CN215848194U - Feeding mechanical arm - Google Patents
Feeding mechanical arm Download PDFInfo
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- CN215848194U CN215848194U CN202121491181.4U CN202121491181U CN215848194U CN 215848194 U CN215848194 U CN 215848194U CN 202121491181 U CN202121491181 U CN 202121491181U CN 215848194 U CN215848194 U CN 215848194U
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- clamping jaw
- guide
- horizontal
- feeding manipulator
- blocking rod
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Abstract
The utility model relates to the technical field of feeding mechanical arms, in particular to a feeding mechanical arm, which comprises a clamping jaw for clamping a magnetic core, a horizontal moving mechanism for driving the clamping jaw to reciprocate linearly in a horizontal plane, a lifting mechanism for driving the clamping jaw to reciprocate up and down, and a rotating mechanism for driving the lifting mechanism, the horizontal moving mechanism and the clamping jaw to reciprocate in the horizontal plane; the clamping jaw, the horizontal moving mechanism, the lifting mechanism and the rotating mechanism are sequentially connected. Can be used to grab up or put down the magnetic core through the clamping jaw, through rotary mechanism, horizontal migration mechanism and elevating system's cooperation, can realize the adjustment of clamping jaw position in the space, can place the magnetic core on the wire storage ring or snatch the magnetic core on the wire storage ring. The feeding and the discharging of the magnetic core can be completed through the mechanical arm, the production efficiency is high, and meanwhile, the labor intensity of workers can be reduced.
Description
Technical Field
The utility model relates to the technical field of winding equipment, in particular to a feeding manipulator.
Background
At present, winding equipment of the annular coil on the market is mainly in a semi-automatic mode; wherein, place the magnetic core on the wire storage ring, or the process that the magnetic core that will accomplish the coiling snatched the unloading is mainly still gone on through the manual work, and workman intensity of labour is big, and work efficiency is low.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the present invention is to provide a feeding manipulator, aiming at the above defects in the prior art, so as to solve the problems of high labor intensity and low working efficiency of workers, etc. caused by the existing workers carrying out the feeding or discharging of the magnetic core.
The technical scheme adopted by the utility model for solving the technical problems is as follows: provided is a feeding manipulator including:
the clamping jaw is used for clamping the magnetic core;
the horizontal moving mechanism is connected with the clamping jaw and is used for driving the clamping jaw to move linearly in a reciprocating manner in a horizontal plane;
the lifting mechanism is connected with the telescopic mechanism and is used for driving the clamping jaw to reciprocate up and down;
and the rotating mechanism is connected with the lifting mechanism and is used for driving the lifting mechanism, the telescopic mechanism and the clamping jaw to rotate in a reciprocating manner in the horizontal plane.
Further preferred embodiments of the present invention are: the rotating mechanism comprises a rotating cylinder; the feeding manipulator further comprises a gear assembly used for blocking the clamping jaw from rotating and enabling the clamping jaw to stay at a specific position of the wire storage ring.
Further preferred embodiments of the present invention are: the gear assembly comprises a gear block and a telescopic device with a blocking rod; the telescopic device can drive the blocking rod to extend out to be matched with the stop block so as to stop the rotation of the rotating mechanism; one of the stop block and the telescopic device is fixedly arranged, and the other one is fixedly arranged on one side of the lifting mechanism.
Further preferred embodiments of the present invention are: and the stop block is provided with a V-shaped groove matched with the stop rod.
Further preferred embodiments of the present invention are: the gear component is also used for protecting and guiding a guide block of the movement direction of the blocking rod, and a guide hole matched with the shape of the blocking rod is formed in the guide block.
Further preferred embodiments of the present invention are: the stop rod is further provided with a limiting block for limiting the extending distance of the stop rod, and the outer diameter of the limiting block is larger than the aperture of the guide hole.
Further preferred embodiments of the present invention are: the telescopic device is a telescopic cylinder, and the blocking rod is a cylinder rod of the telescopic cylinder.
Further preferred embodiments of the present invention are: the horizontal moving mechanism comprises a horizontal driving device, a first guide slide block and a first guide rail, wherein the first guide slide block and the first guide rail are used for guiding the horizontal moving direction of the clamping jaw; one of the first guide sliding block and the first guide rail is fixedly connected with the horizontal driving device, and the other one of the first guide sliding block and the first guide rail is fixedly connected with the clamping jaw.
Further preferred embodiments of the present invention are: the lifting mechanism comprises a lifting driving device, a second guide slide block and a second guide rail, wherein the second guide slide block and the second guide rail are used for guiding the vertical movement direction of the horizontal movement mechanism; one of the second guide slide block and the second guide rail is fixedly connected with the lifting driving device, and the other one of the second guide slide block and the second guide rail is fixedly connected with the horizontal moving mechanism.
Further preferred embodiments of the present invention are: the clamping jaw is a pneumatic clamping jaw; the horizontal driving device is a horizontal driving cylinder, and the lifting driving device is a lifting driving cylinder.
The magnetic core placing device has the advantages that the clamping jaws can be used for picking up or putting down the magnetic core, the position of the clamping jaws in the space can be adjusted through the matching of the rotating mechanism, the horizontal moving mechanism and the lifting mechanism, and the magnetic core can be placed on the magnetic storage ring or picked on the magnetic storage ring. The feeding and the discharging of the magnetic core can be completed through the mechanical arm, the production efficiency is high, and meanwhile, the labor intensity of workers can be reduced.
Drawings
The utility model will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural view of a feeder robot of the present invention;
fig. 2 is a schematic structural view of another angle of the feeding manipulator of the present invention;
FIG. 3 is an exploded view of the feeder robot of the present invention;
figure 4 is a schematic view of the use of the feeder robot of the present invention.
Detailed Description
The present invention provides a feeding manipulator, and in order to make the objects, technical solutions, and effects of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Referring to fig. 1 to 4 together, a feeding robot according to a preferred embodiment of the present invention includes: the magnetic core clamping device comprises a clamping jaw 1 for clamping a magnetic core (not shown in the figure), a horizontal moving mechanism 2 for driving the clamping jaw 1 to do reciprocating linear motion in a horizontal plane, a lifting mechanism 3 for driving the clamping jaw 1 to do reciprocating up-and-down motion, and a rotating mechanism 4 for driving the lifting mechanism 3, the horizontal moving mechanism 2 and the clamping jaw 1 to do reciprocating rotation in the horizontal plane; the clamping jaw 1, the horizontal moving mechanism 2, the lifting mechanism 3 and the rotating mechanism 4 are connected in sequence. Can be used to grab up or put down the magnetic core through clamping jaw 1, through rotary mechanism 4, horizontal migration mechanism 2 and elevating system 3's cooperation, can realize the adjustment of clamping jaw 1 position in the space, can place the magnetic core on the wire storage ring or snatch the magnetic core on the wire storage ring. The feeding and the discharging of the magnetic core can be completed through the mechanical arm, the production efficiency is high, and meanwhile, the labor intensity of workers can be reduced.
Specifically, referring to fig. 1 to 4, the rotating mechanism 4 includes a rotating cylinder 41; the feeding manipulator further comprises a gear component 5 for blocking the clamping jaw 1 from rotating so that the clamping jaw 1 stays at a specific position of the wire storage ring. Wherein, the gear assembly 5 comprises a gear block 51, a telescopic device 53 with a blocking rod 52; the telescopic device 53 can drive the blocking rod 52 to extend out to be matched with the stop block 51 so as to stop the rotation of the rotating mechanism 4; one of the stop block 51 and the telescopic device 53 is fixedly arranged, and the other is fixedly arranged on one side of the lifting mechanism 3.
The feeding manipulator is installed on the workbench 6, the rotating mechanism 4 further comprises a rotating plate 42 connected with the rotating cylinder 41, and the lifting mechanism 3 is fixedly arranged on the rotating plate 42 and rotates along with the rotating plate 42. In this embodiment, the telescopic device 53 is fixedly connected to the lifting mechanism 3, and the stop block 51 is fixed to the worktable 6.
In order to prolong the service life of the wire storage ring, the deformation of the wire storage ring needs to be reduced as much as possible when the wire storage ring is opened (the wire storage ring is opened to feed or discharge the magnetic core), and the wire storage ring is required to leave a gap for the magnetic core to enter the wire storage ring. The prior art has been to lift the storage wire ring a short distance and then stagger and retain the core in or out of the slot of the storage wire ring. Therefore, when the magnetic core is charged and discharged, the upper half of the wire storage ring needs to be avoided. In this embodiment, the magnetic core and the feeding manipulator are both disposed on the left side of the wire storage ring, and the upper half portion of the wire storage ring is staggered to the left side. The feeding process of the magnetic core comprises the following steps:
firstly, the rotating mechanism 4 drives the clamping jaw 1 to rotate to the position of the magnetic core, the horizontal moving mechanism 2 drives the clamping jaw 1 to extend out to clamp the magnetic core, and then the horizontal moving mechanism 2 drives the clamping jaw and the magnetic core to retract (avoid other structures); the rotating mechanism 4 drives the clamping jaw to move to the right side of the wire storage ring, and the blocking rod 52 extends out at the moment; then the rotating mechanism 4 drives the clamping jaw to rotate towards the left side; under the action of the blocking rod 52 and the stop block 51, the magnetic core stops above the lower half part of the wire storage ring, and the lifting mechanism 3 drives the clamping jaw 1 to move downwards to realize feeding. After the feeding is finished, the blocking rod 52 resets upwards, the lifting mechanism 3 resets upwards, the rotating mechanism 4 moves towards the right side, the horizontal moving mechanism 2 drives the clamping jaw to retract, and the rotating mechanism 4 drives the clamping jaw 1 to rotate towards the left side to perform the next feeding.
The particularity of the cylinder structure determines that the cylinder can only stay at the initial position and the final position, the multi-section movement of the rotary cylinder 41 can be realized through the matching of the blocking rod 52 and the stop block 51, two rotary cylinders are not needed, the size of the feeding manipulator is effectively reduced, and meanwhile, the production cost can be reduced. Specifically, the rotary cylinder needs to drive the clamping jaw 1, the horizontal moving mechanism 2 and the lifting mechanism 3 to move, so that the torque requirement is high, namely the size is large, and the cost is high; the gear component 5 only drives the blocking rod 52 to do telescopic motion through the telescopic device 53, so that the torque requirement is small, the size is small, and the cost is low. In another embodiment, the blocking rod 52 and the telescopic device 53 can be directly arranged on the workbench 6, the lifting mechanism 3 is directly blocked by the blocking rod 52 to stop the rotation of the rotating mechanism 4, the stop block 51 is not required, and the structure is simpler.
Referring to fig. 1, the stop block 51 is provided with a V-shaped groove 511 for engaging with the blocking rod 52. By arranging the V-shaped groove 511, the blocking rod 52 can be guaranteed to abut against the bottom of the V-shaped groove 511 every time (the consistency of the matching position is guaranteed), the blocking rod 52 is effectively prevented from bending and breaking due to the fact that the blocking rod 52 slides on the surface of the stop block 51, and therefore normal use of the blocking rod 52 is guaranteed. The stop block 51 is further provided with a first elongated hole 512 for adjusting the position of the stop block 51, and the stop block 51 can be mounted on the workbench 6 through the matching of a screw (not shown in the figure) and the first elongated hole 512; wherein, set up rectangular hole and can be used for adjusting the position of installation, guarantee the accuracy of stop position. In this embodiment, the two sets of first elongated holes 512 are arranged in parallel, so that the rotation of the stop block 51 can be prevented, and the stability is further improved.
The gear assembly 5 is further configured to protect and guide a guide block 54 of the blocking rod 52 in the moving direction, and the guide block 54 is provided with a guide hole (not shown) adapted to the blocking rod 52 in shape. The matching of the blocking rod 52 and the stop block 51 belongs to collision blocking matching, and now the guide block 54 is added on the moving path of the blocking rod 52, so that the guide block can be used for guiding the extending direction of the blocking rod 52, and meanwhile, the blocking rod 52 can be limited from deforming, and the service life of the blocking rod 52 is prolonged. Wherein, the stop block 51 is arranged at a position close to the stop block 51 at one side of the lower part of the lifting mechanism 3, so that the deformation prevention capability is better.
Further, a limiting block 55 for limiting the extending distance of the blocking rod 52 is further arranged on the blocking rod 52, and the outer diameter of the limiting block 55 is larger than the aperture of the guide hole. The limiting block 55 can be used for limiting the extending distance of the blocking rod 52, so that the blocking rod 52 and the workbench 6 are prevented from being damaged by friction caused by the blocking rod 52 and the workbench 6 due to the extending amount of the blocking rod 52, and the normal work of the rotating mechanism 4 can be ensured.
The telescopic device 53 is a telescopic cylinder, and the blocking rod 52 is a cylinder rod of the telescopic cylinder. Can realize blockking the function with the cooperation of fender position piece 51 through telescopic cylinder, have simple structure, low in production cost's characteristics.
Specifically, referring to fig. 1 to 4, the horizontal moving mechanism 2 includes a horizontal driving device 21, and a first guide slider 22 and a first guide rail 23 for guiding the horizontal moving direction of the clamping jaw 1; one of the first guide slider 22 and the first guide rail 23 is fixedly connected with the horizontal driving device 21, and the other is fixedly connected with the clamping jaw 1. In this embodiment, the horizontal movement mechanism 2 further includes a translation fixing frame 24, the first guide slider 22 and the horizontal driving device 21 are both fixed on the translation fixing frame 24, the first guide rail 23 is connected with the first guide slider 22 in a sliding manner, and one end of the first guide rail 23 is fixedly connected with the clamping jaw 1, and the first guide slider 22 and the first guide rail 23 are matched to guide the horizontal movement direction of the clamping jaw 1, so that the stability of the horizontal movement of the clamping jaw 1 is improved.
The clamping jaw 1 is a pneumatic clamping jaw, and the horizontal driving device 21 is a horizontal driving cylinder. In another embodiment, the clamping jaw 1 may be an electric clamping jaw, and the horizontal driving device 21 may be a horizontal driving linear electric cylinder.
Further, referring to fig. 1 to 4, the lifting mechanism 3 includes a lifting driving device 31, and a second guiding slider 32 and a second guiding rail 33 for guiding the vertical movement direction of the horizontal moving mechanism 2; one of the second guide slider 32 and the second guide rail 33 is fixedly connected with the lifting drive device 31, and the other is fixedly connected with the horizontal movement mechanism 2. In this embodiment, the lifting mechanism 3 further includes a lifting mounting plate 34 vertically fixed on the rotating plate 42, and a connecting plate assembly 35 fixedly connected with the translational fixing frame 24; the second guide rail 33 and the lifting driving device 31 are fixedly arranged on the lifting mounting plate 34, the second guide slider 32 is slidably arranged on the second guide rail 33, and the second guide slider 32 is fixedly connected with the translation fixing frame 24 through the connecting plate assembly 35. The second guide slide block 32 and the second guide rail 33 are matched to guide the up-and-down movement direction of the horizontal movement mechanism 2, so that the up-and-down movement stability of the horizontal movement mechanism 2 is improved. Wherein, lift drive arrangement 31 drives actuating cylinder for two pole lifts, drives actuating cylinder drive stability and heightens through adopting two pole lifts.
It should be understood that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features; and all such modifications and alterations are intended to fall within the scope of the appended claims.
Claims (10)
1. A feeding manipulator, characterized by comprising:
the clamping jaw is used for clamping the magnetic core;
the horizontal moving mechanism is connected with the clamping jaw and is used for driving the clamping jaw to move linearly in a reciprocating manner in a horizontal plane;
the lifting mechanism is connected with the telescopic mechanism and is used for driving the clamping jaw to reciprocate up and down;
and the rotating mechanism is connected with the lifting mechanism and is used for driving the lifting mechanism, the telescopic mechanism and the clamping jaw to rotate in a reciprocating manner in the horizontal plane.
2. The feeding manipulator as claimed in claim 1, wherein the rotation mechanism includes a rotation cylinder; the feeding manipulator further comprises a gear assembly used for blocking the clamping jaw from rotating and enabling the clamping jaw to stay at a specific position of the wire storage ring.
3. The feeding manipulator as claimed in claim 2, wherein the shift assembly includes a shift block, a telescopic device having a blocking rod; the telescopic device can drive the blocking rod to extend out to be matched with the stop block so as to stop the rotation of the rotating mechanism; one of the stop block and the telescopic device is fixedly arranged, and the other one is fixedly arranged on one side of the lifting mechanism.
4. The feeding manipulator as claimed in claim 3, wherein the stopper is provided with a V-shaped groove for engaging with the blocking rod.
5. The feeding manipulator as claimed in claim 3, wherein the blocking component is further configured to protect and guide a guide block of the blocking rod, and the guide block is provided with a guide hole corresponding to the shape of the blocking rod.
6. The feeding manipulator as claimed in claim 5, wherein the blocking rod is further provided with a limiting block for limiting the extending distance of the blocking rod, and the outer diameter of the limiting block is larger than the diameter of the guide hole.
7. The feeding manipulator as claimed in claim 3, wherein the telescopic device is a telescopic cylinder and the blocking rod is a cylinder rod of the telescopic cylinder.
8. The feeding manipulator according to any one of claims 1 to 7, wherein the horizontal movement mechanism includes a horizontal driving device, and a first guide slider and a first guide rail for guiding a horizontal movement direction of the gripping jaw; one of the first guide sliding block and the first guide rail is fixedly connected with the horizontal driving device, and the other one of the first guide sliding block and the first guide rail is fixedly connected with the clamping jaw.
9. The feeding manipulator as claimed in claim 8, wherein the lifting mechanism comprises a lifting driving device, and a second guide slider and a second guide rail for guiding the vertical movement direction of the horizontal moving mechanism; one of the second guide slide block and the second guide rail is fixedly connected with the lifting driving device, and the other one of the second guide slide block and the second guide rail is fixedly connected with the horizontal moving mechanism.
10. The feeding manipulator as claimed in claim 9, wherein the gripping jaw is a pneumatic gripping jaw; the horizontal driving device is a horizontal driving cylinder, and the lifting driving device is a lifting driving cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121491181.4U CN215848194U (en) | 2021-06-30 | 2021-06-30 | Feeding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121491181.4U CN215848194U (en) | 2021-06-30 | 2021-06-30 | Feeding mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215848194U true CN215848194U (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121491181.4U Active CN215848194U (en) | 2021-06-30 | 2021-06-30 | Feeding mechanical arm |
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| CN (1) | CN215848194U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114701701A (en) * | 2022-05-04 | 2022-07-05 | 展一智能科技(东台)有限公司 | Wrapping bag support and wrapping bag filling system |
| CN114814098A (en) * | 2022-04-25 | 2022-07-29 | 东北林业大学 | Korean arborvitae test analysis equipment |
-
2021
- 2021-06-30 CN CN202121491181.4U patent/CN215848194U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114814098A (en) * | 2022-04-25 | 2022-07-29 | 东北林业大学 | Korean arborvitae test analysis equipment |
| CN114814098B (en) * | 2022-04-25 | 2023-01-24 | 东北林业大学 | Korean arborvitae test analysis equipment |
| CN114701701A (en) * | 2022-05-04 | 2022-07-05 | 展一智能科技(东台)有限公司 | Wrapping bag support and wrapping bag filling system |
| CN114701701B (en) * | 2022-05-04 | 2024-01-30 | 展一智能科技(东台)有限公司 | Packaging bag support and packaging bag filling system |
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