CN215755151U

CN215755151U - Rotary automatic negative pressure manipulator device

Info

Publication number: CN215755151U
Application number: CN202121107076.6U
Authority: CN
Inventors: 刘治华; 唐鹏; 牛志涛; 张志强
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2021-05-23
Filing date: 2021-05-23
Publication date: 2022-02-08
Anticipated expiration: 2031-05-23

Abstract

The utility model provides a rotary automatic negative pressure manipulator device, which comprises a rotary cylinder, a servo motor, a synchronous belt wheel, a synchronous belt, a sliding block, a cylinder, a rotating shaft, a negative pressure sucker and the like. The rotary cylinder can enable the device to realize rotary motion within a certain angle range; an output shaft of the servo motor drives a synchronous belt wheel III at the center of the transmission shaft to move through a synchronous belt, and the synchronous belt wheel III drives the manipulator device to move back and forth in a telescopic mode through a synchronous belt II; the air compressor is connected with the air cylinder through the electromagnetic control valve, the air cylinder can move up and down around the rotating shaft driving device when performing telescopic motion, and the negative pressure sucker opens or closes the vacuum pump and the air channel through the electromagnetic control valve to realize the adsorption, transfer and release of workpieces. The rotary automatic negative pressure manipulator device has the advantages of simple and compact structure, large rotation range and convenient adjustment and control, and realizes the function of automatic feeding and discharging through the close fit of a series of rotation, front-back and up-down motion.

Description

Rotary automatic negative pressure manipulator device

Technical Field

The utility model relates to a rotary automatic negative pressure manipulator device, in particular to a workpiece transfer device, and belongs to the field of industrial equipment.

Background

At present, in the processes of stamping, pressure casting, heat treatment, welding, coating, plastic product forming, machining, simple assembly and the like, materials which complete one process are often required to be transferred to the next process. The traditional method generally adopts manual transfer, but because the manual transfer has higher labor cost and lower efficiency, the method is not suitable for industrial automatic production, but compared with a human body arm, the manipulator has the greatest advantage that the same action can be repeatedly carried out, the manipulator can not be fatigued under the normal condition of machinery, and meanwhile, the manipulator has high operation efficiency, so that the application range of the manipulator is more and more extensive. The manipulator can replace a person to carry out monotonous, frequent and repeated long-time operation or operation in dangerous and severe environments in industrial production to finish the transportation of materials or process operation harmful to human bodies. When the manipulator transfers the materials, the materials are generally transferred through a reciprocating mechanism, namely the reciprocating mechanism works to drive the manipulator to reciprocate, and the manipulator reciprocates back and forth to complete the material transfer or is taken away by other equipment. The manipulator is an automatic operation device for grabbing workpieces, can replace heavy labor of people to realize mechanization and automation of production, improves the working efficiency and saves the cost.

SUMMERY OF THE UTILITY MODEL

The utility model provides a rotary automatic negative pressure manipulator device, which aims to solve the problems that materials in one process need to be transferred to the next process, the labor cost is high, the working efficiency is low, the production mechanization and automation are realized, people are liberated from long-time operation which is monotonous, frequent and repeated, or operation under dangerous and severe environments, and the like.

The rotary cylinder of the rotary automatic negative pressure manipulator device can realize the rotation movement within a certain angle range to the direction of the workpiece at the surrounding position.

In the mechanical arm telescopic servo control system, a synchronous belt wheel I which is in key connection with the shaft end of a servo motor transmits power from the motor to a synchronous belt wheel II through a synchronous belt I, a transmission shaft which is fixed at the center of the synchronous belt wheel II is connected with a synchronous belt wheel III through a key, the synchronous belt wheel III drives a fixed pressing block which is in threaded connection with the synchronous belt wheel II through the synchronous belt II to move, the fixed pressing block is connected with a sliding seat through threaded connection, further the power from the servo motor is transmitted to the sliding seat, the sliding seat is connected with the mechanical arm through threads, finally the power is transmitted to the mechanical arm, the movement mode also realizes the front and back telescopic movement from the rotary movement of the servo motor to the mechanical arm and the mechanical arm, and therefore, after a rotary cylinder rotates to the position of a workpiece, the distance direction of the workpiece is adjusted according to the distance between the workpiece and the mechanical arm, the negative pressure sucker fixed on the manipulator is positioned at the upper and lower positions.

When the cylinder in the air pressure control system performs telescopic motion, power of the cylinder acts on the push rod, so that the push rod performs up-and-down motion, the manipulator connected with the cylinder through threads receives force from the push rod, so that the power is transmitted to the manipulator, and the manipulator realizes automatic adsorption of a workpiece below the negative pressure sucker connected with the manipulator through the rotating shaft and the rotating pair. The up-and-down motion of a push rod in the cylinder is converted into the up-and-down motion of the manipulator in a motion mode, so that after the rotary cylinder rotates to the position of a workpiece, the front-and-back direction adjustment is carried out according to the distance between the workpiece and the manipulator, after the manipulator is located right above the workpiece, the up-and-down distance between the workpiece and a negative pressure sucker on the manipulator is determined, the push rod pushes the manipulator to move to the actual position of the workpiece around a rotating shaft and a rotating pair, so that the negative pressure sucker is communicated with a vacuum pump through an electromagnetic control valve to generate negative pressure to adsorb the workpiece, the pressure is maintained after a channel is closed to complete the transfer of the workpiece, the pressure relief channel with air is opened to release the workpiece when the negative pressure sucker reaches the working position, and the process transfer of materials is completed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive labor.

FIG. 1 is a three-view, partial cross-sectional and kinematic drawing of the present invention;

FIG. 2 is a three-dimensional view of the present invention;

FIG. 3 is a schematic diagram of the operation of the solenoid control valve of the present invention;

the reference numerals are explained below:

1. a third synchronous belt wheel; 2. a drive shaft; 3. a synchronous belt wheel I; 4. a negative pressure sucker; 5. a vacuum pump; 6. a cylinder; 7. an air compressor; 8. a mechanical arm; 9. the slide block is externally connected with a plate; 10. a second synchronous belt wheel; 11. a first synchronous belt; 12. a rotating cylinder; 13. a servo motor; 14. a second synchronous belt; 15. a slider; 16. a slide base; 17. a manipulator; 18. and (4) fixing the pressing block.

Detailed Description

In particular use, the utility model will be described with reference to the accompanying drawings for ease of understanding.

In the processes of stamping, pressure casting, heat treatment, welding, coating, plastic product forming, machining, simple assembly and the like, materials which always relate to one process need to be transferred to the next process, after a rotary cylinder (12) of the device rotates to the position of the workpiece in the direction, a servo motor (13) applies torque to be transmitted to a synchronous pulley I (3) through a key connection and then transmitted to a synchronous pulley II (10) through a synchronous belt I (11), a transmission shaft (2) fixed at the center of the synchronous pulley II (10) is connected with a synchronous pulley III (1) through the key connection, the synchronous pulley III (1) drives a fixed pressing block (18) connected with the synchronous pulley II (14) through a thread through a synchronous belt II (14) to move, the fixed pressing block (18) is connected with a sliding seat (16) through a thread connection, and then the power from the servo motor (13) is transmitted to the sliding seat (16), the sliding seat (16) is connected with the mechanical arm (8) through threads, the sliding block outer connecting plate (9) is connected with the sliding block (15) through threads, the sliding block outer connecting plate (9) is fixed on the sliding seat (16) through threads, the sliding seat (16) is fixed on a linear sliding rail through four sliding blocks (15), the mechanical arm device stretches and retracts back and forth along with the movement of the synchronous belt II (14), the final power is transmitted to the mechanical arm (8), and the distance direction of the mechanical arm is adjusted according to the distance between the workpiece and the mechanical arm to enable the mechanical arm to be located at a position right below the workpiece; the air compressor (7) is respectively connected with the upper cavity and the lower cavity of the air cylinder (6) through two electromagnetic control valves, wherein, a port P of the two electromagnetic control valves is respectively connected with the upper cavity and the lower cavity of the air cylinder (6), a port A is connected with the air compressor (7), a port B is connected with the external air, when a left coil of the electromagnetic control valve connected with the upper cavity is electrified, a valve core moves to the right, a channel between the port A and the port P is opened, and when a right coil of the electromagnetic control valve connected with the lower cavity is electrified, the valve core moves to the left, a channel between the port B and the port P is opened, so that the push rod performs downward extending motion, on the contrary, the push rod performs upward contracting motion, thereby the power from the air compressor (7) acts on the push rod, the push rod performs upward and downward motion, the mechanical arm (17) is subjected to the force from the push rod, so that the power is transmitted to the mechanical arm (17), and the mechanical arm (17) is connected with the negative pressure suction cup (4) through screw threads, the negative pressure sucker (4) completes the adsorption and transfer process of materials under the matching of a vacuum pump (5) and an electromagnetic control valve, wherein a port P in the electromagnetic control valve is connected with the negative pressure sucker (4), a port A is connected with the vacuum pump (5), a port B is connected with the outside air, when a left coil is electrified, a valve core moves to the right, and a channel between the port A and the port P is opened, so that negative pressure is generated to adsorb a workpiece; when the left coil and the right coil are not electrified, the valve core is positioned in the middle to seal the P port, and pressure maintaining is generated to complete the transfer of the workpiece; when the right coil is electrified at the working position, the valve core moves leftwards, and the channels of the port B and the port P are opened, so that the pressure is relieved and the workpiece is released.

Claims

1. The utility model provides an automatic negative pressure manipulator device of rotation type, the part includes revolving cylinder, the flexible servo control system of arm, atmospheric pressure control system etc. its characterized in that: the rotary motion of the device can be completed by a rotary cylinder, so that the rotary motion within a certain angle range is realized; a servo motor is arranged on a rotary cylinder, the shaft end of the servo motor is connected with a first synchronous belt wheel through a key, the first synchronous belt wheel and a second synchronous belt wheel realize synchronous transmission, the second synchronous belt wheel is connected with one end of a transmission shaft through a key, a third synchronous belt wheel is connected with the transmission shaft through a key and is meshed with the second synchronous belt wheel for transmission, the second synchronous belt wheel and a fixed pressing block are connected through threads, the fixed pressing block and a sliding seat are connected through threads, so that the sliding seat and the second synchronous belt wheel synchronously move, the sliding seat and a mechanical arm are connected through threads, and the sliding seat is fixed on a linear sliding rail through four sliding blocks, so that the second synchronous belt wheel drives the mechanical arm to move back and forth; the tail end of the mechanical arm is provided with an air cylinder, an air compressor is respectively connected with an upper cavity and a lower cavity of the air cylinder through two electromagnetic control valves, so that the air cylinder can move up and down in a telescopic mode, the manipulator is driven to move up and down around a rotating shaft, the negative pressure sucker is connected with the manipulator through threads, the negative pressure sucker is connected with the vacuum pump through the electromagnetic control valves, the vacuum pump generates negative pressure to adsorb a workpiece, the workpiece is transferred by maintaining the pressure after a channel is closed, the workpiece is released by opening the channel with air after reaching a working position, and the function of loading and unloading is achieved.

2. A rotary automatic negative pressure robot apparatus according to claim 1, wherein: the mechanical arm telescopic servo control system consists of a servo motor, a synchronous belt wheel I, a synchronous belt wheel II, a synchronous belt wheel III, a synchronous belt wheel II, a sliding seat, a sliding block and the like, wherein the power source of the mechanical arm telescopic servo control system is the servo motor, one end of the synchronous belt wheel transmits power from a motor to a transmission shaft through a synchronous belt wheel I, a synchronous belt wheel I and a synchronous belt wheel II, the synchronous belt wheel III fixed at the center of the transmission shaft is connected with the transmission shaft through key matching and then is meshed with a synchronous belt wheel II in threaded connection with a fixed pressing block for transmission, the fixed pressing block is connected with a sliding seat through threads, further realizing the transmission of the power from the servo motor to the slide seat which is connected with the mechanical arm by screw thread, finally transmitting the power to the mechanical arm, and the movement form also realizes the rotation movement from the servo motor to the front and back telescopic movement of the mechanical arm and the mechanical arm.

3. A rotary automatic negative pressure robot apparatus according to claim 1, wherein: the air pressure control system comprises an air compressor, electromagnetic control valves, an air cylinder, a rotating shaft, a vacuum pump, a negative pressure sucker and the like, wherein the up-and-down motion power source of the manipulator is the air cylinder, the air compressor is respectively connected with the upper cavity and the lower cavity of the air cylinder through the two electromagnetic control valves to control the air cylinder to perform telescopic motion, so that the power from the air compressor acts on the push rod to make the push rod move up and down, and the manipulator connected with the cylinder receives the force from the push rod to make the power transmitted to the manipulator, then the negative pressure sucker is communicated with a vacuum pump through an electromagnetic control valve to generate negative pressure to adsorb a workpiece, the pressure is maintained after the channel is closed to finish the transfer of the workpiece, the channel with air is opened at a working position to release the workpiece, the transfer of materials is finished, and the up-and-down motion of a push rod in the cylinder is converted into the up-and-down motion of a manipulator in a motion mode.