CN209774674U - Automatic unloader that goes up of manipulator - Google Patents

Abstract

The utility model discloses an automatic loading and unloading device of a manipulator, which comprises a mounting plate and a mounting frame, and a rack rail is provided on the top surface of the mounting plate. In the utility model, the telescopic movement of the first cylinder drives the rack to reciprocate in the rack track, and then the rack drives the gear to rotate, and the gear rotates while driving the linkage rod to rotate, and the end of the linkage rod is provided with a chute. When the gear rotates, the connecting shaft moves in the chute. At the same time, the connecting shaft drives the pull rod to reciprocate along the sleeve, and the pull rod drives the finger cylinder to reciprocate. During the feeding process, the first cylinder and the finger cylinder move quickly, which can quickly pick up and transfer items, improve production efficiency, reduce the phenomenon of improper clamping, reduce production costs, and eliminate the unstable factors of manual fatigue at the same time. It is more stable and reliable.

Description

A robotic automatic loading and unloading device

technical field

The utility model relates to the technical field of loading and unloading transfer equipment, in particular to an automatic loading and unloading device of a manipulator.

Background technique

In the production process of the factory, the processed goods need to be transferred, commonly known as loading and unloading, which is to transfer the goods from one station to another for processing. The traditional loading and unloading is done manually, and a few factories use more high-end The manipulator performs loading and unloading work.

The method of manual loading and unloading has the disadvantages of easy clamping and low efficiency, and it is extremely labor-intensive, causing serious waste of human resources. It is also prone to unstable factors such as artificial fatigue, which is likely to cause defective products. In addition, although the current manipulator The functions are relatively complete, but the fully automated manipulator is expensive and the maintenance is more complicated. For small and medium-sized enterprises, it increases the economic burden and is not practical. question.

Utility model content

The purpose of the utility model is to solve the shortcomings in the prior art, and propose a manipulator automatic loading and unloading device.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a manipulator automatic loading and unloading device, including a mounting plate and a mounting frame, the top surface of the mounting plate is provided with a rack track, and the inside of the rack track is slidingly connected with teeth One end of the rack is fixedly connected to the first cylinder on the top surface of the mounting plate, and the surface of the rack is meshed with a gear, the bottom surface of the gear is connected to a support rod through a rotating connection plate, and the bottom surface of the support rod is fixedly connected to the mounting plate, The top surface of the gear is fixedly connected with a linkage rod, and the surface of the linkage rod is provided with a chute, and the inside of the chute is slidably connected with a connecting shaft. A sleeve is connected, and the sleeve is fixedly connected to the top surface of the mounting plate through a fixed rod. The other end of the pull rod is fixedly connected to a finger cylinder, and the bottom surface of the mounting plate is connected to a driven gear through a second cylinder, and the driven gear The bottom surface is connected with a mounting frame through a rotating disk, and a fixed plate is fixedly connected to the surface of one side of the mounting frame. The end passes through the fixed plate and is connected with the bottom surface of the driving gear.

As a further description of the above technical solution:

The connecting shaft is composed of an upper I-shaped wheel and a lower I-shaped wheel, and the upper I-shaped wheel is fixedly connected to the center of the top surface of the lower I-shaped wheel. The lower I-shaped wheel is clamped inside the chute, and the upper I-shaped wheel The character wheel is rotatably connected with the pull rod.

As a further description of the above technical solution:

The mounting plate has a circular structure, and the area of the bottom surface of the mounting plate is slightly smaller than the area of the top surface of the driven gear.

As a further description of the above technical solution:

There are multiple second cylinders, and the second cylinders are equiangularly distributed with respect to the center of the mounting plate.

As a further description of the above technical solution:

An air pump is used in conjunction with the first cylinder and the second cylinder, and the input end of the air pump is electrically connected to the output end of the remote control terminal.

As a further description of the above technical solution:

The input end of the servo motor is electrically connected with the output end of the remote control terminal.

In summary, due to the adoption of the above technical solution, the beneficial effects of the utility model are:

1. In the utility model, a finger cylinder, a pull rod, a connecting shaft, a linkage rod, a gear, a rack and the first cylinder are adopted. The telescopic movement of the first cylinder drives the rack to reciprocate in the rack track, and then the gear The bar drives the gear to rotate. When the gear rotates, it drives the linkage rod to rotate. There is a chute at the end of the linkage rod. When the gear rotates, the connecting shaft moves in the chute. At the same time, the connecting shaft drives the pull rod to reciprocate along the sleeve. movement, while the pull rod drives the finger cylinder to reciprocate, and the finger cylinder clamps the items on the surface of the conveying device to complete the entire loading and unloading process. Efficiency reduces the phenomenon of improper clamping, reduces production costs, and eliminates the unstable factors of artificial fatigue, making it more stable and reliable to use.

2. In the utility model, the second cylinder and the servo motor are adopted, and the second cylinder can drive the mounting plate to move up and down, which is convenient to move the clamped items up and down, and can change the items from horizontal transportation to vertical transportation, increasing the At the same time, the servo motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, and the driven gear can drive the mounting plate to rotate, and the items clamped by the finger cylinder can be rotated to facilitate placing the items in other work At the position, the second cylinder, the first cylinder and the servo motor can be used together to place the item on any station within the range, which improves the efficiency of loading and unloading. At the same time, the structure is simple and the maintenance is convenient, avoiding the expensive cost of traditional mechanical arms. Maintaining complex problems is worth promoting.

Description of drawings

Fig. 1 is the plan view of a kind of manipulator automatic loading and unloading device that the utility model proposes;

Fig. 2 is the side view of a kind of manipulator automatic loading and unloading device proposed by the utility model;

Fig. 3 is a structural schematic diagram of the connecting shaft of the present invention.

illustration:

1. Mounting plate; 2. Linkage rod; 3. Chute; 4. Connecting shaft; 5. Sleeve; 6. Pull rod; 7. Finger cylinder; 8. First cylinder; 9. Rack track; 10. Gear; 11, rack; 12, fixed plate; 13, driving gear; 14, rotating connecting disc; 15, fixed rod; 16, second cylinder; 17, driven gear; 18, rotating disc; 19, mounting frame; 20, servo motor; 21, support rod; 22, upper I-shaped wheel; 23, lower I-shaped wheel.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example.

Referring to Figures 1-3, a manipulator automatic loading and unloading device includes a mounting plate 1 and a mounting frame 19. A rack track 9 is provided on the top surface of the mounting plate 1, and a rack 11 is slidably connected to the inside of the rack track 9. The rack One end of 11 is fixedly connected to the first cylinder 8 on the top surface of the mounting plate 1, and the surface of the rack 11 is meshed with a gear 10, and the bottom surface of the gear 10 is connected to a support rod 21 by rotating the connection plate 14, and the bottom surface of the support rod 21 is fixed to the mounting plate 1 Connection, the top surface of the gear 10 is fixedly connected with the connecting rod 2, and the surface of the connecting rod 2 is provided with a chute 3, and the inside of the chute 3 is slidably connected with the connecting shaft 4, and the chute 3 rotates through the connecting shaft 4 and the pull rod 6 connected, and the sleeve 5 is sleeved on the surface of the drawing rod 6, and the sleeve 5 is fixedly connected with the top surface of the mounting plate 1 through the fixed rod 15, the other end of the drawing rod 6 is fixedly connected with the finger cylinder 7, and the bottom surface of the mounting plate 1 passes through the second The cylinder 16 is connected with a driven gear 17, and the bottom surface of the driven gear 17 is connected with a mounting frame 19 through a rotating disc 18, and the surface of one side of the mounting frame 19 is fixedly connected with a fixed plate 12, and the bottom surface of the fixed plate 12 is fixedly connected with a servo motor 20, One side surface of the driven gear 17 is meshed with the driving gear 13 , and the output end of the servo motor 20 passes through the fixed plate 12 and is connected to the bottom surface of the driving gear 13 .

The connecting shaft 4 is composed of an upper I-shaped wheel 22 and a lower I-shaped wheel 23, and the center position of the top surface of the lower I-shaped wheel 23 is fixedly connected with the upper I-shaped wheel 22, and the lower I-shaped wheel 23 is clamped inside the chute 3. The I-shaped wheel 22 is rotationally connected with the pull rod 6, the mounting plate 1 is a circular structure, and the area of the bottom surface of the mounting plate 1 is slightly smaller than the area of the top surface of the driven gear 17, and there are multiple second cylinders 16, and the second cylinder 16 is about The center of the mounting plate 1 is equiangularly distributed, the first cylinder 8 and the second cylinder 16 are used together with an air pump, and the input end of the air pump is electrically connected to the output end of the remote control terminal, and the input end of the servo motor 20 is electrically connected to the output end of the remote control terminal , the remote control terminal is a PLC controller, which is not shown in the figure, and the finger cylinder 7 is a common structure, so it will not be repeated here.

Working principle: When in use, move the device to a suitable position, connect the power supply and the air pump for the device, connect the remote control terminal for the device, and set the number of rotations of the servo motor 20 and the first cylinder 8 and the second The telescopic frequency of the cylinder 16, the telescopic movement of the first cylinder 8, drives the rack 11 to reciprocate in the rack track 9, and then the rack 11 drives the gear 10 to rotate, and the gear 10 rotates while driving the linkage rod 2 to rotate, and the linkage rod 2 There is a chute 3 at the end. When the gear 10 rotates, the connecting shaft 4 moves in the chute 3. At the same time, the connecting shaft 4 drives the pull rod 6 to reciprocate along the sleeve 5, and the pull rod 6 drives the finger cylinder 7. Reciprocating motion, the finger cylinder 7 clamps the items on the surface of the conveying device, thereby completing the entire loading and unloading process, the first cylinder 8 and the finger cylinder 7 move quickly, can quickly pick up and transfer the items, improve production efficiency, and reduce clamping The phenomenon of not being in place reduces the production cost, and at the same time eliminates the unstable factors of manual fatigue, making it more stable and reliable to use. After the item is picked up, the second cylinder 16 can drive the mounting plate 1 to move up and down, which is convenient for the item to be picked up. Moving up and down can change the items from horizontal transportation to vertical transportation, increasing the transfer mode. At the same time, the servo motor 20 drives the driving gear 13 to rotate, the driving gear 13 drives the driven gear 17 to rotate, and the driven gear 17 can drive the mounting plate 1 to rotate, the item clamped by the finger cylinder 7 can be rotated to facilitate placing the item on other stations, the second cylinder 16, the first cylinder 8 and the servo motor 20 can be used together to place the item within the range It improves the efficiency of loading and unloading at any station, and at the same time has a simple structure and is easy to maintain, avoiding the problems of high cost and complicated maintenance of traditional mechanical arms. It is worth popularizing and using.

The above is only a preferred embodiment of the utility model, but the scope of protection of the utility model is not limited thereto. The equivalent replacement or change of the new technical solution and the concept of the utility model shall be covered by the protection scope of the utility model.

Claims (6)

1. A manipulator automatic loading and unloading device, including a mounting plate (1) and a mounting frame (19), characterized in that a rack track (9) is provided on the top surface of the mounting plate (1), and the rack track ( 9) A rack (11) is slidingly connected inside, and one end of the rack (11) is located on the top surface of the mounting plate (1) and is fixedly connected with the first cylinder (8), and the surface of the rack (11) is meshed with a gear (10 ), the bottom surface of the gear (10) is connected with the support rod (21) by rotating the connection plate (14), and the bottom surface of the support rod (21) is fixedly connected with the mounting plate (1), and the top surface of the gear (10) is fixedly connected There is a connecting rod (2), and the surface of the connecting rod (2) is provided with a chute (3), and the inside of the chute (3) is slidably connected with a connecting shaft (4), and the chute (3) passes through the connecting shaft (4) Rotately connected with the pull rod (6), and the sleeve (5) is sleeved on the surface of the pull rod (6), and the sleeve (5) is fixedly connected with the top surface of the mounting plate (1) through the fixing rod (15) , the other end of the pull rod (6) is fixedly connected with the finger cylinder (7), the bottom surface of the installation plate (1) is connected with the driven gear (17) through the second cylinder (16), and the driven gear (17) The bottom surface is connected with the installation frame (19) through the rotating disk (18), and the surface of one side of the installation frame (19) is fixedly connected with the fixed plate (12), and the bottom surface of the fixed plate (12) is fixedly connected with the servo motor (20), The driving gear (13) is meshed with one side surface of the driven gear (17), and the output end of the servo motor (20) passes through the fixing plate (12) and is connected to the bottom surface of the driving gear (13). 2. A manipulator automatic loading and unloading device according to claim 1, characterized in that the connecting shaft (4) is composed of an upper I-shaped wheel (22) and a lower I-shaped wheel (23), and the lower I-shaped wheel The center position of the top surface of the wheel (23) is fixedly connected with the upper I-shaped wheel (22), the lower I-shaped wheel (23) is clamped inside the chute (3), the upper I-shaped wheel (22) and the pull rod (6) Rotate connection. 3. A manipulator automatic loading and unloading device according to claim 1, characterized in that, the mounting plate (1) has a circular structure, and the bottom surface area of the mounting plate (1) is slightly smaller than the top of the driven gear (17). surface area. 4. A manipulator automatic loading and unloading device according to claim 1, characterized in that there are multiple second cylinders (16), and the second cylinders (16) are equiangular with respect to the center of the mounting plate (1) distributed. 5. A manipulator automatic loading and unloading device according to claim 1, characterized in that the first cylinder (8) and the second cylinder (16) are used in conjunction with an air pump, and the input end of the air pump is connected to the output of the remote control terminal terminal electrical connections. 6. The automatic loading and unloading device of a manipulator according to claim 1, characterized in that the input end of the servo motor (20) is electrically connected to the output end of the remote control terminal.