CN212123292U - High-efficient centre gripping is got and is sent manipulator - Google Patents
High-efficient centre gripping is got and is sent manipulator Download PDFInfo
- Publication number
- CN212123292U CN212123292U CN202020697943.5U CN202020697943U CN212123292U CN 212123292 U CN212123292 U CN 212123292U CN 202020697943 U CN202020697943 U CN 202020697943U CN 212123292 U CN212123292 U CN 212123292U
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- taking
- arm
- feeding arm
- driving
- feeding
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Abstract
The utility model relates to a high-efficient centre gripping is got and is sent manipulator, include: the base is rotatably connected with a rotating disc, a rotating driving mechanism for driving the rotating disc to rotate is arranged on the base, and an installation platform is arranged on the rotating disc; the first taking and feeding arm is rotatably assembled on the mounting table through a first rotating shaft, a first material taking mechanism is arranged at the end part of the first taking and feeding arm, and a rotating driving mechanism is arranged on the mounting table; a second taking and feeding arm rotatably assembled on the mounting table through a second rotating shaft, wherein a second taking mechanism is arranged at the end part of the second taking and feeding arm; and the gear linkage assembly is used for driving the first picking and feeding arm and the second picking and feeding arm to synchronously rotate in opposite directions. When the first material taking mechanism is used for feeding, the second material taking mechanism is used for taking materials synchronously, so that the feeding process can be continuously carried out, and the material taking and feeding efficiency is improved.
Description
Technical Field
The utility model relates to a material is got and is sent equipment technical field, in particular to high-efficient centre gripping is got and is sent manipulator.
Background
Along with the popularization of intelligent technology, industrial production and processing gradually develop to the trend of automation, automatic material taking and feeding is an important link of intelligent production, when the existing material taking and feeding equipment takes and feeds materials, the taken materials need to be placed at a processing station of the processing equipment, the next material taking process is carried out, the interval time between two material taking processes is relatively long, and for some products capable of being rapidly molded, the taking and feeding efficiency still needs to be improved.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a manipulator is got and send to high-efficient centre gripping specifically improves the advantage of getting and sending efficiency.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
an efficient gripping and picking manipulator comprising:
the base is rotatably connected with a rotating disc, a rotating driving mechanism for driving the rotating disc to rotate is arranged on the base, and an installation platform is arranged on the rotating disc;
the first taking and feeding arm is rotatably assembled on the mounting table through a first rotating shaft, a first material taking mechanism for picking materials is arranged at the end part of the first taking and feeding arm, and a rotating driving mechanism for driving the first taking and feeding arm to rotate in a reciprocating manner is arranged on the mounting table;
the second taking and feeding arm is rotatably assembled on the mounting table through a second rotating shaft, the second taking and feeding arm and the first taking and feeding arm are arranged in a vertically staggered mode, a space for the first taking mechanism to pass through is formed in the vertical direction of the first taking and feeding arm and the second taking and feeding arm, and a second taking mechanism for taking materials is arranged at the end of the second taking and feeding arm; and the number of the first and second groups,
and the gear linkage assembly is used for driving the first picking and feeding arm and the second picking and feeding arm to synchronously rotate in opposite directions.
When the technical scheme is realized, when the materials are taken and delivered, the rotary table is driven to rotate by the rotation driving mechanism, so that the first taking and delivering arm and the second taking and delivering arm move to proper positions, then the first taking and delivering arm is driven to rotate to the position right above the materials to be taken and delivered by the rotation driving mechanism, at the moment, the second taking and delivering arm is positioned at the feeding station of the processing equipment, after the first taking mechanism takes the materials, then the rotary driving mechanism drives the first taking and feeding arm to rotate to the feeding station, at the same time, the second taking and feeding arm is driven by the gear linkage component to rotate in the opposite direction, when the first taking mechanism moves to the feeding station of the processing equipment, the second material taking mechanism is positioned above the material to be taken and delivered, and at the moment, when the first material taking mechanism feeds the material, the second material taking mechanism takes materials synchronously, and the material taking is repeated in this way, so that the material loading process can be continuously carried out, and the material taking and conveying efficiency is improved.
As an optimized scheme of the utility model, the gear linkage group includes: the driving gear is fixed on the first rotating shaft, the driven gear is fixed on the second rotating shaft and meshed with the driving gear, and the driving gear and the driven gear are the same in size.
According to the technical scheme, the driving gear is meshed with the driven gear, so that the first rotating shaft and the second rotating shaft synchronously rotate in opposite directions, and the first fetching and delivering arm and the second fetching and delivering arm are driven to reciprocate.
As a preferred scheme of the utility model, a feeding agencies includes: bear in the first material cylinder of getting of first delivery arm and be fixed in get the material gas clamp first of the piston rod of material cylinder.
Realize above-mentioned technical scheme, get the first material gas clamp of material cylinder drive through first and move down, can get the material clamp and get.
As a preferred scheme of the utility model, the first tip of getting the arm of sending is equipped with revolving cylinder, be fixed with the assembly piece on revolving cylinder's the piston rod, first get the material cylinder and be fixed in the assembly piece.
According to the technical scheme, after the first material taking mechanism clamps the material, the first material taking mechanism is rotated to the upper side through the rotary cylinder, so that the distance between the first taking and feeding arm and the second taking and feeding arm can be smaller, and the interference between the first taking and feeding arm and the second taking and feeding arm can be reduced.
As a preferred scheme of the utility model, the second feeding agencies includes: the second material taking cylinder is supported on the second material taking and conveying arm, and the second material taking air clamp is fixed on a piston rod of the second material taking cylinder.
Realize above-mentioned technical scheme, get the material cylinder drive second through the second and get the material gas clamp and move down, can get the material clamp and get.
As a preferred embodiment of the present invention, the rotation driving mechanism and the rotation driving mechanism are all selected from the following structures to be applied alone or in combination: a driving motor, a belt transmission mechanism, a gear transmission mechanism or a chain transmission mechanism.
As a preferred aspect of the present invention, the rotating disk includes: the rotating part is rotatably connected with the base through a bearing.
By the technical scheme, the rotating disc is convenient to mount.
To sum up, the utility model discloses following beneficial effect has:
the embodiment of the utility model provides a through providing a high-efficient centre gripping picking and delivering manipulator, include: the base is rotatably connected with a rotating disc, a rotating driving mechanism for driving the rotating disc to rotate is arranged on the base, and an installation platform is arranged on the rotating disc; the first taking and feeding arm is rotatably assembled on the mounting table through a first rotating shaft, a first material taking mechanism for picking materials is arranged at the end part of the first taking and feeding arm, and a rotating driving mechanism for driving the first taking and feeding arm to rotate in a reciprocating manner is arranged on the mounting table; the second taking and feeding arm is rotatably assembled on the mounting table through a second rotating shaft, the second taking and feeding arm and the first taking and feeding arm are arranged in a vertically staggered mode, a space for the first taking mechanism to pass through is formed in the vertical direction of the first taking and feeding arm and the second taking and feeding arm, and a second taking mechanism for taking materials is arranged at the end of the second taking and feeding arm; and the gear linkage assembly is used for driving the first picking and feeding arm and the second picking and feeding arm to synchronously rotate in opposite directions. When materials are taken and delivered, the rotary table is driven to rotate through the rotation driving mechanism, so that the first taking and delivering arm and the second taking and delivering arm move to proper positions, then the first taking and delivering arm is driven to rotate to be right above the materials to be taken and delivered through the rotation driving mechanism, the second taking and delivering arm is located at a feeding station of the processing equipment at the moment, after the materials are picked up by the first taking mechanism, the first taking and delivering arm is driven by the rotation driving mechanism to rotate to the feeding station, at the moment, the second taking and delivering arm is driven by the gear linkage assembly to rotate in the opposite direction, when the first taking mechanism moves to the feeding station of the processing equipment, the second taking mechanism is located above the materials to be taken and delivered, at the moment, the second taking mechanism synchronously takes materials while the first taking mechanism takes materials, the reciprocating is carried out, so that the feeding process can be continuously carried out, and the efficiency of taking and delivering the materials is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a cross-sectional view of a base according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the embodiment of the present invention, in which the top of the mounting table is removed.
The corresponding part names indicated by the numbers and letters in the drawings:
1. a base; 11. rotating the disc; 111. a rotating part; 112. a bearing part; 113. a bearing; 12. a rotation driving mechanism; 2. an installation table; 21. a first rotating shaft; 22. a second rotating shaft; 3. a first pick-and-place arm; 31. a first material taking mechanism; 311. a first material taking cylinder; 312. a first material taking air clamp; 32. a rotation driving mechanism; 33. a rotating cylinder; 34. assembling the block; 4. a second pick-and-place arm; 41. a second material taking mechanism; 411. a second material taking cylinder; 412. a second material taking air clamp; 5. a gear linkage assembly; 51. a driving gear; 52. a driven gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Examples
An efficient gripping and picking robot, as shown in fig. 1 to 3, comprises: the device comprises a base 1, wherein a rotating disc 11 is rotatably connected to the base 1, a rotation driving mechanism 12 for driving the rotating disc 11 to rotate is arranged on the base 1, and an installation table 2 is arranged on the rotating disc 11; the first taking and feeding arm 3 is rotatably assembled on the mounting table 2 through a first rotating shaft 21, a first material taking mechanism 31 for taking materials is arranged at the end part of the first taking and feeding arm 3, and a rotating driving mechanism 32 for driving the first taking and feeding arm 3 to rotate back and forth is arranged on the mounting table 2; the second taking and feeding arm 4 is rotatably assembled on the second taking and feeding arm 4 of the mounting table 2 through a second rotating shaft 22, the second taking and feeding arm 4 and the first taking and feeding arm 3 are arranged in a vertically staggered mode, a space for the first taking and feeding mechanism 31 to pass through is formed in the vertical direction of the first taking and feeding arm 3 and the second taking and feeding arm 4, and a second taking and feeding mechanism 41 for taking materials is arranged at the end part of the second taking and feeding arm 4; and a gear linkage assembly 5 for driving the first pick-and-place arm 3 and the second pick-and-place arm 4 to synchronously rotate in opposite directions.
Specifically, the rotating disk 11 includes: the rotating part 111 is rotatably connected to the base 1 through a bearing 113 so as to rotate the disc 11, the mounting table 2 is fixed to the supporting part 112, and the rotating driving mechanism 12 is selected from the following structures to be used alone or in combination: driving motor, belt drive, gear drive or chain drive, rotation driving mechanism 12 chooses driving motor for use in this embodiment, and driving motor is servo motor, and mount table 2 is hollow box body.
The first material taking mechanism 31 includes: bear in the first material cylinder 311 of first delivery arm 3 and be fixed in the first material air clamp 312 that gets of the piston rod of first material cylinder 311, get the material air clamp 312 through first material cylinder 311 drive first material air clamp 312 and move down, can get the material clamp, rotary driving mechanism 32 selects alone or makes up from following structure to be suitable for: the device comprises a driving motor, a belt transmission mechanism, a gear transmission mechanism or a chain transmission mechanism, wherein in the embodiment, the rotary taking and delivering mechanism adopts the driving motor which is a servo motor; accordingly, the second material taking mechanism 41 includes: the second material taking cylinder 411 carried on the second material taking arm 4 and the second material taking air clamp 412 fixed on the piston rod of the second material taking cylinder 411 drive the second material taking air clamp 412 to move downwards through the second material taking cylinder 411, so that the material can be clamped.
Furthermore, the end of the first fetching arm 3 is provided with a rotary cylinder 33, a piston rod of the rotary cylinder 33 is fixed with an assembly block 34, the first fetching cylinder 311 is fixed on the assembly block 34, and after the first fetching mechanism 31 clamps the material, the first fetching mechanism 31 is rotated to the upper side through the rotary cylinder 33, so that the distance between the first fetching arm 3 and the second fetching arm 4 can be smaller, and the interference with the second fetching arm 4 can be reduced.
The gear linkage group includes: the driving gear 51 and the driven gear 52 are the same in size, and the driving gear 51 and the driven gear 52 are engaged with each other to enable the first rotating shaft 21 and the second rotating shaft 22 to synchronously rotate in opposite directions through the engagement of the driving gear 51 and the driven gear 52, so as to drive the first pick-up arm 3 and the second pick-up arm 4 to reciprocate.
When the material is taken and delivered, firstly, the rotary table is driven to rotate by the rotation driving mechanism 12, so that the first taking and delivering arm 3 and the second taking and delivering arm 4 move to proper positions, then the first taking and delivering arm 3 is driven to rotate to the position right above the material to be taken and delivered by the rotation driving mechanism 32, at the moment, the second taking and delivering arm 4 is positioned at the feeding station of the processing equipment, after the first taking mechanism 31 takes the material, the rotary driving mechanism 32 drives the first pick-and-feed arm 3 to rotate to the feeding station, at the same time, the second pick-and-feed arm 4 is driven by the gear linkage component 5 to rotate in the opposite direction, when the first pick-and-feed mechanism 31 moves to the feeding station of the processing equipment, the second material taking mechanism 41 is located above the material to be taken, and at the same time when the first material taking mechanism 31 is feeding, the second material taking mechanism 41 takes materials synchronously, and the material taking is repeated in this way, so that the material loading process can be continuously carried out, and the material taking and conveying efficiency is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a manipulator is got to high-efficient centre gripping which characterized in that includes:
the base is rotatably connected with a rotating disc, a rotating driving mechanism for driving the rotating disc to rotate is arranged on the base, and an installation platform is arranged on the rotating disc;
the first taking and feeding arm is rotatably assembled on the mounting table through a first rotating shaft, a first material taking mechanism for picking materials is arranged at the end part of the first taking and feeding arm, and a rotating driving mechanism for driving the first taking and feeding arm to rotate in a reciprocating manner is arranged on the mounting table;
the second taking and feeding arm is rotatably assembled on the mounting table through a second rotating shaft, the second taking and feeding arm and the first taking and feeding arm are arranged in a vertically staggered mode, a space for the first taking mechanism to pass through is formed in the vertical direction of the first taking and feeding arm and the second taking and feeding arm, and a second taking mechanism for taking materials is arranged at the end of the second taking and feeding arm; and the number of the first and second groups,
and the gear linkage assembly is used for driving the first picking and feeding arm and the second picking and feeding arm to synchronously rotate in opposite directions.
2. The high efficiency gripping and picking robot of claim 1 wherein the gear linkage set comprises: the driving gear is fixed on the first rotating shaft, the driven gear is fixed on the second rotating shaft and meshed with the driving gear, and the driving gear and the driven gear are the same in size.
3. An efficient grip pick and place robot as claimed in claim 1 or 2 wherein the first picking mechanism comprises: bear in the first material cylinder of getting of first delivery arm and be fixed in get the material gas clamp first of the piston rod of material cylinder.
4. The efficient clamping and taking manipulator as claimed in claim 3, wherein a rotary cylinder is arranged at the end of the first taking and taking arm, an assembly block is fixed on a piston rod of the rotary cylinder, and the first taking cylinder is fixed on the assembly block.
5. An efficient grip pick and place robot as recited in claim 3 wherein said second take off mechanism comprises: the second material taking cylinder is supported on the second material taking and conveying arm, and the second material taking air clamp is fixed on a piston rod of the second material taking cylinder.
6. The high efficiency gripping and picking robot of claim 1 wherein the rotational drive mechanism and the rotational drive mechanism are selected from the following, either alone or in combination: a driving motor, a belt transmission mechanism, a gear transmission mechanism or a chain transmission mechanism.
7. The high efficiency grip pick and place robot of claim 1 wherein the turn disc comprises: the rotating part is rotatably connected with the base through a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020697943.5U CN212123292U (en) | 2020-04-29 | 2020-04-29 | High-efficient centre gripping is got and is sent manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020697943.5U CN212123292U (en) | 2020-04-29 | 2020-04-29 | High-efficient centre gripping is got and is sent manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212123292U true CN212123292U (en) | 2020-12-11 |
Family
ID=73691434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020697943.5U Expired - Fee Related CN212123292U (en) | 2020-04-29 | 2020-04-29 | High-efficient centre gripping is got and is sent manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212123292U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115043212A (en) * | 2022-06-22 | 2022-09-13 | 江南大学 | Manipulator suitable for multiple operation objects and operation method |
-
2020
- 2020-04-29 CN CN202020697943.5U patent/CN212123292U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115043212A (en) * | 2022-06-22 | 2022-09-13 | 江南大学 | Manipulator suitable for multiple operation objects and operation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201211 Termination date: 20210429 |