CN106379737A - Anti-bumping mechanism of carrying manipulator - Google Patents
Anti-bumping mechanism of carrying manipulator Download PDFInfo
- Publication number
- CN106379737A CN106379737A CN201610900140.3A CN201610900140A CN106379737A CN 106379737 A CN106379737 A CN 106379737A CN 201610900140 A CN201610900140 A CN 201610900140A CN 106379737 A CN106379737 A CN 106379737A
- Authority
- CN
- China
- Prior art keywords
- locating detent
- slide block
- workpiece
- vertical guide
- carrying
- 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
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Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an anti-bumping mechanism of a carrying manipulator. The carrying manipulator comprises a base, a stand column and a manipulator. The manipulator comprises a carrying arm, an upper locating detent and a lower locating detent. A vertical guide rail is fixedly arranged at the front end of the carrying arm. The upper end and the lower end of the vertical guide rail are provided with an upper baffle and a lower baffle correspondingly. Sliding blocks are slidably arranged on the vertical guide rail. The upper locating detent and the lower locating detent are fixedly arranged at the front end of a vertical connecting plate in an up-down side-by-side mode. The rear end of the vertical connecting plate is fixedly connected with the sliding blocks. The upper locating detent is provided with a clamp used for clamping a workpiece. The sliding blocks can freely slide back and forth along the vertical guide rail to drive the upper locating detent, the lower locating detent and the clamp to slide synchronously. The anti-bumping mechanism has the advantages that the upper locating detent, the lower locating detent and the clamp are slidably connected with the carrying arm through the sliding blocks as a whole, the workpiece can be prevented from being bumped in the workpiece carrying process, and the carrying safety of the fragile and easily-damaged workpiece is guaranteed.
Description
Technical field
The machine the present invention relates to automated handling mechanical equipment technical field, more particularly, to conveying robot prevent colliding with
Structure.
Background technology
More and more extensive with automatization, substantial amounts of Articles transfer adopts automatization to realize, but for frangible, easy damaged work
Part such as stator is it is necessary to there be special entity to ensure the carrying safety of object.Technical scheme in the past is typically floated using complicated
Dynamic scheme, relatively costly, effect is undesirable.Or workpiece power of mechanical hand during bin is delivered in handling process
Workpiece leads to workpiece damage, or being directly to unclamp fixture before workpiece is also not in contact with bin, leads to workpiece unstable.In crawl
During similarly face such problem.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, there is provided a kind of anti-mechanism of colliding with of conveying robot, with
Phase reaches the purpose preventing workpiece from colliding with.
The present invention is achieved by the following technical solutions：
The anti-mechanism of colliding with of conveying robot, described conveying robot includes base, column, mechanical hand, and described column is vertical
Be fixedly installed on described base, described mechanical hand is arranged on described column, and described mechanical hand includes carrying arm, upper fixed
Position pawl, lower locating detent, described carrying arm front end is fixedly installed vertical guide, and described vertical guide upper and lower ends are respectively provided with
There are overhead gage and lower baffle plate, described vertical guide is slided and is provided with slide block, described upper locating detent and lower locating detent are in up and down simultaneously
The front end being fixedly installed on a vertical connecting plate of row, described vertical connecting plate rear end is fixedly connected with described slide block, described
Lower locating detent is used for workpiece is positioned, and described upper locating detent is provided with the fixture for gripping workpiece, described slide block energy
Freely slidably reciprocate along described vertical guide, thus driving described upper locating detent, lower locating detent and fixture synchronous slide, institute
State and be provided with overhead gage for spacing upper dead gear is carried out to the upper extreme position of described slide block, described lower baffle plate is arranged
Have for the lower limit position of described slide block is carried out with spacing the next dead keep off.
As the preferred implementation of technique scheme, described slide block includes two, and two slide blocks are in side by side up and down setting
Put.
As the preferred implementation of technique scheme, described upper locating detent is additionally provided with cylinder, by described cylinder
Described fixture is driven vertically to move back and forth the gripping realized to workpiece.
The present invention has advantages below compared to existing technology：
The anti-mechanism of colliding with of conveying robot that the present invention provides, because upper locating detent, lower locating detent and fixture are as one
Be slidably connected with the vertical guide on carrying arm entirely through slide block, using mechanical hand take workpiece when it is ensured that workpiece
The extruding force from mechanical hand will not be subject to；When machinery on hand workpiece is placed on bin it is ensured that under mechanical hand
Row power will not be conducted to workpiece, can effectively prevent workpiece from being collided with it is ensured that frangible, easy damaged during carrying workpiece
The carrying safety of workpiece.And present configuration is simple, design ingenious, compact in design, low production cost it is easy to implement.
Brief description
Fig. 1 is the perspective view of the present invention.
Fig. 2 is the mechanical hand axonometric chart of the present invention.
Fig. 3 is the front view positioned at lower limit position for the mechanical hand of the present invention.
Fig. 4 is the front view positioned at upper extreme position for the mechanical hand of the present invention.
In figure label：1 base, 2 columns, 3 mechanical hands, 31 carrying arms, locating detent on 32,33 times locating detents, 34 is vertical
Guide rail, 35 overhead gages, 36 lower baffle plates, 37 slide blocks, 38 vertical connecting plates, 39 fixtures, 310 cylinders, 311 the next dead gears, 312 is upper
Dead gear, 4 bins, 5 stators.
Specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements
Example.
Referring to Fig. 1 to Fig. 4, the mechanism present embodiment discloses a kind of conveying robot is prevented colliding with, conveying robot includes bottom
Seat 1, column 2, mechanical hand 3, what column 2 was vertical is fixedly installed on base 1, and mechanical hand 3 is arranged on column 2, and mechanical hand 3 wraps
Include carrying arm 31, upper locating detent 32, lower locating detent 33, carrying arm 31 front end is fixedly installed vertical guide 34, vertically leads
Rail 34 upper and lower ends are respectively arranged with overhead gage 35 and lower baffle plate 36, vertical guide 34 is slided and is provided with slide block 37, upper positioning
Pawl 32 and lower locating detent 33 are in the side by side up and down front end being fixedly installed on a vertical connecting plate 38, vertical connecting plate 38 rear end
It is fixedly connected with slide block 37, lower locating detent 33 is used for workpiece is positioned, and upper locating detent 32 is provided with for gripping workpiece
Fixture 39, upper locating detent 32 is additionally provided with cylinder 310, drives fixture to 39 by cylinder 310 and vertically move back and forth reality
The now gripping to workpiece.Slide block 37 can freely slidably reciprocate along vertical guide 34, thus driving upper locating detent 32, lower positioning
Pawl 33 and fixture 39 synchronous slide, overhead gage 35 are provided with spacing upper dead for carrying out to the upper extreme position of slide block 37
Gear 312, lower baffle plate 36 is provided with for the lower limit position of slide block 37 is carried out with spacing the next dead gear 311.
Wherein, slide block 37 includes two, and two slide blocks 37 are in be arranged side by side up and down.
Come the work process of the present embodiment is done as described below as a example below using stator 5 as workpiece：
When needing to carry stator 5, first mechanical hand 3 is moved to position of taking, lower locating detent 33 inserts the center of stator 5
Through hole, the descending grip 5 of fixture 39 on upper locating detent 32, during fixture 39 grip 5, due to fixture 39 phase
There is slip relatively for the vertical guide 34 on carrying arm 31, fixture 39 will have automatic upward sliding after contact stator 5
Trend, therefore fixture 39 will not extrude stator 5, and stator 5 will not be subject to the extruding force from mechanical hand 3.
After mechanical hand 3 grip 5, it is transported to the position specified on request, then stator 5 is placed on the bin specified
On 4, when stator 5 touches bin 4, due to precision not, carrying arm 31 in theory can not possibly be just in accurate position
Stop motion, but may proceed to descending a certain distance, and now because stator 5 has contacted bin 4 just stop motion, if
Fixture 39 is rigidly connected with carrying arm 31, and the descending power of whole carrying arm 31 will be conducted and be caused stator 5 to knock to stator 5
Clashing and breaking are hindered.And the present embodiment has slip relatively due to fixture 39 with respect to the vertical guide 34 on carrying arm 31, in handling hand
During arm 31 continues traveling downwardly, fixture 39 can be with respect to carrying arm 31 upward sliding, so that it is guaranteed that carrying under arm 31
Row power will not be conducted to stator 5, the damage of colliding with that effectively prevent stator 5 it is ensured that the product quality of stator 5, thus protecting
Demonstrate,prove the carrying safety of stator 5.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Any modification, equivalent and improvement of being made within principle etc., should be included within the scope of the present invention.
Claims (3)
1. the anti-mechanism of colliding with of conveying robot, described conveying robot includes base, column, mechanical hand, and described column is vertical
Be fixedly installed on described base, described mechanical hand be arranged on described column it is characterised in that：Described mechanical hand includes carrying
Arm, upper locating detent, lower locating detent, described carrying arm front end is fixedly installed vertical guide, described vertical guide upper and lower two
End is respectively arranged with overhead gage and lower baffle plate, described vertical guide is slided and is provided with slide block, described upper locating detent and lower positioning
Pawl is in the side by side up and down front end being fixedly installed on a vertical connecting plate, and described vertical connecting plate rear end is fixed with described slide block
Connect, described lower locating detent is used for workpiece is positioned, and described upper locating detent is provided with the fixture for gripping workpiece, institute
State slide block can freely slidably reciprocate along described vertical guide, thus driving described upper locating detent, lower locating detent and fixture same
Step is slided, and described overhead gage is provided with for the upper extreme position of described slide block is carried out with spacing upper dead gear, described under
It is provided with baffle plate for the lower limit position of described slide block is carried out with spacing the next dead keep off.
2. conveying robot as claimed in claim 1 prevent collide with mechanism it is characterised in that：Described slide block includes two, two
Slide block is in be arranged side by side up and down.
3. conveying robot as claimed in claim 1 prevent collide with mechanism it is characterised in that：It is additionally provided with gas on described upper locating detent
Cylinder, vertically moves back and forth, by fixture described in described air cylinder driven, the gripping realized to workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610900140.3A CN106379737B (en) | 2016-10-14 | 2016-10-14 | The anti-mechanism of colliding with of conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610900140.3A CN106379737B (en) | 2016-10-14 | 2016-10-14 | The anti-mechanism of colliding with of conveying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106379737A true CN106379737A (en) | 2017-02-08 |
| CN106379737B CN106379737B (en) | 2018-09-25 |
Family
ID=57957833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610900140.3A Active CN106379737B (en) | 2016-10-14 | 2016-10-14 | The anti-mechanism of colliding with of conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106379737B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4412681A1 (en) * | 1994-04-13 | 1995-10-19 | Konrad Schindehuette | Manipulator for large building blocks |
| CN2760847Y (en) * | 2004-08-24 | 2006-02-22 | 黄棋标 | Automatic wire-binding device of motor stator coil |
| CN202218116U (en) * | 2011-09-09 | 2012-05-09 | 张吉芳 | Machine matched with motor stator paper inserting machine for conveying motor stators |
| CN104539119A (en) * | 2014-12-26 | 2015-04-22 | 常州金康精工机械股份有限公司 | Heightened horizontal single binding machine |
| CN105058150A (en) * | 2015-08-07 | 2015-11-18 | 苏州三体智能科技有限公司 | Automatic grabbing manipulator capable of adapting to motor rotors with different diameters |
-
2016
- 2016-10-14 CN CN201610900140.3A patent/CN106379737B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4412681A1 (en) * | 1994-04-13 | 1995-10-19 | Konrad Schindehuette | Manipulator for large building blocks |
| CN2760847Y (en) * | 2004-08-24 | 2006-02-22 | 黄棋标 | Automatic wire-binding device of motor stator coil |
| CN202218116U (en) * | 2011-09-09 | 2012-05-09 | 张吉芳 | Machine matched with motor stator paper inserting machine for conveying motor stators |
| CN104539119A (en) * | 2014-12-26 | 2015-04-22 | 常州金康精工机械股份有限公司 | Heightened horizontal single binding machine |
| CN105058150A (en) * | 2015-08-07 | 2015-11-18 | 苏州三体智能科技有限公司 | Automatic grabbing manipulator capable of adapting to motor rotors with different diameters |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106379737B (en) | 2018-09-25 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No.5821, Fanfu Avenue, Baohe District, Hefei City, Anhui Province Patentee after: Anhui Juyi Technology Co., Ltd Address before: Shanghai road in Baohe District of Hefei city of Anhui Province, No. 8 230051 Patentee before: ANHUI JEE AUTOMATION EQUIPMENT Co.,Ltd. |
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| CP03 | Change of name, title or address |