CN108748119B - Carousel feed bin truss robot - Google Patents
Carousel feed bin truss robot Download PDFInfo
- Publication number
- CN108748119B CN108748119B CN201810894205.7A CN201810894205A CN108748119B CN 108748119 B CN108748119 B CN 108748119B CN 201810894205 A CN201810894205 A CN 201810894205A CN 108748119 B CN108748119 B CN 108748119B
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- Prior art keywords
- rotary
- bin
- frame
- lifting
- reducer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a carousel feed bin truss robot, includes transplanting mechanism, rotation location clamping mechanism, rotation feed bin, manipulator subassembly, elevating system and frame, transplanting mechanism, rotation location clamping mechanism, rotation feed bin and manipulator subassembly are all installed in the frame, the frame up end is provided with the circular hole, the bottom surface of rotation feed bin is circular, the radius of rotation feed bin bottom end face is less than the circular hole radius of frame up end; the rotary bin adopts a rotary table structure, and the structure adopting the form can improve the space utilization rate and simultaneously can store more materials, so that fluted discs with different shaft diameters and lengths can be used generally, the quantity of the stored materials can be automatically adjusted according to workpieces, and the universality is good.
Description
Technical Field
The invention relates to the field of machinery, in particular to a turntable storage bin truss robot.
Background
The truss robot is a full-automatic industrial equipment which is built on a three-coordinate system and is used for adjusting work stations or realizing the functions of track movement and the like of the work pieces, the control core of the truss robot is realized through an industrial controller (such as a PLC, a motion control and a singlechip) and is mainly mechanical arm type equipment, after a certain logic judgment is made on signals of various inputs (various sensors, buttons and the like), an execution command is issued to each output element (a relay, a motor driver, an indicator light and the like) to complete joint movement among three axes, so that a whole set of full-automatic operation flow is realized.
The present invention has been made to solve the above problems.
Disclosure of Invention
The invention aims to provide the turntable bin truss robot which has high space utilization rate, good universality and adjustable storage quantity.
The invention adopts the technical proposal for solving the technical problems that:
The utility model provides a carousel feed bin truss robot, includes transplanting mechanism, rotation location clamping mechanism, rotation feed bin, manipulator subassembly, elevating system and frame, transplanting mechanism, rotation location clamping mechanism, rotation feed bin and manipulator subassembly are all installed in the frame, the frame up end is provided with the circular hole, the bottom surface of rotation feed bin is circular, the radius of rotation feed bin bottom end face is less than the circular hole radius of frame up end;
the lower end of the frame is provided with an inner cavity, a lifting mechanism is arranged in the inner cavity, the lifting mechanism is positioned at the lower end of the rotary storage bin, and the bottom end surface of the rotary storage bin is arranged in a circular hole in the upper end surface of the frame;
The rotary positioning clamping mechanism and the transplanting mechanism are positioned at one side of the rotary storage bin, and the planes of the rotary positioning clamping mechanism and the transplanting mechanism are mutually perpendicular;
A manipulator assembly is arranged above the side of the rotary bin, a manipulator is arranged at the lower end of the manipulator assembly, and the manipulator is positioned above the rotary positioning clamping mechanism;
The rotary positioning clamping mechanism, the transplanting mechanism and the manipulator assembly are all arranged on the upper end face of the frame;
Further, the rotary bin comprises an RV reducer, a turntable, a lifting disk, an RV reducer bottom plate, a base and a material rod;
the rotary table is positioned at the bottom end of the rotary bin, the lifting discs are uniformly positioned at the edge of the outer circumference of the rotary table, the lower end of each lifting disc is provided with a base, and the lifting discs are movably connected with the rotary table through the bases;
the upper end of the lifting disc is provided with a material rod, and the material rod is arranged on the lifting disc;
The RV reducer is positioned on the inner side of the lifting disc, the RV reducer is positioned on the circumference of the inner ring of the turntable, the bottom plate of the RV reducer is positioned on the bottom end surface of the turntable, and the RV reducer is arranged on the bottom plate of the RV reducer;
the rotary bin further comprises a servo motor, the servo motor is arranged at the lower end of the turntable, and the servo motor is connected with the RV reducer;
Specifically, a servo motor at the lower end of the rotary bin is connected with the lifting mechanism;
Wherein the rotary positioning clamping mechanism and the manipulator assembly are positioned on the same side;
The rotary positioning clamping mechanism is attached to the rotary bin and can rotate and clamp the rotary bin.
The working principle is as follows: and starting to rotate the full-material rotary bin to a feeding station, lifting the lifting mechanism, removing the rotary bin by the transplanting mechanism to take materials, conveying the workpiece to be machined to the rotary positioning clamping mechanism by the transplanting mechanism, starting to rotate by the clamping mechanism, taking materials from the mechanical arm assembly to the rotary clamping mechanism, conveying the workpiece to a machine tool, and then sequentially placing the processed workpiece to the rotary bin to process the station according to a reverse feeding flow.
The invention has the beneficial effects that: the rotary bin adopts a rotary table structure, and the structure adopting the form can improve the space utilization rate and simultaneously can store more materials, so that fluted discs with different shaft diameters and lengths can be used generally, the quantity of the stored materials can be automatically adjusted according to workpieces, and the universality is good.
Drawings
Fig. 1 is a schematic structural view of a turntable silo truss robot provided by the invention.
Fig. 2 is a schematic view of the structure of the rotating silo of fig. 1.
Detailed Description
In order that the manner in which the above-recited features, advantages, objects and advantages of the invention are obtained, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Referring to fig. 1 and 2, the turntable silo truss robot comprises a transplanting mechanism 1, a rotary positioning and clamping mechanism 2, a rotary silo 3, a manipulator assembly 4, a lifting mechanism 5 and a frame 6, wherein the transplanting mechanism 1, the rotary positioning and clamping mechanism 2, the rotary silo 3 and the manipulator assembly 4 are all arranged on the frame 6, a circular hole is formed in the upper end face of the frame 6, the bottom end face of the rotary silo 3 is circular, and the radius of the bottom end face of the rotary silo 3 is smaller than that of the circular hole in the upper end face of the frame 6;
the lower end of the frame 6 is provided with an inner cavity, a lifting mechanism 5 is arranged in the inner cavity, the lifting mechanism 5 is positioned at the lower end of the rotary storage bin 3, and the bottom end surface of the rotary storage bin 3 is arranged in a circular hole on the upper end surface of the frame 6;
The rotary positioning clamping mechanism 2 and the transplanting mechanism 1 are positioned at one side of the rotary storage bin 3, and planes of the rotary positioning clamping mechanism 2 and the transplanting mechanism 1 are mutually perpendicular;
A manipulator assembly 4 is arranged above the side of the rotary bin 3, a manipulator is arranged at the lower end of the manipulator assembly 4, and the manipulator is positioned above the rotary positioning clamping mechanism 2;
the rotary positioning clamping mechanism 2, the transplanting mechanism 1 and the manipulator assembly 4 are all arranged on the upper end surface of the frame 6;
Further, the rotary bin 3 comprises an RV reducer 31, a turntable 33, a lifting disk 34, an RV reducer bottom plate 35, a base 36 and a material rod 37;
The rotary table 33 is positioned at the bottom end of the rotary bin 3, the lifting disks 34 are uniformly positioned at the edge of the outer circumference of the rotary table 33, the lower end of the lifting disks 34 is provided with a base 36, and the lifting disks 34 are movably connected with the rotary table 33 through the base 36;
The upper end of the lifting disc 34 is provided with a material rod 37, and the material rod 37 is arranged on the lifting disc 34;
the RV reducer 31 is positioned on the inner side of the lifting disc 34, the RV reducer 31 is positioned on the circumference of the inner ring of the rotary disc 33, the RV reducer bottom plate 35 is positioned on the bottom end surface of the rotary disc 33, and the RV reducer 31 is arranged on the RV reducer bottom plate 35;
The rotary bin 3 further comprises a servo motor 32, the servo motor 32 is arranged at the lower end of a turntable 33, and the servo motor 32 is connected with the RV reducer 31;
specifically, a servo motor 32 at the lower end of the rotary bin 3 is connected with the lifting mechanism 5;
wherein the rotary positioning and clamping mechanism 2 and the manipulator assembly 4 are positioned on the same side;
The rotary positioning clamping mechanism is attached to the rotary bin and can rotate and clamp the rotary bin.
The rotary bin adopts a rotary table structure, and the structure adopting the form can improve the space utilization rate and simultaneously can store more materials, so that fluted discs with different shaft diameters and lengths can be used generally, the quantity of the stored materials can be automatically adjusted according to workpieces, and the universality is good.
And starting to rotate the full-material rotary bin to a feeding station, lifting the lifting mechanism, removing the rotary bin by the transplanting mechanism to take materials, conveying the workpiece to be machined to the rotary positioning clamping mechanism by the transplanting mechanism, starting to rotate by the clamping mechanism, taking materials from the mechanical arm assembly to the rotary clamping mechanism, conveying the workpiece to a machine tool, and then sequentially placing the processed workpiece to the rotary bin to process the station according to a reverse feeding flow.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. The utility model provides a carousel feed bin truss robot, includes transplanting mechanism (1), rotation location clamping mechanism (2), rotation feed bin (3), manipulator subassembly (4), hoist mechanism (5) and frame (6), transplanting mechanism (1), rotation location clamping mechanism (2), rotation feed bin (3) and manipulator subassembly (4) all install on frame (6), its characterized in that:
The upper end face of the frame (6) is provided with a circular hole, the bottom end face of the rotary storage bin (3) is circular, and the radius of the bottom end face of the rotary storage bin (3) is smaller than that of the circular hole of the upper end face of the frame (6);
The lower end of the frame (6) is provided with an inner cavity, a lifting mechanism (5) is arranged in the inner cavity, the lifting mechanism (5) is positioned at the lower end of the rotary storage bin (3), and the bottom end surface of the rotary storage bin (3) is arranged in a circular hole on the upper end surface of the frame (6);
The rotary positioning clamping mechanism (2) and the transplanting mechanism (1) are positioned on one side of the rotary storage bin (3), and planes of the rotary positioning clamping mechanism (2) and the transplanting mechanism (1) are perpendicular to each other;
A manipulator assembly (4) is arranged above the side of the rotary bin (3), a manipulator is arranged at the lower end of the manipulator assembly (4), and the manipulator is positioned above the rotary positioning clamping mechanism (2);
The rotary positioning clamping mechanism (2), the transplanting mechanism (1) and the manipulator assembly (4) are all arranged on the upper end face of the frame (6);
the rotary bin (3) comprises an RV reducer (31), a turntable (33), a lifting disc (34), an RV reducer bottom plate (35), a base (36) and a material rod (37);
The rotary table (33) is positioned at the bottom end of the rotary bin (3), the lifting discs (34) are uniformly positioned at the edge of the outer circumference of the rotary table (33), the lower end of each lifting disc (34) is provided with a base (36), and the lifting discs (34) are movably connected with the rotary table (33) through the bases (36);
The upper end of the lifting disc (34) is provided with a material rod (37), and the material rod (37) is arranged on the lifting disc (34);
The RV reducer (31) is positioned on the inner side of the lifting disc (34), the RV reducer (31) is positioned on the circumference of the inner ring of the rotary disc (33), the RV reducer bottom plate (35) is positioned on the bottom end surface of the rotary disc (33), and the RV reducer (31) is arranged on the RV reducer bottom plate (35);
The rotary bin (3) further comprises a servo motor (32), the servo motor (32) is arranged at the lower end of the rotary table (33), and the servo motor (32) is connected with the RV reducer (31);
a servo motor (32) at the lower end of the rotary bin (3) is connected with the lifting mechanism (5);
The rotary positioning and clamping mechanism (2) and the manipulator assembly (4) are positioned on the same side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810894205.7A CN108748119B (en) | 2018-08-08 | 2018-08-08 | Carousel feed bin truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810894205.7A CN108748119B (en) | 2018-08-08 | 2018-08-08 | Carousel feed bin truss robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108748119A CN108748119A (en) | 2018-11-06 |
| CN108748119B true CN108748119B (en) | 2024-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810894205.7A Active CN108748119B (en) | 2018-08-08 | 2018-08-08 | Carousel feed bin truss robot |
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| CN (1) | CN108748119B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060543B (en) * | 2021-03-18 | 2023-06-02 | 浙江屹立机器人科技有限公司 | Automatic feeding device for tooth plates |
| CN113231824A (en) * | 2021-04-21 | 2021-08-10 | 杜洋 | Valve body milling, drilling and tapping production method |
| CN115255848B (en) * | 2022-06-28 | 2023-10-17 | 北京轩宇智能科技有限公司 | Storage platform with protection function and multifunctional assembly system |
| CN116197718A (en) * | 2023-03-15 | 2023-06-02 | 佛山泰美时代灯具有限公司 | Unloading equipment in lamp cup processing |
| CN121404796B (en) * | 2025-12-26 | 2026-04-21 | 万向钱潮股份公司 | Annular material receiving system and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208867173U (en) * | 2018-08-08 | 2019-05-17 | 浙江屹立机器人科技有限公司 | A kind of turntable feed bin truss robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20160049418A (en) * | 2014-10-27 | 2016-05-09 | 아메코메카닉스(주) | CNC machine tool with robot system |
| CN204868304U (en) * | 2015-07-02 | 2015-12-16 | 上海新跃联汇电子科技有限公司 | Unloader in wheel style automation |
| CN205734119U (en) * | 2016-06-08 | 2016-11-30 | 东莞市小智人机器人有限公司 | A kind of eight station rotaries rise feed bin |
| CN106395220B (en) * | 2016-10-20 | 2019-05-17 | 重庆哈渝机器人有限公司 | Clutch compressing disc expects library, automatic loading and unloading device and automatic assembly line automatically |
| CN106956163B (en) * | 2017-04-07 | 2023-03-31 | 广东南大机器人有限公司 | Full-automatic feeding equipment |
| CN107350872A (en) * | 2017-07-28 | 2017-11-17 | 陕西海力特精密机械有限公司 | Multiple-station rotation lifting combination feeding storage arrangement |
| CN107471885B (en) * | 2017-09-13 | 2019-05-31 | 西安精雕软件科技有限公司 | A kind of flexible automatic manufacturing device of carving machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208867173U (en) * | 2018-08-08 | 2019-05-17 | 浙江屹立机器人科技有限公司 | A kind of turntable feed bin truss robot |
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| CN108748119A (en) | 2018-11-06 |
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