CN213674187U - Umbrella fabric piece grabbing manipulator - Google Patents
Umbrella fabric piece grabbing manipulator Download PDFInfo
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- CN213674187U CN213674187U CN202022182634.7U CN202022182634U CN213674187U CN 213674187 U CN213674187 U CN 213674187U CN 202022182634 U CN202022182634 U CN 202022182634U CN 213674187 U CN213674187 U CN 213674187U
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- arm
- umbrella
- suckers
- rotating
- conveying belt
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Abstract
The utility model relates to an parachute kit production facility technical field, especially an umbrella face piece snatchs manipulator. The gripping mechanical arm for the umbrella fabric pieces comprises a rolling cutting mechanism and an mechanical arm, wherein the mechanical arm is provided with the gripping mechanism, the gripping mechanism comprises two support frames and two suckers, the two suckers are arranged at the bottom of the support frames, the bottoms of the suckers are provided with adsorption planes, the two adsorption planes are arranged at an angle, the two adsorption planes are respectively arranged upwards in an inclined manner facing outwards, the shape of each sucker is correspondingly matched with the shape of each umbrella fabric piece, and the two suckers are in a staggered distribution state corresponding to the adjacent umbrella fabric pieces; the mechanical arm drives the grabbing mechanism to the conveying belt, and the grabbing mechanism swings at the conveying speed of the mechanical arm matched with the conveying belt, so that the two suckers can suck the two umbrella dough pieces successively. The utility model discloses reduce workman intensity of labour, repeated location nature precision is high, increases the uniformity of product production, reduces the error rate.
Description
Technical Field
The utility model relates to an parachute kit production facility technical field, especially an umbrella face piece snatchs manipulator.
Background
With the rapid development of the world economy, the modern manufacturing industry has obviously developed, and for the traditional manufacturing industry, the trend of the modern manufacturing industry is to replace manual manufacturing by machine equipment.
At present, a factory takes high efficiency and high precision as development guidelines, the production requirement is more and more difficult to meet through manual production, the umbrella industry is no exception, umbrella cloth is an important component in umbrella production, and in the process of manufacturing an umbrella cover, procedures such as large cutting, small cutting, sheet combination and the like are generally needed. When the umbrella fabric is manufactured in a flow line production mode, production process equipment can independently perform production, a large amount of manual operation needs to be performed among the production process equipment, and the production efficiency is general.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main objective is to overcome prior art's shortcoming, provides one kind and reduces workman intensity of labour, and the repeated positioning nature precision is high, increases the uniformity of product production, and the umbrella face piece that reduces the error rate snatchs the manipulator.
In order to achieve the above object, the utility model adopts the following technical scheme:
an umbrella fabric grabbing manipulator comprises
The rolling cutting mechanism comprises a cutting roller and a conveying belt, umbrella cloth is continuously conveyed on the conveying belt, the cutting roller cuts the umbrella cloth on the conveying belt into a plurality of umbrella surface pieces which are arranged at intervals, and two adjacent umbrella surface pieces are in a central symmetry staggered distribution state;
the umbrella cover piece comprises an umbrella cover piece and is characterized by comprising an arm, wherein a grabbing mechanism is arranged on the arm, the grabbing mechanism comprises a support frame and two suckers, the two suckers are arranged at the bottom of the support frame, adsorption planes are arranged at the bottoms of the suckers, the two adsorption planes are arranged at an angle and are respectively arranged upwards in an inclined manner facing the outside, the shape of each sucker is correspondingly matched with that of the umbrella cover piece, and the two suckers are in a staggered distribution state corresponding to the adjacent umbrella cover pieces;
the mechanical arm drives the grabbing mechanism to the conveying belt, and the grabbing mechanism swings at the conveying speed of the mechanical arm matched with the conveying belt, so that the two suckers can suck the two umbrella dough pieces successively.
Furthermore, the support frame comprises a cross beam and connecting columns, mounting surfaces which incline upwards towards the outside and the side are formed at two ends of the bottom surface of the cross beam, the connecting columns are arranged on the mounting surfaces, the connecting columns are arranged in a way of inclining downwards towards the outside and the side, and the bottom surfaces of the connecting columns are parallel to the mounting surfaces; the two suckers are respectively arranged on the bottom surface of the connecting column, and the adsorption planes of the two suckers are respectively parallel to the mounting surfaces.
Furthermore, the sucking disc adopts the sponge sucking disc, the sucking disc is the triangle-shaped structure, and the sucking disc includes sucking disc body, sealing member, a plurality of air vents have been seted up to sucking disc body bottom surface, and the air vent is by a angle of sucking disc body bottom surface towards two adjacent length of side direction interval arrangement evenly distributed, a plurality of absorption holes that link up from top to bottom are seted up to the sealing member, absorption hole and air vent one-to-one.
Further, the sealing element is made of EPDM rubber foaming sponge.
Further, the mechanical arm comprises a base, a rotating seat, a first rotating arm, a second rotating arm and a third rotating arm, wherein the rotating seat is rotatably connected with the base, a first motor is arranged on the rotating seat, and a motor shaft of the first motor is connected with the base; one end of the first rotating arm is rotatably connected with the rotating seat, the rotating seat is provided with a second motor, and a motor shaft of the second motor is connected with one end of the first rotating arm; the other end of the first rotating arm is rotatably connected with a joint arm through a third motor; one end of the joint arm is rotatably connected with one end of the second rotating arm; the other end of the second rotating arm is rotatably connected with the third rotating arm.
Further, the second rocking arm has two first arm pole portions that the interval was arranged and is set up, the third rocking arm includes connecting portion, locates the second arm pole portion of connecting portion both sides, and two second arm pole portion interval are arranged and are set up, and two second arm pole portions rotate with two first arm pole portions respectively and are connected, the carriage is located on the connecting portion, and the support frame rotates with connecting portion and is connected.
It can be known from the above description of the present invention, compared with the prior art, the beneficial effects of the present invention are:
firstly, the mechanical arm can be conveniently connected with the grabbing mechanism through the structural design, the two suckers can be controlled to swing sequentially and alternately suck the umbrella dough sheet, move and discharge materials and adjust the rotating angle, the action is sensitive, and the degree of freedom is high;
and secondly, the structural design of the grabbing mechanism is matched with the mechanical arm, so that the umbrella surface pieces are sequentially sucked by the two suckers in a manner of being matched with the umbrella surface pieces on the conveying belt and the conveying speed of the conveying belt to swing, and the grabbing mechanism can grab the umbrella surface pieces without complex action control.
Drawings
Fig. 1 is the overall structure schematic diagram of the umbrella dough sheet grabbing manipulator of the utility model.
Fig. 2 is the overall structure schematic diagram of the gripping mechanism absorbing the umbrella dough sheet.
Fig. 3 is a schematic view of the overall structure of the grabbing mechanism of the present invention.
In the figure: 1. the device comprises a hobbing mechanism, 11 cutting rollers, 12 conveying belts, 2 mechanical arms, 21 a base, 22 a rotating seat, 23 a first rotating arm, 24 a second rotating arm, 241 a first arm rod part, 25 a third rotating arm, 251 a connecting part, 252 a second arm rod part, 26 a joint arm, 3 a grabbing mechanism, 31 a supporting frame, 311 a cross beam, 312 a connecting column, 313 a mounting surface, 32 a sucking disc, 321 a sucking disc body, 322 a sealing element, 323 an air vent, 324 sucking holes and 4 umbrella dough pieces.
Detailed Description
The present invention will be further described with reference to the following detailed description.
Referring to fig. 1 to 3, the utility model discloses an umbrella fabric piece snatchs manipulator, include hobbing mechanism 1, arm 2, snatch mechanism 3, umbrella fabric piece 4.
The roll cutting mechanism 1 comprises a cutting roller 11 and a conveying belt 12, umbrella cloth is continuously conveyed on the conveying belt 12, the cutting roller 11 cuts the umbrella cloth on the conveying belt 12 into a plurality of umbrella surface pieces 4 which are arranged at intervals, two adjacent umbrella surface pieces 4 are in a centrosymmetric staggered distribution state, and each umbrella surface piece 4 is in a triangular structure with two adjacent side lengths being arc-shaped;
the mechanical arm 2 comprises a base 21, a rotating seat 22, a first rotating arm 23, a second rotating arm 24 and a third rotating arm 25, wherein the rotating seat 22 is rotatably connected with the base 21, a first motor is arranged on the rotating seat 22, and a motor shaft of the first motor is connected with the base 21; one end of the first rotating arm 23 is rotatably connected with the rotating base 22, a second motor is arranged on the rotating base 22, and a motor shaft of the second motor is connected with one end of the first rotating arm 23; the other end of the first rotating arm 23 is rotatably connected with a joint arm 26 through a third motor; one end of the joint arm 26 is rotatably connected with one end of the second rotating arm 24; the other end of the second rotating arm 24 is rotatably connected with a third rotating arm 25; the second rotating arm 24 has two first arm rod portions 241 arranged at intervals, the third rotating arm 25 includes a connecting portion 251 and second arm rod portions 252 arranged at two sides of the connecting portion 251, the two second arm rod portions 252 are arranged at intervals, and the two second arm rod portions 252 are respectively connected with the two first arm rod portions 241 in a rotating manner;
the grabbing mechanism 3 is arranged on the mechanical arm 2, the grabbing mechanism 3 comprises a support frame 31 and a suction cup 32, the support frame 31 is arranged on a connecting part 251 of the third rotating arm 25 of the mechanical arm 2, and the support frame 31 is rotatably connected with the connecting part 251; the two suckers 32 are arranged at the bottom of the support frame 31, the two suckers 32 are arranged at the bottom of the sucker 32, the two suckers are arranged at an angle and are respectively arranged upwards in an inclined manner facing outwards, the shape of each sucker 32 is correspondingly matched with that of each umbrella cover sheet 4, and the two suckers 32 are in a staggered distribution state corresponding to the adjacent umbrella cover sheets 4; the mechanical arm 2 drives the grabbing mechanism 3 to the conveying belt 12, and the grabbing mechanism 3 swings at the conveying speed of the mechanical arm 2 in cooperation with the conveying belt 12, so that the two suckers 31 successively suck the two umbrella dough pieces 4. The mechanical arm 2 is connected with the grabbing mechanism 3 conveniently through the structural design, the two suckers 32 can be controlled to swing to alternately suck the umbrella dough pieces 4, move to discharge and adjust the rotating angle, and the mechanical arm is sensitive in action and high in degree of freedom.
The support frame 31 comprises a cross beam 311 and connecting columns 312, wherein mounting surfaces 313 which incline outwards and upwards are formed at two ends of the bottom surface of the cross beam 311, the connecting columns 312 are arranged on the mounting surfaces 313, the connecting columns 312 incline outwards and downwards, and the bottom surfaces of the connecting columns 312 are parallel to the mounting surfaces 313; the two suckers 32 are respectively arranged on the bottom surfaces of the connecting columns 312, and the adsorption planes of the two suckers 32 are respectively parallel to the mounting surfaces 313; the structural design of the grabbing mechanism 3 is matched with the mechanical arm 2, so that the two suckers 32 are matched with the arrangement mode of the umbrella surface pieces 4 on the conveying belt 12 and the transmission speed of the conveying belt 12 to swing to suck the umbrella surface pieces 4 successively, the grabbing mechanism 3 can grab the umbrella surface pieces 4 by the two suckers 32 without adjustment of multiple degrees of freedom, and the two suckers 32 do not interfere with each other when sucking the umbrella surface pieces 4 successively. The sucking disc 32 uses the sponge sucking disc, and the sucking disc 32 is the triangle-shaped structure, and the sucking disc 32 includes sucking disc body 321, sealing member 322, and sealing member 322 adopts EPDM rubber foaming sponge, and a plurality of air vents 323 have been seted up to sucking disc body 321 bottom surface, and air vent 323 is by a corner of sucking disc body 321 bottom surface towards adjacent two sides length direction interval arrangement evenly distributed, and a plurality of absorption holes 324 that link up from top to bottom are seted up to sealing member 322, and absorption hole 324 and air vent 323 one-to-one. The sucker 32 is completely attached to the umbrella surface sheet 4 when contacting with the umbrella surface sheet so as to be beneficial to adsorption and grabbing; the shape of the suction cup 32 is correspondingly matched with the shape of the umbrella cover sheet 4, and the arrangement of the vent holes 323 and the adsorption holes 324 of the suction cup 32 makes the suction cup 32 more reliably adsorb the umbrella cover sheet 4.
The working principle of the grabbing manipulator for the umbrella fabric pieces is as follows:
firstly, the umbrella cloth is arranged on a conveying belt 12 and is continuously conveyed by the conveying belt 12, when the umbrella cloth is conveyed to a cutting roller 11, the umbrella cloth is cut into a plurality of umbrella surface pieces 4 which are arranged at intervals by the cutting roller 11, and two adjacent umbrella surface pieces 4 are in a central symmetrical staggered distribution state; the conveying belt 12 conveys the umbrella cover pieces 4 forwards continuously, when the umbrella cover pieces 4 are conveyed to the grabbing mechanical arm, the mechanical arm 2 drives the grabbing mechanism 3 to move and rotate, and the mechanical arm 2 enables the two suckers 32 to swing along an arc path to suck the two umbrella cover pieces 4 successively by matching with the conveying speed of the conveying belt 12 and the arrangement mode of the umbrella cover pieces 4; the mechanical arm 2 drives the grabbing mechanism 3 for sucking the umbrella dough sheet 4 to move to a material placing station for placing materials; the mechanical arm 2 drives the grabbing mechanism 3 to move to the conveying belt, and the steps are repeated.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, and the present invention is to be used for insubstantial modification of the present invention, which all infringes the protection scope of the present invention.
Claims (6)
1. The utility model provides an umbrella face piece snatchs manipulator which characterized in that: comprises that
The rolling cutting mechanism comprises a cutting roller and a conveying belt, umbrella cloth is continuously conveyed on the conveying belt, the cutting roller cuts the umbrella cloth on the conveying belt into a plurality of umbrella surface pieces which are arranged at intervals, and two adjacent umbrella surface pieces are in a central symmetry staggered distribution state;
the umbrella cover piece comprises an umbrella cover piece and is characterized by comprising an arm, wherein a grabbing mechanism is arranged on the arm, the grabbing mechanism comprises a support frame and two suckers, the two suckers are arranged at the bottom of the support frame, adsorption planes are arranged at the bottoms of the suckers, the two adsorption planes are arranged at an angle and are respectively arranged upwards in an inclined manner facing the outside, the shape of each sucker is correspondingly matched with that of the umbrella cover piece, and the two suckers are in a staggered distribution state corresponding to the adjacent umbrella cover pieces;
the mechanical arm drives the grabbing mechanism to the conveying belt, and the grabbing mechanism swings at the conveying speed of the mechanical arm matched with the conveying belt, so that the two suckers can suck the two umbrella dough pieces successively.
2. Umbrella cover sheet grabbing manipulator according to claim 1, characterized in that: the support frame comprises a cross beam and connecting columns, mounting surfaces which incline upwards towards the outside are formed at two ends of the bottom surface of the cross beam, the connecting columns are arranged on the mounting surfaces, the connecting columns incline downwards towards the outside, and the bottom surfaces of the connecting columns are parallel to the mounting surfaces; the two suckers are respectively arranged on the bottom surface of the connecting column, and the adsorption planes of the two suckers are respectively parallel to the mounting surfaces.
3. Umbrella cover sheet grabbing manipulator according to claim 1, characterized in that: the sucker is of a sponge sucker and is of a triangular structure, the sucker comprises a sucker body and a sealing piece, a plurality of air holes are formed in the bottom surface of the sucker body, the air holes are evenly distributed in the direction of the length of two adjacent sides at intervals from one corner of the bottom surface of the sucker body, a plurality of adsorption holes which are communicated up and down are formed in the sealing piece, and the adsorption holes correspond to the air holes one to one.
4. Umbrella cover sheet grabbing manipulator according to claim 3, characterized in that: the sealing element is made of EPDM rubber foaming sponge.
5. Umbrella cover sheet grabbing manipulator according to claim 1, characterized in that: the mechanical arm comprises a base, a rotating seat, a first rotating arm, a second rotating arm and a third rotating arm, wherein the rotating seat is rotatably connected with the base, a first motor is arranged on the rotating seat, and a motor shaft of the first motor is connected with the base; one end of the first rotating arm is rotatably connected with the rotating seat, the rotating seat is provided with a second motor, and a motor shaft of the second motor is connected with one end of the first rotating arm; the other end of the first rotating arm is rotatably connected with a joint arm through a third motor; one end of the joint arm is rotatably connected with one end of the second rotating arm; the other end of the second rotating arm is rotatably connected with the third rotating arm.
6. Umbrella cover sheet grabbing manipulator according to claim 5, characterized in that: the second rocking arm has two first arm pole portions that the interval was arranged and is set up, the third rocking arm includes connecting portion, locates the second arm pole portion of connecting portion both sides, and two second arm pole portion intervals are arranged and are set up, and two second arm pole portions rotate with two first arm pole portions respectively and are connected, the carriage is located on the connecting portion, and the support frame rotates with connecting portion and is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022182634.7U CN213674187U (en) | 2020-09-29 | 2020-09-29 | Umbrella fabric piece grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022182634.7U CN213674187U (en) | 2020-09-29 | 2020-09-29 | Umbrella fabric piece grabbing manipulator |
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| Publication Number | Publication Date |
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| CN213674187U true CN213674187U (en) | 2021-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022182634.7U Active CN213674187U (en) | 2020-09-29 | 2020-09-29 | Umbrella fabric piece grabbing manipulator |
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| CN (1) | CN213674187U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114589726A (en) * | 2022-04-26 | 2022-06-07 | 深圳市康润机电技术开发有限公司 | Negative pressure adsorption type grabbing structure and industrial robot |
| CN114855374A (en) * | 2022-04-07 | 2022-08-05 | 海峡(晋江)伞业科技创新中心有限公司 | Automatic intelligent numerical control machine tool for sewing umbrella fabric |
| CN115284634A (en) * | 2022-10-07 | 2022-11-04 | 中德(泉州)工业设计研究院有限公司 | Operation type manipulator for automatic production line of plastic umbrella |
-
2020
- 2020-09-29 CN CN202022182634.7U patent/CN213674187U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114855374A (en) * | 2022-04-07 | 2022-08-05 | 海峡(晋江)伞业科技创新中心有限公司 | Automatic intelligent numerical control machine tool for sewing umbrella fabric |
| CN114855374B (en) * | 2022-04-07 | 2024-02-02 | 海峡(晋江)伞业科技创新中心有限公司 | Umbrella face automatic sewing intelligent numerical control machine tool |
| CN114589726A (en) * | 2022-04-26 | 2022-06-07 | 深圳市康润机电技术开发有限公司 | Negative pressure adsorption type grabbing structure and industrial robot |
| CN114589726B (en) * | 2022-04-26 | 2022-12-13 | 深圳市康润机电技术开发有限公司 | Negative pressure adsorption type grabbing structure and industrial robot |
| CN115284634A (en) * | 2022-10-07 | 2022-11-04 | 中德(泉州)工业设计研究院有限公司 | Operation type manipulator for automatic production line of plastic umbrella |
| CN115284634B (en) * | 2022-10-07 | 2022-12-16 | 中德(泉州)工业设计研究院有限公司 | Operation type manipulator for automatic production line of plastic umbrella |
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