WO2016070645A1 - 线盘输送机械手 - Google Patents

线盘输送机械手 Download PDF

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Publication number
WO2016070645A1
WO2016070645A1 PCT/CN2015/083635 CN2015083635W WO2016070645A1 WO 2016070645 A1 WO2016070645 A1 WO 2016070645A1 CN 2015083635 W CN2015083635 W CN 2015083635W WO 2016070645 A1 WO2016070645 A1 WO 2016070645A1
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WO
WIPO (PCT)
Prior art keywords
reel
plate
arm
gripping
groove
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Application number
PCT/CN2015/083635
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English (en)
French (fr)
Inventor
周代烈
周少林
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江苏新技机械有限公司
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Application filed by 江苏新技机械有限公司 filed Critical 江苏新技机械有限公司
Publication of WO2016070645A1 publication Critical patent/WO2016070645A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention relates to a cable production device, in particular to an automatic wire spool conveying device in an automated cable production line.
  • the technical problem to be solved by the present invention is to provide a reel transport robot which can not only carry out the handling operations of the upper, lower, left and right directions of the reel, but also saves
  • the clamping mechanism and the structure of the robot are simple and practical.
  • a reel transport robot of the present invention includes a base on which a top post is supported to be movable up and down, and a top support is provided at the top of the top post to rotate on the support pallet.
  • Supporting a grabbing arm, a driving device for grasping the arm is mounted on the supporting pallet;
  • a top column driving device is connected between the top pillar and the base;
  • a wire disc grabbing plate is disposed at the protruding end of the arm, and the disc gripping plate comprises an outer gripping plate and an inner gripping plate, and an arc groove is formed between the outer gripping plate and the inner gripping plate, and the arc groove is rounded
  • the center of the arc is on the center of the rotation of the grasping arm, and the wire grabbing groove is provided on the wire grabbing plate.
  • the wire grabbing groove is a circular arc groove, and the arc center of the circular groove is in the grasping arm rotation. Centerly, the reel catching groove is disposed on an upper plane of the outer gripping plate and the inner gripping plate, and the width A of the reel catching groove is larger than the width B of the circular arc groove.
  • the top column is supported on the base so as to be movable up and down
  • the top of the top column is provided with a supporting plate
  • the grabbing arm is rotatably supported on the supporting plate
  • the driving device for grasping the arm is installed at Supporting the supporting plate; connecting the top column driving device between the top column and the base, the top column driving device can drive the grabbing arm rotatably supported on the supporting plate to move up and down, and the driving device for grasping the arm can be Driving the gripping arm to perform a rotating motion on the supporting pallet, so that the carrying operation of the upper, lower, left and right directions of the reel can be conveniently realized; and the wired disc is grasped at the protruding end of the gripping arm a plate, the wire grabbing plate comprises an outer gripping plate and an inner gripping plate, and an arc groove is formed between the outer gripping plate and the inner gripping plate, and the arc center of the arc groove is at the center of the gripping arm rotation,
  • the wire grabbing plate is provided with
  • the grabbing arm drives the reel upwardly away from the support shaft of the support reel, and then the rotation of the grab arm to transport the reel to the desired position, so that the top post descends to drive Take the arm down, place the reel in the desired position, and then rotate the gripping arm in the opposite direction to withdraw the reel gripping plate from the lower part of the reel, thereby achieving the gripping of the reel without the clamping device.
  • the transportation of the upper, lower, left and right directions, the whole manipulator is simple in structure and convenient and practical to operate.
  • the top column driving device is two cylinders connected by a cylinder, the piston rod of the lower cylinder is connected to the base, and the piston rod of the upper cylinder is connected to the top column through the supporting bracket.
  • the lifting and lowering of the top column is driven by two cylinders, and the four stroke positions can be obtained after the combination of the two cylinders, which can adapt to various height position requirements of the coil conveying in the cable production process.
  • the top column driving device is a two-stroke cylinder, and the cylinder of the double-stroke cylinder is connected to the base, and the piston rod of the double-stroke cylinder is connected to the top column through the supporting bracket.
  • the corresponding universal cylinder can be directly selected, which further simplifies the structure of the cable transport robot.
  • an anti-rotation limiting device is disposed between the top pillar and the base. With this embodiment, the rotation of the top column can be prevented, and the influence on the conveying position of the grabbing arm can be prevented.
  • the anti-rotation limiting device includes a limiting rib disposed on the base and a rotating wheel mounted on the top post, the outer circle of the rotating wheel and the limiting rib phase contact.
  • the anti-rotation limit device has a simple structure and convenient installation, and adopts a structure of a runner and a limit rib to minimize the movement resistance of the top column.
  • the support plate is rotatably supported by the slewing bearing, and the support plate is fixedly connected with the inner ring of the slewing bearing, and the connecting seat of the arm and the outer ring of the slewing bearing are fixed.
  • the gear is mounted on the outer ring of the slewing bearing.
  • the supporting support plate adopts universal purchased parts for the rotating support structure of the grabbing arm, and is convenient to manufacture, and the slewing bearing can simultaneously bear large combined loads such as axial load, radial load and overturning moment. Supporting, rotating, transmission, fixing and other functions in one body, can be well adapted to the working requirements of grabbing the arm.
  • the driving device for grasping the arm is a geared motor, and the pinion gear fixed on the output shaft of the geared motor meshes with the gear.
  • the transmission of the grab arm is stable, controllable, and the positioning accuracy is high.
  • the outer gripping plate and the inner gripping plate are both arcuate plates.
  • the use of the arc-shaped plate facilitates the formation of a circular arc groove between the outer gripping plate and the inner gripping plate, and facilitates reducing the space occupied by the reel gripping plate during the movement.
  • the reel gripping plate and the connecting base are connected by a cantilever.
  • the structure is simple and the production is convenient.
  • the reel gripping plate is symmetrically disposed with respect to the left and right sides of the cantilever, and the left and right ends of the disc gripping plate are respectively provided with a disc retracting slot, and the reel gripping
  • the outer end of the groove is an opening
  • the inner end is a circular end
  • the radius R of the circular end is equal to half of the width A of the reel of the reel
  • the width A of the reel of the reel is opposite to the circle
  • the width B of the arc groove is symmetrically set. According to the embodiment, the reel can be grasped on the left and right sides of the reel gripping board, and the multi-station reel conveying operation can be conveniently realized, the working efficiency is improved, and the utility model is convenient and practical.
  • FIG. 1 is a schematic structural view of a specific embodiment of a reel conveying robot of the present invention
  • Figure 2 is a plan view of Figure 1;
  • Figure 3 is a cross-sectional view of the portion of the anti-rotation limiting device of the structure shown in Figure 1;
  • Figure 4 is a partial enlarged view of the support plate portion of the structure shown in Figure 1;
  • Figure 5 is a schematic view showing the structure of the grasping arm in the structure shown in Figure 1;
  • Figure 6 is a plan view of the structure shown in Figure 5;
  • Figure 7 is a cross-sectional view of the structure shown in Figure 5.
  • the base 1 is the basic support for the entire reel transport robot, and a cylindrical sleeve is provided above the bottom plate of the base 1, and the cylindrical sleeve passes The three reinforcing plates uniformly distributed around the bottom are welded and connected to the bottom plate, and the base 1 is
  • the top cylindrical column 4 supports the top column 4 through the bushing up and down. The top of the top column 4 is fixedly connected by screws to support the supporting plate 6.
  • the supporting plate 6 is mounted with a slewing bearing 9 for supporting the supporting plate 6
  • the inner ring of the slewing bearing 9 is fixed by screws, and the outer ring of the slewing bearing 9 is fixedly connected with the connecting seat 71 of the gripping arm 7, so that the supporting plate 6 is rotatably supported by the slewing bearing 9 with the gripping arm 7
  • the outer ring of the slewing bearing 9 is provided with a gear 8
  • the driving device 5 of the grab arm 7 is mounted on the supporting plate 6
  • the driving device 5 is a geared motor
  • the pinion 10 is fixed on the output shaft of the geared motor
  • the pinion 10 is
  • the gears 8 are engaged, so that the gripping arm 7 can be driven to rotate by the driving device 5, and the gripping arm 7 can be grasped and transported to the right and left.
  • the mounting axis of the connecting arm 71 of the gripping arm 7 is mounted and connected.
  • An encoder the encoder is fixedly attached to the lower end of the top column for detecting and positioning the angular position of the gripping arm 7; of course, the encoder can also be connected to the output shaft of the geared motor as the driving device 5;
  • the top pillar 4 is connected to the base 1
  • the column driving device 2 the top column driving device 2 is two cylinders connected by a cylinder block, the two cylinders are coaxially connected, the piston rod of the lower cylinder is connected to the base 1, and the piston rod of the upper cylinder passes through the supporting plate 6 and the top
  • the column 4 is connected, so that the top column driving device 2 can drive the upper and lower multi-station movements of the grasping arm 7 to grasp the arm 7 to realize the grasping operation of the wire reel; and between the top column 4 and the base 1
  • the anti-rotation limiting device 3, the anti-rotation limiting device 3 comprises a limiting rib 31 disposed
  • the connecting seat 71 of the grabbing arm 7 is a plate-like member, and a cylindrical positioning step 72 is formed under the connecting seat 71 for the outer ring of the slewing bearing 9
  • the inner hole is positioned and connected, and a cantilever 73 is welded and fixed on the connecting base 71.
  • the cantilever 73 is made of a steel pipe.
  • a wire disc grabbing plate 74 is disposed at an outer end of the cantilever 73, and the wire grabbing plate 74 is opposite to the cantilever 73.
  • the reel gripping plate 74 includes an outer gripping plate 744 and an inner gripping plate 742.
  • the outer gripping plate 744 and the inner gripping plate 742 are arcuate plates, and the outer gripping plate 744 and the cantilever 73
  • the inner grabbing plate 742 and the connecting seat 71 are welded and fixed by connecting steel plates on both sides of the cantilever 73, and the inner gripping plate 744 and the inner gripping plate 742 form a circle.
  • the arc groove 743, the arc center of the arc groove 743 is on the axis of the cylindrical positioning step 72, that is, the rotation axis of the grab arm 7, and the wire gripping plate 74 is provided with a reel catching groove 741, the reel
  • the grab groove 741 is a circular arc groove, and the arc center of the circular arc groove is in the circle of the arc groove 743
  • the reel catching groove 741 is disposed on the upper plane of the outer gripping plate 744 and the inner gripping plate 742, and the width A of the reel catching groove 741 is larger than the width B of the circular arc groove 743, and the reel gripping
  • the width A of the groove 741 is symmetrically disposed with respect to the width B of the circular arc groove 743, and the wire grabbing groove 741 is respectively disposed at the left and right ends of the wire grabbing plate 74.
  • the outer end of the wire grabbing groove 741 is open, and the inner end is open.
  • the width A of the reel catching groove 741 is slightly larger than the diameter of the reel to be grasped.
  • the gripping arm 7 is driven by the driving device 5 through the end of the reeling plate 74 to be inserted under the reel, the line A circular arc groove 743 on the disc gripping plate 74 is used to open the support reel
  • the wire grabbing groove 741 is engaged with the lower disk edge of the wire tray to be grasped, thereby grasping the wire reel and then passing the driving device 5
  • the grasping arm 7 is rotated by an angular position, the reel is transported to the next station, and after the arm 7 is lowered by the top post driving device 2, the reel is placed on the support shaft of the reel or the conveying line of the reel, In this reciprocating operation, the conveyance of the reel is completed.
  • the top column driving device 2 may not be coaxially connected to the cylinder.
  • a universal two-stroke cylinder can be used.
  • the cylinder of the two-stroke cylinder is connected to the base 1.
  • the piston rod of the double-stroke cylinder is connected to the top pillar 4 through the supporting bracket 6, and the cylinder can also be grasped.
  • the multi-station of the arm 7 moves up and down.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种线盘输送机械手，包括基座（1），在所述基座上可上下移动地支承有顶柱（4），顶柱顶部设置有支撑托板（6），在支撑托板上转动支承有抓取手臂（7），抓取手臂的驱动装置（5）安装在支撑托板上；在所述顶柱与基座之间连接有顶柱驱动装置（2）；在所述抓取手臂伸出端设置有线盘抓取板（74），该线盘抓取板上设有圆弧槽（743），圆弧槽的圆弧中心处于抓取手臂转动中心上，在线盘抓取板上还设有线盘抓取槽（741），该线盘抓取槽为圆弧形凹槽，圆弧形凹槽的圆弧中心处于抓取手臂转动中心上，线盘抓取槽的宽度A大于圆弧槽的宽度B。该线盘输送机械手不仅能实现对线盘的上、下、左、右方向的搬运操作，而且可省去夹持机构，机械手的结构简单、实用。

Description

线盘输送机械手 技术领域
本发明涉及一种线缆生产设备，尤其涉及一种自动化线缆生产流水线中的线盘自动输送装置。
背景技术
在线缆生产设备中，线缆生产完成、卷绕到线盘上后大都是由人工将卷好的成品线盘搬运出来，再将空的线盘装入到支承轴上，在这过程中，不仅工人劳动强度大，而且操作时间较长，影响生产效率。在线缆生产技术水平提高，生产速度越来越高的情况下，这样的人工操作模式已无法适应，且已成为线缆高速生产的障碍；而采用自动化的搬运输送设备，除了要实现搬运操作的上、下、左、右运动外，常规的输送机械手对线盘的夹持需要采用一套夹持机构，用以抓取或放开线盘，这一套装置又需要一套运动机构及其传动机构，从而使得其结构复杂，增加了控制难度。
发明内容
针对现有技术所存在的上述不足，本发明所要解决的技术问题是提供一种线盘输送机械手，它不仅能实现对线盘的上、下、左、右方向的搬运操作，而且可省去夹持机构，机械手的结构简单、实用。
为了解决上述技术问题，本发明的一种线盘输送机械手，包括基座，在所述基座上可上下移动地支承有顶柱，顶柱顶部设置有支撑托板，在支撑托板上转动支承有抓取手臂，抓取手臂的驱动装置安装在支撑托板上；在所述顶柱与基座之间连接有顶柱驱动装置；在所述抓 取手臂伸出端设置有线盘抓取板，该线盘抓取板包括外侧抓取板与内侧抓取板，外侧抓取板与内侧抓取板之间构成圆弧槽，圆弧槽的圆弧中心处于抓取手臂转动中心上，在线盘抓取板上设有线盘抓取槽，该线盘抓取槽为圆弧形凹槽，圆弧形凹槽的圆弧中心处于抓取手臂转动中心上，所述线盘抓取槽设置于外侧抓取板和内侧抓取板的上平面上，线盘抓取槽的宽度A大于圆弧槽的宽度B。
在上述结构中，由于在所述基座上可上下移动地支承有顶柱，顶柱顶部设置有支撑托板，在支撑托板上转动支承有抓取手臂，抓取手臂的驱动装置安装在支撑托板上；在所述顶柱与基座之间连接有顶柱驱动装置，则顶柱驱动装置可驱动转动支承在支撑托板上的抓取手臂上下运动，抓取手臂的驱动装置可驱动抓取手臂在支撑托板上作旋转运动，这样可方便地实现对线盘的上、下、左、右方向的搬运操作；又由于在所述抓取手臂伸出端设置有线盘抓取板，该线盘抓取板包括外侧抓取板与内侧抓取板，外侧抓取板与内侧抓取板之间构成圆弧槽，圆弧槽的圆弧中心处于抓取手臂转动中心上，在线盘抓取板上设有线盘抓取槽，该线盘抓取槽为圆弧形凹槽，圆弧形凹槽的圆弧中心处于抓取手臂转动中心上，所述线盘抓取槽设置于外侧抓取板和内侧抓取板的上平面上，线盘抓取槽的宽度A大于圆弧槽的宽度B，则对线盘的抓取操作由线盘抓取板进行，线盘抓取板上所设置的线盘抓取槽从线盘下面叉插住线盘的下盘边，线盘抓取槽的宽度A与线盘下盘边直径相对应，对线盘起到限位作用，线盘抓取板上外侧抓取板与内侧抓取板之间的圆弧槽则可以让开支承线盘的支承轴，使线盘抓取板能 叉插到整个线盘的下盘边，圆弧槽的圆弧中心是处于抓取手臂转动中心上的，这样线盘输送机械手就可以通过抓取手臂的旋转来使线盘抓取板插入到线盘的下方，再通过顶柱的升降使抓取手臂带动线盘向上离开支承线盘的支承轴，然后通过抓取手臂的旋转来输送线盘到所需的位置，让顶柱下降带动抓取手臂下降，将线盘放到所需的位置，进而反向旋转抓取手臂使线盘抓取板从线盘下方退出，从而在没有夹持装置的情况下实现了对线盘的抓取及上、下、左、右方向的输送，整个机械手结构简单且操作方便实用。
本发明的一种优选实施方式，所述顶柱驱动装置为缸体相连的两气缸，下方气缸的活塞杆连接在基座上，上方气缸的活塞杆通过支撑托板与顶柱相连。采用该实施方式，由两个气缸驱动顶柱的升降，两气缸组合后可得到四个行程位置，能适应线缆生产过程中线盘输送的多种高度位置要求。
本发明的另一种优选实施方式，所述顶柱驱动装置为双行程气缸，该双行程气缸的缸体连接在基座上，该双行程气缸的活塞杆通过支撑托板与顶柱相连。采用该实施方式，可直接选用相应的通用气缸，进一步简化线缆输送机械手的结构。
本发明的又一种优选实施方式，所述顶柱与基座之间设置有防转限位装置。采用该实施方式可以避免顶柱产生转动，防止对抓取手臂的输送位置产生影响。
本发明进一步的优选实施方式，所述防转限位装置包括设置在基座上的限位挡边及安装在顶柱上的转轮，所述转轮外圆与限位挡边相 接触。采用该实施方式，防转限位装置结构简单、安装方便，且采用转轮与限位挡边的结构使得其对顶柱升降的运动阻力降至最低。
本发明另一进一步的优选实施方式，所述支撑托板通过转盘轴承转动支承有抓取手臂，支撑托板与转盘轴承的内圈固连，抓取手臂的连接座与转盘轴承的外圈固连；所述转盘轴承外圈上设有齿轮。采用该实施方式，支撑托板对抓取手臂的转动支承结构采用通用的外购件，制造方便，且转盘轴承能够同时承受较大的轴向负荷、径向负荷和倾覆力矩等综合载荷，集支承、旋转、传动、固定等多种功能于一身，能很好的适应抓取手臂的工作要求。
本发明又一进一步的优选实施方式，所述抓取手臂的驱动装置为减速电机，减速电机输出轴上固连的小齿轮与齿轮相啮合。采用该实施方式，抓取手臂的传动平稳、可控，定位精度高。
本发明更进一步的优选实施方式，所述外侧抓取板和内侧抓取板均为圆弧形板。采用该实施方式，圆弧形板的使用便于构成外侧抓取板与内侧抓取板之间的圆弧槽，且便于减少运动过程中线盘抓取板所占用的空间。
本发明另一更进一步的优选实施方式，所述线盘抓取板与连接座通过悬臂相连。采用该实施方式，结构简单、制作方便。
本发明又一更进一步的优选实施方式，所述线盘抓取板相对于悬臂左右两侧对称设置，在线盘抓取板的左右两端分别设置有线盘抓取槽，所述线盘抓取槽的外侧端为开口，内侧端为圆弧端，圆弧端的半径R等于线盘抓取槽宽度A的一半，该线盘抓取槽宽度A相对于圆 弧槽的宽度B对称设置。采用该实施方式，线盘抓取板左右两侧都可以抓取线盘，可以方便地实现多工位的线盘输送操作，提高工作效率，方便实用。
附图说明
下面结合附图和具体实施例对本发明线盘输送机械手作进一步的详细说明。
图1是本发明线盘输送机械手一种具体实施方式的结构示意图；
图2是图1的俯视图；
图3是图1所示结构中防转限位装置部位的剖视图；
图4是图1所示结构中支撑托板部位的局部放大图；
图5是图1所示结构中抓取手臂的结构示意图；
图6是图5所示结构的俯视图；
图7是图5所示结构的剖视图。
图中：1－基座、2－顶柱驱动装置、3－防转限位装置、31－限位挡边、32－转轮、4－顶柱、5－驱动装置、6－支撑托板、7－抓取手臂、71－连接座、72－圆柱定位台阶、73－悬臂、74－线盘抓取板、741－线盘抓取槽、742－内侧抓取板、743－圆弧槽、744－外侧抓取板、8－齿轮、9－转盘轴承、10－小齿轮。
具体实施方式
在图1至图4所示的线盘输送机械手中，基座1是整个线盘输送机械手的基础支承件，在基座1的底板上方设置有圆柱形的套筒，圆柱形的套筒通过其周边均布的三块加强板与底板焊接连接，在基座1 上的圆柱形套筒内通过轴衬可上下移动地支承有顶柱4，顶柱4顶部通过螺钉固定安装连接有支撑托板6，支撑托板6上安装有转盘轴承9，支撑托板6与转盘轴承9的内圈通过螺钉固连，转盘轴承9的外圈与抓取手臂7的连接座71固连，这样，所述支撑托板6通过转盘轴承9转动支承有抓取手臂7，转盘轴承9外圈上设有齿轮8，抓取手臂7的驱动装置5安装在支撑托板6上，驱动装置5为减速电机，减速电机输出轴上固连有小齿轮10，小齿轮10与齿轮8相啮合，这样，通过驱动装置5可以驱动抓取手臂7旋转，实现抓取手臂7对线盘的抓取与左右输送操作，在抓取手臂7的连接座71旋转轴线处安装连接有编码器，编码器固连在顶柱下端，用以检测、定位抓取手臂7所转动的角度位置，当然，编码器也可以连接在作为驱动装置5的减速电机的输出轴上；在所述顶柱4与基座1之间连接有顶柱驱动装置2，顶柱驱动装置2为缸体相连的两气缸，两气缸缸体同轴连接，下方气缸的活塞杆连接在基座1上，上方气缸的活塞杆通过支撑托板6与顶柱4相连，这样，顶柱驱动装置2可以驱动抓取手臂7上、下多工位移动，以便抓取手臂7对线盘实现抓取操作；在顶柱4与基座1之间设置有防转限位装置3，防转限位装置3包括设置在基座1上的限位挡边31及安装在顶柱4上的转轮32，转轮32外圆与限位挡边31相接触，限位挡边31为基座1上方的圆柱形套筒沿其轴向削边剖切后所形成的平面，转轮32为安装在销轴上的轴承，销轴固连在顶柱4下端侧壁上，防转限位装置3有两套，分别设置在顶柱4侧壁相对的位置，两套配合可以防止顶柱4左右方向上的转动，且摩擦阻 力很小，周向间隙也很小，定位精度高。
图4至图7示出了抓取手臂7的结构示意，抓取手臂7的连接座71为板状构件，在连接座71下面加工有圆柱定位台阶72，用以与转盘轴承9外圈的内孔定位连接，在连接座71上焊接固连有悬臂73，悬臂73由钢管制成，在悬臂73的外伸端设置有线盘抓取板74，线盘抓取板74相对于悬臂73左右两侧对称设置，线盘抓取板74包括外侧抓取板744与内侧抓取板742，外侧抓取板744和内侧抓取板742均为圆弧形板，外侧抓取板744与悬臂73通过位于悬臂73两侧的连接管焊接固连，内侧抓取板742与连接座71通过位于悬臂73两侧的连接钢板焊接固连，外侧抓取板744与内侧抓取板742之间构成圆弧槽743，圆弧槽743的圆弧中心处于圆柱定位台阶72的轴线上，也就是抓取手臂7的旋转轴线上，在线盘抓取板74上设有线盘抓取槽741，该线盘抓取槽741为圆弧形凹槽，圆弧形凹槽的圆弧中心处于圆弧槽743的圆弧中心上，线盘抓取槽741设置于外侧抓取板744和内侧抓取板742的上平面上，线盘抓取槽741的宽度A大于圆弧槽743的宽度B，且线盘抓取槽741宽度A相对于圆弧槽743的宽度B对称设置，线盘抓取槽741在线盘抓取板74的左右两端分别设置，线盘抓取槽741的外侧端为开口，内侧端为圆弧端，圆弧端的半径R等于线盘抓取槽741宽度A的一半。
线盘抓取槽741的宽度A稍大于所要抓取的线盘的直径，使用过程中抓取手臂7在驱动装置5的驱动下通过线盘抓取板74的一端插入线盘的下方，线盘抓取板74上的圆弧槽743用以让开支承线盘 的支承轴，通过顶柱驱动装置2提升抓取手臂7后线盘抓取槽741卡接于所要抓取的线盘的下盘边，从而实现对线盘的抓取，再通过驱动装置5使抓取手臂7转动一个角度位置，将线盘输送到下一工位，通过顶柱驱动装置2下降抓取手臂7后，线盘搁置于线盘的支承轴或线盘的传送线上，这样往复运转，线盘的输送得以完成。
上述仅列出了本发明的一些具体实施方式，但本发明并不仅限于此，还可以作出较多的改进与变换，如：所述顶柱驱动装置2也可以不是缸体同轴相连的两个气缸，而是可以采用通用的双行程气缸，该双行程气缸的缸体连接在基座1上，该双行程气缸的活塞杆通过支撑托板6与顶柱4相连，同样可以实现抓取手臂7的多工位上下移动。如此等等，只要是在本发明的基本原理基础上所作出的改进与变换，均应视为落入本发明的保护范围内。

Claims (10)

  1. 一种线盘输送机械手，包括基座(1)，其特征在于：在所述基座(1)上可上下移动地支承有顶柱(4)，顶柱(4)顶部设置有支撑托板(6)，在支撑托板(6)上转动支承有抓取手臂(7)，抓取手臂(7)的驱动装置(5)安装在支撑托板(6)上；在所述顶柱(4)与基座(1)之间连接有顶柱驱动装置(2)；在所述抓取手臂(7)伸出端设置有线盘抓取板(74)，该线盘抓取板(74)包括外侧抓取板(744)与内侧抓取板(742)，外侧抓取板(744)与内侧抓取板(742)之间构成圆弧槽(743)，圆弧槽(743)的圆弧中心处于抓取手臂(7)转动中心上，在线盘抓取板(74)上设有线盘抓取槽(741)，该线盘抓取槽(741)为圆弧形凹槽，圆弧形凹槽的圆弧中心处于抓取手臂(7)转动中心上，所述线盘抓取槽(741)设置于外侧抓取板(744)和内侧抓取板(742)的上平面上，线盘抓取槽(741)的宽度A大于圆弧槽(743)的宽度B。
  2. 根据权利要求1所述的线盘输送机械手，其特征在于：所述顶柱驱动装置(2)为缸体相连的两气缸，下方气缸的活塞杆连接在基座(1)上，上方气缸的活塞杆通过支撑托板(6)与顶柱(4)相连。
  3. 根据权利要求1所述的线盘输送机械手，其特征在于：所述顶柱驱动装置(4)为双行程气缸，该双行程气缸的缸体连接在基座(1)上，该双行程气缸的活塞杆通过支撑托板(6)与顶柱(4)相连。
  4. 根据权利要求1所述的线盘输送机械手，其特征在于：所述顶柱(4)与基座(1)之间设置有防转限位装置(3)。
  5. 根据权利要求4所述的线盘输送机械手，其特征在于：所述防转限位装置(3)包括设置在基座(1)上的限位挡边(31)及安装在顶柱(4)上的转轮(32)，所述转轮(32)外圆与限位挡边(31)相接触。
  6. 根据权利要求1所述的线盘输送机械手，其特征在于：所述支撑托板(6)通过转盘轴承(9)转动支承有抓取手臂(7)，支撑托板(6)与转盘轴承(9)的内圈固连，抓取手臂(7)的连接座(71)与转盘轴承(9)的外圈固连；所述转盘轴承(9)外圈上设有齿轮(8)。
  7. 根据权利要求1所述的线盘输送机械手，其特征在于：所述抓取手臂(7)的驱动装置(5)为减速电机，减速电机输出轴上固连的小齿轮(10)与齿轮(8)相啮合。
  8. 根据权利要求1所述的线盘输送机械手，其特征在于：所述外侧抓取板(744)和内侧抓取板(742)均为圆弧形板。
  9. 根据权利要求1所述的线盘输送机械手，其特征在于：所述线盘抓取板(74)与连接座(71)通过悬臂(73)相连。
  10. 根据权利要求9所述的线盘输送机械手，其特征在于：所述线盘抓取板(74)相对于悬臂(73)左右两侧对称设置，在线盘抓取板(74)的左右两端分别设置有线盘抓取槽(741)，所述线盘抓取槽(741)的外侧端为开口，内侧端为圆弧端，圆弧端的半径R 等于线盘抓取槽(741)宽度A的一半，该线盘抓取槽(741)宽度A相对于圆弧槽(743)的宽度B对称设置。
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