CN210113233U - Rotating manipulator stacking machine - Google Patents
Rotating manipulator stacking machine Download PDFInfo
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- CN210113233U CN210113233U CN201920671796.1U CN201920671796U CN210113233U CN 210113233 U CN210113233 U CN 210113233U CN 201920671796 U CN201920671796 U CN 201920671796U CN 210113233 U CN210113233 U CN 210113233U
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Abstract
A rotating manipulator stacking machine belongs to the field of glove production equipment. Including plucking frame (1), pluck manipulator (3), pluck guiding mechanism and rotatory guiding mechanism, be equipped with circulation transport mechanism on plucking frame (1), pluck manipulator (3) and fix on circulation transport mechanism, pluck manipulator (3) and be connected with the control mechanism that opens and shuts, pluck guiding mechanism and fix on plucking frame (1) and cooperate with the control mechanism that opens and shuts and drive and pluck manipulator (3) and open and shut, rotatory guiding mechanism sets up and is plucking between frame (1) and plucking manipulator (3), rotatory guiding mechanism drives and plucks manipulator (3) and carry out the rotation respectively around plucking gloves. Utilize rotatory guiding mechanism to realize the rotation of picking the manipulator to realize the transport characteristics of present gloves production mould line, need not modify the touch structure, can directly be applied to on the current gloves production mould line, improve production efficiency.
Description
Technical Field
A rotating manipulator stacking machine belongs to the field of glove production equipment.
Background
The picking efficiency of the soft gloves is always an important factor disturbing the glove production efficiency, the current gloves are mainly picked in a picking roller mode, the picking rollers are used in pairs, a clamping groove used for clamping the gloves is formed in the picking rollers, the gloves on the hand molds are separated from the hand molds by a demolding mechanism before the hand molds are carried by the glove conveying lines through the picking rollers, the gloves on the hand molds drop downwards into the clamping groove of the picking rollers, the gloves are picked downwards after the picking rollers rotate, the gloves are thoroughly separated from the hand molds, the picking mode is used for many years, along with the increase of the production speed of a glove production line, the picking mode of the picking rollers cannot meet the production line with the increasing production speed, and a rotary mechanical hand stacking machine with the higher speed is urgently needed at present.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: overcomes the defects of the prior art, and provides a rotating manipulator stacking machine which has faster picking speed and can adapt to the linear speed of the prior glove production.
The utility model provides a technical scheme that its technical problem adopted is: the rotary manipulator stacking machine comprises a picking frame, a picking manipulator, a picking guide mechanism and a rotary guide mechanism, wherein the picking frame is provided with a circulating conveying mechanism, the picking manipulator is fixed on the circulating conveying mechanism and moves circularly on the picking frame along with the circulating conveying mechanism, the picking manipulator is connected with an opening and closing control mechanism, the picking guide mechanism is fixed on the picking frame and matched with the opening and closing control mechanism to drive the picking manipulator to open and close, the rotary guide mechanism is arranged between the picking frame and the picking manipulator, and the rotary guide mechanism drives the picking manipulator to rotate around picking gloves respectively.
Preferably, the picking manipulator comprises a picking seat and two glove clamping units arranged on the upper side of the picking seat in a swinging mode, the opening and closing control mechanism comprises a cross and rollers arranged on the lower side of the picking seat, the cross is transversely arranged, the middle of the cross is connected with the picking seat through a lifting shaft, the four rollers are respectively arranged at the end part of the cross, the lifting shaft is connected with the picking seat in a sliding mode, the upper end of the lifting shaft is provided with a swinging mechanism for controlling the two glove clamping units to swing, the picking guide mechanism is a picking guide rail arranged on the picking frame, and the rollers on the cross drive the cross to lift along the picking guide rail while rolling. Through the arrangement of the cross, the roller wheels are still guaranteed to roll on the guide rails after the picking manipulator rotates 90 degrees, and the operation is reliable.
Preferably, a clamping return spring is sleeved on the lifting shaft between the cross and the picking seat.
Preferably, the rotary guide mechanism comprises a rotary guide rail, a fixed seat and a rotary mechanism, the rotary guide rail is fixed on the picking frame, the fixed seat is fixedly connected with the circulating conveying mechanism, the picking manipulator is rotatably arranged on the fixed seat, the rotary mechanism is connected with the picking manipulator, and the rotary mechanism drives the picking manipulator to rotate after contacting with the rotary guide rail.
Preferably, the rotating mechanism comprises a first rotating wheel and a second rotating wheel, and the first rotating wheel and the second rotating wheel are horizontally arranged and are respectively and rotatably connected with the picking manipulator.
Preferably, the picking manipulator rotates the upside that sets up at the fixing base, and first swiveling wheel and the setting of second swiveling wheel have seted up the arc guide way at the downside of fixing base on the fixing base, and the shaft of first swiveling wheel and second swiveling wheel passes the arc guide way and is connected the picking manipulator.
Preferably, a positioning mechanism is further arranged between the fixing seat and the picking manipulator, and after the rotating mechanism drives the picking manipulator to rotate in place, the positioning mechanism is fixedly connected with the picking manipulator and the fixing seat.
Preferably, the circulating transmission mechanism is a chain wheel chain, and a plurality of picking manipulators are fixed on the chain.
Compared with the prior art, the utility model discloses the beneficial effect who has is:
utilize rotatory guiding mechanism to drive and take the manipulator and open and close along with the in-process that circulation transport mechanism removed, before picking the manipulator clamp and getting gloves, rotatory guiding mechanism makes the direction of opening and closing of picking the manipulator perpendicular to gloves's direction of delivery, after picking the manipulator clamp and getting gloves, rotatory guiding mechanism makes the direction of opening and closing of picking the manipulator be on a parallel with gloves's direction of delivery again, the manipulator of so being convenient for picking carries out the pile up neatly with gloves, just so can be adapted to with gloves direction of delivery in the present gloves production moulding line, it removes along gloves direction of delivery along circulation transport mechanism to pick the manipulator, pick the both sides that the manipulator clamp got gloves, then release gloves after 90 and realize gloves pile up.
The utility model discloses a rotatory manipulator sign indicating number wadding machine utilizes rotatory guiding mechanism to realize the rotation of plucking the manipulator to realize that gloves width direction is on a parallel with direction of delivery's transport characteristics in present gloves production mould line, need not modify the handle structure, can directly be applied to on the current gloves production mould line, reduce the manufacturing cost of enterprise.
Drawings
Fig. 1 is a schematic perspective view of the stacking machine with the rotary manipulator.
Fig. 2 is a top view of the stacking machine with the rotary manipulator.
Fig. 3 is a front view of the stacking machine with the rotary manipulator.
Fig. 4 is a cross-sectional view a-a of fig. 2.
Fig. 5 is a sectional view of B-B in fig. 3.
Fig. 6 is a cross-sectional view of C-C in fig. 3.
Fig. 7 is a schematic perspective view of the picking robot.
Fig. 8 is a front view of the picking robot.
Wherein: 1. the device comprises a picking frame 2, a chain wheel chain 3, a picking manipulator 4, a fixed seat 5, a clamping return spring 6, an upper rotating guide rail 7, an upper picking guide rail 8, a lower picking guide rail 9, a lifting shaft 10, a cross 11, a roller 12, an arc-shaped guide groove 13, a first rotating wheel 14, a second rotating wheel 15, a lower rotating guide rail 16, a glove clamping plate 17 and a picking seat.
Detailed Description
Fig. 1 to 8 are preferred embodiments of the stacking machine with the rotary manipulator, and the present invention will be further explained with reference to fig. 1 to 8.
Referring to fig. 1-6, this rotating mechanical arm stacking machine is including plucking frame 1, pluck manipulator 3, pluck guiding mechanism and rotatory guiding mechanism, be equipped with circulation transport mechanism on the plucking frame 1, pluck manipulator 3 and fix on circulation transport mechanism, pluck manipulator 3 and circulate along with circulation transport mechanism on plucking frame 1 and move, pluck manipulator 3 and be connected with the opening and closing control mechanism that drives its opening and shutting, pluck guiding mechanism and fix on plucking frame 1 and cooperate with opening and closing control mechanism, rotatory guiding mechanism sets up between plucking frame 1 and plucking manipulator 3, rotatory guiding mechanism drives and plucks manipulator 3 and carry out the rotation respectively around plucking gloves. The circulating transmission mechanism is a chain wheel chain 2, and a plurality of picking manipulators 3 are fixed on the chain.
Referring to fig. 7 to 8, the picking manipulator 3 includes a picking seat 17 and two glove clamping units which are arranged on the upper side of the picking seat 17 in a swinging manner, the opening and closing control mechanism is a cross 10 and rollers 11 which are arranged on the lower side of the picking seat 17, the cross 10 is transversely arranged, the middle of the cross 10 is connected with the picking seat 17 through a lifting shaft 9, the four rollers 11 are respectively arranged on the end part of the cross 10, the lifting shaft 9 is slidably connected with the picking seat 17, a clamping reset spring 5 is sleeved on the lifting shaft 9 between the cross 10 and the picking seat 17, a swinging mechanism which controls the two glove clamping units to swing is arranged on the upper end of the lifting shaft 9, the picking guide mechanism is a picking guide rail arranged on the picking frame 1, and the rollers 11 on the cross 10 drive the cross 10 to lift along the picking guide rail while rolling. The glove clamping unit in this embodiment is a glove clamping plate 16, the glove clamping plate 16 is driven to open by the picking guide rail through the lifting shaft 9, and the gloves are released to the inserting mechanism to gradually complete stacking. The picking guide rail comprises an upper picking guide rail 7 arranged on the upper portion of a picking frame 1 and a lower picking guide rail 8 arranged on the lower portion of the picking frame 1, two opposite idler wheels 11 on a cross 10 contact with the upper picking guide rail 7 to push up a lifting shaft 9, two glove clamping plates 16 open, after the two idler wheels 11 separate from the upper picking guide rail 7, a clamping reset spring 5 drives the two glove clamping plates 16 to clamp each other and clamp gloves, after a picking seat 17 rotates, the other two idler wheels 11 on the cross 10 contact with the lower picking guide rail 8 to push up the lifting shaft 9, the two glove clamping plates 16 open, the gloves are released, and after the two idler wheels 11 separate from the lower picking guide rail 8, the clamping reset spring 5 drives the two glove clamping plates 16 to clamp each other again.
The rotary guide mechanism comprises a rotary guide rail, a fixed seat 4 and a rotary mechanism, the rotary guide rail is fixed on the picking frame 1, the fixed seat 4 is fixedly connected with the circulating conveying mechanism, the picking manipulator 3 is rotatably arranged on the fixed seat 4, the rotary mechanism is connected with the picking manipulator 3, and the rotary mechanism drives the picking manipulator 3 to rotate after contacting with the rotary guide rail. The rotary guide rail is a guide rail which is inclined or bent towards the inner side of the picking frame 1 gradually along the advancing direction of the picking manipulator 3, the rotary guide rail comprises an upper rotary guide rail 6 and a lower rotary guide rail 15, the rotary mechanism comprises a first rotating wheel 13 and a second rotating wheel 14, and the first rotating wheel 13 and the second rotating wheel 14 are horizontally arranged and are respectively rotatably connected with the picking manipulator 3. The picking manipulator 3 is rotatably arranged on the upper side of the fixing seat 4, the first rotating wheel 13 and the second rotating wheel 14 are arranged on the lower side of the fixing seat 4, two arc-shaped guide grooves 12 are formed in the fixing seat 4, and wheel shafts of the first rotating wheel 13 and the second rotating wheel 14 respectively penetrate through one arc-shaped guide groove 12 to be connected with the picking manipulator 3. The central angle of the arc-shaped guide groove 12 is 90 degrees, and the wheel shafts of the first rotating wheel 13 and the second rotating wheel 14 are respectively arranged at the end parts of the corresponding arc-shaped guide groove 12, so that the rotating angle of the picking manipulator 3 is limited, and the picking manipulator rotates 90 degrees every time.
Because there is the clearance in the guide rail, produce the swing easily, for the accuracy of control snatching the angle, this embodiment still is equipped with positioning mechanism between fixing base 4 and picking manipulator 3, and rotary mechanism drives picking manipulator 3 rotatory back that targets in place, and positioning mechanism fixed connection picks manipulator 3 and fixing base 4 to guarantee to accurately grab and get gloves. Specifically, positioning mechanism can be the electro-magnet, also can be the locating pin, and the locating pin setting has seted up the locating hole on the fixing base 4 on picking the seat 17, picks seat 17 and inserts in the locating hole under the drive of spring after the position, prevents to pick manipulator 3 and takes place the swing, when needing to pick manipulator 3 rotatory, through setting up guide rail and the locating pin lower extreme cooperation on picking frame 1, makes its downstream and locating hole separation.
The picking manipulator 3 is in the process of moving along with the chain, the picking manipulator 3 is located on the chain on the lower side of the picking frame 1 for illustration, after the first rotating wheel 13 is in contact with the lower rotating guide rail 15, the lower rotating guide rail 15 extrudes the first rotating wheel 13, the first rotating wheel 13 drives the picking seat 17 to rotate anticlockwise, the two glove clamping plates 16 are located on two sides of the glove conveying line conveying direction, at the moment, the positioning mechanism is connected with the fixing seat 4 and the picking seat 17, the picking manipulator 3 is prevented from rotating after being separated from the lower rotating guide rail 15, after the picking manipulator 3 picks gloves from the hand mold, the second rotating wheel 14 is in contact with the upper rotating guide rail 6, the upper rotating guide rail 6 extrudes the second rotating wheel 14 to rotate clockwise, and the two glove clamping plates 7 are located on the glove conveying line conveying direction.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical substance of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (8)
1. A rotary manipulator stacking machine is characterized in that: including picking frame (1), picking manipulator (3), picking guiding mechanism and rotatory guiding mechanism, be equipped with circulation transport mechanism on picking frame (1), picking manipulator (3) are fixed on circulation transport mechanism, picking manipulator (3) are along with circulation transport mechanism at picking frame (1) overhead circulation removal, picking manipulator (3) are connected with the control mechanism that opens and shuts, picking guiding mechanism fixes on picking frame (1) and cooperatees with the control mechanism that opens and shuts and drive and pick manipulator (3) and open and shut, rotatory guiding mechanism sets up and is picking between frame (1) and picking manipulator (3), rotatory guiding mechanism drives and picks manipulator (3) and carry out the rotation respectively around picking gloves.
2. The rotary manipulator stacking machine according to claim 1, wherein: the picking manipulator (3) comprises a picking seat (17) and two glove clamping units arranged on the upper side of the picking seat (17) in a swinging mode, an opening and closing control mechanism comprises a cross (10) and rollers (11) arranged on the lower side of the picking seat (17), the cross (10) is transversely arranged, the middle of the cross (10) is connected with the picking seat (17) through a lifting shaft (9), the four rollers (11) are respectively arranged at the end parts of the cross (10), the lifting shaft (9) is connected with the picking seat (17) in a sliding mode, the upper end of the lifting shaft (9) is provided with a swinging mechanism for controlling the two glove clamping units to swing, the picking guide mechanism is a picking guide rail arranged on the picking frame (1), and the rollers (11) on the cross (10) drive the cross (10) to lift along the picking guide rail while rolling.
3. The rotary manipulator stacking machine according to claim 2, wherein: a clamping return spring (5) is sleeved on the lifting shaft (9) between the cross (10) and the picking seat (17).
4. The rotary manipulator stacking machine according to claim 1, wherein: the rotary guide mechanism comprises a rotary guide rail, a fixed seat (4) and a rotary mechanism, the rotary guide rail is fixed on the picking frame (1), the fixed seat (4) is fixedly connected with the circulating conveying mechanism, the picking manipulator (3) is rotatably arranged on the fixed seat (4), the rotary mechanism is connected with the picking manipulator (3), and the rotary mechanism drives the picking manipulator (3) to rotate after contacting with the rotary guide rail.
5. The rotary manipulator stacking machine according to claim 4, wherein: the rotating mechanism comprises a first rotating wheel (13) and a second rotating wheel (14), wherein the first rotating wheel (13) and the second rotating wheel (14) are horizontally arranged and are respectively and rotatably connected with the picking manipulator (3).
6. The rotary manipulator stacking machine according to claim 5, wherein: the picking manipulator (3) is rotatably arranged on the upper side of the fixed seat (4), the first rotating wheel (13) and the second rotating wheel (14) are arranged on the lower side of the fixed seat (4), the fixed seat (4) is provided with an arc-shaped guide groove (12), and the wheel shaft of the first rotating wheel (13) and the wheel shaft of the second rotating wheel (14) penetrate through the arc-shaped guide groove (12) to be connected with the picking manipulator (3).
7. The rotary manipulator stacking machine according to claim 4, wherein: and a positioning mechanism is further arranged between the fixed seat (4) and the picking mechanical arm (3), and after the rotating mechanism drives the picking mechanical arm (3) to rotate in place, the positioning mechanism is fixedly connected with the picking mechanical arm (3) and the fixed seat (4).
8. The rotary manipulator stacking machine according to claim 1, wherein: the circulating transmission mechanism is a chain wheel chain (2), and a plurality of picking manipulators (3) are fixed on the chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920671796.1U CN210113233U (en) | 2019-05-13 | 2019-05-13 | Rotating manipulator stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920671796.1U CN210113233U (en) | 2019-05-13 | 2019-05-13 | Rotating manipulator stacking machine |
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| Publication Number | Publication Date |
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| CN210113233U true CN210113233U (en) | 2020-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920671796.1U Active CN210113233U (en) | 2019-05-13 | 2019-05-13 | Rotating manipulator stacking machine |
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| CN (1) | CN210113233U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217603A (en) * | 2019-05-13 | 2019-09-10 | 山东欣启点自动化科技有限公司 | Rotating machine arm code pile machine |
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2019
- 2019-05-13 CN CN201920671796.1U patent/CN210113233U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217603A (en) * | 2019-05-13 | 2019-09-10 | 山东欣启点自动化科技有限公司 | Rotating machine arm code pile machine |
| CN110217603B (en) * | 2019-05-13 | 2024-06-18 | 山东欣启点自动化科技有限公司 | Rotating manipulator stacking machine |
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