CN105945931B - A kind of backing conveying robot - Google Patents

A kind of backing conveying robot Download PDF

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Publication number
CN105945931B
CN105945931B CN201610411403.4A CN201610411403A CN105945931B CN 105945931 B CN105945931 B CN 105945931B CN 201610411403 A CN201610411403 A CN 201610411403A CN 105945931 B CN105945931 B CN 105945931B
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CN
China
Prior art keywords
backing
rack
mechanical arm
conveying robot
electric cylinders
Prior art date
Application number
CN201610411403.4A
Other languages
Chinese (zh)
Other versions
CN105945931A (en
Inventor
高彦臣
王福业
潘海
王莹丽
李建强
高新兵
Original Assignee
青岛万龙智控科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 青岛万龙智控科技有限公司 filed Critical 青岛万龙智控科技有限公司
Priority to CN201610411403.4A priority Critical patent/CN105945931B/en
Publication of CN105945931A publication Critical patent/CN105945931A/en
Application granted granted Critical
Publication of CN105945931B publication Critical patent/CN105945931B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base

Abstract

The present invention provides a kind of backing conveying robot, its backing handling device for including mechanical arm and being fixedly connected with mechanical arm;The backing handling device is made of grabbing device and backing device;The backing device includes scissor lift stent, electric cylinders, gear, rack, motor.The backing conveying robot of the present invention realizes automatic crawl, backing operation;For the sucker being connected with mechanical arm after babinet is captured, the telescopic rod elongation of electric cylinders, drives scissor lift stent to extend downwards, and after elongation to setting stroke, motor action, drives supporting plate to rotate to bottom, electric cylinders reversion, babinet is held;Mechanical arm drive babinet steadily quickly moves or stacking, greatly reduces switch, opens the probability of bag event generation, ensure that carrying, the stabilization of palletization, improve production efficiency.

Description

A kind of backing conveying robot
Technical field
The invention belongs to manipulator technical field, relates in particular to a kind of backing conveying robot.
Background technology
Carry and palletizing mechanical arm is common mechanical equipment in industrial production, it can substitute manually enterprising in each station The work such as the carrying of row material, loading and unloading.Common stacking both at home and abroad at present, conveying robot are mechanical or vacuum cap type Grasp handling.
In many industrial occasions, it is desirable to which mechanical or vacuum chuck type manipulator makees three-dimensional motion, to improve Production efficiency, in the handling process, movement range is big for manipulator, and the speed of service is fast, easily gets rid of bag or bale broken accident, influences just Often production.
To solve the above problems, there is part of the manufacturer to devise both sides mechanical gripper auxiliary body, it is suitable for bag type product. But in face of quality is big, the finished product bag of packing case less specification, exchanges or the accident occurrence frequency of bale broken is still very high.
Therefore, there is an urgent need to there is a kind of stacking for meeting different work feature, conveying robot to substitute manual work, solve This problem, it is possible to realize the comprehensive automation of production, production efficiency will be greatly improved, reduce cost, and use is set Standby stacking, haulage equipment can more codes and standards.
The content of the invention
The present invention designs to solve above-mentioned ask, crawl structure is combined together with backing structure, makes the energy of manipulator Severe carrying environment is enough adapted to, carrying, the stability of stacking greatly improve, and meet the requirement of high-speed production.
To achieve the above object, the present invention provides following technical solution:
A kind of backing conveying robot, it includes mechanical arm 13 and the backing being fixedly connected with mechanical arm 13 carries dress Put;Wherein:
The backing handling device is made of grabbing device and backing device;
The backing device includes scissor lift stent 6, electric cylinders 11, supporting plate 9, motor 8;The backing device passes through side plate 3 are connected to grabbing device side;
Rail plate 4 is set on the side plate 3, one end of the scissor lift stent 6 is set up on rail plate 4, and It is connected with the telescopic rod of electric cylinders 11;The other end is connected with fixed strip 7;
The motor 8 is set up on fixed strip 7,8 lower end of motor connection supporting plate 9.
Further, the rail plate 4 includes upper rail 401 and lower guideway 402;
The upper rail 401 with upper rack 501, lower rack 502 with being slidably connected respectively on lower guideway 402;The upper tooth Meshed gears 10 is set between bar 501 and lower rack 502;
The scissor lift stent 6 includes left socle 601, the right support 602 in scissors interconnection;The left socle 601 head ends are connected with the telescopic rod of electric cylinders 11, and are fixed on upper rack 501;
The fixed strip 7 offers sliding slot, and the end of left socle 601 is connected in the sliding slot;
The lower rack 502 of head end connection of the right support 602;
The end of right support 602 is fixedly connected with fixed strip 7 away from sliding slot side.
Further, the head end of the right support 602 is connected to lower rack 502 by connecting plate, makes the head end of right support 602 It is contour with 601 head end of left socle.
Further, the grabbing device includes chassis 1, and the lower section of chassis 1 sets some suckers 2.
Further, connecting seat 12 is set on the chassis 1, and the mechanical arm 13 is connected by connecting seat 12 with chassis 1.
Further, the mechanical arm 13 is connected with base 14.
The beneficial effects of the invention are as follows:
A kind of backing conveying robot of the present invention realizes automatic crawl, backing operation;The chassis being connected with mechanical arm Upper setting sucker, after capturing babinet by sucker, the telescopic rod elongation of electric cylinders, drives scissor lift stent to extend downwards, extends To setting stroke, motor action, drives supporting plate to rotate to bottom, babinet is held;Mechanical arm drives babinet steadily to be moved Dynamic or stacking, greatly reduces switch, opens the probability of bag event generation, ensure that carrying, the stabilization of palletization, improve life Produce efficiency.
Brief description of the drawings
Fig. 1 is a kind of elongation state structure diagram of backing handling device of the present invention;
Fig. 2 is a kind of retracted state schematic diagram of backing handling device of the present invention;
Fig. 3 is a kind of structure diagram of backing conveying robot of the present invention.
In attached drawing:1:Chassis; 2:Sucker; 3:Side plate;4:Rail plate;401:Upper rail;402:Lower guideway;501:On Rack;502:Lower rack;6:Scissor lift stent;601:Left socle;602:Right support;7:Fixed strip;8:Motor;9:Supporting plate; 10:Gear;11:Electric cylinders;12:Connecting seat;13:Mechanical arm;14:Base.
Embodiment
It is right with reference to the attached drawing of the present invention in order to make those skilled in the art more fully understand technical scheme Technical scheme carries out clear, complete description, and based on the embodiment in the application, those of ordinary skill in the art exist The other similar embodiments obtained on the premise of not making creative work, should all belong to the scope of the application protection.
The present invention devises a kind of backing conveying robot, and crawl and backing collaboration are carried out, make carrying, palletization more Add safety and steady, reduce switch rate, improve production efficiency.
As shown in figure 3, a kind of backing conveying robot of the present invention, it includes mechanical arm 13 and is fixed with mechanical arm 13 The backing handling device of connection;In one of preferred embodiment, connecting seat 12, the mechanical arm are set on the chassis 1 13 are connected by connecting seat 12 with chassis 1.The mechanical arm 13 is connected with base 14.Base 14 can be fixed on appointing for production line Meaning position, mechanical arm 13 are preferably with lifting, rotation multiple degrees of freedom.
The backing handling device is made of grabbing device and backing device.The grabbing device preferably includes chassis 1, institute State the lower section of chassis 1 and some suckers 2 are set.Babinet is captured by sucker.
The backing device includes scissor lift stent 6, electric cylinders 11, supporting plate 9, motor 8;The backing device passes through side plate 3 are connected to grabbing device side;Rail plate 4 is set on the side plate 3, and one end of the scissor lift stent 6 is set up in cunning On dynamic guide rail 4, and it is connected with the telescopic rod of electric cylinders 11;The other end is connected with fixed strip 7;The motor 8 is set up in fixed strip 7 On, 8 lower end of motor connection supporting plate 9.
Embodiment 1
As shown in Figure 1 and Figure 2, the rail plate 4 includes upper rail 401 and lower guideway 402 to one preferred embodiment; The upper rail 401 with upper rack 501, lower rack 502 with being slidably connected respectively on lower guideway 402;The upper rack 501 is with Meshed gears 10 is set between rack 502;The scissor lift stent 6 includes the left socle 601 in scissors interconnection, the right side Stent 602;601 head end of left socle is connected with the telescopic rod of electric cylinders 11, and is fixed on upper rack 501;The fixed strip 7 Sliding slot is offered, the end of left socle 601 is connected in the sliding slot;The lower rack 502 of head end connection of the right support 602; The end of right support 602 is fixedly connected with fixed strip 7 away from sliding slot side.The head end of the right support 602 is connected by connecting plate Lower rack 502 is connected to, makes the head end of right support 602 and 601 head end of left socle contour.
A kind of backing handling process of backing conveying robot of the present invention is as follows:
Mechanical arm connecting base plate is moved to the stacking region of babinet, after capturing babinet by the sucker on chassis, mechanical arm Carried after lifting, at the same time, the telescopic rod elongation of electric cylinders, drives upper rack 501 and 601 head end of left socle to reach It is dynamic;At the same time, by gear 10, power is transferred to lower rack 502.Lower rack 502 is moved to opposite direction, drives right support 602 head ends are moved rearwards.At the same time, 601 end of left socle is moved in the sliding slot of fixed strip 7, whole scissor lift stent Elongation downwards, when extending to the bottom of box, electric cylinders stopping action.The length of scissor lift branch drop and the collapsing length of electric cylinders can be pre- First it is adjusted according to box height.
Then, motor 8 acts, and drives supporting plate 9 to rotate to bottom, babinet is held;Mechanical arm drives babinet steadily to carry out Mobile or stacking, greatly reduces switch, opens the probability of bag event generation, ensure that carrying, the stabilization of palletization, improve Production efficiency.
The present invention is described in detail above, it is described above, it is only the better embodiment of the present invention, when not The scope of the present invention can be limited, i.e., it is all to make equivalent changes and modifications according to the application scope, it all should still belong to the present invention and cover model In enclosing.

Claims (4)

  1. A kind of 1. backing conveying robot, it is characterised in that:It includes mechanical arm(13)And and mechanical arm(13)It is fixedly connected Backing handling device;Wherein:
    The backing handling device is made of grabbing device and backing device;
    The backing device includes scissor lift stent(6), electric cylinders(11), supporting plate(9), motor(8);The backing device passes through Side plate(3)It is connected to grabbing device side;
    The side plate(3)Upper setting rail plate(4), the scissor lift stent(6)One end be set up in rail plate(4) On, and and electric cylinders(11)Telescopic rod connection;The other end and fixed strip(7)Connection;
    The motor(8)It is set up in fixed strip(7)On, motor(8)Lower end connects supporting plate(9);
    The rail plate(4)Including upper rail(401)With lower guideway(402);
    The upper rail(401), lower guideway(402)It is upper respectively with upper rack(501), lower rack(502)It is slidably connected;On described Rack(501)With lower rack(502)Between meshed gears is set(10);
    The scissor lift stent(6)Including the left socle in scissors interconnection(601), right support(602);The left socle (601)Head end and electric cylinders(11)Telescopic rod connection, and be fixed on upper rack(501)On;
    The fixed strip(7)Offer sliding slot, left socle(601)End be connected in the sliding slot;
    The right support(602)The lower rack of head end connection(502);
    Right support(602)End and fixed strip(7)It is fixedly connected away from sliding slot side.
  2. A kind of 2. backing conveying robot according to claim 1, it is characterised in that:The right support(602)Head end Lower rack is connected to by connecting plate(502), make right support(602)Head end and left socle(601)Head end is contour.
  3. A kind of 3. backing conveying robot according to claim 1, it is characterised in that:The grabbing device includes chassis (1), the chassis(1)Lower section sets some suckers(2).
  4. A kind of 4. backing conveying robot according to claim 1, it is characterised in that:The mechanical arm(13)With base (14)Connection.
CN201610411403.4A 2016-06-12 2016-06-12 A kind of backing conveying robot CN105945931B (en)

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

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CN105945931A CN105945931A (en) 2016-09-21
CN105945931B true CN105945931B (en) 2018-05-04

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
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
CN103419207A (en) * 2013-08-08 2013-12-04 上海星路机械设备有限公司 Robot self-adaptation hand grab for stacking box piece
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

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
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
CN103419207A (en) * 2013-08-08 2013-12-04 上海星路机械设备有限公司 Robot self-adaptation hand grab for stacking box piece
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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Denomination of invention: Underpinning carrying manipulator

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