CN109078809A - A kind of loading and unloading manipulator of automatic adhesive dispensing production line - Google Patents
A kind of loading and unloading manipulator of automatic adhesive dispensing production line Download PDFInfo
- Publication number
- CN109078809A CN109078809A CN201810998260.0A CN201810998260A CN109078809A CN 109078809 A CN109078809 A CN 109078809A CN 201810998260 A CN201810998260 A CN 201810998260A CN 109078809 A CN109078809 A CN 109078809A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- driving device
- loading
- production line
- motion platform
- 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
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 21
- 239000000853 adhesive Substances 0.000 title claims abstract description 20
- 230000001070 adhesive effect Effects 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 210000000078 claw Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Abstract
The present invention relates to point glue equipment technical fields, more particularly, to a kind of loading and unloading manipulator of automatic adhesive dispensing production line, including organic frame, rack is connected with first driving device, and first driving device is connected with X-axis motion platform by driving member, and X-axis motion platform is connect with housing slide；X-axis motion platform is connected with Y-axis motion platform by rotating device, Y-axis motion platform is equipped with the second driving device, second driving device is connected with gripper telecontrol equipment by driving member, and gripper telecontrol equipment is equipped with third driving device, and the third driving device is connect with gripper.The present invention has the characteristics that freedom degree height, modularized design.
Description
Technical field
The present invention relates to point glue equipment technical fields, more particularly, to a kind of charging & discharging machine of automatic adhesive dispensing production line
Tool hand.
Background technique
Have that precision is bad, component design is complicated to a certain extent for the domestic manipulator of dispensing production line at present
The problem of.While imported mechanical hand is expensive, structure bulky.Loading and unloading manipulator in the prior art mostly uses rectangular co-ordinate
The manipulator of system, is only able to achieve 3 freedom degrees, and motion space is small.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of the upper of automatic adhesive dispensing production line
Blanking mechanical hand has the characteristics that freedom degree height, modularized design.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of loading and unloading of automatic adhesive dispensing production line
Manipulator, wherein including organic frame, rack is connected with first driving device, and first driving device is connected with X-axis by driving member
Motion platform, X-axis motion platform are connect with housing slide；X-axis motion platform is connected with Y-axis movement by rotating device and puts down
Platform, Y-axis motion platform are equipped with the second driving device, and the second driving device is connected with gripper telecontrol equipment, machine by driving member
Machinery claw telecontrol equipment is equipped with third driving device, and third driving device is connect with gripper.
In the present invention, rack is connected with first driving device, and first driving device drives X-axis motion platform by driving member
Movement, the movement of X-axis motion platform drive the movement of Y-axis motion platform.Y-axis motion platform is equipped with the second driving device, passes through second
Driving device drives the movement of gripper telecontrol equipment, and gripper telecontrol equipment is equipped with third driving device, and third driving device is driven
Motivation machinery claw moves up and down.Meanwhile rotating device, rotating device control are equipped between X-axis motion platform and Y-axis motion platform
Y-axis motion platform processed is rotated relative to X-axis motion platform.
In one embodiment, rack is equipped with sliding rail, and X-axis motion platform is equipped with the first connecting plate and the second connecting plate,
First connecting plate is connected with sliding block, and sliding block is connect with sliding rail, and the second connecting plate is connect with rotating device.First connecting plate is connected with
Sliding block, the first connecting plate are connect by sliding block with the sliding rail that rack is equipped with, and realize being slidably connected for X-axis motion platform and rack,
Second connecting plate is connect with rotating device, and realization rotating device is fixedly connected with X-axis motion platform.
Preferably, driving member is transmission belt, and transmission belt is fixedly connected with the first connecting plate, transmission belt one end and the first driving
Device connection, the other end are connect with gantry rotation.Transmission belt is fixedly connected with the first connecting plate, and transmission belt is in first driving device
Control action under when rotating, drive the first connecting plate relative to housing slide, realize the shifting of X-axis motion platform on the rack
It is dynamic.
Preferably, rotating device is equipped with the rotation cylinder connecting with the second connecting plate, and rotation cylinder is set with Y-axis motion platform
Some supporting beam connections, supporting beam rotate under the action of rotation cylinder.Rotation cylinder is connect with the second connecting plate, rotation cylinder
It is connect with supporting beam, rotation cylinder controls supporting beam rotation, realizes the rotation of Y-axis motion platform.
Preferably, supporting beam is equipped with sliding rail, and sliding rail is connected with third connecting plate, and sliding rail is slidably connected with third connecting plate.
Preferably, supporting beam one end is equipped with the second driving device, and the second driving device is connected with third by driving member and connects
Fishplate bar, third connecting plate are connect with gripper telecontrol equipment.Second driving device is connect by driving member with third connecting plate, the
Two driving devices control third connecting plate by driving member and slide in supporting beam.
Preferably, driving member is transmission belt, and transmission belt is fixedly connected with third connecting plate, transmission belt one end and the second driving
Device connection, the other end and supporting beam are rotatablely connected.
In one embodiment, gripper telecontrol equipment is equipped with the 4th connecting plate that connect with third connecting plate, and the 4th
Connecting plate is connected with third driving device, and third driving device is connected with fourth drive device, and fourth drive device connection is organic
Machinery claw.Gripper telecontrol equipment is connect by the 4th connecting plate with third driving device, and third driving device controls gripper fortune
Dynamic device adjusts height.Third driving device is connected with fourth drive device, and fourth drive device control gripper is opened or closed
It closes, realizes gripper state change.
Preferably, rack is equipped with the position induction device cooperated with the first connecting plate.X-axis motion platform is relative to rack
When position is adjusted, when X-axis motion platform moves to corresponding position, position induction device feels the position of the first connecting plate
It surveys, realizes the induction to X-axis moving platform position.
Preferably, support beam is equipped with the position induction device cooperated with third connecting plate.Gripper telecontrol equipment is opposite
When supporting beam position is adjusted, when gripper telecontrol equipment moves to corresponding position, position induction device is to third connecting plate
Position is sensed, and realizes the induction to gripper telecontrol equipment position.
Compared with prior art, the present invention having the following characteristics that
1, the loading and unloading manipulator of automatic adhesive dispensing production line use modularized design, modularized design be conducive to device installation and
Dismantling, and conveniently to the maintenance of device.
2, the loading and unloading manipulator of automatic adhesive dispensing production line can be realized 5 freedom degrees, wherein being realized using rotating device
The rotation of manipulator, the linkage of realization device conveniently carry out the work of loading and unloading in automatic adhesive dispensing production line.
Detailed description of the invention
Fig. 1 is overall structure diagram in the embodiment of the present invention.
Fig. 2 is overall structure diagram in the embodiment of the present invention.
Fig. 3 is part A structural schematic diagram in the embodiment of the present invention.
Specific embodiment
Attached drawing only for illustration, is not considered as limiting the invention；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, is not considered as limiting the invention.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore positional relationship is described in attached drawing
Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment 1:
Such as Fig. 1 and as shown in Fig. 2, the present invention provides a kind of loading and unloading manipulator of automatic adhesive dispensing production line, set in rack 10
There is first driving device 21, first driving device 21 is motor, and position corresponding with first driving device 21 is set in rack 10
There is fixing seat 26, be connected with driving member 22 in fixing seat 26 and first driving device 21, in the present embodiment, driving member 22 is to pass
Dynamic band.
As shown in Figure 1, being equipped with X-axis motion platform in rack 10, X-axis motion platform is equipped with the first connecting plate 23 and second
Connecting plate 24, the first connecting plate 23 and the second connecting plate 24 are stacked, and the first connecting plate 23 and the second connecting plate 24 pass through admittedly
Fixed board 25 connects.
As shown in Figure 1, the two sides that the first connecting plate 23 is connect with rack 10 are equipped with sliding block 12, sliding block 12 is in the first connecting plate
There are two 23 two sides are paid and set, the first connecting plate 23 is connect by sliding block 12 with sliding rail 11, the first connecting plate 23 of realization and rack
10 are slidably connected.
Driving member 22 is fixedly connected with the first connecting plate 23 by fixed block 27, and first driving device 21 drives driving member 22
Rotation, the rotation of driving member 22 drive the first connecting plate 23 to slide in rack 10, realize cunning of the X-axis motion platform in rack 10
It is dynamic.
Second connecting plate 24 is connected with rotating device 30, and rotating device 30 is equipped with the rotation gas connecting with the second connecting plate 24
Cylinder, Y-axis motion platform are equipped with supporting beam 31, and supporting beam 31 is connect with the driving end of rotation cylinder, in the effect of rotating device 30
Under, supporting beam 31 can be rotated relative to the second connecting plate 24, realization pair
In the present embodiment, 31 one end of supporting beam is equipped with the second driving device 51, and the second driving device 51 is motor.In supporting beam 31
One end opposite with the second driving device 51 is equipped with fixing seat 10, is connected with driving member in fixing seat and the second driving device 51
22, in the present embodiment, driving member 22 is transmission belt.
Y-axis motion platform is equipped with third connecting plate 52, and third connecting plate 52 and 31 junction of supporting beam are all provided with that there are two sliding
Block 12, supporting beam 31 are equipped with sliding rail 11, and sliding block 12 is slidably connected with sliding rail 11, realize the cunning of third connecting plate 52 and supporting beam 31
Dynamic connection.
Second driving device 51 drives driving member 22 to rotate, and the rotation of driving member 22 drives third connecting plate 52 relative to support
Beam 31 slides.
63 telecontrol equipment of gripper is equipped with the 4th connecting plate 53, and the 4th connecting plate 53 connect with third connecting plate 52, follows
Third connecting plate 52 is mobile.4th connecting plate 53 is connected with third driving device 61, and third driving device 61 is cylinder, has and stretches
Contracting function.The driving end of third driving device 61 is connected with fourth drive device 62, and fourth drive device 62 is cylinder.
Fourth drive device 62 is connected with gripper 63, and there are two gripper 63 is symmetrically set, fourth drive device 62 is controlled
Gripper 63 processed opens or closure.
In the present embodiment, rack 10 is equipped with the position induction device 40 cooperated with the first connecting plate 23, sets on support beam
There is the position induction device 40 cooperated with third connecting plate 52.When X-axis motion platform is adjusted relative to 10 position of rack, work as X-axis
Motion platform moves to corresponding position, and position induction device 40 senses the position of the first connecting plate 23, realizes and transports to X-axis
The induction of moving platform position.When 63 telecontrol equipment of gripper is adjusted relative to 31 position of supporting beam, when 63 telecontrol equipment of gripper
Corresponding position is moved to, position induction device 40 senses the position of third connecting plate 52, realizes and moves to gripper 63
The induction of setting position.
Embodiment 2:
The present embodiment is similar to Example 1, the difference is that, in the present embodiment, first driving device 21 passes through mounting base
62 connect with rack 10, and first driving device 21 is connected with shaft coupling 64, shaft coupling 64 and the axis fixed by bearing baffle 66
65 connections are held, while shaft coupling 64 is connected with synchronizing wheel 67, synchronizing wheel 67 is connect with driving member 22.
Identical, the second driving device 51 is connect by mounting base 62 with supporting beam 31, the connection of the second driving device 21
There is shaft coupling 64, shaft coupling 64 is connect with by the fixed bearing 65 of bearing baffle 66, while shaft coupling 64 is connected with synchronizing wheel
67, synchronizing wheel 67 is connect with driving member 22.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of loading and unloading manipulator of automatic adhesive dispensing production line, which is characterized in that including organic frame, the rack is connected with
One driving device, the first driving device are connected with X-axis motion platform, the X-axis motion platform and rack by driving member
It is slidably connected；The X-axis motion platform is connected with Y-axis motion platform by rotating device, and the Y-axis motion platform is equipped with second
Driving device, second driving device are connected with gripper telecontrol equipment by driving member, and the gripper sportswear installs
There is third driving device, the third driving device is connect with gripper.
2. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 1, which is characterized in that the rack is equipped with
Sliding rail, the X-axis motion platform are equipped with the first connecting plate and the second connecting plate, and first connecting plate is connected with sliding block, described
Sliding block is connect with sliding rail, and second connecting plate is connect with rotating device.
3. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 2, which is characterized in that the driving member is
Transmission belt, the transmission belt are fixedly connected with the first connecting plate, and described transmission belt one end is connect with first driving device, the other end
It is connect with gantry rotation.
4. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 2, which is characterized in that the rotating device
Equipped with the rotation cylinder connecting with the second connecting plate, the rotation cylinder is connect with the supporting beam that Y-axis motion platform is equipped with, described
Supporting beam rotates under the action of rotation cylinder.
5. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 4, which is characterized in that the supporting beam is set
There is sliding rail, the sliding rail is connected with third connecting plate, and the sliding rail is slidably connected with third connecting plate.
6. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 5, which is characterized in that the supporting beam one
End is equipped with the second driving device, and second driving device is connected with third connecting plate, the third connecting plate by driving member
It is connect with gripper telecontrol equipment.
7. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 5, which is characterized in that the driving member is
Transmission belt, the transmission belt are fixedly connected with third connecting plate, and described transmission belt one end is connect with the second driving device, the other end
It is rotatablely connected with supporting beam.
8. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 5, which is characterized in that the gripper fortune
Dynamic device is equipped with the 4th connecting plate connecting with third connecting plate, and the 4th connecting plate is connected with third driving device, described
Third driving device is connected with fourth drive device, and the fourth drive device is connected with gripper.
9. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 2, which is characterized in that set in the rack
There is the position induction device with the cooperation of the first connecting plate.
10. the loading and unloading manipulator of automatic adhesive dispensing production line according to claim 4, which is characterized in that the support beam
It is equipped with the position induction device cooperated with third connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998260.0A CN109078809A (en) | 2018-08-29 | 2018-08-29 | A kind of loading and unloading manipulator of automatic adhesive dispensing production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998260.0A CN109078809A (en) | 2018-08-29 | 2018-08-29 | A kind of loading and unloading manipulator of automatic adhesive dispensing production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109078809A true CN109078809A (en) | 2018-12-25 |
Family
ID=64795182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810998260.0A Pending CN109078809A (en) | 2018-08-29 | 2018-08-29 | A kind of loading and unloading manipulator of automatic adhesive dispensing production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109078809A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102029243A (en) * | 2009-09-30 | 2011-04-27 | 深圳市腾盛流体控制设备有限公司 | Fully-automatic three-axis machine |
| CN102699221A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator |
| CN103272739A (en) * | 2013-05-27 | 2013-09-04 | 武汉华卓奔腾科技有限公司 | Three-dimensional positioning device based on visual guidance and dispensing equipment |
| WO2018018754A1 (en) * | 2016-07-29 | 2018-02-01 | 意力(广州)电子科技有限公司 | Automatic sealing device having fully automatic linear robot arm |
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN209476613U (en) * | 2018-08-29 | 2019-10-11 | 东莞理工学院 | A kind of loading and unloading manipulator of automatic adhesive dispensing production line |
-
2018
- 2018-08-29 CN CN201810998260.0A patent/CN109078809A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102029243A (en) * | 2009-09-30 | 2011-04-27 | 深圳市腾盛流体控制设备有限公司 | Fully-automatic three-axis machine |
| CN102699221A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator |
| CN103272739A (en) * | 2013-05-27 | 2013-09-04 | 武汉华卓奔腾科技有限公司 | Three-dimensional positioning device based on visual guidance and dispensing equipment |
| WO2018018754A1 (en) * | 2016-07-29 | 2018-02-01 | 意力(广州)电子科技有限公司 | Automatic sealing device having fully automatic linear robot arm |
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN209476613U (en) * | 2018-08-29 | 2019-10-11 | 东莞理工学院 | A kind of loading and unloading manipulator of automatic adhesive dispensing production line |
Non-Patent Citations (1)
| Title |
|---|
| 朱铭: "面向鞋业点胶五自由度机器人机构设计", 中国优秀硕士学位论文全文数据库（信息科技辑）, no. 03, 15 March 2009 (2009-03-15), pages 140 - 234 * |
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