CN105500356A - Carrying manipulator of stacking machine - Google Patents
Carrying manipulator of stacking machine Download PDFInfo
- Publication number
- CN105500356A CN105500356A CN201610000873.1A CN201610000873A CN105500356A CN 105500356 A CN105500356 A CN 105500356A CN 201610000873 A CN201610000873 A CN 201610000873A CN 105500356 A CN105500356 A CN 105500356A
- Authority
- CN
- China
- Prior art keywords
- arm
- stacking machine
- straight
- manipulator
- armstand
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/02—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving a parallelogram coupling of the master and slave units
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a carrying manipulator of a stacking machine. The carrying manipulator comprises a stacking frame, processing feeding platforms and a manipulator, wherein two processing feeding platforms are parallel to each other, the stacking frame is arranged beside the feeding end of the processing feeding platform, the manipulator is arranged in front of the stacking frame and arranged between the two processing feeding platforms, the manipulator comprises a rotating base, a forerake vertical arm, a protraction straight arm, an angle adjustment part and a grabbing head, all parts are successively connected with one another by virtue of a rotating part from the bottom part to the front end, and the grabbing head is connected to the front end of the angle adjustment part. By virtue of the manipulator of the structure, the automatic operation can be conveniently realized, the manual intervention is not needed in the process of delivering a material from the stacking machine to a processing platform, and the production efficiency is increased.
Description
Technical field
The present invention relates to a kind of manipulator, specifically a kind of stacking machine conveying robot.
Background technology
What stacking machine was often put is various steel, such as reinforcing bar, steel bar etc., is placed on table top one by one adding man-hour requirement, but needs special a guy to be responsible for placing material in process, is unfavorable for saving cost.
Summary of the invention
For deficiency of the prior art, need a kind of manipulator that can realize automatic material taking carrying from stacking machine.
For realizing above-mentioned technical scheme, the present invention needs a kind of stacking machine conveying robot, comprise piling framework, processing material conveying platform and described manipulator, described processing material conveying platform is set to two and is parallel to each other, piling framework is arranged on by the feed end of processing material conveying platform, described manipulator is arranged on piling framework front and is in the centre of two processing material conveying platforms, described manipulator includes rotating base, lean forward armstand, protract straight-arm, angle adjusting piece and gripping head, aforementioned rotating base, lean forward armstand, the straight-arm that protracts is connected by the rotary part that sequentially passes through of bottom to front end successively with angle adjusting piece, described gripping head is connected to the front end of angle adjusting piece, described gripping head includes magnechuck and clamping head, described magnechuck is fixed on the pedestal of gripping head, the suction surface of magnechuck is towards piling framework, described clamping head is also connected on the pedestal of gripping head, and clamping head protrudes from the suction surface of magnechuck.
Described mechanical arm is also connected with flexible connecting rod, and one end of described flexible connecting rod is connected to the bottom of the armstand that leans forward, and its other end is connected to the rear end of the straight-arm that protracts.
The driver part of described flexible connecting rod is hydraulic jack or pneumatic linear actuator.
Described connection rotating base, the armstand that leans forward, the rotary part protracted between straight-arm and angle adjusting piece are all provided with servomotor.
The rear portion of described rotating base and/or the rear portion of the straight-arm that protracts are connected with counter-balanced carriage, are placed with balancing weight in described counter-balanced carriage.
Described rotary part is the rotational structure comprising rotating shaft.
Advantage of the present invention is: the operation that can be realized automation by the manipulator of this structure easily, to deliver in the process of machine table without the need to manual intervention, improve the efficiency of production by material from stacking machine.
Accompanying drawing explanation
Fig. 1 is the structural representation of stacking machine conveying robot;
In figure: 1, rotating base, 2, lean forward armstand, 3, protract straight-arm, 4, angle adjusting piece, 5, gripping head, 6, rotary part, 7, magnechuck, 8, clamping head, 9, flexible connecting rod.
Detailed description of the invention
According to Fig. 1, specific embodiments of the invention are described.
Embodiment 1, comprise piling framework, processing material conveying platform and described manipulator, described processing material conveying platform is set to two and is parallel to each other, piling framework is arranged on by the feed end of processing material conveying platform, described manipulator is arranged on piling framework front and is in the centre of two processing material conveying platforms, described manipulator includes rotating base 1, lean forward armstand 2, protract straight-arm 3, angle adjusting piece 4 and gripping head 5, aforementioned rotating base 1, lean forward armstand 2, the straight-arm 3 that protracts is connected by the rotary part 6 that sequentially passes through of bottom to front end successively with angle adjusting piece 4, described gripping head 5 is connected to the front end of angle adjusting piece 4, described gripping head 5 includes magnechuck 7 and clamping head 8, described magnechuck 7 is fixed on the pedestal of gripping head 5, the suction surface of magnechuck 7 is towards piling framework, described clamping head 8 is also connected on the pedestal of gripping head 5, and clamping head 8 protrudes from the suction surface of magnechuck 7.
Described mechanical arm is also connected with flexible connecting rod 9, one end of described flexible connecting rod 9 is connected to the bottom of the armstand 2 that leans forward, and its other end is connected to the rear end of the straight-arm 3 that protracts.
The driver part of described flexible connecting rod 9 is hydraulic jack or pneumatic linear actuator.
Described connection rotating base 1, the armstand that leans forward 2, the rotary part 6 protracted between straight-arm 3 and angle adjusting piece 4 are all provided with servomotor.
The rear portion of described rotating base 1 and the rear portion of the straight-arm 3 that protracts are connected with counter-balanced carriage, are placed with balancing weight in described counter-balanced carriage.
Described rotary part 6 is the rotational structure comprising rotating shaft.
Embodiment 2, comprise piling framework, processing material conveying platform and described manipulator, described processing material conveying platform is set to two and is parallel to each other, piling framework is arranged on by the feed end of processing material conveying platform, described manipulator is arranged on piling framework front and is in the centre of two processing material conveying platforms, described manipulator includes rotating base 1, lean forward armstand 2, protract straight-arm 3, angle adjusting piece 4 and gripping head 5, aforementioned rotating base 1, lean forward armstand 2, the straight-arm 3 that protracts is connected by the rotary part 6 that sequentially passes through of bottom to front end successively with angle adjusting piece 4, described gripping head 5 is connected to the front end of angle adjusting piece 4, described gripping head 5 includes magnechuck 7 and clamping head 8, described magnechuck 7 is fixed on the pedestal of gripping head 5, the suction surface of magnechuck 7 is towards piling framework, described clamping head 8 is also connected on the pedestal of gripping head 5, and clamping head 8 protrudes from the suction surface of magnechuck 7.
Described mechanical arm is also connected with flexible connecting rod 9, one end of described flexible connecting rod 9 is connected to the bottom of the armstand 2 that leans forward, and its other end is connected to the rear end of the straight-arm 3 that protracts.
The driver part of described flexible connecting rod 9 is hydraulic jack or pneumatic linear actuator.
Described connection rotating base 1, the armstand that leans forward 2, the rotary part 6 protracted between straight-arm 3 and angle adjusting piece 4 are all provided with servomotor.
The rear portion of described rotating base 1 is connected with counter-balanced carriage, is placed with balancing weight in described counter-balanced carriage.
Described rotary part 6 is the rotational structure comprising rotating shaft.
Embodiment 3, comprise piling framework, processing material conveying platform and described manipulator, described processing material conveying platform is set to two and is parallel to each other, piling framework is arranged on by the feed end of processing material conveying platform, described manipulator is arranged on piling framework front and is in the centre of two processing material conveying platforms, described manipulator includes rotating base 1, lean forward armstand 2, protract straight-arm 3, angle adjusting piece 4 and gripping head 5, aforementioned rotating base 1, lean forward armstand 2, the straight-arm 3 that protracts is connected by the rotary part 6 that sequentially passes through of bottom to front end successively with angle adjusting piece 4, described gripping head 5 is connected to the front end of angle adjusting piece 4, described gripping head 5 includes magnechuck 7 and clamping head 8, described magnechuck 7 is fixed on the pedestal of gripping head 5, the suction surface of magnechuck 7 is towards piling framework, described clamping head 8 is also connected on the pedestal of gripping head 5, and clamping head 8 protrudes from the suction surface of magnechuck 7.
Described mechanical arm is also connected with flexible connecting rod 9, one end of described flexible connecting rod 9 is connected to the bottom of the armstand 2 that leans forward, and its other end is connected to the rear end of the straight-arm 3 that protracts.
The driver part of described flexible connecting rod 9 is hydraulic jack or pneumatic linear actuator.
Described connection rotating base 1, the armstand that leans forward 2, the rotary part 6 protracted between straight-arm 3 and angle adjusting piece 4 are all provided with servomotor.
Described rear portion of protracting straight-arm 3 is connected with counter-balanced carriage, is placed with balancing weight in described counter-balanced carriage.
Described rotary part 6 is the rotational structure comprising rotating shaft.
Claims (6)
1. a stacking machine conveying robot, comprise piling framework, processing material conveying platform and described manipulator, described processing material conveying platform is set to two and is parallel to each other, piling framework is arranged on by the feed end of processing material conveying platform, it is characterized in that: described manipulator is arranged on piling framework front and is in the centre of two processing material conveying platforms, described manipulator includes rotating base (1), the armstand that leans forward (2), protract straight-arm (3), angle adjusting piece (4) and gripping head (5), aforementioned rotating base (1), the armstand that leans forward (2), the straight-arm (3) that protracts is connected by the rotary part (6) that sequentially passes through of bottom to front end successively with angle adjusting piece (4), described gripping head (5) is connected to the front end of angle adjusting piece (4), described gripping head (5) includes magnechuck (7) and clamping head (8), described magnechuck (7) is fixed on the pedestal of gripping head (5), the suction surface of magnechuck (7) is towards piling framework, described clamping head (8) is also connected on the pedestal of gripping head (5), and clamping head (8) protrudes from the suction surface of magnechuck (7).
2. stacking machine conveying robot according to claim 1, it is characterized in that: described mechanical arm is also connected with flexible connecting rod (9), one end of described flexible connecting rod (9) is connected to the bottom of the armstand that leans forward (2), and its other end is connected to the rear end of the straight-arm that protracts (3).
3. stacking machine conveying robot according to claim 2, is characterized in that: the driver part of described flexible connecting rod (9) is hydraulic jack or pneumatic linear actuator.
4. stacking machine conveying robot according to claim 1, is characterized in that: described connection rotating base (1), the armstand that leans forward (2), rotary part (6) between the straight-arm that protracts (3) and angle adjusting piece (4) are all provided with servomotor.
5. stacking machine conveying robot according to claim 1, is characterized in that: the rear portion of described rotating base (1) and/or the rear portion of the straight-arm that protracts (3) are connected with counter-balanced carriage, are placed with balancing weight in described counter-balanced carriage.
6. stacking machine conveying robot according to claim 1, is characterized in that: described rotary part (6) is the rotational structure comprising rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000873.1A CN105500356A (en) | 2016-01-04 | 2016-01-04 | Carrying manipulator of stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000873.1A CN105500356A (en) | 2016-01-04 | 2016-01-04 | Carrying manipulator of stacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105500356A true CN105500356A (en) | 2016-04-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610000873.1A Pending CN105500356A (en) | 2016-01-04 | 2016-01-04 | Carrying manipulator of stacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105500356A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142067A (en) * | 2016-08-11 | 2016-11-23 | 无锡百禾工业机器人有限公司 | A kind of industrial part screening mechanical arm |
| CN107838945A (en) * | 2016-09-20 | 2018-03-27 | 株式会社东芝 | Robot device and the carrying device using robot device |
| CN108080523A (en) * | 2018-01-31 | 2018-05-29 | 塞伯睿机器人技术（长沙）有限公司 | For the robot of press machine loading and unloading and the loading and unloading system of press machine |
| CN108946560A (en) * | 2018-08-14 | 2018-12-07 | 国网安徽省电力有限公司广德县供电公司 | A kind of intelligence carries the device of lift maintaining |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN109262589A (en) * | 2018-10-10 | 2019-01-25 | 王涛 | One kind can monitor multi-direction type assembly line industrial robot automatically |
| CN109732562A (en) * | 2019-03-15 | 2019-05-10 | 黄浩 | A kind of intelligent plant transfer robot |
| CN112518770A (en) * | 2020-12-01 | 2021-03-19 | 烟台南山学院 | Mechanical arm for machine-building |
| CN115246085A (en) * | 2022-08-24 | 2022-10-28 | 广东豪特曼智能机器有限公司 | Peripheral grinding machine blade overturning and positioning device and control method thereof |
Citations (7)
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| JPS6072004A (en) * | 1983-09-27 | 1985-04-24 | Kobe Steel Ltd | Control device of direct teaching type industrial robot |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| CN104626144A (en) * | 2015-02-11 | 2015-05-20 | 苏州荣威工贸有限公司 | Six-axis robot based on servo electric cylinders |
| CN205734907U (en) * | 2016-01-04 | 2016-11-30 | 湖州高源金机械有限公司 | Stacking machine conveying robot |
-
2016
- 2016-01-04 CN CN201610000873.1A patent/CN105500356A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6072004A (en) * | 1983-09-27 | 1985-04-24 | Kobe Steel Ltd | Control device of direct teaching type industrial robot |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| CN104626144A (en) * | 2015-02-11 | 2015-05-20 | 苏州荣威工贸有限公司 | Six-axis robot based on servo electric cylinders |
| CN205734907U (en) * | 2016-01-04 | 2016-11-30 | 湖州高源金机械有限公司 | Stacking machine conveying robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142067A (en) * | 2016-08-11 | 2016-11-23 | 无锡百禾工业机器人有限公司 | A kind of industrial part screening mechanical arm |
| CN107838945A (en) * | 2016-09-20 | 2018-03-27 | 株式会社东芝 | Robot device and the carrying device using robot device |
| CN108080523A (en) * | 2018-01-31 | 2018-05-29 | 塞伯睿机器人技术（长沙）有限公司 | For the robot of press machine loading and unloading and the loading and unloading system of press machine |
| CN108946560A (en) * | 2018-08-14 | 2018-12-07 | 国网安徽省电力有限公司广德县供电公司 | A kind of intelligence carries the device of lift maintaining |
| CN109262589A (en) * | 2018-10-10 | 2019-01-25 | 王涛 | One kind can monitor multi-direction type assembly line industrial robot automatically |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN109108951B (en) * | 2018-10-23 | 2023-10-03 | 嘉兴新维液压缸有限公司 | Automatic feeding manipulator device |
| CN109732562A (en) * | 2019-03-15 | 2019-05-10 | 黄浩 | A kind of intelligent plant transfer robot |
| CN112518770A (en) * | 2020-12-01 | 2021-03-19 | 烟台南山学院 | Mechanical arm for machine-building |
| CN115246085A (en) * | 2022-08-24 | 2022-10-28 | 广东豪特曼智能机器有限公司 | Peripheral grinding machine blade overturning and positioning device and control method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160420 |
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| RJ01 | Rejection of invention patent application after publication |