CN217123177U - Jar body moves and carries manipulator - Google Patents
Jar body moves and carries manipulator Download PDFInfo
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- CN217123177U CN217123177U CN202221047182.4U CN202221047182U CN217123177U CN 217123177 U CN217123177 U CN 217123177U CN 202221047182 U CN202221047182 U CN 202221047182U CN 217123177 U CN217123177 U CN 217123177U
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Abstract
The utility model discloses a jar body moves carries manipulator, this manipulator aim at solving under the prior art the manipulator can't adjust the jar body of centre gripping major diameter also can't move the jar body simultaneously fast and carry the technical problem who places. The manipulator comprises a transplanting device, an X-axis moving module arranged on the transplanting device, and a guide moving module connected with the X-axis moving module and used for moving in a matching way; the guide moving module outside is provided with the Z axle moving module who is used for carrying on vertical removal, the Z axle moving module outside is provided with and is used for going on pressing from both sides the regulation clamp of getting and gets the module, thereby the regulation clamp is got the inside link mechanism that is provided with the scope that is used for enlarging the centre gripping of module and reaches the firm centre gripping of major diameter jar body. This manipulator can carry out chucking centre gripping to 200 and give other care of 400 mm's major diameter jar body through link mechanism, moves the module and leads Z axle removal module through the X axle simultaneously and can move the jar body and move fast and carry and place.
Description
Technical Field
The utility model belongs to the technical field of the manipulator, concretely relates to jar body moves and carries manipulator.
Background
Nowadays, the requirement for automation in the industrial field is higher and higher, the transportation in the production of the can body is replaced by a mechanical arm, the clamping range of the conventional clamping jaw is 0-200mm, the diameter of the can body can reach 200-400mm, and the conventional clamping jaw cannot meet the requirement.
At present, the utility model patent of patent number CN201922343214.X discloses a novel manipulator structure, including controlling means, manipulator subassembly, draw-in groove and clamping structure, controlling means's below is equipped with the telescopic link, the telescopic link is connected in controlling means's bottom through the mode of inlaying, manipulator subassembly is connected through the carousel in the bottom of telescopic link, manipulator subassembly includes armed lever, pivot, draw-in groove, screw and mobile jib. This novel manipulator structure, clamping structure has been increased through the inboard at manipulator subassembly, better solution the manipulator functional relatively poor problem when using, if when the process of using needs smooth and the heavier work piece of weight in clamping surface, only need install clamping structure in the inside of armed lever, so when manipulator centre gripping work piece, can be laminated on the surface of work piece by the rubber slab, thereby improve the frictional property between manipulator and the work piece, thereby make this manipulator can adapt to the work piece centre gripping work of different grade type, functional stronger, comparatively practical, but this manipulator is when using, can't adjust the jar body of centre gripping major diameter according to the use needs, thereby make it have certain limitation in the use, also can't move the jar body fast simultaneously and carry and place.
Therefore, in order to solve the problem that the manipulator cannot adjust and clamp the large-diameter can body according to the use requirement and cannot transfer and place the can body quickly, a solution is needed to improve the use scene of the manipulator.
SUMMERY OF THE UTILITY MODEL
(1) Technical problem to be solved
Not enough to prior art, the utility model aims at providing a jar body moves carries manipulator, this manipulator aim at solving under the prior art the unable jar body of adjusting the centre gripping major diameter as required of manipulator also can't move the jar body fast simultaneously and carry the technical problem who places.
(2) Technical scheme
In order to solve the technical problem, the utility model provides a tank body transfer manipulator which comprises a transplanting device, an X-axis moving module arranged on the transplanting device, and a guiding moving module connected with the X-axis moving module and used for matching movement; the inside control drive module that is used for carrying out the drive and removes that is provided with of direction removal module, the direction removal module outside is provided with the Z axle removal module that is used for carrying on vertical removal, the Z axle removal module outside is provided with and is used for going on pressing from both sides the regulation clamp of getting and gets the module, thereby the regulation clamp is got the inside link mechanism that is used for enlarging the scope of centre gripping and reaches the firm centre gripping of major diameter jar body of being provided with of module.
When the manipulator of the technical scheme is used, the adjusting clamp used for clamping and arranged outside the Z-axis moving module can adjust and fix the tank body for clamping, the connecting rod mechanism used for expanding the clamping range in the adjusting clamp used for clamping and clamping the large-diameter tank body can clamp and clamp the large-diameter tank body of 200-400mm, and the Z-axis moving module used for vertically moving and arranged outside the X-axis moving module and the guiding moving module can move and place the tank body quickly.
Preferably, the X-axis moving module and the Z-axis moving module include a connecting beam inside, and a rack for transmission movement is disposed on the outer side of the connecting beam. Through the setting of tie-beam, can play the connection effect, and through the setting of rack, can play the transmission and remove the effect.
Preferably, the guide moving module includes a guide moving box therein, and the guide moving box is provided with a driving motor for control therein. The guide moving box can be arranged to play a role in moving in a matched mode, and the driving effect can be achieved through arrangement of the driving motor.
Furthermore, the output end of the driving motor is provided with a driving shaft rod, and a rotating gear used for matching rotation is arranged on the outer side of the driving shaft rod. Through the setting of driving shaft pole, can rotate under the driving motor effect to drive the running gear and play and rotate the removal effect.
Still further, the tie-beam outside is provided with the linear guide who is used for carrying on the cooperation and removes, the inside guide rail groove of having seted up of linear guide, the tie-beam outside is provided with limit baffle. Through linear guide's setting, can play the direction removal effect, and through limit baffle's setting, can play certain spacing effect when removing.
Still further, the direction removes the case outside and is provided with the removal slip table that is used for the direction removal, it removes the wheel to remove the slip table inboard to be provided with the direction. Through the setting of removing the slip table, can play the cooperation sliding action, and remove the wheel through the direction and can move about in the guide rail groove, ensured the stability of removal.
Preferably, the adjusting clamping module comprises a mounting top plate used for being matched with the Z-axis moving module to be disassembled and assembled, and a transverse movable groove is formed in the mounting top plate. Through the setting of installation roof, can press from both sides the module with the regulation clamp that needs maintain the change and carry out the dismouting, and through the setting in horizontal activity groove, can play the regulation clamping action.
Preferably, adjust to press from both sides and get module inside including driving actuating cylinder, it is provided with the cylinder telescopic link to drive the actuating cylinder outside, link mechanism is inside including swing joint branch, cylinder telescopic link and swing joint branch junction are provided with the connection pivot piece. Through the setting that drives actuating cylinder, can drive the cylinder telescopic link and stretch out and draw back from top to bottom to play the effect of chucking centre gripping.
Preferably, an adjusting telescopic rod for performing transverse adjustment is arranged on the outer side of the connecting rod mechanism, and a mechanical clamping arm is arranged inside the adjusting clamping module. Through adjusting the setting of telescopic link, can transversely adjust the centre gripping position according to the centre gripping needs.
Furthermore, a connecting rod movable groove is formed in the mechanical clamping arm, and a rotating shaft rod matched with the movable connecting support rod for use is arranged on the outer side of the mechanical clamping arm. Through the setting of connecting rod movable slot, the activity can be adjusted to swing joint branch of being convenient for, and through the setting of rotating the axostylus axostyle, can play the cooperation and rotate the connection effect.
(3) Advantageous effects
Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model discloses a manipulator utilizes the regulation clamp that the Z axle removed the module outside and set up to get the module and can adjust the fixed centre gripping with the jar body, and gets the link mechanism that the module is inside to set up through the regulation clamp and can carry out the chucking centre gripping to the major diameter jar body of-mm, and the Z axle removed the module through the setting of the X axle removed the module and the direction removal module outside simultaneously and can move the jar body and move fast and carry and place.
Drawings
Fig. 1 is a schematic structural diagram of a specific embodiment of the manipulator of the present invention;
fig. 2 is a cross-sectional view of a connection beam in one embodiment of the robot of the present invention;
fig. 3 is a schematic structural diagram of an adjusting clamping module according to an embodiment of the manipulator of the present invention;
fig. 4 is a sectional view of the mechanical gripper arm according to one embodiment of the present invention.
The labels in the figures are: 1. a transplanting device; 2. an X-axis moving module; 3. a guiding moving module; 4. a control drive module; 5. a Z-axis moving module; 6. adjusting the clamping module; 7. a link mechanism; 8. a connecting beam; 9. a rack; 10. a guiding moving box; 11. a drive motor; 12. a drive shaft; 13. a rotating gear; 14. a linear guide rail; 15. a guide rail groove; 16. moving the sliding table; 17. a guide moving wheel; 18. a limit baffle; 19. installing a top plate; 20. a transverse movable groove; 21. a driving cylinder; 22. a cylinder telescopic rod; 23. the supporting rod is movably connected; 24. connecting the rotating shaft block; 25. adjusting the telescopic rod; 26. a mechanical gripping arm; 27. a connecting rod movable slot; 28. the shaft is rotated.
Detailed Description
Example 1
The specific embodiment is a can body transfer manipulator, the structural schematic diagram of which is shown in fig. 1, wherein the cross section of a connecting beam is shown in fig. 2, the manipulator comprises a transplanting device 1, an X-axis moving module 2 installed on the transplanting device 1, and a guiding moving module 3 connected to the X-axis moving module 2 and used for performing matching movement; the inside control drive module 4 that is used for carrying on the drive removal that is provided with of direction removal module 3, the direction removal module 3 outside is provided with the Z axle removal module 5 that is used for carrying on vertical removal, and the Z axle removal module 5 outside is provided with and is used for going on pressing from both sides the regulation clamp of getting and gets module 6, thereby the regulation clamp is got module 6 inside and is provided with the link mechanism 7 that is used for enlarging the scope of centre gripping and reaches the firm centre gripping of major diameter jar body.
For the present embodiment, the position of the link mechanism 7 can be adjusted according to the design requirement.
Wherein, X axle moving module 2 and Z axle moving module 5 are inside including tie-beam 8, the tie-beam 8 outside is provided with the rack 9 that is used for carrying out the transmission and removes, 3 inside including the direction removal case 10 of direction removal module, the inside driving motor 11 that is used for carrying out the control that is provided with of direction removal case 10, driving motor 11's output is provided with drive axostylus axostyle 12, the driving axostylus axostyle 12 outside is provided with and is used for joining in marriage rotatory bull gear 13, the tie-beam 8 outside is provided with and is used for cooperating the linear guide 14 that removes, linear guide 14 inside has seted up guide rail groove 15, the tie-beam 8 outside is provided with limit baffle 18, the direction removal case 10 outside is provided with the removal slip table 16 that is used for carrying out the direction removal, removal wheel 17 is provided with to removal slip table 16 inboard.
In addition, the inside installation roof 19 that is used for cooperating Z axle moving module 5 to carry out the dismouting that includes of module 6 is got to the regulation clamp, horizontal movable groove 20 has been seted up to installation roof 19 inside, the module 6 is got to the festival clamp is inside including driving actuating cylinder 21, it is provided with cylinder telescopic link 22 to drive the actuating cylinder 21 outside, link mechanism 7 is inside including swing joint branch 23, cylinder telescopic link 22 and swing joint branch 23 junction are provided with connection pivot piece 24, the link mechanism 7 outside is provided with the regulation telescopic link 25 that is used for carrying out horizontal regulation, the inside mechanical clamp that is provided with of module 6 is got to the regulation clamp gets arm 26, the arm 26 is got to the mechanical clamp has seted up inside connecting rod movable groove 27, the arm 26 outside is got to the mechanical clamp is provided with and cooperatees the rotation axostylus axostyle 28 that uses with swing joint branch 23.
The structure of the adjusting and clamping module in the manipulator is schematically shown in fig. 3, and the cross-sectional view of the mechanical clamping arm is shown in fig. 4.
It should be noted that, the driving cylinder 21 may be a cylinder with a diameter of 50mm and a stroke of 80mm according to the usage requirement.
When the manipulator of the technical scheme is used, firstly, the connecting beam 8 can play a connecting role, the rack 9 can play a transmission moving effect, then, the guide moving box 10 can play a role in matching movement, the driving motor 11 can play a connection driving effect, the driving shaft rod 12 can rotate under the action of the driving motor 11, so that the rotating gear 13 is driven to play a rotating moving effect, then, the linear guide rail 14 can play a guiding moving role, the limiting baffle 18 can play a certain limiting effect while moving, meanwhile, the moving sliding table 16 can play a matching sliding role, the guide moving wheel 17 can move in the guide rail groove 15, the moving stability is ensured, when the tank product of one station is processed, the adjusting clamping module 6 can be moved to the position above by the X-axis moving module 2, utilize Z axle movable module 5 to move down to getting the material level afterwards, then drive actuating cylinder 21 and move, drive swing joint branch 23 and move to utilize the machinery to press from both sides and get arm 26 and clip jar body product, then utilize Z axle movable module 5 to move up to jar body product and do not have after the interference position, remove slip table 16 and move to next station, put the product on the workstation of settlement, accomplish once and move and carry the work.
Claims (10)
1. A tank body transferring manipulator comprises a transplanting device (1), an X-axis moving module (2) arranged on the transplanting device (1), and a guiding moving module (3) connected to the X-axis moving module (2) and used for moving in a matching mode; the clamping device is characterized in that a control driving module (4) used for driving and moving is arranged inside the guide moving module (3), a Z-axis moving module (5) used for vertically moving is arranged outside the guide moving module (3), a clamping adjusting module (6) used for clamping is arranged outside the Z-axis moving module (5), and a connecting rod mechanism (7) used for expanding the clamping range is arranged inside the clamping adjusting module (6) so as to achieve stable clamping of the large-diameter tank body.
2. The can body transfer manipulator according to claim 1, characterized in that the X-axis moving module (2) and the Z-axis moving module (5) comprise a connecting beam (8) inside, and a rack (9) for transmission movement is arranged outside the connecting beam (8).
3. A can body transfer robot according to claim 1, characterized in that the guiding moving module (3) comprises a guiding moving box (10) inside, and a driving motor (11) for controlling is arranged inside the guiding moving box (10).
4. A can body transfer robot according to claim 3, characterized in that the output end of said driving motor (11) is provided with a driving shaft (12), and the outside of said driving shaft (12) is provided with a rotating gear (13) for matching rotation.
5. The mechanical hand for transferring the can bodies according to claim 2, wherein a linear guide rail (14) for matching movement is arranged on the outer side of the connecting beam (8), a guide rail groove (15) is formed in the linear guide rail (14), and a limit baffle (18) is arranged on the outer side of the connecting beam (8).
6. A can body transfer robot according to claim 3, characterized in that the outside of said guide moving box (10) is provided with a moving slide (16) for guiding movement, and the inside of said moving slide (16) is provided with a guide moving wheel (17).
7. The can body transfer manipulator according to claim 1, wherein the adjusting and clamping module (6) comprises a mounting top plate (19) for matching with the Z-axis moving module (5) to disassemble and assemble, and a transverse moving groove (20) is formed in the mounting top plate (19).
8. The can transfer manipulator according to claim 1, wherein the adjusting clamp module (6) comprises a driving cylinder (21), a cylinder telescopic rod (22) is arranged outside the driving cylinder (21), the link mechanism (7) comprises a movable connecting rod (23), and a connecting rotating shaft block (24) is arranged at the joint of the cylinder telescopic rod (22) and the movable connecting rod (23).
9. A can body transfer manipulator according to claim 1, characterized in that the outside of the link mechanism (7) is provided with an adjusting telescopic rod (25) for transverse adjustment, and the inside of the adjusting gripping module (6) is provided with a mechanical gripping arm (26).
10. The can body transfer manipulator according to claim 9, characterized in that the mechanical gripping arm (26) is provided with a connecting rod moving groove (27) inside, and a rotating shaft lever (28) matched with the movable connecting support rod (23) is arranged outside the mechanical gripping arm (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221047182.4U CN217123177U (en) | 2022-05-05 | 2022-05-05 | Jar body moves and carries manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221047182.4U CN217123177U (en) | 2022-05-05 | 2022-05-05 | Jar body moves and carries manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217123177U true CN217123177U (en) | 2022-08-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221047182.4U Active CN217123177U (en) | 2022-05-05 | 2022-05-05 | Jar body moves and carries manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN217123177U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116477343A (en) * | 2023-04-25 | 2023-07-25 | 广州科百欣香料有限公司 | Extract essence device for cigarette |
-
2022
- 2022-05-05 CN CN202221047182.4U patent/CN217123177U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116477343A (en) * | 2023-04-25 | 2023-07-25 | 广州科百欣香料有限公司 | Extract essence device for cigarette |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230726 Address after: 39-12-5, Guangshen E-commerce Industrial Park, Shengsheng 2nd Road, Dalian Development Zone, Liaoning Province, 116000 Patentee after: Kubon precision machinery (Dalian) Co.,Ltd. Address before: 341000 Zhenxing Road, Ganzhou high tech Industrial Development Zone, Ganxian District, Ganzhou City, Jiangxi Province (between Taiyangping road and yantangli Road) Patentee before: Ganzhou Zhongke Tuo Da Da Intelligent Equipment Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |