CN107378990A - Pickup robot - Google Patents
Pickup robot Download PDFInfo
- Publication number
- CN107378990A CN107378990A CN201710788609.3A CN201710788609A CN107378990A CN 107378990 A CN107378990 A CN 107378990A CN 201710788609 A CN201710788609 A CN 201710788609A CN 107378990 A CN107378990 A CN 107378990A
- Authority
- CN
- China
- Prior art keywords
- fixed
- main shaft
- bearing
- linear slide
- rotary drum
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
-
- 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
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
Pickup robot, the bottom of sucker are fixed with suction nozzle, and breather pipe is fixed in suction cup carrier, and breather pipe is connected to each other by flexible pipe and gas pressure station；In shell, inner ring and the main shaft of bearing are fixed together main shaft sleeve, on the inwall of the outer ring fixing shell of bearing；Spindle flange disk is fixed together by bolt and sucker orchid disk；The rotating shaft of spindle motor and the input shaft of main shaft decelerator are fixed together, and output shaft and the main shaft of main shaft decelerator are fixed together；Linear slide rail is fixed with frame shape bearing, linear slide block is fixed with cap, linear slide block sleeve is in linear slide rail；Top motor is fixed on frame bearing, and gear is fixed with the rotating shaft of top motor, and wheel and rack is meshed；Frame shape bearing is fixed together with rotary drum.After it can draw workpiece, rotate, while horizontal workpiece can be transported on another process equipment to slip in the range of horizontal and vertical equal 360 degree, improve workpiece and transport efficiency, reduce hand labor intensity.
Description
Technical field：
The present invention relates to robotic technology field, more specifically to a kind of machine that workpiece is drawn in production process
People.
Background technology：
In plasthetics industry, many Product processings are needed by multiple working procedure, and the conveying of workpiece is much using artificial
The mode of conveying, such one is that operating efficiency is low, second, hand labor intensity is big.Such as in the production process of plastic lamp shade,
Lampshade semi-finished product are affixed on one piece of plastic plate, and it needs to stamp out lampshade from plastic plate.
In machining technique industry, the workpiece of some plates dress, it is necessary to by multi-step process, using manually from one plus
Workpiece on construction equipment, which is transported on next process equipment, to be processed also very cumbersome, and typically is adapted to transport on the market
The machinery equipment for sending such workpiece is difficult to see.
The content of the invention：
The purpose of the present invention and provides a kind of pickup robot, it can draw workpiece aiming at the deficiency of prior art
Afterwards, rotate in the range of horizontal and vertical equal 360 degree, while horizontal workpiece can be transported on another process equipment to sliding,
Improve workpiece and transport efficiency, reduce hand labor intensity.
The technology solution of the present invention is as follows：
Pickup robot, including base 1, rotary drum 3, robot decelerator 2 and rotary drum motor 4, rotary drum motor 4, which is fixed on, to be turned
On drum 3, robot decelerator 2 is fixed on rotary drum 3, and the rotating shaft of rotary drum motor 4 and the input shaft of robot decelerator 2 are fixed on
Together, the output shaft of robot decelerator 2 is fixed on base 1, it is characterised in that：Sucker ring flange is fixed with suction cup carrier 5
6, the bottom of sucker 7 is fixed with suction nozzle 8, and breather pipe 9 is connected to each other with sucker 7, and breather pipe 9 is fixed in suction cup carrier 5, breather pipe 9
It is connected to each other by flexible pipe 10 with gas pressure station；
The sleeve of main shaft 11 is in shell 12, and inner ring and the main shaft 11 of bearing 13 are fixed together, and the outer ring of bearing 13 is fixed
On the inwall of shell 12；Spindle flange disk 14 is molded or is fixed on the left end of main shaft 11, and spindle flange disk 14 is by bolt with inhaling
Disk orchid disk 6 is fixed together；Together with cap 15 is fixed by screws in shell 12, the He of spindle motor 17 is inserted with cap 15
Main shaft decelerator 16, the rotating shaft of spindle motor 17 and the input shaft of main shaft decelerator 16 are fixed together, main shaft decelerator 16
Output shaft is fixed together with main shaft 11；
Linear slide rail 19 is fixed with frame shape bearing 18, linear slide block 20, the sleeve of linear slide block 20 are fixed with cap 15
In linear slide rail 19；Top motor 21 is fixed on frame bearing 18, and gear 22, cap are fixed with the rotating shaft of top motor 21
Rack 23 is fixed with 15, gear 22 is meshed with rack 23；Frame shape bearing 18 is fixed together with rotary drum 3.
Be respectively and fixedly provided with linear slide rail 19 on the bottom of the frame shape bearing 18 and right side inwall, the bottom of corresponding cap 15 and
Right-hand member is respectively and fixedly provided with linear slide block 20；The bottom of frame shape bearing 18 forms bearing ring flange 24, and bearing ring flange 24 passes through spiral shell
Nail is fixed together with rotary drum 3.
The beneficial effects of the present invention are：
1st, after it can draw workpiece, rotated in the range of horizontal and vertical equal 360 degree, while can be horizontal defeated by workpiece to sliding
It is sent on another process equipment, improves workpiece and transport efficiency, reduce hand labor intensity.
2nd, it is particularly suitable for plastic lamp shade in process of production, and the lampshade that will be attached on plastic plate is transported to pressing equipment
After upper carry out punching press, lampshade is separated；Then the lampshade after being separated with plastic plate can be transported in packing box by it.
Brief description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of sucker stand part；
Fig. 3 is the structural representation of main shaft portion.
Embodiment：
Embodiment：As shown in Fig. 1 to 3, pickup robot, including base 1, rotary drum 3, robot decelerator 2 and rotary drum electricity
Machine 4, rotary drum motor 4 are fixed on rotary drum 3, and robot decelerator 2 is fixed on rotary drum 3, the rotating shaft of rotary drum motor 4 and robot
The input shaft of decelerator 2 is fixed together, and the output shaft of robot decelerator 2 is fixed on base 1, it is characterised in that：Sucker
Sucker ring flange 6 is fixed with frame 5, the bottom of sucker 7 is fixed with suction nozzle 8, and breather pipe 9 is connected to each other with sucker 7, and breather pipe 9 is solid
It is scheduled in suction cup carrier 5, breather pipe 9 is connected to each other by flexible pipe 10 with gas pressure station；
The sleeve of main shaft 11 is in shell 12, and inner ring and the main shaft 11 of bearing 13 are fixed together, and the outer ring of bearing 13 is fixed
On the inwall of shell 12；Spindle flange disk 14 is molded or is fixed on the left end of main shaft 11, and spindle flange disk 14 is by bolt with inhaling
Disk orchid disk 6 is fixed together；Together with cap 15 is fixed by screws in shell 12, the He of spindle motor 17 is inserted with cap 15
Main shaft decelerator 16, the rotating shaft of spindle motor 17 and the input shaft of main shaft decelerator 16 are fixed together, main shaft decelerator 16
Output shaft is fixed together with main shaft 11；
Linear slide rail 19 is fixed with frame shape bearing 18, linear slide block 20, the sleeve of linear slide block 20 are fixed with cap 15
In linear slide rail 19；Top motor 21 is fixed on frame bearing 18, and gear 22, cap are fixed with the rotating shaft of top motor 21
Rack 23 is fixed with 15, gear 22 is meshed with rack 23；Frame shape bearing 18 is fixed together with rotary drum 3.
Be respectively and fixedly provided with linear slide rail 19 on the bottom of the frame shape bearing 18 and right side inwall, the bottom of corresponding cap 15 and
Right-hand member is respectively and fixedly provided with linear slide block 20；The bottom of frame shape bearing 18 forms bearing ring flange 24, and bearing ring flange 24 passes through spiral shell
Nail is fixed together with rotary drum 3.
Operation principle：As shown in Figure 1, for suction nozzle 8 first by absorption of workpieces, top motor 21 drives cap 15, suction cup carrier 5 horizontal
Direction is moved, and spindle motor 17 drives suction cup carrier 5 to rotate, and rotary drum motor 4 drives suction cup carrier 5 and the unitary rotation of frame shape bearing 18,
Rotated so as to realize in the range of horizontal and vertical equal 360 degree, while horizontal workpiece can be transported to another processing to slip and set
It is standby upper.
Claims (6)
1. pickup robot, it is characterised in that：Including base (1), rotary drum (3), robot decelerator (2) and rotary drum motor (4),
Rotary drum motor (4) is fixed on rotary drum (3), and robot decelerator (2) is fixed on rotary drum (3), the rotating shaft of rotary drum motor (4) with
The input shaft of robot decelerator (2) is fixed together, and the output shaft of robot decelerator (2) is fixed on base (1), sucker
Sucker ring flange (6) is fixed with frame (5), the bottom of sucker (7) is fixed with suction nozzle (8), and breather pipe (9) communicates with sucker (7)
Connect.
2. pickup robot as claimed in claim 1, it is characterised in that：Breather pipe (9) is fixed in suction cup carrier (5), ventilation
Pipe (9) is connected to each other by flexible pipe (10) with gas pressure station.
3. pickup robot as claimed in claim 1, it is characterised in that：Main shaft (11) sleeve is in shell (12), bearing
(13) inner ring is fixed together with main shaft (11), on the inwall of the outer ring fixing shell (12) of bearing (13).
4. pickup robot as claimed in claim 3, it is characterised in that：Spindle flange disk (14) is molded or is fixed on main shaft
(11) left end, spindle flange disk (14) are fixed together by bolt and sucker orchid disk (6)；Cap (15) is logical with shell (12)
Cross screw to be fixed together, spindle motor (17) and main shaft decelerator (16) are inserted with cap (15), spindle motor (17)
Rotating shaft and the input shaft of main shaft decelerator (16) are fixed together, and output shaft and the main shaft (11) of main shaft decelerator (16) are fixed on
Together.
5. pickup robot as claimed in claim 4, it is characterised in that：Linear slide rail is fixed with frame shape bearing (18)
(19) linear slide block (20), is fixed with cap (15), linear slide block (20) sleeve is in linear slide rail (19)；Top motor
(21) it is fixed on frame bearing (18), gear (22) is fixed with the rotating shaft of top motor (21), is fixed on cap (15) with teeth
Bar (23), gear (22) are meshed with rack (23)；Frame shape bearing (18) is fixed together with rotary drum (3).
6. pickup robot according to claim 5, it is characterised in that：On the bottom and right side inwall of frame shape bearing (18)
Linear slide rail (19) is respectively and fixedly provided with, the bottom of corresponding cap (15) and right-hand member are respectively and fixedly provided with linear slide block (20)；Frame shape bearing
(18) bottom forms bearing ring flange (24), and bearing ring flange (24) is fixed together by screw and rotary drum (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710788609.3A CN107378990A (en) | 2017-09-05 | 2017-09-05 | Pickup robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710788609.3A CN107378990A (en) | 2017-09-05 | 2017-09-05 | Pickup robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378990A true CN107378990A (en) | 2017-11-24 |
Family
ID=60348976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710788609.3A Withdrawn CN107378990A (en) | 2017-09-05 | 2017-09-05 | Pickup robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378990A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019110843A1 (en) * | 2017-12-08 | 2019-06-13 | Cobot Lift Aps | Automated lifting device |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
-
2017
- 2017-09-05 CN CN201710788609.3A patent/CN107378990A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019110843A1 (en) * | 2017-12-08 | 2019-06-13 | Cobot Lift Aps | Automated lifting device |
| CN111601767A (en) * | 2017-12-08 | 2020-08-28 | 科博特电梯有限公司 | Automatic lifting device |
| CN111601767B (en) * | 2017-12-08 | 2022-07-29 | 科博特电梯有限公司 | Automatic lifting device |
| US11685614B2 (en) | 2017-12-08 | 2023-06-27 | Cobot Lift Aps | Automated lifting device |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171124 |