CN202966748U - Cyclic grabbing mechanism - Google Patents
Cyclic grabbing mechanism Download PDFInfo
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- CN202966748U CN202966748U CN 201220700933 CN201220700933U CN202966748U CN 202966748 U CN202966748 U CN 202966748U CN 201220700933 CN201220700933 CN 201220700933 CN 201220700933 U CN201220700933 U CN 201220700933U CN 202966748 U CN202966748 U CN 202966748U
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- wheel seat
- guide rail
- slide rail
- wheel
- circulation
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Abstract
The utility model discloses a cyclic grabbing mechanism which is arranged on a production line for achieving synchronous looping execution of grabbing and placing work-pieces on the production line. The cyclic grabbing mechanism is characterized by comprising a sealed annular guide rail, a plurality of slide rail trolleys and a plurality of manipulators. The guide rail is arranged between a feeding area and a discharging area of the production line; the plurality of the slide rail trolleys are arranged on the guide rail and capable of moving on the guide rail between the cyclic feeding area and the discharging area; the plurality of the manipulators can clamp or loosen for grabbing or loosening work-pieces, and each manipulator is fixed on one slide rail trolley; and the manipulators are driven by corresponding slide rail trolleys to move along the guide rail and clamp work-pieces of the feeding area and carry and place the work-pieces to the discharging area successively, and accordingly, automatic carrying is achieved. According to the cyclic grabbing mechanism, line production that a plurality of work-pieces are grabbed simultaneously on the production line and placed at fixed positions sequentially can be achieved; and the occupied space is small, the batch work-piece processing is efficient, and the mechanism is simple and convenient to maintain.
Description
Technical field
The utility model relates to the automatic conveying device on the package packing machine automatic production lines, and specifically a kind of circulation grasping mechanism, be applicable to grasp simultaneously a plurality of objects also in turn on the production-lines of fixed position place work piece.
Background technology
In package packing machine automatic production lines field, often need the wrapping machine material loading part can grasp simultaneously a plurality of objects to be packaged, and can be in turn these objects be sent into the wrapping machine entrance one by one by identical time gap, simultaneously, must guarantee that interlude is shorter.
At present, for satisfying above-mentioned requirements, control motor movement by PLC often in prior art, drive a plurality of catching robots and move on line slideway and to realize.Above-mentioned grasping mechanism is because the process of crawl can not synchronously be carried out with put procedure, and often efficient is not high, needs to reduce the package speed of wrapping machine.When the number of items of single crawl was larger, often the length of line slideway was oversize, causes the length of whole manufacturing line long, can't meet design requirement, and this grasping mechanism and mode make whole grasping mechanism structure and control complicated having relatively high expectations of controlling.
The utility model content
The purpose of this utility model is to avoid weak point of the prior art, provide a kind of volume little, produce efficient, simple in structure and be convenient to safeguard advance the grasping mechanism that singly goes out to circulate more.
For achieving the above object, the technical solution adopted in the utility model is as follows:
A kind of circulation grasping mechanism is arranged on manufacturing line, is used for realizing the crawl of object on manufacturing line and the synchronous circulating execution of placement, it is characterized in that, this mechanism comprises: guide rail, and the annular that it is sealing is arranged between the feed zone and discharge zone of manufacturing line; A plurality of slide rail dollies, it is arranged on guide rail, can move at this guide rail, realizes that each slide rail dolly moves between recycle feed district and discharge zone; A plurality of manipulators, it can step up or unclamp, and being used for the crawl object or object is unclamped, wherein each manipulator is fixed on a slide block dolly; Each manipulator moves along guide rail under the drive of the slide rail dolly of correspondence, is transported to discharge zone after successively the object of feed zone being stepped up and places, and realizes automated handling.
Further preferably, the drive that move through chain transmission, belt-driving or gear drive of described each slide rail dolly on guide rail realizes.
Further preferably, described chain drive comprises messenger chain, stepping motor and sprocket wheel, this messenger chain is the ring-type close with guide rail, each slide rail dolly is fixedly installed on this messenger chain, described stepping motor drive sprocket rotates, can drive the messenger chain motion, move on guide rail thereby drive each slide rail dolly.
Further preferably, described small rail car comprises front-wheel, trailing wheel, front-wheel seat, the carrier bar attaching parts, vehicle body and rear wheel seat, wherein, front-wheel seat and rear wheel seat are separately positioned on the vehicle body rear and front end, described front-wheel and trailing wheel correspondence respectively are arranged on described front-wheel seat and rear wheel seat, described guide rail can be connected between front-wheel and trailing wheel, and described carrier bar attaching parts is fixedly installed on front-wheel seat or rear wheel seat, and it is used for affixed with messenger chain.
Further preferably, described front-wheel seat is connected by adapter shaft with rear wheel seat and is connected with vehicle body, front-wheel seat and rear wheel seat can be freely around separately adapter shaft axle center rotation.
Further preferably, described front-wheel and trailing wheel are a pair of, and symmetry is installed on front-wheel seat and rear wheel seat respectively.
further preferably, described manipulator comprises pedestal, push rod, two connecting rods and two mechanical arms, wherein, described pedestal and slide rail dolly are connected, two connecting rod one ends are hinged with pedestal respectively, the other end is hinged with an end of mechanical arm respectively, the other end end of two mechanical arms is hinged, and be fixedly installed respectively an intermediate plate, form jaw, push rod one end is captiveed joint with two mechanical arms, the other end is connected with the actuator of cylinder after passing pedestal, cylinder promotes the relative pedestal of push rod and moves back and forth, make push rod promote mechanical arm relative to rotating with respect to interlinking lever end, thereby the intermediate plate that makes two mechanical arm ends is relatively opened or is closed, realize opening or firmly grasping of manipulator.
Further preferably, be provided with spring between the fixed end of described pedestal and push rod, this spring keeps extended state, makes the jaw of two mechanical arm ends maintain certain predetermined grasp.
The utility model organically connects in batch catching robot, small rail car and conveyer chain, after the crawled manipulator crawl of object, moves under the drive of conveyer chain, and after arriving destination locations, the release mechanism hand puts down workpiece.Simultaneously, be circulated to the manipulator crawl object at object place.Thereby guarantee crawl object when placing object.Control by PLC, guarantee the coordination between various piece, and can carry out Real Time Monitoring to equipment state.
Object in the utility model is linearly arranged, therefore selecting the track of small rail car operation is that two sections rectilinear orbits add two sections semi arch tracks and are formed by stacking, be embodied as small rail car face circular flow in orbit in batches, equidistant between each small rail car, and drag by conveyer chain.Sprocket wheel drives by stepping motor, when trolley travelling during to the wrapping machine entrance, stepping motor stops, manipulator puts down object, if there is this moment the manipulator of sufficient amount to move to crawl object place, manipulator is when object is put down in the wrapping machine entrance, and in object crawl place, each manipulator is realized the crawl to object.
The utility model is for guaranteeing that small rail car can level and smooth operation on two sections rectilinear orbits add the guide rail that two sections semi arch tracks are formed by stacking, and dolly do not de-orbit, and the front and back wheel of dolly must rotate freely on the vehicle body plane, and wheel blocks track.Select suitable position on dolly, dolly and conveyer chain are fixed.
Manipulator of the present utility model is fixed on small rail car, due to manipulator circulating motion in orbit, is fixed in its structural propulsion source therefore manipulator should not be selected.Manipulator adopts four-bar mechanism, produces initial grasp by spring.When manipulator need to unclamp, utilize the outer inside casing outputting power, the promotion robot rod member opens manipulator arm.
This utility model has realized grasping simultaneously a plurality of objects on manufacturing line, in turn at the Detroit automation of fixed position place work piece, and take up room little, the batch processing workpiece is efficient, mechanism simple and be convenient to safeguard.
Description of drawings
Fig. 1 is the structural representation with the grasping mechanism of six manipulators of the utility model embodiment;
Fig. 2 be the utility model embodiment the small rail car structural representation;
Fig. 3 be the utility model embodiment the structural representation of catching robot.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.Following embodiment is only indicative, does not consist of restriction of the present utility model, and modification or the modification done under every connotation not breaking away from technical solutions of the utility model all belong to protection domain of the present utility model.
As shown in Figure 1, the grasping mechanism that singly goes out to circulate that advances of the present embodiment comprises catching robot 11,19,110,111,112,113, guide rail 12 more, six the slide rail dollies 13 corresponding with manipulator, charging cylinder 14, discharging cylinder 15, stepping motor 16, sprocket wheel 17 and bilateral bent plate messenger chain 18.For convenience of description, be describing as example with the single cycle grasping mechanism of six manipulators in the present embodiment, but the quantity of manipulator and corresponding slide rail dolly is not limited thereto, it can need to be adjusted with border factually.
As shown in Figure 1, guide rail 12 is arranged along feed zone and the discharge zone of manufacturing line ringwise, each slide rail dolly 13 is arranged on guide rail 12, can move at this guide rail 12, each slide rail dolly 13 moves in guide rail 12 cocycles, moves to discharge zone through feed zone gripping material respectively successively again and decontrols material.
The move through chain drive of each slide rail dolly 13 on guide rail 12 drives realization.This chain drive comprises messenger chain 18, stepping motor 16 and sprocket wheel 17, its middle sprocket 17 is two, be respectively drive sprocket and driven sprocket, messenger chain 18 is the ring-type similar to guide rail 12, preferably be arranged on guide rail 12 inner rings, each slide rail dolly 13 is fixedly installed on messenger chain 18, and stepping motor 16 drive sprockets 17 rotate, and can drive each slide rail dolly 13 and move on guide rail 12.
The transmission device that adopts in the present embodiment is chain drive, but also can adopt other transmission devices to drive slide rail dolly 13, as belt gear, gear drive etc.
As shown in Figure 2, small rail car 13 comprises front- wheel 21,22, trailing wheel 28,29, front-wheel seat 23, carrier bar attaching parts 24, vehicle body 25, adapter shaft 26,27 and rear wheel seat 20.Track 12 is stuck in the middle of four wheels, guarantees that dolly can not de-orbit 12.Front- wheel 21,22 is installed on front-wheel seat 23 by the screw symmetry, trailing wheel 28,29 is installed on rear wheel seat 20 by the screw symmetry, can be not stuck when guaranteeing that dolly moves on track 12, front-wheel seat 23 is connected with rear wheel seat respectively and is connected with vehicle body 25 by adapter shaft 26,27, and front-wheel seat 23 and rear wheel seat 20 are free to rotate around adapter shaft axle center separately.Carrier bar attaching parts 24 is arranged on front-wheel seat 23 or rear wheel seat 20, and captive joint, and is affixed with messenger chain 18 to be used for.The axis of front-wheel seat 23 inner bolt holes guarantees that bilateral bent plate messenger chain 18 can not allow dolly block in the plane that front- wheel 21,22 central axis form.
As shown in Figure 3, catching robot comprises pedestal 31, push rod 32, connecting rod 33,37, mechanical arm 34,36, spring 35.Pedestal 31 is connected with slide rail dolly 13, and connecting rod 33,37 1 ends are hinged with pedestal 31 respectively, and the other end is hinged with mechanical arm 34, an end of 36 respectively, and two mechanical arms 34,36 other end end is fixedly installed respectively jaw.Push rod 32 1 ends are captiveed joint with two mechanical arms 34,36, and the other end is connected with the actuator of cylinder 14 or 15 after passing pedestal 31.Two connecting rods 33,37 and two mechanical arms 34,36 form the structure that is arranged symmetrically with, and form similar slider-crank mechanism together with push rod 32.
During work, stepping motor 16 band movable sprocket 17 rotations make messenger chain 18 motions, drive slide rail dolly 13 and move on track 12.Catching robot 112 and catching robot 113 positions are crawl object district, 14 ventilations of charging this moment cylinder, promote the connecting rod in catching robot 112 and catching robot 113, catching robot 112 and catching robot 113 crawl objects, catching robot 110 places discharging cylinder 15 ventilations simultaneously make catching robot 110 that object is unclamped placement.After grasping and place object and completing simultaneously, stepping motor 16 rotations drive each manipulator and moves on guide rail 12, make catching robot 19 move to catching robot 110 present positions in figure, complete the interior object placement of catching robot 19.Only have when there are two manipulators that do not grasp object in crawl object district, charging cylinder 14 just move, makes to grasp object district manipulator and grasp object.Advance singly to go out to circulate more grasping mechanism according to this sequential loop get object and place object, realize a plurality of objects of crawl.
Claims (8)
1. a circulation grasping mechanism, be arranged on manufacturing line, is used for realizing the crawl of object on manufacturing line and the synchronous circulating execution of placement, it is characterized in that, this mechanism comprises:
Guide rail (12), the annular that it is sealing is arranged between the feed zone and discharge zone on manufacturing line;
A plurality of slide rail dollies (13), it is arranged on described guide rail (12) movably, realizes that the alternate cycles of each slide rail dolly (13) between recycle feed district and discharge zone moves;
A plurality of manipulators, it can clamp or unclamp, and being used for the crawl object or object is unclamped, wherein each manipulator is fixed on a slide block dolly (13);
Each manipulator is mobile along guide rail (12) under the drive of the slide rail dolly (13) of correspondence, is transported to discharge zone after successively the object of feed zone being stepped up and places, and realizes automated handling.
2. circulation grasping mechanism according to claim 1, is characterized in that, the drive that move through chain transmission, belt-driving or gear drive of described each slide rail dolly (13) on guide rail (12) realizes.
3. circulation grasping mechanism according to claim 2, it is characterized in that, described chain drive comprises messenger chain (18), stepping motor (16) and sprocket wheel (17), wherein, messenger chain (18) is the ring-type close with described guide rail (12), each slide rail dolly (13) is fixedly installed on this messenger chain (18), described stepping motor (16) drive sprocket (17) rotates, can drive messenger chain (18) motion, thereby it is upper mobile at described guide rail (12) to drive each slide rail dolly (13).
4. the described circulation grasping mechanism of any one according to claim 1-3, it is characterized in that, described small rail car (13) comprises front-wheel (21, 22), trailing wheel (28, 29), front-wheel seat (23), carrier bar attaching parts (23), vehicle body (25) and rear wheel seat (20), wherein, front-wheel seat (23) and rear wheel seat (20) are separately positioned on vehicle body (25) rear and front end, described front-wheel (21, 22) and trailing wheel (28, 29) correspondence is arranged on described front-wheel seat (23) and rear wheel seat (20) respectively, described guide rail (12) is connected to front-wheel (21, 22) and trailing wheel (28, 29) between, described carrier bar attaching parts (23) is fixedly installed on described front-wheel seat (23) or rear wheel seat (20), be used for affixed with messenger chain (18).
5. circulation grasping mechanism according to claim 4, it is characterized in that, described front-wheel seat (23) is connected 20 with rear wheel seat) be connected with vehicle body (25) by adapter shaft (26,27) respectively, this front-wheel seat (23) and rear wheel seat (20) can be freely rotate around adapter shaft axle center separately.
6. circulation grasping mechanism according to claim 5, is characterized in that, described front-wheel (21,22) and trailing wheel (28,29) are a pair of, and symmetry is installed on front-wheel seat (23) and rear wheel seat (20) respectively.
7. according to claim 1-3, in 5 or 6, the described circulation grasping mechanism of any one, is characterized in that, described manipulator comprises pedestal (31), push rod (32), two connecting rods (33, 37) and two mechanical arms (34, 36), wherein, described pedestal (31) is connected with slide rail dolly (13), two connecting rods (33, 37) end is hinged with pedestal (31) respectively, the other end respectively with mechanical arm (34, 36) a end is hinged, two mechanical arms (34, 36) other end end is hinged, and is fixedly installed respectively an intermediate plate, forms jaw, push rod (32) one ends and two mechanical arms (34, 36) captive joint, the other end pass pedestal (31) afterwards and cylinder (14, 15) actuator connects, this cylinder (14, 15) promote the relative pedestal (31) of push rod (32) and move back and forth, make push rod (32) promote mechanical arm (34, 36) relatively with respect to connecting rod (33, 37) rotate the end, thereby make two mechanical arms (34, 36) intermediate plate of end is relatively opened or is closed, realizes opening or firmly grasping of manipulator.
8. circulation grasping mechanism according to claim 7, it is characterized in that, be provided with spring (35) between the fixed end of described pedestal (31) and push rod (32), this spring (35) keeps extended state, makes the jaw of two mechanical arms (34,36) ends maintain certain predetermined grasp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220700933 CN202966748U (en) | 2012-12-17 | 2012-12-17 | Cyclic grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220700933 CN202966748U (en) | 2012-12-17 | 2012-12-17 | Cyclic grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202966748U true CN202966748U (en) | 2013-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220700933 Expired - Fee Related CN202966748U (en) | 2012-12-17 | 2012-12-17 | Cyclic grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202966748U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057748A (en) * | 2012-12-17 | 2013-04-24 | 华中科技大学 | Circulating capturing mechanism |
| CN105728331A (en) * | 2016-03-23 | 2016-07-06 | 山东道先为智能科技有限公司 | Full-automatic material detecting and sorting system and material detecting and sorting method |
| CN107892028A (en) * | 2017-10-12 | 2018-04-10 | 湖南千山制药机械股份有限公司 | Medicine bottle bottle conveying device is used in granular preparation allotment |
| CN108097827A (en) * | 2017-12-27 | 2018-06-01 | 广东顶固集创家居股份有限公司 | A kind of automatic charging device |
-
2012
- 2012-12-17 CN CN 201220700933 patent/CN202966748U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057748A (en) * | 2012-12-17 | 2013-04-24 | 华中科技大学 | Circulating capturing mechanism |
| CN103057748B (en) * | 2012-12-17 | 2015-07-01 | 华中科技大学 | Circulating capturing mechanism |
| CN105728331A (en) * | 2016-03-23 | 2016-07-06 | 山东道先为智能科技有限公司 | Full-automatic material detecting and sorting system and material detecting and sorting method |
| CN107892028A (en) * | 2017-10-12 | 2018-04-10 | 湖南千山制药机械股份有限公司 | Medicine bottle bottle conveying device is used in granular preparation allotment |
| CN107892028B (en) * | 2017-10-12 | 2019-10-01 | 湖南千山制药机械股份有限公司 | Granular preparation allotment medicine bottle bottle conveying device |
| CN108097827A (en) * | 2017-12-27 | 2018-06-01 | 广东顶固集创家居股份有限公司 | A kind of automatic charging device |
| CN108097827B (en) * | 2017-12-27 | 2023-06-30 | 广东顶固集创家居股份有限公司 | Automatic feeding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20161217 |
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| CF01 | Termination of patent right due to non-payment of annual fee |