, preceding
Horizontal reciprocating actuator afterwards；It includes motor and crawler belt that left and right horizontal, which back and forth drives, and motor-driven caterpillar tracks left and right horizontal moves back and forth,
Crawler belt is equipped with bottom plate, and bottom plate is moved synchronously with crawler belt；Up and down reciprocatingly actuator includes elevating lever and substrate, the lower end of elevating lever
It is connect with bottom plate, the upper end of elevating lever is connect with substrate, and substrate is moved back and forth up and down by elevating lever；Anterior-posterior horizontal is reciprocal
Actuator includes telescopic rod and support arm beam, and support arm beam is movably connected on substrate, and one end of telescopic rod is connect with substrate, the other end
It is connect with support arm beam, support arm beam carries out front and back reciprocating movement by telescopic rod；Support arm includes branch armed lever and clamping part, and branch armed lever exists
It is vertically connected on support arm beam on horizontal plane, clamping part includes a pair of of supporting rod, and clamping part carries out the period by folding actuator
Property folding.
2. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：The clamping of supporting rod
Face is equipped with elastic component.
3. the automatic transportation manipulator arm according to claim 2 for circular grip, it is characterised in that：Elastic component is rubber
Ball, the longitudinal section of ball are in 8 fonts, and the clamping face of each supporting rod is equipped with 2 balls side by side.
4. the automatic transportation manipulator arm according to claim 2 for circular grip, it is characterised in that：Elastic component is rubber
Pad, and rubber pad is serrated.
5. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：Elevating lever and flexible
Bar is hydraulic stem or atmospheric pressure pole.
6. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：Support arm beam and substrate
Joint face be equipped with guide part, guide part includes guiding groove and directive wheel.
7. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：Opening and closing actuator is
Hydraulic cylinder or pneumatic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820336150.3U CN208099132U (en) | 2018-03-10 | 2018-03-10 | A kind of automatic transportation manipulator arm for circular grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820336150.3U CN208099132U (en) | 2018-03-10 | 2018-03-10 | A kind of automatic transportation manipulator arm for circular grip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208099132U true CN208099132U (en) | 2018-11-16 |
Family
ID=64126271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820336150.3U Active CN208099132U (en) | 2018-03-10 | 2018-03-10 | A kind of automatic transportation manipulator arm for circular grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208099132U (en) |
-
2018
- 2018-03-10 CN CN201820336150.3U patent/CN208099132U/en active Active
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