CN209551700U - A kind of blanking truss manipulator - Google Patents
A kind of blanking truss manipulator Download PDFInfo
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- CN209551700U CN209551700U CN201920286633.1U CN201920286633U CN209551700U CN 209551700 U CN209551700 U CN 209551700U CN 201920286633 U CN201920286633 U CN 201920286633U CN 209551700 U CN209551700 U CN 209551700U
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- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 210000000078 claw Anatomy 0.000 claims abstract description 25
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- 239000007787 solid Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 88
- 238000010586 diagram Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
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Abstract
The utility model relates to manipulator fields, disclose a kind of blanking truss manipulator, including rack and clamping plate, rack is equipped with various dimensions movement mechanism, various dimensions movement mechanism is equipped with clamping plate driving mechanism, and clamping plate driving mechanism two sides are equipped with moving arm, and clamping plate is mounted on the inside of moving arm；Clamping plate inside is equipped with anti-down piece, and clamping plate is equipped with the claw for firmly grasping and limiting.The utility model can realize accurate crawl material frame purpose, and manipulator just limits its position when grabbing material frame, avoids manipulator and material frame is not just moved material frame promptly, can safer effective crawl material frame.
Description
Technical field
The utility model relates to manipulator field, in particular to a kind of blanking truss manipulators.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
The automatic pilot of part or operational instrument.Feature is that various expected operations, construction and performance can be completed by programming
On the advantages of having people and robotics concurrently.
Blanking truss manipulator facilitates mechanical handing material, mitigates labor intensity and to promote product line automation strong
Degree.But existing manipulator, usually when grabbing material frame, manipulator is difficult to definitely define the crawl position of material frame, makes
It falls off on hand from machinery in the process of grasping sometimes at material frame, is unfavorable for the crawl of material frame.Therefore we there is an urgent need to
A kind of manipulator that can accurately grab material frame.
Utility model content
Based on problem above, the utility model provides a kind of blanking truss manipulator.The utility model can be realized accurately
Material frame purpose is grabbed, manipulator just limits its position when grabbing material frame, avoids manipulator and does not firmly grasp material frame just
Material frame is moved, it can safer effective crawl material frame.
In order to solve the above technical problems, the technical solution adopted in the utility model is as follows:
A kind of blanking truss manipulator, including rack and clamping plate, rack are equipped with various dimensions movement mechanism, various dimensions movement
Mechanism is equipped with clamping plate driving mechanism, and clamping plate driving mechanism two sides are equipped with moving arm, and clamping plate is mounted on the inside of moving arm；In clamping plate
Side is equipped with anti-down piece, and clamping plate is equipped with the claw for firmly grasping and limiting.
In the present invention, the various dimensions movement mechanism in rack can control the transverse shifting of clamping plate driving mechanism and erect
To movement, the movement of clamping plate driving mechanisms control moving arm controls the distance between opposing clamping plate, when clamping plate can press from both sides material frame
Material frame can be transported to designated position by control various dimensions movement mechanism when firmly.When clamping plate clamps material frame, claw will
Material frame is picked up from bottom, and carries out position restriction to material frame by the position of clamping plate upper clipping claw, makes material frame only in card
The region that pawl limits is picked up, while the grasp force of clamping plate is further enhanced by claw, and anti-down piece can be further to object
Material frame position is defined, and avoids material frame is unexpected from being detached from hand from machinery, realizes the purpose of accurate crawl material frame.This is practical
Novel that accurate crawl material frame purpose can be achieved, manipulator just limits its position when grabbing material frame, avoids manipulator not
Material frame is promptly just moved into material frame, it can safer effective crawl material frame.
Wherein, various dimensions movement mechanism includes transverse moving mechanism and vertically movable mechanism, five axis robots, six shaft mechanicals
Hand etc. can control the mechanism of manipulator various dimensions movement.
And various dimensions movement mechanism, clamping plate driving mechanism using PLC program control, can be realized various dimensions movement mechanism and
The automatic operating of clamping plate driving mechanism realizes the automation crawl of manipulator.
Secondly, the installation of claw can claw be stuck on clamping plate side wall or claw is embedded on clamping plate side wall by making, then use
The connection types such as bolt is fixed or screw is fixed, which will be stuck in, to be fixed on clamping plate, so that claw is movably connected on clamping plate, it can
The position of claw is adjusted flexibly.
As a preferred mode, clamping plate driving mechanism includes that driving motor, positive anti-leading screw and fixed frame, fixed frame are solid
It is scheduled on vertically movable mechanism lower part, positive anti-leading screw, which passes through, to be connect on the inside of fixed frame with the output end of driving motor, moving arm top
It can be moved up in positive anti-leading screw dynamic.
As a preferred mode, various dimensions movement mechanism can be made of vertically movable mechanism and transverse moving mechanism,
Vertically movable mechanism lower part is fixed with clamping plate driving mechanism.
As a preferred mode, frame side wall is equipped with sliding chuck, vertically movable mechanism and transverse moving mechanism peace
On sliding chuck.
As a preferred mode, vertically movable device includes vertical pedestal and first servo motor, in vertical pedestal
Side is equipped with vertical rack, and first servo motor is mounted on sliding chuck, and it is main that the output shaft of first servo motor is equipped with first
Moving gear, the first driving gear and vertical rack engagement, vertical pedestal outside are equipped with the sideskid being fixed on the rack, vertical base
Seat is stuck on the inside of sideskid and slides along sideskid.
As a preferred mode, transversing gear includes the second servo motor, and the output end of the second servo motor is equipped with
Second driving gear, frame side wall are equipped with horizontal tooth bar, the second driving gear and horizontal tooth bar engagement.
As a preferred mode, it is equipped on the outside of the clamping plate on the side moving arm of clamping plate driving mechanism and is fixed on clamping plate
On rotating electric machine, and between adjacent cleats be equipped with synchronizing bar.
As a preferred mode, briquetting driving machine is equipped on the outside of the clamping plate on the side moving arm of clamping plate driving mechanism
Structure, briquetting driving mechanism include telescopic device, connection frame, overturning arm component and briquetting, and telescopic device is hinged on the outside of clamping plate, even
It connects frame to be fixed on the outside of clamping plate, the output end of telescopic device is fixed on overturning arm component, and flip-arm member hinges are in connection frame
On, it overturns and is equipped with extension bar between arm component top and briquetting, briquetting is fixed on extension bar inner side end.
As a preferred mode, overturning arm component includes V-type frame, actuating arm, fixing clamp arm and extends clamp arm, connection
Frame two sides are hinged with V-type frame, and fixing clamp arm is hinged on connection frame, and actuating arm one end is connected with fixing clamp arm, and actuating arm is another
End is hinged with V-type frame side, extends clamp arm and is movably fixed in fixing clamp arm, the output end of telescopic device is hinged on V-type frame
The other side.
Compared with prior art, the utility model has the beneficial effects that
(1) the utility model can realize accurate crawl material frame purpose, and manipulator just limits its position when grabbing material frame
It sets, avoids manipulator and material frame is not just moved into material frame promptly, it can safer effective crawl material frame；
(2) the utility model includes that driving motor, positive anti-leading screw and fixed frame, fixed frame are fixed by clamping plate driving mechanism
In vertically movable mechanism lower part, positive anti-leading screw, which passes through, to be connect on the inside of fixed frame with the output end of driving motor, and moving arm top can
Dynamic, starting driving motor (can be used converge with river 400W motor) is moved up in positive anti-leading screw, drives driving motor rotation on fixed frame
Positive anti-leading screw rotation, thus make moving arm can in positive anti-leading screw transverse shifting, can be realized control opposing clamping plate between
Distance clamps material frame；
(3) the utility model can be made of various dimensions movement mechanism vertically movable mechanism and transverse moving mechanism, be erected
It is fixed with clamping plate driving mechanism to mobile mechanism lower part, by moving downward for vertically movable mechanism controls clamping plate driving mechanism,
The transverse movement of transverse moving mechanism control manipulator is controlled, to realize the various dimensions movement of manipulator；
(4) the utility model is equipped with sliding chuck, vertically movable mechanism and transverse moving mechanism installation by frame side wall
On sliding chuck, make to slide chuck transverse shifting on the rack by controlling transverse moving mechanism, then control on sliding chuck
Vertically movable mechanism is conducive to that manipulator is made to realize that various dimensions move in same level；
(5) it includes vertical pedestal and the first servo electricity that the utility model, which includes vertically movable device by vertically movable device,
Machine, vertical pedestal inside are equipped with vertical rack, and first servo motor is mounted on sliding chuck, the output shaft of first servo motor
It is equipped with the first driving gear, the first driving gear and vertical rack engagement, is equipped with and is fixed on the rack on the outside of vertical pedestal
Sideskid, vertical pedestal are stuck on the inside of sideskid and slide along sideskid, and (remittance river 1KW can be used in starting first servo motor
Servo motor), so that the rotation of the first driving gear be driven to make vertical rack that can realize upper and lower movement, vertical rack vertical motion
It drives vertical pedestal along sideskid vertical motion, vertical pedestal can be realized along sideskid stable motion, be conducive to machinery
The stability of hand；
(6) the utility model includes the second servo motor by transversing gear, and the output end of second servo motor is set
There is the second driving gear, the frame side wall is equipped with horizontal tooth bar, second driving gear and horizontal tooth bar engagement, starting the
(remittance river 1KW servo motor can be used) in two servo motors, so that controlling horizontal tooth bar of the transverse gear on frame side wall does cross
To movement, the transverse shifting of manipulator can be realized.
(7) it is equipped with and is fixed on clamping plate on the outside of the clamping plate on the side moving arm that the utility model passes through clamping plate driving mechanism
Rotating electric machine, and between adjacent cleats be equipped with synchronizing bar, start rotating electric machine (Zhuo Lan PLF120-20 motor can be used), make with
The clamping plate rotation of rotating electric machine connection, then the opposite side clamping plate for rotating clamping plate is rotated by synchronizing bar, it will be pressed from both sides by rotation clamping plate
The material frame rotation of plate clamping, thus the material that will be laid down in material frame, without first material frame is detached from from manipulator,
The material in material frame is drawn off again, the time required to being conducive to reduce unloading materials；
(8) briquetting driving machine is equipped on the outside of the clamping plate on the side moving arm that the utility model passes through clamping plate driving mechanism
Structure, briquetting driving mechanism include telescopic device, connection frame, overturning arm component and briquetting, and telescopic device is hinged on the outside of clamping plate, even
It connects frame to be fixed on the outside of clamping plate, the output end of telescopic device is fixed on overturning arm component, and flip-arm member hinges are in connection frame
On, it overturns and is equipped with extension bar between arm component top and briquetting, briquetting is fixed on extension bar inner side end, starts flexible dress
It sets, makes the output end of telescopic device is mobile overturning arm component is driven to rotate on connection frame, overturning arm component rotation, which drives, to be lengthened
Bar rotation, so that the material for compressing the briquetting on extension bar in material frame is prevented when material frame is because needing discharging to rotate
Material is fallen from material frame when rotated, and material is made to be damaged, after Open Side Down for material frame, by the position for controlling briquetting
It sets, draws off material slowly from material frame, effectively prevent the damage of material；
(9) the utility model includes V-type frame, actuating arm, fixing clamp arm and extends clamp arm, connection frame by overturning arm component
Two sides are hinged with V-type frame, and fixing clamp arm is hinged on connection frame, and actuating arm one end is connected with fixing clamp arm, the actuating arm other end
It is hinged with V-type frame side, extend clamp arm and be movably fixed in fixing clamp arm, the output end of telescopic device is hinged on the another of V-type frame
Side starts telescopic device, makes the output end of telescopic device is mobile V-type frame is pushed to rotate around the hinged end of V-type frame, V-type
Frame rotates band and the hinged actuating arm of V-type frame is rotated around hinged end, actuating arm rotation drive fixing clamp arm around with even
It connects the hinged hinged end of frame and the rotation of certain angle occurs, to make the rotation of fixing clamp arm generation certain angle, fixing clamp arm
The extension clamp arm rotation that rotation drives and is movably connected in fixing clamp arm, fixing clamp arm and extension clamp arm are flexibly connected, and can be led to
Position between the two is overregulated to adjust the overhang for extending clamp arm, and briquetting can be realized and be pressed in surface of material；
Detailed description of the invention
Fig. 1 is the axis side structure schematic diagram of the utility model.
Fig. 2 is the reverse geometry schematic diagram of the utility model.
Fig. 3 is the partial structure diagram of the utility model.
Fig. 4 is the robot manipulator structure schematic diagram of the utility model.
Wherein, 1 rack, 2 sliding chucks, 300 various dimensions movement mechanisms, 310 transverse moving mechanisms, 311 second servos electricity
Machine, 312 second driving gears, 313 horizontal tooth bars, 314 vertical drag chains, 320 vertically movable mechanisms, 321 vertical pedestals, 322
One servo motor, 323 vertical racks, 324 first driving gears, 325 sideskids, 40 clamping plate driving mechanisms, 41 moving arms, 42 drive
Dynamic motor, 43 positive anti-leading screws, 44 fixed frames, 5 rotating electric machines, 6 synchronizing bars, 700 briquetting driving mechanisms, 710 telescopic devices, 720
Connection frame, 730 briquettings, 740 overturning arm components, 741 V-type framves, 742 actuating arms, 743 fixing clamp arms, 744 extend clamp arm, 80 folders
Plate, 81 anti-down pieces, 82 claws.
Specific embodiment
The utility model will be further described below with reference to the accompanying drawings.The embodiments of the present invention includes but unlimited
In the following example.
Embodiment 1:
Referring to Fig. 1~4, a kind of blanking truss manipulator, including rack 1 and clamping plate 80, rack 1 are moved equipped with various dimensions
Mechanism 300, various dimensions movement mechanism 300 are equipped with clamping plate driving mechanism 40, and 40 two sides of clamping plate driving mechanism are equipped with moving arm 41,
Clamping plate 80 is mounted on 41 inside of moving arm；On the inside of clamping plate 80 be equipped with anti-down piece 81, clamping plate 80 be equipped with for promptly and limit
Claw 82.
In this example, referring to Fig. 1~2, the various dimensions movement mechanism 300 in rack 1 can control clamping plate driving mechanism 40
Transverse shifting and vertically movable, clamping plate driving mechanism 40 control the movement of moving arm 41 control between opposing clamping plate 80 away from
From material frame being transported to designated position by control various dimensions movement mechanism 300 when clamping plate 80 can clamp material frame.
When clamping plate 80 clamps material frame, claw 82 picks up material frame from bottom, and by the position of 80 upper clipping claw 82 of clamping plate to object
Material frame carries out position restriction, picks up material frame only in the region that claw 82 limits, while further being increased by claw 82
The strong grasp force of clamping plate 80, and anti-down piece 81 can further be defined material frame position, avoid material frame accident slave
Tool is detached from hand, realizes the purpose of accurate crawl material frame.The utility model can realize accurate crawl material frame purpose, manipulator
Its position is just limited when grabbing material frame, manipulator is avoided and material frame is not just moved into material frame promptly, it can be safer
Effective crawl material frame.
Wherein, referring to Fig. 1~3, various dimensions movement mechanism 300 includes transverse moving mechanism 310 and vertically movable mechanism
320, five axis robots, six axis robot etc. can control the mechanism of manipulator various dimensions movement.
And various dimensions movement mechanism 300, clamping plate driving mechanism 40 are controlled using PLC program, and various dimensions movement can be realized
The automatic operating of mechanism 300 and clamping plate driving mechanism 40 realizes the automation crawl of manipulator.
Secondly, the installation of claw 82 can claw 82 be stuck on 80 side wall of clamping plate or claw 82 is embedded in clamping plate 80 by making
It on side wall, then is fixed with bolt or the connection types such as screw is fixed will be stuck in and be fixed on clamping plate 80, thus by 82 activity of claw
It is connected on clamping plate 80, the position of claw 82 can be adjusted flexibly.
Embodiment 2:
Referring to Fig. 1~4, a kind of blanking truss manipulator, including rack 1 and clamping plate 80, rack 1 are moved equipped with various dimensions
Mechanism 300, various dimensions movement mechanism 300 are equipped with clamping plate driving mechanism 40, and 40 two sides of clamping plate driving mechanism are equipped with moving arm 41,
Clamping plate 80 is mounted on 41 inside of moving arm；On the inside of clamping plate 80 be equipped with anti-down piece 81, clamping plate 80 be equipped with for promptly and limit
Claw 82.
It referring to fig. 4, include driving motor 42, positive anti-leading screw 43 and fixed frame 44, fixed frame by clamping plate driving mechanism 40
44 are fixed on vertically movable 320 lower part of mechanism, and positive anti-leading screw 43 passes through 44 inside of fixed frame and the output end of driving motor 42 connects
It connects, 41 top of moving arm can move in positive anti-leading screw 43, and (remittance river 400W motor can be used) in starting driving motor 42, make to drive
The rotation of motor 42 drives the positive anti-leading screw 43 on fixed frame 44 to rotate, to make moving arm 41 can be in positive anti-leading screw 43 laterally
It is mobile, the distance between control opposing clamping plate 80 can be realized to clamp material frame.
The other parts of the present embodiment are same as Example 1, just repeat no more here.
Embodiment 3:
Referring to Fig. 1~4, a kind of blanking truss manipulator, including rack 1 and clamping plate 80, rack 1 are moved equipped with various dimensions
Mechanism 300, various dimensions movement mechanism 300 are equipped with clamping plate driving mechanism 40, and 40 two sides of clamping plate driving mechanism are equipped with moving arm 41,
Clamping plate 80 is mounted on 41 inside of moving arm；On the inside of clamping plate 80 be equipped with anti-down piece 81, clamping plate 80 be equipped with for promptly and limit
Claw 82.
It, can be by vertically movable mechanism 320 and transverse moving mechanism 310 by various dimensions movement mechanism 300 referring to Fig. 1~3
Composition, vertically movable 320 lower part of mechanism are fixed with clamping plate driving mechanism 40, control clamping plate driving by vertically movable mechanism 320
Mechanism 40 moves downward, and control transverse moving mechanism 310 controls the transverse movement of manipulator, to realize the multidimensional of manipulator
Degree movement.
As a preferred mode, referring to Fig. 1~2, sliding chuck 2, vertically movable mechanism are equipped with by 1 side wall of rack
320 and transverse moving mechanism 310 be mounted on sliding chuck 2 on, by control transverse moving mechanism 310 make slide chuck 2 in machine
Transverse shifting on frame 1, then the vertically movable mechanism 320 on sliding chuck 2 is controlled, be conducive to keep manipulator real in same level
Existing various dimensions movement.
It as a preferred mode, include vertically movable device including vertical by vertically movable device referring to 1~3
Pedestal 321 and first servo motor 322, vertical rack 323 is equipped on the inside of vertical pedestal 321, and first servo motor 322 is mounted on
It slides on chuck 2, the output shaft of first servo motor 322 is equipped with the first driving gear 324, the first driving gear 324 and perpendicular
It is engaged to rack gear 323, the sideskid 325 being fixed in rack 1 is equipped on the outside of vertical pedestal 321, vertical pedestal 321 is stuck in sideslip
325 inside of plate is simultaneously slided along sideskid 325, and (remittance river 1KW servo motor can be used) in starting first servo motor 322, thus
The rotation of the first driving gear 324 is driven to make vertical rack 323 that can realize upper and lower movement, 323 vertical motion of vertical rack drives perpendicular
To pedestal 321 along 325 vertical motion of sideskid, vertical pedestal 321 can be realized along 325 stable motion of sideskid, favorably
In the stability of manipulator.
It as a preferred mode, include the second servo motor 311, the second servo by transversing gear referring to 1~3
The output end of motor 311 is equipped with the second driving gear 312, and 1 side wall of rack is equipped with horizontal tooth bar 313,312 He of the second driving gear
Horizontal tooth bar 313 engages, and (remittance river 1KW servo motor can be used) in the second servo motor of starting 311, exists to control transverse gear
Horizontal tooth bar 313 on 1 side wall of rack laterally moves, and the transverse shifting of manipulator can be realized.
The other parts of the present embodiment are same as Example 1, just repeat no more here.
Embodiment 4:
Referring to Fig. 1~4, a kind of blanking truss manipulator, including rack 1 and clamping plate 80, rack 1 are moved equipped with various dimensions
Mechanism 300, various dimensions movement mechanism 300 are equipped with clamping plate driving mechanism 40, and 40 two sides of clamping plate driving mechanism are equipped with moving arm 41,
Clamping plate 80 is mounted on 41 inside of moving arm；On the inside of clamping plate 80 be equipped with anti-down piece 81, clamping plate 80 be equipped with for promptly and limit
Claw 82.
Referring to fig. 4, clamping plate is fixed on by being equipped on the outside of the clamping plate 80 on the side moving arm 41 of clamping plate driving mechanism 40
Rotating electric machine 5 on 80, and synchronizing bar 6 is equipped between adjacent cleats 80, (Zhuo Lan PLF120-20 electricity can be used in starting rotating electric machine 5
Machine), the automation that rotating electric machine 5 can control rotating electric machine 5 by PLC control program rotates, and makes the folder connecting with rotating electric machine 5
Plate 80 is rotated when material frame needs discharging, then rotates the opposite side clamping plate 80 for rotating clamping plate 80 by synchronizing bar 6, is led to
The material frame that rotation clamping plate 80 clamps clamping plate 80 is crossed to rotate, thus the material that will be laid down in material frame, without first by object
Material frame is detached from from manipulator, then the material in material frame is drawn off, the time required to being conducive to reduce unloading materials.
As a preferred mode, referring to fig. 4, pass through the clamping plate 80 on the side moving arm 41 of clamping plate driving mechanism 40
Outside is equipped with briquetting driving mechanism 700, and briquetting driving mechanism 700 includes telescopic device 710, connection frame 720, overturning arm component
740 and briquetting 730, telescopic device 710 is hinged on 80 outside of clamping plate, and connection frame 720 is fixed on 80 outside of clamping plate, telescopic device
710 output end is fixed on overturning arm component 740, and overturning arm component 740 is hinged on connection frame 720, overturns arm component 740
Extension bar is equipped between top and briquetting 730, briquetting 730 is fixed on extension bar inner side end, is started telescopic device 710, is stretched
Compression apparatus 710 can be controlled by PLC program, make the output end of telescopic device 710 in mobile drive flip-arm of appropriate time point
Component 740 rotates on connection frame 720, and the overturning rotation of arm component 740 drives extension bar rotation, to make the briquetting on extension bar
Material in 730 compression material frames prevents material from falling from material frame when rotated when material frame is because needing discharging to rotate
It falls, material is made to be damaged, after Open Side Down for material frame, by controlling the position of briquetting 730, make material slowly from material frame
In draw off, effectively prevent the damage of material.
As a preferred mode, referring to fig. 4, include V-type frame 741 by overturning arm component 740, actuating arm 742, consolidate
Clamp arm 743 and extension clamp arm 744,720 two sides of connection frame are hinged with V-type frame 741, and fixing clamp arm 743 is hinged on connection frame 720
On, 742 one end of actuating arm and fixing clamp arm 743 connect, and 742 other end of actuating arm and 741 side of V-type frame are hinged, extend clamp arm
744 are movably fixed in fixing clamp arm 743, and the output end of telescopic device 710 is hinged on the other side of V-type frame 741, and starting is flexible
Device 710 makes the output end of telescopic device 710 is mobile V-type frame 741 is pushed to rotate around the hinged end of V-type frame 741, V-type frame
741 rotation bands and the hinged actuating arm 742 of V-type frame 741 are rotated around hinged end, and the rotation of actuating arm 742 drives fixing clamp arm
743 around the rotation that certain angle occurs with the hinged hinged end of connection frame 720, so that fixing clamp arm 743 be made to occur centainly
The rotation of angle, the extension clamp arm 744 that the rotation of fixing clamp arm 743 drives and is movably connected in fixing clamp arm 743 rotates, fixed
Clamp arm 743 and extension clamp arm 744 are flexibly connected, and can adjust the overhang for extending clamp arm 744 by adjusting position between the two,
Briquetting 730 can be realized to be pressed in surface of material.
The other parts of the present embodiment are same as Example 1, just repeat no more here.
It as above is the embodiments of the present invention.Design parameter in above-described embodiment and embodiment is merely to clear
The verification process of utility model is stated by Chu, not to limit the scope of patent protection of the utility model, the utility model it is special
Sharp protection scope is still subject to the claims, made by all specifications and accompanying drawing content with the utility model etc.
Same structure change, similarly should be included in the protection scope of the utility model.
Claims (9)
1. a kind of blanking truss manipulator, including rack (1) and clamping plate (80), it is characterised in that: the rack (1) is equipped with more
Dimension movement mechanism (300), the various dimensions movement mechanism (300) are equipped with clamping plate driving mechanism (40), the clamping plate driving
Mechanism (40) two sides are equipped with moving arm (41), and the clamping plate (80) is mounted on the inside of moving arm (41)；On the inside of the clamping plate (80)
Equipped with anti-down piece (81), the clamping plate (80) is equipped with the claw (82) for firmly grasping and limiting.
2. a kind of blanking truss manipulator according to claim 1, it is characterised in that: clamping plate driving mechanism (40) packet
Driving motor (42), positive anti-leading screw (43) and fixed frame (44) are included, the fixed frame (44) is fixed on vertically movable mechanism (320)
Lower part, the positive anti-leading screw (43), which passes through, to be connect on the inside of fixed frame (44) with the output end of driving motor (42), the moving arm
(41) top can move on positive anti-leading screw (43).
3. a kind of blanking truss manipulator according to claim 1, it is characterised in that: the various dimensions movement mechanism
(300) it can be made of vertically movable mechanism (320) and transverse moving mechanism (310), vertically movable mechanism (320) lower part is solid
Surely there are clamping plate driving mechanism (40).
4. a kind of blanking truss manipulator according to claim 3, it is characterised in that: rack (1) side wall, which is equipped with, to be slided
Dynamic chuck (2), the vertically movable mechanism (320) and transverse moving mechanism (310) are mounted in sliding chuck (2).
5. a kind of blanking truss manipulator according to claim 4, it is characterised in that: the vertically movable mechanism includes perpendicular
To pedestal (321) and first servo motor (322), vertical rack (323) are equipped on the inside of the vertical pedestal (321), described the
One servo motor (322) is mounted in sliding chuck (2), and it is main that the output shaft of the first servo motor (322) is equipped with first
Moving gear (324), first driving gear (324) and vertical rack (323) engagement, vertical pedestal (321) outside are set
There is the sideskid (325) being fixed on rack (1), the vertical pedestal (321) is stuck on the inside of sideskid (325) and along sideslip
Plate (325) slides.
6. a kind of blanking truss manipulator according to claim 5, it is characterised in that: the transverse moving mechanism includes the
The output end of two servo motors (311), second servo motor (311) is equipped with the second driving gear (312), the rack
(1) side wall is equipped with horizontal tooth bar (313), second driving gear (312) and horizontal tooth bar (313) engagement.
7. a kind of blanking truss manipulator according to claim 1, it is characterised in that: the clamping plate driving mechanism (40)
The rotating electric machine (5) being fixed on clamping plate (80), and adjacent cleats are equipped on the outside of clamping plate (80) on side moving arm (41)
(80) synchronizing bar (6) are equipped between.
8. a kind of blanking truss manipulator according to claim 7, it is characterised in that: the clamping plate driving mechanism (40)
Briquetting driving mechanism (700) are equipped on the outside of clamping plate (80) on side moving arm (41), the briquetting driving mechanism (700) includes
Telescopic device (710), connection frame (720), overturning arm component (740) and briquetting (730), the telescopic device (710) are hinged on
On the outside of clamping plate (80), the connection frame (720) is fixed on the outside of clamping plate (80), and the output end of the telescopic device (710) is fixed
In overturning arm component (740), the overturning arm component (740) is hinged on connection frame (720), the overturning arm component
(740) extension bar (750) are equipped between top and briquetting (730), the briquetting (730) is fixed on extension bar (750) inner end
On face.
9. a kind of blanking truss manipulator according to claim 8, it is characterised in that: overturning arm component (740) packet
It includes V-type frame (741), actuating arm (742), fixing clamp arm (743) and extends clamp arm (744), connection frame (720) two sides are hinged
Have V-type frame (741), the fixing clamp arm (743) is hinged on connection frame (720), described actuating arm (742) one end and fixing clamp
Arm (743) connection, actuating arm (742) other end and V-type frame (741) side are hinged, and extension clamp arm (744) activity is solid
It is scheduled on fixing clamp arm (743), the output end of the telescopic device (710) is hinged on the other side of V-type frame (741).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920286633.1U CN209551700U (en) | 2019-03-06 | 2019-03-06 | A kind of blanking truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920286633.1U CN209551700U (en) | 2019-03-06 | 2019-03-06 | A kind of blanking truss manipulator |
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| Publication Number | Publication Date |
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| CN209551700U true CN209551700U (en) | 2019-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920286633.1U Expired - Fee Related CN209551700U (en) | 2019-03-06 | 2019-03-06 | A kind of blanking truss manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN209551700U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745570A (en) * | 2019-11-18 | 2020-02-04 | 湖南众之强建筑材料有限公司 | Steel bar truss stacking device |
| CN111762377A (en) * | 2020-08-12 | 2020-10-13 | 贵州缔谊健康制药有限公司 | Be used for outer packing plant of powder medicine bag |
| CN114180273A (en) * | 2021-08-17 | 2022-03-15 | 上海豪尔机械制造有限公司 | A unloading snatchs manipulator in automation for rock wool production and processing |
-
2019
- 2019-03-06 CN CN201920286633.1U patent/CN209551700U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745570A (en) * | 2019-11-18 | 2020-02-04 | 湖南众之强建筑材料有限公司 | Steel bar truss stacking device |
| CN110745570B (en) * | 2019-11-18 | 2024-03-19 | 湖南众之强建筑材料有限公司 | Three-dimensional triangular steel bar truss stacking device |
| CN111762377A (en) * | 2020-08-12 | 2020-10-13 | 贵州缔谊健康制药有限公司 | Be used for outer packing plant of powder medicine bag |
| CN114180273A (en) * | 2021-08-17 | 2022-03-15 | 上海豪尔机械制造有限公司 | A unloading snatchs manipulator in automation for rock wool production and processing |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |