CN107351116A - A kind of robot device for automating feeding - Google Patents
A kind of robot device for automating feeding Download PDFInfo
- Publication number
- CN107351116A CN107351116A CN201710724515.XA CN201710724515A CN107351116A CN 107351116 A CN107351116 A CN 107351116A CN 201710724515 A CN201710724515 A CN 201710724515A CN 107351116 A CN107351116 A CN 107351116A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- plate
- paw
- positioning
- connecting shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of robot device for automating feeding, including axially transmission gripping body, rotary positioning mechanism, bottom plate；The axially transmission gripping body includes being axially moved cylinder, connecting shaft, paw connecting plate, finger cylinder, paw；The rotary positioning mechanism includes motor, actively shaft coupling, step wheel, driven step wheel, synchronous belt, positioning cylinder, location-plate, rotational positioning block, and structure of the present invention is novel, automaticity is high, and positioning and clamping is accurate, and versatile.
Description
Technical field
The present invention relates to automation equipment field, specifically a kind of robot device for automating feeding.
Background technology
At present in automation industry, it is necessary to complete rotation and upper and lower function during being captured for product, in industry
Completed by the way of pneumatic, structure is complex, and the mechanical space of occupancy is larger, and fault rate is high, and manufacturing cost is higher, gas
The purchase friendship phase of dynamic element is longer, and positioning precision is poor.
The content of the invention
It is an object of the invention to provide a kind of robot device for automating feeding, to solve to carry in above-mentioned background technology
The problem of going out.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of robot device for automating feeding, including axially transmission gripping body, rotary positioning mechanism, bottom plate；
The axially transmission gripping body includes being axially moved cylinder, connecting shaft, paw connecting plate, finger cylinder, paw,
The axial movement cylinder is arranged on bottom plate by cylinder saddle, and the piston rod for being axially moved cylinder connects through cylinder saddle axle
Connecting shaft, for the connecting shaft through bottom plate and vertical connection paw connecting plate center, the finger cylinder has two, and symmetrically sets
Put and be connected in paw connecting plate both ends, the paw with finger cylinder；
The rotary positioning mechanism include motor, shaft coupling, actively step wheel, driven step wheel, synchronous belt, positioning cylinder,
Location-plate, rotational positioning block, the motor are arranged on bottom plate by motor support base, and electric machine main shaft is through motor support base connection connection
Axle device, the shaft coupling axle connect actively step wheel, and the driven step wheel is arranged in the connecting shaft in axially transmission gripping body, and
It is connected with active step wheel by synchronous belt drive, the positioning cylinder is arranged on bottom plate, the location-plate connection positioning gas
The piston rod of cylinder, the rotating retaining plate are arranged in the connecting shaft in axially transmission gripping body, the location-plate and rotation
Location-plate mutually compresses contact when the piston rod of positioning cylinder is in stretching state.
Further, the connecting shaft is semicircle power transmission shaft.
Further, there is gap between the driven step wheel, the center mounting hole of rotating retaining plate and connecting shaft, connects
Axle can be axially moved along center mounting hole.
Further, the paw is rectangular-shaped clamp bar.
Further, linear slide rail is provided between the location-plate and bottom plate.
Further, the positioning cylinder is arranged on bottom plate by positioning seat.
The beneficial effects of the invention are as follows：
Structure of the present invention provides a kind of robot device for automating feeding, and its structure is novel, automaticity is high, passes through
The piston rod for being axially moved cylinder moves downward, and promotes connecting shaft to move downward, and connecting shaft promotes paw connecting plate to move downward,
After the finger cylinder control paw crawl tablet at paw connecting plate both ends, the piston rod for being axially moved cylinder is retracted to original position, then
After rotating 180 ° by motor, the piston rod of positioning cylinder is stretched out, and location-plate is mutually compressed with rotating retaining plate and contacted, so as to reach
Pinpoint effect after to 180 ° of rotation driving.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is schematic structural view of the invention.
Fig. 2 is axially to be driven gripping body structural representation.
Fig. 3 is rotary positioning mechanism structural representation.
In figure：1st, axial transmission gripping body, 101, be axially moved cylinder, 102, connecting shaft, 103, paw connecting plate,
104th, finger cylinder, 105, paw, 106, cylinder saddle, 2, rotary positioning mechanism, 201, motor, 202, shaft coupling, 203, main
Dynamic step wheel, 204, driven step wheel, 205, synchronous belt, 206, positioning cylinder, 207, location-plate, 208, rotational positioning block, 209,
Motor support base, 210, center mounting hole, 211, linear slide rail, 212, positioning seat.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in Figures 1 to 3, the present invention provides a kind of robot device for automating feeding, including axially transmission catching device
Structure 1, rotary positioning mechanism 2, bottom plate 3；
The axially transmission gripping body 1 includes being axially moved cylinder 101, connecting shaft 102, paw connecting plate 103, finger
Cylinder 104, paw 105, the axial movement cylinder 101 are arranged on bottom plate 3 by cylinder saddle 106, are axially moved cylinder
Through the axle of cylinder saddle 106, spindle 102, the connecting shaft 102 run through bottom plate 3 and vertical connection paw to 101 piston rod in succession
The center of connecting plate 103, the finger cylinder 104 have two, and are symmetricly set on the both ends of paw connecting plate 103, the paw 105
It is connected with finger cylinder 104；
The rotary positioning mechanism 2 includes motor 201, actively shaft coupling 202, step wheel 203, driven step wheel 204, synchronous skin
Band 205, positioning cylinder 206, location-plate 207, rotational positioning block 208, the motor 201 are arranged on bottom by motor support base 209
On plate 3, the main shaft of motor 201 connects shaft coupling 202 through motor support base 209, and the axle of shaft coupling 202 meets actively step wheel 203, institute
State in the connecting shaft 102 that driven step wheel 204 is arranged in axially transmission gripping body 1, and pass through synchronous skin with active step wheel 203
Band 205 is connected, and the positioning cylinder 206 is arranged on bottom plate 3, and the location-plate 207 connects the piston of positioning cylinder 206
Bar, the rotating retaining plate 208 are arranged in the connecting shaft 102 in axially transmission gripping body 1, the location-plate 207 and rotation
Turn location-plate 208 and mutually compress contact when the piston rod of positioning cylinder 206 is in stretching state.
The connecting shaft 102 is semicircle power transmission shaft.
There is gap between the driven step wheel 204, the center mounting hole 210 of rotating retaining plate 208 and connecting shaft 102,
Connecting shaft 102 can be axially moved along center mounting hole 210.
The paw 105 is rectangular-shaped clamp bar.
Linear slide rail 211 is provided between the location-plate 207 and bottom plate 3.
The positioning cylinder 206 is arranged on bottom plate 3 by positioning seat 212.
All parts in the axially transmission gripping body 1, rotary positioning mechanism 2 are controlled by PLC control system.
The course of work：Controlled by PLC control system, the piston rod for first axially moving cylinder 101 moves downward, and promotes
Connecting shaft 102 moves downward, and connecting shaft 102 promotes paw connecting plate 103 to move downward, the finger of the one end of paw connecting plate 103
Cylinder 104 controls the tablet after the crawl processing of paw 105, and the finger cylinder 104 of the other end of paw connecting plate 103 controls paw
The 105 unprocessed tablets of crawl, the piston rod for being axially moved cylinder 101 are retracted to original position, to drive tablet to move up, then pass through electricity
Machine 201 rotates 180 °, and actively step wheel 203 drives driven step wheel 204 to rotate by synchronous belt 205, and driven step wheel 204, which drives, to be connected
Spindle 102 is rotated, and connecting shaft 102 drives, and the piston rod of positioning cylinder is stretched out, and location-plate is mutually compressed with rotating retaining plate and connect
Touch, so as to reach pinpoint effect after 180 ° of rotation driving, the tablet now processed and unprocessed tablet pass through machinery
Hand replaces, and then repeats the athletic performance of above-mentioned axial movement cylinder 101, the finger cylinder 104 of the one end of paw connecting plate 103 is controlled
Tablet after the processing of crawl is put into the machined region specified, the finger cylinder of the other end of paw connecting plate 103 by paw 105 processed
The undressed tablet of crawl is put into region to be processed by 104 control paws 105, and what is so moved in circles carries out automation crawl work
Make.
The embodiments of the present invention described above are not intended to limit the scope of the present invention, any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (6)
1. a kind of robot device for automating feeding, it is characterised in that including axially transmission gripping body, rotational positioning machine
Structure, bottom plate；
The axially transmission gripping body includes being axially moved cylinder, connecting shaft, paw connecting plate, finger cylinder, paw, described
It is axially moved cylinder to be arranged on bottom plate by cylinder saddle, the piston rod for being axially moved cylinder connects in succession through cylinder saddle axle
Axle, for the connecting shaft through bottom plate and vertical connection paw connecting plate center, the finger cylinder has two, and is symmetricly set on
Paw connecting plate both ends, the paw are connected with finger cylinder；
The rotary positioning mechanism includes motor, actively shaft coupling, step wheel, driven step wheel, synchronous belt, positioning cylinder, positioning
Plate, rotational positioning block, the motor are arranged on bottom plate by motor support base, and electric machine main shaft is through motor support base connection shaft coupling
Device, the shaft coupling axle connect actively step wheel, and the driven step wheel is arranged in the connecting shaft in axially transmission gripping body, and with
Actively step wheel is connected by synchronous belt drive, and the positioning cylinder is arranged on bottom plate, and the location-plate connects positioning cylinder
Piston rod, the rotating retaining plate is arranged in the connecting shaft in axially transmission gripping body, and the location-plate and rotation are fixed
Position plate mutually compresses contact when the piston rod of positioning cylinder is in stretching state.
2. the robot device of automation feeding according to claim 1, it is characterised in that the connecting shaft is semicircle
Power transmission shaft.
3. the robot device of automation feeding according to claim 1, it is characterised in that the driven step wheel, rotation
There is gap between the center mounting hole and connecting shaft of location-plate, connecting shaft can be axially moved along center mounting hole.
4. the robot device of automation feeding according to claim 1, it is characterised in that the paw is rectangular-shaped folder
Bar.
5. the robot device of automation feeding according to claim 1, it is characterised in that the location-plate and bottom plate it
Between be provided with linear slide rail.
6. the robot device of automation feeding according to claim 1, it is characterised in that it is fixed that the positioning cylinder passes through
Position seat is arranged on bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710724515.XA CN107351116B (en) | 2017-08-22 | 2017-08-22 | Automatic change manipulator device of getting material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710724515.XA CN107351116B (en) | 2017-08-22 | 2017-08-22 | Automatic change manipulator device of getting material |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351116A true CN107351116A (en) | 2017-11-17 |
| CN107351116B CN107351116B (en) | 2023-04-11 |
Family
ID=60288935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710724515.XA Active CN107351116B (en) | 2017-08-22 | 2017-08-22 | Automatic change manipulator device of getting material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351116B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5741189A (en) * | 1980-08-15 | 1982-03-08 | Yamatake Honeywell Co Ltd | Robot with double hand |
| CN101085525A (en) * | 2007-06-29 | 2007-12-12 | 于复生 | Manipulator paw based on stepping motor |
| US20120032383A1 (en) * | 2010-08-04 | 2012-02-09 | Hon Hai Precision Industry Co., Ltd. | Clamp apparatus |
| CN102699221A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator |
| CN205325314U (en) * | 2016-01-18 | 2016-06-22 | 江苏工程职业技术学院 | Machine part pay -off machinery hand |
| CN105945939A (en) * | 2016-06-30 | 2016-09-21 | 易拓威（上海）机器人科技有限公司 | Rotary automatic mechanical arm |
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
| CN206048182U (en) * | 2016-07-21 | 2017-03-29 | 深圳市凯昇科技有限公司 | A kind of multifunction automatic blowing mechanical hand |
-
2017
- 2017-08-22 CN CN201710724515.XA patent/CN107351116B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5741189A (en) * | 1980-08-15 | 1982-03-08 | Yamatake Honeywell Co Ltd | Robot with double hand |
| CN101085525A (en) * | 2007-06-29 | 2007-12-12 | 于复生 | Manipulator paw based on stepping motor |
| US20120032383A1 (en) * | 2010-08-04 | 2012-02-09 | Hon Hai Precision Industry Co., Ltd. | Clamp apparatus |
| CN102699221A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator |
| CN205325314U (en) * | 2016-01-18 | 2016-06-22 | 江苏工程职业技术学院 | Machine part pay -off machinery hand |
| CN105945939A (en) * | 2016-06-30 | 2016-09-21 | 易拓威（上海）机器人科技有限公司 | Rotary automatic mechanical arm |
| CN206048182U (en) * | 2016-07-21 | 2017-03-29 | 深圳市凯昇科技有限公司 | A kind of multifunction automatic blowing mechanical hand |
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107351116B (en) | 2023-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105750437A (en) | Automatic manipulator | |
| CN201644883U (en) | Special milling machine for processing flange end face | |
| CN103480764B (en) | Swing telescoping electromagnetic servo direct drive feed device for covering part stamping production line | |
| CN206811161U (en) | A kind of good bearing drilling equipment of clamping effect | |
| CN204324361U (en) | Crank-type centering fixing device | |
| CN104858863A (en) | Novel carrying robot | |
| CN108638044A (en) | A kind of full-automatic material-feeding machine people | |
| CN202481751U (en) | Rotary material taking device for battery production | |
| CN207234628U (en) | A kind of assembling device of rotor and armature spindle with the turning function that presses | |
| CN103480765B (en) | A kind of telescopic pay-off of linear motor direct-driven of cladding element punching product line | |
| CN207027544U (en) | A kind of robot device for automating feeding | |
| CN204366600U (en) | A kind of reciprocating conveying device of locating commutation | |
| CN207107847U (en) | A kind of manipulator feeding device of cabinet slab | |
| CN207724006U (en) | Compound Machining work station based on six-joint robot | |
| CN108161975B (en) | Automatic mechanical arm convenient to dismantle | |
| CN206912005U (en) | A kind of industrial robot and stamping system | |
| CN203740593U (en) | Positioning and clamping device for LNG gas cylinder production line | |
| CN203317797U (en) | Woven bag integrated processing device with functions of automatic sewing and cutting | |
| CN107351116A (en) | A kind of robot device for automating feeding | |
| CN205526623U (en) | Multistation transport mechanism | |
| CN204818068U (en) | Pulverulent product finishing production line | |
| CN205148318U (en) | Five -axle linkage transfer robot | |
| CN103480763B (en) | The revolution straight line composite electromagnetic servo direct driving pay-off of cladding element punching product line | |
| CN207027514U (en) | A kind of four axis mechanisms of band rotation | |
| CN207374978U (en) | A kind of torsion controls emulsion pumps tapered end machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |