CN205272015U - General specification cleaning equipment's general machinery hand - Google Patents
General specification cleaning equipment's general machinery hand Download PDFInfo
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- CN205272015U CN205272015U CN201520644881.0U CN201520644881U CN205272015U CN 205272015 U CN205272015 U CN 205272015U CN 201520644881 U CN201520644881 U CN 201520644881U CN 205272015 U CN205272015 U CN 205272015U
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Abstract
The utility model relates to a general specification cleaning equipment's general machinery hand, including lateral shifting mechanism, vertical movement mechanism, wherein vertical movement mechanism installs in lateral shifting mechanism, and vertical movement mechanism installs manipulator mechanism including removing the terminal surface on removing the terminal surface, manipulator mechanism includes fixture and frame, and fixture includes actuating mechanism and drive mechanism, is connected with two swing arms on drive mechanism, and actuating mechanism includes the eccentric shaft, and drive mechanism includes that two are rotated the drive shaft of being connected with the frame, and the diad of drive shaft is coaxial with the rotation axis of eccentric shaft, sets up the drive plate in the drive shaft, and the drive plate includes support position, and the off -centre portion of eccentric shaft contacts with support position when rotating, promotes the drive shaft through the drive plate and rotates, swing arm and drive shaft rigid coupling, in the position that two swing arms correspond, each is provided with a plurality of gripper jaws in pairs, and the swing arm is when rotatory, and the gripper jaw moves towards the swing of two swing arm intermediate positions.
Description
Technical field
This utility model relates to the Unimate of a kind of common-use size cleaning equipment, belongs to a kind of carrying technical field of mechanical equipment.
Background technology
In wet clean equipment industry, equipment is divided into manually and automatically (semi-automatic). Automatic board can control the process time accurately, improves quality and the efficiency of product, reduces staff labor intensity. But mechanical hand is requisite ingredient inside automatic board, therefore research and development improve the necessary preparation producing equipment after mechanical hand is, simultaneously the corresponding production cycle shortening equipment.
Utility model content
The technical problems to be solved in the utility model is: overcome robotic device automaticity in prior art low, the problem that customizations degree is too high, it is provided that the Unimate of a kind of common-use size cleaning equipment.
This utility model solves its technical problem and be the technical scheme is that
A kind of Unimate of common-use size cleaning equipment, including transverse moving mechanism, longitudinal moving mechanism, wherein longitudinal moving mechanism is arranged on transverse moving mechanism, and longitudinal moving mechanism includes a mobile end face, is provided with manipulator mechanism on described mobile end face;
Described manipulator mechanism includes a clamping device and support, described clamping device includes a driving mechanism and a drive mechanism, described drive mechanism is connected to two swing arms, described driving mechanism includes an eccentric shaft, described drive mechanism includes two driving axles being rotationally connected with support, drive the axis of symmetry of axle and the coaxial of eccentric shaft, arrange one on the driving shaft and drive plate, described driving plate includes a support level, the eccentric part of eccentric shaft contacts with support level when rotating, by driving plate to promote drive shaft turns;
Described swing arm is affixed with driving axle, in the position that two swing arms are corresponding, has respectively been arranged in pairs some gripper jaws, and when rotated, gripper jaw swings swing arm towards two swing arm centre positions.
As further innovation of the present utility model, described driving mechanism includes an also motor.
As further innovation of the present utility model, described driving plate includes a fork plate, is each provided with the support level of a bar shaped in the both sides up and down of fork plate.
As further innovation of the present utility model, described gripper jaw includes an oscillating deck fixing to be connected with swing arm, is fixed with the gripper hook of U-tube shape on described oscillating deck.
As further innovation of the present utility model, being provided with clamping detection switch on described gripper hook, described clamping detection switch includes the pressure-sensitive detection bar that varistor is main body.
As further innovation of the present utility model, drive in said two and be provided with a clamp position testing agency between axle, described clamp position testing agency includes a photoelectric sensor for detecting drive shaft turns amount, and the light of described photoelectric sensor is penetrated head and is radiated at drive shaft surface.
As further innovation of the present utility model, described longitudinal moving mechanism includes lifting arm and lifting arm driving mechanism and vertically moves support, vertically moving, support is provided with a longitudinal slide rail, lifting arm is slidably connected with longitudinal slide rail, described lifting arm driving mechanism includes a driving motor A, being connected by ball screw arrangement between described driving motor A and lifting arm, the end at lifting arm is additionally provided with a mounting platform for installation manipulator mechanism.
As further innovation of the present utility model, it is additionally provided with limit switch group A in the both sides of described slide rail.
As further innovation of the present utility model, described transverse moving mechanism includes transverse shifting support, transversal driving mechanism, described transversal driving mechanism includes a driving motor B and one group of synchronous pulley mechanism, and synchronous pulley mechanism includes driving wheel, follower and Timing Belt;
Described transverse shifting support includes for the support A of fixed lateral driving mechanism, support B, described driving wheel is fixed on the driving axle driving motor B, described driving motor B is fixed on support A, described follower and support B are rotationally connected, described longitudinal moving mechanism is fixed on the side of synchronous pulley, moves back and forth between support A and support B;
Being further fixed on a horizontal slide rail on described transverse shifting support, be provided with a sliding shoe corresponding with horizontal slide rail on described longitudinal moving mechanism, described longitudinal moving mechanism is moved on horizontal slide rail by sliding shoe.
The beneficial effects of the utility model are:
1, this utility model longitudinally, laterally traversing carriage by a universal mounting mechanisms, it is achieved that the general installation to different structure mechanical hand, adaptability is good, and general context is big.
2, mechanical hand of the present utility model adopts single step motor drive, and compared to traditional steering wheel and piston structure, parts are less, and structure is eased, stability, and clamping force better controls comparatively speaking simultaneously, and clamping is more accurate.
3, pressure-sensitive testing agency is possible to prevent to occur the situation of sky clamping because of gaily decorated basket dystopy.
4, photoelectric sensor can control gripper jaw and is in correct position when different station, it is prevented that the generation of operational error.
5, longitudinal slide rail adopts ball screw arrangement, and precision is high, and bearing capacity is big, and linear and continuity will be better than the mechanisms such as cylinder.
6, transversal driving mechanism adopts synchronous belt mechanism as driving, coordinates horizontal slide rail to be supported, and precision is high, and moving range is big, and adaptability is good.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, this utility model is further illustrated.
Fig. 1 is that this utility model vertically moves and the structure of mechanical hand is always schemed;
Fig. 2 is that structure of the present utility model is always schemed;
Fig. 3 is the structural representation of manipulator mechanism.
In figure: support C1, motor 2, eccentric shaft 3, fork plate 4, gripper hook 5, pressure-sensitive detection bar 6, the gaily decorated basket 7, driving axle 8, lifting arm 9, driving mechanism 10, driving motor B11, support A12, support B13, Timing Belt 14, horizontal slide rail 15, mounting platform 16, manipulator mechanism 17, ball screw arrangement 18, driving motor A19, longitudinal slide rail 20.
Detailed description of the invention
Presently in connection with accompanying drawing, this utility model is described in further detail. These accompanying drawings are the schematic diagram of simplification, and basic structure of the present utility model is only described in a schematic way, and therefore it only shows the composition relevant with this utility model.
As shown in Figure 1 and 2, a kind of Unimate of common-use size cleaning equipment, including transverse moving mechanism, longitudinal moving mechanism, wherein longitudinal moving mechanism is arranged on transverse moving mechanism, longitudinal moving mechanism includes a general mounting platform 16, is provided with manipulator mechanism 17 on described general mounting platform 16;
Described longitudinal moving mechanism includes lifting arm 9 and lifting arm driving mechanism 10 and vertically moves support, vertically moving, support is provided with a longitudinal slide rail 20, lifting arm 9 is slidably connected with longitudinal slide rail 20, described lifting arm driving mechanism 10 includes a driving motor A19, being connected by ball screw arrangement 18 between described driving motor A19 and lifting arm 9, the end at lifting arm 9 is additionally provided with a mounting platform 16 for installation manipulator mechanism 17; It is additionally provided with limit switch group A in the both sides of described slide rail, outside the lifting arm driving mechanism 10 of described longitudinal moving mechanism, is also socketed with casing;
Described transverse moving mechanism includes transverse shifting support, transversal driving mechanism, and described transversal driving mechanism includes a driving motor B11 and one group of Timing Belt 14 wheel mechanism, and Timing Belt 14 wheel mechanism includes driving wheel, follower and Timing Belt 14;
Described transverse shifting support includes for the support A12 of fixed lateral driving mechanism, support B13, described driving wheel is fixed on the driving axle A driving motor B11, described driving motor B11 is fixed on support A12, described follower and support B13 are rotationally connected, the casing of described longitudinal moving mechanism is fixed on the side that Timing Belt 14 is taken turns, and moves back and forth between support A12 and support B13;
Being further fixed on a horizontal slide rail 15 on described transverse shifting support, be additionally provided with a sliding shoe corresponding with horizontal slide rail 15 in the casing of described longitudinal moving mechanism, described longitudinal moving mechanism is moved on horizontal slide rail 15 by sliding shoe.
As shown in Fig. 2 ~ 3, described manipulator mechanism 17 includes a clamping device and support C1, described clamping device includes a motor 2 and a drive mechanism, described drive mechanism is connected to two swing arms, described motor 2 is provided with an eccentric shaft 3, described drive mechanism include two with the support C1 driving axle B8 being rotationally connected, drive the axis of symmetry of axle B8 and the coaxial of eccentric shaft 3, driving, axle B8 arranges a fork plate 4, the support level of a bar shaped it is each provided with in the both sides up and down of fork plate 4, the eccentric part of eccentric shaft 3 contacts with support level when rotating, drive axle 8 to rotate by driving plate to promote,
Described swing arm is affixed with driving axle 8, in the position that two swing arms are corresponding, some gripper jaws respectively it are arranged in pairs, gripper jaw includes an oscillating deck fixing to be connected with swing arm, being fixed with the gripper hook 5 of U-tube shape on described oscillating deck, when rotated, gripper hook 5 swings swing arm towards two swing arm centre positions, being provided with clamping detection switch on gripper hook 5, described clamping detection switch includes the pressure-sensitive detection bar 6 that varistor is main body;
Driving in said two and be provided with a clamp position testing agency between axle 8, described clamp position testing agency includes one for detecting the photoelectric sensor driving axle 8 amount of spin, and the light of described photoelectric sensor is penetrated head and is radiated at driving axle 8 surface. When to capture the gaily decorated basket 7, motor 2 starts band gripper hook 5 and does inside rotation, when photoelectric sensor for position detects that gripper hook 5 clamping puts in place, feeding back to PLC, PLC to send instructions to motor 2, motor 2 stops operating, and now pressure-sensitive detection bar 6 contacts with the gaily decorated basket 7, pressure-sensitive detection bar 6 detects that the gaily decorated basket 7 has been in held state, and namely photoelectric sensor for position and pressure-sensitive detection bar 6 all sense signal, illustrate that gripper hook 5 completes holding action;
When to put down the gaily decorated basket 7, motor 2 starts band gripper hook 5 and is turned out, when photoelectric sensor for position detects that gripper hook 5 relieving puts in place, feed back to PLC, PLC and send instructions to motor 2, motor 2 stops operating, now pressure-sensitive detection bar 6 separates with the gaily decorated basket 7, and separate signal is fed back to PLC by pressure-sensitive detection bar 6 again, confirms that gripper hook 5 is decontroled completely, and maintenance state, namely decontrol the gaily decorated basket 7 action and complete.
The U-clamp tenaculum 5 outsourcing PFA pipe of this mechanical hand, has very strong corrosion resistance and the performance such as high temperature resistant, by capturing while adjusting machinery claw and can completing same size or two gailys decorated basket 7 of different size;
Because adopting motor 2 to drive, at work when to change the gaily decorated basket 7 specification of crawl, only need to by the parameter switching that set to another parameter, its principle is to adjust the angle that motor 2 rotates, sensor can detect that whether corresponding position is correct, therefore when adjusting, easy to operate, save the time.
This mechanical hand with other generic compared with, adopt motor 2 to drive, it is possible to the different gaily decorated basket 7 specification of gripping, and conventionally employed cylinder be as the gaily decorated basket 7 that can only grip a kind of specification driven. And also there is saving space, and stable, capture accurately, the features such as the suitability is strong; During equipment work, only the gaily decorated basket 7 need to being put into upper material level, then mechanical hand is started working, and after whole technique terminates, the gaily decorated basket 7 is put into lower material level by mechanical hand, then takes away.
With above-mentioned according to desirable embodiment of the present utility model for enlightenment, by above-mentioned description, relevant staff in the scope not necessarily departing from this utility model technological thought, can carry out various change and amendment completely. The technical scope of this utility model is not limited to the content in description, it is necessary to determine its technical scope according to right.
Claims (9)
1. the Unimate of a common-use size cleaning equipment, it is characterized in that: include transverse moving mechanism, longitudinal moving mechanism, wherein longitudinal moving mechanism is arranged on transverse moving mechanism, and longitudinal moving mechanism includes a mobile end face, is provided with manipulator mechanism on described mobile end face;
Described manipulator mechanism includes a clamping device and support, described clamping device includes a driving mechanism and a drive mechanism, described drive mechanism is connected to two swing arms, described driving mechanism includes an eccentric shaft, described drive mechanism includes two driving axles being rotationally connected with support, drive the axis of symmetry of axle and the coaxial of eccentric shaft, arrange one on the driving shaft and drive plate, described driving plate includes a support level, the eccentric part of eccentric shaft contacts with support level when rotating, by driving plate to promote drive shaft turns;
Described swing arm is affixed with driving axle, in the position that two swing arms are corresponding, has respectively been arranged in pairs some gripper jaws, and when rotated, gripper jaw swings swing arm towards two swing arm centre positions.
2. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, is characterized in that: described driving mechanism also includes a motor.
3. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, is characterized in that: described driving plate includes a fork plate, is each provided with the support level of a bar shaped in the both sides up and down of fork plate.
4. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, is characterized in that: described gripper jaw includes an oscillating deck fixing to be connected with swing arm, is fixed with the gripper hook of U-tube shape on described oscillating deck.
5. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, is characterized in that: being provided with clamping detection switch on described gripper hook, described clamping detection switch includes the pressure-sensitive detection bar that varistor is main body.
6. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, it is characterized in that: drive in said two and be provided with a clamp position testing agency between axle, described clamp position testing agency includes a photoelectric sensor for detecting drive shaft turns amount, and the light of described photoelectric sensor is penetrated head and is radiated at drive shaft surface.
7. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, it is characterized in that: described longitudinal moving mechanism includes lifting arm and lifting arm driving mechanism and vertically moves support, vertically moving, support is provided with a longitudinal slide rail, lifting arm is slidably connected with longitudinal slide rail, described lifting arm driving mechanism includes a driving motor A, being connected by ball screw arrangement between described driving motor A and lifting arm, the end at lifting arm is additionally provided with a mounting platform for installation manipulator mechanism.
8. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 7, is characterized in that: be additionally provided with limit switch group A in the both sides of described slide rail.
9. the Unimate of a kind of common-use size cleaning equipment as claimed in claim 1, it is characterized in that: described transverse moving mechanism includes transverse shifting support, transversal driving mechanism, described transversal driving mechanism includes a driving motor B and one group of synchronous pulley mechanism, and synchronous pulley mechanism includes driving wheel, follower and Timing Belt;
Described transverse shifting support includes for the support A of fixed lateral driving mechanism, support B, described driving wheel is fixed on the driving axle driving motor B, described driving motor B is fixed on support A, described follower and support B are rotationally connected, described longitudinal moving mechanism is fixed on the side of synchronous pulley, moves back and forth between support A and support B;
Being further fixed on a horizontal slide rail on described transverse shifting support, be provided with a sliding shoe corresponding with horizontal slide rail on described longitudinal moving mechanism, described longitudinal moving mechanism is moved on horizontal slide rail by sliding shoe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520644881.0U CN205272015U (en) | 2015-08-25 | 2015-08-25 | General specification cleaning equipment's general machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520644881.0U CN205272015U (en) | 2015-08-25 | 2015-08-25 | General specification cleaning equipment's general machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205272015U true CN205272015U (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520644881.0U Active CN205272015U (en) | 2015-08-25 | 2015-08-25 | General specification cleaning equipment's general machinery hand |
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| Country | Link |
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| CN (1) | CN205272015U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298307A (en) * | 2017-07-26 | 2017-10-27 | 江苏金帆新程装备有限公司 | The catching robot of lead-acid accumulator |
| CN109941739A (en) * | 2019-04-26 | 2019-06-28 | 昆山基侑电子科技有限公司 | Cassette gripping body |
| CN111112361A (en) * | 2019-12-26 | 2020-05-08 | 倪晓 | Automatic pointing production equipment |
-
2015
- 2015-08-25 CN CN201520644881.0U patent/CN205272015U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298307A (en) * | 2017-07-26 | 2017-10-27 | 江苏金帆新程装备有限公司 | The catching robot of lead-acid accumulator |
| CN107298307B (en) * | 2017-07-26 | 2022-11-08 | 江苏金帆新程装备有限公司 | Grabbing manipulator of lead-acid storage battery |
| CN109941739A (en) * | 2019-04-26 | 2019-06-28 | 昆山基侑电子科技有限公司 | Cassette gripping body |
| CN111112361A (en) * | 2019-12-26 | 2020-05-08 | 倪晓 | Automatic pointing production equipment |
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| GR01 | Patent grant |