CN109304709A - A kind of conveying robot and its process equipment including the conveying robot - Google Patents
A kind of conveying robot and its process equipment including the conveying robot Download PDFInfo
- Publication number
- CN109304709A CN109304709A CN201811319606.6A CN201811319606A CN109304709A CN 109304709 A CN109304709 A CN 109304709A CN 201811319606 A CN201811319606 A CN 201811319606A CN 109304709 A CN109304709 A CN 109304709A
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- China
- Prior art keywords
- guide rail
- mould group
- arc
- clamp assemblies
- shaped guide
- 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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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000008569 process Effects 0.000 title claims abstract description 11
- 230000000712 assembly Effects 0.000 claims abstract description 40
- 238000000429 assembly Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 16
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is related to a kind of conveying robot, including rack, the clamp assemblies for being installed in the first driving mould group of rack and being connect with the first driving mould group, it further include arc-shaped guide rail component, clamp assemblies are movably connected by arc-shaped guide rail component and the first driving mould group, radians slip can be preset in the first driving mould group edge relatively with clamp assemblies, compared with prior art, the invention passes through setting arc-shaped guide rail component, make clamp assemblies can be with respect to the first driving mould group along default radians slip, to which clamp assemblies are when grabbing the workpiece on rotating circular disk, without stalling rotating circular disk, clamp assemblies can move to identical as rotating circular disk velocity of rotation along rotating circular disk rotation direction, clamp assemblies and the relative position of corresponding workpiece to be captured are constant, realize the movement of clamp assemblies grabbing workpiece, traveling time can be greatly shortened, work effect Rate is higher；A kind of process equipment, comprising a kind of conveying robot described above, rationally, work efficiency is high for design.
Description
Technical field
The invention is related to technical field of processing equipment, more particularly to a kind of conveying robot and its including the carrying
The process equipment of manipulator.
Background technique
Rotating circular disk is commonly used in process equipment and configuration conveying robot uses, as Chinese invention patent application is said
Bright book CN106000934A discloses a kind of cleaning and visual inspection machine comprising including material strip, loading and unloading carrying mechanism, turntable,
Loading and unloading station, work station, jig rotation driving mechanism, jig clamping position-limit mechanism, product cleaning mechanism, product cleaning machine
Structure and product appearance testing agency, wherein material strip is set to the outside portion of rack, and at least two productions have been spaced apart on material strip
Product；Turntable is set in rack；Loading and unloading station and work station are arranged along the periphery interval of turntable, loading and unloading station and work
Product jig is equipped on station；Loading and unloading carrying mechanism is set to the outside of loading and unloading station；Jig rotation driving mechanism and
Jig clamping position-limit mechanism is set at work station；Product cleaning mechanism, product Wiping mechanism and product appearance inspection body
It is respectively arranged at work station, multiple processing stations are arranged in above-mentioned process equipment around rotating circular disk, pass through rotating circular disk
Rotation is to drive workpiece to be successively moved to corresponding processing stations, and when workpiece is transported to loading and unloading station, rotating circular disk needs stop
It only operates, loading and unloading carrying mechanism could carry out loading and unloading to the workpiece on rotating circular disk, and working efficiency is not high.
Innovation and creation content
To solve the above problems, the invention provides a kind of conveying robot, it can be along the rotation direction of rotating circular disk
Movement, can be substantially reduced the transfer time, and working efficiency is higher.
The invention also provides a kind of process equipment, and rationally, work efficiency is high for design.
To solve above-mentioned purpose, the following technical solution that the invention uses.
A kind of conveying robot including rack, is installed in the first driving mould group of rack and connect with the first driving mould group
Clamp assemblies, further include arc-shaped guide rail component, clamp assemblies are movably connected by arc-shaped guide rail component and the first driving mould group,
It can the default radians slip in opposite first driving mould group edge with clamp assemblies.
Preferably, arc-shaped guide rail component is equipped with arc-shaped guide rail and sliding part, and sliding part is connected with arc-shaped guide rail sliding, and first
Mould group is driven to be equipped with drive installation seat, clamp assemblies are equipped with clamping mounting base, and arc-shaped guide rail and sliding part are respectively corresponded and be installed in
Drive installation seat and clamping mounting base.
Preferably, sliding part is set as two groups of idler wheels, and two groups of idler wheels are located at arc-shaped guide rail two sides, and the roller ring is set
Fluted, arc-shaped guide rail two sides are respectively equipped with lateral rib, and the lateral rib is arranged in can with the idler wheel in the groove
Arcuately guide rail rolls.
Preferably, sliding part is set as sliding block, and the sliding block is slidably in arc-shaped guide rail.
Preferably, arc-shaped guide rail component is additionally provided with the second driving mould group, and the second driving mould group is connected with clamping device transmission
To push clamping device to be equipped with driving cylinder or driving motor along radians slip, the second driving mould group is preset.
Preferably, clamp assemblies are equipped with the clamping pneumatic clamper for workpiece of taking, and are connected with rotating mechanism above clamping pneumatic clamper,
Elevating mechanism is connected with above rotating mechanism.
Preferably, rotating mechanism is equipped with rotary cylinder, and elevating mechanism is equipped with Z axis cylinder.
Preferably, the first driving mould group is equipped with X-axis guide rail, X-axis cylinder and drive installation seat, drive installation seat and X-axis gas
Cylinder is connected and drive installation seat and X-axis guide rail are slidably connected.
A kind of process equipment includes a kind of conveying robot described in any of the above embodiments.
The invention has the beneficial effect that:
Compared with prior art, the invention drive clamp assemblies can with respect to first by setting arc-shaped guide rail component
Dynamic model group is along radians slip is preset, so that clamp assemblies when grabbing the workpiece on rotating circular disk, without stalling rotating circular disk, press from both sides
Hold component can be moved to along rotating circular disk rotation direction it is identical as rotating circular disk velocity of rotation, clamp assemblies with it is corresponding to be captured
The relative position of workpiece is constant, realizes the movement of clamp assemblies grabbing workpiece, can greatly shorten traveling time, working efficiency is more
It is high；A kind of process equipment, comprising a kind of conveying robot described above, rationally, work efficiency is high for design.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the conveying robot of the invention；
Fig. 2 is the schematic perspective view at another visual angle of the conveying robot of the invention；
Fig. 3 is that the conveying robot of the invention implements status architecture schematic diagram.
Description of symbols: 1. racks, 2. first driving mould groups, 21.X axis rail, 22.X axis cylinder, 23. driving installations
Seat, 3. clamp assemblies, 31. clamping mounting bases, 32. clamping pneumatic clampers, 33. rotating mechanisms, 34. elevating mechanisms, 4. arc-shaped guide rail groups
Part, 41. arc-shaped guide rails, 411. lateral ribs, 42. sliding parts, 421. idler wheels, 422. grooves, 43. second driving mould groups, 431.
Drive cylinder, 5. workpiece.
Specific embodiment
The invention is further described below in conjunction with attached drawing.
Referring to figs. 1 to Fig. 3, a kind of conveying robot, including rack 1, be installed in rack 1 first driving mould group 2 and with
The clamp assemblies 3 that first driving mould group 2 connects, the present embodiment further includes arc-shaped guide rail component 4, and clamp assemblies 3 are led by arc
Rail assembly 4 is movably connected with the first driving mould group 2, with clamp assemblies 3 can opposite first driving mould group 2 along default radians slip,
Compared with prior art, the invention makes clamp assemblies 3 can be with respect to the first driving mould group 2 by setting arc-shaped guide rail component 4
Along preset radians slip, thus clamp assemblies 3 grab rotating circular disk on workpiece 5 when, without stalling rotating circular disk, clamping group
Part 3 can move to, clamp assemblies 3 and corresponding to be captured work identical as rotating circular disk velocity of rotation along rotating circular disk rotation direction
The relative position of part 5 is constant, realizes the movement of 3 grabbing workpiece 5 of clamp assemblies, can greatly shorten traveling time, working efficiency
It is higher.
Fig. 1 is shown, and the arc-shaped guide rail component 4 of the present embodiment is equipped with arc-shaped guide rail 41 and sliding part 42, sliding part 42 and arc
The sliding of shape guide rail 41 is connected, and the first driving mould group 2 is equipped with drive installation seat 23, and clamp assemblies 3 are equipped with clamping mounting base 31, arc
Guide rail 41 and sliding part 42, which respectively correspond, is installed in drive installation seat 23 and clamping mounting base 31, wherein sliding part 42 is set as
Two groups of idler wheels 421, two groups of idler wheels 421 are located at 41 two sides of arc-shaped guide rail, and the idler wheel 421 is equipped with groove 422, and arc is led
41 two sides of rail are respectively equipped with lateral rib 411, and the lateral rib 411 is arranged in can with the idler wheel 421 in the groove 422
Arcuately guide rail 41 rolls, and every group of idler wheel 421 is equipped at least two idler wheels 421, and the idler wheel 421 is rotationally installed in respectively
31 top of mounting base is clamped, thus clamp assemblies 3 can be slided arcuately in 41 direction of guide rail, be realized in the feelings for not stalling rotating circular disk
Under condition, clamp assemblies 3 clamp the workpiece 5 on rotating circular disk, and in other preferred embodiments, sliding part 42 is set as sliding block,
The sliding block realizes that arcuately guide rail 41 slides clamp assemblies 3, performance is stablized slidably in arc-shaped guide rail 41.
Referring to Fig.1, the arc-shaped guide rail component 4 of the present embodiment is additionally provided with the second driving mould group 43, the second driving mould group 43 with
Clamping device transmission is connected to push clamping device to be equipped with driving cylinder 431, figure along radians slip, the second driving mould group 43 is preset
1 shows, and driving cylinder 431 is mounted on 23 side of drive installation seat, drives telescopic rod and clamping 31 side of mounting base of cylinder 431
It is connected, driving cylinder 431 can drive clamp assemblies 3, and arcuately 41 direction of guide rail is slided and promotes clamp assemblies 3 to default
Speed handling work efficiency is improved, at other so that clamp assemblies 3 can clamp the workpiece 5 on the rotating circular disk not stalled
In preferred embodiment, driving cylinder 431 also can be replaced driving motor, and driving motor drives the arcuately guide rail of clamp assemblies 3
41 slidings.
Fig. 1 and Fig. 2 shows the clamp assemblies 3 of, the present embodiment to be equipped with the clamping pneumatic clamper 32 for workpiece 5 of taking, clamps gas
It is connected with rotating mechanism 33 above pawl 32, elevating mechanism 34 is connected with above rotating mechanism 33, rotating mechanism 33 is equipped with rotary pneumatic
Cylinder, elevating mechanism 34 are equipped with Z axis cylinder, realize rotation and the Z axis lifting action of clamping pneumatic clamper 32, high degree of automation, this reality
The the first driving mould group 2 for applying example is additionally provided with X-axis guide rail 21 and X-axis cylinder 22, and drive installation seat 23 is connected, simultaneously with X-axis cylinder 22
Drive installation seat 23 is slidably connected with X-axis guide rail 21, realizes that clamp assemblies 3 move along the x axis.
A kind of process equipment, comprising a kind of conveying robot described above, rationally, work efficiency is high for design.
The several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to the invention the scope of the patents.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these all belong to
In the protection scope of the invention.Therefore, the scope of protection shall be subject to the appended claims for the invention patent.
Claims (9)
1. a kind of conveying robot including rack, is installed in the first driving mould group of rack and drives mould group to connect with first
Clamp assemblies, which is characterized in that further include arc-shaped guide rail component, clamp assemblies pass through arc-shaped guide rail component and the first driving mould group
It is movably connected, it can the default radians slip in opposite first driving mould group edge with clamp assemblies.
2. a kind of conveying robot according to claim 1, which is characterized in that arc-shaped guide rail component be equipped with arc-shaped guide rail and
Sliding part, sliding part are connected with arc-shaped guide rail sliding, and the first driving mould group is equipped with drive installation seat, and clamp assemblies are equipped with clamping peace
Seat is filled, arc-shaped guide rail and sliding part, which respectively correspond, is installed in drive installation seat and clamping mounting base.
3. a kind of conveying robot according to claim 2, which is characterized in that sliding part is set as two groups of idler wheels, and two groups
Idler wheel is located at arc-shaped guide rail two sides, and the roller ring is equipped with groove, and arc-shaped guide rail two sides are respectively equipped with lateral rib, described
Lateral rib is arranged in the groove can arcuately guide rail be rolled with the idler wheel.
4. a kind of conveying robot according to claim 2, which is characterized in that sliding part is set as sliding block, the sliding block
Slidably in arc-shaped guide rail.
5. a kind of conveying robot according to claim 1, which is characterized in that arc-shaped guide rail component is additionally provided with the second driving
Mould group, the second driving mould group are connected to push clamping device along radians slip is preset with clamping device transmission, and second drives mould group
Equipped with driving cylinder or driving motor.
6. a kind of conveying robot according to claim 1, which is characterized in that clamp assemblies are equipped with for workpiece of taking
Pneumatic clamper is clamped, rotating mechanism is connected with above clamping pneumatic clamper, is connected with elevating mechanism above rotating mechanism.
7. a kind of conveying robot according to claim 6, which is characterized in that rotating mechanism is equipped with rotary cylinder, lifting
Mechanism is equipped with Z axis cylinder.
8. a kind of conveying robot according to claim 1, which is characterized in that the first driving mould group is equipped with X-axis guide rail, X
Axis cylinder and drive installation seat, drive installation seat is connected with X-axis cylinder and drive installation seat and X-axis guide rail are slidably connected.
9. a kind of process equipment, which is characterized in that include a kind of described in any item conveying robots of claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319606.6A CN109304709A (en) | 2018-11-07 | 2018-11-07 | A kind of conveying robot and its process equipment including the conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319606.6A CN109304709A (en) | 2018-11-07 | 2018-11-07 | A kind of conveying robot and its process equipment including the conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109304709A true CN109304709A (en) | 2019-02-05 |
Family
ID=65222018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811319606.6A Pending CN109304709A (en) | 2018-11-07 | 2018-11-07 | A kind of conveying robot and its process equipment including the conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109304709A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625011A (en) * | 2015-02-26 | 2015-05-20 | 沈阳远大科技园有限公司 | Strainer release unit for use in high-temperature environments |
| CN106763181A (en) * | 2016-12-12 | 2017-05-31 | 东莞市鸿金顺机械制造有限公司 | Intelligent camber guide track system |
| CN209256948U (en) * | 2018-11-07 | 2019-08-16 | 东莞市日和自动化设备有限公司 | A kind of conveying robot and its process equipment including the conveying robot |
-
2018
- 2018-11-07 CN CN201811319606.6A patent/CN109304709A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625011A (en) * | 2015-02-26 | 2015-05-20 | 沈阳远大科技园有限公司 | Strainer release unit for use in high-temperature environments |
| CN106763181A (en) * | 2016-12-12 | 2017-05-31 | 东莞市鸿金顺机械制造有限公司 | Intelligent camber guide track system |
| CN209256948U (en) * | 2018-11-07 | 2019-08-16 | 东莞市日和自动化设备有限公司 | A kind of conveying robot and its process equipment including the conveying robot |
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