CN108527425A - A kind of automation article carrying robot device - Google Patents
A kind of automation article carrying robot device Download PDFInfo
- Publication number
- CN108527425A CN108527425A CN201810355942.XA CN201810355942A CN108527425A CN 108527425 A CN108527425 A CN 108527425A CN 201810355942 A CN201810355942 A CN 201810355942A CN 108527425 A CN108527425 A CN 108527425A
- Authority
- CN
- China
- Prior art keywords
- support frame
- leading screw
- article carrying
- robot device
- carrying 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.)
- Pending
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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
Abstract
The invention discloses a kind of automation article carrying robot devices, including：Rack, is rotatably connected to the second leading screw at the top of the rack, and one end of second leading screw is respectively equipped with material bearing shelf and feeding deflector roll by the output axis connection of shaft coupling and the second motor, the two bottom sides of the rack；Support frame, the bottom of the support frame is connected with hollow connecting rod, and the bottom of the hollow connecting rod is fixed with sucker, and one end of the transverse tube is connected with vacuum pump by gas-guide tube, the both ends of the bottom plate are welded with fixed plate, and the bottom of the support frame is equipped with travel switch.The present invention is cooperated by first motor and the second motor, the carrying to glass baseplate may be implemented, stack, and pressure release blowing is carried out automatically when support frame drops to the height that can trigger travel switch, pressure when therefore will not cause to stack with the increase of glass baseplate stack height becomes larger, it effectively prevent glass baseplate broken, when carrying is more safe and reliable.
Description
Technical field
The invention belongs to mechanical device technical fields, and in particular to a kind of automation article carrying robot device.
Background technology
With the development of network skill, the direction that the networking operation problem of manipulator develops after being also, industrial robot
A kind of high-tech automated production equipment that recent decades grow up, industry mechanical arm be industrial robot a weight
It is that various expected job tasks can be completed by programming to want branch, its feature, and people and machine are had concurrently on construction and performance
The advantage of device respectively especially embodies the intelligence and adaptability of people, completes to make in the accuracy of mechanical manual task and various environment
The ability of industry has vast potential for future development in all fields of national economy.Manipulator can imitate certain action work(of human hand and arm
Can, the automatic pilot of object or operation instrument is captured, carried by fixed routine, manipulator is to appear in industry earliest
Robot, and the modern machines people that occurs earliest, it can replace the heavy labor of people to realize the mechanization of production and automatic
Change.In the case of moving glass, since the hand of people and the contact surface of glass are little, so only with people when moving glass
Power, working efficiency is very low, based on the above issues, it is desirable to provide one kind can improve working efficiency, instead of the manipulator of human hand
To solve the above problems, application No. is the Chinese patent of CN201621443808.8, it discloses a kind of glass handling use
Manipulator, including support plate, there are five sucker, the sucker and the supports for setting at the front end face position of the support plate
It is connected with fixed fixing bolt between plate, supporting rod, the supporting rod are provided at the rear end face position of the support plate
Top position at be provided with telescopic rod, the first fixing bolt is connected between the telescopic rod and the supporting rod；The glass
Then the manipulator of carrying is moved, such as by absorption of five suckers to glass being provided in support plate
This one also only needs people operation to carry the glass of bulk, it is no longer necessary to which several individuals operate together, the knot of the present apparatus
Structure is relatively simple, and cost is more cheap, is suitble to promote the use of.
But there is following deficiency in said program in actual use：The stacking being difficult to realize between glass, in glass stack
When folded, the height of glass gradually increases, and needs the pressure between the glass baseplate put down and the glass of lower section can be with lower section
The increase of glass height gradually increases, and increases the broken probability of top glass baseplate.
Invention content
The purpose of the present invention is to provide a kind of automation article carrying robot devices, to solve in above-mentioned background technology
The problem of proposition.
To achieve the above object, the present invention provides the following technical solutions：A kind of automation article carrying robot device, packet
It includes：
Rack is rotatably connected to the second leading screw at the top of the rack, and one end of second leading screw passes through shaft coupling and second
The two bottom sides of the output axis connection of motor, the rack are respectively equipped with material bearing shelf and feeding deflector roll；
The bottom of support frame, the support frame is connected with hollow connecting rod, and the bottom of the hollow connecting rod is fixed with sucker, institute
The top for stating hollow connecting rod is connected to transverse tube by hose, and the transverse tube is weldingly fixed on support frame, one end of the transverse tube
It is connected with vacuum pump by gas-guide tube, the top of the support frame is connect with the first threads of lead screw, the top of first leading screw
It is fixedly connected on the output shaft of first motor, the first motor is fixed on bottom plate, and the both ends welding of the bottom plate is solid
There are fixed plate, the fixed plate to be threadingly attached to the second leading screw, the bottom of the support frame is equipped with travel switch surely.
Preferably, fixed in the rack there are two the second guide rods, and second guide rod is parallel and is distributed in the second leading screw
Both sides, the fixed plate is slidably connected with the second guide rod respectively.
Preferably, the both ends of second leading screw are fixed with stop block.
Preferably, the both ends of the bottom plate are welded with the first guide rod, the top two of first guide rod and support frame
Side is flexibly connected.
Preferably, triple valve is installed on the gas-guide tube.
Preferably, spring is socketed on the hollow connecting rod, the spring is located at the downside of support frame.
Preferably, upper limit position block and lower position block are welded on the hollow connecting rod.
Preferably, the end of the feeding deflector roll is welded with baffle, and rubber pad is fixed on the inside of the baffle.
The technique effect and advantage of the present invention：
Using feeding deflector roll, glass baseplate is transported at the baffle of the other end, under the rotation of first motor, utilizes first
Thick stick pushes support frame to move down, so that sucker is fitted on the surface of glass baseplate, with the decline of support frame, spring by
Gradually push-tight hollow connecting rod so that the surface of sucker and glass baseplate fits closely, and so that in sucker under the action of vacuum pump
Negative pressure is formed, glass baseplate is attracted and is fixed, when the travel switch on support frame contacts the surface of glass baseplate, exports telecommunications
Number so that first motor is raised into reversion, by glass baseplate from feeding deflector roll, while being started the second motor and being driven second
Thick stick is pushed support frame to be moved horizontally at the stop block of the other end, is later declined support frame using first motor, when stroke is opened
When closing the surface of contact material bearing shelf, electric signal is exported, control triple valve carries out pressure release to sucker, realizes the blanking of glass baseplate,
Aforesaid operations are constantly repeated, the carrying of glass baseplate can be completed, stacked, and stroke can be triggered whenever support frame drops to
It is automatic to carry out pressure release blowing when the height of switch, therefore will not be with glass base when the height of glass baseplate stacking cause to stack
Pressure between material becomes larger, and effectively prevent glass baseplate broken, and when carrying is more safe and reliable.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of automation article carrying robot device of the present invention；
Fig. 2 is a kind of partial enlargement structural representation of automation article carrying robot device of the present invention；
Fig. 3 is a kind of second leading screw overlooking structure diagram of automation article carrying robot device of the present invention.
In figure：1 fixed plate, 2 first motors, 3 bottom plates, 4 first guide rods, 5 first leading screws, 6 support frames, 7 baffles, 8 bearing materials
Frame, 9 gas-guide tubes, 10 triple valves, 11 vacuum pumps, 12 feeding deflector rolls, 13 racks, 14 second motors, 15 stop blocks, 16 second
Thick stick, 17 hollow connecting rods, 18 transverse tubes, 19 lower position blocks, 20 travel switches, 21 suckers, 22 springs, 23 upper limit position blocks, 24 second are led
Bar.
Specific implementation mode
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
As shown in Figs. 1-3, a kind of automation article carrying robot device, including：
The top of rack 13, the rack 13 is rotatably connected to the second leading screw 16, and one end of second leading screw 16 passes through shaft coupling
The two bottom sides of the output axis connection of device and the second motor 14, the rack 13 are respectively equipped with material bearing shelf 8 and feeding deflector roll 12；
The bottom of support frame 6, the support frame 6 is connected with hollow connecting rod 17, and the bottom of the hollow connecting rod 17 is fixed with
The top of sucker 21, the hollow connecting rod 17 is connected to transverse tube 18 by hose, and the transverse tube 18 is weldingly fixed on support frame 6
On, one end of the transverse tube 18 is connected with vacuum pump 11, the top of the support frame 6 and 5 screw thread of the first leading screw by gas-guide tube 9
Connection, the top of first leading screw 5 are fixedly connected on the output shaft of first motor 2, and the first motor 2 is fixed on bottom
On plate 3, the both ends of the bottom plate 3 are welded with fixed plate 1, and the fixed plate 1 is threadingly attached to the second leading screw 16, institute
The bottom for stating support frame 6 is equipped with travel switch 20.
Fixed in the rack 13 there are two the second guide rods 24, and second guide rod 24 is parallel and is distributed in the second leading screw 16
Both sides, the fixed plate 1 is slidably connected with the second guide rod 24, using the second guide rod 24, can be carried out to fixed plate 1 surely respectively
It is fixed.
The both ends of second leading screw 16 are fixed with stop block 15, by stop block 15, are limited to fixed plate 1, when
When fixed plate 1 contacts stop block 15, the second motor 14 stops operating so that support frame 6 rests on material bearing shelf 8 respectively or feeding is led
The top of roller 12, facilitates loading and unloading.
The both ends of the bottom plate 3 are welded with the first guide rod 4, and first guide rod 4 and the top both sides of support frame 6 are lived
Dynamic connection, using the first guide rod 4, can stablize support frame 6 when support frame 6 is moved up and down, and prevent support frame 6 from occurring
Rotation phenomenon improves stability.
Triple valve 10 is installed, triple valve 10 is VB7000 series electric T-shaped valves, when in feeding on the gas-guide tube 9
When, vacuum pump 11 is connected to transverse tube 18, and air in sucker 21 can be sucked out, and forms vacuum suction plank, when needing blanking,
Switching three-way valve 10 so that vacuum pump 11 is identical as air, and auto-admission completes blanking in sucker 21.
Spring 22 is socketed on the hollow connecting rod 17, the spring 22 is located at the downside of support frame 6, hollow connecting rod 17
Bottom end is connected to sucker 21, is bonded with plate surface when sucker 21 contacts plank, with the decline of support frame 6, sucker 21 exists
It is further bonded with plate surface under the push-tight effect of spring 22, improves leakproofness, be conducive to keep preferably to attract fixed effect
Fruit.
Upper limit position block 23 and lower position block 19 are welded on the hollow connecting rod 17, upper limit position block 23 is located at hollow company
The top of bar 17 prevents hollow connecting rod 17 from falling off, and lower position block 19 is located at the bottom of hollow connecting rod 17, is used to support spring 22.
The end of the feeding deflector roll 12 is welded with baffle 7, and the inside of the baffle 7 is fixed with rubber pad, is used for
The plank transported on feeding deflector roll 12 is stopped so that plank is parked in specified region, waits to be handled.
Specifically, in use, using feeding deflector roll 12, glass baseplate is transported at the baffle 7 of the other end, in the first electricity
Under the rotation of machine 2, support frame 6 is pushed to move down using the first leading screw 5, to which sucker 21 to be fitted in the surface of glass baseplate
On, with the decline of support frame 6,22 gradual push-tight hollow connecting rod 17 of spring so that sucker 21 and the surface of glass baseplate are close
Fitting, and so that the interior formation negative pressure of sucker 21, glass baseplate is attracted and is fixed, when on support frame 6 under the action of vacuum pump 11
Travel switch 20 when contacting the surface of glass baseplate, export electric signal so that first motor 2 into reversion, by glass baseplate from
Feeding deflector roll 12 is raised, while being started the second motor 14 and being driven the second leading screw 16, and support frame 6 is pushed to be moved horizontally to the other end
Stop block 15 at, support frame 6 is declined using first motor 2 later, when travel switch 20 contact material bearing shelf 8 surface when,
Electric signal is exported, control triple valve 10 carries out pressure release to sucker 21, realizes the blanking of glass baseplate, constantly repeatedly aforesaid operations,
It can complete the carrying of glass baseplate, stack, and when support frame 6 drops to the height that can trigger travel switch 20,
It is automatic to carry out pressure release blowing, therefore pressure when stacking between glass baseplate will not be caused to become with the height that glass baseplate stacks
Greatly, it effectively prevent glass baseplate broken, when carrying is more safe and reliable.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (8)
1. a kind of automation article carrying robot device, which is characterized in that including：
Rack（13）, the rack（13）Top be rotatably connected to the second leading screw（16）, second leading screw（16）One end
Pass through shaft coupling and the second motor（14）Output axis connection, the rack（13）Two bottom sides be respectively equipped with material bearing shelf（8）
With feeding deflector roll（12）；
Support frame（6）, the support frame（6）Bottom be connected with hollow connecting rod（17）, the hollow connecting rod（17）Bottom
Portion is fixed with sucker（21）, the hollow connecting rod（17）Top transverse tube is connected to by hose（18）, the transverse tube（18）Weldering
It connects and is fixed on support frame（6）On, the transverse tube（18）One end pass through gas-guide tube（9）It is connected with vacuum pump（11）, the support
Frame（6）Top and the first leading screw（5）It is threadedly coupled, first leading screw（5）Top be fixedly connected on first motor（2）'s
Output shaft, the first motor（2）It is fixed on bottom plate（3）On, the bottom plate（3）Both ends be welded with fixed plate
（1）, the fixed plate（1）It is threadingly attached to the second leading screw（16）, the support frame（6）Bottom travel switch is installed
（20）.
2. a kind of automation article carrying robot device according to claim 1, it is characterised in that：The rack（13）
There are two the second guide rods for upper fixation（24）, second guide rod（24）It is parallel and be distributed in the second leading screw（16）Both sides, it is described
Fixed plate（1）Respectively with the second guide rod（24）It is slidably connected.
3. a kind of automation article carrying robot device according to claim 1, it is characterised in that：Second leading screw
（16）Both ends be fixed with stop block（15）.
4. a kind of automation article carrying robot device according to claim 1, it is characterised in that：The bottom plate（3）
Both ends be welded with the first guide rod（4）, first guide rod（4）With support frame（6）Top both sides flexible connection.
5. a kind of automation article carrying robot device according to claim 1, it is characterised in that：The gas-guide tube
（9）On triple valve is installed（10）.
6. a kind of automation article carrying robot device according to claim 1, it is characterised in that：The hollow connecting rod
（17）On be socketed with spring（22）, the spring（22）Positioned at support frame（6）Downside.
7. a kind of automation article carrying robot device according to claim 1, it is characterised in that：The hollow connecting rod
（17）On be welded with upper limit position block（23）And lower position block（19）.
8. a kind of automation article carrying robot device according to claim 1, it is characterised in that：The feeding deflector roll
（12）End be welded with baffle（7）, the baffle（7）Inside be fixed with rubber pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810355942.XA CN108527425A (en) | 2018-04-19 | 2018-04-19 | A kind of automation article carrying robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810355942.XA CN108527425A (en) | 2018-04-19 | 2018-04-19 | A kind of automation article carrying robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108527425A true CN108527425A (en) | 2018-09-14 |
Family
ID=63478664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810355942.XA Pending CN108527425A (en) | 2018-04-19 | 2018-04-19 | A kind of automation article carrying robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527425A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283671A (en) * | 2020-04-28 | 2020-06-16 | 佛山隆深机器人有限公司 | Negative pressure type mechanical arm for carrying light objects |
| CN113001578A (en) * | 2021-03-08 | 2021-06-22 | 博众精工科技股份有限公司 | Snatch mechanism and production line |
| CN113233198A (en) * | 2021-06-01 | 2021-08-10 | 嘉兴市光泰照明有限公司 | Automatic glass unloading device for glass production line |
| CN113455784A (en) * | 2021-07-24 | 2021-10-01 | 卓耀祖 | Novel line drawing equipment for sneakers |
| CN113636339A (en) * | 2021-07-27 | 2021-11-12 | 安徽扬宸新能源科技有限公司 | A centre gripping transfer device for lithium cell production line |
| CN114589114A (en) * | 2022-03-06 | 2022-06-07 | 江苏富海生物科技有限公司 | No fish meal fodder packing detection device of cottonseed protein peptide preparation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2918699A1 (en) * | 1978-05-12 | 1979-11-15 | Tecnologico Italiano S A G S P | Flat workpiece stacker and unstacker - has lifting forks tilting between vertical and horizontal position on shaft |
| DE3121237A1 (en) * | 1981-05-27 | 1982-12-23 | Franz 8000 München Schörghuber | Device for taking hold of and conveying plate-like objects |
| JPS6082525A (en) * | 1983-10-06 | 1985-05-10 | Nippon Sheet Glass Co Ltd | Suction type takeup device for glass sheets |
| CN105666316A (en) * | 2016-02-01 | 2016-06-15 | 上海理工大学 | Glass transferring manipulator device |
| CN207046434U (en) * | 2017-08-05 | 2018-02-27 | 勤基电路板（深圳）有限公司 | A kind of PCB substrate cleaning equipment |
-
2018
- 2018-04-19 CN CN201810355942.XA patent/CN108527425A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2918699A1 (en) * | 1978-05-12 | 1979-11-15 | Tecnologico Italiano S A G S P | Flat workpiece stacker and unstacker - has lifting forks tilting between vertical and horizontal position on shaft |
| DE3121237A1 (en) * | 1981-05-27 | 1982-12-23 | Franz 8000 München Schörghuber | Device for taking hold of and conveying plate-like objects |
| JPS6082525A (en) * | 1983-10-06 | 1985-05-10 | Nippon Sheet Glass Co Ltd | Suction type takeup device for glass sheets |
| CN105666316A (en) * | 2016-02-01 | 2016-06-15 | 上海理工大学 | Glass transferring manipulator device |
| CN207046434U (en) * | 2017-08-05 | 2018-02-27 | 勤基电路板（深圳）有限公司 | A kind of PCB substrate cleaning equipment |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283671A (en) * | 2020-04-28 | 2020-06-16 | 佛山隆深机器人有限公司 | Negative pressure type mechanical arm for carrying light objects |
| CN113001578A (en) * | 2021-03-08 | 2021-06-22 | 博众精工科技股份有限公司 | Snatch mechanism and production line |
| CN113233198A (en) * | 2021-06-01 | 2021-08-10 | 嘉兴市光泰照明有限公司 | Automatic glass unloading device for glass production line |
| CN113455784A (en) * | 2021-07-24 | 2021-10-01 | 卓耀祖 | Novel line drawing equipment for sneakers |
| CN113455784B (en) * | 2021-07-24 | 2023-05-05 | 山东百华鞋业有限公司 | Novel sports shoes setting-out equipment |
| CN113636339A (en) * | 2021-07-27 | 2021-11-12 | 安徽扬宸新能源科技有限公司 | A centre gripping transfer device for lithium cell production line |
| CN114589114A (en) * | 2022-03-06 | 2022-06-07 | 江苏富海生物科技有限公司 | No fish meal fodder packing detection device of cottonseed protein peptide preparation |
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| 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |
|
| RJ01 | Rejection of invention patent application after publication |