CN211254387U - Fixed angle material loading manipulator mechanism - Google Patents
Fixed angle material loading manipulator mechanism Download PDFInfo
- Publication number
- CN211254387U CN211254387U CN201921633715.5U CN201921633715U CN211254387U CN 211254387 U CN211254387 U CN 211254387U CN 201921633715 U CN201921633715 U CN 201921633715U CN 211254387 U CN211254387 U CN 211254387U
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- clamping jaw
- fixed
- air cylinder
- rack
- assembly
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Abstract
The utility model relates to a fixed angle feeding manipulator mechanism, which comprises a manipulator mechanism fixed on a frame and an integral driving mechanism for driving the manipulator mechanism and the frame to do integral motion in XYZ axial directions, wherein the manipulator mechanism comprises a clamping jaw cylinder component I, a clamping jaw cylinder component II, an up-down moving component for driving the clamping jaw cylinder component I to do up-down motion in Z axial direction and an oblique moving component for driving the clamping jaw cylinder component II to do oblique motion in an XZ axial plane; the utility model provides a fixed angle material loading manipulator mechanism compact structure utilizes the clamping jaw design of two directions, accomplishes and gets the eccentric shaft that processing is good from the interior clamp of main equipment main shaft chuck, sends unprocessed blank material to the main shaft chuck again in, reduces the manual material of getting of personnel and throws the material, and the shut down latency that causes is extravagant, and degree of automation is high.
Description
Technical Field
The utility model relates to a manipulator equipment especially relates to a fixed angle material loading manipulator mechanism.
Background
The inherent eccentric shaft design of the existing parts makes many mechanical hands unable to meet the processing requirements. The utility model relates to a fixed angle material loading manipulator mechanism can solve these drawbacks, makes the better realization in scene automatic, and the unable installation robot of main equipment pipelined's range, defect more than basic.
To above problem, the utility model discloses the main technical problem who solves provides a compact structure, and degree of automation is high, makes the better realization automation in scene, and the operation is stable, can satisfy the fixed angle material loading manipulator mechanism of different processing beats and quality demand.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem, the utility model aims at providing a fixed angle material loading manipulator mechanism compact structure, the operation is stable, has reduced the waste of personnel's cost and shut down, can satisfy the demand that carries out large-scale industrial production.
The utility model discloses a fixed angle material loading manipulator mechanism, including the manipulator mechanism of fixing on the frame and be used for driving the whole actuating mechanism of whole motion is done to manipulator mechanism and frame in XYZ axle direction, manipulator mechanism includes clamping jaw cylinder subassembly one, clamping jaw cylinder subassembly two and drives respectively the up-and-down moving subassembly that clamping jaw cylinder subassembly one was the up-and-down motion in Z axle direction and drive the slant moving subassembly of slant motion in the XZ axle plane of clamping jaw cylinder subassembly two, the up-and-down moving subassembly includes drive mechanism one, link mechanism one and fixes the first servo motor subassembly on the frame, link mechanism one is driven the up-and-down motion by drive mechanism one, drive mechanism one is driven the transmission by first servo motor subassembly, link mechanism one bottom mounting has clamping jaw cylinder subassembly one, the oblique moving assembly comprises a second transmission mechanism, a second connecting rod mechanism and a second servo motor assembly fixed on the rack, the second connecting rod mechanism is driven by the second transmission mechanism to move obliquely in an XZ axial plane, the second transmission mechanism is driven by the second servo motor assembly to transmit, the second clamping jaw air cylinder assembly is fixed at the bottom end of the second connecting rod mechanism, and induction devices used for limiting and inducing the first connecting rod mechanism and the second connecting rod mechanism are arranged on the rack.
Further, induction system includes spacing photoelectric sensing ware one and spacing photoelectric sensing ware two, link mechanism one includes connecting rod one, stopper one and fixes spacing photoelectric sensing ware one in the frame can with spacing photoelectric sensing ware one response the stopper one is fixed the top of connecting rod one, link mechanism two includes connecting rod two, stopper two and fixes spacing photoelectric sensing ware two in the frame can with spacing photoelectric sensing ware two responses the stopper two is fixed the top of connecting rod two.
Furthermore, one side of the first connecting rod is provided with a first guide rail, the other side of the first connecting rod is further fixed with a first rack which can be meshed with a gear on the first transmission mechanism, a sliding block which is used for the sliding of the first guide rail is arranged on the rack, a second guide rail is arranged on one side of the second connecting rod, the other side of the second connecting rod is further fixed with a second rack which can be meshed with a gear on the second transmission mechanism, and a sliding block which is used for the sliding of the second guide rail is arranged on the rack.
Furthermore, the clamping jaw air cylinder assembly I and the clamping jaw air cylinder assembly II respectively comprise a clamping jaw, a clamping finger air cylinder with an induction switch and a clamping finger air cylinder mounting block, and the clamping finger air cylinder controls the opening and closing of the clamping jaw to be fixed through the clamping finger air cylinder mounting block.
Furthermore, an opening and closing sensor group used for sensing the opening and closing of the clamping jaw is arranged on the clamping finger cylinder.
More specifically, the integral driving mechanism comprises an electromagnetic valve, a pneumatic triple piece and a sheet metal part, the electromagnetic valve is erected on the sheet metal part, the electromagnetic valve is in communication control connection with a first servo motor component, a second servo motor component, a clamping jaw air cylinder component I and a clamping jaw air cylinder component II in the pneumatic triple piece and the manipulator mechanism respectively, and the electromagnetic valve is in communication connection with an opening and closing inductor group and an induction device respectively.
Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage:
the utility model relates to a fixed angle material loading manipulator mechanism assembles on the truss of taking up with hollow square pipe, utilizes equipment upper portion space installation, through exchanging signals with the main equipment inductor, utilizes the clamping jaw design of two directions, accomplishes to press from both sides from main equipment main shaft chuck in and gets the eccentric shaft that has processed, send unprocessed blank material to the main shaft chuck again in. The online processing function of a plurality of single machines is realized, the waste of shutdown waiting time caused by manual material taking and feeding of personnel is reduced, and the automation degree is extremely high.
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a fixed-angle feeding manipulator mechanism of the present invention;
fig. 2 is a front view of the fixed angle feeding manipulator mechanism of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The fixed-angle feeding manipulator mechanism shown in fig. 1 and 2 comprises a manipulator mechanism 1 fixed on a rack 3 and an integral driving mechanism 2 used for driving the manipulator mechanism 1 and the rack 3 to do integral motion in XYZ-axis directions, wherein the manipulator mechanism 1 comprises a clamping jaw cylinder assembly 11, a clamping jaw cylinder assembly two 12, an up-down moving assembly 13 respectively driving the clamping jaw cylinder assembly one 11 to do up-down motion in a Z-axis direction and an oblique moving assembly 14 driving the clamping jaw cylinder assembly two 12 to do oblique motion in an XZ-axis plane, the up-down moving assembly 13 comprises a transmission mechanism one 131, a link mechanism one 132 and a first servo motor assembly 133 fixed on the rack 3, the link mechanism one 132 is driven by the transmission mechanism one 131 to do up-down motion, the transmission mechanism one 131 is driven by the first servo motor assembly 133, the clamping jaw cylinder assembly one 11 is fixed at the bottom end of the link mechanism one 132, the oblique moving assembly 14 comprises a second transmission mechanism 141, a second link mechanism 142 and a second servo motor assembly 143 fixed on the frame 3, the second link mechanism 142 is driven by the second transmission mechanism 141 to move obliquely in an XZ axial plane, the second transmission mechanism 141 is driven by the second servo motor assembly 143 to move, the second clamping jaw air cylinder assembly 12 is fixed at the bottom end of the second link mechanism 142, and sensing devices for limiting and sensing the first link mechanism 132 and the second link mechanism 142 are arranged on the frame 3 respectively.
The utility model provides a fixed angle material loading manipulator mechanism's use as follows:
the manipulator mechanism 1 fixed on the frame 3 can be driven to move along an X axis, a Y axis or a Z axis by the integral driving mechanism 2, wherein the manipulator mechanism 1 is grabbed by the clamping jaw air cylinder assembly I11 and the clamping jaw air cylinder assembly II 12, the clamping jaw air cylinder assembly I11 and the clamping jaw air cylinder assembly II 12 respectively do up-and-down motion on the Z axis and do oblique motion in an XZ axis plane under the driving of the up-and-down moving assembly 13 and the oblique moving assembly 14, the moving directions of the clamping jaw air cylinder assembly I11 and the clamping jaw air cylinder assembly II 12 are in the same XZ axis plane, and an included angle formed between the two is fixed, so that the clamping jaw air cylinder assembly can be assembled on a travelling frame erected by a hollow square tube, the equipment upper space is utilized, signals are exchanged with a main equipment inductor, and the clamping jaw design in two directions is utilized to realize the clamping of a processed eccentric shaft from the main equipment main shaft chuck, and then the raw blank material is sent to the main shaft chuck.
In this embodiment, the sensing device includes a first limit photoelectric sensor 1323 and a second limit photoelectric sensor 1423, the first link mechanism 132 includes a first link 1321, a first limit 1322, and the first limit photoelectric sensor 1323 fixed on the rack 3, the first limit 1322 capable of responding to the first limit photoelectric sensor 1323 is fixed at the top end of the first link 1321, the second link mechanism 142 includes a second link 1421, a second limit 1422, and the second limit photoelectric sensor 1423 fixed on the rack 3, and the second limit 1422 capable of responding to the second limit photoelectric sensor 1423 is fixed at the top end of the second link 1421.
In this embodiment, one side of the first connecting rod 1321 is provided with a first guide rail 1324, the other side of the first connecting rod 1321 is further fixed with a first rack 1325 which can be engaged with a gear on the first transmission mechanism 131, the rack 3 is provided with a sliding block for the first guide rail 1324 to slide, one side of the second connecting rod 1421 is provided with a second guide rail 1424, the other side of the second connecting rod 1421 is further fixed with a second rack 1425 which can be engaged with a gear on the second transmission mechanism 141, and the rack 3 is provided with a sliding block for the second guide rail 1424 to slide.
In this embodiment, the first jaw cylinder assembly 11 and the second jaw cylinder assembly 12 each include a jaw 111, a finger cylinder 112 with an inductive switch, and a finger cylinder mounting block 113, the jaw 111 controlled to open and close by the finger cylinder 112 is fixed by the finger cylinder mounting block 113, and the finger cylinder 112 is provided with an open and close sensor group 114 for sensing the open and close of the jaw 111.
In this embodiment, the integral driving mechanism 2 includes an electromagnetic valve 21, a pneumatic triple part 22 and a sheet metal part 23, the electromagnetic valve 21 is erected on the sheet metal part 23, the electromagnetic valve 21 is respectively connected with the pneumatic triple part 22, the first servo motor assembly 133 and the second servo motor assembly 143 in the manipulator mechanism 1, and the clamping finger cylinder 112 in the first clamping jaw cylinder assembly 11 and the second clamping jaw cylinder assembly 12 in a communication control manner, and the electromagnetic valve 21 is also respectively connected with the opening and closing sensor group 114 and the sensing device in a communication manner.
In actual use, two sets of clamping jaw assemblies forming a certain included angle are used, the clamping jaw assemblies are driven to move by the up-down moving assembly and the oblique moving assembly respectively, a set of pneumatic triple parts and a set of electromagnetic valve assemblies are used, signals are exchanged through sensors in the assemblies and an industrial control system, unprocessed parts and processed parts are alternately placed in a main shaft of main equipment, and the purpose of automatic loading is achieved.
The utility model relates to a fixed angle material loading manipulator mechanism passes through inductor and industrial control system switching signal with main equipment (grinding machine), with two unit equipment online operation, utilizes two clamping jaw alternative operation designs, accomplishes the operation that takes main shaft chuck fast loading and unloading work piece 4 from outside conveying area, realizes the online processing function of pipelined, has reduced the waste of personnel's cost and shut down.
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, it should be noted that, for those skilled in the art, a plurality of improvements and modifications can be made without departing from the technical principle of the present invention, and such improvements and modifications should also be considered as the protection scope of the present invention.
Claims (6)
1. The utility model provides a fixed angle material loading manipulator mechanism which characterized in that: the manipulator mechanism comprises a manipulator mechanism (1) fixed on a rack (3) and an integral driving mechanism (2) used for driving the manipulator mechanism (1) and the rack (3) to do integral motion in XYZ axial directions, wherein the manipulator mechanism (1) comprises a clamping jaw air cylinder assembly I (11), a clamping jaw air cylinder assembly II (12), an up-down moving assembly (13) used for respectively driving the clamping jaw air cylinder assembly I (11) to do up-and-down motion in the Z axial direction and an oblique moving assembly (14) used for driving the clamping jaw air cylinder assembly II (12) to do oblique motion in an XZ axial plane, the up-down moving assembly (13) comprises a transmission mechanism I (131), a connecting rod mechanism I (132) and a first servo motor assembly (133) fixed on the rack (3), and the connecting rod mechanism I (132) is driven by the transmission mechanism I (131) to do up-and-down motion, the clamping jaw air cylinder assembly comprises a first transmission mechanism (131), a first connecting rod mechanism (132), a first clamping jaw air cylinder assembly (11) and an inclined moving assembly (14), wherein the first transmission mechanism (131) is driven and transmitted by a first servo motor assembly (133), the bottom end of the first connecting rod mechanism (132) is fixedly provided with the first clamping jaw air cylinder assembly (11), the inclined moving assembly (14) comprises a second transmission mechanism (141), a second connecting rod mechanism (142) and a second servo motor assembly (143) fixed on the rack (3), the second connecting rod mechanism (142) is driven and driven by the second transmission mechanism (141) to move in an inclined mode in an XZ axial plane, the second transmission mechanism (141) is driven and transmitted by the second servo motor assembly (143), the bottom end of the second connecting rod mechanism (142) is fixedly provided with the second clamping jaw air cylinder assembly (12), and the rack (3) is provided with sensing.
2. The fixed angle loading robot mechanism of claim 1, wherein: the sensing device comprises a first limiting photoelectric sensor (1323) and a second limiting photoelectric sensor (1423), the first link mechanism (132) comprises a first link rod (1321), a first limiting block (1322) and the first limiting photoelectric sensor (1323) fixed on the rack (3), the first limiting block (1322) capable of responding to the first limiting photoelectric sensor (1323) is fixed at the top end of the first link rod (1321), the second link mechanism (142) comprises a second link rod (1421), a second limiting block (1422) and the second limiting photoelectric sensor (1423) fixed on the rack (3), and the second limiting block (1422) capable of responding to the second limiting photoelectric sensor (1423) is fixed at the top end of the second link rod (1421).
3. The fixed angle charging manipulator mechanism of claim 2, wherein: one side of the first connecting rod (1321) is provided with a first guide rail (1324), the other side of the first connecting rod (1321) is further fixed with a first rack (1325) which can be meshed with a gear on the first transmission mechanism (131), the rack (3) is provided with a sliding block for the first guide rail (1324) to slide, one side of the second connecting rod (1421) is provided with a second guide rail (1424), the other side of the second connecting rod (1421) is further fixed with a second rack (1425) which can be meshed with a gear on the second transmission mechanism (141), and the rack (3) is provided with a sliding block for the second guide rail (1424) to slide.
4. The fixed angle loading robot mechanism of claim 1, wherein: the clamping jaw air cylinder assembly I (11) and the clamping jaw air cylinder assembly II (12) respectively comprise a clamping jaw (111), a clamping finger air cylinder (112) with an inductive switch and a clamping finger air cylinder mounting block (113), and the clamping finger air cylinder (112) controls the opening and closing of the clamping jaw (111) to be fixed through the clamping finger air cylinder mounting block (113).
5. The fixed angle charging manipulator mechanism of claim 4, wherein: an opening and closing sensor group (114) used for sensing the opening and closing of the clamping jaw (111) is arranged on the clamping finger cylinder (112).
6. The fixed angle charging manipulator mechanism of claim 5, wherein: the integral driving mechanism (2) comprises an electromagnetic valve (21), a pneumatic triple piece (22) and a sheet metal part (23), the electromagnetic valve (21) is erected on the sheet metal part (23), the electromagnetic valve (21) is respectively in communication control connection with the pneumatic triple piece (22) and a first servo motor assembly (133) and a second servo motor assembly (143) in the manipulator mechanism (1) as well as a clamping finger cylinder (112) in a clamping jaw cylinder assembly I (11) and a clamping jaw cylinder assembly II (12), and the electromagnetic valve (21) is also respectively in communication connection with an opening and closing sensor group (114) and a sensing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921633715.5U CN211254387U (en) | 2019-09-27 | 2019-09-27 | Fixed angle material loading manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921633715.5U CN211254387U (en) | 2019-09-27 | 2019-09-27 | Fixed angle material loading manipulator mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211254387U true CN211254387U (en) | 2020-08-14 |
Family
ID=71957834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921633715.5U Expired - Fee Related CN211254387U (en) | 2019-09-27 | 2019-09-27 | Fixed angle material loading manipulator mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211254387U (en) |
-
2019
- 2019-09-27 CN CN201921633715.5U patent/CN211254387U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200814 Termination date: 20210927 |
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| CF01 | Termination of patent right due to non-payment of annual fee |