CN211682132U - Rotatory manipulator that snatchs - Google Patents
Rotatory manipulator that snatchs Download PDFInfo
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- CN211682132U CN211682132U CN202020309627.6U CN202020309627U CN211682132U CN 211682132 U CN211682132 U CN 211682132U CN 202020309627 U CN202020309627 U CN 202020309627U CN 211682132 U CN211682132 U CN 211682132U
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- cylinder
- cantilever
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- claw
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- 230000008878 coupling Effects 0.000 claims abstract description 17
- 238000010168 coupling process Methods 0.000 claims abstract description 17
- 238000005859 coupling reaction Methods 0.000 claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims description 85
- 238000007665 sagging Methods 0.000 claims description 5
- 239000004033 plastic Substances 0.000 abstract description 35
- 238000000034 method Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 230000002035 prolonged effect Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to a rotatory manipulator that snatchs, include rotating base, set firmly the support on rotating base to and articulate the cantilever in the support both sides, the first cylinder of the vertical rigid coupling in upper portion of support, the one end of the articulated first connecting rod in both sides of the expansion end of first cylinder, the other end of first connecting rod is articulated with the one end that the support was kept away from to corresponding cantilever, the one end that the support was kept away from to the cantilever sets firmly the gripper. The utility model discloses another gripper puts down the plastic product that has snatched simultaneously when can snatch the plastic product through a gripper, has improved and has snatched efficiency to the production efficiency of plastic product has been improved. And the gripper rotates after grabbing the plastic product and drives another gripper to turn back, so that the process of no-load rotation turning back is avoided, and the energy loss is reduced.
Description
Technical Field
The utility model relates to a machinery snatchs the equipment field, specifically indicates a rotatory manipulator that snatchs.
Background
In the production process of the plastic product, the plastic product needs to be taken down from a mold on a production line and then transferred to the production line of the next step, and the plastic product needs to be transferred by utilizing a rotary grabbing mechanism.
Most of the existing rotary grabbing mechanisms only comprise a mechanical claw, a whole set of steps of grabbing actions of the existing rotary grabbing mechanisms comprise rotation, descending, grabbing, ascending, reverse rotation, descending, putting down and ascending, and the steps are circularly operated during grabbing. Therefore, the existing rotary grabbing mechanism comprises a grabbing action of a load and a no-load turning-back action, the no-load turning-back process not only consumes energy, but also prolongs the time of a whole set of grabbing steps, and the grabbing efficiency is reduced, so that the production efficiency of plastic products is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's not enough, provide a rotatory manipulator that snatchs, improved and snatched efficiency to the production efficiency of plastic product has been improved. The process of no-load rotation and turning back is avoided, and the energy loss is reduced.
The utility model discloses a through following technical scheme realizes, provides a rotatory manipulator that snatchs, include rotating base, set firmly the support on rotating base to and articulate the cantilever in the support both sides, the first cylinder of the vertical rigid coupling in upper portion of support, the one end of the articulated first connecting rod in both sides of the expansion end of first cylinder, the other end of first connecting rod is articulated with the one end that the support was kept away from to corresponding cantilever, the one end that the support was kept away from to the cantilever sets firmly the gripper.
The rotary base of the scheme is the prior art, and the rotary base is driven by electric power and can rotate for 360 degrees. The rotating base is provided with a turntable, and the lower end of the support is fixedly connected with the upper end face of the turntable, so that the support is driven to rotate through the rotating base. The two sides of the upper end of the support are fixedly connected with the ear seats respectively, and the cantilever is hinged with the corresponding ear seats, so that the hinged firmness of the cantilever and the support is ensured. The lower end of the cylinder body of the first cylinder is fixedly connected with the upper end face of the support, and the end part of the piston of the first cylinder is a movable end. The two sides of the movable end of the first cylinder are fixedly connected with the ear seats respectively, the upper side of one end, far away from the support, of the cantilever is fixedly connected with the ear seats, and the end part of the first connecting rod is hinged with the corresponding ear seats. The cantilever, the first cylinder and the first connecting rod form a triangular structure, and the first cylinder serves as a common side of the two triangular structures. The mechanical claw is positioned at the lower side of one end of the cantilever far away from the bracket. When the first cylinder extends, the movable end of the first cylinder drives the first connecting rod to ascend, and the first connecting rod drives the corresponding cantilever to ascend away from one end of the support, so that the mechanical claw is driven to ascend; when the first cylinder contracts, the movable end of the first cylinder drives the first connecting rod to descend, and the first connecting rod drives the corresponding cantilever to descend far away from one end of the support, so that the mechanical claw is driven to descend.
Preferably, the upper end of the mechanical claw is hinged with one end of the cantilever far away from the bracket. The cantilever of this scheme is kept away from the one end downside rigid coupling ear seat of support, and articulated peg on the ear seat, the upper end of gripper and the lower extreme rigid coupling of peg to make the gripper remain vertical flagging state throughout. Because the cantilever is kept away from the change that there is the angle in the one end of support at the lift in-process, consequently through the articulated of gripper and cantilever, make the gripper remain vertical flagging state all the time to reduce the swing of plastic product, made the process of snatching more steady.
Preferably, the mechanical claw comprises a second cylinder and C-shaped holding claws hinged to two sides of the movable end of the second cylinder, openings of the C-shaped holding claws are opposite, two sides of a cylinder body of the second cylinder are hinged to one end of a second connecting rod, and the other end of the second connecting rod is hinged to one end, far away from the second cylinder, of the upper portion of the corresponding C-shaped holding claw. The upper end of the second cylinder of this scheme and the lower extreme rigid coupling of peg, the upper end of second cylinder is cylinder end, the lower extreme is the piston end, the equal rigid coupling ear seat in upper end both sides of second cylinder, the equal rigid coupling ear seat in lower extreme both sides also, the upper end of claw is embraced to the C type is articulated with the ear seat that is located the second cylinder lower extreme, the C type is embraced the claw and is included two horizontal poles and the montant of being connected two horizontal pole one end, the horizontal pole outside rigid coupling ear seat that is located the top, this ear seat is articulated through the second connecting rod with the ear seat that is located the second cylinder upper end. The second cylinder, the second connecting rod and the upper cross rod of the C-shaped holding claw form a triangular structure, and the second cylinder is a common side of the two triangular structures.
When the second cylinder extends, the movable end of the second cylinder drives the inner end of the upper cross rod of the C-shaped holding claw to descend, and at the moment, the outer end of the upper cross rod of the C-shaped holding claw is pulled by the second connecting rod, so that two ends of the upper cross rod of the C-shaped holding claw are staggered, and the C-shaped holding claw is opened; when the second cylinder contracts, the movable end of the second cylinder drives the inner end of the upper cross rod of the C-shaped holding claw to ascend, the outer end of the upper cross rod of the C-shaped holding claw is propped against by the second connecting rod, so that the two ends of the upper cross rod of the C-shaped holding claw are staggered, the C-shaped holding claw is closed, and the grabbing action is completed.
Preferably, one end, far away from the hinged point with the second cylinder, of the C-shaped holding claw is fixedly connected with a semicircular rubber block. One end, far away from a hinge point with the second cylinder, of the C-shaped holding claw is a clamping end in contact with the plastic product, and the clamping end is provided with semicircular rubber; on the other hand, no matter the opening angle size of C type embracing the claw, semi-circular rubber and plastic product are a point contact all the time, form a face contact after the extrusion deformation of semi-circular rubber again, have increased the frictional force that C type embraced claw and plastic product to it is more firm to make C type embrace the claw clamp and get the plastic product.
Preferably, the cantilever, the first link and the gripper are symmetrically arranged. The equal symmetry setting of cantilever, first connecting rod and gripper of this scheme to make the cantilever drive gripper rise in step or descend in step, the arm of force of having avoided the cantilever changes the atress that leads to the support and takes place the skew, thereby has slowed down rotating base's wearing and tearing, has prolonged the utility model discloses a life.
Preferably, when the first cylinder is in the extension state, the cantilever is in the horizontal state, and when the first cylinder is in the contraction state, the cantilever is in the sagging state. When the first cylinder is in the longest state, the cantilever is in the horizontal state, and the mechanical claw is in the highest state of rising; when the first cylinder is in the shortest state, the cantilever is in a sagging state, and the mechanical claw is in the lowest state of descending. Because the traditional cylinder only has the longest stroke and the shortest stroke, the mechanical claw also has the highest state and the lowest state, so that the mechanical claw is easier to control.
Preferably, when the second cylinder is in the extension state, the C-shaped holding claw is in the opening state, and when the second cylinder is in the contraction state, the C-shaped holding claw is in the closing state. In the scheme, the closing angle of the C-shaped holding claw is measured according to the volume of the plastic product, and then the second cylinder with a proper stroke is selected, so that the mechanical claw is easier to control, a complex control system existing in the existing mechanical claw is omitted, and the cost is reduced.
The utility model has the advantages that: the utility model discloses contain two gripper, another gripper puts down the plastic product that has snatched simultaneously when can snatch the plastic product through a gripper, the step of snatching of a gripper is rotatory, descend, snatch promptly, rise, rotatory 180 degrees, descend, relieve, rise totally eight steps, but because four steps of back of a gripper and four steps of the first of another gripper are gone on in step, consequently, the time of four steps has been saved in other words, the efficiency of snatching has been improved, thereby the production efficiency of plastic product has been improved. And the gripper rotates after grabbing the plastic product and drives another gripper to turn back, so that the process of no-load rotation turning back is avoided, and the energy loss is reduced. And, the utility model discloses a symmetrical structure, for traditional manipulator, the skew power that the carousel received is littleer to slowed down the wearing and tearing speed of carousel, prolonged the utility model discloses a life.
Drawings
Fig. 1 is a schematic structural view of the ascending state of the present invention;
fig. 2 is a schematic structural view of the descending state of the present invention;
FIG. 3 is an enlarged view of section I of FIG. 1;
FIG. 4 is an enlarged view of a portion II of FIG. 2;
shown in the figure:
1. rotating base, 2, support, 3, cantilever, 4, first cylinder, 5, first connecting rod, 6, gripper, 7, second cylinder, 8, C type embrace the claw, 9, second connecting rod, 10, semi-circular rubber piece.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
The utility model provides a rotatory manipulator that snatchs, as shown in the figure, include rotating base 1, set firmly support 2 on rotating base 1 to and articulate the cantilever 3 in support 2 both sides, the first cylinder 4 of the vertical rigid coupling in upper portion of support 2, the articulated one end of first connecting rod 5 in both sides of the expansion end of first cylinder 4, the other end of first connecting rod 5 is articulated with the one end that corresponds cantilever 3 and keeps away from support 2, the one end that support 2 was kept away from to cantilever 3 sets firmly gripper 6. The upper end of the mechanical claw 6 is hinged with one end of the cantilever 3 far away from the bracket 2. The gripper 6 comprises a second cylinder 7 and C-shaped holding claws 8 hinged to two sides of the movable end of the second cylinder 7, the openings of the two C-shaped holding claws 8 are opposite, two sides of the cylinder body of the second cylinder 7 are hinged to one end of a second connecting rod 9, and the other end of the second connecting rod 9 is hinged to one end, far away from the second cylinder 7, of the upper portion, corresponding to the C-shaped holding claw 8. One end of the C-shaped holding claw 8 far away from the hinged point of the second cylinder 7 is fixedly connected with a semicircular rubber block 10. The cantilever 3, the first connecting rod 5 and the mechanical claw 6 are symmetrically arranged.
The rotating base 1 is the prior art, and the rotating base 1 is driven by electric power and can rotate 360 degrees. The rotating base 1 is located between the two conveyor belts. The rotating base 1 is provided with a turntable, and the lower end of the support 2 is fixedly connected with the upper end face of the turntable, so that the rotating base 1 drives the support 2 to rotate. The both sides of the upper end of support 2 are the rigid coupling ear seat respectively, and cantilever 3 is articulated with the ear seat that corresponds to guarantee cantilever 3 and the articulated firmness of support 2. The lower end of the first cylinder 4 is fixedly connected with the upper end face of the bracket 2, and the end part of the piston of the first cylinder 4 is a movable end. Two sides of the movable end of the first cylinder 4 are fixedly connected with ear seats respectively, the upper side of one end of the cantilever 3 far away from the support 2 is fixedly connected with the ear seats, and the end part of the first connecting rod 5 is hinged with the corresponding ear seats. The boom 3, the first cylinder 4 and the first link 5 constitute a triangular structure, and the first cylinder 4 acts as a common side of both triangular structures. The gripper 6 is located on the underside of the end of the boom 3 remote from the carriage 2. When the first cylinder 4 extends, the movable end of the first cylinder 4 drives the first connecting rod 5 to ascend, and the first connecting rod 5 drives the corresponding cantilever 3 to ascend away from one end of the bracket 2, so as to drive the mechanical claw 6 to ascend; when the first cylinder 4 contracts, the movable end of the first cylinder 4 drives the first connecting rod 5 to descend, and the first connecting rod 5 drives the corresponding cantilever 3 to descend at the end far away from the bracket 2, so as to drive the mechanical claw 6 to descend.
The upper end of second cylinder 7 and the lower extreme rigid coupling of peg, the upper end of second cylinder 7 is cylinder body end, the lower extreme is the piston end, the equal rigid coupling ear seat in upper end both sides of second cylinder 7, the equal rigid coupling ear seat in lower extreme both sides also, the upper end of claw 8 is embraced to the C type is articulated with the ear seat that is located the second cylinder 7 lower extreme, the claw 8 is embraced to the C type includes two horizontal poles and the montants of being connected two horizontal pole one end, the horizontal pole outside rigid coupling ear seat that is located the top, this ear seat is articulated through second connecting rod 9 with the ear seat that is located the second cylinder 7 upper end. The second cylinder 7, the second connecting rod 9 and the upper cross rod of the C-shaped holding claw 8 form a triangular structure, and the second cylinder 7 is a common side of the two triangular structures. When the second cylinder 7 extends, the movable end of the second cylinder 7 drives the inner end of the upper cross rod of the C-shaped holding claw 8 to descend, and at the moment, the outer end of the upper cross rod of the C-shaped holding claw 8 is pulled by the second connecting rod 9, so that the two ends of the upper cross rod of the C-shaped holding claw 8 are staggered, and the C-shaped holding claw 8 is opened; when the second cylinder 7 contracts, the movable end of the second cylinder 7 drives the inner end of the upper cross rod of the C-shaped holding claw 8 to ascend, the outer end of the upper cross rod of the C-shaped holding claw 8 is propped against by the second connecting rod 9, so that the two ends of the upper cross rod of the C-shaped holding claw 8 are staggered, the C-shaped holding claw 8 is closed, and the grabbing action is completed.
One end of the C-shaped holding claw 8, which is far away from the hinge point with the second cylinder 7, is a clamping end which is in contact with the plastic product, and the clamping end is provided with semicircular rubber, so that on one hand, the semicircular rubber has certain elasticity, thereby avoiding the C-shaped holding claw 8 from clamping the plastic product and playing a role in protecting the plastic product; on the other hand, no matter the opening angle of the C-shaped holding claw 8, the semicircular rubber and the plastic product are always in point contact, and the semicircular rubber and the plastic product form surface contact after extrusion deformation through the semicircular rubber, so that the friction force between the C-shaped holding claw 8 and the plastic product is increased, and the C-shaped holding claw 8 is clamped to be firmer.
When the first cylinder 4 is in an extension state, the cantilever 3 is in a horizontal state, and when the first cylinder 4 is in a contraction state, the cantilever 3 is in a sagging state. When the first cylinder 4 is in the longest state, the cantilever 3 is in the horizontal state, and the mechanical claw 6 is in the highest state of rising; when the first cylinder 4 is in the shortest state, the cantilever 3 is in a sagging state, and the gripper 6 is in the lowest state of descending. Since the traditional cylinder has only two strokes of the longest stroke and the shortest stroke, the mechanical claw 6 has only two states of the highest stroke and the lowest stroke, so that the mechanical claw 6 is easier to control.
When the second cylinder 7 is in an extending state, the C-shaped holding claw 8 is in an opening state, and when the second cylinder 7 is in a contracting state, the C-shaped holding claw 8 is in a closing state. The closing angle of the C-shaped holding claw 8 is measured according to the volume of the plastic product, and then the second cylinder 7 with a proper stroke is selected, so that the mechanical claw 6 is easier to control, a complex control system existing in the existing mechanical claw is omitted, and the cost is reduced.
When the rotary table is used, the rotary base 1 drives the support 2 to rotate, and the support 2 drives the cantilever 3 to rotate every time the support rotates 180 degrees. When grabbing and putting down the plastic product, first cylinder 4 contracts, and the expansion end of first cylinder 4 drives first connecting rod 5 and descends, and first connecting rod 5 drives the one end that support 2 was kept away from to corresponding cantilever 3 and descends to drive gripper 6 descends. At the moment, the second cylinder 7 contracts, the movable end of the second cylinder 7 drives the inner end of the upper cross rod of the C-shaped holding claw 8 to ascend, the outer end of the upper cross rod of the C-shaped holding claw 8 is propped against by the second connecting rod 9, so that the two ends of the upper cross rod of the C-shaped holding claw 8 are staggered, the C-shaped holding claw 8 is closed, and the grabbing action is completed. Then the first cylinder 4 extends, the movable end of the first cylinder 4 drives the first connecting rod 5 to ascend, and the first connecting rod 5 drives the corresponding cantilever 3 to ascend far away from one end of the bracket 2, so as to drive the mechanical claw 6 to ascend. The cantilever 3 rotates 180 degrees, the first cylinder 4 contracts, the movable end of the first cylinder 4 drives the first connecting rod 5 to descend, the first connecting rod 5 drives the corresponding cantilever 3 to descend at the end far away from the support 2, so that the mechanical claw 6 is driven to descend, the second cylinder 7 extends, the movable end of the second cylinder 7 drives the inner end of the upper cross rod of the C-shaped holding claw 8 to descend, at the moment, the outer end of the upper cross rod of the C-shaped holding claw 8 is pulled by the second connecting rod 9, so that two ends of the upper cross rod of the C-shaped holding claw 8 are staggered, and the C-shaped holding claw 8 is opened; thereby completing the action of putting down the plastic product.
As the processes of grabbing and releasing the plastic products are carried out synchronously, the grabbing, demoulding and transferring work of the plastic products can be completed by repeating the actions.
The utility model discloses contain two gripper, another gripper puts down the plastic product that has snatched simultaneously when can snatch the plastic product through a gripper, the step of snatching of a gripper is rotatory, descend, snatch promptly, rise, rotatory 180 degrees, descend, relieve, rise totally eight steps, but because four steps of back of a gripper and four steps of the first of another gripper are gone on in step, consequently, the time of four steps has been saved in other words, the efficiency of snatching has been improved, thereby the production efficiency of plastic product has been improved. And the gripper rotates after grabbing the plastic product and drives another gripper to turn back, so that the process of no-load rotation turning back is avoided, and the energy loss is reduced. And, the utility model discloses a symmetrical structure, for traditional manipulator, the skew power that the carousel received is littleer to slowed down the wearing and tearing speed of carousel, prolonged the utility model discloses a life.
Of course, the above description is not limited to the above examples, and technical features of the present invention that are not described in the present application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only used for illustrating the technical solutions of the present invention and are not intended to limit the present invention, and the present invention has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or substitutions made by those skilled in the art within the spirit of the present invention should also belong to the protection scope of the claims of the present invention.
Claims (7)
1. The utility model provides a rotatory manipulator that snatchs which characterized in that: including rotating base (1), set firmly support (2) on rotating base (1) to and articulate cantilever (3) in support (2) both sides, the vertical rigid coupling first cylinder (4) in upper portion of support (2), the articulated one end of first connecting rod (5) in both sides of the expansion end of first cylinder (4), the other end of first connecting rod (5) is articulated with the one end that support (2) were kept away from in corresponding cantilever (3), the one end that support (2) were kept away from in cantilever (3) sets firmly gripper (6).
2. The rotary gripper robot of claim 1, further comprising: the upper end of the mechanical claw (6) is hinged with one end, far away from the support (2), of the cantilever (3).
3. The rotary gripper robot of claim 1, further comprising: gripper (6) include second cylinder (7) to and articulate C type in the expansion end both sides of second cylinder (7) and embrace claw (8), two the opening that claw (8) were embraced to C type is relative, the articulated one end of second connecting rod (9) in cylinder body both sides of second cylinder (7), the other end of second connecting rod (9) is articulated with the one end that second cylinder (7) were kept away from on the upper portion that corresponds C type and embrace claw (8).
4. The rotary gripper robot of claim 3, wherein: one end, far away from the hinged point with the second cylinder (7), of the C-shaped holding claw (8) is fixedly connected with a semicircular rubber block (10).
5. The rotary gripper robot of claim 1, further comprising: the cantilever (3), the first connecting rod (5) and the mechanical claw (6) are symmetrically arranged.
6. The rotary gripper robot of claim 1, further comprising: when the first cylinder (4) is in an extending state, the cantilever (3) is in a horizontal state, and when the first cylinder (4) is in a contracting state, the cantilever (3) is in a sagging state.
7. The rotary gripper robot of claim 3, wherein: when the second cylinder (7) is in an extending state, the C-shaped holding claw (8) is in an opening state, and when the second cylinder (7) is in a contracting state, the C-shaped holding claw (8) is in a closing state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020309627.6U CN211682132U (en) | 2020-03-13 | 2020-03-13 | Rotatory manipulator that snatchs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020309627.6U CN211682132U (en) | 2020-03-13 | 2020-03-13 | Rotatory manipulator that snatchs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211682132U true CN211682132U (en) | 2020-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020309627.6U Expired - Fee Related CN211682132U (en) | 2020-03-13 | 2020-03-13 | Rotatory manipulator that snatchs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211682132U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113617983A (en) * | 2021-08-05 | 2021-11-09 | 成都蒂森克虏伯富奥弹簧有限公司 | Spring cold-coiling production line device |
| CN114951475A (en) * | 2022-05-23 | 2022-08-30 | 无锡维凯科技有限公司 | Transfer and distribution mechanism meeting beat of front and rear punching machines |
-
2020
- 2020-03-13 CN CN202020309627.6U patent/CN211682132U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113617983A (en) * | 2021-08-05 | 2021-11-09 | 成都蒂森克虏伯富奥弹簧有限公司 | Spring cold-coiling production line device |
| CN113617983B (en) * | 2021-08-05 | 2023-12-05 | 成都蒂森克虏伯富奥弹簧有限公司 | Spring cold rolling production line device |
| CN114951475A (en) * | 2022-05-23 | 2022-08-30 | 无锡维凯科技有限公司 | Transfer and distribution mechanism meeting beat of front and rear punching machines |
| CN114951475B (en) * | 2022-05-23 | 2023-09-05 | 无锡维凯科技有限公司 | Transfer and distributing mechanism meeting front and rear punch beats |
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Granted publication date: 20201016 |