CN102009409B - Two-arm manipulator device - Google Patents
Two-arm manipulator device Download PDFInfo
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- CN102009409B CN102009409B CN 200910195276 CN200910195276A CN102009409B CN 102009409 B CN102009409 B CN 102009409B CN 200910195276 CN200910195276 CN 200910195276 CN 200910195276 A CN200910195276 A CN 200910195276A CN 102009409 B CN102009409 B CN 102009409B
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Abstract
The invention relates to a two-arm manipulator device, which comprises a fixed base, a rotary cylinder, a take-out arm, a descending cylinder, a pull guide arm, a powerful clamp, an adjustable connecting rod and an adjustable sucker clamp. The rotary cylinder is arranged on the fixed base, the take-out arm is connected to the rotary cylinder, the descending cylinder is arranged at one end of the take-out arm, the pull guide arm is connected with the take-out arm, the powerful clamp is connected with the descending cylinder, the adjustable connecting rod is connected with the powerful clamp and the adjustable sucker clamp is arranged on the adjustable connecting rod. Compared with prior art, by the take-out program and function of the original manipulator, the invention plays a role of additionally arranging a small arm by additionally arranging a length-adjustable connecting rod, thereby achieving the take-out effect of the two-arm manipulator so as to meet the automatic production process.
Description
Technical field
The present invention relates to a kind of manipulator equipment, especially relate to a kind of Dual-arm manipulator equipment.
Background technology
At present, the many injection mo(u)lding processing factories of China all select to be equipped with manipulator and realize full automatic production process.Thereby reach reduce labor intensity, the purpose of saving personnel, improve production efficiency and product quality.But what all manipulator production firms mostly produced is the standard type, namely draws/gripping product or the mouth of a river (running channel) by different mode standards or instruction and editable pattern.Common are two types manipulator: single armed manipulator and dual-arm robot.And on an injection machine one type manipulator can only be installed.If what our injection machine was installed at the beginning is exactly single armed manipulator (considering Cost Problems), can our later production run and automatically just be subject to certain restriction.During three template die that can not automatically drop for the production mouth of a river, we just can not open fully-automatic production.Because for the single armed manipulator, it can only select to take product or the mouth of a river, and can not take simultaneously product and the mouth of a river.If we must run fully-automatic production, then need to revise mould or be replaced with dual-arm robot, this means again need to pay a higher extra charge.Also need simultaneously delivery and set-up time about at least one week.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of improvement cost low, easy-to-disassemble and assemble Dual-arm manipulator equipment for the defective that overcomes above-mentioned prior art existence.
Purpose of the present invention can be achieved through the following technical solutions:
A kind of Dual-arm manipulator equipment, it is characterized in that, this equipment comprises holder, rotary cylinder, take out arm, the decline cylinder, the pulling leading arm, strong holding device, adjustable connecting rod and can regulate the sucking disc clamp tool, described rotary cylinder is located on the holder, described taking-up arm is connected on the rotary cylinder, described decline cylinder is located at an end that takes out arm, described pulling leading arm is connected with the taking-up arm, described strong holding device is connected with the decline cylinder, described adjustable connecting rod is connected with strong holding device, and the described sucking disc clamp tool of regulating is located on the adjustable connecting rod.
Described adjustable connecting rod comprises master connecting-rod, slave connecting rod and set bolt, and described master connecting-rod is connected with strong holding device, described slave connecting rod with can regulate the sucking disc clamp tool and be connected, described set bolt connects master connecting-rod and slave connecting rod.
Described master connecting-rod is made by aluminium.
Described slave connecting rod is made by aluminium.
The described sucking disc clamp tool of regulating comprises fixed head, gold utensil and sucker anchor clamps, and described fixed head is connected with adjustable connecting rod, and described gold utensil and sucker anchor clamps are located on the fixed head, connects product.
Described fixed head adopts non-metallic plates to make.
Described non-metallic plates comprises bakelite plate.
Compared with prior art, the present invention has utilized taking-up formula and the function of original manipulator, play the purpose that increases a little arm by the connecting rod that installs an adjustable length additional, thereby reach the taking-up effect of dual-arm robot, produce full automatic production process to satisfy, and have the following advantages:
(1) improvement cost is very low: the price of domestic small-sized single armed manipulator is also more than RMB13000 unit in the market, the price of the dual-arm robot of the deep low gear corresponding with it is then up to more than the RMB25000 unit, and the expense of repacking is no more than RMB1000 unit;
(2) the transformation time is short: this repacking does not need the device fabrication merchant to participate in carrying out, do not need special process equipment (milling machine can be finished) yet, can in the company of oneself, just can finish all repacking processing fully, add the time of debugging, just can finish in one day;
(3) easy disassembling: as long as load onto the connecting rod that increases an adjustable length during use, connect simultaneously upper corresponding tracheae and detection signal, mix up again highly and extracting position has just been finished, not the time spent, adjustable link is pulled down just.
Description of drawings
Fig. 1 is structural representation of the present invention.
Among the figure 1 for holder, 2 for rotary cylinder, 3 for take out arm, 4 for the decline cylinder, 5 for pulling guiding arm, 6 for strong holding device, 7 for adjustable connecting rod, 8 for can regulate the sucking disc clamp tool, 71 for master connecting-rod, 72 for slave connecting rod, 73 for bolt, 81 for fixed head, 82 for sucker gold utensil, 83 be anchor clamps
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
A kind of Dual-arm manipulator equipment, its structure as shown in Figure 1, this equipment comprises holder 1, rotary cylinder 2, pulling leading arm 5, decline cylinder 4, takes out arm 3, strong holding device 6, adjustable connecting rod 7 and can regulate sucking disc clamp tool 8, rotary cylinder 2 is located on the holder 1, taking out arm 3 is connected on the rotary cylinder 2, decline cylinder 4 is located at an end that takes out arm 3, pulling leading arm 5 is connected with taking-up arm 3, strong holding device 6 is connected with decline cylinder 4, adjustable connecting rod 7 is connected with strong holding device 6, can regulate sucking disc clamp tool 8 and be located on the adjustable connecting rod 7.Adjustable connecting rod 7 comprises master connecting-rod 71, slave connecting rod 72 and set bolt 73, master connecting-rod 71 is connected with strong holding device 6, slave connecting rod 72 with can regulate sucking disc clamp tool 8 and be connected, set bolt 73 connects master connecting-rod 71 and slave connecting rods 72, master connecting-rod 71 and slave connecting rod 72 all adopt lightweight aluminium to make; Sucking disc clamp tool 8 be can regulate and fixed head 81, sucker gold utensil 82 comprised, anchor clamps 83, fixed head 81 is connected with adjustable connecting rod 7, fixed head 81 adopts the thick bakelite plate of 5mm to make, big or small then according to the size of the product of getting and the die cavity quantity of product, sucker gold utensil 82 and anchor clamps 83 are located on the fixed head 81, connect product.
The present invention has utilized taking-up formula and the function of original manipulator, plays the purpose that increases a little arm by the connecting rod that installs an adjustable length additional, thereby reaches the taking-up effect of dual-arm robot, produces full automatic production process to satisfy.Use the action step of this equipment as follows:
(1) after the mould die sinking was finished, two arms of manipulator were simultaneously descending;
(2) strong holding device 6 picks up the mouth of a river, and the absorption function of sucker anchor clamps 8 is opened simultaneously;
(3) after the mouth of a river was confirmed by strong holding device 6 grippings, two arms began pulling and advance;
(4) injection machine ejects the contact sucker with product; Product is drawn by sucker anchor clamps 8;
(5) after product was drawn affirmation, two simultaneously pullings of arm retreated;
Rotate after (6) two arms rise to original position simultaneously, drop to again conveyer belt, product is put down, finish whole taking-up action.
Claims (7)
1. Dual-arm manipulator equipment, it is characterized in that, this equipment comprises holder, rotary cylinder, take out arm, the decline cylinder, the pulling leading arm, strong holding device, adjustable connecting rod and can regulate the sucking disc clamp tool, described rotary cylinder is located on the holder, described taking-up arm is connected on the rotary cylinder, described decline cylinder is located at an end that takes out arm, described pulling leading arm is connected with the taking-up arm, described strong holding device is connected with the decline cylinder, described adjustable connecting rod is connected with strong holding device, and the described sucking disc clamp tool of regulating is located on the adjustable connecting rod.
2. a kind of Dual-arm manipulator equipment according to claim 1, it is characterized in that, described adjustable connecting rod comprises master connecting-rod, slave connecting rod and set bolt, described master connecting-rod is connected with strong holding device, described slave connecting rod with can regulate the sucking disc clamp tool and be connected, described set bolt connects master connecting-rod and slave connecting rod.
3. a kind of Dual-arm manipulator equipment according to claim 2 is characterized in that, described master connecting-rod is made by aluminium.
4. a kind of Dual-arm manipulator equipment according to claim 2 is characterized in that, described slave connecting rod is made by aluminium.
5. a kind of Dual-arm manipulator equipment according to claim 1, it is characterized in that the described sucking disc clamp tool of regulating comprises fixed head, gold utensil and sucker anchor clamps, described fixed head is connected with adjustable connecting rod, described gold utensil and sucker anchor clamps are located on the fixed head, connect product.
6. a kind of Dual-arm manipulator equipment according to claim 5 is characterized in that, described fixed head adopts non-metallic plates to make.
7. a kind of Dual-arm manipulator equipment according to claim 6 is characterized in that, described non-metallic plates comprises bakelite plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910195276 CN102009409B (en) | 2009-09-07 | 2009-09-07 | Two-arm manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910195276 CN102009409B (en) | 2009-09-07 | 2009-09-07 | Two-arm manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102009409A CN102009409A (en) | 2011-04-13 |
| CN102009409B true CN102009409B (en) | 2013-03-13 |
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ID=43839834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910195276 Expired - Fee Related CN102009409B (en) | 2009-09-07 | 2009-09-07 | Two-arm manipulator device |
Country Status (1)
| Country | Link |
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| CN (1) | CN102009409B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490325B (en) * | 2011-11-24 | 2014-02-19 | 长春富维-江森自控汽车饰件系统有限公司 | Stack mold gripper |
| CN105382120B (en) * | 2015-12-25 | 2017-11-17 | 东莞市瑞辉机械制造有限公司 | A kind of stamping machine and its manipulator mounting rod |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1811265U (en) * | 1957-03-12 | 1960-05-12 | Fischer Ag Georg | TURNING TOOL WITH INSERTABLE CUTTER BODY. |
| CN1666854A (en) * | 2004-03-10 | 2005-09-14 | 发那科株式会社 | Molded-product removing device |
| CN201128154Y (en) * | 2007-08-30 | 2008-10-08 | 于复生 | Gas sucker type manipulator |
| CN201300522Y (en) * | 2008-12-01 | 2009-09-02 | 中山市钜通机电技术有限公司 | Manipulator for horizontal injection molding machine |
| CN201300523Y (en) * | 2008-12-01 | 2009-09-02 | 中山市钜通机电技术有限公司 | Sidle manipulator for horizontal injection molding machine |
| CN201483489U (en) * | 2009-09-07 | 2010-05-26 | 上海富亿德塑胶有限公司 | Dual-arm manipulator equipment |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3463226A (en) * | 1967-11-29 | 1969-08-26 | Shell Oil Co | Underwater wellhead apparatus |
| JPH09327734A (en) * | 1996-06-12 | 1997-12-22 | Ishikawajima Harima Heavy Ind Co Ltd | Sheet loader of transfer press |
| JP3506857B2 (en) * | 1996-11-18 | 2004-03-15 | 東芝機械株式会社 | Product take-out device in molding machine |
-
2009
- 2009-09-07 CN CN 200910195276 patent/CN102009409B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1811265U (en) * | 1957-03-12 | 1960-05-12 | Fischer Ag Georg | TURNING TOOL WITH INSERTABLE CUTTER BODY. |
| CN1666854A (en) * | 2004-03-10 | 2005-09-14 | 发那科株式会社 | Molded-product removing device |
| CN201128154Y (en) * | 2007-08-30 | 2008-10-08 | 于复生 | Gas sucker type manipulator |
| CN201300522Y (en) * | 2008-12-01 | 2009-09-02 | 中山市钜通机电技术有限公司 | Manipulator for horizontal injection molding machine |
| CN201300523Y (en) * | 2008-12-01 | 2009-09-02 | 中山市钜通机电技术有限公司 | Sidle manipulator for horizontal injection molding machine |
| CN201483489U (en) * | 2009-09-07 | 2010-05-26 | 上海富亿德塑胶有限公司 | Dual-arm manipulator equipment |
Non-Patent Citations (2)
| Title |
|---|
| JP平10-146790A 1998.06.02 |
| JP平9-327734A 1997.12.22 |
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| Publication number | Publication date |
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| CN102009409A (en) | 2011-04-13 |
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Owner name: JIASHAN FUJITECH PLASTIC CO., LTD. Free format text: FORMER OWNER: SHANGHAI FUJITECH PLASTIC CO., LTD. Effective date: 20141013 |
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Free format text: CORRECT: ADDRESS; FROM: 200240 MINHANG, SHANGHAI TO: 314113 JIAXING, ZHEJIANG PROVINCE |
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Effective date of registration: 20141013 Address after: 398-1 No. 314113 Zhejiang County of Jiashan Province town of Linghai Dayun Road Patentee after: JIASHAN FUJITECH PLASTIC Co.,Ltd. Address before: 200240 Shanghai city Minhang District Jianchuan Road No. 896 Patentee before: SHANGHAI FUJITECH PLASTIC Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 |