CN215202031U - Manipulator for reel type materials - Google Patents

Abstract

The utility model discloses a manipulator for reel class material, the utility model discloses an idea lies in mutually supporting with the spacing elongated slot of arm extension section through the link gear by drive arrangement driven, and the multipoint mode that links circumference and set up presss from both sides tight structure, and a plurality of arms and claw press from both sides the reel class material from both sides tightly from a plurality of angles in step promptly, and the reel class material atress that makes to be located the center is more balanced, and the centre gripping effect is also more firm, has effectively promoted the stability in the reel class material clamping process.

Description

Manipulator for reel type materials

Technical Field

The utility model relates to a cigarette industry field especially relates to a manipulator for reel class material.

Background

The plastic transparent paper outside the cigarette carton and the cigarette package is a reel material, the reel material of storehouse position needs to be transferred to a feeding station, the clamping type equipment is needed to be used to clamp and turn over the material in a rotating shaft in the feeding process, the existing clamping type equipment is only clamped from two sides of the reel material, the material is extruded and deformed easily, and the unstable clamping condition exists simultaneously, so that the technical problem and the defect existing in the prior art are overcome to form the key problem to be solved.

SUMMERY OF THE UTILITY MODEL

In view of the above, the utility model aims at providing a manipulator for reel class material mainly solves current centre gripping equipment centre gripping reel class material stability and the not good problem of effect.

The utility model adopts the technical scheme as follows:

the utility model provides a manipulator for reel class material, include wherein:

the support frame is provided with a central hole for placing reel type materials; the supporting frames are divided into an upper layer and a lower layer, and the two layers of supporting frames are connected through a fixed shaft;

an annular linkage mechanism and a plurality of mechanical arms are further arranged between the two layers of the supporting frames, and the mechanical arms are movably sleeved outside the fixed shaft;

the linkage mechanism is divided into an upper layer and a lower layer, and the two layers of linkage mechanisms are connected through a sliding rod;

a claw part is fixedly connected to one end, close to the reel type material, of the body of each mechanical arm, a limiting long groove is formed in one end, far away from the claw part, of each mechanical arm in an extending mode, and the sliding rod is clamped inside the limiting long groove;

the support frame is fixedly provided with a driving device, an output shaft of the driving device is fixedly sleeved with a connecting rod, one end, far away from the driving device, of the connecting rod is hinged with one end of a transmission rod, and the other end of the transmission rod is hinged with the linkage mechanism.

In at least one possible realization mode, the side surface of the claw part facing the reel material is provided with an anti-slip layer which is used for being in contact with the reel material.

In at least one possible implementation, the mechanical arms and the claws are symmetrically distributed with respect to the center of the central hole.

In at least one possible implementation, the number of the mechanical arms and the claws thereof is at least three.

In at least one possible implementation manner, a V-shaped structure is formed between the connecting rod and the transmission rod.

In at least one possible implementation manner, the connecting rod and the transmission rod are as high as the space between the two layers of the linkage mechanisms.

In at least one possible implementation manner, a preset angle is formed between a limiting long groove extending out of the mechanical arm and a body of the mechanical arm, and the preset angle is matched with the rotation direction of the linkage mechanism.

In one of them possible implementation, lower floor's link gear fixedly connected with stopper, the bottom joint of stopper has annular guide, just annular guide (12) are installed on the support frame of lower floor.

In at least one possible implementation thereof, the drive means comprises a servo motor.

The utility model discloses an it mutually supports with the spacing elongated slot of arm extension section to think about in through the link gear by drive arrangement driven, and the multipoint mode that linkage circumference set up presss from both sides tight structure, and a plurality of arms and claw press from both sides the reel class material from a plurality of angles in step promptly and press from both sides tightly, make the reel class material atress that is located the center more balanced, and the centre gripping effect is also more firm, has effectively promoted the stability of reel class material clamping process.

Drawings

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of a manipulator for drum-type materials according to an embodiment of the present invention;

fig. 2 is a schematic view of an internal structure of a manipulator according to an embodiment of the present invention (with an upper support frame removed);

fig. 3 is a schematic structural diagram of a linkage mechanism according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1 to 3, the utility model provides a manipulator for reel type materials, which comprises a support frame 1, wherein the support frame 1 is provided with a central hole 2 for placing the reel type materials 3, the support frame 1 is divided into an upper layer and a lower layer, and the two layers of support frames 1 are connected through a fixed shaft 4 arranged at the edge of the space support frame; an annular linkage mechanism 9 and a plurality of mechanical arms 5 are further arranged between the two layers of support frames 1, and the mechanical arms 5 are movably sleeved outside the fixed shaft 4.

The mechanical arms 5 are fixedly connected with claw parts 6 at one end close to the reel type material 3, in actual operation, the claw parts 6 (together with the mechanical arms 5) are preferably distributed in a central symmetry mode relative to the central hole 2, specifically, the number of the claw parts 6 (together with the mechanical arms 5) can be at least three (if three, 120 degrees are formed among the three), for example, at least four claw parts 6 (together with the mechanical arms 5, 90 degrees are formed among the four) are adopted in the drawing, and by adopting the circumferential multi-point type clamping structure design, the central reel type material 3 can be clamped from multiple angular positions by the claw parts 6, so that the stress on the reel type material 3 is more balanced, the reel type material 3 is prevented from being extruded and deformed, and meanwhile, the clamping effect is more firm.

Further, the side of claw 6 towards reel class material 3 can also be equipped with the skid resistant course 7 that contacts with reel class material 3, sets up skid resistant course 7 through the side at claw 6, can increase the frictional force between claw 6 and reel class material 3, prevents that reel class material 3 from sliding at the in-process of centre gripping and droing, has improved the stability of reel class material 3 centre gripping in-process.

In the following, the linkage mechanisms 9 are divided into an upper layer and a lower layer, the two layers of linkage mechanisms 9 are connected together through sliding rods 10, one end of the mechanical arm 5, which is far away from the claw part 6, extends to form a limiting long groove 8, and the sliding rods 10 are clamped inside the limiting long groove 8.

The support frame 1 is fixedly provided with a driving device 13 (preferably, but not limited to, a servo motor is adopted), an output shaft of the driving device 13 is fixedly sleeved with a connecting rod 14, one end, far away from the driving device 13, of the connecting rod 14 is hinged with a transmission rod 15, and the other end of the transmission rod 15 is hinged with the linkage mechanism 9. In practice, a V-shaped structure may be formed between the connecting rod 14 and the transmission rod 15, and in order to avoid interference of movement while ensuring stability, the connecting rod 14 and the transmission rod 15 are flush with the space between the two layers of the linkage 9.

It should be noted that the main idea of the present invention is to utilize the rotation of the linkage mechanism 9 to synchronously move the robot arm 5 to perform a clamping (loosening) action, so that the aforementioned limit elongated slot 8 of the extending section of the robot arm 5 can form a certain angle with the body section of the robot arm 5, and the angle is set to cooperate with the rotation direction of the output shaft of the driving device 13 (together with the rotation direction of the driven linkage mechanism 9), for example, the angle setting reference when the linkage mechanism 9 rotates counterclockwise is shown in the drawings.

Based on the foregoing embodiments and their preferred versions, a reference is provided herein to the manner of use of the robot as illustrated in the drawings: the center hole 2 in the support frame 1 can be firstly sleeved outside the reel type material 3, then the driving device 13 is started to drive the connecting rod 14 to rotate, the transmission rod 15 drives the linkage mechanism 9 to rotate anticlockwise, then the linkage mechanism 9 drives the mechanical arm 5 to rotate anticlockwise and extend forwards through the limiting long groove 8, so that the claw part 6 clamps the reel type material 3, the manipulator replaces the human hand, after the clamping operation is completed, the operator can move the support frame 1 to carry the reel type materials 3, therefore, the utility model can realize the multi-point type holding operation of a plurality of claw parts 6 only by one driving device 13, while the cost is effectively saved, the linkage of a plurality of mechanical arms is formed by the cooperation of the linkage mechanism 9 and the limiting long groove 8, so that the claw part 6 can synchronously clamp the reel type materials 3.

In order to further ensure the rotational stability of the linkage mechanism 9, as shown in the attached drawings, a lower layer of the linkage mechanism 9 may be fixedly connected with a limiting block 11 (as understood from the attached drawings, an annular limiting block 11 is preferred), the bottom of the limiting block 11 is clamped with an annular guide rail 12, and the annular guide rail 12 is fixedly installed at the top of the support frame 1 at the lower layer. The bottom of the linkage mechanism 9 is provided with the limiting block 11 and the guide rail 12 thereof, so that the motion of the linkage mechanism 9 is guided and limited, the stability of the linkage mechanism 9 in motion can be improved, and the upper and lower layers of support frames 1 are matched, so that the linkage mechanism 9 can only rotate, and the linkage mechanism 9 is prevented from shifting to influence the synchronous operation of the claw part 6.

To sum up, the utility model discloses an it lies in mutually supporting with the spacing elongated slot of arm extension section through the link gear by drive arrangement driven to think about, and the multipoint mode that linkage circumference set up presss from both sides tight structure, and a plurality of arms and claw press from both sides the reel class material from both sides tightly from a plurality of angles in step promptly, make the reel class material atress that is located the center more balanced, and the centre gripping effect is also more firm, has effectively promoted the stability of reel class material clamping process.

The structure, features and effects of the present invention have been described in detail in the above embodiments shown in the drawings, but the above embodiments are only preferred embodiments of the present invention, and it should be noted that, the technical features related to the above embodiments and their preferred modes can be reasonably combined and assembled into various equivalent schemes by those skilled in the art without departing from or changing the design idea and technical effects of the present invention; therefore, the present invention is not limited to the embodiments shown in the drawings, and all changes made according to the idea of the present invention or equivalent embodiments modified to equivalent changes are within the scope of the present invention without departing from the spirit of the present invention.

Claims (9)

1. A manipulator for reel type materials, comprising: the support frame (1), the support frame (1) is provided with a center hole (2) for placing reel materials; the supporting frame (1) is divided into an upper layer and a lower layer, and the two layers of supporting frames (1) are connected through a fixed shaft (4);

an annular linkage mechanism (9) and a plurality of mechanical arms (5) are further arranged between the two layers of support frames (1), and the mechanical arms (5) are movably sleeved outside the fixed shaft (4);

the linkage mechanisms (9) are divided into an upper layer and a lower layer, and the two layers of linkage mechanisms (9) are connected through a sliding rod (10);

one end, close to the reel type material, of the body of each mechanical arm (5) is fixedly connected with a claw part (6), one end, far away from the claw part (6), of each mechanical arm (5) extends to form a limiting long groove (8), and a sliding rod (10) is clamped inside the limiting long groove (8);

fixed mounting has drive arrangement (13) on support frame (1), fixed cover on the output shaft of drive arrangement (13) has connect connecting rod (14), the one end that drive arrangement (13) were kept away from in connecting rod (14) articulates the one end that has transfer line (15), the other end of transfer line (15) with link gear (9) are articulated.

2. Manipulator for reel-like materials according to claim 1, characterized in that the side of the claw (6) facing the reel-like material is provided with an anti-slip layer (7) for contact with the reel-like material.

3. Manipulator for web-like materials according to claim 1, characterized in that said arms (5) and said jaws (6) are symmetrically distributed with respect to the center of said central hole (2).

4. Manipulator for web-like material according to claim 3, characterized in that the number of said robot arms (5) and their jaws (6) is at least three.

5. Manipulator for reel-like items according to claim 1, characterized in that a V-shaped structure is formed between the connecting rod (14) and the transmission rod (15).

6. Manipulator for web-like materials according to claim 1, characterized in that the connecting rods (14) and the transmission rods (15) are flush with the space between the two layers of linkages (9).

7. The manipulator for the reel-like materials according to any one of claims 1 to 6, characterized in that a limiting long groove (8) extended from the mechanical arm (5) forms a preset angle with the body of the mechanical arm (5), and the preset angle is matched with the rotation direction of the linkage mechanism (9).

8. The manipulator for the reel-like materials according to any one of claims 1 to 6, characterized in that the linkage mechanism (9) of the lower layer is fixedly connected with a limiting block (11), the bottom of the limiting block (11) is clamped with an annular guide rail (12), and the annular guide rail (12) is installed on the support frame (1) of the lower layer.

9. Manipulator for web-like material according to any of claims 1-6, characterized in that said drive means (13) comprise a servo motor.

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