CN208801355U - High speed taking mechanical hand - Google Patents
High speed taking mechanical hand Download PDFInfo
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- CN208801355U CN208801355U CN201820930337.6U CN201820930337U CN208801355U CN 208801355 U CN208801355 U CN 208801355U CN 201820930337 U CN201820930337 U CN 201820930337U CN 208801355 U CN208801355 U CN 208801355U
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- material folding
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Abstract
The utility model discloses a kind of high speed taking mechanical hands, the manipulator transverse-moving mechanism is installed on assembly seat, manipulator material folding turnover mechanism is installed on the sliding seat of manipulator transverse-moving mechanism, manipulator material folding turnover mechanism includes overturning drive motor, overturning driving speed reducer, arm shaft, principal arm, armed lever flange, clamp arm bar and pneumatic clamping device, overturning drive motor is able to drive the overturning of the clamp arm bar on principal arm, to make the pneumatic clamping device of clamp arm bar one end by 90 degree of workpiece turning of clamping, and lie in a horizontal plane on corresponding station.The utility model has the advantages of simple structure, only needs workpiece can be made to be horizontally arranged corresponding station by 90 degree of workpiece turning after traversing feeding, without carrying out horizontal revolving motion, greatly accelerate the speed of service, the stability and working efficiency of operation are effectively increased, it is practical, reduce production cost.
Description
Technical field
The utility model relates to manipulator technical fields, are to be related to a kind of high speed taking mechanical hand more specifically.
Background technique
In the process equipments such as die casting machine, the workpiece after machine-shaping needs to carry out pickup by manipulator.But it is existing
Manipulator structure is complicated, the speed of service is slow, a pickup movement needs by transverse motion, horizontal revolving motion and overturning
Athleticism rests easily within workpiece in subsequent shifting material station, greatly reduces working efficiency, stability is poor.
Utility model content
The purpose of the utility model is to overcome drawbacks described above in the prior art, provide that a kind of structure is simple, operation speed
The high speed taking mechanical hand that degree is fast, stability is good, work efficiency is high.
To achieve the above object, the utility model provides a kind of high speed taking mechanical hand, including assembly seat, for driving
The manipulator transverse-moving mechanism of manipulator material folding turnover mechanism transverse shifting and for clamp workpiece and by workpiece turning make its level
It is placed into the manipulator material folding turnover mechanism of corresponding station, the manipulator transverse-moving mechanism is installed on assembly seat, the machinery
Hand material folding turnover mechanism is installed on the sliding seat of manipulator transverse-moving mechanism, and the manipulator material folding turnover mechanism includes that overturning is driven
Dynamic motor, overturning driving speed reducer, arm shaft, principal arm, armed lever flange, clamp arm bar and pneumatic clamping device, the overturning driving
Speed reducer is installed on sliding seat, and the output shaft of the overturning drive motor is connect with overturning driving speed reducer drive, described to turn over
Turn driving speed reducer to be sequentially connected by one end of arm shaft and principal arm and be able to drive principal arm rotation, the armed lever flange installing
In the other end of principal arm, the clamp arm bar is installed on armed lever flange, and one end of the clamp arm bar is connected with pneumatic clamping device
It connects, the clamp arm bar is parallel with the traversing direction of manipulator transverse-moving mechanism.
As preferred embodiment, the manipulator material folding turnover mechanism further include first support arm axis, second support arm axis,
First support arm and second support arm, one end of the first support arm is realized by first support arm axis and sliding seat to be rotatablely connected, described
The other end of first support arm realized by one end of second support arm axis and second support arm and is rotatablely connected, the second support arm it is another
End is connected with the other end of clamp arm bar.
As preferred embodiment, the pneumatic clamping device include material folding driving cylinder, material folding shell, fixing piece,
Yoke, material folding arm, clip and hinged seat, the material folding driving cylinder are installed in one end of material folding shell, the fixing piece, two forks
Arm and hinged seat are located in material folding shell, and the both ends of the yoke drive the fixation on the output shaft of cylinder with material folding respectively
Part and material folding arm are hinged, and two material folding arms are respectively hinged on hinged seat, and the clip is installed in one end of two material folding arms, described
Material folding drives cylinder that can move clip opening or closure by yoke and material folding armband.
As preferred embodiment, the sliding seat is equipped with the swing arm inductor for detecting the position of principal arm.
As preferred embodiment, the manipulator transverse-moving mechanism include traversing drive motor, traversing driving speed reducer,
First synchronous pulley, the second synchronous pulley, synchronous belt, guide rail, sliding block and synchronous belt link block, the traversing drive motor it is defeated
Shaft is connect with traversing driving speed reducer drive, and the traversing driving speed reducer is installed in the bottom end of assembly seat, the cross
The output shaft for moving driving speed reducer is connected with the first synchronizing wheel for being located at assembly seat one end, and second synchronous pulley passes through same
Step wheel seat is installed in the other end of assembly seat, and the synchronous belt is installed between the first synchronous pulley and the second synchronous pulley, institute
It states guide rail and is installed in the two sides on assembly seat and being located at synchronous belt, the bottom plate of the sliding seat is connected by sliding block and guide rail sliding
It connects, the synchronous belt link block is installed on synchronous belt and is connected with the bottom plate of sliding seat.
As preferred embodiment, one end of the assembly seat is equipped with the limit induction for detecting the position of sliding seat
Device, the bottom of the sliding seat are equipped with the sensing chip matched with limit inductor.
As preferred embodiment, the both ends of the assembly seat are respectively equipped with limit end plate, and the assembly seat is equipped with
The outer cover being located above synchronous belt and guide rail.
As preferred embodiment, the side of the assembly seat is equipped with bobbin carriage and tank band, and the tank band passes through smooth
Gram strip connecting plate is connected with the side of sliding seat.
As preferred embodiment, the sliding seat is equipped with spraying frame, and the spraying frame is equipped with and clamp arm bar phase
One end of parallel spraying pipe support, the spraying pipe support is equipped with nozzle carrier, and the nozzle carrier is equipped with spray head and blowing nozzle.
As preferred embodiment, one end of the assembly seat is equipped with photoelectric support, and the photoelectric support is equipped with light
Electric adjusting bracket, the photoelectricity adjusting bracket are equipped with the material folding inductor that workpiece whether is clamped for detecting pneumatic clamping device.
As preferred embodiment, the bottom of the assembly seat is equipped with the pedestal lifting of the height for adjusting assembly seat
Mechanism, the pedestal elevating mechanism include pedestal, lifting shaft, axle bed and lifting seat, and the lifting seat is located at the top of pedestal, institute
It states assembly seat to be installed on lifting seat, one end of the lifting shaft is connected with lifting seat, and the other end of the lifting shaft is planted
In the mounting hole of pedestal, the axle bed is installed on lifting shaft.
Compared with prior art, the utility model has the beneficial effects that:
The utility model has the advantages of simple structure, only needs workpiece level can be made to put by 90 degree of workpiece turning after traversing feeding
Set corresponding station, without carrying out horizontal revolving motion, greatly accelerate the speed of service, effectively increase operation stability and
Working efficiency, it is practical, reduce production cost.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is this
Some embodiments of utility model, for those of ordinary skill in the art, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is the structural schematic diagram one of high speed taking mechanical hand provided by the utility model；
Fig. 2 is the structural schematic diagram two of high speed taking mechanical hand provided by the utility model；
Fig. 3 is the partial structural diagram of high speed taking mechanical hand provided by the utility model；
Fig. 4 is the partial structurtes exploded view of high speed taking mechanical hand provided by the utility model；
Fig. 5 is the structural schematic diagram that pneumatic clamping device provided by the utility model conceals material folding shell.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Fig. 1 and Fig. 2 are please referred to, the embodiments of the present invention provide a kind of high speed taking mechanical hand, including assembly seat
1, for driving the manipulator transverse-moving mechanism 2 of 3 transverse shifting of manipulator material folding turnover mechanism, for clamping workpiece and turning over workpiece
Turn that it is made to be horizontally arranged the manipulator material folding turnover mechanism 3 of corresponding station and the pedestal liter of the height for adjusting assembly seat 1
Descending mechanism 9, manipulator transverse-moving mechanism 2 are installed on assembly seat 1, and manipulator material folding turnover mechanism 3 is installed in manipulator cross sliding machine
On the sliding seat 21 of structure 2, pedestal elevating mechanism 9 is installed in the bottom of assembly seat 1.It is each to the present embodiment with reference to the accompanying drawing
Mechanism is described in detail.
As shown in Figure 3 and Figure 4, manipulator transverse-moving mechanism 2 subtracts including sliding seat 21, traversing drive motor 22, traversing driving
Fast machine 23, the first synchronous pulley 24, the second synchronous pulley 25, synchronous belt 26, guide rail 27, sliding block 28 and synchronous belt link block 29,
The output shaft of traversing drive motor 22 and traversing driving speed reducer 23 are sequentially connected, and traversing driving speed reducer 23 is installed in assembly seat
The output shaft of 1 bottom end, traversing driving speed reducer 23 is connected with the first synchronizing wheel for being located at 1 one end of assembly seat, and second
Synchronous pulley 25 is installed in the other end of assembly seat 1 by synchronous wheel seat 210, and synchronous belt 26 is installed in the first synchronous pulley 24
Between the second synchronous pulley 25, guide rail 27 is installed in the two sides on assembly seat 1 and being located at synchronous belt 26, the bottom of sliding seat 21
Plate is slidably connected by sliding block 28 with guide rail 27, and synchronous belt link block 29 is installed in the bottom plate on synchronous belt 26 and with sliding seat 21
It is connected.
In the present embodiment, the both ends of assembly seat 1 are respectively equipped with limit end plate 11, and assembly seat 1 is equipped with and is located at synchronization
Outer cover 12 with 26 and 27 top of guide rail.
In order to detect the position of sliding seat 21 automatically, one end of assembly seat 1 can be equipped with limit inductor 211, phase
It answers, the bottom of sliding seat 21 is equipped with the sensing chip 212 matched with limit inductor 211.
As shown in Fig. 2, the side of assembly seat 1 is equipped with bobbin carriage 13 and tank band 14, tank band 14 passes through tank strip connecting plate
15 are connected with the side of sliding seat 21.
As shown in Figures 1 to 4, manipulator material folding turnover mechanism 3 includes overturning drive motor 31, overturning driving speed reducer
32, arm shaft 33, L-shaped principal arm 34, armed lever flange 35, first support arm axis 36, second support arm axis 37, first support arm 38, second
Support arm 39, clamp arm bar 310 and the pneumatic clamping device 311 for material folding, overturning driving speed reducer 32 are installed on sliding seat 21,
The output shaft and overturning driving speed reducer 32 for overturning drive motor 31 are sequentially connected, and overturning driving speed reducer 32 passes through arm shaft 33
It being sequentially connected with one end of principal arm 34 and is able to drive the rotation of principal arm 34, armed lever flange 35 is installed in the other end of principal arm 34, the
One end of one support arm 38 realized by first support arm axis 36 and sliding seat 21 and is rotatablely connected, and the other end of first support arm 38 passes through the
One end of two support arm shafts 37 and second support arm 39, which is realized, to be rotatablely connected, and clamp arm bar 310 is installed on armed lever flange 35, clamp arm bar
310 one end is connected with the other end of second support arm 39, and the other end of clamp arm bar 310 is connected with pneumatic clamping device 311,
Clamp arm bar 310 is parallel with the traversing direction of manipulator transverse-moving mechanism 2.Wherein, clamp arm bar 310 can be pipe structure, can be with
It is inserted into the air supply pipe being connected with pneumatic clamping device 311.
As shown in figure 5, furthermore, pneumatic clamping device 311 includes that material folding drives cylinder 3111, material folding shell
3112, fixing piece 3113, yoke 3114, material folding arm 3115, clip 3116 and hinged seat 3117, material folding drive cylinder 3111 to install
In one end of material folding shell 3112, fixing piece 3113, two yokes 3114 and hinged seat 3117 are located in material folding shell 3112,
The both ends of yoke 3114 drive fixing piece 3113 and material folding arm 3115 on the output shaft of cylinder 3111 to be hinged with material folding respectively,
Two material folding arms 3115 are respectively hinged on hinged seat 3117, and clip 3116 is installed in one end of two material folding arms 3115, material folding driving
Cylinder 3111 can drive clip 3116 to open or be closed by yoke 3114 and material folding arm 3115.
Preferably, the swing arm inductor 312 for detecting the position of principal arm 34 can be equipped on sliding seat 21.
As shown in Figure 1, pedestal elevating mechanism 9 includes pedestal 91, lifting shaft 92, axle bed 93 and lifting seat 94, lifting seat 94
Positioned at the top of pedestal 91, assembly seat 1 is installed on lifting seat 94, and one end of lifting shaft 92 is connected with lifting seat 94, lifting
The other end of axis 92 is inserted in the mounting hole of pedestal 91, and axle bed 93 is installed on lifting shaft 92.Pass through pedestal elevating mechanism 9
The height of adjustable assembly seat 1, to adapt to the height of the workbench of equipment matched with its.
Before pickup, the workpiece of die cast is needed through spraying release agent to prevent workpiece to be adhered to mold inner-cavity wall
On, in order to keep spraying and pickup function integrated, spraying frame 4 can be equipped on sliding seat 21, spraying frame 4 is equipped with and clamp arm
The parallel spraying pipe support 5 of bar 310, one end of spraying pipe support 5 are equipped with nozzle carrier 6, and nozzle carrier 6 is equipped with for spraying demoulding
The spray head 7 of agent, spray head 7 are connected by pipeline with release agent supply arrangement.
Further, it in order to which the surface to workpiece is cleaned, is also provided on nozzle carrier 6 and passes through pipe with air feed equipment
The blowing nozzle 8 of road connection, blowing nozzle 8 can blow away the release agent and scrap, waste material of workpiece surface.
In addition, one end of assembly seat 1 is also provided with photoelectric support 10, photoelectric support 10 is equipped with height-adjustable light
Electric adjusting bracket 16, photoelectricity adjusting bracket 16 are equipped with the material folding induction that workpiece whether is clamped for detecting pneumatic clamping device 311
Device 17, it greatly improves the degree of automation of equipment.
In the present embodiment, each motor, the valve body of cylinder and inductor can be electrically connected with the controller, which can
Think the various common control equipment on the market at present such as control cabinet, touch screen or computer.
The pickup process of high speed taking mechanical hand is as follows:
The traversing drive motor 22 of manipulator transverse-moving mechanism 2 can drive synchronous belt 26 to rotate by synchronizing wheel, thus band
The mold cavity of the traversing close process equipment of manipulator material folding turnover mechanism 3 on dynamic sliding seat 21 carries out pickup, when manipulator presss from both sides
When expecting the pneumatic clamping device 311 of turnover mechanism 3 close to workpiece, the material folding driving cylinder 3111 of pneumatic clamping device 311 can
Two clips 3116 are driven to clamp workpiece, after material folding, manipulator transverse-moving mechanism 2 is able to drive the manipulator material folding on sliding seat 21
Turnover mechanism 3 is mobile to be resetted, and after reset, the overturning drive motor 31 of manipulator material folding turnover mechanism 3 is able to drive on principal arm 34
Clamp arm bar 310 overturn, to make the pneumatic clamping device 311 of 310 one end of clamp arm bar by 90 degree of workpiece turning of setting, and water
Placing flat is on corresponding station (such as conveyer belt).
In conclusion the utility model has the advantages of simple structure, only need that 90 degree of workpiece turning can be made after traversing feeding
Workpiece is horizontally arranged corresponding station, without carrying out horizontal revolving motion, greatly accelerates the speed of service, effectively increases operation
Stability and working efficiency, it is practical, reduce production cost.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (10)
1. a kind of high speed taking mechanical hand, it is characterised in that: including assembly seat (1), for driving manipulator material folding turnover mechanism
(3) the manipulator transverse-moving mechanism (2) of transverse shifting and for clamping workpiece and making it be horizontally arranged corresponding work workpiece turning
The manipulator material folding turnover mechanism (3) of position, the manipulator transverse-moving mechanism (2) are installed on assembly seat (1), the manipulator folder
Material turnover mechanism (3) is installed on the sliding seat (21) of manipulator transverse-moving mechanism (2), the manipulator material folding turnover mechanism (3)
Including overturning drive motor (31), overturning driving speed reducer (32), arm shaft (33), principal arm (34), armed lever flange (35), clamp arm
Bar (310) and pneumatic clamping device (311), overturning driving speed reducer (32) are installed on sliding seat (21), the overturning
The output shaft of drive motor (31) and overturning driving speed reducer (32) transmission connection, overturning driving speed reducer (32) pass through pendulum
One end of arm axle (33) and principal arm (34) is sequentially connected and is able to drive principal arm (34) rotation, and the armed lever flange (35) is installed in
The other end of principal arm (34), the clamp arm bar (310) are installed on armed lever flange (35), one end of the clamp arm bar (310) with
Pneumatic clamping device (311) is connected, and the clamp arm bar (310) is parallel with the traversing direction of manipulator transverse-moving mechanism (2).
2. high speed taking mechanical hand according to claim 1, it is characterised in that: the manipulator material folding turnover mechanism (3)
It further include first support arm axis (36), second support arm axis (37), first support arm (38) and second support arm (39), the first support arm
(38) rotation connection, the other end of the first support arm (38) are realized by first support arm axis (36) and sliding seat (21) in one end
Realized and be rotatablely connected by one end of second support arm axis (37) and second support arm (39), the other end of the second support arm (39) with
The other end of clamp arm bar (310) is connected.
3. high speed taking mechanical hand according to claim 1, it is characterised in that: the pneumatic clamping device (311) includes
Material folding drives cylinder (3111), material folding shell (3112), fixing piece (3113), yoke (3114), material folding arm (3115), clip
(3116) and hinged seat (3117), material folding driving cylinder (3111) is installed in one end of material folding shell (3112), described solid
Determine part (3113), two yokes (3114) and hinged seat (3117) to be located in material folding shell (3112), the yoke (3114)
Both ends respectively with material folding driving cylinder (3111) output shaft on fixing piece (3113) and material folding arm (3115) be hinged, two
Material folding arm (3115) is respectively hinged on hinged seat (3117), and the clip (3116) is installed in the one of two material folding arms (3115)
End, material folding driving cylinder (3111) can be driven by yoke (3114) and material folding arm (3115) clip (3116) opening or
Closure.
4. high speed taking mechanical hand according to claim 1, it is characterised in that: the sliding seat (21) is equipped with for examining
Survey the swing arm inductor (312) of the position of principal arm (34).
5. high speed taking mechanical hand according to claim 1, it is characterised in that: the manipulator transverse-moving mechanism (2) includes
Traversing drive motor (22), traversing driving speed reducer (23), the first synchronous pulley (24), the second synchronous pulley (25), synchronous belt
(26), guide rail (27), sliding block (28) and synchronous belt link block (29), the output shaft of the traversing drive motor (22) and traversing drive
Dynamic speed reducer (23) transmission connection, traversing driving speed reducer (23) is installed in the bottom end of assembly seat (1), described traversing
The output shaft of speed reducer (23) is driven to be connected with the first synchronizing wheel for being located at assembly seat (1) one end, second synchronous pulley
(25) other end of assembly seat (1) is installed in by synchronous wheel seat (210), the synchronous belt (26) is installed in the first synchronous pulley
(24) between the second synchronous pulley (25), the guide rail (27) is installed on assembly seat (1) and positioned at the two of synchronous belt (26)
The bottom plate of side, the sliding seat (21) is slidably connected by sliding block (28) with guide rail (27), synchronous belt link block (29) dress
It is located on synchronous belt (26) and is connected with the bottom plate of sliding seat (21).
6. high speed taking mechanical hand according to claim 1, it is characterised in that: one end of the assembly seat (1), which is equipped with, to be used
Limit inductor (211) in the position of detection sliding seat (21), the bottom of the sliding seat (21) is equipped with and limit inductor
(211) sensing chip (212) matched.
7. high speed taking mechanical hand according to claim 1, it is characterised in that: the both ends of the assembly seat (1) are set respectively
Have limit end plate (11), the assembly seat (1) is equipped with the outer cover (12) being located above synchronous belt (26) and guide rail (27)；Institute
The side for stating assembly seat (1) is equipped with bobbin carriage (13) and tank band (14), and the tank band (14) passes through tank strip connecting plate (15)
It is connected with the side of sliding seat (21).
8. high speed taking mechanical hand according to claim 1, it is characterised in that: the sliding seat (21) is equipped with spraying frame
(4), the spraying frame (4) is equipped with the spraying pipe support (5) parallel with clamp arm bar (310), the one end of spraying pipe support (5)
Equipped with nozzle carrier (6), the nozzle carrier (6) is equipped with spray head (7) and blowing nozzle (8).
9. high speed taking mechanical hand according to claim 1, it is characterised in that: one end of the assembly seat (1) is equipped with light
Electric bracket (10), the photoelectric support (10) are equipped with photoelectricity adjusting bracket (16), and the photoelectricity adjusting bracket (16) is equipped with and is used for
Detect the material folding inductor (17) whether pneumatic clamping device (311) clamps workpiece.
10. high speed taking mechanical hand according to claim 1, it is characterised in that: the bottom of the assembly seat (1), which is equipped with, to be used
In the pedestal elevating mechanism (9) for the height for adjusting assembly seat (1), the pedestal elevating mechanism (9) includes pedestal (91), lifting shaft
(92), axle bed (93) and lifting seat (94), the lifting seat (94) are located at the top of pedestal (91), assembly seat (1) installing
On lifting seat (94), one end of the lifting shaft (92) is connected with lifting seat (94), the other end of the lifting shaft (92)
It is inserted in the mounting hole of pedestal (91), the axle bed (93) is installed on lifting shaft (92).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820094570 | 2018-01-18 | ||
| CN2018200945705 | 2018-01-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208801355U true CN208801355U (en) | 2019-04-30 |
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ID=65422750
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820930337.6U Active CN208801355U (en) | 2018-01-18 | 2018-06-14 | High speed taking mechanical hand |
| CN201820929146.8U Active CN208542937U (en) | 2018-01-18 | 2018-06-14 | A kind of manipulator material folding turnover mechanism |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820929146.8U Active CN208542937U (en) | 2018-01-18 | 2018-06-14 | A kind of manipulator material folding turnover mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN208801355U (en) |
-
2018
- 2018-06-14 CN CN201820930337.6U patent/CN208801355U/en active Active
- 2018-06-14 CN CN201820929146.8U patent/CN208542937U/en active Active
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| Publication number | Publication date |
|---|---|
| CN208542937U (en) | 2019-02-26 |
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