CN107791238A - Automatic fetching device - Google Patents
Automatic fetching device Download PDFInfo
- Publication number
- CN107791238A CN107791238A CN201711193428.2A CN201711193428A CN107791238A CN 107791238 A CN107791238 A CN 107791238A CN 201711193428 A CN201711193428 A CN 201711193428A CN 107791238 A CN107791238 A CN 107791238A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- manipulator
- fixed
- sucker
- fetching device
- 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.)
- Pending
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of automatic fetching device, including base, base is provided with manipulator seat, and manipulator seat is provided with manipulator, and manipulator is six axis robot, the end axis connecting screw knife mainboard of manipulator, and material draw frame machine is fixed with screwdriver mainboard.The plant automation degree is high, and using flexible, Flexible Equipment and service precision are higher.
Description
Technical field
The present invention relates to the technical field of non-standard automatic equipment, and in particular to a kind of automatic fetching device.
Background technology
With scientific and technical innovation progress, automation equipment is advanced by leaps and bounds in manufacturing development, labour-intensive production before
Industry is substituted manually to reduce production cost by industrial robot is introduced, but the automaticity of equipment is high not enough at present, machine
Device man-based development is limited, and use range can not meet growing automated production demand, be particularly due to robotic arm
Flexibility is smaller, flexible inadequate, is difficult flexibly to be sent to parts using robotic arm according to actual demand in use
Target location, the final production efficiency for influenceing equipment, the overall production automation degree of equipment be not high.
The content of the invention
It is an object of the invention to overcome problem above existing for prior art, there is provided automatic fetching device, the device
Automaticity is high, and using flexible, Flexible Equipment and service precision are higher.
To reach above-mentioned purpose, reach above-mentioned technique effect, technical scheme is as follows：A kind of automatic material taking dress
Put, including base, the base are provided with manipulator seat, the manipulator seat is provided with manipulator, and the manipulator is six axles
Manipulator, the end axis connecting screw knife mainboard of the manipulator, material draw frame machine is fixed with the screwdriver mainboard.
Preferably, the material draw frame machine includes sucker fixed plate, the both ends of the sucker fixed plate are provided with sucker
Fixed sheet metal, the sucker fix sheet metal and are provided with multiple suckers, and one end that two suckers fix sheet metal is equipped with thrust
Block, the thrust block are vertically fixed on the sucker and fixed on the end face of sheet metal, and two thrust blocks are located at homonymy.
Preferably, the sucker, which fixes sheet metal, is provided with three waist holes, the sucker is fixed in the waist hole.
Preferably, the six axis robot includes the first mechanical arm, one end of first mechanical arm is rotatable
Axis connection on the manipulator seat, the other end of first mechanical arm is hinged with the second mechanical arm, described second
The end of mechanical arm is hinged with the 3rd mechanical arm, and the end axis of the 3rd mechanical arm are connected with along own axes circumference
4th mechanical arm of rotation, the end of the 4th mechanical arm is hinged with the 5th mechanical arm, the 5th mechanical arm
End and the screwdriver mainboard middle part axis connection.
Preferably, the base is provided with two screen foot stools staggered relatively, it is fixed between the screen foot stool
For the keyboard metal plate of holding keyboard, screen fixed plate, the screen fixed plate are fixed between the upper end of the screen foot stool
On be fixed with display.
Preferably, the base plane of the base is provided with multiple runners, the lower screws of the runners are connected with pin
Cup.
The beneficial effects of the invention are as follows：The automatic fetching device automaticity of the present invention is high, using flexible and use
Precision is higher, improves production efficiency, reduce further production cost, is more suitable for automatic mass production.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Technical scheme in technology in order to illustrate the embodiments of the present invention more clearly, in being described below to embodiment technology
The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the overall structure diagram of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of the manipulator of the preferred embodiment of the present invention；
Fig. 3 is the structural representation of the material draw frame machine of the preferred embodiment of the present invention；
Fig. 4 is the runners of the preferred embodiment of the present invention and the structural representation of pin cup；
Wherein：1. base, 2. manipulator seats, 3. manipulators, 31. first mechanical arms, 32. second mechanical arms, 33.
Three mechanical arms, 34. the 4th mechanical arms, 35. the 5th mechanical arms, 4. screwdriver mainboards, 5. sucker fixed plates, 6. suckers are consolidated
Fixed board gold, 7. suckers, 8. thrust blocks, 9. waist holes, 10. screen foot stools, 11. keyboard metal plates, 12. screen fixed plates, 13. displays
Device, 14. runners, 15. pin cups.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Embodiment
As shown in figure 1, a kind of automatic fetching device is disclosed in the present embodiment, including base 1, the base 1 are provided with
Manipulator seat 2, the manipulator seat 2 are provided with manipulator 3, and the end axis connecting screw knife mainboard 4 of the manipulator 3 is described
Material draw frame machine is fixed with screwdriver mainboard 4.
The material draw frame machine includes sucker fixed plate 5, and the both ends of the sucker fixed plate 5 are provided with sucker and fix sheet metal
6, the sucker fixes sheet metal 6 and is provided with multiple suckers 7, and one end that two suckers fix sheet metal 6 is equipped with thrust block 8,
The thrust block 8 is vertically fixed on the sucker and fixed on the end face of sheet metal 6, and two thrust blocks 8 are located at homonymy.Thrust block
8 prevent the axial float of institute's absorbing material, so as to keep the normal operation of equipment.
The sucker fixes sheet metal and is provided with three waist holes 9, and the sucker 7 is fixed in the waist hole 9.Waist hole 9 is set
Putting makes the fixed position of sucker 7 more flexible, and the position of sucker 7 can be finely tuned according to the length direction being actually needed along waist hole 9
Put, ensure flexibility, the accuracy of equipment.
The manipulator 3 is six axis robot, and the six axis robot includes the first mechanical arm 31, first machinery
On the manipulator seat 2, the other end of first mechanical arm 31 is hinged with the rotatable axis connection in one end of arm 31
Second mechanical arm 32, the end of second mechanical arm 32 are hinged with the 3rd mechanical arm 33, the 3rd mechanical arm
33 end axis are connected with the 4th mechanical arm 34 to be rotated in a circumferential direction along own axes, the end hinge of the 4th mechanical arm 34
It is connected to the 5th mechanical arm 35, the end of the 5th mechanical arm 35 and the middle part axis connection of the screwdriver mainboard 4.Six axles
Manipulator makes grasping movement more flexible, can adapt to the operation under varying environment, flexible stronger.
The base 1 is provided with two screen foot stools 10 staggered relatively, is fixed with and is used between the screen foot stool 10
The keyboard metal plate 11 of holding keyboard, screen fixed plate 12 is fixed between the upper end of the screen foot stool 10, the screen is fixed
Display 13 is fixed with plate 12.It can be transported by the automation of the 13 flexible control device of keyboard and display of keyboard metal plate 11
OK, operation is directly digitized, reduces the floor space of equipment.
The base plane of the base 1 is provided with multiple runners 14, and the lower screws of the runners 14 are connected with pin cup 15.
The setting of pin cup 15 make device integrally can flexible modulation, can be according to the working face for being actually needed adjusting device, further
Increase the flexibility of equipment, and more facilitate the balance quality of adjusting device, ensure the normal operation of also equipment.
When in use, it is that the automatic fetching device in the embodiment is placed on a certain station of streamline, material at that time
During into the station, manipulator 3 flexibly coordinates, " rotary motion ", and the sucker 7 being connected with manipulator 3 is transferred into appropriate location,
Sucker 7 contacts with the surface of material just, sucker absorbing material, then transfers the material into next station again, in the present embodiment
Six axis robot ensure that equipment flexibility and using flexible, automaticity is higher, so as to improve production efficiency, drop
Low production cost, the mass automatic production being more suitable on streamline.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (6)
1. a kind of automatic fetching device, including base, it is characterised in that：The base is provided with manipulator seat, the manipulator
Seat is provided with manipulator, and the manipulator is six axis robot, the end axis connecting screw knife mainboard of the manipulator, the spiral shell
Material draw frame machine is fixed with silk knife mainboard.
2. automatic fetching device according to claim 1, it is characterised in that：The material draw frame machine is fixed including sucker
Plate, the both ends of the sucker fixed plate are provided with sucker and fix sheet metal, and the sucker fixes sheet metal and is provided with multiple suckers, two institutes
The one end for stating sucker fixation sheet metal is equipped with thrust block, and the thrust block is vertically fixed on the end face that the sucker fixes sheet metal
On, two thrust blocks are located at homonymy.
3. automatic fetching device according to claim 2, it is characterised in that：The sucker fixes sheet metal and is provided with three waists
Hole, the sucker are fixed in the waist hole.
4. automatic fetching device according to claim 1, it is characterised in that：The six axis robot includes the first manipulator
Arm, the rotatable axis connection in one end of first mechanical arm on the manipulator seat, first mechanical arm it is another
One end is hinged with the second mechanical arm, and the end of second mechanical arm is hinged with the 3rd mechanical arm, the 3rd machinery
The end axis of arm are connected with the 4th mechanical arm to be rotated in a circumferential direction along own axes, and the end of the 4th mechanical arm is hinged
There are the 5th mechanical arm, the end of the 5th mechanical arm and the middle part axis connection of the screwdriver mainboard.
5. automatic fetching device according to claim 1, it is characterised in that：The base be provided with two it is staggered relatively
Screen foot stool, is fixed with the keyboard metal plate for holding keyboard between the screen foot stool, between the upper end of the screen foot stool
Screen fixed plate is fixed with, display is fixed with the screen fixed plate.
6. automatic fetching device according to claim 1, it is characterised in that：The base plane of the base is provided with multiple
Runners, the lower screws of the runners are connected with pin cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193428.2A CN107791238A (en) | 2017-11-24 | 2017-11-24 | Automatic fetching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193428.2A CN107791238A (en) | 2017-11-24 | 2017-11-24 | Automatic fetching device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107791238A true CN107791238A (en) | 2018-03-13 |
Family
ID=61535688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711193428.2A Pending CN107791238A (en) | 2017-11-24 | 2017-11-24 | Automatic fetching device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107791238A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687876A (en) * | 2019-03-14 | 2020-09-22 | 昆山华复精密金属有限公司 | Suction device |
| WO2020186832A1 (en) * | 2019-03-18 | 2020-09-24 | 惠州中科先进制造研究中心有限公司 | Flexible grasping apparatus of six-axis robot applied to assembly production line |
| CN114051440A (en) * | 2019-07-05 | 2022-02-15 | 川崎重工业株式会社 | Conveying robot |
| CN114655700A (en) * | 2022-03-09 | 2022-06-24 | 中陆福智能科技(苏州)有限公司 | Full-automatic suction system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704421A (en) * | 2009-11-20 | 2010-05-12 | 东方机器制造（昆明）有限公司 | Robot automatic carton loading machine |
| CN104384912A (en) * | 2014-11-17 | 2015-03-04 | 东莞市本润机器人开发科技有限公司 | High-efficiency screw assembly device |
| JP2015127090A (en) * | 2013-12-30 | 2015-07-09 | 上銀科技股▲フン▼有限公司 | Robot arm device having adjustment structure |
| CN104924061A (en) * | 2015-06-16 | 2015-09-23 | 东莞市米勒机器人有限公司 | Horizontal joint screw locking mechanical arm and full-automatic production line with mechanical arm |
| CN204997325U (en) * | 2015-09-22 | 2016-01-27 | 苏州工业园区嘉宝精密机械有限公司 | A automatic feeding agencies for locking pay |
| CN105792629A (en) * | 2016-03-10 | 2016-07-20 | 温州职业技术学院 | Robot-assisted visual assembly system for PCB (Printed Circuit Board) |
| CN105773588A (en) * | 2016-05-10 | 2016-07-20 | 无锡市强通机械有限公司 | Automatic positioning and grasping device for plate |
| CN206605219U (en) * | 2017-01-06 | 2017-11-03 | 深圳大学 | A kind of automatic lock screw system based on robot |
| CN207616566U (en) * | 2017-11-24 | 2018-07-17 | 苏州弘瀚自动化科技有限公司 | Automatic fetching device |
-
2017
- 2017-11-24 CN CN201711193428.2A patent/CN107791238A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704421A (en) * | 2009-11-20 | 2010-05-12 | 东方机器制造（昆明）有限公司 | Robot automatic carton loading machine |
| JP2015127090A (en) * | 2013-12-30 | 2015-07-09 | 上銀科技股▲フン▼有限公司 | Robot arm device having adjustment structure |
| CN104384912A (en) * | 2014-11-17 | 2015-03-04 | 东莞市本润机器人开发科技有限公司 | High-efficiency screw assembly device |
| CN104924061A (en) * | 2015-06-16 | 2015-09-23 | 东莞市米勒机器人有限公司 | Horizontal joint screw locking mechanical arm and full-automatic production line with mechanical arm |
| CN204997325U (en) * | 2015-09-22 | 2016-01-27 | 苏州工业园区嘉宝精密机械有限公司 | A automatic feeding agencies for locking pay |
| CN105792629A (en) * | 2016-03-10 | 2016-07-20 | 温州职业技术学院 | Robot-assisted visual assembly system for PCB (Printed Circuit Board) |
| CN105773588A (en) * | 2016-05-10 | 2016-07-20 | 无锡市强通机械有限公司 | Automatic positioning and grasping device for plate |
| CN206605219U (en) * | 2017-01-06 | 2017-11-03 | 深圳大学 | A kind of automatic lock screw system based on robot |
| CN207616566U (en) * | 2017-11-24 | 2018-07-17 | 苏州弘瀚自动化科技有限公司 | Automatic fetching device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687876A (en) * | 2019-03-14 | 2020-09-22 | 昆山华复精密金属有限公司 | Suction device |
| WO2020186832A1 (en) * | 2019-03-18 | 2020-09-24 | 惠州中科先进制造研究中心有限公司 | Flexible grasping apparatus of six-axis robot applied to assembly production line |
| CN114051440A (en) * | 2019-07-05 | 2022-02-15 | 川崎重工业株式会社 | Conveying robot |
| CN114051440B (en) * | 2019-07-05 | 2024-03-22 | 川崎重工业株式会社 | Conveying robot |
| CN114655700A (en) * | 2022-03-09 | 2022-06-24 | 中陆福智能科技(苏州)有限公司 | Full-automatic suction system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107791238A (en) | Automatic fetching device | |
| CN205200851U (en) | Flexible grasping system is used in welding | |
| CN104411466A (en) | Robotic system and method for manufacturing processed goods | |
| CN203935980U (en) | A kind of robot automatic dispensing machine | |
| CN208019737U (en) | A kind of shielding case intelligence charging equipment | |
| CN107791013A (en) | A kind of automatic lock screw device | |
| US20190256301A1 (en) | Food packing device | |
| CN207616566U (en) | Automatic fetching device | |
| CN106918432A (en) | It is a kind of full-automatic micro- to fall testing machine | |
| CN108080912A (en) | A kind of hangers assembling device of the assembling equipment of stainless steel annular clothes hanger | |
| CN103280148B (en) | Pneumatic control technology experiment table | |
| CN203945368U (en) | Robot device | |
| CN207223363U (en) | Four axis robot automatic loading/unloading universal automation work stations | |
| CN105858203A (en) | Automatic PCB feeding manipulator and PCB production line | |
| CN207534844U (en) | A kind of edge polisher mechanical arm | |
| CN107458875A (en) | A kind of vision positioning feeder and its operating method | |
| CN104112692B (en) | A kind of positioning device and positioning system | |
| CN207616064U (en) | A kind of lock screw device | |
| CN207616019U (en) | A kind of positioning carrier with oblique angle detent mechanism | |
| CN207616017U (en) | A kind of positioning carrier | |
| CN205838005U (en) | A kind of automatic material taking pay-off | |
| CN207616018U (en) | A kind of modified positioning carrier | |
| CN205949714U (en) | Multi -station continuous mold materials handling robot | |
| CN205949712U (en) | Conveying pole and multi -station continuous mold materials handling robot with tongs | |
| CN205953009U (en) | Transport mechanism and multi -station continuous mold materials handling robot thereof |
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 |