CN210030910U

CN210030910U - Self-adaptive sucker manipulator device

Info

Publication number: CN210030910U
Application number: CN201822080015.XU
Authority: CN
Inventors: 许平; 张亚晴; 周陶勇; 孙军峰; 孙东明; 董为民
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2018-12-12
Filing date: 2018-12-12
Publication date: 2020-02-07
Anticipated expiration: 2028-12-12

Abstract

The utility model relates to a self-adaptation sucking disc manipulator device belongs to the machine-building technical field. The utility model comprises a base, a mechanical arm device, a feeding table device and an electric copper chopper; the base is fixed subaerial, for guaranteeing its stability, welds the curb plate around the base. The mechanical arm device is arranged above the base and connected with the mechanical arm. The feeding table device is independently fixed on the ground, and the electric copper stack is placed on the feeding table device. The utility model discloses can solve traditional beginning utmost point burst transport and all accomplish the higher problem of inefficiency cost by the workman, can improve workman's operational environment, can avoid the emergence of incident effectively simultaneously, reduce workman's intensity of labour by a wide margin.

Description

Self-adaptive sucker manipulator device

Technical Field

The utility model relates to a self-adaptation sucking disc manipulator device, especially one kind can be automatic swift carry out conveyor to the starting sheet belongs to the machine-building technical field.

Background

In the traditional electrolytic copper industry, the processing and conveying of the copper starting sheet are manual operation, the starting sheet is made of metal and is very thin and only 1mm thick, the labor intensity is high, the safety of the working environment is poor, and a set of special equipment is not provided.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a device of two arm-type starting sheet manipulators, the device can replace artifical work, reduces intensity of labour and improves labor efficiency.

The technical scheme of the utility model is that: a self-adaptive sucker manipulator device comprises a base, a manipulator arm device, a manipulator device, a feeding table device and an electric copper stack; the base is fixed subaerial, for guaranteeing its stability, welds the curb plate around the base. The mechanical arm device is arranged above the base and connected with the mechanical arm. The feeding table device is independently fixed on the ground, and the electric copper stack is placed on the feeding table device.

The mechanical arm device comprises an arm base, a mechanical arm frame, a cylinder III, a connecting rod, a connecting plate I, a shaft I, a square tube I and a square tube II; the arm base passes through the bolt fastening on the base, and the arm frame is connected on the arm base through axle I, has welded square pipe I, square pipe II on the arm frame, and III cylinder bodies of cylinder are fixed on the square pipe in arm base rear through the trunnion, and the fisheye joint cover of cylinder body III is on robotic arm's staff, and company's board I passes through the fix with screw on the arm base, and the connecting rod is fixed on company's board I of arm base.

The manipulator portion includes: the device comprises a manipulator frame, a cylinder I, a cylinder II, a push plate, a sucker assembly, a connecting plate II, a shaft II and a buffer block; the manipulator frame comprises a top plate I, a top plate II, a side plate I and a side plate II; roof I welding is in manipulator frame upper end, and roof II welding is in roof I below, fixes in the manipulator frame. I welding of curb plate is in the hand rack left and right sides, both sides around II welding of curb plate are in the hand rack, the hand rack passes through axle II to be connected on the manipulator cantilever crane, the other end of connecting rod is fixed on the company of hand rack pulls II, install on the roof II of hand rack on the top of cylinder I, terminal and push pedal link together, there is a buffer block between curb plate I and the push pedal at both ends below the manipulator portion, cylinder II is fixed on curb plate II of hand rack, the end and the push pedal of II piston rods of cylinder are connected, the sucking disc of both sides passes through spring coupling and links together with the push pedal, middle sucking disc passes through the fix with screw on the push pedal.

The feeding table device comprises: a feeding rack and a rod. The stick is fixed above the pay-off rack, and the electric copper buttress is placed in the tray of pay-off bench top.

When the copper sheet feeding mechanism is used, after the electric copper stack is pushed to a designated position through the feeding table, the double-arm copper starting sheet separating mechanical arm can absorb one copper starting sheet from the electric copper stack at each time through the sucking disc on one mechanical arm, and the copper starting sheet is lifted to a certain height and then is conveyed to the feeding table of the embossing leveling machine by rotating 60 degrees. At the moment, a sucking disc on the other manipulator reaches the position right above the other pile of the electrolytic copper stack to be ready for sucking a starting sheet, and after the starting sheet is sucked, the manipulator rotates by 60 degrees to send the copper starting sheet to a feeding table of processing equipment. Meanwhile, the first mechanical arm returns to the initial position to prepare for absorbing the copper starting sheet. In addition, when the mechanical arm rotates, the orientation of the mechanical hand part is required not to be changed, and the double-arm copper starting sheet slicing manipulator sucks the starting sheet, rotates the arm in a reciprocating mode and conveys the starting sheet, so that the purpose of improving the production efficiency is achieved.

The utility model has the advantages that:

1. the safety guarantee of workers is improved, and the operation is most obvious especially in severe, dangerous and toxic substance-containing environments.

2. The labor cost is reduced, and the mechanical arm is dead but flexible, unlike the feeling that people feel tired and tedious. The operation can be completed only by one or two workers who do supervision or regularly maintain and check the workers without needing too many workers, and meanwhile, the damage to the raw materials caused by human factors can be reduced.

3. The production efficiency is improved, which is expected by enterprise factories and workers. Particularly, in some operations with high repeatability, the manipulator can work without any time only by performing supervision or maintenance and inspection work, so that the production efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a front view of the present invention.

In the figure: 3-arm base, 5-connecting rod, 6-connecting plate I, 7-shaft I, 8-cylinder III, 9-square tube I, 10-square tube II, 11-cylinder I, 12-cylinder II, 13-top plate I, 14-top plate II, 15-side plate I, 16-side plate II, 17-push plate, 18-sucker, 19-shaft II, 20-connecting plate II, 21-buffer block, 22-feeding rack, 23-rod, 24-electric copper stack and 25-tray.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

Example 1: as shown in fig. 1-2, an adaptive sucker manipulator device comprises a base, a mechanical arm, a feeding table and an electric copper stack 24; the base is fixed subaerial, for guaranteeing its intensity, the welding has the curb plate around the base, and robotic arm installs in the base top, and the manipulator links together with robotic arm, and the pay-off platform is fixed subaerial alone, and electricity copper buttress 24 is placed on the pay-off bench.

Furthermore, the mechanical arm comprises an arm base 3, a hand arm frame, a cylinder III 8, a connecting rod 5, a connecting plate I6, a shaft I7, a square tube I9 and a square tube II 10; arm base 3 passes through the bolt fastening on the base, the arm frame is connected on arm base 3 through axle I7, in order to guarantee the intensity of arm frame, the welding of arm frame has square pipe I9 and square pipe II 10, the cylinder III 8 cylinder body passes through the gudgeon to be fixed on the square pipe in 3 backs of arm base, in order to ensure can freely stretch out and draw back and rotate, the fisheye joint cover of the cylinder III 8 cylinder body is on robotic arm's staff, it fixes on arm base 3 through the screw to link board I6, the blind end of connecting rod 5 is fixed on linking board I6 of arm base.

Furthermore, the manipulator comprises a manipulator frame, an air cylinder I11, an air cylinder II 12, a push plate 17, a suction cup 18, a connecting plate II 20, a shaft II 19 and a buffer block 21; the manipulator frame comprises a top plate I13, a top plate II 14, a side plate I15 and a side plate II 16; the top plate I13 is welded at the upper end of the manipulator frame, and the top plate II 14 is welded below the top plate I13 and fixed in the manipulator frame; curb plate I15 welds in the manipulator frame left and right sides, curb plate II 16 welds both sides around the manipulator frame, the manipulator frame is installed on the manipulator frame through axle II 19, the other end of connecting rod 5 is fixed on link II 20 of manipulator frame, install on the roof II 14 of manipulator frame on the top of cylinder I11, the end links together with push pedal 17, be equipped with buffer block 21 below the manipulator between curb plate I15 at both ends and the push pedal 17, cylinder II 12 is fixed on the curb plate II 16 of manipulator frame, the end and the push pedal 17 of the II 12 piston rods of cylinder are connected, the sucking disc 18 of both sides links together with push pedal 17 through spring coupling, middle sucking disc passes through the fix with screw on push pedal 17.

Further, the feeding table comprises a feeding rack 22, a rod 23; the bar 23 is fixed above the feed table 22 and the stack 24 is placed in a tray 25 above the feed table.

The present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit and scope of the present invention by those skilled in the art.

Claims

1. The utility model provides a self-adaptation sucking disc manipulator device which characterized in that: comprises a base, a mechanical arm, a mechanical hand, a feeding table and an electric copper stack (24); the base is fixed on the ground, side plates are welded on the periphery of the base, the mechanical arm is installed above the base, the mechanical arm is connected with the mechanical arm, the feeding table is separately fixed on the ground, and the electric copper stack (24) is placed on the feeding table;

the mechanical arm comprises an arm base (3), a hand arm frame, a cylinder III (8), a connecting rod (5), a connecting plate I (6), a shaft I (7), a square tube I (9) and a square tube II (10); the arm base (3) is fixed on the base, the arm frame is connected to the arm base (3) through a shaft I (7), the arm frame is provided with a square tube I (9) and a square tube II (10), a cylinder body of a cylinder III (8) is fixed on the square tube behind the arm base (3) through a trunnion, a fisheye joint of the cylinder body of the cylinder III (8) is sleeved on a small shaft of the mechanical arm, a connecting plate I (6) is fixed on the arm base (3), and the closed end of a connecting rod (5) is fixed on the connecting plate I (6) of the arm base;

the manipulator comprises a manipulator frame, a cylinder I (11), a cylinder II (12), a push plate (17), a sucker (18), a connecting plate II (20), a shaft II (19) and a buffer block (21); the manipulator frame comprises a top plate I (13), a top plate II (14), a side plate I (15) and a side plate II (16); the top plate I (13) is arranged at the upper end of the manipulator frame, and the top plate II (14) is arranged below the top plate I (13) and fixed in the manipulator frame; the side plates I (15) are arranged on the left side and the right side of the manipulator frame, the side plates II (16) are arranged on the front side and the rear side of the manipulator frame, the manipulator frame is arranged on a manipulator frame through a shaft II (19), the other end of a connecting rod (5) is fixed on a connecting plate II (20) of the manipulator frame, the top end of a cylinder I (11) is arranged on a top plate II (14) of the manipulator frame, the tail end of the cylinder I is connected with a push plate (17), a buffer block (21) is arranged between the side plates I (15) and the push plate (17) at the two ends of the lower surface of the manipulator, the cylinder II (12) is fixed on the side plates II (16) of the manipulator frame, the tail end of a piston rod of the cylinder II (12) is connected with the push plate (17), sucking discs (18) on the two;

the feeding table comprises a feeding table frame (22) and a rod (23); the bar (23) is fixed above the feeding bench (22), and the electric copper stack (24) is placed in the tray (25) above the feeding bench.