CN112850113A - Adjustable rotary manipulator - Google Patents
Adjustable rotary manipulator Download PDFInfo
- Publication number
- CN112850113A CN112850113A CN202011394198.8A CN202011394198A CN112850113A CN 112850113 A CN112850113 A CN 112850113A CN 202011394198 A CN202011394198 A CN 202011394198A CN 112850113 A CN112850113 A CN 112850113A
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- fixed
- clamping jaw
- baffle plate
- optical axis
- rotating
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- 230000003287 optical effect Effects 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims abstract description 13
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/244—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种可调式旋转机械手，包括连接座、转动机构及两组夹持机构，所述转动机构包括转动电机、同步轮、旋转轴及同步带，所述旋转轴一端设置于连接座内，所述旋转轴通过轴承与连接座转动连接，所述旋转轴另一端延伸至连接座下方，所述同步轮固定于旋转轴另一端，所述转动电机固定于连接座一侧，所述同步轮与转动电机通过同步带传动连接，所述同步轮下方设有固定座，所述固定座内固定设有光轴，所述光轴贯穿于固定座两侧，所述固定座位于光轴中部，所述夹持机构分别相对设置于光轴两端。本发明提供了一种可调式旋转机械手，能够将机械手进行转动，从而使机械手所夹持的编织袋也能一同进行转向，便于人们进行搬运和堆垛。
The invention discloses an adjustable rotating manipulator, which includes a connecting seat, a rotating mechanism and two sets of clamping mechanisms. The rotating mechanism includes a rotating motor, a synchronous wheel, a rotating shaft and a synchronous belt. One end of the rotating shaft is arranged on the connecting base. Inside, the rotating shaft is rotatably connected to the connecting base through a bearing, the other end of the rotating shaft extends below the connecting base, the synchronizing wheel is fixed on the other end of the rotating shaft, the rotating motor is fixed on one side of the connecting base, and the The synchronizing wheel and the rotating motor are connected by a synchronous belt. A fixed seat is arranged under the synchronous wheel. An optical axis is fixed in the fixed seat. The optical axis runs through both sides of the fixed seat, and the fixed seat is located on the optical axis. In the middle, the clamping mechanisms are respectively arranged opposite to both ends of the optical axis. The invention provides an adjustable rotating manipulator, which can rotate the manipulator, so that the woven bags held by the manipulator can also be turned together, which is convenient for people to carry and stack.
Description
Technical Field
The invention relates to the technical field of woven bag production equipment, in particular to an adjustable rotary manipulator.
Background
The braided bag is after carrying out production processing, thereby needs the production line to shift to the region of depositing, at this in-process, needs to remove and stack the braided bag. The existing modes for carrying the woven bags are mainly two, one mode adopts a manual mode to stack and carry the woven bags, but the manual mode is low in efficiency, and the situations of irregular stacking and low stacking height are easy to occur; another kind adopts mechanical equipment's mode to stack and carry the braided bag, snatchs the braided bag through the manipulator, and rethread mobile device drives the manipulator and removes to accomplish the purpose that shifts the stack, but the action that can only snatch of current manipulator, when some special circumstances, when needing to change the direction of braided bag, can't rotate, thereby can't stack and carry the braided bag.
Disclosure of Invention
The invention aims to provide an adjustable rotary manipulator which can rotate the manipulator, so that woven bags clamped by the manipulator can be turned together, and the woven bags can be conveniently carried and stacked by people.
The invention discloses an adjustable rotary manipulator, which adopts the technical scheme that:
the utility model provides a rotatory manipulator with adjustable, includes connecting seat, slewing mechanism and two sets of fixture, slewing mechanism is including rotating motor, synchronizing wheel, rotation axis and hold-in range, rotation axis one end sets up in the connecting seat, the rotation axis passes through the bearing and rotates with the connecting seat to be connected, the rotation axis other end extends to the connecting seat below, the synchronizing wheel is fixed in the rotation axis other end, it is fixed in connecting seat one side to rotate the motor, the synchronizing wheel passes through synchronous belt drive with the rotation motor and is connected, the synchronizing wheel below is equipped with the fixing base, the fixing base internal fixation is equipped with the optical axis, the optical axis runs through in the fixing base both sides, the fixing base is located the optical axis middle part.
Preferably, the number of the optical axes is at least two, and two ends of each optical axis are fixedly connected with the clamping mechanism respectively.
As preferred scheme, fixture includes baffle, cylinder, dwang, clamping jaw and fixed block, the fixed block sets up in the baffle top, the baffle passes through fixed block and optical axis fixed connection, the cylinder sets up to be close to fixing base one side in the baffle, the cylinder rotates with the baffle to be connected, the output shaft of cylinder is towards the baffle opposite side, the output shaft of cylinder passes through the connecting block to be connected with the dwang, connecting block one end and dwang fixed connection, the connecting block other end rotates with the output shaft of cylinder to be connected, the dwang is fixed in the baffle top through the dead lever, the dwang rotates with the dead lever to be connected, the clamping jaw becomes L type structure, clamping jaw upper end and dwang fixed connection, the clamping jaw lower extreme is located the.
As preferred scheme, carry out fixed connection through the adjusting lever between clamping jaw and the dwang, adjusting lever one end and dwang fixed connection, the waist shape hole has been seted up on the surface that the clamping jaw is close to dwang one end, the clamping jaw passes waist shape hole and adjusting lever fixed connection through the fastener.
Preferably, the number of the clamping jaws is several.
As the preferred scheme, the number of the cylinders is two, and the cylinders are respectively arranged at the two ends of the baffle.
Preferably, a sensor for detecting the product is arranged on one side, close to the fixed seat, of the baffle.
The adjustable rotary manipulator disclosed by the invention has the beneficial effects that: the rotating motor of the rotating mechanism is arranged on one side of the connecting seat, the synchronous wheel is transmitted to rotate together through the rotating motor and the synchronous belt, the synchronous wheel is fixedly connected with the rotating shaft, one end of the rotating shaft is rotatably connected with the connecting column, the rotating shaft also rotates together, the fixing seat fixed below the rotating shaft is driven by the rotating shaft to rotate together, and the fixing seat is fixed on the clamping mechanisms on two sides of the fixing seat through the optical axis and rotates along with the fixing seat. In the production process, snatch the braided bag of production through fixture, the rethread rotates the motor and drives the rotation axis and rotate, makes fixture also rotate to adjust the angular direction of braided bag, the people of being convenient for carry and stack better.
Drawings
FIG. 1 is a schematic structural diagram of an adjustable rotary manipulator according to the present invention;
FIG. 2 is a schematic structural diagram of an adjustable rotary manipulator rotating mechanism according to the present invention;
fig. 3 is a schematic structural diagram of an adjustable clamping structure of a rotary manipulator according to the present invention.
Detailed Description
The invention will be further elucidated and described with reference to the embodiments and drawings of the specification:
referring to fig. 1 and 2, an adjustable rotary manipulator includes a connecting seat 10, a rotating mechanism 20, and two sets of clamping mechanisms 30.
The rotating motor 21 of the rotating mechanism 20 is disposed on one side of the connecting seat 10, the synchronizing wheel 22 is transmitted to rotate together through the rotating motor 21 and the synchronous belt 24, the synchronizing wheel 22 is fixedly connected with the rotating shaft 23, one end of the rotating shaft 23 is rotatably connected with the connecting column, so that the rotating shaft 23 also rotates together, the fixing seat 26 fixed below the rotating shaft 23 is driven by the rotating shaft 23 to rotate together with the fixing seat 26, and the clamping mechanisms 30 fixed on two sides of the fixing seat 26 through the optical axis 27 rotate along with the fixing seat 26.
In process of production, snatch the braided bag of production through fixture 30, rethread rotates motor 21 and drives rotation axis 23 and rotate, makes fixture 30 also rotate to adjust the angle direction of braided bag, the people of being convenient for carry and stack better.
The number of the optical axes 27 is at least two, and both ends of the optical axis 27 are respectively fixedly connected with the clamping mechanism 30, so that the clamping mechanism 30 can be more stably fixed on the optical axis 27, and the clamping mechanism 30 can be supported with enough supporting force.
Referring to fig. 3, the clamping mechanism 30 includes a baffle 31, a cylinder 32, a rotating rod 33, a clamping jaw 34 and a fixing block 35, the fixing block 35 is disposed above the baffle 31, the baffle 31 is fixedly connected to the optical axis 27 through the fixing block 35, the cylinder 32 is disposed on one side of the baffle 31 close to the fixing base 26, the cylinder 32 is rotatably connected to the baffle 31, an output shaft of the cylinder 32 faces the other side of the baffle 31, an output shaft of the cylinder 32 is connected to the rotating rod 33 through a connecting block 36, one end of the connecting block 36 is fixedly connected to the rotating rod 33, the other end of the connecting block 36 is rotatably connected to an output shaft of the cylinder 32, the rotating rod 33 is fixed above the baffle 31 through a fixing rod 37, the rotating rod 33 is rotatably connected to the fixing rod 37, the clamping jaw 34.
The output shaft through cylinder 32 is kept away from fixing base 26 one side towards baffle 31 and is promoted, makes dwang 33 go towards the baffle 31 outside on dead lever 37 and rotates to drive clamping jaw 34 and rotate towards baffle 31 and be close to fixing base 26 one side, carry out the centre gripping fixedly with the braided bag through clamping jaw 34 and baffle 31. On the contrary, when the output shaft of the cylinder 32 is contracted towards the side of the baffle 31 close to the fixed seat 26, the woven bag clamped by the clamping jaws 34 is loosened, and the purpose of carrying is achieved.
And the baffle 31 can be adjusted on the optical axis 27 through the fixing block 35, so that the distance between the two clamping mechanisms 30 can be adjusted, and the purpose of clamping woven bags with different sizes is met.
In the above scheme, the clamping jaw 34 is fixedly connected with the rotating rod 33 through the adjusting rod 38, one end of the adjusting rod 38 is fixedly connected with the rotating rod 33, the surface of the clamping jaw 34 close to one end of the rotating rod 33 is provided with the kidney-shaped hole 341, and the clamping jaw 34 passes through the kidney-shaped hole 341 through a fastener and is fixedly connected with the adjusting rod 38.
The position of the clamping jaw 34 on the adjusting rod 38 can be adjusted through the waist-shaped hole 341 on the clamping jaw 34, so that the distance between the other end of the clamping jaw 34 and the baffle plate 31 is changed, and the clamping jaw is used for clamping woven bags with different stacking thicknesses.
Above-mentioned clamping jaw 34 quantity is a plurality of, improves the power of grabbing of clamping jaw 34 when snatching the braided bag, ensures that the braided bag can be more firm when snatching.
And the cylinder 32 is two in quantity, and the cylinder 32 sets up respectively in baffle 31 both ends, and the skew can be avoided taking place at dwang 33 both ends, utilizes two cylinders 32 to drive dwang 33 both ends simultaneously and rotates, makes clamping jaw 34 on the dwang 33 carry out the centre gripping in step.
Be equipped with the sensor 39 that is used for detecting the product on baffle 31 is close to fixing base 26 one side, utilize sensor 39 can detect fixture 30 whether when carrying out the centre gripping, the accuracy is located the top of braided bag to after fixture 30 loosens, the condition that the braided bag can drop smoothly.
The invention provides an adjustable rotary manipulator, wherein a rotating motor of a rotating mechanism is arranged on one side of a connecting seat, a synchronous wheel is transmitted to rotate together through the rotating motor and a synchronous belt, the synchronous wheel is fixedly connected with a rotating shaft, one end of the rotating shaft is rotatably connected with a connecting column, so that the rotating shaft also rotates together, a fixed seat fixed below the rotating shaft is driven by the rotating shaft to rotate together, and the fixed seat is fixed on two sides of the fixed seat through clamping mechanisms fixed on two sides of the fixed seat through an optical axis and rotates along with the fixed seat. In the production process, snatch the braided bag of production through fixture, the rethread rotates the motor and drives the rotation axis and rotate, makes fixture also rotate to adjust the angular direction of braided bag, the people of being convenient for carry and stack better.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides a rotary manipulator with adjustable, its characterized in that, includes connecting seat, slewing mechanism and two sets of fixture, slewing mechanism is including rotating motor, synchronizing wheel, rotation axis and hold-in range, rotation axis one end sets up in the connecting seat, the rotation axis passes through the bearing and rotates with the connecting seat to be connected, the rotation axis other end extends to the connecting seat below, the synchronizing wheel is fixed in the rotation axis other end, it is fixed in connecting seat one side to rotate the motor, the synchronizing wheel passes through synchronous belt drive with the rotation motor and is connected, the synchronizing wheel below is equipped with the fixing base, the fixing base internal fixation is equipped with the optical axis, the optical axis runs through in the fixing base both sides, the fixing base is located the optical axis middle.
2. The adjustable rotary manipulator according to claim 1, wherein the number of said optical axes is at least two, and two ends of said optical axes are respectively fixed to said holding mechanism.
3. The adjustable rotary manipulator according to claim 1, wherein the clamping mechanism comprises a baffle plate, a cylinder, a rotating rod, a clamping jaw and a fixed block, the fixed block is arranged above the baffle plate, the baffle plate is fixedly connected with the optical axis through the fixed block, the cylinder is arranged on one side of the baffle plate close to the fixed seat, the cylinder is rotationally connected with the baffle plate, the output shaft of the cylinder faces the other side of the baffle plate, the output shaft of the cylinder is connected with the rotating rod through a connecting block, one end of the connecting block is fixedly connected with the rotating rod, the other end of the connecting block is rotatably connected with an output shaft of the air cylinder, the rotating rod is fixed above the baffle plate through a fixed rod and is rotationally connected with the fixed rod, the clamping jaw becomes L type structure, clamping jaw upper end and dwang fixed connection, the clamping jaw lower extreme is located the baffle below.
4. The adjustable rotary manipulator according to claim 3, wherein the clamping jaw is fixedly connected with the rotating rod through an adjusting rod, one end of the adjusting rod is fixedly connected with the rotating rod, a waist-shaped hole is formed in the surface of the clamping jaw close to one end of the rotating rod, and the clamping jaw passes through the waist-shaped hole through a fastener and is fixedly connected with the adjusting rod.
5. The adjustable rotary manipulator according to claim 4, wherein the number of said gripping jaws is several.
6. The adjustable rotary manipulator according to claim 3, wherein the number of the cylinders is two, and the cylinders are respectively disposed at two ends of the baffle.
7. The adjustable rotary manipulator according to claim 3, wherein a sensor for detecting the product is disposed on a side of the baffle plate adjacent to the fixed base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011394198.8A CN112850113A (en) | 2020-12-02 | 2020-12-02 | Adjustable rotary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011394198.8A CN112850113A (en) | 2020-12-02 | 2020-12-02 | Adjustable rotary manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112850113A true CN112850113A (en) | 2021-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011394198.8A Pending CN112850113A (en) | 2020-12-02 | 2020-12-02 | Adjustable rotary manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112850113A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997004928A1 (en) * | 1995-07-27 | 1997-02-13 | Ken Yanagisawa | Moving mechanism |
| CN1923472A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot hand for carrying and piling bag package |
| CN103144119A (en) * | 2013-03-26 | 2013-06-12 | 广州创研自动化设备有限公司 | Robot conveying claw mechanism |
| CN203973530U (en) * | 2013-12-31 | 2014-12-03 | 浙江工业大学 | A kind of transposition clamping manipulator |
| CN204384375U (en) * | 2014-12-29 | 2015-06-10 | 湖州盟泰物流设备有限公司 | Machine subcontracted by packed rice and flour |
| CN105775687A (en) * | 2016-05-20 | 2016-07-20 | 河北晓进机械制造股份有限公司 | Anchor rod bundling and tidying device |
| CN106348009A (en) * | 2016-11-18 | 2017-01-25 | 山东爱而生智能科技有限公司 | Pallet grab mechanism and machine hand capable of grabbing pallet |
| US9868219B1 (en) * | 2017-02-25 | 2018-01-16 | Citic Dicastal Co., Ltd | Self-adjusting robot clamping jaw for grabbing hub |
| CN110775587A (en) * | 2018-07-30 | 2020-02-11 | 深圳市聚能自动化设备有限公司 | Part reversing and material transferring mechanism |
| CN211073651U (en) * | 2019-09-09 | 2020-07-24 | 肇庆富丰包装有限公司 | Braided bag tongs |
| CN214358849U (en) * | 2020-12-02 | 2021-10-08 | 和诚工业发展(深圳)有限公司 | Adjustable rotary manipulator |
-
2020
- 2020-12-02 CN CN202011394198.8A patent/CN112850113A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997004928A1 (en) * | 1995-07-27 | 1997-02-13 | Ken Yanagisawa | Moving mechanism |
| CN1923472A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot hand for carrying and piling bag package |
| CN103144119A (en) * | 2013-03-26 | 2013-06-12 | 广州创研自动化设备有限公司 | Robot conveying claw mechanism |
| CN203973530U (en) * | 2013-12-31 | 2014-12-03 | 浙江工业大学 | A kind of transposition clamping manipulator |
| CN204384375U (en) * | 2014-12-29 | 2015-06-10 | 湖州盟泰物流设备有限公司 | Machine subcontracted by packed rice and flour |
| CN105775687A (en) * | 2016-05-20 | 2016-07-20 | 河北晓进机械制造股份有限公司 | Anchor rod bundling and tidying device |
| CN106348009A (en) * | 2016-11-18 | 2017-01-25 | 山东爱而生智能科技有限公司 | Pallet grab mechanism and machine hand capable of grabbing pallet |
| US9868219B1 (en) * | 2017-02-25 | 2018-01-16 | Citic Dicastal Co., Ltd | Self-adjusting robot clamping jaw for grabbing hub |
| CN110775587A (en) * | 2018-07-30 | 2020-02-11 | 深圳市聚能自动化设备有限公司 | Part reversing and material transferring mechanism |
| CN211073651U (en) * | 2019-09-09 | 2020-07-24 | 肇庆富丰包装有限公司 | Braided bag tongs |
| CN214358849U (en) * | 2020-12-02 | 2021-10-08 | 和诚工业发展(深圳)有限公司 | Adjustable rotary manipulator |
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