CN210650725U - Parallel picking mechanical arm - Google Patents
Parallel picking mechanical arm Download PDFInfo
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- CN210650725U CN210650725U CN201921435386.3U CN201921435386U CN210650725U CN 210650725 U CN210650725 U CN 210650725U CN 201921435386 U CN201921435386 U CN 201921435386U CN 210650725 U CN210650725 U CN 210650725U
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000003825 pressing Methods 0.000 claims abstract description 26
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 5
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- 230000007306 turnover Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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Abstract
A parallel picking manipulator belongs to the field of mechanical automation equipment and comprises a lower support, an upper support, a belt stepping motor, a synchronous belt, a gear stepping motor, a sliding mechanism, a vertical moving mechanism, a pressing mechanism, a side-turning mechanism, a picking mechanism and a controller, wherein the controller is arranged on the lower support, the upper support is arranged on the lower support, the belt stepping motor is arranged on the upper support, the belt stepping motor drives the synchronous belt to move, the sliding mechanism is fixedly connected on the synchronous belt, the gear stepping motor is arranged on the sliding mechanism, the vertical moving mechanism is arranged in the sliding mechanism, the pressing mechanism is arranged on the outer side of the vertical moving mechanism, the side-turning mechanism is arranged on the inner side of the vertical moving mechanism, the picking mechanism is arranged at the bottom of the vertical moving mechanism, the manipulator can realize the automatic transportation of parallel assembly lines of plastic workpieces and can meet the processing requirements of subsequent stations, and (4) automatically overturning the workpiece.
Description
Technical Field
The invention relates to a parallel picking mechanical arm, and belongs to the field of mechanical automation equipment.
Background
In order to improve the processing efficiency of products, the modern industry often uses a production line to perform continuous processing, in particular to the processing of plastic products, when a workpiece is processed from one production line, the workpiece needs to be conveyed to the other production line to perform processing on the other side, often to cater for the arrangement of a subsequent mechanical arm, the two production lines are not at the same height, the common method is to require a worker to pick and convey the workpiece at a specified position, the efficiency is low, and once the operation is slow or wrong, subsequent idle running or stopping is caused, so that an automatic picking mechanical arm capable of replacing manpower is urgently needed.
Disclosure of Invention
In view of the above-mentioned deficiencies, the present invention provides a parallel pick-up robot.
The invention is realized by the following technical scheme: the utility model provides a parallel manipulator of picking up, is by lower carriage, upper bracket, belt step motor, hold-in range, gear step motor, glide machanism, erects to move mechanism, hold-down mechanism, side-turning mechanism, picks up that mechanism and controller constitute, the controller install on the lower carriage, the upper bracket is installed on the lower carriage, belt step motor installs on the upper bracket, belt step motor drives the hold-in range motion, the glide machanism rigid coupling is on the hold-in range, gear step motor installs on glide machanism, erects to move the mechanism and install inside glide machanism, hold-down mechanism installs in the outside of erecting the mechanism that moves, side-turning mechanism installs in the inboard of erecting the mechanism that moves, picks up the mechanism and installs in the bottom of erecting the mechanism.
The output end of the gear stepping motor drives the gear to rotate.
The core of the controller is an 80C51 singlechip, and the power parts of the whole device are controlled to work coordinately by the 80C51 singlechip.
The glide machanism constitute by clamp splice, lateral wall, slip gyro wheel, preceding spacing gyro wheel, back spacing gyro wheel, clamp splice one end and hold-in range rigid coupling, the other end is installed on the lateral wall, the upper bracket in still install a slip track, slip gyro wheel one end is installed on the lateral wall, the other end rolls on the slip track, preceding spacing gyro wheel and back spacing gyro wheel are all installed between the lateral wall, gear step motor installs the outside at the lateral wall.
The vertical moving mechanism comprises a rack and a base, the rack is matched with a gear, the rack is installed on the base, the front limiting idler wheel is clamped on two sides of the rack and the rack can move up and down, and the rear limiting idler wheel is clamped on two sides of the base and the base can move up and down.
The pressing mechanism comprises a pressing cylinder, a connecting support and a pressing pillow block, the pressing cylinder is installed on the connecting support, the connecting support is fixedly connected with the base, and the output end of the pressing cylinder is fixedly connected with the pressing pillow block.
The side-turning mechanism comprises a side-turning cylinder, a connecting block and a rotating shaft seat, the picking mechanism comprises a bottom plate, a negative pressure sucker and a photoelectric switch, the side-turning cylinder is installed on the base through the connecting block, the output end of the side-turning cylinder is rotatably connected with the bottom plate, the bottom plate is rotatably connected onto the connecting block through the connecting block, the negative pressure suckers are uniformly distributed on the outer side of the bottom plate, and the photoelectric switch is further installed at the central position of the bottom plate.
The invention has the advantages that: the manipulator can realize the automatic parallel assembly line transfer of the plastic workpieces and can automatically turn over the workpieces according to the processing requirements of subsequent stations; the gear stepping motor drives the gear to engage with the rack, so that the manipulator can adapt to two assembly lines with different heights and adapt to different assembly line working requirements; the belt stepping motor drives the manipulator to move transversely, so that the manipulator is suitable for parallel work among different span production lines; the front limiting idler wheel and the rear limiting idler wheel can limit the transverse movement of the rack and the base and can reduce the friction force when the rack and the base move vertically; the pressing mechanism can prevent the negative pressure sucker from sideslipping when grabbing a workpiece, and the negative pressure sucker is firstly pressed and then picked up; the photoelectric switch can sensitively detect the arrival of the workpiece and send a signal to the controller.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partially broken away, detailed schematic view of FIGS. 1 showing 2, 4, 5, 6 and 7;
FIG. 3 is a schematic view of a rear limiting roller arrangement;
FIG. 4 is a schematic view of a hold-down mechanism;
FIG. 5 is an enlarged partial view of FIG. 1 at A;
FIG. 6 is a schematic diagram showing the arrangement positions of the negative pressure sucker and the photoelectric switch;
in the figure, a lower bracket 1, an upper bracket 2, a belt stepping motor 3, a synchronous belt 4, a gear stepping motor 5, a sliding mechanism 6, a vertical moving mechanism 7, a pressing mechanism 8, a side turning mechanism 9, a picking mechanism 10, a controller 11, a sliding track 201, a gear 501, a clamping block 601, a side wall 602, a sliding roller 603, a front limiting roller 604, a rear limiting roller 605, a base 701, a rack 702, a pressing cylinder 801, a connecting bracket 802, a pressing pillow block 803, a side turning cylinder 901, a connecting block 902, a rotating shaft seat 903, a bottom plate 1001, a negative pressure suction cup 1002 and a photoelectric switch 1003.
Detailed Description
The utility model provides a parallel manipulator of picking up, is by lower carriage 1, upper bracket 2, belt step motor 3, hold-in range 4, gear step motor 5, glide machanism 6, erect and move mechanism 7, hold-down mechanism 8, side turning mechanism 9, pick up mechanism 10, controller 11 and constitute, controller 11 install on lower carriage 1, upper bracket 2 installs on lower carriage 1, belt step motor 3 installs on the upper bracket, belt step motor 3 drives hold-in range 4 motion, 6 rigid couplings of glide machanism are on hold-in range 4, gear step motor 5 installs on glide machanism 6, erect and move mechanism 7 and install inside glide machanism 6, hold-down mechanism 8 installs in the outside of erecting and moving mechanism 7, side turning mechanism 9 installs in the inboard of erecting and moving mechanism 7, pick up mechanism 10 and install in the bottom of erecting and moving mechanism 7.
The output end of the gear stepping motor 5 drives the gear 501 to rotate.
The core of the controller 11 is an 80C51 singlechip, and the power parts of the whole device are controlled by the 80C51 singlechip to work in coordination.
The sliding mechanism 6 is composed of a clamping block 601, a side wall 602, a sliding roller 603, a front limiting roller 604 and a rear limiting roller 605, one end of the clamping block 601 is fixedly connected with the synchronous belt 4, the other end of the clamping block is installed on the side wall 602, a sliding track 201 is further installed in the upper bracket 2, one end of the sliding roller 603 is installed on the side wall 602, the other end of the sliding roller rolls on the sliding track 201, the front limiting roller 604 and the rear limiting roller 605 are both installed between the side walls 602, and the gear stepping motor 5 is installed on the outer side of the side wall 602.
The vertical moving mechanism 7 comprises a rack 702 and a base 701, the rack 702 is matched with the gear 501, the rack 702 is installed on the base 701, the front limiting roller 604 is clamped on two sides of the rack 702, the rack 702 can move up and down, and the rear limiting roller 605 is clamped on two sides of the base 701, and the base 701 can move up and down.
The pressing mechanism 8 comprises a pressing cylinder 801, a connecting bracket 802 and a pressing pillow block 803, the pressing cylinder 801 is installed on the connecting bracket 802, the connecting bracket 802 is fixedly connected with the base 701, and the pressing pillow block 803 is fixedly connected with the output end of the pressing cylinder 801.
The side-turning mechanism 9 comprises a side-turning cylinder 901, a connecting block 902 and a rotating shaft seat 903, the pickup mechanism 10 comprises a base plate 1001, a negative pressure sucker 1002 and a photoelectric switch 1003, the side-turning cylinder 901 is mounted on the base 701 through the connecting block 902, the output end of the side-turning cylinder 901 is rotatably connected with the base plate 1001, the base plate 1001 is rotatably connected onto the connecting block 902 through the connecting block 902, the negative pressure suckers 1002 are uniformly distributed on the outer side of the base plate 1001, and the photoelectric switch 10003 is further mounted at the center of the base plate 1001.
Further, when a plastic workpiece arrives from a high assembly line and is detected by the photoelectric switch 1003, the pressing cylinder 801 quickly presses, the negative pressure sucker 1002 picks up the workpiece, then the pressing cylinder 801 quickly presses and quickly releases the workpiece, the gear stepping motor 5 drives the workpiece to rise through gear and rack meshing, the belt stepping motor 3 rotates to drive the workpiece to return to a lower assembly line and the upper part, in the returning process, the telescopic rod of the side-turning cylinder 901 retracts to drive the workpiece to turn over by 90 degrees and reach a set placing pose, then the gear stepping motor 5 drives the workpiece to fall down, the negative pressure sucker 1002 is cut off to release the workpiece, and the reciprocating circulation is performed to continuously complete the continuous turning transfer of the workpiece.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (6)
1. The utility model provides a parallel manipulator of picking up, is by lower carriage, upper bracket, belt step motor, hold-in range, gear step motor, glide machanism, erect and move mechanism, hold-down mechanism, side turning mechanism, pick up the mechanism and the controller is constituteed, its characterized in that: the controller install on the lower carriage, the upper bracket is installed on the lower carriage, belt step motor installs on the upper bracket, belt step motor drives the hold-in range motion, the glide machanism rigid coupling is on the hold-in range, gear step motor installs on the glide machanism, erect and move the mechanism and install inside the glide machanism, hold-down mechanism installs in the outside of erecting and moving the mechanism, the mechanism of turning on one's side is installed in the inboard of erecting and moving the mechanism, pick up the mechanism and install in the bottom of erecting and moving the mechanism.
2. A parallel pick robot as claimed in claim 1, wherein: the output end of the gear stepping motor drives the gear to rotate.
3. A parallel pick robot as claimed in claim 1, wherein: the glide machanism constitute by clamp splice, lateral wall, slip gyro wheel, preceding spacing gyro wheel, back spacing gyro wheel, clamp splice one end and hold-in range rigid coupling, the other end is installed on the lateral wall, the upper bracket in still install a slip track, slip gyro wheel one end is installed on the lateral wall, the other end rolls on the slip track, preceding spacing gyro wheel and back spacing gyro wheel are all installed between the lateral wall, gear step motor installs the outside at the lateral wall.
4. A parallel pick robot as claimed in claim 1, wherein: the vertical moving mechanism comprises a rack and a base, the rack is matched with a gear, the rack is installed on the base, the front limiting idler wheel is clamped on two sides of the rack and the rack can move up and down, and the rear limiting idler wheel is clamped on two sides of the base and the base can move up and down.
5. A parallel pick robot as claimed in claim 1, wherein: the pressing mechanism comprises a pressing cylinder, a connecting support and a pressing pillow block, the pressing cylinder is installed on the connecting support, the connecting support is fixedly connected with the base, and the output end of the pressing cylinder is fixedly connected with a pressing pillow block.
6. A parallel pick robot as claimed in claim 1, wherein: the side-turning mechanism comprises a side-turning cylinder, a connecting block and a rotating shaft seat, the picking mechanism comprises a bottom plate, a negative pressure sucker and a photoelectric switch, the side-turning cylinder is installed on the base through the connecting block, the output end of the side-turning cylinder is rotatably connected with the bottom plate, the bottom plate is rotatably connected onto the connecting block through the connecting block, the negative pressure suckers are uniformly distributed on the outer side of the bottom plate, and the photoelectric switch is further installed at the central position of the bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921435386.3U CN210650725U (en) | 2019-08-31 | 2019-08-31 | Parallel picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921435386.3U CN210650725U (en) | 2019-08-31 | 2019-08-31 | Parallel picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210650725U true CN210650725U (en) | 2020-06-02 |
Family
ID=70837214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921435386.3U Active CN210650725U (en) | 2019-08-31 | 2019-08-31 | Parallel picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210650725U (en) |
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2019
- 2019-08-31 CN CN201921435386.3U patent/CN210650725U/en active Active
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