CN203510554U - Vertical mechanical hand - Google Patents
Vertical mechanical hand Download PDFInfo
- Publication number
- CN203510554U CN203510554U CN201320675173.4U CN201320675173U CN203510554U CN 203510554 U CN203510554 U CN 203510554U CN 201320675173 U CN201320675173 U CN 201320675173U CN 203510554 U CN203510554 U CN 203510554U
- Authority
- CN
- China
- Prior art keywords
- operation mechanism
- mechanical hand
- travelling mechanism
- vertical
- vertical mechanical
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a vertical mechanical hand, and belongs to the field of transfer robots. The vertical type mechanical hand solves the problems of large size and inconvenience for installation which are caused by changing a special mechanical hand of an existing horizontal injection molding machine into a vertical type structure. The vertical mechanical hand comprises a base, wherein a rotating operation mechanism is assembled on the base, the rotating operation mechanism is provided with an upper operation mechanism and a lower operation mechanism which are driven by the rotating operation mechanism to rotate, the upper operation mechanism and the lower operation mechanism are provided with a front operation mechanism and a rear operation mechanism which are driven by the upper operation mechanism and the lower operation mechanism to move up and down, and the front operation mechanism and the rear operation mechanism are provided with grasping operation mechanisms which are driven by the front operation mechanism and the rear operation mechanism to move front and back; a control device used for controlling the rotating operation mechanism, the upper operation mechanism, the lower operation mechanism, the front operation mechanism, the rear operation mechanism and the grasping operation mechanisms is assembled on the base. According to the vertical mechanical hand, the control device enables the operation mechanisms to complete related various expectant operation by programming in a pneumatic drive mode, so that the working efficiency and the automation level are effectively improved. The vertical mechanical hand disclosed by the utility model has the advantages of compact structure, small size, convenience for installation and suitability for 12-150-ton vertical injection molding machines.
Description
Technical field
The utility model belongs to a kind of transfer robot, is specifically related to a kind of vertical mechanical hand.
Background technology
Along with China is industrial, develop by leaps and bounds, the rapid raising of automaticity realize workpiece handling, turn to, carry or the automation of the operation such as the instrument of managing is processed, assembling more and more causes people's attention.
Manipulator is the part action of imitating staff, by given program, track and requirement, realizes crawl, carrying or automation equipment.Robot arm is just flexibility ratio and endurance degree with the maximum difference of the arm that has the mankind.Namely the sharpest edges of manipulator are recursive does same action and could not feel forever under normal circumstances tired at machinery! Thereby reduce labor intensity, guarantee the quality of production, realize safety in production, improve automated production level and labor productivity, the application of mechanical arm also will be more and more extensive.
The injection machine using in plastic-injection industry is divided into two kinds of horizontal injection press and vertical injection molding machines substantially.Due to the problem of plastic cement products structure, form in plastic-injection industry and take and use horizontal injection press as main.Also take that to be applicable to the manipulator that horizontal injection press uses be main body for this reason, cause like this automated production that realizes vertical injection molding machine, can only use the manipulator that is applicable to horizontal injection press to improve laggard luggage and join.Not not identical due to the operating structure of horizontal injection press and vertical injection molding machine, so change its mounting means in order to adapt to the use horizontal injection press special manipulator needs of vertical injection molding machine, for this reason can cause that installation volume becomes very huge and inconvenience is very installed also, and owing to having changed, mounting means manipulator operating structure is also corresponding there is change, and while moving, stability also changes for this reason.
Utility model content
The technical assignment of the technical problems to be solved in the utility model and proposition be overcome existing change the special manipulator for horizontal injection press into vertical structure exist bulky, inconvenient defect is installed, a kind of vertical mechanical hand is provided.
For achieving the above object, vertical mechanical hand of the present utility model, comprise pedestal, it is characterized in that: on described pedestal, assemble rotating operation mechanism, in described rotating operation mechanism, arrange by it with making the travelling mechanism up and down rotating, on described travelling mechanism up and down, arrange by it with making the front and back travelling mechanism of operation up and down, crawl travelling mechanism with operation before and after doing is set on described front and back travelling mechanism by it, on described pedestal, also assembling is used for controlling described rotating operation mechanism, upper and lower travelling mechanism, front and back travelling mechanism, capture the control device of travelling mechanism.
As optimization technique means: described rotating operation mechanism comprises and is assemblied in wobble-plate and the oscillating cylinder for driving described wobble-plate to swing that can rotate around vertical axis on described pedestal.
As optimization technique means: bottom one side of described wobble-plate is established the actuating arm that a width along described wobble-plate extends, and on described actuating arm, chute is set, the drive end of described oscillating cylinder is assemblied in described chute.
As optimization technique means: described travelling mechanism up and down comprise the vertical guide rod that is fixed on described wobble-plate, horizontal fixed mount and be slidedly assemblied in the seat up and down on described guide rod, the described upper and lower seat of driving being fixed on described fixed mount is done the pulling cylinder of operation up and down along described guide rod.
As optimization technique means: described wobble-plate is rectangular, its middle part, bottom is by bearing assemble on described pedestal, and described guide rod, fixed mount are positioned at the centre of described wobble-plate.
As optimization technique means: described front and back travelling mechanism comprises the line rail be located on described upper and lower seat, be located at the arm beam that the rail along the line on line rail slides and cylinder is moved in the front and back that drive described arm beam.
As optimization technique means: be provided with positive stop on described arm beam.
As optimization technique means: described crawl travelling mechanism is fixture.
As optimization technique means: described control device comprise be arranged on the control cabinet on pedestal and be controlled by described control cabinet for controlling the magnetic valve group of described oscillating cylinder, pulling cylinder, front and back operation cylinder.
The beneficial effects of the utility model are: control device is programmed and completed the operation of various expections by be allowed each relevant travelling mechanism by pneumatic actuation mode, thereby effectively raises operating efficiency and automatization level; Compact conformation, volume is little, is convenient to install; Be applicable to 12-150 ton vertical injection molding machine.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment, below the accompanying drawing of the required use of embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing:
Fig. 1 is a shaft side figure of a kind of vertical mechanical hand of the present utility model;
Fig. 2 is another shaft side figure of a kind of vertical mechanical hand of the present utility model;
Fig. 3 is the front view of a kind of vertical mechanical hand of the present utility model;
Fig. 4 is the rearview of a kind of vertical mechanical hand of the present utility model;
Fig. 5 is the left view of a kind of vertical mechanical hand of the present utility model;
Fig. 6 is the top view of a kind of vertical mechanical hand of the present utility model;
Number in the figure explanation: 1-guide rod, 2-fixed mount, the upper and lower seat of 3-, 4-line rail, 5-fixture, 6-arm beam, 7-wobble-plate, 8-pedestal, 9-oscillating cylinder, 10-controls case lid, 11-control cabinet, 12-drag chain, operation cylinder before and after 13-, 14-positive stop, 15-pulling cylinder, the combination of 16-two point, 17-magnetic valve group, 18-actuating arm, 19-chute.
The specific embodiment
Below in conjunction with Figure of description, the utility model is described further.
Vertical mechanical hand of the present utility model, as shown in Fig. 1-6, it comprises pedestal 8, on pedestal 8, assemble rotating operation mechanism, in rotating operation mechanism, arrange by it with making the travelling mechanism up and down rotating, on upper and lower travelling mechanism, arrange by it with making the front and back travelling mechanism of operation up and down, crawl travelling mechanism with operation before and after doing by it is set on travelling mechanism of front and back, and on pedestal, also assembling is used for the control device of controlling rotating operation mechanism, upper and lower travelling mechanism, front and back travelling mechanism, capturing travelling mechanism.
For realizing above-mentioned vertical mechanical hand, each mechanism can adopt following concrete structure.
Rotating operation mechanism comprises and is assemblied in the wobble-plate 7 that can rotate around vertical axis on pedestal 8 and the oscillating cylinder 9 for driving wobble-plate 7 to swing.By pneumatic mode, oscillating cylinder 9 is done back and forth and seesawed, by the promotion of oscillating cylinder 9, wobble-plate 7 is rotated around vertical axis, the angle of rotation can realize the variation of 0-180 ° according to oscillating cylinder 9 and the position of wobble-plate 7.Bottom one side of wobble-plate 7 is established the actuating arm 18 that a width along wobble-plate 7 extends, and chute 19 is set on actuating arm, and the drive end of oscillating cylinder 9 is assemblied in chute.
Upper and lower travelling mechanism comprise the vertical guide rod 1 that is fixed on wobble-plate 7, horizontal fixed mount 2 and be slidedly assemblied in the seat 3 up and down on guide rod 1, the upper and lower seat 3 of driving being fixed on fixed mount 2 is done the pulling cylinder 15 of operation up and down along guide rod 1.By pneumatic mode, pulling cylinder 15 is done back and forth and moved up and down, by pulling cylinder 15, drive upper and lower seat 3 to pump along guide rod 1, the stroke moving up and down can be realized by adjusting the fixed position of fixed mount 2 on guide rod 1.Concrete, wobble-plate 7 is rectangular, and its middle part, bottom is by bearing assemble on pedestal 8, and guide rod 1, fixed mount 2 are positioned at the centre of wobble-plate 7.
Front and back travelling mechanism comprises the line rail 4 of being located on upper and lower seat 3, the front and back operation cylinder 13 of being located at the arm beam 6 of 4 slips of rail along the line on line rail 4 and driving arm beam 6.On arm beam 6, be provided with positive stop 14.Before and after making by pneumatic mode, operation cylinder 13 is done front-rear reciprocation movement, by front and back operation cylinder 13, drive arm beam 6 to do front-rear reciprocation movement along line rail 4 directions, (while specifically implementing, positive stop 14 can also arrange on online rail 4) can be realized by adjusting the fixed position of positive stop 14 on arm beam 6 in the position seesawing.
Capturing travelling mechanism is fixture 5, by pneumatic mode can realize folder, armful, the multi-functional needs such as suction.
What control device comprised the control cabinet 11 being arranged on pedestal 8 and was controlled by control cabinet 11 controls case lid 10, two point combination 16 for controlling the magnetic valve group 17 of oscillating cylinder 9, pulling cylinder 15, front and back operation cylinder 13, also comprising.Aerodynamic flow by magnetic valve group 17 pneumatic actuation modes being programmed to set the pneumatic part of each motion to, make associated mechanisms carry out work by the characteristics of motion of setting.
Vertical mechanical hand of the present utility model, by the rotation of wobble-plate 7, the moving up and down of upper and lower seat 3, the moving forward and backward of arm beam 6, the action of fixture 5, realizes the odd jobs motion of a plurality of frees degree.Machine, without redesigning, installing, has improved operating efficiency and has reduced use cost, and the scope of application is wider.
On the basis of said structure, the utility model can also be realized following advantage by design:
◆ control system adopts dialog mode man-machine interface, supports the one-touch switching in Chinese and English interface, easy to operate, easy to learn;
◆ adopt the design of modularization pcb board, master control is separated with demonstration, and system is more reliable and more stable, and repair and replacement are convenient, and antijamming capability is strong;
◆ adopt 16 groups of standard formulas, set voluntarily instruction formula for 20 groups, meet demand and the form of producing various products completely.
◆ adopt 3.5 cun of color screens to show, coordinate the action (key one function) of full key board, operation is quite easily understood;
◆ adopt mould and product protection warning function, apolegamy special module carries out the defect auto-alarm function of effective mould protection and product;
◆ body parts adopt mould hot investment casting moulding and form through CNC fine finishining, and structural strength is high, elegant in appearance;
◆ on board, lower arms adopts high-strength aluminum profile, coordinate accurate line style slide rail, and pulling adopts the light high rigidity aluminium alloy of quality to squeeze type beam cooperation linear bearing and high rigidity shaft holds steel, can reach the requirement that take-off speed is fast, lightweight, rigidity is good, it is low to rub, it is little to shake, the life-span is long;
◆ key components and parts all adopts high-quality material to make, high reliability, high repeatable accuracy long service life;
◆ the anti-fall design of safety can effectively protect mould and arm and fixture after unexpected air pressure declines.
Claims (9)
1. a vertical mechanical hand, comprise pedestal (8), it is characterized in that: the upper assembling of described pedestal (8) rotating operation mechanism, in described rotating operation mechanism, arrange by it with making the travelling mechanism up and down rotating, on described travelling mechanism up and down, arrange by it with making the front and back travelling mechanism of operation up and down, crawl travelling mechanism with operation before and after doing by it is set on described front and back travelling mechanism, on described pedestal (8) also assembling for controlling described rotating operation mechanism, upper and lower travelling mechanism, front and back travelling mechanism, capture the control device of travelling mechanism.
2. vertical mechanical hand according to claim 1, is characterized in that: described rotating operation mechanism comprises and is assemblied in wobble-plate (7) and the oscillating cylinder (9) for driving described wobble-plate (7) to swing that can rotate around vertical axis on described pedestal (8).
3. vertical mechanical hand according to claim 2, it is characterized in that: bottom one side of described wobble-plate (7) is established the actuating arm (18) that a width along described wobble-plate (7) extends, chute (19) is set on described actuating arm (18), and the drive end of described oscillating cylinder (9) is assemblied in described chute (19).
4. vertical mechanical hand according to claim 2, is characterized in that: described travelling mechanism up and down comprise the vertical guide rod (1) that is fixed on described wobble-plate (7), horizontal fixed mount (2) and be slidedly assemblied in the seat (3) up and down on described guide rod (1), the described upper and lower seat of driving (3) being fixed on described fixed mount (2) is done the pulling cylinder (15) of operation up and down along described guide rod (1).
5. vertical mechanical hand according to claim 4, it is characterized in that: described wobble-plate (7) is rectangular, its middle part, bottom is upper at described pedestal (8) by bearing assemble, and described guide rod (1), fixed mount (2) are positioned at the centre of described wobble-plate (7).
6. according to the vertical mechanical hand described in claim 4 or 5, it is characterized in that: described front and back travelling mechanism comprises the line rail (4) of being located on described upper and lower seat (3), the front and back operation cylinder (13) of being located at the arm beam (6) of rail along the line (4) slip on line rail (4) and driving described arm beam (6).
7. vertical mechanical hand according to claim 6, is characterized in that: on described arm beam (6), be provided with positive stop (14).
8. vertical mechanical hand according to claim 6, is characterized in that: described crawl travelling mechanism is fixture (5).
9. vertical mechanical hand according to claim 8, is characterized in that: described control device comprise the control cabinet (11) being arranged on pedestal (8) and be controlled by described control cabinet (11) for controlling the magnetic valve group (17) of described oscillating cylinder (9), pulling cylinder (15), front and back operation cylinders (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320675173.4U CN203510554U (en) | 2013-10-29 | 2013-10-29 | Vertical mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320675173.4U CN203510554U (en) | 2013-10-29 | 2013-10-29 | Vertical mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203510554U true CN203510554U (en) | 2014-04-02 |
Family
ID=50369536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320675173.4U Expired - Fee Related CN203510554U (en) | 2013-10-29 | 2013-10-29 | Vertical mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203510554U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757483A (en) * | 2019-11-08 | 2020-02-07 | 珠海格力智能装备有限公司 | Embedded type injection molding manipulator control cabinet mounting structure |
-
2013
- 2013-10-29 CN CN201320675173.4U patent/CN203510554U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757483A (en) * | 2019-11-08 | 2020-02-07 | 珠海格力智能装备有限公司 | Embedded type injection molding manipulator control cabinet mounting structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203665526U (en) | Full-automatic loading-unloading mechanical arm | |
| CN201552443U (en) | Rotary table switching device used for numerical-control machine tool | |
| CN203764846U (en) | Hot forging mechanical arm and hot forging nut automatic forming device with same | |
| CN203752151U (en) | Mechanical arm of numerical control chamfering machine | |
| CN203956921U (en) | Four axle stamping machine manipulators | |
| CN201613425U (en) | Laser equipment Z-axis adjusting device | |
| CN203649299U (en) | Chain automatic rivet head device | |
| CN203956699U (en) | The vertical convex surface polishing machine of a kind of double | |
| CN105643610A (en) | Pneumatic carrying manipulator of assembly unit of production line | |
| CN205184224U (en) | Precious shower faucet case automatic assembly frock of pressure boost | |
| CN203510554U (en) | Vertical mechanical hand | |
| CN203236479U (en) | Intelligent control manipulator | |
| CN206242086U (en) | A kind of coring group core robot gripper | |
| CN203343610U (en) | Four-shaft ultrasonic welding machine | |
| CN209903240U (en) | Bidirectional integrated cylinder | |
| CN201807668U (en) | Tank location and transportation device of tank manufacturing machine | |
| CN209050637U (en) | A kind of two-way pitch-changing mechanism | |
| CN208289516U (en) | A kind of hardware machinery part processing material-pulling device | |
| CN203002537U (en) | Die lubricant automatic spraying device for screw press | |
| CN104552898A (en) | Bidirectionally assembled die structure | |
| CN205074170U (en) | Be applied to machine of glue of beating of glass production and processing | |
| CN202930275U (en) | End execution apparatus used for keyboard automatic assembling robot | |
| CN207431708U (en) | A kind of charging gun flexible production line | |
| CN203853997U (en) | Automatic material taking manipulator | |
| CN208867546U (en) | A kind of bottle blowing machine blank separating machine tool hand |
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: 20140402 Termination date: 20141029 |
|
| EXPY | Termination of patent right or utility model |