CN113021321A - Four-axis robot suitable for tubular object and plate-shaped object transport - Google Patents
Four-axis robot suitable for tubular object and plate-shaped object transport Download PDFInfo
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- CN113021321A CN113021321A CN202110426756.2A CN202110426756A CN113021321A CN 113021321 A CN113021321 A CN 113021321A CN 202110426756 A CN202110426756 A CN 202110426756A CN 113021321 A CN113021321 A CN 113021321A
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- plate
- clamping
- tubular
- axis robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of four-axis robots, in particular to a four-axis robot suitable for carrying tubular objects and plate-shaped objects. Compared with the prior art, the four-axis robot suitable for transporting tubular objects and plate-shaped objects does not need to replace a clamp when the objects needing to be transported are changed, greatly reduces time waste caused by structure replacement, ensures quick connection of production, is convenient and fast to operate, and effectively improves production efficiency.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of four-axis robots, in particular to a four-axis robot suitable for conveying tubular objects and plate-shaped objects.
[ background of the invention ]
With the progress of society and the development of society, automatic machines emerge and lead the production of machines to a new field. The four-axis robot is one of automatic machines, is widely applied to automatic production lines, and has the characteristics of continuous repeated work and labor, no fatigue, no danger and the like.
Four-axis robot of prior art can only carry the product of one kind or certain specification generally, when the product of needs transport difference, often need change anchor clamps and satisfy the requirement, and it is inconvenient to use, changes and causes the production pause, reduces production efficiency.
[ summary of the invention ]
In order to overcome the problems, the invention provides a four-axis robot which can effectively solve the problems and is suitable for conveying tubular objects and plate-shaped objects.
The invention provides a technical scheme for solving the technical problems, which comprises the following steps: the four-axis robot comprises a robot body, wherein a clamping mechanism for clamping articles is coupled to the robot body; the clamping mechanism comprises two movable clamping plates, each clamping plate comprises an upper movable clamping plate and a lower rotatable clamping plate, a first clamping piece and a second clamping piece are fixed to two sides of the lower clamping plate respectively, the first clamping pieces are used for clamping tubular objects, the second clamping pieces are used for clamping plate-shaped objects, and the upper clamping plates and the lower clamping plates are fixed through two positioning pins.
Preferably, the gripping mechanism comprises a connecting plate, the two movable gripping plates are slidably connected to the connecting plate, and the connecting plate is axially connected to the robot body.
Preferably, two clamping cylinders are fixed on the connecting plate, and output ends of the two clamping cylinders are respectively fixed on the outer sides of the two clamping plates and used for driving the clamping plates to move.
Preferably, a buffer spring is arranged between the two clamping plates, a guide rod penetrates through the two clamping plates, and the buffer spring is sleeved on the guide rod.
Preferably, the middle part of the connecting plate is provided with an axle connecting hole, and the axle connecting hole is connected to the robot body in an axle manner; the connecting plate is further provided with two sliding areas, and the two sliding areas are symmetrically distributed on two sides of the shaft connecting hole.
Preferably, slide rails are arranged on two sides in the sliding area, the two clamping plates are respectively connected to the two sliding areas in a sliding manner, and the clamping plates can slide along the slide rails.
Preferably, the middle parts of the upper clamping plate and the lower clamping plate are provided with switching rotating shafts in a penetrating mode, the switching rotating shafts are connected to the upper clamping plate in a shaft mode, the switching rotating shafts can rotate in the upper clamping plate, the lower clamping plate is fixedly connected with the switching rotating shafts, and the switching rotating shafts can rotate to drive the lower clamping plate to rotate.
Preferably, the top end of the switching rotating shaft extends out of the top end of the upper clamping plate, the top end of the switching rotating shaft is connected with a switching motor, and the switching motor drives the switching rotating shaft to rotate.
Preferably, the first clamping piece comprises an upper clamping piece and a lower clamping piece, the upper clamping piece and the lower clamping piece are fixed through a fixing screw, and the upper clamping piece is fixed on one side of the lower clamping plate.
Preferably, an adjusting spring is further arranged between the upper clamping piece and the lower clamping piece, and the adjusting spring is sleeved outside the fixing screw.
Compared with the prior art, when the article to be conveyed changes, the four-axis robot suitable for conveying tubular articles and plate-shaped articles only needs to pull out the positioning pin between the upper clamping plate and the lower clamping plate, the position of the lower clamping plate is rotated, the positioning pin is inserted again after the positions of the first clamping piece and the second clamping piece are switched, and the upper clamping plate and the lower clamping plate are fixed, so that a clamp does not need to be replaced, time waste caused by replacement of a structure is greatly reduced, rapid connection of production is guaranteed, operation is convenient and fast, and production efficiency is effectively improved.
[ description of the drawings ]
FIG. 1 is an overall structure diagram of a four-axis robot suitable for transporting tubular objects and plate-shaped objects according to the present invention;
FIG. 2 is a structural diagram of a gripping mechanism of a four-axis robot suitable for transporting tubular and plate-shaped objects according to the present invention;
FIG. 3 is a connection plate structure diagram of a four-axis robot suitable for transporting tubular objects and plate-shaped objects according to the present invention;
FIG. 4 is a structure diagram of a holding plate of a four-axis robot suitable for transporting tubular objects and plate-shaped objects according to the present invention;
fig. 5 is a structural view of a first clamp of a four-axis robot suitable for transporting tubular and plate-shaped objects according to the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that all directional indications (such as up, down, left, right, front, and back … …) in the embodiments of the present invention are limited to relative positions on a given view, not absolute positions.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Referring to fig. 1 to 5, the four-axis robot for transporting tubular and plate objects of the present invention includes a robot body 10, and a gripping mechanism 20 for gripping an object is coupled to the robot body 10. The clamping mechanism 20 comprises two movable clamping plates 22, the clamping plates 22 comprise a movable upper clamping plate 221 and a rotatable lower clamping plate 222, a first clamping piece 23 and a second clamping piece 24 are respectively fixed on two sides of the lower clamping plate 222, the first clamping piece 23 is used for clamping a tubular object, the second clamping piece 24 is used for clamping a plate-shaped object, and the upper clamping plate 221 and the lower clamping plate 222 are fixed through two positioning pins 226. When the article that needs the transport changes, only need extract the locating pin 226 between grip block 221 and the lower grip block 222, through rotating the position of grip block 222 down, it can to insert locating pin 226 after switching the position of first holder 23 and second holder 24 again and fix grip block 221 and lower grip block 222, need not to change anchor clamps, the time waste that the structure leads to is changed in the significantly reduced, guarantee production and link up fast, and the simple operation effectively improves production efficiency. A counterweight 11 is arranged on the side of the robot body 10 opposite to the gripping mechanism 20, which is beneficial to keeping balance.
The gripping mechanism 20 includes a connecting plate 21, the two movable gripping plates 22 are slidably connected to the connecting plate 21, and the connecting plate 21 is pivotally connected to the robot body 10. Two clamping cylinders 27 are further fixed on the connecting plate 21, and output ends of the two clamping cylinders 27 are respectively fixed on outer sides of the two clamping plates 22 and used for driving the clamping plates 22 to move so as to clamp or release articles. A buffer spring 251 is arranged between the two clamping plates 22, so that the clamping force can be buffered, the phenomenon that the clamping force is too large to damage or damage the article can be prevented, and the article can be well protected. The guide rod 25 penetrates between the two clamping plates 22, so that the clamping directions of the two clamping plates 22 are kept consistent, two limiting plates 252 are arranged at two ends of the guide rod 25, and the two limiting plates 252 are located on the outer sides of the two clamping plates 22 respectively and used for preventing the guide rod 25 from being separated from the clamping plates 22. The buffer spring 251 is sleeved on the guide rod 25.
An axle connecting hole 211 is formed in the middle of the connecting plate 21, and the axle connecting hole 211 is connected to the robot body 10 in an axle mode. Two sliding areas 212 are further formed in the connecting plate 21, and the two sliding areas 212 are symmetrically distributed on two sides of the shaft connecting hole 211, so that clamping balance can be guaranteed. The two sides in the sliding area 212 are provided with slide rails 213, the two clamping plates 22 are respectively connected to the two sliding areas 212 in a sliding manner, and the clamping plates 22 can slide along the slide rails 213.
The middle parts of the upper clamping plate 221 and the lower clamping plate 222 are provided with a switching rotating shaft 223 in a penetrating manner, the switching rotating shaft 223 is connected in the upper clamping plate 221 in a shaft mode, the switching rotating shaft 223 can rotate in the upper clamping plate 221, the lower clamping plate 222 is fixedly connected with the switching rotating shaft 223, the lower clamping plate 222 can be driven to rotate through the rotation of the switching rotating shaft 223, and therefore the purpose of switching the first clamping piece 23 and the second clamping piece 24 is achieved. The top end of the switching rotating shaft 223 extends out of the top end of the upper clamping plate 221, the top end of the switching rotating shaft 223 is connected with a switching motor 26, and the switching rotating shaft 223 is driven to rotate by the rotation of the switching motor 26, so that the lower clamping plate 222 is driven to rotate. Sliding grooves 224 are symmetrically formed in two sides of the upper portion of the upper clamping plate 221, and the sliding grooves 224 are slidably connected to the sliding rails 213. The upper inner side and the lower inner side of the sliding groove 224 are respectively provided with a pulley 225, and the sliding rail 213 is positioned between the pulleys on the upper side and the lower side, so that the sliding smoothness of the upper clamping plate 221 is improved, clamping is avoided, and the production efficiency is effectively guaranteed. The positioning pins 226 are distributed between the switching rotating shaft 223 and the sliding groove 224, and the positioning pins 226 penetrate through the upper clamping plate 221 and the lower clamping plate 222 to fix the positions of the upper clamping plate 221 and the lower clamping plate 222, so that the lower clamping plate 222 is ensured not to rotate during clamping.
The first clamping member 23 includes an upper clamping member 231 and a lower clamping member 232, the upper clamping member 231 and the lower clamping member 232 are fixed by a fixing screw 234, and the upper clamping member 231 is fixed on one side of the lower clamping plate 222. Go up and still be provided with adjusting spring 235 between holder 231 and the lower holder 232, adjusting spring 235 cup joints in the set screw 234 outside, can control the distance between holder 231 and the lower holder 232 through the elasticity of elasticity set screw 234 cooperation adjusting spring 235 to can adjust the centre gripping size, satisfy the tubular product of centre gripping different sizes. The inner sides of the upper clamping piece 231 and the lower clamping piece 232 are provided with arc-shaped surfaces, so that the clamping reliability of the tubular object is improved, the tubular object is not easy to drop, and the arc-shaped surfaces are fixed with arc-shaped soft rubber strips 233, so that the clamping surfaces of the product can be protected from being scratched, and the anti-slip effect is also achieved. A flat soft adhesive tape is arranged on one side of the lower clamping plate 222 fixed with the second clamping piece 24, so that the surface of a plate-shaped object product can be protected from being scratched. The second clamping piece 24 is wedge-shaped, one end of the second clamping piece 24 is fixed to one side of the lower clamping plate 222, and the other end of the second clamping piece 24 is provided with a smooth end, so that the plate-shaped object can be conveniently guided into the second clamping piece 24 and supported by the second clamping piece 24, the clamping is firm and safe, and the plate-shaped object is not easy to drop.
Compared with the prior art, when the article to be conveyed is changed, the four-axis robot suitable for conveying tubular articles and plate-shaped articles only needs to pull out the positioning pin 226 between the upper clamping plate 221 and the lower clamping plate 222, switch the positions of the first clamping piece 23 and the second clamping piece 24 by rotating the position of the lower clamping plate 222 and then insert the positioning pin 226 again to fix the upper clamping plate 221 and the lower clamping plate 222, does not need to replace a clamp, greatly reduces time waste caused by structure replacement, ensures quick production connection, is convenient to operate, and effectively improves production efficiency.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. The four-axis robot is suitable for conveying tubular objects and plate-shaped objects, and is characterized by comprising a robot body, wherein a clamping mechanism for clamping the objects is coupled to the robot body;
the clamping mechanism comprises two movable clamping plates, each clamping plate comprises an upper movable clamping plate and a lower rotatable clamping plate, a first clamping piece and a second clamping piece are fixed to two sides of the lower clamping plate respectively, the first clamping pieces are used for clamping tubular objects, the second clamping pieces are used for clamping plate-shaped objects, and the upper clamping plates and the lower clamping plates are fixed through two positioning pins.
2. A four-axis robot adapted for the handling of tubulars and boards as claimed in claim 1, wherein said gripper mechanism comprises a linkage plate, said two movable gripper plates being slidably connected to said linkage plate, said linkage plate being journalled to the robot body.
3. The four-axis robot for handling the tubular and plate-like objects as claimed in claim 2, wherein two holding cylinders are fixed on the connecting plate, and the output ends of the two holding cylinders are respectively fixed on the outer sides of the two holding plates for driving the holding plates to move.
4. The four-axis robot for conveying the tubular and plate-shaped objects according to claim 1, wherein a buffer spring is arranged between the two clamping plates, a guide rod is arranged between the two clamping plates in a penetrating way, and the buffer spring is sleeved on the guide rod.
5. The four-axis robot suitable for the transportation of tubular objects and plate-shaped objects according to claim 2, wherein the connecting plate is provided with a shaft connecting hole in the middle, and the shaft connecting hole is connected to the robot body in a shaft mode; the connecting plate is further provided with two sliding areas, and the two sliding areas are symmetrically distributed on two sides of the shaft connecting hole.
6. A four-axis robot suitable for tubular and plate handling as claimed in claim 5, wherein the sliding area is provided with slide rails on both sides, the two clamping plates are slidably connected to the two sliding areas respectively, and the clamping plates can slide along the slide rails.
7. The four-axis robot for transporting tubular and plate-like objects of claim 1, wherein the upper and lower holding plates have a switching shaft extending through the middle thereof, the switching shaft is pivotally connected to the upper holding plate, the switching shaft is rotatable in the upper holding plate, the lower holding plate is fixedly connected to the switching shaft, and the lower holding plate is rotated by the rotation of the switching shaft.
8. The four-axis robot for handling the tubular and plate-like objects as claimed in claim 7, wherein the top end of the switching shaft is extended from the top end of the upper clamping plate, and a switching motor is connected to the top end of the switching shaft, and the switching motor drives the switching shaft to rotate.
9. The four-axis robot for handling the tubular and plate-shaped objects as claimed in claim 1, wherein the first clamping member comprises an upper clamping member and a lower clamping member, the upper clamping member and the lower clamping member are fixed by a fixing screw, and the upper clamping member is fixed on one side of the lower clamping plate.
10. The four-axis robot for handling the tubular and plate-shaped objects as claimed in claim 9, wherein an adjusting spring is further provided between the upper and lower clamping members, and the adjusting spring is sleeved outside the fixing screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110426756.2A CN113021321A (en) | 2021-04-20 | 2021-04-20 | Four-axis robot suitable for tubular object and plate-shaped object transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110426756.2A CN113021321A (en) | 2021-04-20 | 2021-04-20 | Four-axis robot suitable for tubular object and plate-shaped object transport |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113021321A true CN113021321A (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110426756.2A Pending CN113021321A (en) | 2021-04-20 | 2021-04-20 | Four-axis robot suitable for tubular object and plate-shaped object transport |
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| Country | Link |
|---|---|
| CN (1) | CN113021321A (en) |
Citations (9)
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|---|---|---|---|---|
| DE102013002813A1 (en) * | 2013-02-19 | 2014-08-21 | Rg Mechatronics Gmbh | Holding device with at least one jaw for a robotic surgical system |
| CN105904432A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Hydraulic engineering pipe fitting stacking industrial robot |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN108214524A (en) * | 2018-03-26 | 2018-06-29 | 韩忠彬 | A kind of medical experiment object clamping device |
| CN208190494U (en) * | 2018-06-06 | 2018-12-04 | 江苏万泰电机有限公司 | A kind of CT scanner closed loop stepper motor |
| CN208812135U (en) * | 2018-08-01 | 2019-05-03 | 河南金迈科科技集团有限公司 | A kind of logistics package Intelligent transfer robot handgrip |
| CN209850947U (en) * | 2019-03-27 | 2019-12-27 | 中山市威得速自动化机械设备科技有限公司 | Automatic change manipulator anti-scratch clamping jaw |
| CN210173593U (en) * | 2019-07-01 | 2020-03-24 | 山东金红鹰工业自动化有限公司 | Gripper device of welding robot |
| CN211248703U (en) * | 2019-11-14 | 2020-08-14 | 天津微米特科技有限公司 | Adjustable circuit board machining clamp |
-
2021
- 2021-04-20 CN CN202110426756.2A patent/CN113021321A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013002813A1 (en) * | 2013-02-19 | 2014-08-21 | Rg Mechatronics Gmbh | Holding device with at least one jaw for a robotic surgical system |
| CN105904432A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Hydraulic engineering pipe fitting stacking industrial robot |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN108214524A (en) * | 2018-03-26 | 2018-06-29 | 韩忠彬 | A kind of medical experiment object clamping device |
| CN208190494U (en) * | 2018-06-06 | 2018-12-04 | 江苏万泰电机有限公司 | A kind of CT scanner closed loop stepper motor |
| CN208812135U (en) * | 2018-08-01 | 2019-05-03 | 河南金迈科科技集团有限公司 | A kind of logistics package Intelligent transfer robot handgrip |
| CN209850947U (en) * | 2019-03-27 | 2019-12-27 | 中山市威得速自动化机械设备科技有限公司 | Automatic change manipulator anti-scratch clamping jaw |
| CN210173593U (en) * | 2019-07-01 | 2020-03-24 | 山东金红鹰工业自动化有限公司 | Gripper device of welding robot |
| CN211248703U (en) * | 2019-11-14 | 2020-08-14 | 天津微米特科技有限公司 | Adjustable circuit board machining clamp |
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| 黄美发等: "《机床数控技术及应用》", 31 May 2014 * |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20210625 |