CN208992706U - Manipulator automatic clamping and placing material mechanism - Google Patents
Manipulator automatic clamping and placing material mechanism Download PDFInfo
- Publication number
- CN208992706U CN208992706U CN201822221168.1U CN201822221168U CN208992706U CN 208992706 U CN208992706 U CN 208992706U CN 201822221168 U CN201822221168 U CN 201822221168U CN 208992706 U CN208992706 U CN 208992706U
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- China
- Prior art keywords
- charging tray
- material mechanism
- placing material
- automatic clamping
- workpiece
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- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
The utility model discloses a kind of manipulator automatic clamping and placing material mechanism, including a workbench, the workbench is equipped with the charging tray for placing workpiece, and the two sides of charging tray are respectively provided with a T-type bracket, three axis mobile systems are provided on the T-type bracket；It is fixed with a rotation mounting plate on the Z axis of the three axis mobile system, is installed with the first clamping jaw cylinder on the rotation mounting plate；The side of the charging tray is additionally provided with a horizontal slide rail, and sliding is provided with the second clamping jaw cylinder on the horizontal slide rail.The manipulator automatic clamping and placing material mechanism of the utility model, structure is simple, picks and places the precision of material and high-efficient.
Description
Technical field
The utility model relates to robot device technical fields, and in particular to a kind of manipulator automatic clamping and placing material mechanism.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is mainly by executing agency, driving mechanism and control system three parts
Composition.Hand is the component for grasping workpiece (or tool), according to by the shape of grasping object, size, weight, material and work
Industry requires and there are many structure types, such as clamp-type, holding type and absorbent-type.
Automatic clamping and placing material manipulator is a kind of mechanical automation manipulator that can be moved freely and pick and place material work,
It is mainly by this eight portions of motor, manipulator, distance-sensor, signal receiver, battery, cross bar, column and adjustment gear
It is grouped as, the type of automatic clamping and placing material manipulator is more and more with the development of science and technology, for automatic clamping and placing material manipulator
Demand is higher and higher.
And the automatic clamping and placing material manipulator used now also coming with some shortcomings more or less, than machine as now used
The structure of tool hand is often extremely complex, then while breaking down is difficult to carry out detachable maintaining, and some is not provided with distance-sensor not
The clamping that manipulator can timely be controlled, be easy to cause feeding to fail, and some is not provided with driving device, can not make machine
Tool hand is adjusted accordingly according to different feeding devices, so that its use scope is easy to be restricted, design does not have people
Property, the needs used are unable to satisfy, so presence in response to this, it is now desired to which the innovation for carrying out relevant device is set
Meter.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of manipulator automatic clamping and placing material mechanism, the manipulator is automatic
It is simple to pick and place material mechanism structure, picks and places the precision of material and high-efficient.
In order to solve the above-mentioned technical problem, the utility model provides a kind of manipulator automatic clamping and placing material mechanism, including one
Workbench, the workbench are equipped with the charging tray for placing workpiece, and the two sides of charging tray are respectively provided with a T-type bracket, the T
Three axis mobile systems are provided on type bracket；A rotation mounting plate, the rotation are fixed on the Z axis of the three axis mobile system
The first clamping jaw cylinder is installed on mounting plate；The side of the charging tray is additionally provided with a horizontal slide rail, slides on the horizontal slide rail
It is provided with the second clamping jaw cylinder.
In the utility model, firstly, the second clamping jaw cylinder moves at supplied materials along horizontal slide rail, the head of workpiece is clamped,
And initial position is slided into along horizontal slide rail；Then, three axis mobile systems drive the first clamping jaw cylinder moving, to clamp work
The middle part of part；Then the second clamping jaw cylinder unclamps workpiece, and three axis mobile systems drive workpiece to be moved out the second clamping jaw cylinder；It connects
Rotating disk rotate 90 ° so that the tail portion of workpiece is downward, three axis mobile systems continue to drive workpiece to the top of charging tray, thus
Workpiece is placed in charging tray by realization.
In a kind of preferred embodiment of the utility model, it is additionally provided with transfer station on front side of the charging tray, described turn
Connecing station includes a vertical switching cylinder, and interim placement workpiece is equipped at the top of the switching cylinder shelves hole.Three axis mobile systems
Drive the first clamping jaw cylinder and workpiece motion s to the top of switching cylinder, rotating disk rotates 90 °, so that the tail portion of workpiece is downward, then
It puts the workpiece in and shelves in hole；Then, the first clamping jaw cylinder clamps the head of workpiece, then puts the workpiece in charging tray.Setting turns
Connecing station enables to the placement of workpiece more accurate, is conducive to improve efficiency.
In a kind of preferred embodiment of the utility model, the second clamping jaw cylinder is driven by a stepper motor
It is moved back and forth along the horizontal slide rail.
In a kind of preferred embodiment of the utility model, it is additionally provided on the workbench a pair of parallel without bar gas
Cylinder is fixed with delivery board on the piston of the rodless cylinder, and the charging tray is fixed on the delivery board.
In a kind of preferred embodiment of the utility model, multiple vertical locating rods are fixed on the delivery board,
Corresponding position is equipped with the location hole cooperated with the locating rod on the charging tray.
In a kind of preferred embodiment of the utility model, blanking track is additionally provided on the workbench.
The utility model has the beneficial effects that
The manipulator automatic clamping and placing material device of the utility model, passes through three axis mobile systems, the first clamping jaw cylinder and second
Workpiece tail portion is placed in charging tray by the cooperation of clamping jaw cylinder downward to realize.The automatic clamping and placing material mechanism structure is simple,
Pick and place the precision and high-efficient of material.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of manipulator automatic clamping and placing material mechanism of the utility model；
Figure label explanation:
110, T-type bracket；120, three axis mobile system；130, mounting plate is rotated；140, the first clamping jaw cylinder；
210, horizontal slide rail；220, the second clamping jaw cylinder；
310, rodless cylinder；320, delivery board；330, locating rod；340, charging tray；
400, switching cylinder.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
Shown in referring to Fig.1, an embodiment of the manipulator automatic clamping and placing material mechanism of the utility model, including a job are flat
Platform, the workbench are equipped with the charging tray 340 for placing workpiece, and the two sides of charging tray 340 are respectively provided with a T-type bracket 110, institute
It states and is provided with three axis mobile systems 120 on T-type bracket 110；Rotation peace is fixed on the Z axis of the three axis mobile system 120
Loading board 130 is installed with the first clamping jaw cylinder 140 on the rotation mounting plate 130.
The side of the charging tray 340 is additionally provided with a horizontal slide rail 210, and sliding is provided with second on the horizontal slide rail 210
Clamping jaw cylinder 220, the second clamping jaw cylinder 220 are driven by stepper motor and are moved back and forth along the horizontal slide rail 210.
Due to first clamp that cylinder clamps be workpiece medium position, directly workpiece is placed into charging tray 340 in this way,
The accuracy of placement location is not high, influences the efficiency for picking and placing material.Therefore, it in the present embodiment, is additionally provided with and turns in the front side of charging tray 340
Station is connect, which includes a vertical switching cylinder 400, is equipped with putting for interim placement workpiece at the top of the switching cylinder 400
Set hole.When three axis mobile systems 120 drive the first clamping jaw cylinder 140 and workpiece motion s to the top of switching cylinder 400, rotating disk turn
It is 90 ° dynamic, so that the tail portion of workpiece is downward, then puts the workpiece in and shelve in hole；Then, the first clamping jaw cylinder 140 clamps workpiece
Head, then put the workpiece in charging tray 340.Transfer station, which is arranged, enables to the placement of workpiece more accurate, is conducive to improve
Efficiency.
A pair of parallel rodless cylinder 310 is additionally provided in the present embodiment, on workbench, on the piston of rodless cylinder 310
It is fixed with delivery board 320, the charging tray 340 is fixed on the delivery board 320.Preferably, it is fixed on delivery board 320 multiple
Vertical locating rod 330,330 upper end of locating rod have Step Shaft, and corresponding position is equipped with and the Step Shaft on the charging tray 340
The location hole of cooperation, so that easily charging tray 340 is fixed on delivery board 320.
In addition, blanking track is additionally provided on workbench in the present embodiment, to realize the blanking of workpiece.
The workflow of the manipulator automatic clamping and placing material mechanism of the present embodiment are as follows:
Firstly, stepper motor drives the second clamping jaw cylinder 220 to move at supplied materials along horizontal slide rail 210, workpiece is clamped
Head, and initial position is slided into along horizontal slide rail 210；
Then, three axis mobile systems 120 drive the movement of the first clamping jaw cylinder 140, clamp the middle part of workpiece；Then the second folder
Pawl cylinder 220 unclamps workpiece, and three axis mobile systems 120 drive workpiece to be moved out the second clamping jaw cylinder 220 and move to switching
The top of station；
Then, rotating disk rotates 90 °, so that the tail portion of workpiece is downward, the first clamping jaw cylinder 140, which is put the workpiece in, shelves hole
In；
Finally, the first clamping jaw cylinder 140 reclamps the head of workpiece, three axis mobile systems 120 drive workpiece to come charging tray
Workpiece is placed in charging tray 340 by 340 top, so as to complete the pick-and-place of workpiece.
The manipulator automatic clamping and placing material device of the present embodiment, passes through three axis mobile systems 120,140 and of the first clamping jaw cylinder
Workpiece tail portion, is placed in charging tray 340 by the cooperation of the second clamping jaw cylinder 220 downward to realize.The automatic clamping and placing material machine
Structure structure is simple, picks and places the precision of material and high-efficient.
Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model
Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model
It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.
Claims (6)
1. a kind of manipulator automatic clamping and placing material mechanism, which is characterized in that including a workbench, the workbench, which is equipped with, to be used
In the charging tray for placing workpiece, the two sides of charging tray are respectively provided with a T-type bracket, three axis mobile systems are provided on the T-type bracket；Institute
It states and is fixed with a rotation mounting plate on the Z axis of three axis mobile systems, be installed with the first clamping jaw cylinder on the rotation mounting plate；Institute
The side for stating charging tray is additionally provided with a horizontal slide rail, and sliding is provided with the second clamping jaw cylinder on the horizontal slide rail.
2. manipulator automatic clamping and placing material mechanism as described in claim 1, which is characterized in that be additionally provided with and turn on front side of the charging tray
Station is connect, the transfer station includes a vertical switching cylinder, and interim placement workpiece is equipped at the top of the switching cylinder shelves hole.
3. manipulator automatic clamping and placing material mechanism as described in claim 1, which is characterized in that the second clamping jaw cylinder passes through one
Stepper motor drives and moves back and forth along the horizontal slide rail.
4. manipulator automatic clamping and placing material mechanism as described in claim 1, which is characterized in that be additionally provided with one on the workbench
To parallel rodless cylinder, delivery board is fixed on the piston of the rodless cylinder, the charging tray is fixed on the delivery board.
5. manipulator automatic clamping and placing material mechanism as claimed in claim 4, which is characterized in that be fixed on the delivery board multiple
Vertical locating rod, corresponding position is equipped with the location hole cooperated with the locating rod on the charging tray.
6. manipulator automatic clamping and placing material mechanism as described in claim 1, which is characterized in that be additionally provided with down on the workbench
Expect track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822221168.1U CN208992706U (en) | 2018-12-27 | 2018-12-27 | Manipulator automatic clamping and placing material mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822221168.1U CN208992706U (en) | 2018-12-27 | 2018-12-27 | Manipulator automatic clamping and placing material mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208992706U true CN208992706U (en) | 2019-06-18 |
Family
ID=66808474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822221168.1U Expired - Fee Related CN208992706U (en) | 2018-12-27 | 2018-12-27 | Manipulator automatic clamping and placing material mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208992706U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055204A (en) * | 2020-01-10 | 2020-04-24 | 戴杰磨床集团股份有限公司 | Automatic change disconnected poor machine of unloading |
| CN114684598A (en) * | 2020-12-29 | 2022-07-01 | 苏州佰富琪智能制造有限公司 | Automatic part taking equipment for high-speed machining of valve body parts |
-
2018
- 2018-12-27 CN CN201822221168.1U patent/CN208992706U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055204A (en) * | 2020-01-10 | 2020-04-24 | 戴杰磨床集团股份有限公司 | Automatic change disconnected poor machine of unloading |
| CN114684598A (en) * | 2020-12-29 | 2022-07-01 | 苏州佰富琪智能制造有限公司 | Automatic part taking equipment for high-speed machining of valve body parts |
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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 |
Granted publication date: 20190618 |