CN210456532U - Matched bent block clamping and stacking manipulator for starter propagation production line - Google Patents
Matched bent block clamping and stacking manipulator for starter propagation production line Download PDFInfo
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- CN210456532U CN210456532U CN201921112636.XU CN201921112636U CN210456532U CN 210456532 U CN210456532 U CN 210456532U CN 201921112636 U CN201921112636 U CN 201921112636U CN 210456532 U CN210456532 U CN 210456532U
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Abstract
The utility model provides a stacking manipulator clamped by matched bent blocks for a koji making production line, wherein a support column is fixed at the top of an installation bottom plate, a top plate is fixed at the top of the support column, a mechanical arm base is installed on the top plate, a mechanical arm turntable is installed on the mechanical arm base, and a multi-degree-of-freedom mechanical arm is installed on the mechanical arm turntable; the end of the multi-degree-of-freedom mechanical arm is provided with a clamping mechanical arm used for clamping a bent block, the clamping mechanical arm comprises a mechanical arm bottom plate, one side of the mechanical arm bottom plate is symmetrically and fixedly provided with a fixed clamping plate, the side opposite to the fixed clamping plate is symmetrically provided with a movable clamping plate, the movable clamping plate is fixedly arranged on a sliding block through a pressing plate, and the sliding block is connected with a clamping power device used for driving the sliding block to slide. This press from both sides and get pile up neatly machinery hand can be used for the automatic clamp of the curved block on the automatic system bent production line to cooperate the arm to realize the automatic pile up neatly operation of curved block, and then improved degree of automation, improved the production efficiency of curved block.
Description
Technical Field
The utility model belongs to the technical field of white spirit production, in particular to pile up neatly machinery hand is got with supporting bent piece clamp to koji making production line.
Background
The koji block is an important raw material in the process of brewing white spirit, along with the improvement of the industrial automation degree, the koji making process is gradually replaced by an automatic production line, in the automatic koji making process, the koji making raw material is conveyed to a koji pressing machine, the koji block pressed into blocks is conveyed by the koji pressing machine, the koji block is clamped by an automatic clamping manipulator after being conveyed, and then palletizing is carried out after clamping, wherein the whole appearance structure of the koji block is a rectangular block structure, but one top surface is a rectangular frustum structure, and in order to realize the automatic clamping and palletizing, a special clamping and palletizing manipulator needs to be designed.
SUMMERY OF THE UTILITY MODEL
To the problem that exists among the prior art, the utility model provides a pile up neatly machinery hand is got with supporting bent piece clamp to bent production line, and this clamp gets the pile up neatly machinery hand and can be used for automatic bent piece on the bent production line of system automatic clamp to the automatic pile up neatly operation of bent piece is realized to cooperation arm, and then has improved degree of automation, has improved the production efficiency of bent piece.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: the stacking manipulator is clamped by matched bent blocks for a koji making production line and comprises an installation bottom plate, wherein a support column is fixed at the top of the installation bottom plate, a top plate is fixed at the top of the support column, a mechanical arm base is installed on the top plate, a mechanical arm turntable is installed on the mechanical arm base, and a multi-degree-of-freedom mechanical arm is installed on the mechanical arm turntable; the end of the multi-degree-of-freedom mechanical arm is provided with a clamping mechanical arm used for clamping a bent block, the clamping mechanical arm comprises a mechanical arm bottom plate, one side of the mechanical arm bottom plate is symmetrically and fixedly provided with a fixed clamping plate, the side opposite to the fixed clamping plate is symmetrically provided with a movable clamping plate, the movable clamping plate is fixedly arranged on a sliding block through a pressing plate, and the sliding block is connected with a clamping power device used for driving the sliding block to slide.
And a plurality of reinforcing rib plates are uniformly distributed between the outer wall of the supporting column and the top of the mounting bottom plate.
And the mechanical arm turntable is provided with a rotating motor for driving the mechanical arm turntable to rotate along the mechanical arm base.
The multi-degree-of-freedom mechanical arm comprises a main arm, wherein the main arm is installed on a mechanical arm turntable through a first rotating joint, an auxiliary arm is installed at the tail end of the main arm through a second rotating joint, a tail end rotating joint is installed at the tail end of the auxiliary arm, and a clamping mechanical arm connecting seat is installed on the tail end rotating joint.
The two fixed clamping plates which are symmetrically arranged are arranged in parallel, and the end surfaces of the two fixed clamping plates which are contacted with the curved block are positioned on the same plane.
The clamping power device comprises an air cylinder, the air cylinder is fixedly installed on the lower end face of the manipulator bottom plate, a piston rod of the air cylinder is fixedly connected with the side wall of the pressing plate, and the sliding block and a sliding rail fixed on the bottom end face of the manipulator bottom plate form sliding fit.
And anti-skid grooves are uniformly formed in the inner side walls of the fixed clamping plate and the movable clamping plate.
The movable clamping plate and the matching end surface of the fixed clamping plate positioned on the same side keep a certain included angle.
The pneumatic manipulator is characterized in that an air pipe connector is installed on the air cylinder and connected with an air source through an air pipe, and a magnetic inductor used for controlling the stroke of the air cylinder is installed on the manipulator bottom plate.
The movable clamping plate is detachably arranged on the pressing plate through a first fixing bolt; the fixed clamping plate is detachably arranged on the manipulator bottom plate through a second fixing bolt.
The utility model discloses there is following beneficial effect:
1. the stacking manipulator is got to bent piece clamp through adopting above-mentioned structure can be used for bent piece automated production in-process, and the automatic clamp of bent piece is got and is used with the pile up neatly, and then replaces traditional artifical pile up neatly operation, cooperates the automated production and the bent process of making of bent piece of bent quick-witted efficient completion of buckling, and then great improvement system song efficiency.
2. The multi-degree-of-freedom mechanical arm can realize multi-degree-of-freedom movement, and further control the clamping mechanical arm to realize corresponding movement.
3. Because the bottom surface of the curved block adopts a plane structure and the top surface of the curved block adopts a conical table surface, the fixed clamping plates are arranged in parallel in order to ensure the clamping reliability.
4. The clamping power device mainly provides clamping power, the piston rod is driven through the air cylinder in the working process, the pressing plate is driven through the piston rod, the sliding block and the movable clamping plate are driven through the pressing plate, and the clamping of the bent block is achieved through the movable clamping plate matched with the fixed clamping plate.
5. Through the design of the installation angle, the top end of the curved block is a frustum face, the end face of the frustum face is an inclined face, and in order to guarantee the best clamping effect, the installation angle of the frustum face is required to be consistent with the inclined face of the frustum face, so that the clamping effect and the clamping efficiency are guaranteed.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a first perspective three-dimensional structure diagram of the present invention.
Fig. 2 is a second perspective three-dimensional structure diagram of the present invention.
Fig. 3 is a three-dimensional structure diagram of a first visual angle of the clamping manipulator of the utility model.
Fig. 4 is a second perspective three-dimensional structure diagram of the clamping manipulator of the present invention.
Fig. 5 is a schematic structural diagram of the curved block of the present invention.
In the figure: the device comprises a mounting bottom plate 1, a reinforcing rib plate 2, a support column 3, a top plate 4, a mechanical arm base 5, a mechanical arm turntable 6, a rotating motor 7, a first rotating joint 8, a main arm 9, a second rotating joint 10, an auxiliary arm 11, a tail end rotating joint 12, a clamping mechanical arm connecting seat 13, a mechanical arm bottom plate 14, a fixed clamping plate 15, a movable clamping plate 16, an anti-skidding groove 17, an air pipe joint 18, an air cylinder 19, a piston rod 20, a sliding rail 21, a sliding block 22, a magnetic inductor 23, a pressing plate 24, a first fixing bolt 25, a second fixing bolt 26, a curved block 27 and a frustum surface 28.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1-5, the matched bent block clamping and stacking manipulator for the koji making production line comprises an installation bottom plate 1, wherein a support column 3 is fixed at the top of the installation bottom plate 1, a top plate 4 is fixed at the top of the support column 3, a mechanical arm base 5 is installed on the top plate 4, a mechanical arm turntable 6 is installed on the mechanical arm base 5, and a multi-degree-of-freedom mechanical arm is installed on the mechanical arm turntable 6; the end of the multi-degree-of-freedom mechanical arm is provided with a clamping mechanical arm used for clamping a bent block, the clamping mechanical arm comprises a mechanical arm bottom plate 14, one side edge of the mechanical arm bottom plate 14 is symmetrically and fixedly provided with a fixed clamping plate 15, the side edge opposite to the fixed clamping plate 15 is symmetrically provided with a movable clamping plate 16, the movable clamping plate 16 is fixedly arranged on a sliding block 22 through a pressing plate 24, and the sliding block 22 is connected with a clamping power device used for driving the sliding block to slide. Pile up neatly machinery hand is got to bent piece clamp through adopting above-mentioned structure can be used for bent piece automated production in-process, the automatic clamp of bent piece is got and is used with the pile up neatly, and then replace traditional artifical pile up neatly operation, cooperation is pressed the automated production and the bent process of bent piece of quick-witted efficient completion of song, and then great improvement the bent efficiency of system, in operation process, pass through the side of mounting plate 1 fixed mounting at the machine of pressing of foretell manipulator, and drive its terminal tight machinery hand of clamp through the multi freedom arm, press from both sides tight machinery hand by pressing from both sides tight power device drive again, and then press from both sides through pressing from both sides tight machinery hand and get the bent piece of pressing, and will press from both sides the automatic pile up on the tray of bent frame of putting of bent.
Furthermore, a plurality of reinforcing rib plates 2 are uniformly distributed between the outer wall of the supporting column 3 and the top of the mounting bottom plate 1. The structural strength of the support column 3 is improved through the reinforcing rib plate 2.
Further, a rotation motor 7 for driving the mechanical arm turntable 6 to rotate along the mechanical arm base 5 is mounted on the mechanical arm turntable 6. The mechanical arm turntable 6 can be driven to rotate by the rotating motor 7.
Further, the multi-degree-of-freedom mechanical arm comprises a main arm 9, the main arm 9 is installed on a mechanical arm turntable 6 through a first rotating joint 8, an auxiliary arm 11 is installed at the tail end of the main arm 9 through a second rotating joint 10, a tail end rotating joint 12 is installed at the tail end of the auxiliary arm 11, and a clamping manipulator connecting seat 13 is installed on the tail end rotating joint 12. The multi-degree-of-freedom mechanical arm can realize multi-degree-of-freedom movement, and further control the clamping mechanical arm to realize corresponding movement, and the multi-degree-of-freedom mechanical arm can adopt the existing ABB multi-degree-of-freedom mechanical arm.
Furthermore, two symmetrically arranged fixed clamping plates 15 are arranged in parallel, and the end surfaces of the fixed clamping plates, which are contacted with the bent blocks, are positioned on the same plane. Since the bottom surface of the curved block 27 is a plane structure and the top surface thereof is a tapered surface 28, the fixed clamping plates 15 are arranged in parallel in order to ensure the clamping reliability.
Further, the clamping power device comprises an air cylinder 19, the air cylinder 19 is fixedly installed on the lower end face of the manipulator bottom plate 14, a piston rod 20 of the air cylinder 19 is fixedly connected with the side wall of a pressing plate 24, and a sliding block 22 and a sliding rail 21 fixed on the bottom end face of the manipulator bottom plate 14 form a sliding fit. The clamping power device mainly provides clamping power, in the working process, the piston rod 20 is driven through the air cylinder 19, the pressing plate 24 is driven through the piston rod 20, the sliding block 22 and the movable clamping plate 16 are driven through the pressing plate 24, and the movable clamping plate 16 is matched with the fixed clamping plate 15 to clamp the bent block.
Furthermore, the inner side walls of the fixed clamping plate 15 and the movable clamping plate 16 are uniformly provided with anti-skid grooves 17. The friction between the anti-slip groove 17 and the bottom end plane of the curved block 27 can be increased through the anti-slip groove with the structure, so that the purpose of good anti-slip is achieved, and the problem that the anti-slip groove falls off in the carrying process is solved.
Further, the movable clamping plate 16 and the matching end surface of the fixed clamping plate 15 on the same side are kept at a certain included angle. Through the above installation angle design, mainly because the top end of the curved block 27 is the frustum surface 28, and the end surface of the frustum surface 28 is an inclined surface, in order to ensure the best clamping effect, the installation angle of the curved block is required to be consistent with the inclined surface of the frustum surface 28, and further the clamping effect and the clamping efficiency are ensured.
Further, an air pipe joint 18 is installed on the air cylinder 19, the air pipe joint 18 is connected with an air source through an air pipe, and a magnetic inductor 23 for controlling the stroke of the air cylinder 19 is installed on the manipulator bottom plate 14. The air pipe connector 18 through the above structure can be used to connect with an air source to supply power to the air cylinder 19.
Further, the movable clamping plate 16 is detachably mounted on the pressing plate 24 through a first fixing bolt 25; the fixing clamp plate 15 is detachably mounted on the robot base plate 14 by a second fixing bolt 26. The detachable connection mode with the structure ensures that the movable clamping plate 16 and the fixed clamping plate 15 can be conveniently replaced, and the movable clamping plate is further suitable for the bent blocks 27 with different sizes and specifications.
The utility model discloses a working process and principle do:
when the bent block 27 needs to be clamped and picked up, the multi-degree-of-freedom mechanical arm drives the clamping manipulator at the tail end to move, the clamping manipulator moves to a position right above the bent block 27, then the air cylinder 19 is started, the piston rod 20 is driven through the air cylinder 19, the pressing plate 24 is driven through the piston rod 20, the sliding block 22 and the movable clamping plate 16 are driven through the pressing plate 24, and the movable clamping plate 16 is matched with the fixed clamping plate 15 to clamp the bent block.
Claims (10)
1. The stacking manipulator is clamped by matched bent blocks for a koji making production line and comprises an installation bottom plate (1), a supporting column (3) is fixed at the top of the installation bottom plate (1), a top plate (4) is fixed at the top of the supporting column (3), a mechanical arm base (5) is installed on the top plate (4), a mechanical arm turntable (6) is installed on the mechanical arm base (5), and a multi-degree-of-freedom mechanical arm is installed on the mechanical arm turntable (6); the method is characterized in that: the end of the multi-degree-of-freedom mechanical arm is provided with a clamping mechanical arm used for clamping a bent block, the clamping mechanical arm comprises a mechanical arm bottom plate (14), one side of the mechanical arm bottom plate (14) is symmetrically and fixedly provided with a fixed clamping plate (15), a movable clamping plate (16) is symmetrically arranged on the side opposite to the fixed clamping plate (15), the movable clamping plate (16) is fixedly arranged on a sliding block (22) through a pressing plate (24), and the sliding block (22) is connected with a clamping power device used for driving the sliding block to slide.
2. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: and a plurality of reinforcing rib plates (2) are uniformly distributed between the outer wall of the supporting column (3) and the top of the mounting bottom plate (1).
3. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: and a rotating motor (7) for driving the mechanical arm turntable to rotate along the mechanical arm base (5) is arranged on the mechanical arm turntable (6).
4. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: the multi-degree-of-freedom mechanical arm comprises a main arm (9), wherein the main arm (9) is installed on a mechanical arm rotary table (6) through a first rotating joint (8), an auxiliary arm (11) is installed at the tail end of the main arm (9) through a second rotating joint (10), a tail end rotating joint (12) is installed at the tail end of the auxiliary arm (11), and a clamping mechanical arm connecting seat (13) is installed on the tail end rotating joint (12).
5. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: two symmetrically arranged fixed clamping plates (15) are arranged in parallel, and the end surfaces of the two fixed clamping plates, which are contacted with the bent block, are positioned on the same plane.
6. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: the clamping power device comprises an air cylinder (19), the air cylinder (19) is fixedly installed on the lower end face of the manipulator bottom plate (14), a piston rod (20) of the air cylinder (19) is fixedly connected with the side wall of a pressing plate (24), and a sliding block (22) and a sliding rail (21) fixed on the end face of the bottom of the manipulator bottom plate (14) form sliding fit.
7. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: and anti-skid grooves (17) are uniformly formed in the inner side walls of the fixed clamping plate (15) and the movable clamping plate (16).
8. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: the movable clamping plate (16) and the matching end surface of the fixed clamping plate (15) positioned on the same side keep a certain included angle.
9. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 6, wherein the matched curved block clamping and stacking manipulator comprises: the pneumatic manipulator is characterized in that an air pipe connector (18) is installed on the air cylinder (19), the air pipe connector (18) is connected with an air source through an air pipe, and a magnetic inductor (23) used for controlling the stroke of the air cylinder (19) is installed on the manipulator bottom plate (14).
10. The matched curved block clamping and stacking manipulator for the koji making production line according to claim 1, wherein the matched curved block clamping and stacking manipulator comprises: the movable clamping plate (16) is detachably arranged on the pressing plate (24) through a first fixing bolt (25); the fixed clamping plate (15) is detachably arranged on the manipulator bottom plate (14) through a second fixed bolt (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921112636.XU CN210456532U (en) | 2019-07-16 | 2019-07-16 | Matched bent block clamping and stacking manipulator for starter propagation production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921112636.XU CN210456532U (en) | 2019-07-16 | 2019-07-16 | Matched bent block clamping and stacking manipulator for starter propagation production line |
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| Publication Number | Publication Date |
|---|---|
| CN210456532U true CN210456532U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921112636.XU Active CN210456532U (en) | 2019-07-16 | 2019-07-16 | Matched bent block clamping and stacking manipulator for starter propagation production line |
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| CN (1) | CN210456532U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112794203A (en) * | 2021-01-28 | 2021-05-14 | 厦门航天思尔特机器人系统股份公司成都分公司 | Bent piece fermentation bears device and transfer system thereof |
| CN113173403A (en) * | 2021-04-25 | 2021-07-27 | 苏州冠鸿智能装备有限公司 | Bent frame clamp, double clamps, carrying robot, improved type distiller's yeast bent block carrying production line and working method thereof |
-
2019
- 2019-07-16 CN CN201921112636.XU patent/CN210456532U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112794203A (en) * | 2021-01-28 | 2021-05-14 | 厦门航天思尔特机器人系统股份公司成都分公司 | Bent piece fermentation bears device and transfer system thereof |
| CN113173403A (en) * | 2021-04-25 | 2021-07-27 | 苏州冠鸿智能装备有限公司 | Bent frame clamp, double clamps, carrying robot, improved type distiller's yeast bent block carrying production line and working method thereof |
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