CN107097216A - Feeding manipulator - Google Patents
Feeding manipulator Download PDFInfo
- Publication number
- CN107097216A CN107097216A CN201710471238.6A CN201710471238A CN107097216A CN 107097216 A CN107097216 A CN 107097216A CN 201710471238 A CN201710471238 A CN 201710471238A CN 107097216 A CN107097216 A CN 107097216A
- Authority
- CN
- China
- Prior art keywords
- cam
- arm
- movable
- paw
- feeding manipulator
- 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
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 210000000707 wrist Anatomy 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of feeding manipulator, it includes camshaft, for transmitting power to cam mechanism, to drive cam mechanism to rotate；Cam mechanism, by camshaft actuated, the cam mechanism includes moving up and down cam and movable cam；Mechanical paw；Power arm mechanism, including moving forward and backward arm and moving up and down arm, one end of the movable arm is connected with the mechanical paw, the other end by first it is foxy be connected with the movable cam, first slippery fellow can along the movable cam profile slip；Described one end for moving up and down arm and the mechanical paw are connected, the other end by second it is foxy be connected with the cam that moves up and down, second slippery fellow can move up and down cam contour slip along described；The present invention provides a kind of feeding manipulator, and it can realize the mechanization and automation of feeding, simplifies structure, improves manually-operated danger in feeding efficiency, reduction production process.
Description
Technical field
The present invention relates to a kind of feeding manipulator, belong to manipulator technical field.
Background technology
In field of machining, the production and processing of product needs multiple working procedure, is entered lower one from a procedure
All kinds of transmitting devices are needed to be conveyed during process, it is to improve how labor and materials to be fast and accurately transported on station
The key of work efficiency and crudy and production safety.So far some enterprises use the manufacturing mode of artificial feeding,
It is artificial that operating efficiency is low, product quality is unreliable and cost is high.
The content of the invention
The technical problems to be solved by the invention are：Overcoming the deficiencies in the prior art, there is provided a kind of feeding manipulator, its energy
The mechanization and automation of feeding are enough realized, simplifies structure, manually-operated danger in feeding efficiency, reduction production process is improved
Property.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of feeding manipulator, it includes
Camshaft, for transmitting power to cam mechanism, to drive cam mechanism to rotate；
Cam mechanism, by camshaft actuated, the cam mechanism includes moving up and down cam and movable cam；
Mechanical paw；
Power arm mechanism, including move forward and backward arm and move up and down arm, one end and the machinery of the movable arm
Paw be connected, the other end by first it is foxy be connected with the movable cam, first slippery fellow can along it is described it is front and rear shifting
The profile of moving cam is slided；Described one end for moving up and down arm and the mechanical paw are connected, the other end by second it is foxy with
The cam that moves up and down is connected, and second slippery fellow can slide along the cam contour that moves up and down.
Further, feeding manipulator also includes cam power gear, and cam power gear is fixedly connected on the one of camshaft
End, is rotated for drive cam shaft.
Further, feeding manipulator also includes rotating disk, rotary shaft and swing pinion；The swing pinion is fixedly connected on
One end of the rotary shaft, the other end of the rotary shaft is fixedly connected with rotating disk, and swing pinion drives rotary shaft to rotate, and enters
And drive rotating disk to rotate.
Further, Cam rest is fixed with the rotating disk, Cam rest is supported on camshaft, camshaft can be convex
Rotated in wheel support.
Further, power arm supporting device is fixed with the rotating disk, power arm supporting device is supported on movable
Arm and move up and down on arm.
Further, the power arm supporting device includes movable arm bearing support and moves up and down arm bearing support, described
Moving forward and backward arm support frame and moving up and down arm support frame has slide construction thereon, and the movable arm can be before described
Slided afterwards in the slide construction of transfer arm support frame, the arm that moves up and down can be in the slip for moving up and down arm support frame
Slided in structure.
Further, the mechanical paw includes wrist, fixed paw, movable paw and back-moving spring, the fixed paw
It is hinged with movable paw, back-moving spring is connected between the movable paw and fixed paw；The wrist is fixed on fixed hand
The end of pawl, the movable arm and moves up and down arm and is connected with the wrist of mechanical paw.
Above-mentioned technical proposal is employed, during present invention gripping material, power is provided by motor, passes through cam axial cam machine
Structure transmits power, to drive cam mechanism to rotate, and moves forward and backward arm by cam mechanism driving and moves up and down arm in sliding equipment
It is middle to slide, so drive wrist complete above and below and fore-and-aft direction movement, and provide power by motor, passed by swing pinion
Graduating power to rotary shaft drives rotating disk to rotate, and completes the rotary motion of feeding manipulator, can make mechanical paw in all directions
Flexible motion, the artificial operation of substitution, realizes the mechanization and automation of feeding, simplifies structure, improves feeding efficiency, reduction production
During manually-operated danger.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the feeding manipulator of the present invention；
Fig. 2 is the dimensional structure diagram under another visual angle of the feeding manipulator of the present invention；
Fig. 3 is the front view of the feeding manipulator of the present invention；
Fig. 4 is the dimensional structure diagram under another visual angle of the feeding manipulator of the present invention；
Fig. 5 is the structural representation of the mechanical paw of the present invention.
Embodiment
In order that present disclosure is easier to be clearly understood, it is right below according to specific embodiment and with reference to accompanying drawing
The present invention is described in further detail.
As shown in Fig. 1~5, a kind of feeding manipulator, it includes
Camshaft 6, for transmitting power to cam mechanism, to drive cam mechanism to rotate；
Cam mechanism, is driven by camshaft 6, and the cam mechanism includes moving up and down cam 3 and movable cam 4；
Mechanical paw 1；
Power arm mechanism, including movable arm 8 and move up and down arm 13, one end of the movable arm 8 with it is described
Mechanical paw is connected, the other end by first it is foxy be connected with the movable cam 4, first slippery fellow can be along before described
The profile of translating cam 4 is slided afterwards；Described one end for moving up and down arm 13 is connected with the mechanical paw, and the other end passes through second
Foxy to be connected with the cam 3 that moves up and down, second slippery fellow can slide along the profile of cam 3 that moves up and down.
As shown in Figure 1, 2, feeding manipulator also includes cam power gear 5, and cam power gear 5 is fixedly connected on cam
One end of axle, for transmitting power and drive cam shaft 6 is rotated.
As shown in Figure 1, 2, 3, feeding manipulator also includes rotating disk 10, rotary shaft 11 and swing pinion 12；The rotation
Gear 12 is fixedly connected on the lower end of the rotary shaft 11, and the upper end of the rotary shaft 11 is fixedly connected with rotating disk 10, rotation
Gear 12 drives rotary shaft 11 to rotate, and then drives rotating disk 10 to rotate.
As shown in Figure 1, 2, Cam rest 7 is fixed with the rotating disk 10, Cam rest 7 is supported on camshaft 6, convex
Wheel shaft 6 can be rotated in Cam rest 7.
As shown in Figure 1, 2, power arm supporting device is fixed with the rotating disk 10, before power arm supporting device is supported on
Transfer arm 8 and move up and down afterwards on arm 13.
As shown in Fig. 1,2,4, the power arm supporting device includes movable arm bearing support 9 and moves up and down arm supporting
Frame 14, the movable arm support frame 9 and moves up and down arm support frame 14 and has slide construction, the movable arm thereon
8 can be slided in the slide construction of the movable arm support frame 9, and the arm 13 that moves up and down can be moved down on described
Slided in the slide construction of swing arm support frame 14.
As shown in Fig. 1,2,5, the mechanical paw includes wrist 2, fixed paw 16, movable paw 15 and back-moving spring
17, the fixed paw 16 is hinged with movable paw 15, and back-moving spring 17 is connected to the movable paw 15 and fixed paw 16
Between；The wrist 2 is fixed on the end of fixed paw 16, the movable arm 8 and moves up and down arm 13 and manipulator
The wrist 2 of pawl is connected.
The acting as of the back-moving spring 17 makes the movable paw 15 return back to initial position.When mechanical paw 1 is gripped
During material, because the movable rear end of paw 15 described in lever principle applies pressure to the back-moving spring 17, in back-moving spring 17
The gripping of material is realized under effect, after after material transportation to specified location, unloading materials, movable paw 15 is in the back-moving spring
In the presence of 17, realize and reset.
The operation principle of the present invention is as follows：
When feeding manipulator grips material, exterior power (such as motor offer power) is by cam power gear 5 by power
Camshaft 6 is transferred to, drives movable cam 4 and cam power gear 5 to rotate by camshaft 6, by cam mechanism, is driven
Movable arm 8 and move up and down arm 13 movable arm bearing support 9 with move up and down the sliding equipment of arm bearing support 14
Slide, so drive wrist 2 complete above and below and fore-and-aft direction movement；The rotation of this feeding manipulator then by rotating disk 10,
Rotary shaft 11 and swing pinion 12 are completed, and exterior power (such as motor offer power) transmits power to rotation by swing pinion 12
Axle 11, rotary shaft 11 drives rotating disk 10 to rotate, and completes the rotary motion of feeding manipulator.
Particular embodiments described above, pair present invention solves the technical problem that, technical scheme and beneficial effect carry out
It is further described, should be understood that the specific embodiment that the foregoing is only the present invention, is not limited to this
Invention, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. should be included in this hair
Within bright protection domain.
Claims (7)
1. a kind of feeding manipulator, it is characterised in that：It includes
Camshaft (6), for transmitting power to cam mechanism, to drive cam mechanism to rotate；
Cam mechanism, by camshaft actuated, the cam mechanism includes moving up and down cam (3) and movable cam (4)；
Mechanical paw (1)；
Power arm mechanism, including move forward and backward arm (8) and move up and down arm (13), one end of the movable arm (8) and institute
State mechanical paw be connected, the other end by first it is foxy be connected with the movable cam (4), first slippery fellow can be along institute
The profile for stating movable cam (4) is slided；Described one end for moving up and down arm (13) is connected with the mechanical paw, the other end
By second it is foxy be connected with the cam (3) that moves up and down, second slippery fellow can move up and down cam (3) profile along described
Slide.
2. feeding manipulator according to claim 1, it is characterised in that：Feeding manipulator also includes cam power gear
(5), cam power gear (5) is fixedly connected on one end of camshaft (6), is rotated for drive cam shaft (6).
3. feeding manipulator according to claim 1, it is characterised in that：Feeding manipulator also includes rotating disk (10), rotation
Rotating shaft (11) and swing pinion (12)；The swing pinion (12) is fixedly connected on one end of the rotary shaft (11), the rotation
The other end of rotating shaft (11) is fixedly connected with rotating disk (10), and swing pinion (12) drives rotary shaft (11) to rotate, and then is driven
Rotating disk (10) is rotated.
4. feeding manipulator according to claim 3, it is characterised in that：Cam rest is fixed with the rotating disk (10)
(7), Cam rest (7) is supported on camshaft (6), and camshaft (6) can be rotated in Cam rest (7).
5. feeding manipulator according to claim 3, it is characterised in that：Power arm branch is fixed with the rotating disk (10)
Mechanism is held, power arm supporting device is supported on movable arm (8) and moved up and down on arm (13).
6. feeding manipulator according to claim 5, it is characterised in that：The power arm supporting device includes movable
Arm bearing support (9) and arm bearing support (14) is moved up and down, the movable arm support frame (9) and move up and down arm support frame
(14) have slide construction thereon, the movable arm (8) can the movable arm support frame (9) slide construction
Middle to slide, the arm (13) that moves up and down can be slided in the slide construction for moving up and down arm support frame (14).
7. feeding manipulator according to claim 5, it is characterised in that：The mechanical paw includes wrist (2), fixed hand
Pawl (16), movable paw (15) and back-moving spring (17), the fixed paw (16) are hinged with movable paw (15), back-moving spring
(17) it is connected between the movable paw (15) and fixed paw (16)；The wrist (2) is fixed on fixed paw (16)
End, the movable arm (8) and moves up and down arm (13) and is connected with the wrist (2) of mechanical paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710471238.6A CN107097216A (en) | 2017-06-20 | 2017-06-20 | Feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710471238.6A CN107097216A (en) | 2017-06-20 | 2017-06-20 | Feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097216A true CN107097216A (en) | 2017-08-29 |
Family
ID=59663154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710471238.6A Pending CN107097216A (en) | 2017-06-20 | 2017-06-20 | Feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097216A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107601002A (en) * | 2017-09-07 | 2018-01-19 | 中银（宁波）电池有限公司 | A kind of end feeder and end cover for battery cells convey spacing stripping system |
| CN107902403A (en) * | 2017-12-13 | 2018-04-13 | 扬州恒通精密机械有限公司 | A kind of mechanical arm assembly of multi-station mold |
| CN108161922A (en) * | 2018-02-05 | 2018-06-15 | 河海大学常州校区 | A kind of feeding cam manipulator |
| CN110315550A (en) * | 2019-06-14 | 2019-10-11 | 浙江科技学院 | A kind of four-jaw type automatic book taking device for library |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0683289U (en) * | 1993-05-14 | 1994-11-29 | 株式会社三橋製作所 | Goods transfer device |
| CN201007874Y (en) * | 2006-11-20 | 2008-01-16 | 浙江天煌科技实业有限公司 | Four-freedom mechanical hand experiment system |
| CN202071078U (en) * | 2011-05-12 | 2011-12-14 | 常州机电职业技术学院 | Material taking robot arm |
| CN202296498U (en) * | 2011-10-13 | 2012-07-04 | 上海炫仁机械设备有限公司 | Automatic gripper edge system |
| CN202964638U (en) * | 2012-12-13 | 2013-06-05 | 张淮 | All-purpose tongs |
| CN203608635U (en) * | 2013-10-29 | 2014-05-28 | 王建明 | Crop film breaking device |
| CN104354156A (en) * | 2014-10-27 | 2015-02-18 | 苏州菱欧自动化设备有限公司 | Cam manipulator |
| CN204917193U (en) * | 2015-07-21 | 2015-12-30 | 三祥新材股份有限公司 | Mechanism is got to cam link formula clamp |
| CN207014355U (en) * | 2017-06-20 | 2018-02-16 | 常州机电职业技术学院 | Feeding manipulator |
| CN114274121A (en) * | 2021-12-31 | 2022-04-05 | 上海轩田工业设备有限公司 | Cam manipulator capable of steering |
-
2017
- 2017-06-20 CN CN201710471238.6A patent/CN107097216A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0683289U (en) * | 1993-05-14 | 1994-11-29 | 株式会社三橋製作所 | Goods transfer device |
| CN201007874Y (en) * | 2006-11-20 | 2008-01-16 | 浙江天煌科技实业有限公司 | Four-freedom mechanical hand experiment system |
| CN202071078U (en) * | 2011-05-12 | 2011-12-14 | 常州机电职业技术学院 | Material taking robot arm |
| CN202296498U (en) * | 2011-10-13 | 2012-07-04 | 上海炫仁机械设备有限公司 | Automatic gripper edge system |
| CN202964638U (en) * | 2012-12-13 | 2013-06-05 | 张淮 | All-purpose tongs |
| CN203608635U (en) * | 2013-10-29 | 2014-05-28 | 王建明 | Crop film breaking device |
| CN104354156A (en) * | 2014-10-27 | 2015-02-18 | 苏州菱欧自动化设备有限公司 | Cam manipulator |
| CN204917193U (en) * | 2015-07-21 | 2015-12-30 | 三祥新材股份有限公司 | Mechanism is got to cam link formula clamp |
| CN207014355U (en) * | 2017-06-20 | 2018-02-16 | 常州机电职业技术学院 | Feeding manipulator |
| CN114274121A (en) * | 2021-12-31 | 2022-04-05 | 上海轩田工业设备有限公司 | Cam manipulator capable of steering |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107601002A (en) * | 2017-09-07 | 2018-01-19 | 中银（宁波）电池有限公司 | A kind of end feeder and end cover for battery cells convey spacing stripping system |
| CN107601002B (en) * | 2017-09-07 | 2023-09-26 | 宁波金山双鹿电池有限公司 | Cover conveying mechanism and battery end cover conveying limiting stripping system |
| CN107902403A (en) * | 2017-12-13 | 2018-04-13 | 扬州恒通精密机械有限公司 | A kind of mechanical arm assembly of multi-station mold |
| CN107902403B (en) * | 2017-12-13 | 2024-01-05 | 扬州恒星精密机械有限公司 | Manipulator assembly of multi-station die |
| CN108161922A (en) * | 2018-02-05 | 2018-06-15 | 河海大学常州校区 | A kind of feeding cam manipulator |
| CN110315550A (en) * | 2019-06-14 | 2019-10-11 | 浙江科技学院 | A kind of four-jaw type automatic book taking device for library |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107097216A (en) | Feeding manipulator | |
| CN203726485U (en) | Transferring manipulator | |
| JP6174261B2 (en) | Conveyor for work | |
| JP2011156621A (en) | Transfer device | |
| CN201525650U (en) | Card unloading device | |
| CN102717298A (en) | Intermittently rotational multi-station feeding device | |
| CN105364921A (en) | Mechanical arm | |
| CN101288940A (en) | Machining center hydraulic cam linkage tool-changing mechanism | |
| CN111376232A (en) | Both arms transfer robot | |
| CN107186534B (en) | Feeding robot | |
| CN101711507A (en) | Rotating device for eggs and conveying mechanism for eggs | |
| CN207014355U (en) | Feeding manipulator | |
| CN108526382A (en) | A kind of forging roll | |
| CN103624800A (en) | Mechanical arm with enhanced conveying function | |
| CN205653480U (en) | Automatic quench machining tool | |
| CN104400781B (en) | Feeding mechanical hand | |
| CN210364615U (en) | Continuous grabbing manipulator of automatic filling and packaging machine | |
| CN206298195U (en) | A kind of new step feeding device | |
| CN104827464A (en) | Horizontal driving mechanism of four-freedom-degree high-speed conveying robot | |
| CN205148318U (en) | Five -axle linkage transfer robot | |
| CN114603362B (en) | Dual-mode elevator pedal processing device | |
| CN207142280U (en) | The auxiliary feed mechanism of terminal | |
| CN202201230U (en) | Electric core turning and transferring device of labeling machine | |
| CN204868321U (en) | Rotary machine hand | |
| CN102890009A (en) | Sample feeding device of vehicle-mounted mobile coal sample collecting and processing model 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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170829 |