CN109079829A - Material transporting mechanism and robot with it - Google Patents
Material transporting mechanism and robot with it Download PDFInfo
- Publication number
- CN109079829A CN109079829A CN201811030726.4A CN201811030726A CN109079829A CN 109079829 A CN109079829 A CN 109079829A CN 201811030726 A CN201811030726 A CN 201811030726A CN 109079829 A CN109079829 A CN 109079829A
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- China
- Prior art keywords
- plugs
- transporting mechanism
- material transporting
- workpiece
- mounting plate
- 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.)
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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
- B25J15/00—Gripping heads and other end effectors
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The present invention provides a kind of material transporting mechanism and with its robot, material transporting mechanism includes: first to plug portion, first plug portion at least partly for being plugged in the first transhipment gap of workpiece；Second plugs portion, and second, which plugs portion, plugs the setting of portion interval with first, second plug portion at least partly for being plugged in the second transhipment gap of workpiece, to plug portion second and so that workpiece with second is plugged portion and first portion of plugging mobile when first portion of plugging is mobile；Wherein, it second plugs portion and plugs the distance between portion with first and be adjustably arranged.Material transporting mechanism of the invention solves the problems, such as that fixture clamping workpiece stability in the prior art is poor.
Description
Technical field
The present invention relates to material transfer fields, in particular to a kind of material transporting mechanism and with its robot.
Background technique
It in the prior art, is to be clamped by suction jig mostly, due to electricity when being transported through for Battery case
Pond box weight is larger, will appear the problem that falls off of fixture and Battery case during specific transport, to will lead to battery
Cabinet damage.
In addition, if when being clamped using clamping jaw, due to the limitation of clamping jaw self structure, for different size of battery
Cabinet needs the efficient utilization for being unfavorable for improving fixture using different clamping jaws.
Summary of the invention
The main purpose of the present invention is to provide a kind of material transporting mechanism and with its robot, to solve existing skill
The poor problem of fixture clamping workpiece stability in art.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of material transporting mechanism, comprising: the
One plugs portion, and first plugs at least partly transporting in gap for being plugged in the first of workpiece for portion；Second plugs portion, and second inserts
If portion plugs the setting of portion interval with first, second plugs at least partly transporting in gap for being plugged in the second of workpiece for portion,
To make workpiece plug portion and the movement of first portion of plugging with second when second plugs portion and the movement of first portion of plugging；Wherein, second
It plugs portion and plugs the distance between portion with first and be adjustably arranged.
Further, it second plugs portion and is movably disposed along the direction that plugs portion close to or far from first, to adjust the
Two, which plug portion and first, plugs the distance between portion.
Further, material transporting mechanism further include: mounting plate, second plugs portion is spaced apart and arranged in first portion of plugging
On mounting plate；First driving portion, the first driving portion are arranged on a mounting board, and are drivingly connected with second portion of plugging, to drive the
Two plug portion moves along the direction for plugging portion close to or far from first.
Further, it is provided with sliding rail on mounting plate, second plugs the sliding block for being provided in portion and matching with sliding rail, and first
When driving portion drives second portion of plugging mobile, sliding block is moved along the extending direction of sliding rail.
Further, material transporting mechanism further include: compressed part, compressed part plug the setting of portion interval, compressed part with second
The setting of portion interval is plugged with first, compressed part is for being pressed on workpiece, so that workpiece is at least partly folded in compressed part, the
Two, which plug portion and first, plugs between portion.
Further, compressed part is movably disposed along the direction close to or far from workpiece, so that compressed part has and work
The first position that part is in contact and the second position mutually separated with workpiece.
Further, material transporting mechanism further include: mounting plate, second plugs portion is spaced apart and arranged in first portion of plugging
On mounting plate；Second driving portion, the second driving portion are arranged on a mounting board, and the second driving portion and compressed part are drivingly connected, to drive
Dynamic compressed part is moved along the direction close to or far from workpiece.
Further, compressed part is plate body, material transporting mechanism further include: guide post, one end of guide post and compressed part
It is connected；Sliding part, sliding part are arranged on a mounting board, and guide post is threaded through in sliding part, and the second driving portion drives compressed part
It is mobile, so that compressed part drives guide post to move along the extending direction of sliding part.
Further, first portion of plugging includes multiple first cylindrical bars, and multiple first cylindrical bars interval is arranged, and multiple first
Cylindrical bar is for being plugged in corresponding first transhipment gap；Second portion of plugging includes multiple second cylindrical bars, multiple second circles
The setting of mast interval, multiple second cylindrical bars are for being plugged in corresponding second transhipment gap.
Further, material transporting mechanism further include: inductive component, inductive component are arranged in pairs, first inductive component
It is connected with first portion of plugging, second inductive component is connected with second portion of plugging；Wherein, at least portion for plugging portion when first
Point plug to the distance in the first transhipment gap be the first pre-determined distance when, first inductive component response；Portion is plugged when second
Plug to the distance in the second transhipment gap be the second pre-determined distance when, the response of second inductive component.
Further, first inductive component includes: the first mounting plate, and the first mounting plate is connected with first portion of plugging；
Inductive switch, inductive switch are arranged on the first mounting plate；Tablet, tablet are oppositely arranged with the first mounting plate, and induction is opened
The inductive head of pass is arranged towards tablet；Contact plate, contact plate are connected with tablet, and contact plate is along close to or far from tablet
Direction be movably disposed；Elastic component, elastic component are arranged between contact plate and tablet, to push contact plate pressure in workpiece
When contracting elastic component, resilient element urges tablet is moved along the direction close to inductive switch, when between tablet and inductive switch
When distance reaches predetermined inductive distance, the first distance transported in gap to first that at least partly plugs for plugging portion is first pre-
If distance, so that inductive switch responds.
According to another aspect of the present invention, a kind of robot, including robotic arm and material transporting mechanism are provided, material turns
Fortune mechanism is above-mentioned material transporting mechanism, and material transporting mechanism is arranged on robotic arm.
Material transporting mechanism of the invention can plug portion and second portion of plugging steadily transporting work pieces by first.Its
In, second, which plugs portion, plugs the setting of portion interval with first, and second, which plugs portion, plugs the distance between portion with first and adjustably set
It sets and can satisfy the first transhipment gap of different distance and plugging for the second transhipment gap.In the transport process of specific workpiece,
First plugs at least partly being plugged in the first transhipment gap of workpiece of portion, second plug portion be at least partly plugged in workpiece
The second transhipment gap in, mobile second, which plugs portion and first, plugs portion, inserts so that workpiece plugs portion with second with first
If portion is mobile, complete to transport with this.Material transporting mechanism of the invention plugs portion and second portion of plugging by first and steadily turns
Workpiece is transported, solves the problems, such as that fixture clamping workpiece stability in the prior art is poor.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram at first visual angle of the embodiment of material transporting mechanism according to the present invention；
Fig. 2 shows the structural schematic diagrams at second visual angle of the embodiment of material transporting mechanism according to the present invention；
Fig. 3 shows the fit structure schematic diagram at first visual angle of material transporting mechanism and workpiece according to the present invention；
Fig. 4 shows the fit structure schematic diagram at second visual angle of material transporting mechanism and workpiece according to the present invention；
Fig. 5 shows the structural schematic diagram at the third visual angle of the embodiment of material transporting mechanism according to the present invention；
Fig. 6 shows the partial enlargement structural representation of the material transporting mechanism of Fig. 5.
Wherein, the above drawings include the following reference numerals:
10, first portion is plugged；11, the first cylindrical bar；20, second portion is plugged；21, sliding block；22, the second cylindrical bar；30, pacify
Loading board；31, sliding rail；40, the first driving portion；50, compressed part；60, the second driving portion；70, guide post；80, sliding part；90, feel
Answer component；91, the first mounting plate；92, inductive switch；93, tablet；94, contact plate；95, elastic component；100, workpiece；110,
Connecting flange.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The present invention provides a kind of material transporting mechanism, Fig. 1 to Fig. 6 is please referred to, material transporting mechanism includes: first to plug
Portion 10, first plugs at least partly transporting in gap for being plugged in the first of workpiece 100 for portion 10；Second plugs portion 20, the
Two, which plug portion 20 and first, plugs the interval of portion 10 and is arranged, second plug portion 20 at least partly for being plugged in the of workpiece 100
In two transhipment gaps, workpiece 100 is set to plug portion 20 and the with second to plug portion 20 second and plug when portion 10 moves with first
One plugs the movement of portion 10；Wherein, it second plugs portion 20 and plugs the distance between portion 10 with first and be adjustably arranged.
Material transporting mechanism of the invention can plug portion 10 and second by first and plug the steadily transporting work pieces of portion 20
100.Wherein, second plug portion 20 and first plug portion 10 interval be arranged, second, which plugs portion 20 and first, plugs between portion 10
Adjustably setting can satisfy the first transhipment gap of different distance and plugging for the second transhipment gap to distance.In specific workpiece
In 100 transport process, first plug portion 10 be at least partly plugged in workpiece 100 first transhipment gap in, second plugs
Portion 20 is at least partly plugged in the second transhipment gap of workpiece 100, and mobile second, which plugs portion 20 and first, plugs portion 10, from
And makes workpiece 100 plug portion 20 and first with second and plug the movement of portion 10, complete to transport with this.Material transfer machine of the invention
Structure plugs portion 10 and second by first and plugs steadily transporting work pieces 100 of portion 20, solves fixture clamping in the prior art
The poor problem of workpiece stability.
Portion 20 and first is plugged for second and plugs the concrete mode of the distance between portion 10 adjusting, and second plugs 20 edge of portion
The direction for plugging portion 10 close to or far from first is movably disposed, and is plugged portion 20 and first with adjusting second and is plugged between portion 10
Distance.
In the present embodiment, second can be made to plug portion 20 or the first and plug one in portion 10 as movable part
With movement, second is adjusted with this plug portion 20 and first and plug the distance between portion 10.
Portion 20 and first is plugged for second and plugs the specific mounting means in portion 10, as shown in Figure 1, material transporting mechanism is also
It include: mounting plate 30, second, which plugs portion 20 and first, plugs portion 10 and be spaced apart and arranged on mounting plate 30；First driving portion 40,
First driving portion 40 is arranged on mounting plate 30, and plugs portion 20 with second and be drivingly connected, and plugs portion 20 along leaning on driving second
The direction movement for plugging portion 10 close or remote from first.
In the present embodiment, it second plugs portion 20 and first and plugs portion 10 and be spaced apart and arranged on mounting plate 30, and be arranged
The first driving portion 40 and second on mounting plate 30 plug the drive connection of portion 20, so as to be driven by the first driving portion 40
Second plugs portion 20 moves along the direction for plugging portion 10 close to or far from first.
Preferably, as shown in Figure 1, being provided with sliding rail 31 on mounting plate 30, second plugs and is provided in portion 20 and sliding rail 31
The sliding block 21 matched, when the first driving portion 40 driving second plugs the movement of portion 20, sliding block 21 is moved along the extending direction of sliding rail 31
It is dynamic.
In the present embodiment, the first driving portion 40 is cylinder or oil cylinder.
In order to guarantee stability of the workpiece 100 in transport process, as depicted in figs. 1 and 2, material transporting mechanism is also
It include: compressed part 50, compressed part 50 and second plug the setting of the interval of portion 20, and compressed part 50 and first plug the interval of portion 10 and be arranged,
Compressed part 50 is for being pressed on workpiece 100, so that workpiece 100 is at least partly folded in compressed part 50, second plugs portion 20
And first plug between portion 10.
In the present embodiment, by being provided with compressed part 50 on material transporting mechanism, and compressed part 50 is plugged with second
The setting of the interval of portion 20, compressed part 50 and first plug the setting of the interval of portion 10.In the transport process of workpiece 100, first plugs portion 10
Be at least partly plugged in the first transhipment gap of workpiece 100, second plug portion 20 be at least partly plugged in workpiece 100
In second transhipment gap, compressed part 50 is pressed on workpiece 100, so as to so that workpiece 100 is at least partly folded in compression
Portion 50, second plug portion 20 and first and plug between portion 10, and mobile compressed part 50, second plug portion 20 and first and plug portion 10,
So that workpiece 100, which plugs portion 20 and first with second, plugs the movement of portion 10, complete to transport with this.
In order to guarantee that compressed part 50 is not interfered with workpiece 100, compressed part 50 is along the direction close to or far from workpiece 100
It is movably disposed, so that compressed part 50 has the first position being in contact with workpiece 100 and separate with 100 phase of workpiece second
Position.
In the present embodiment, in the first transhipment gap for being at least partly plugged in workpiece 100 for plugging portion 10 by first, the
Two plug portion 20 be at least partly plugged in workpiece 100 second transhipment gap when, compressed part 50 is located at the top of workpiece 100,
Prevent compressed part 50 from interfering with workpiece 100 with this, and the first be at least partly plugged in workpiece 100 first for plugging portion 10
Transport gap in, second plug portion 20 be at least partly plugged in workpiece 100 second transhipment gap in after, compressed part 50 and work
Part 100 is in contact, with this workpiece pressing 100.
In order to be movably disposed compressed part 50 along the direction close to or far from workpiece 100, as shown in figure 4,
Material transporting mechanism further include: mounting plate 30, second, which plugs portion 20 and first, plugs portion 10 and be spaced apart and arranged on mounting plate 30；
Second driving portion 60, the second driving portion 60 are arranged on mounting plate 30, and the second driving portion 60 is drivingly connected with compressed part 50, to drive
Dynamic compressed part 50 is moved along the direction close to or far from workpiece 100.
In the present embodiment, at least partly plate section of compressed part 50 is compliant section, and compliant section with workpiece 100 for connecting
Touching, compliant section is prepared by flexible material, such as silica-gel nylon.
In the present embodiment, the second driving portion 60 is cylinder or oil cylinder.
Preferably, as shown in Figure 1, compressed part 50 is plate body, material transporting mechanism further include: guide post 70, guide post 70
One end be connected with compressed part 50；Sliding part 80, sliding part 80 are arranged on mounting plate 30, and guide post 70 is threaded through sliding part
In 80, the second driving portion 60 drives compressed part 50 mobile, so that compressed part 50 drives guide post 70 along the extension side of sliding part 80
To movement.
In the present embodiment, guide post 70 is multiple, and sliding part 80 is multiple, multiple guide posts 70 and multiple sliding parts 80
Correspondingly it is arranged one by one.
In the present embodiment, guide post 70 is guiding axis, and sliding part 80 is linear bearing.
Preferably, as shown in Figure 1 and Figure 4, first plug portion 10 include multiple first cylindrical bars 11, multiple first cylindrical bars
11 interval settings, multiple first cylindrical bars 11 are for being plugged in corresponding first transhipment gap；Second plugs portion 20 including more
A second cylindrical bar 22, the setting of multiple intervals of second cylindrical bar 22, multiple second cylindrical bars 22 are for being plugged in corresponding second
It transports in gap.
In the present embodiment, workpiece 100 is Battery case, has multiple holes on workpiece 100, i.e., the first transhipment gap and the
Two transhipment gaps, in specific transport process, multiple first cylindrical bars 11 are more for being plugged in corresponding first transhipment gap
A second cylindrical bar 22 is for being plugged in corresponding second transhipment gap.
In order to judge whether in place and second plugs portion 20 and workpiece 100 is first plug portion 10 and workpiece 100
It is no in place, as shown in figure 3, material transporting mechanism further include: inductive component 90, inductive component 90 are arranged in pairs, first induction
Component 90 plugs portion 10 with first and is connected, and second inductive component 90 plugs portion 20 with second and be connected；Wherein, when first inserts
If portion 10 at least partly plug to first transhipment gap in distance be the first pre-determined distance when, first 90 sound of inductive component
It answers；When it is the second pre-determined distance that second, which plugs portion 20 to plug the distance transported in gap to second, second inductive component 90
Response.
In the present embodiment, by being provided with inductive component 90, it thereby may be ensured that first plugs portion 10 at least partly
Plug to first transhipment gap in distance be the first pre-determined distance and second plug portion 20 plug to second transhipment gap in
Distance be the second pre-determined distance when.
In the present embodiment, inductive component 90 is at least two, i.e., first, which plugs portion 10 and second, plugs and be all provided in portion 20
It is equipped with inductive component 90.
Preferably, first inductive component 90 includes: the first mounting plate 91, and the first mounting plate 91 plugs 10 phase of portion with first
Connection；Inductive switch 92, inductive switch 92 are arranged on the first mounting plate 91；Tablet 93, tablet 93 and the first mounting plate
91 are oppositely arranged, and the inductive head of inductive switch 92 is arranged towards tablet 93；Contact plate 94, contact plate 94 are connected with tablet 93
It connects, contact plate 94 is movably disposed along the direction close to or far from tablet 93；Elastic component 95, the setting of elastic component 95 are contacting
Between plate 94 and tablet 93, with when workpiece 100 pushes 94 compression elastic piece 95 of contact plate, elastic component 95 pushes tablet 93
It is moved along the direction close to inductive switch 92, when the distance between tablet 93 and inductive switch 92 reach predetermined inductive distance
When, the first distance transported in gap to first that at least partly plugs for plugging portion 10 is the first pre-determined distance, so that induction is opened
Close 92 responses.
In the present embodiment, during first plugs portion 10 and be inserted into the first transhipment gap, workpiece 100 pushes contact
94 compression elastic piece 95 of plate, elastic component 95 push tablet 93 to move along close to the direction of inductive switch 92, when tablet 93 with
When the distance between inductive switch 92 reaches predetermined inductive distance, first plugs at least partly the plugging to the first transfer room of portion 10
Distance in gap is the first pre-determined distance, so that inductive switch 92 responds, so as to determine that first plugs portion 10 and plug in place,
It can stop moving forwards.
Correspondingly, second inductive component 90 includes: the first mounting plate 91, and the first mounting plate 91 plugs 20 phase of portion with second
Connection；Inductive switch 92, inductive switch 92 are arranged on the first mounting plate 91；Tablet 93, tablet 93 and the first mounting plate
91 are oppositely arranged, and the inductive head of inductive switch 92 is arranged towards tablet 93；Contact plate 94, contact plate 94 are connected with tablet 93
It connects, contact plate 94 is movably disposed along the direction close to or far from tablet 93；Elastic component 95, the setting of elastic component 95 are contacting
Between plate 94 and tablet 93, with when workpiece 100 pushes 94 compression elastic piece 95 of contact plate, elastic component 95 pushes tablet 93
It is moved along the direction close to inductive switch 92, when the distance between tablet 93 and inductive switch 92 reach default respective distance
When, the second distance transported in gap to second that at least partly plugs for plugging portion 20 is the second pre-determined distance, inductive switch 92
Accordingly.
In the present embodiment, second plug portion 20 along close to or far from first transhipment gap direction be movably disposed,
First plugs portion 10 is movably disposed along the direction close to or far from the second transhipment gap.Second, which plugs portion 20 and first, plugs
Portion 10 can individually control movement.
The present invention also provides a kind of robot, including robotic arm and material transporting mechanism, material transporting mechanism is above-mentioned
Material transporting mechanism, material transporting mechanism be arranged on robotic arm.
In the present embodiment, material transporting mechanism is connected by connecting flange 110 with robotic arm.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
Material transporting mechanism of the invention can plug portion 10 and second by first and plug the steadily transporting work pieces of portion 20
100.Wherein, second plug portion 20 and first plug portion 10 interval be arranged, second, which plugs portion 20 and first, plugs between portion 10
Adjustably setting can satisfy the first transhipment gap of different distance and plugging for the second transhipment gap to distance.In specific workpiece
In 100 transport process, first plug portion 10 be at least partly plugged in workpiece 100 first transhipment gap in, second plugs
Portion 20 is at least partly plugged in the second transhipment gap of workpiece 100, and mobile second, which plugs portion 20 and first, plugs portion 10, from
And makes workpiece 100 plug portion 20 and first with second and plug the movement of portion 10, complete to transport with this.Material transfer machine of the invention
Structure plugs portion 10 and second by first and plugs steadily transporting work pieces 100 of portion 20, solves fixture clamping in the prior art
The poor problem of workpiece stability.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of material transporting mechanism characterized by comprising
First plugs portion (10), and described first plugs at least partly transporting for being plugged in the first of workpiece (100) for portion (10)
In gap；
Second plugs portion (20), and described second, which plugs portion (20), plugs the setting of portion (10) interval with described first, and described second inserts
If portion (20) are at least partly transported in gap for being plugged in the second of the workpiece (100), to plug portion described second
(20) make the workpiece (100) plug portion (20) with described second when plugging portion (10) movement with described first to insert with described first
If portion (10) are mobile；
Wherein, it described second plugs portion (20) and plugs the distance between portion (10) with described first and be adjustably arranged.
2. material transporting mechanism according to claim 1, which is characterized in that described second plugs portion (20) along close or remote
The direction for plugging portion (10) from described first is movably disposed, and plug portion (20) to adjust described second plugs with described first
The distance between portion (10).
3. material transporting mechanism according to claim 2, which is characterized in that the material transporting mechanism further include:
Mounting plate (30), described second plugs portion (20) plugs portion (10) and is spaced apart and arranged in the mounting plate with described first
(30) on；
First driving portion (40), the first driving portion (40) setting plug on the mounting plate (30), and with described second
Portion (20) is drivingly connected, and is moved with driving described second to plug portion (20) along the direction for plugging portion (10) close to or far from described first
It is dynamic.
4. material transporting mechanism according to claim 3, which is characterized in that be provided with sliding rail on the mounting plate (30)
(31), described second the sliding block (21) for being provided on portion (20) and matching with the sliding rail (31), first driving portion are plugged
(40) when driving described second plugs portion (20) movement, the sliding block (21) is mobile along the extending direction of the sliding rail (31).
5. material transporting mechanism according to claim 1, which is characterized in that the material transporting mechanism further include:
Compressed part (50), the compressed part (50) plug portion (20) interval with described second and are arranged, the compressed part (50) and institute
It states first and plugs the setting of portion (10) interval, the compressed part (50) is for being pressed on the workpiece (100), so that the workpiece
(100) be at least partly folded in the compressed part (50), described second plug portion (20) and described first plug portion (10) it
Between.
6. material transporting mechanism according to claim 5, which is characterized in that the compressed part (50) is along close to or far from institute
The direction for stating workpiece (100) is movably disposed, so that the compressed part (50) has the to be in contact with the workpiece (100)
One position and the second position mutually separated with the workpiece (100).
7. material transporting mechanism according to claim 5, which is characterized in that the material transporting mechanism further include:
Mounting plate (30), described second plugs portion (20) plugs portion (10) and is spaced apart and arranged in the mounting plate with described first
(30) on；
Second driving portion (60), second driving portion (60) are arranged on the mounting plate (30), second driving portion
(60) it is drivingly connected with the compressed part (50), to drive the compressed part (50) along close to or far from the workpiece (100)
Direction is mobile.
8. material transporting mechanism according to claim 7, which is characterized in that the compressed part (50) is plate body, the object
Expect transshipment acitivity further include:
One end of guide post (70), the guide post (70) is connected with the compressed part (50)；
Sliding part (80), the sliding part (80) are arranged on the mounting plate (30), and the guide post (70) is threaded through described
In sliding part (80), second driving portion (60) drives the compressed part (50) mobile, so that the compressed part (50) drives
The guide post (70) is mobile along the extending direction of the sliding part (80).
9. material transporting mechanism according to claim 1, which is characterized in that described first to plug portion (10) include multiple
One cylindrical bar (11), multiple first cylindrical bar (11) interval settings, multiple first cylindrical bars (11) are for being plugged in
In corresponding first transhipment gap；Described second to plug portion (20) include multiple second cylindrical bars (22), and multiple described
The setting of two cylindrical bars (22) interval, multiple second cylindrical bars (22) are for being plugged in corresponding second transhipment gap
It is interior.
10. material transporting mechanism according to claim 1, which is characterized in that the material transporting mechanism further include:
Inductive component (90), the inductive component (90) are arranged in pairs, and first inductive component (90) plugs portion with described first
(10) it is connected, second inductive component (90) plugs portion (20) with described second and be connected；
Wherein, the distance at least partly plugged in first transhipment gap for plugging portion (10) when described first is first pre-
If apart from when, first inductive component (90) response；It plugs portion (20) and plugs second transfer room when described second
When distance in gap is the second pre-determined distance, second inductive component (90) response.
11. material transporting mechanism according to claim 10, which is characterized in that first inductive component (90) packet
It includes:
First mounting plate (91), first mounting plate (91) plug portion (10) with described first and are connected；
Inductive switch (92), the inductive switch (92) are arranged on first mounting plate (91)；
Tablet (93), the tablet (93) are oppositely arranged with first mounting plate (91), the inductive switch (92)
Inductive head is arranged towards the tablet (93)；
Contact plate (94), the contact plate (94) are connected with the tablet (93), and the contact plate (94) is along close or remote
Direction from the tablet (93) is movably disposed；
Elastic component (95), the elastic component (95) is arranged between the contact plate (94) and the tablet (93), in institute
When stating workpiece (100) contact plate (94) being pushed to compress elastic component (95), the elastic component (95) pushes the induction
Plate (93) is mobile along the direction close to the inductive switch (92), when between the tablet (93) and the inductive switch (92)
Distance when reaching predetermined inductive distance, described first plugs at least partly the plugging in first transhipment gap of portion (10)
Distance be first pre-determined distance so that the inductive switch (92) respond.
12. a kind of robot, including robotic arm and material transporting mechanism, which is characterized in that the material transporting mechanism is right
It is required that material transporting mechanism described in any one of 1 to 11, the material transporting mechanism is arranged on the robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811030726.4A CN109079829A (en) | 2018-09-05 | 2018-09-05 | Material transporting mechanism and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811030726.4A CN109079829A (en) | 2018-09-05 | 2018-09-05 | Material transporting mechanism and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079829A true CN109079829A (en) | 2018-12-25 |
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| CN201811030726.4A Pending CN109079829A (en) | 2018-09-05 | 2018-09-05 | Material transporting mechanism and robot with it |
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| EP1357589A1 (en) * | 2000-12-27 | 2003-10-29 | Tokyo Electron Limited | Workpiece transfer system, transfer method, vacuum chuck, and wafer centering method |
| JP2004009204A (en) * | 2002-06-06 | 2004-01-15 | Honda Motor Co Ltd | Work clamping device |
| US20090279999A1 (en) * | 2008-05-06 | 2009-11-12 | Faulkner Donald A | Mixed size product handling end of arm tool |
| CN201609715U (en) * | 2010-03-26 | 2010-10-20 | 中色科技股份有限公司 | Automatic detecting device |
| CN103552849A (en) * | 2013-10-29 | 2014-02-05 | 北京航空航天大学 | Robot gripper for box body stacking and unstacking |
| CN103587908A (en) * | 2012-08-16 | 2014-02-19 | 天津市新实丰液压机械有限公司 | Conveying equipment provided with primary cart and secondary cart and used for brick making production line |
| CN207139238U (en) * | 2017-09-18 | 2018-03-27 | 天津鑫茂天和机电科技有限公司 | It is a kind of be used for monitor material whether detector in place |
| CN108381581A (en) * | 2018-04-28 | 2018-08-10 | 叶小桥 | A kind of aluminum alloy bar processing crawl hoisting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1357589A1 (en) * | 2000-12-27 | 2003-10-29 | Tokyo Electron Limited | Workpiece transfer system, transfer method, vacuum chuck, and wafer centering method |
| JP2004009204A (en) * | 2002-06-06 | 2004-01-15 | Honda Motor Co Ltd | Work clamping device |
| US20090279999A1 (en) * | 2008-05-06 | 2009-11-12 | Faulkner Donald A | Mixed size product handling end of arm tool |
| CN201609715U (en) * | 2010-03-26 | 2010-10-20 | 中色科技股份有限公司 | Automatic detecting device |
| CN103587908A (en) * | 2012-08-16 | 2014-02-19 | 天津市新实丰液压机械有限公司 | Conveying equipment provided with primary cart and secondary cart and used for brick making production line |
| CN103552849A (en) * | 2013-10-29 | 2014-02-05 | 北京航空航天大学 | Robot gripper for box body stacking and unstacking |
| CN207139238U (en) * | 2017-09-18 | 2018-03-27 | 天津鑫茂天和机电科技有限公司 | It is a kind of be used for monitor material whether detector in place |
| CN108381581A (en) * | 2018-04-28 | 2018-08-10 | 叶小桥 | A kind of aluminum alloy bar processing crawl hoisting mechanism |
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