CN211248041U - Manipulator transfer equipment - Google Patents
Manipulator transfer equipment Download PDFInfo
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- CN211248041U CN211248041U CN201922086928.7U CN201922086928U CN211248041U CN 211248041 U CN211248041 U CN 211248041U CN 201922086928 U CN201922086928 U CN 201922086928U CN 211248041 U CN211248041 U CN 211248041U
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Abstract
The utility model discloses a manipulator transfer device, which comprises a frame, wherein the lower part of the frame is provided with a first vertical lifting mechanism, and the output end of the first vertical lifting mechanism is connected with a mounting plate; the mounting plate is provided with a first horizontal conveying mechanism along the length direction, and the output end of the first horizontal conveying mechanism is connected with a fixing mechanism; the upper part of the rack is provided with a second vertical lifting mechanism, the output end of the second vertical lifting mechanism is connected with a mounting rack, and the mounting rack is positioned above the mounting rack; the mounting frame is provided with a second horizontal conveying mechanism and is connected with a moving frame in a sliding manner; the moving frame is positioned above the mounting plate, and the moving path of the moving frame is parallel to the moving path of the fixing mechanism; two ends of the movable frame are respectively provided with a clamping mechanism for clamping the processed pot body; the utility model aims at providing a manipulator transfer apparatus can shift the pot body of adjacent twice process simultaneously, improves the transfer efficiency, and transportation process is stable, can prevent effectively that the pot body from droing.
Description
Technical Field
The utility model relates to a transfer apparatus technical field especially relates to a manipulator transfer apparatus.
Background
In the course of working of the inner pot of the pressure cooker, the inner pot is processed into the shape of the pot body by a round plate, and the transfer mechanical arm is arranged between two adjacent stamping processes after multiple times of stamping. The current manipulator of transporting generally carries out the centre gripping for a single manipulator, then rotates the manipulator with the pot body transship to the processing station of a back process on, this kind of manipulator transports because can only carry a pot body at every turn, transports efficiency lower, simultaneously, the manipulator changes the swing in-process, produces easily and rocks, and the pot body takes place to drop easily, influences production efficiency.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a manipulator transfer apparatus can shift the pot body of adjacent twice process simultaneously, improves the transfer efficiency, and transportation process is stable, can prevent effectively that the pot body from droing.
To achieve the purpose, the utility model adopts the following technical proposal: the manipulator transferring equipment comprises a rack, wherein a first vertical lifting mechanism is arranged at the lower part of the rack, an output end of the first vertical lifting mechanism is connected with a mounting plate, and the first vertical lifting mechanism drives the mounting plate to reciprocate along the vertical direction;
the mounting plate is provided with a first horizontal conveying mechanism along the length direction, the output end of the first horizontal conveying mechanism is connected with a fixing mechanism, the fixing mechanism is used for fixing the processed pot body, and the first horizontal conveying mechanism drives the fixing mechanism to reciprocate along the horizontal direction;
a second vertical lifting mechanism is arranged at the upper part of the rack, an output end of the second vertical lifting mechanism is connected with a mounting rack, the mounting rack is positioned above the mounting board, and the second vertical lifting mechanism drives the mounting rack to reciprocate along the vertical direction;
the mounting frame is provided with a second horizontal conveying mechanism, the mounting frame is connected with a moving frame in a sliding mode, and the second horizontal conveying mechanism drives the moving frame to reciprocate along the horizontal direction; the moving frame is positioned above the mounting plate, and the moving path of the moving frame is parallel to the moving path of the fixing mechanism;
the two ends of the moving frame are respectively provided with a clamping mechanism for clamping a processed pot body, one clamping mechanism reciprocates between a processing station of the previous procedure and one end of the mounting plate, and the other clamping mechanism reciprocates between the processing station of the next procedure and the other end of the mounting plate.
Preferably, the mounting frame comprises a lifting plate, a reinforcing plate, a horizontal guide rail and a guide seat, two vertical guide rails are arranged on the frame at intervals, the guide seat is arranged on the lifting plate and is matched and connected with the corresponding vertical guide rail, and the second vertical lifting mechanism drives the lifting plate to vertically reciprocate along the vertical guide rails; the two reinforcing plates are respectively connected with the side wall of the lifting plate and the upper end surface of the horizontal guide rail;
the second horizontal conveying mechanism is arranged on the lifting plate, and the moving frame is connected with the horizontal guide rail in a sliding mode.
Preferably, the vertical elevating system of second is including installation piece, articulated seat, the vertical cylinder of second and connecting block, the installation piece is provided with two, two the installation piece interval sets up the frame, articulated seat is provided with two, two articulated seat install in the lower terminal surface of installation piece, the vertical cylinder of second is provided with two, two the vertical cylinder of second is articulated with the articulated seat that corresponds respectively, the connecting block is provided with two, two the connecting block sets up respectively the lifter plate, two the output of the vertical cylinder of second respectively with correspond the connecting block is connected.
Preferably, the second horizontal conveying mechanism comprises a fixing frame, a driving motor, a rotating shaft, a synchronizing wheel, a supporting plate, a driving wheel, a driving belt and a locking seat, the fixing frame is arranged on the lifting plate, the driving motor is arranged on the fixing frame along the horizontal direction, the lifting plate is provided with a mounting hole, the supporting plate is arranged on the horizontal guide rail and is opposite to the mounting hole, one end of the rotating shaft is connected with the output end of the driving motor after passing through the mounting hole, the other end of the rotating shaft is connected with the supporting plate, the synchronizing wheel is sleeved on the rotating shaft, the horizontal guide rail is provided with two mounting grooves at intervals along the length direction, the two mounting grooves are respectively positioned at two sides of the rotating shaft, the two driving wheels are respectively mounted in the corresponding mounting grooves through mounting shafts, the locking seats are arranged in two numbers, the two locking seats are respectively arranged on the upper end faces of the two ends of the movable frame, one end of the transmission belt is connected with one of the locking seats, and the other end of the transmission belt sequentially bypasses one of the transmission wheels, the synchronizing wheel and the other transmission wheel and then is connected with the other locking seat.
Preferably, the lower end face of the horizontal guide rail is formed with a guide groove, two side walls of the moving frame along the length direction are respectively provided with a chromium plating optical axis, a plurality of longitudinal connecting shafts are distributed in the guide groove, each longitudinal connecting shaft is sleeved with a groove roller, each groove roller is distributed on two sides of the moving frame, and a groove of each groove roller is connected with the corresponding chromium plating optical axis.
Preferably, a detection baffle is arranged on the side wall of the moving frame, a first proximity switch, a second proximity switch and a third proximity switch are sequentially arranged on the side wall of the horizontal guide rail along the length direction, when the detection baffle moves to the position below the first proximity switch, one of the clamping mechanisms is opposite to a processing station in the previous process, and when the detection baffle moves to the position below the third proximity switch, the other clamping mechanism is opposite to a pot body in the next process; the second proximity switch is used for detecting the height position of the mounting rack.
Preferably, fixture includes connecting seat, wide type clamping jaw and arm lock, the connecting seat sets up respectively remove the lower terminal surface at the both ends of frame, wide type clamping jaw sets up remove the frame, the arm lock is provided with two, two the arm lock sets up respectively two outputs of wide type clamping jaw, two the relative terminal surface of arm lock is equipped with the arc wall, two the pot body of arm lock cooperation centre gripping processing.
Preferably, the fixing mechanism comprises a transfer plate, two positioning blocks, two connecting holes, an adjusting screw and a positioning column, the transfer plate is connected with the output end of the first horizontal conveying mechanism, the two positioning blocks are arranged at intervals on the transfer plate, the connecting holes are formed in the positioning blocks, and the positioning column is fixed on the positioning blocks through the adjusting screw.
Preferably, the first vertical lifting mechanism comprises a fixed plate, at least three guide sleeves, at least three longitudinal guide rods and at least three vertical cylinders, the fixed plate is installed on the lower portion of the rack along the horizontal direction, the guide sleeves are provided with at least three guide sleeves, the fixed plate is provided with at least three guide rods, the longitudinal guide rods penetrate through the corresponding guide sleeves, the upper ends of the longitudinal guide rods are connected with the mounting plate, the first vertical cylinders are arranged on the fixed plate, and the output ends of the first vertical cylinders penetrate through the fixed plate and then are connected with the mounting plate.
Preferably, first horizontal feed mechanism includes mount pad, horizontal guide bar, sliding block and rodless cylinder, the mount pad is provided with two, two the mount pad is followed respectively the length direction interval of mounting panel sets up, horizontal guide bar is provided with two, two horizontal guide bar erects two between the mount pad, the sliding block is provided with two, two the sliding block is established respectively the cover and is established two horizontal guide bar, two the upper end of sliding block all with fixed establishment connects, rodless cylinder sets up two between the mount pad, rodless cylinder's output with fixed establishment connects.
By adopting the structure, the height positions of the mounting plate and the fixing mechanism are adjusted through the first vertical lifting mechanism, so that the clamping mechanism is convenient to place or clamp the pot body; the first horizontal conveying mechanism and the fixing mechanism are matched to play a good conveying role, so that the falling off of the pot body in the conveying process can be effectively prevented; the height positions of the movable frame and the clamping mechanism are adjusted through the second vertical lifting mechanism, so that the pot body is conveniently placed or clamped; the cooperation of second horizontal transport mechanism, removal frame and fixture transports two pot bodies simultaneously, when guaranteeing to carry stably, improves the transportation efficiency of the pot body. The utility model discloses an each mechanism cooperates, reaches the purpose of transporting two pot bodies simultaneously, improves the transportation efficiency, and in transportation process, the pot body is fixed respond well, can prevent effectively that the pot body from droing.
Drawings
The accompanying drawings are provided to further illustrate the present invention, but the content in the accompanying drawings does not constitute any limitation to the present invention.
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic front view of the present invention;
FIG. 3 is one of the schematic partial perspective views of the present invention;
FIG. 4 is an enlarged partial schematic view at A of FIG. 3;
fig. 5 is a second schematic partial perspective view of the present invention;
fig. 6 is a schematic side view of the present invention;
fig. 7 is a partially enlarged schematic view at B in fig. 6.
Wherein: the device comprises a rack 1, a vertical guide rail 1a, a first vertical lifting mechanism 2, a fixed plate 2a, a guide sleeve 2b, a longitudinal guide rod 2c and a first vertical cylinder 2 d;
a mounting plate 3;
the device comprises a first horizontal conveying mechanism 4, a mounting seat 4a, a horizontal guide rod 4b, a sliding block 4c and a rodless cylinder 4 d;
the device comprises a fixing mechanism 5, a transfer plate 5a, a positioning block 5b and a positioning column 5 c;
the device comprises a second vertical lifting mechanism 6, a mounting block 6a, a hinge seat 6b, a second vertical cylinder 6c and a connecting block 6 d;
the device comprises a mounting frame 7, a lifting plate 7a, a reinforcing plate 7b, a horizontal guide rail 7c and a guide seat 7 d;
a second horizontal conveying mechanism 8, a fixed frame 8a, a driving motor 8b, a rotating shaft 8c, a synchronizing wheel 8d, a supporting plate 8e, a driving wheel 8f, a driving belt 8g and a locking seat 8 h;
the device comprises a moving frame 9, a clamping mechanism 10, a connecting seat 10a, a wide clamping jaw 10b and a clamping arm 10 c;
the device comprises a chrome-plated optical axis 11, a groove roller 12, a detection baffle 13, a first proximity switch 14, a second proximity switch 15 and a third proximity switch 16.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.
Referring to fig. 1 to 7, the manipulator transfer device of this embodiment includes a frame 1, a first vertical lifting mechanism 2 is disposed on a lower portion of the frame 1, an output end of the first vertical lifting mechanism 2 is connected to a mounting plate 3, and the first vertical lifting mechanism 2 drives the mounting plate 3 to reciprocate along a vertical direction.
The mounting panel 3 is equipped with first horizontal conveyor 4 along length direction, the output of first horizontal conveyor 4 is connected with fixed establishment 5, fixed establishment 5 is used for the pot body of fixed processing, first horizontal conveyor 4 drives fixed establishment 5 is reciprocating motion along the horizontal direction.
The upper portion of frame 1 is equipped with the vertical elevating system 6 of second, the output of the vertical elevating system 6 of second is connected with mounting bracket 7, mounting bracket 7 is located the top of mounting panel 3, the vertical elevating system 6 of second drives mounting bracket 7 is reciprocating motion along vertical direction.
The mounting frame 7 is provided with a second horizontal conveying mechanism 8, the mounting frame 7 is connected with a moving frame 9 in a sliding mode, and the second horizontal conveying mechanism 8 drives the moving frame 9 to reciprocate along the horizontal direction; the moving frame 9 is located above the mounting plate 3, and the moving path of the moving frame 9 is parallel to the moving path of the fixing mechanism 5.
Two ends of the moving frame 9 are respectively provided with a clamping mechanism 10 for clamping a processed pot body, one clamping mechanism 10 reciprocates between a processing station of a previous process and one end of the mounting plate 3, and the other clamping mechanism 10 reciprocates between a processing station of a subsequent process and the other end of the mounting plate 3.
By adopting the structure, the mounting plate 3 is driven by the first vertical lifting mechanism 2 to move along the vertical direction, the height positions of the mounting plate 3 and the fixing mechanism 5 are adjusted, and the clamping mechanism 10 is convenient to place or clamp a pot body.
The fixing mechanism 5 is used for receiving the pot body clamped by the clamping mechanism 10 from the processing station of the previous procedure, and meanwhile, plays a role in fixing and preventing the pot body from falling off in the conveying process.
First horizontal transport mechanism 4 drives fixed establishment 5 and removes, transports fixed establishment 5 and the pot body to the other end of mounting panel 3 and gets in order to be equipped with another fixture 10 and press from both sides, and another fixture 10 presss from both sides and gets the pot body after and carry to the processing station of later process, and first horizontal transport mechanism 4 and fixed establishment 5 cooperate and play good transport effect.
The second vertical lifting mechanism 6 drives the mounting frame 7 to move along the vertical direction, and the height positions of the moving frame 9 and the clamping mechanism 10 are adjusted, so that the pot body can be conveniently placed or clamped.
The second horizontal conveying mechanism 8 drives the moving frame 9 to reciprocate between two adjacent processes, so that the pot body of the processing station of the previous process can be clamped and taken to the fixing mechanism 5 by one clamping mechanism 10, and meanwhile, the pot body can be clamped and taken to the processing station of the next process by the other clamping mechanism 10. Through transporting two pot bodies simultaneously, when guaranteeing to carry stably, improve the transportation efficiency of the pot body.
For convenience of description, two adjacent processed pan bodies are named as a pan body a and a pan body b respectively, one end of the mounting plate 3 close to the previous process is named as a c end, and one end of the mounting plate 3 close to the next process is named as a d end.
A to-be-transported state: the mounting plate 3 is positioned at the lower limit, the fixing mechanism 5 is positioned at the d end of the mounting plate 3, at the moment, the pot body a is positioned on the fixing mechanism 5, and the pot body b is positioned at the processing station of the previous procedure.
The transfer process comprises: the first vertical lifting mechanism 2 drives the mounting plate 3 to ascend, the second vertical lifting mechanism 6 drives the mounting frame 7 to descend, and the two clamping mechanisms 10 clamp the pot body a and the pot body b respectively; then, the second vertical lifting mechanism 6 drives the mounting frame 7 to ascend, the pan body a leaves the fixing mechanism 5, and the pan body b leaves the processing station of the previous process.
First horizontal transport mechanism 4 drive fixed establishment 5 removes the c end to mounting panel 3, and the drive of second horizontal transport mechanism 8 removes frame 9 and carries out horizontal migration, and pot body a is carried the processing station to a later process, and pot body b is carried the top to fixed establishment 5, and the drive mounting bracket 7 of the vertical elevating system 6 of second descends, and two fixture 10 all loosen, and pot body a is placed the processing station at a later process, and pot body b is placed at fixed establishment 5.
The first vertical lifting mechanism 2 drives the mounting plate 3 to descend, and the first horizontal conveying mechanism 4 drives the fixing mechanism 5 to move to the d end of the mounting plate 3 to wait for next transfer work.
Preferably, the mounting frame 7 includes a lifting plate 7a, a reinforcing plate 7b, a horizontal guide rail 7c and a guide seat 7d, the frame 1 is provided with two vertical guide rails 1a at intervals, the guide seat 7d is provided on the lifting plate 7a and is connected with the corresponding vertical guide rail 1a in a matching manner, and the second vertical lifting mechanism 6 drives the lifting plate 7a to make vertical reciprocating motion along the vertical guide rails 1 a; the horizontal guide rails 7c are mounted at the lower part of the lifting plate 7a, two reinforcing plates 7b are arranged, and two ends of each reinforcing plate 7b are respectively connected with the side wall of the lifting plate 7a and the upper end face of the horizontal guide rail 7 c;
the second horizontal conveying mechanism 8 is arranged on the lifting plate 7a, and the moving frame 9 is connected with the horizontal guide rail 7c in a sliding mode.
By adopting the structure, the frame 1 is provided with the decorative baffle, the lifting plate 7a is positioned in the decorative baffle, the lifting plate 7a is provided with the coaming, and the reinforcing plate 7b is positioned in the coaming. The vertical guide rail 1a and the guide base 7d are matched for guiding, so that the lifting plate 7a can stably ascend or descend, the horizontal movement of the horizontal guide rail 7c is kept, and the two clamping mechanisms 10 can be ensured to be in place simultaneously. The reinforcing plate 7b can improve the connecting and fixing effects of the lifting plate 7a and the horizontal guide rail 7c, and improve the bearing capacity of the horizontal guide rail 7 c.
Preferably, the second vertical lifting mechanism 6 comprises an installation block 6a, a hinged seat 6b, a second vertical cylinder 6c and a connecting block 6d, the installation block 6a is provided with two, the installation block 6a is arranged at intervals on the rack 1, the hinged seat 6b is provided with two, the hinged seat 6b is arranged on the lower end face of the installation block 6a, the second vertical cylinder 6c is provided with two, the second vertical cylinder 6c is hinged with the corresponding hinged seat 6b respectively, the connecting block 6d is provided with two, the connecting block 6d is arranged on the lifting plate 7a respectively, two, the output end of the second vertical cylinder 6c is connected with the corresponding connecting block 6d respectively.
With this structure, the second vertical cylinder 6c drives the lifting plate 7a to ascend or descend, and the lifting plate 7a can be lifted smoothly by cooperating with the vertical guide rail 1a and the guide base 7 d. Connect second vertical cylinder 6c and articulated seat 6b through articulated mode, second vertical cylinder 6c can suitably rotate at flexible process to the swing that the adaptation removal process produced.
Preferably, the second horizontal conveying mechanism 8 includes a fixing frame 8a, a driving motor 8b, a rotating shaft 8c, a synchronizing wheel 8d, a supporting plate 8e, a driving wheel 8f, a driving belt 8g and a locking seat 8h, the fixing frame 8a is disposed on the lifting plate 7a, the driving motor 8b is disposed on the fixing frame 8a along the horizontal direction, the lifting plate 7a is provided with a mounting hole, the supporting plate 8e is disposed on the horizontal guide rail 7c and opposite to the mounting hole, one end of the rotating shaft 8c is connected with the output end of the driving motor 8b after passing through the mounting hole, the other end of the rotating shaft 8c is connected with the supporting plate 8e, the synchronizing wheel 8d is sleeved on the rotating shaft 8c, the horizontal guide rail 7c is provided with two mounting grooves at intervals along the length direction, the two mounting grooves are respectively located at two sides of the rotating shaft 8c, the drive wheel 8f is provided with two, two the drive wheel 8f is installed in corresponding through the installation axle respectively the mounting groove, locking seat 8h is provided with two, two locking seat 8h sets up respectively the up end at the both ends of removal frame 9, the one end and one of them of drive belt 8g locking seat 8h is connected, one is walked around according to the preface to the other end of drive belt 8g the drive wheel 8f synchronizing wheel 8d and another behind the drive wheel 8f with another locking seat 8h is connected.
With this structure, the driving motor 8b drives the synchronizing wheel 8d to rotate through the rotating shaft 8c, and the synchronizing wheel 8d drives the moving frame 9 to move along the horizontal guide rail 7c through the driving belt 8 g. Both ends of drive belt 8g respectively with locking seat 8h fixed connection, moving frame 9 and removing the in-process, synchronizing wheel 8d rotates and drives the transmission of drive belt 8g, and the one end of drive belt 8g drives and removes frame 9 and remove along one side of synchronizing wheel 8 d's direction of rotation, and the other end of drive belt 8g is driven by locking seat 8h and is advanced, makes drive belt 8g keep the tension state. When the movable frame 9 moves in the reverse direction, the driving motor 8b rotates in the reverse direction, and the other end of the driving belt 8g drives the movable frame 9 to move. Through the cooperation of driving motor 8b, synchronizing wheel 8d, drive wheel 8f and drive belt 8g, make and remove frame 9 and can carry out quick removal, improve conveying efficiency, simultaneously, can guarantee that the transportation process is stable.
Preferably, a guide groove is formed in the lower end face of the horizontal guide rail 7c, chrome plating optical axes 11 are respectively arranged on two side walls of the moving frame 9 along the length direction, a plurality of longitudinal connecting shafts are distributed in the guide groove, each longitudinal connecting shaft is sleeved with a groove roller 12, each groove roller 12 is distributed on two sides of the moving frame 9, and a groove of each groove roller 12 is connected with the corresponding chrome plating optical axis 11.
By adopting the structure, the groove roller 12 and the chromium plating optical axis 11 are matched to play a good guiding role, so that the moving stability of the moving frame 9 is improved, and meanwhile, the friction between the moving frame 9 and the horizontal guide rail 7c is reduced.
Preferably, a detection baffle 13 is arranged on a side wall of the moving frame 9, a first proximity switch 14, a second proximity switch 15 and a third proximity switch 16 are sequentially arranged on a side wall of the horizontal guide rail 7c along the length direction, when the detection baffle 13 moves to a position below the first proximity switch 14, one of the clamping mechanisms 10 is opposite to a processing station of a previous process, and when the detection baffle 13 moves to a position below the third proximity switch 16, the other clamping mechanism 10 is opposite to a pot body of a next process; the second proximity switch 15 is used to detect the height position of the mounting bracket 7.
With the structure, the moving distance of the moving frame 9 is detected through the first proximity switch 14 and the third proximity switch 16, and the moving distance of the moving frame 9 can enable the clamping mechanism 10 to convey the pot body from the processing station of the previous process to the fixing mechanism 5, and meanwhile, the pot body is moved from the d end of the mounting plate 3 to the processing station of the next process.
Preferably, fixture 10 includes connecting seat 10a, wide type clamping jaw 10b and arm lock 10c, connecting seat 10a sets up respectively remove the lower terminal surface at the both ends of frame 9, wide type clamping jaw 10b sets up remove frame 9, arm lock 10c is provided with two, two arm lock 10c sets up respectively two output of wide type clamping jaw 10b, two arm lock 10 c's relative terminal surface is equipped with the arc wall, two the pot body of arm lock 10c cooperation centre gripping processing.
Adopt this kind of structure, through the wide type clamping jaw 10b and the cooperation centre gripping pot body of arm lock 10c, the centre gripping effect is firm, in order to further improve the centre gripping effect, can install the cushion in arm lock 10 c's arc wall department, when improving frictional force, can also prevent that the pot body from receiving wearing and tearing.
Preferably, the fixing mechanism 5 comprises a transfer plate 5a, a positioning block 5b, two connecting holes, two adjusting screws and a positioning column 5c, the transfer plate 5a is connected with the output end of the first horizontal conveying mechanism 4, the two positioning blocks 5b are arranged at intervals on the transfer plate 5a, the two connecting holes are arranged on the positioning block 5b, and the positioning column 5c is fixed on the positioning block 5b through the adjusting screws.
By adopting the structure, the pot body is clamped by matching the transfer plate 5a, the positioning blocks 5b and the positioning columns 5c, and the positioning columns 5c on the two positioning blocks 5b are matched to play a good fixing role, so that the pot body is prevented from falling off in the moving process.
Preferably, first vertical elevating system 2 includes fixed plate 2a, uide bushing 2b, vertical guide bar 2c and first vertical cylinder 2d, fixed plate 2a along the horizontal direction install in the lower part of frame 1, uide bushing 2b is provided with at least three, uide bushing 2b sets up fixed plate 2a, vertical guide bar 2c is provided with at least three, vertical guide bar 2c wears to establish and corresponds in uide bushing 2b, the upper end of vertical guide bar 2c with mounting panel 3 is connected, first vertical cylinder 2d sets up fixed plate 2a, the output of first vertical cylinder 2d passes behind fixed plate 2a with mounting panel 3 is connected.
Adopt this kind of structure, through the cooperation of first vertical cylinder 2d, uide bushing 2b and vertical guide bar 2c, drive mounting panel 3 is reciprocating motion along vertical direction, and the cooperation of uide bushing 2b and vertical guide bar 2c plays good guide effect, guarantees that mounting panel 3 can rise steadily or descend, improves the stability of carrying.
Preferably, the first horizontal conveying mechanism 4 includes a mounting seat 4a, a horizontal guide rod 4b, two sliding blocks 4c and a rodless cylinder 4d, the mounting seat 4a is provided with two, the mounting seat 4a is respectively arranged along the length direction interval of the mounting plate 3, the horizontal guide rod 4b is provided with two, the horizontal guide rod 4b is erected between two of the mounting seats 4a, the sliding blocks 4c are provided with two, the sliding blocks 4c are respectively sleeved on two of the horizontal guide rods 4b, the upper ends of the sliding blocks 4c are both connected with the fixing mechanism 5, the rodless cylinder 4d is arranged between two of the mounting seats 4a, and the output end of the rodless cylinder 4d is connected with the fixing mechanism 5.
By adopting the structure, the rodless cylinder 4d, the horizontal guide rod 4b and the sliding block 4c are matched to drive the fixing mechanism 5 to reciprocate along the horizontal direction, and the horizontal guide rod 4b and the sliding block 4c are matched to play a good guiding role, so that the fixing mechanism 5 can be stably moved, and the conveying stability is improved. The rodless cylinder 4d can ensure that the fixing mechanism 5 has a large stroke, and meanwhile, the installation space is saved, and the conveying speed is high and stable. And in-place detection switches are arranged at two ends of the mounting plate 3 and are used for detecting the in-place condition of the fixing mechanism 5.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The manipulator transferring equipment comprises a rack and is characterized in that a first vertical lifting mechanism is arranged at the lower part of the rack, an output end of the first vertical lifting mechanism is connected with a mounting plate, and the first vertical lifting mechanism drives the mounting plate to reciprocate along the vertical direction;
the mounting plate is provided with a first horizontal conveying mechanism along the length direction, the output end of the first horizontal conveying mechanism is connected with a fixing mechanism, the fixing mechanism is used for fixing the processed pot body, and the first horizontal conveying mechanism drives the fixing mechanism to reciprocate along the horizontal direction;
a second vertical lifting mechanism is arranged at the upper part of the rack, an output end of the second vertical lifting mechanism is connected with a mounting rack, the mounting rack is positioned above the mounting board, and the second vertical lifting mechanism drives the mounting rack to reciprocate along the vertical direction;
the mounting frame is provided with a second horizontal conveying mechanism, the mounting frame is connected with a moving frame in a sliding mode, and the second horizontal conveying mechanism drives the moving frame to reciprocate along the horizontal direction; the moving frame is positioned above the mounting plate, and the moving path of the moving frame is parallel to the moving path of the fixing mechanism;
the two ends of the moving frame are respectively provided with a clamping mechanism for clamping a processed pot body, one clamping mechanism reciprocates between a processing station of the previous procedure and one end of the mounting plate, and the other clamping mechanism reciprocates between the processing station of the next procedure and the other end of the mounting plate.
2. The manipulator transportation device according to claim 1, wherein the mounting frame comprises a lifting plate, a reinforcing plate, a horizontal guide rail and a guide seat, two vertical guide rails are arranged on the frame at intervals, the guide seat is arranged on the lifting plate and is in fit connection with the corresponding vertical guide rail, and the second vertical lifting mechanism drives the lifting plate to vertically reciprocate along the vertical guide rails; the two reinforcing plates are respectively connected with the side wall of the lifting plate and the upper end surface of the horizontal guide rail;
the second horizontal conveying mechanism is arranged on the lifting plate, and the moving frame is connected with the horizontal guide rail in a sliding mode.
3. The manipulator transfer device according to claim 2, wherein the second vertical lifting mechanism comprises two mounting blocks, two hinged seats, two vertical cylinders and two connecting blocks, the two mounting blocks are arranged on the frame at intervals, the two hinged seats are arranged on the lower end face of the mounting block, the two vertical cylinders are arranged and hinged with the corresponding hinged seats respectively, the two connecting blocks are arranged and arranged on the lifting plate respectively, and the output ends of the two vertical cylinders are connected with the corresponding connecting blocks respectively.
4. The manipulator transferring device according to claim 2, wherein the second horizontal conveying mechanism includes a fixing frame, a driving motor, a rotating shaft, a synchronizing wheel, a supporting plate, two driving wheels, a driving belt, and a locking seat, the fixing frame is disposed on the lifting plate, the driving motor is disposed on the fixing frame along a horizontal direction, the lifting plate is provided with a mounting hole, the supporting plate is disposed on the horizontal guide rail and opposite to the mounting hole, one end of the rotating shaft passes through the mounting hole and is connected to an output end of the driving motor, the other end of the rotating shaft is connected to the supporting plate, the synchronizing wheel is sleeved on the rotating shaft, the horizontal guide rail is provided with two mounting grooves at intervals along a length direction, the two mounting grooves are respectively located at two sides of the rotating shaft, the two driving wheels are respectively mounted on the corresponding mounting grooves through mounting shafts, the locking seats are arranged in two numbers, the two locking seats are respectively arranged on the upper end faces of the two ends of the movable frame, one end of the transmission belt is connected with one of the locking seats, and the other end of the transmission belt sequentially bypasses one of the transmission wheels, the synchronizing wheel and the other transmission wheel and then is connected with the other locking seat.
5. The manipulator transfer device according to claim 2, wherein a guide groove is formed in the lower end face of the horizontal guide rail, chrome-plated optical axes are respectively arranged on two side walls of the movable frame in the length direction, a plurality of longitudinal connecting shafts are distributed in the guide groove, each longitudinal connecting shaft is sleeved with a groove roller, each groove roller is distributed on two sides of the movable frame, and a groove of each groove roller is connected with the corresponding chrome-plated optical axis.
6. The manipulator transfer device according to claim 2, wherein a detection baffle is arranged on a side wall of the moving frame, a first proximity switch, a second proximity switch and a third proximity switch are sequentially arranged on a side wall of the horizontal guide rail along the length direction, when the detection baffle moves below the first proximity switch, one of the clamping mechanisms is opposite to a processing station of a previous process, and when the detection baffle moves below the third proximity switch, the other clamping mechanism is opposite to a pot of a subsequent process; the second proximity switch is used for detecting the height position of the mounting rack.
7. The manipulator transporting device according to claim 1, wherein the clamping mechanism includes a connecting seat, a wide clamping jaw and two clamping arms, the connecting seat is respectively disposed on the lower end faces of two ends of the movable frame, the wide clamping jaw is disposed on the movable frame, the two clamping arms are respectively disposed on two output ends of the wide clamping jaw, the two opposite end faces of the two clamping arms are provided with arc-shaped grooves, and the two clamping arms cooperate with the pot body to be clamped.
8. The manipulator transfer device according to claim 1, wherein the fixing mechanism includes a transfer plate, two positioning blocks, two connecting holes, two adjusting screws and two positioning columns, the transfer plate is connected to the output end of the first horizontal conveying mechanism, the two positioning blocks are arranged on the transfer plate at intervals, the connecting holes are arranged on the positioning blocks, and the positioning columns are fixed on the positioning blocks through the adjusting screws.
9. The manipulator transfer device according to claim 1, wherein the first vertical lifting mechanism includes a fixed plate, at least three guide sleeves, at least three longitudinal guide rods, and a first vertical cylinder, the fixed plate is horizontally mounted on the lower portion of the rack, the at least three guide sleeves are provided on the fixed plate, the at least three longitudinal guide rods are provided on the longitudinal guide rods, the longitudinal guide rods are inserted into the corresponding guide sleeves, the upper ends of the longitudinal guide rods are connected to the mounting plate, the first vertical cylinder is provided on the fixed plate, and the output end of the first vertical cylinder passes through the fixed plate and then is connected to the mounting plate.
10. The manipulator transfer device according to claim 1, wherein the first horizontal conveying mechanism includes two mounting seats, two horizontal guide rods, two sliding blocks and a rodless cylinder, the two mounting seats are respectively disposed along the length direction of the mounting plate at intervals, the two horizontal guide rods are disposed, the two horizontal guide rods are erected between the two mounting seats, the two sliding blocks are respectively disposed on the two horizontal guide rods, the upper ends of the two sliding blocks are both connected with the fixing mechanism, the rodless cylinder is disposed between the two mounting seats, and the output end of the rodless cylinder is connected with the fixing mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922086928.7U CN211248041U (en) | 2019-11-26 | 2019-11-26 | Manipulator transfer equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922086928.7U CN211248041U (en) | 2019-11-26 | 2019-11-26 | Manipulator transfer equipment |
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| CN211248041U true CN211248041U (en) | 2020-08-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883253A (en) * | 2019-11-26 | 2020-03-17 | 佛山市中机一超机器人科技有限公司 | Manipulator transfer equipment |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883253A (en) * | 2019-11-26 | 2020-03-17 | 佛山市中机一超机器人科技有限公司 | Manipulator transfer equipment |
| CN110883253B (en) * | 2019-11-26 | 2024-06-04 | 佛山市中机一超机器人科技有限公司 | Manipulator transfer equipment |
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