CN207957049U - A kind of automatic feeding - Google Patents

Abstract

The utility model discloses a kind of automatic feedings, including supporting device, crank and rocker mechanism, slider-crank mechanism, mechanical arm mechanism, clamping device and driving mechanism, the supporting device includes pedestal, rotating shaft and revolution bracket, the rotating shaft is located on the pedestal, the revolution bracket is mounted on the rotating shaft, it can be with its revolution, the mechanical arm mechanism is mounted on the revolution bracket, it can be around its revolution, described crank and rocker mechanism one end is connect with the driving mechanism, the other end is connect with the revolution bracket, described slider-crank mechanism one end is connect with the driving mechanism, other end sliding block moves back and forth in the revolution bracket vertical direction, the sliding block of the slider-crank mechanism is connect by the mechanical arm mechanism with the clamping device.The utility model has the function of that fixed angle revolution in the horizontal direction is turned round with vertical direction up and down to realize automation feeding.

Description

A kind of automatic feeding

Technical field

The utility model is related to a kind of automatic feedings, belong to feed device technical field.

Background technology

Currently, feeding robot is because efficient, and it is adaptable, to realizing industrial production automation, push industrial production hair Exhibition plays an important role, therefore using more and more extensive in various productions, feeding robot is a kind of imitation human upper limb Partial function, the automation device operated according to pre-provisioning request conveying workpieces or holding tool.It is led in mechanical processing In domain, the production and processing of product needs multiple working procedure, during entering next process from a procedure, needs all kinds of Transmitting device is conveyed, and how labor and materials to be fast and accurately transported on station is to improve working efficiency, ensure processing quality With the key of safety in production, there is the manufacturing mode that some enterprises use artificial feeding so far, artificial feeding efficiency is low, produces Quality is unreliable and of high cost.

Invention content

Technical problem to be solved by the utility model is to provide a kind of realization horizontal direction fixed angle revolution with it is vertical Direction is turned round to realize the device of automation feeding up and down.

In order to solve the above technical problems, the technical solution adopted in the utility model is：

A kind of automatic feeding, including supporting device, crank and rocker mechanism, slider-crank mechanism, mechanical arm mechanism, folder Mechanism and driving mechanism are held, the supporting device includes that pedestal, rotating shaft and revolution bracket, the rotating shaft are located at described On pedestal, the revolution bracket is mounted on the rotating shaft, can be mounted on the revolution with its revolution, the mechanical arm mechanism On bracket, it can be connect with the driving mechanism around its revolution, described crank and rocker mechanism one end, the other end and the revolution bracket Connection, described slider-crank mechanism one end are connect with the driving mechanism, and other end sliding block is in the revolution bracket vertical direction Move back and forth up and down, the sliding block of the slider-crank mechanism is connect by the mechanical arm mechanism with the clamping device.

The revolution bracket includes mechanical arm supporting arm, slider-crank mechanism supporting arm and the connection mechanical arm bearing The connecting plate of arm and the slider-crank mechanism supporting arm, the mechanical arm mechanism is hinged with the mechanical arm supporting arm, described Slider-crank mechanism supporting arm is equipped with vertical slide rail, and the sliding block of the slider-crank mechanism moves in the sliding rail.

The mechanical arm mechanism includes mechanical large arm and mechanical forearm, and the machinery large arm and the mechanical forearm pass through pin Axis is hinged, hinged by axis pin and the mechanical arm supporting arm in the middle part of the machinery forearm, the clamping device and the machinery The forearm other end is hinged.

The crank and rocker mechanism includes first linkage rod, first connecting rod and the second side link, the first linkage rod One end is connect with the driving mechanism, and the other end is hinged with the first connecting rod, the first connecting rod other end and described second Side link is hinged, and second side link is fixedly connected with the revolution bracket, when power reaches the first linkage rod, institute First linkage rod is stated to drive the first connecting rod and then second side link is driven to move.

The slider-crank mechanism includes third side link, second connecting rod, sliding block and follower, the third frame linking Bar one end is connect with the driving mechanism, and the other end is hinged with the second connecting rod, and the second connecting rod other end is cut with scissors with sliding block It connects, the sliding block pumps on the sliding rail, and the sliding block is fixedly connected with the follower, described driven The mechanism other end and the mechanical large arm are hinged.

The driving mechanism, which is connect using motor with drive mechanism, imparts power to the first linkage rod and described Third side link.

The advantageous effect that the utility model is reached：The present invention uses supporting device, crank and rocker mechanism and slide crank The combination settings of block mechanism, are transmitted by power, to realize the present apparatus movement of fixed angle range and folder in the horizontal direction The up and down motion for holding mechanism improves feeding efficiency to realize automation feeding, and processing quality is ensured, is avoided The security risk that artificial feeding may be brought, ensures safety in production.

Description of the drawings

Fig. 1 is structural schematic diagram in the utility model；

Fig. 2 is the utility model upward view；

Reference sign：1, mechanical pedestal, 2, rotating shaft, 3, sliding rail, 4, third side link, 5, third crank-pin, 6, Second connecting rod, the 7, the 4th crank-pin, 8, sliding block, 9, slider-crank mechanism support arm, 10, follower, 11, mechanical large arm, 12, Mechanical forearm, the 13, first axis pin, 14, mechanical arm support arm, the 15, second axis pin, 16, clamping device, 17, revolution bracket, 18, Second side link, the 19, second crank-pin, 20, first linkage rod, the 21, first crank-pin, 22, first connecting rod.

Specific implementation mode

The utility model is further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating this The technical solution of utility model, and the scope of protection of the utility model cannot be limited with this.

As shown in Figure 1, a kind of automatic feeding, including supporting device, crank and rocker mechanism, slider-crank mechanism, machine Tool arm mechanism, clamping device and driving mechanism, supporting device include pedestal 1, rotating shaft 2 and revolution bracket 17, rotating shaft 2 In the rotary hole on pedestal 1, revolution bracket 17 is mounted on rotating shaft 2, can include machine with its revolution, revolution bracket 17 Tool arm supporting arm 14, slider-crank mechanism supporting arm 9 and connection mechanical arm supporting arm 14 and slider-crank mechanism supporting arm 9 Connecting plate, mechanical arm mechanism include mechanical large arm 11 and mechanical forearm 12, and mechanical large arm 11 and mechanical forearm 12 are cut with scissors by axis pin It connects, 12 middle part of mechanical forearm is hinged by axis pin and mechanical arm supporting arm 14, can be around its revolution, clamping device and mechanical forearm 12 The other end is hinged, as shown in Fig. 2, crank and rocker mechanism includes first linkage rod 20, first connecting rod 22 and the second side link 18, 20 one end of first linkage rod is connect with driving mechanism, and the other end is hinged with first connecting rod 22,22 other end of first connecting rod and second Side link 18 is hinged, and the second side link 18 is fixedly connected with revolution bracket 17, and when power reaches first linkage rod 20, first connects Hack lever 20 drives first connecting rod 22 and then drives the movement of the second side link 18, and slider-crank mechanism includes third side link 4, and second Connecting rod 6, sliding block 8 and follower 10,4 one end of third side link are connect with driving mechanism, and the other end is cut with scissors with second connecting rod 6 It connects, 6 other end of second connecting rod is hinged with sliding block 8, and sliding block 8 pumps on sliding rail 3, sliding block 8 and follower 10 It is fixedly connected, 10 other end of follower and mechanical large arm 11 are hinged, and the driving mechanism is connected using motor and drive mechanism It connects and imparts power to first linkage rod 20 and third side link 4.

The operation principle of the present apparatus is as follows：

Power is transferred to by first linkage rod 20 by transmission mechanism by external motor, first linkage rod 20 does circumference fortune Dynamic, first linkage rod 20 drives first connecting rod 22 and then drives the movement of the second side link 18, realizes that the present apparatus is solid in the horizontal direction The movement for determining angular range, due to the quickreturn characteristics of crank and rocker mechanism, movement is slow when realizing feeding, and movement is rapid when return Requirement, ensure the raising of steady and efficiency when feeding；Power is transferred to by another external motor by transmission mechanism Three side links 4, third side link 4 move in a circle, and third side link 4 drives second connecting rod 6 and then with movable slider 8 in sliding rail 3 It pumps, sliding block 8 is fixedly connected with follower 10, when follower 10 moves upwards, in mechanical large arm 11 Under the action of mechanical forearm 12, realize that clamping device 16 moves downward, when follower 10 moves downward, in mechanical large arm 11, under the action of mechanical forearm 12, realize that clamping device 16 moves upwards, realize the up and down motion of this feed device.

The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change The scope of protection of the utility model is also should be regarded as into deformation.

Claims (6)

1. a kind of automatic feeding, characterized in that including supporting device, crank and rocker mechanism, slider-crank mechanism, mechanical arm Mechanism, clamping device and driving mechanism, the supporting device include pedestal（1）, rotating shaft（2）And revolution bracket（17）, The rotating shaft（2）Positioned at the pedestal（1）On, the revolution bracket（17）Mounted on the rotating shaft（2）On, it can be with its time Turn, the mechanical arm mechanism is mounted on the revolution bracket（17）On, it can be around its revolution, described crank and rocker mechanism one end and institute State driving mechanism connection, the other end and the revolution bracket（17）Connection, described slider-crank mechanism one end and the driving machine Structure connects, and other end sliding block is in the revolution bracket（17）Vertical direction moves back and forth up and down, the cunning of the slider-crank mechanism Block is connect by the mechanical arm mechanism with the clamping device.

2. a kind of automatic feeding according to claim 1, characterized in that the revolution bracket（17）Including mechanical arm Supporting arm（14）, slider-crank mechanism supporting arm（9）And the connection mechanical arm supporting arm（14）With the crank block machine Structure supporting arm（9）Connecting plate, the mechanical arm mechanism and the mechanical arm supporting arm（14）It is hinged, the slider-crank mechanism Supporting arm（9）It is equipped with vertical slide rail（3）, the sliding block of the slider-crank mechanism is in the sliding rail（3）Inside move up and down.

3. a kind of automatic feeding according to claim 2, characterized in that the mechanical arm mechanism includes mechanical large arm （11）With mechanical forearm（12）, the machinery large arm（11）With the mechanical forearm（12）Hinged by axis pin, the machinery is small Arm（12）Middle part passes through axis pin and the mechanical arm supporting arm（14）It is hinged, the clamping device and the mechanical forearm（12）Separately One end is hinged.

4. a kind of automatic feeding according to claim 3, characterized in that the crank and rocker mechanism includes the first company Hack lever（20）, first connecting rod（22）And second side link（18）, the first linkage rod（20）One end and the driving mechanism Connection, the other end and the first connecting rod（22）It is hinged, the first connecting rod（22）The other end and second side link（18） It is hinged, second side link（18）With the revolution bracket（17）It is fixedly connected, when power reaches the first linkage rod （20）When, the first linkage rod（20）Drive the first connecting rod（22）And then drive second side link（18）Movement.

5. a kind of automatic feeding according to claim 4, characterized in that the slider-crank mechanism includes that third connects Hack lever（4）, second connecting rod（6）, sliding block（8）And follower（10）, the third side link（4）One end and the driving machine Structure connects, the other end and the second connecting rod（6）It is hinged, the second connecting rod（6）The other end and sliding block（8）It is hinged, the cunning Block（8）In the sliding rail（3）On pump, the sliding block（8）With the follower（10）It is fixedly connected, it is described Follower（10）The other end and the mechanical large arm（11）It is hinged.

6. a kind of automatic feeding according to claim 5, characterized in that the driving mechanism is using motor and biography Dynamic structure connection imparts power to the first linkage rod（20）With the third side link（4）.