CN110480665A - A kind of suction nozzle conveying robot - Google Patents
A kind of suction nozzle conveying robot Download PDFInfo
- Publication number
- CN110480665A CN110480665A CN201910709537.8A CN201910709537A CN110480665A CN 110480665 A CN110480665 A CN 110480665A CN 201910709537 A CN201910709537 A CN 201910709537A CN 110480665 A CN110480665 A CN 110480665A
- Authority
- CN
- China
- Prior art keywords
- crawl
- plate
- transposition
- clamping jaw
- cylinder
- 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.)
- Granted
Links
- 230000017105 transposition Effects 0.000 claims abstract description 51
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- 238000003032 molecular docking Methods 0.000 claims abstract description 3
- 239000003292 glue Substances 0.000 claims 1
- 238000000465 moulding Methods 0.000 abstract description 13
- 238000001746 injection moulding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of suction nozzle conveying robots, this kind of suction nozzle conveying robot includes transporting supports, six axis robot, transposition frame, grabbing device, transposer, conveyer and crusher, six axis robot is installed on the transporting supports, transposition frame is installed at the wrist of six axis robot, transposition frame side plate is equipped with four groups of grabbing devices, transposition frame lower plate is equipped with transposer, and transporting supports front end is equipped with conveyer, and the outlet docking of conveyer is provided with crusher.By the above-mentioned means, structure of the invention is compact, it can substitute and manually automatically grab product, transposition processing can be carried out to moulding, run smoothly.
Description
Technical field
The present invention relates to industrial machinery technical fields, more particularly to a kind of suction nozzle conveying robot.
Background technique
Steering connector is used in automobile steering system, connector is extremely important for driving safety, and connector is by moulding
Materials and parts, terminal and disk composition, the assembly technology of connector is complicated, has manual assembly and machine to be fitted to each other, manual assembly effect
Rate is low and is difficult to ensure assembling quality, and the terminal and disk having good positioning need to grab injection molding machine and carry out injection process, has been molded
Moulding after generally requires other manipulator and replaces to it, frequently with two kinds of manipulators, takes up a large area, cost
Height, existing manipulator often only have the effect that sucker is drawn and clamping jaw grabs, and the product quality that just injection molding has been completed is softer, crawl appearance
Easily lead to deformation of products, how to consolidate to moulding carry out transposition be it is highly desirable solve the problems, such as, based on disadvantages described above and
It is insufficient, it is necessary to existing technology be improved, a kind of suction nozzle conveying robot is designed.
Summary of the invention
It is compact-sized the invention mainly solves the technical problem of providing a kind of suction nozzle conveying robot, people can be substituted
Work automatically grabs product, can carry out transposition processing to moulding, run smoothly.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of suction nozzle conveying robot is provided,
This kind of suction nozzle conveying robot includes transporting supports, six axis robot, transposition frame, grabbing device, transposer, conveyer and breaks
Broken machine is equipped with six axis robot on the transporting supports, and transposition frame is equipped at the wrist of six axis robot, and replace frame side plate
Four groups of grabbing devices are installed, transposition frame lower plate is equipped with transposer, and transporting supports front end is equipped with conveyer, conveyer
Outlet docking is provided with crusher.
Preferably, the grabbing device includes crawl mounting plate, crawl lifter plate, the first crawl cylinder, the second crawl
Cylinder, crawl connecting plate, crawl suction block, crawl suction nozzle, crawl positioning plate and crawl positioning column, the crawl mounting plate are solid vertically
It is equipped with sliding slot due to the side on transposition frame, grabbing mounting plate, crawl lifter plate is housed in sliding slot, mounting plate upper end is taken to be equipped with
First crawl cylinder, telescopic rod and the crawl lifter plate of the first crawl cylinder are fixed, and crawl lifter plate lateral surface is equipped with second
Cylinder is grabbed, the telescopic rod of the second crawl cylinder is fixed by crawl connecting plate and crawl suction block, and suction block lower end is equipped with crawl
Suction nozzle, crawl lifter plate lower end are equipped with crawl positioning plate, and crawl suction nozzle passes through crawl positioning plate, crawl suction nozzle and terminal and circle
Piece shape is consistent, and crawl positioning plate lower end has been also equipped with two crawl positioning columns.
Preferably, the transposer includes transpositing plate, clamping jaw cylinder, clamping jaw, blow head, transposition connecting plate, flat folder
Cylinder, rubber head clamping jaw, transposition positioning column, ejector sleeve, retainer column and reset spring, the transpositing plate are set on transposition frame, transposition
Plate side is equipped with two clamping jaw cylinders, is equipped with clamping jaw in the opposite clamp arm of the two of clamping jaw cylinder, the clamping jaw opposite face is equipped with cross
To clamping groove, blow head is installed on clamping jaw cylinder, clamping jaw cylinder two sides are equipped with transposition connecting plate, peace on the outside of transposition connecting plate
Equipped with flat gas enclosure cylinder, rubber head clamping jaw being installed on flat two clamping jaw arm of gas enclosure cylinder, the opposite face of rubber head clamping jaw is equipped with vertical grabbing groove,
Transposition connecting plate lower end is equipped with transposition positioning column, and ejector sleeve is further sleeved on the connecting plate that replaces, retainer column, retainer are housed in ejector sleeve
Column upper end is fixed by the bracket on transposition connecting plate, and retainer column top is cased with reset spring.
Compared with prior art, the beneficial effects of the present invention are:
It is compact-sized, it runs smoothly, can substitute and manually automatically grab product, transposition processing can be carried out to moulding；
The setting of transposition positioning column is for positioning；
The setting of blow head is for cleaning moulding；
The setting of retainer column guarantees steady crawl moulding for assisting retainer.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of suction nozzle conveying robot.
Fig. 2 is a kind of grabbing device structural schematic diagram of suction nozzle conveying robot.
Fig. 3 is a kind of transposer structural schematic diagram of suction nozzle conveying robot.
Specific embodiment
Present pre-ferred embodiments are described in detail with reference to the accompanying drawing, so as to can be easier to the advantages of invention with feature
In being readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
It please refers to Fig.1 to Fig.3, the embodiment of the present invention includes:
A kind of suction nozzle conveying robot, this kind of suction nozzle conveying robot include transporting supports 21, six axis robot 22, transposition
Frame 23, grabbing device 24, transposer 25, conveyer 26 and crusher 27 are equipped with six shaft mechanicals on the transporting supports 21
Hand 22, transposition frame 23 is equipped at the wrist of six axis robot 22, and transposition 23 side plate of frame is equipped with four groups of grabbing devices 24, replaces
23 lower plate of frame is equipped with transposer 25, and 21 front end of transporting supports is equipped with conveyer 26, and setting is docked in the outlet of conveyer 26
There is crusher 27.
The grabbing device 24 is grabbed including crawl mounting plate 241, the crawl crawl of lifter plate 242, first cylinder 243, second
Cylinder 244, crawl connecting plate 245, crawl suction block 246, crawl suction nozzle 247, crawl positioning plate 248 and crawl positioning column 249 are taken,
The crawl mounting plate 241 is fixed on vertically on transposition frame 23, and the side of crawl mounting plate 241 is equipped with sliding slot, is equipped in sliding slot
Grab lifter plate 242, take 241 upper end of mounting plate that the first crawl cylinder 243 is installed, the telescopic rod of the first crawl cylinder 243 with
It is fixed to grab lifter plate 242, crawl 242 lateral surface of lifter plate is equipped with the second crawl cylinder 244, the second crawl cylinder 244
Telescopic rod is fixed by crawl connecting plate 245 and crawl suction block 246, and 246 lower end of suction block is equipped with crawl suction nozzle 247, and crawl rises
Drop 242 lower end of plate is equipped with crawl positioning plate 248, and crawl suction nozzle 247 passes through crawl positioning plate 248, grabs suction nozzle 247 and terminal
Consistent with disk shape, crawl 248 lower end of positioning plate has been also equipped with two crawl positioning columns 249, crawl positioning column 249 and positioning
1443 cooperation of set.
The transposer 25 includes transpositing plate 251, clamping jaw cylinder 252, clamping jaw 253, blow head 254, transposition connecting plate
255, flat gas enclosure cylinder 256, rubber head clamping jaw 257, transposition positioning column 258, ejector sleeve 259, retainer column 2510 and reset spring 2511, institute
Transpositing plate 251 to be stated to be set on transposition frame 23,251 side of transpositing plate is equipped with two clamping jaw cylinders 252, and the two of clamping jaw cylinder 252
Clamping jaw 253 is installed, 253 opposite face of clamping jaw is equipped with laterally clamping groove, is equipped on clamping jaw cylinder 252 in opposite clamp arm
Blow head 254,252 two sides of clamping jaw cylinder are equipped with transposition connecting plate 255, are equipped with flat gas enclosure cylinder on the outside of the connecting plate 255 that replaces
256, rubber head clamping jaw 257 is installed on 256 liang of clamping jaw arms of flat gas enclosure cylinder, the opposite face of rubber head clamping jaw 257 is equipped with vertical grabbing groove,
Transposition 255 lower end of connecting plate is equipped with transposition positioning column 258, ejector sleeve 259 is further sleeved on the connecting plate 255 that replaces, in ejector sleeve 259
Equipped with retainer column 2510,2510 upper end of retainer column is fixed by the bracket on transposition connecting plate 255, and 2510 top of retainer column is cased with
Reset spring 2511.
When a kind of suction nozzle conveying robot work of the invention, the first crawl cylinder 243 and second grabs the flexible of cylinder 244
Bar successively stretches drive crawl suction nozzle 247 and moves down, and terminal and disk to be molded, six axis robot 22 is sucked in crawl suction nozzle 247
Driving moves it to progress injection process at injection molding machine, and after the completion of injection molding, transposition positioning column 258, which is inserted at station to be grabbed, to be determined
Position hole, transposition positioning column 258 is for positioning, and in the inserting to the disk of moulding of retainer column 2510, retainer column 2510 is for assisting
Retainer, clamping jaw cylinder 252 drive clamping jaw 253 to grab rubber head on moulding, and blow head 254 is blown, and for cleaning moulding, put down folder
Cylinder 256 drives rubber head clamping jaw 257 to grab moulding, and six axis robot 22 drives transposer 25 to grab product to specific bit
It sets, clamping jaw 253 and rubber head clamping jaw 257 is driven to reset, under the elastic force effect of reset spring 2511, ejector sleeve 259 pushes away moulding
To designated position.
A kind of suction nozzle conveying robot of the present invention, it is compact-sized, it can substitute and manually automatically grab product, it can be to injection molding
Part carries out transposition processing, runs smoothly.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (3)
1. a kind of suction nozzle conveying robot, it is characterised in that: this kind of suction nozzle conveying robot includes transporting supports, six shaft mechanicals
Hand, transposition frame, grabbing device, transposer, conveyer and crusher, are equipped with six axis robot on the transporting supports, and six
Transposition frame is installed, transposition frame side plate is equipped with four groups of grabbing devices, and transposition frame lower plate, which is equipped with, changes at the wrist of axis robot
Position device, transporting supports front end are equipped with conveyer, and the outlet docking of conveyer is provided with crusher.
2. a kind of suction nozzle conveying robot according to claim 1, it is characterised in that: the grabbing device includes crawl peace
Loading board, crawl lifter plate, the first crawl cylinder, the second crawl cylinder, crawl connecting plate, crawl suction block, crawl suction nozzle, crawl are fixed
Position plate and crawl positioning column, the crawl mounting plate are fixed on vertically on transposition frame, and the side for grabbing mounting plate is equipped with sliding slot, sliding
Equipped with crawl lifter plate in slot, take mounting plate upper end that the first crawl cylinder, the telescopic rod of the first crawl cylinder and crawl are installed
Lifter plate is fixed, and crawl lifter plate lateral surface is equipped with the second crawl cylinder, and the telescopic rod of the second crawl cylinder is connected by crawl
Fishplate bar is fixed with crawl suction block, and suction block lower end is equipped with crawl suction nozzle, and crawl lifter plate lower end is equipped with crawl positioning plate, grabs
Suction nozzle passes through crawl positioning plate, and crawl suction nozzle is consistent with terminal and disk shape, and crawl positioning plate lower end has been also equipped with two and has grabbed
Take positioning column.
3. a kind of suction nozzle conveying robot according to claim 1, it is characterised in that: the transposer includes transposition
Plate, clamping jaw cylinder, clamping jaw, blow head, transposition connecting plate, flat gas enclosure cylinder, rubber head clamping jaw, transposition positioning column, ejector sleeve, retainer column and
Reset spring, the transpositing plate are set on transposition frame, and transpositing plate side is equipped with two clamping jaw cylinders, and the two of clamping jaw cylinder are opposite
Clamping jaw is installed, the clamping jaw opposite face is equipped with laterally clamping groove, is equipped with blow head, clamping jaw gas on clamping jaw cylinder in clamp arm
Cylinder two sides are equipped with transposition connecting plate, are equipped with flat gas enclosure cylinder on the outside of transposition connecting plate, are equipped with glue on flat two clamping jaw arm of gas enclosure cylinder
Head clamping jaw, the opposite face of rubber head clamping jaw are equipped with vertical grabbing groove, and transposition connecting plate lower end is equipped with transposition positioning column, transposition connection
It is further sleeved with ejector sleeve on plate, retainer column is housed in ejector sleeve, retainer column upper end is fixed by the bracket on transposition connecting plate, retainer column
Top is cased with reset spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709537.8A CN110480665B (en) | 2019-08-01 | 2019-08-01 | Suction nozzle carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709537.8A CN110480665B (en) | 2019-08-01 | 2019-08-01 | Suction nozzle carrying manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110480665A true CN110480665A (en) | 2019-11-22 |
| CN110480665B CN110480665B (en) | 2024-03-29 |
Family
ID=68549044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910709537.8A Active CN110480665B (en) | 2019-08-01 | 2019-08-01 | Suction nozzle carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110480665B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111453445A (en) * | 2020-04-16 | 2020-07-28 | 牟立兵 | Suction nozzle carrying manipulator |
| CN111604921A (en) * | 2020-06-10 | 2020-09-01 | 郑州亚瑟智能科技有限公司 | Robot grabbing equipment with functions of transporting and removing dust for silicon wafers |
| CN111730635A (en) * | 2020-06-05 | 2020-10-02 | 宁波贝隆精密模塑有限公司 | Material taking manipulator |
| CN113799103A (en) * | 2021-10-29 | 2021-12-17 | 苏州福菁浩自动化科技有限公司 | Product carrying manipulator |
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-
2019
- 2019-08-01 CN CN201910709537.8A patent/CN110480665B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20100083557A (en) * | 2009-01-14 | 2010-07-22 | 현대중공업 주식회사 | Robot hand for multi-function |
| CN204748626U (en) * | 2015-06-29 | 2015-11-11 | 吴中区横泾博尔机械厂 | Automatic Z axle mobile device of monitor assembly machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111453445A (en) * | 2020-04-16 | 2020-07-28 | 牟立兵 | Suction nozzle carrying manipulator |
| CN111730635A (en) * | 2020-06-05 | 2020-10-02 | 宁波贝隆精密模塑有限公司 | Material taking manipulator |
| CN111604921A (en) * | 2020-06-10 | 2020-09-01 | 郑州亚瑟智能科技有限公司 | Robot grabbing equipment with functions of transporting and removing dust for silicon wafers |
| CN113799103A (en) * | 2021-10-29 | 2021-12-17 | 苏州福菁浩自动化科技有限公司 | Product carrying manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110480665B (en) | 2024-03-29 |
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