CN105945931A - Underpinning carrying manipulator - Google Patents
Underpinning carrying manipulator Download PDFInfo
- Publication number
- CN105945931A CN105945931A CN201610411403.4A CN201610411403A CN105945931A CN 105945931 A CN105945931 A CN 105945931A CN 201610411403 A CN201610411403 A CN 201610411403A CN 105945931 A CN105945931 A CN 105945931A
- Authority
- CN
- China
- Prior art keywords
- backing
- mechanical arm
- underpinning
- box
- conveying robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Abstract
The invention provides an underpinning carrying manipulator, which comprises a mechanical arm, and an underpinning carrying device fixedly connected to the mechanical arm. The underpinning carrying device is composed of a grabbing device and an underpinning device. The underpinning device comprises a shear type lifting support, an electric cylinder, a gear, a rack, and a motor. The underpinning carrying manipulator provided by the present invention allows automatic grabbing and underpinning operations. After a sucker connected to the mechanical arm grabs a box, an expansion link of the electric cylinder extends to drive the shear type lifting support to extend downwards; after the shear type lifting support extends to a predetermined stroke, the motor acts to drive a supporting plate to rotate to be under the box, and then the electric cylinder reverses to support the box; the mechanical arm drives the box to move or be stacked steadily and quickly; as a result, the probability of occurrence of box dropping and box opening accidents is greatly reduced; the stability during carrying and stacking is guaranteed, and the production efficiency is improved.
Description
Technical field
The invention belongs to mechanical hand technical field, relate in particular to a kind of backing conveying robot.
Background technology
Carrying and palletizing mechanical arm are plant equipment conventional in commercial production, and it can replace and manually carries out the work such as material handling, loading and unloading on each station.The most conventional piling, conveying robot are mechanical type or vacuum cap type grasp handling.
In a lot of industrial occasions, it is desirable to mechanical type or vacuum chuck type manipulator make three-dimensional motion, for improving production efficiency, mechanical hand is in handling process, and movement range is big, and the speed of service is fast, easily gets rid of bag or bale broken accident, and impact is normal to be produced.
For solving the problems referred to above, there is part producer to devise both sides mechanical gripper auxiliary body, be suitable for bag type product.But in the face of quality is big, the finished product bag of packing crates less specification, substitute or the accident occurrence frequency of bale broken is the highest.
Therefore, in the urgent need to have a kind of meet the piling of different work feature, conveying robot substitute manual work, solve this problem, just can realize the comprehensive automation produced, to be greatly improved production efficiency, reduce cost, and use equipment piling, the haulage equipment can more codes and standards.
Summary of the invention
The present invention solves that above-mentioned asking is designed, crawl structure and backing structure are combined, making the severe carrying environment that can adapt to of mechanical hand, carrying, the stability of piling are greatly improved, and meet the requirement of high-speed production.
For achieving the above object, the present invention provides following technical scheme:
A kind of backing conveying robot, it includes mechanical arm 13 and the backing Handling device that be connected fixing with mechanical arm 13；Wherein:
Described backing Handling device is made up of with backing device grabbing device；
Described backing device includes scissor lift support 6, electricity cylinder 11, supporting plate 9, motor 8；Described backing device is connected to grabbing device side by side plate 3；
Arranging rail plate 4 on described side plate 3, one end of described scissor lift support 6 is set up on rail plate 4, and is connected with the expansion link of electricity cylinder 11；The other end is connected with fixed strip 7；
Described motor 8 is set up on fixed strip 7, and motor 8 lower end connects supporting plate 9.
Further, described rail plate 4 includes upper rail 401 and lower guideway 402；
It is slidably connected with upper rack 501, lower tooth bar 502 respectively on described upper rail 401 and lower guideway 402；Between described upper rack 501 and lower tooth bar 502, meshed gears 10 is set；
Described scissor lift support 6 includes cross-coupled left socle 601, right support 602 in scissors；Described left socle 601 head end is connected with the expansion link of electricity cylinder 11, and is fixed on upper rack 501；
Described fixed strip 7 offers chute, and the end of left socle 601 is connected in described chute；
The head end of described right support 602 connects lower tooth bar 502；
The end of right support 602 is connected away from chute side is fixing with fixed strip 7.
Further, the head end of described right support 602 is connected to lower tooth bar 502 by connecting plate, and the head end making right support 602 is contour with left socle 601 head end.
Further, described grabbing device includes chassis 1, arranges some suckers 2 below described chassis 1.
Further, described chassis 1 arranging connection seat 12, described mechanical arm 13 is connected with chassis 1 by connecting seat 12.
Further, described mechanical arm 13 is connected with base 14.
The invention has the beneficial effects as follows:
A kind of backing conveying robot of the present invention achieves crawl automatically, backing operation；On the chassis being connected with mechanical arm, sucker is set, after capturing casing by sucker, the expansion link elongation of electric cylinder, drive scissor lift support stretch downward, after elongation to setting stroke, motor action, drive supporting plate to rotate to bottom, casing is held；Mechanical arm drives casing steadily to move or piling, greatly reduces and substitute, opens the probability that bag event occurs, it is ensured that carrying, the stablizing of palletization, improves production efficiency.
Accompanying drawing explanation
Fig. 1 is the elongation state structural representation of the present invention a kind of backing Handling device；
Fig. 2 is the retracted state schematic diagram of the present invention a kind of backing Handling device；
Fig. 3 is the structural representation of a kind of backing conveying robot of the present invention.
In accompanying drawing: 1: chassis；2: sucker；3: side plate；4: rail plate；401: upper rail；402: lower guideway；501: upper rack；502: lower tooth bar；6: scissor lift support；601: left socle；602: right support；7: fixed strip；8: motor；9: supporting plate；10: gear；11: electricity cylinder；12: connect seat；13: mechanical arm；14: base.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme; accompanying drawing below in conjunction with the present invention; technical scheme is carried out clear, complete description; based on the embodiment in the application; other similar embodiment that those of ordinary skill in the art are obtained on the premise of not making creative work, all should belong to the scope of the application protection.
The present invention devises a kind of backing conveying robot, carries out collaborative to crawl and backing, makes carrying, palletization more safety and steady, decrease the rate of substitute, improve production efficiency.
As it is shown on figure 3, a kind of backing conveying robot of the present invention, it includes mechanical arm 13 and the backing Handling device that be connected fixing with mechanical arm 13；In one of them preferred embodiment, described chassis 1 arranging connection seat 12, described mechanical arm 13 is connected with chassis 1 by connecting seat 12.Described mechanical arm 13 is connected with base 14.Base 14 can be fixed on the optional position of production line, and mechanical arm 13 preferably has lifting, rotates multiple degrees of freedom.
Described backing Handling device is made up of with backing device grabbing device.Described grabbing device preferably includes chassis 1, arranges some suckers 2 below described chassis 1.Casing is captured by sucker.
Described backing device includes scissor lift support 6, electricity cylinder 11, supporting plate 9, motor 8；Described backing device is connected to grabbing device side by side plate 3；Arranging rail plate 4 on described side plate 3, one end of described scissor lift support 6 is set up on rail plate 4, and is connected with the expansion link of electricity cylinder 11；The other end is connected with fixed strip 7；Described motor 8 is set up on fixed strip 7, and motor 8 lower end connects supporting plate 9.
Embodiment 1
As shown in Figure 1 and Figure 2, described rail plate 4 includes upper rail 401 and lower guideway 402 to one preferred embodiment；It is slidably connected with upper rack 501, lower tooth bar 502 respectively on described upper rail 401 and lower guideway 402；Between described upper rack 501 and lower tooth bar 502, meshed gears 10 is set；Described scissor lift support 6 includes cross-coupled left socle 601, right support 602 in scissors；Described left socle 601 head end is connected with the expansion link of electricity cylinder 11, and is fixed on upper rack 501；Described fixed strip 7 offers chute, and the end of left socle 601 is connected in described chute；The head end of described right support 602 connects lower tooth bar 502；The end of right support 602 is connected away from chute side is fixing with fixed strip 7.The head end of described right support 602 is connected to lower tooth bar 502 by connecting plate, and the head end making right support 602 is contour with left socle 601 head end.
The backing handling process of a kind of backing conveying robot of the present invention is as follows:
Mechanical arm connecting base plate moves the stacking region to casing, and after capturing casing by the sucker on chassis, mechanical arm is carried after promoting, meanwhile, the expansion link elongation of electricity cylinder, drive upper rack 501 and left socle 601 head end to move forward；Meanwhile, by gear 10, power is transferred to lower tooth bar 502.Lower tooth bar 502 moves to opposite direction, drives right support 602 head end to be moved rearwards by.Meanwhile, left socle 601 end moves in the chute of fixed strip 7, whole scissor lift support stretch downward, when elongation is to box bottom, and electricity cylinder stopping action.The collapsing length of length and electricity cylinder that scissor lift props up fall can be adjusted previously according to box height.
Then, motor 8 action, drive supporting plate 9 to rotate to bottom, casing is held；Mechanical arm drives casing steadily to move or piling, greatly reduces and substitute, opens the probability that bag event occurs, it is ensured that carrying, the stablizing of palletization, improves production efficiency.
Below the present invention is described in detail, the above, the only better embodiment of the present invention, when not limiting the scope of the present invention, the most all made impartial change according to the application scope and modified, all should still be belonged in covering scope of the present invention.
Claims (6)
1. a backing conveying robot, it is characterised in that: it includes mechanical arm (13) and the backing Handling device that be connected fixing with mechanical arm (13)；Wherein:
Described backing Handling device is made up of with backing device grabbing device；
Described backing device includes scissor lift support (6), electricity cylinder (11), supporting plate (9), motor (8)；Described backing device is connected to grabbing device side by side plate (3)；
Arranging rail plate (4) on described side plate (3), one end of described scissor lift support (6) is set up on rail plate (4), and is connected with the expansion link of electricity cylinder (11)；The other end is connected with fixed strip (7)；
Described motor (8) is set up on fixed strip (7), and motor (8) lower end connects supporting plate (9).
A kind of backing conveying robot the most according to claim 1, it is characterised in that: described rail plate (4) includes upper rail (401) and lower guideway (402)；
It is slidably connected with upper rack (501), lower tooth bar (502) respectively on described upper rail (401), lower guideway (402)；Meshed gears (10) is set between described upper rack (501) and lower tooth bar (502)；
Described scissor lift support (6) includes in scissors cross-coupled left socle (601), right support (602)；Described left socle (601) head end is connected with the expansion link of electricity cylinder (11), and is fixed on upper rack (501)；
Described fixed strip (7) offers chute, and the end of left socle (601) is connected in described chute；
The head end of described right support (602) connects lower tooth bar (502)；
The end of right support (602) is connected away from chute side is fixing with fixed strip (7).
A kind of backing conveying robot the most according to claim 2, it is characterised in that: the head end of described right support (602) is connected to lower tooth bar (502) by connecting plate, and the head end making right support (602) is contour with left socle (601) head end.
A kind of backing conveying robot the most according to claim 1, it is characterised in that: described grabbing device includes that chassis (1), described chassis (1) lower section arrange some suckers (2).
A kind of backing conveying robot the most according to claim 1, it is characterised in that: arranging connection seat (12) on described chassis (1), described mechanical arm (13) is connected with chassis (1) by connecting seat (12).
A kind of backing conveying robot the most according to claim 1, it is characterised in that: described mechanical arm (13) is connected with base (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610411403.4A CN105945931B (en) | 2016-06-12 | 2016-06-12 | A kind of backing conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610411403.4A CN105945931B (en) | 2016-06-12 | 2016-06-12 | A kind of backing conveying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945931A true CN105945931A (en) | 2016-09-21 |
| CN105945931B CN105945931B (en) | 2018-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610411403.4A Active CN105945931B (en) | 2016-06-12 | 2016-06-12 | A kind of backing conveying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105945931B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414795A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Squelch type mechanical arm |
| CN107486847A (en) * | 2017-08-17 | 2017-12-19 | 柳州福能机器人开发有限公司 | Combined mechanical arm |
| CN107618021A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Gasbag-type mechanical arm |
| CN107618020A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Arrangement formula mechanical arm |
| CN109502475A (en) * | 2018-12-03 | 2019-03-22 | 深圳市精实机电科技有限公司 | A kind of multistation clamping jaw pellet fork device |
| CN109795886A (en) * | 2017-11-16 | 2019-05-24 | 楚天科技股份有限公司 | A kind of packing case de-stacking transfer device and method |
| CN112549421A (en) * | 2020-11-19 | 2021-03-26 | 太仓市众翔精密五金有限公司 | Intelligent injection molding production circulation system based on Internet of things |
| CN115226677A (en) * | 2021-12-29 | 2022-10-25 | 嵊州陌桑高科股份有限公司 | Two-year-old silkworm breeding line in full-age industrial breeding and silkworm breeding process thereof |
| CN116374663A (en) * | 2023-06-02 | 2023-07-04 | 唐山甫源科技有限公司 | Automatic loading system for bagged products |
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| CN103419210A (en) * | 2013-07-17 | 2013-12-04 | 杭州娃哈哈科技有限公司 | Electric cylinder hand grab used for grabbing battery pack |
| CN203919066U (en) * | 2014-06-16 | 2014-11-05 | 福州达益丰机械制造有限公司 | manipulator fixture |
| CN105235727A (en) * | 2015-08-13 | 2016-01-13 | 浙江工业大学 | Glass round disc carrier |
| CN205011047U (en) * | 2015-09-16 | 2016-02-03 | 合肥美的暖通设备有限公司 | Automatic pile up neatly anchor clamps |
| CN105397825A (en) * | 2015-12-25 | 2016-03-16 | 广东水利电力职业技术学院 | Side lifting and bottom supporting type carrying manipulator for transferring box and carrying method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0332586A (en) * | 1989-06-26 | 1991-02-13 | Goto Tekkosho:Kk | Case positioning device at case attracting time |
| CN2467476Y (en) * | 2000-08-03 | 2001-12-26 | 王之栎 | Handling stacking robot hand |
| CN2915817Y (en) * | 2006-04-28 | 2007-06-27 | 张含廉 | Scissor type self-lifting fluctuating platform |
| CN101012029A (en) * | 2007-02-12 | 2007-08-08 | 常熟市三禾计量设备厂 | Intelligentized manipulator paw mechanism for piling machine |
| CN202464805U (en) * | 2012-01-18 | 2012-10-03 | 珠海市博信自动化设备有限公司 | Manipulator hook type clamp |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414795A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Squelch type mechanical arm |
| CN107486847A (en) * | 2017-08-17 | 2017-12-19 | 柳州福能机器人开发有限公司 | Combined mechanical arm |
| CN107618021A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Gasbag-type mechanical arm |
| CN107618020A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Arrangement formula mechanical arm |
| CN109795886A (en) * | 2017-11-16 | 2019-05-24 | 楚天科技股份有限公司 | A kind of packing case de-stacking transfer device and method |
| CN109502475A (en) * | 2018-12-03 | 2019-03-22 | 深圳市精实机电科技有限公司 | A kind of multistation clamping jaw pellet fork device |
| CN109502475B (en) * | 2018-12-03 | 2024-02-06 | 深圳市精实机电科技有限公司 | Multi-station clamping jaw fork device |
| CN112549421A (en) * | 2020-11-19 | 2021-03-26 | 太仓市众翔精密五金有限公司 | Intelligent injection molding production circulation system based on Internet of things |
| CN112549421B (en) * | 2020-11-19 | 2022-11-18 | 太仓市众翔精密五金有限公司 | Intelligent injection molding production circulation system based on Internet of things |
| CN115226677A (en) * | 2021-12-29 | 2022-10-25 | 嵊州陌桑高科股份有限公司 | Two-year-old silkworm breeding line in full-age industrial breeding and silkworm breeding process thereof |
| CN115226677B (en) * | 2021-12-29 | 2024-01-26 | 嵊州陌桑高科股份有限公司 | Two-age silkworm breeding line in full-age industrial breeding and silkworm breeding process thereof |
| CN116374663A (en) * | 2023-06-02 | 2023-07-04 | 唐山甫源科技有限公司 | Automatic loading system for bagged products |
Also Published As
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| CN105945931B (en) | 2018-05-04 |
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Denomination of invention: Underpinning carrying manipulator Effective date of registration: 20200122 Granted publication date: 20180504 Pledgee: Qingdao Huitong Chinese financing Company limited by guarantee Pledgor: QINGDAO WANLONG INTELLIGENT CONTROL TECHNOLOGY CO., LTD. Registration number: Y2020370010001 |
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Date of cancellation: 20210615 Granted publication date: 20180504 Pledgee: Qingdao Huitong Chinese financing Company limited by guarantee Pledgor: QINGDAO WANLONG INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020370010001 |