CN201505911U - Carrying manipulator - Google Patents

Carrying manipulator Download PDF

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Publication number
CN201505911U
CN201505911U CN2009201314123U CN200920131412U CN201505911U CN 201505911 U CN201505911 U CN 201505911U CN 2009201314123 U CN2009201314123 U CN 2009201314123U CN 200920131412 U CN200920131412 U CN 200920131412U CN 201505911 U CN201505911 U CN 201505911U
Authority
CN
China
Prior art keywords
horizontal
cam
lifting
conveying robot
slide block
Prior art date
Application number
CN2009201314123U
Other languages
Chinese (zh)
Inventor
何凯
李赳华
王大志
冷静
谢小辉
杜如虚
Original Assignee
深圳先进技术研究院
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳先进技术研究院 filed Critical 深圳先进技术研究院
Priority to CN2009201314123U priority Critical patent/CN201505911U/en
Application granted granted Critical
Publication of CN201505911U publication Critical patent/CN201505911U/en

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Abstract

The utility model discloses a carrying manipulator, which comprises guide rails, a horizontal movement slide block and an input shaft. The horizontal movement slide block is adaptive to the guide rails in a sliding way and provided with a horizontal swing arm and a lifting arm in a sliding way, the lifting arm is fixedly provided with a vacuum suction disk and used for taking and placing articles, the horizontal swing arm is hinged with a horizontal driven wheel, and the lifting arm is hinged with a lifting driven wheel. The input shaft is fixedly provided with a horizontal cam and a lifting cam. The horizontal driven wheel and the horizontal cam are capable of rotating in a matched and meshed manner for providing horizontal directions for the carrying manipulator. As a double-cam rotational structure is formed by providing the horizontal driven wheel and the horizontal cam and the matched and meshed rotation of the lifting driven wheel and the lifting cam, the carrying manipulator has the advantages of compact structure, low cost, simple control, stable carrying and high carrying efficiency.

Description

A kind of conveying robot
Technical field
The utility model relates to a kind of manipulator, relates in particular to a kind of conveying robot.
Background technology
Along with improving constantly of industrial automatization, industrial robot and manipulator emerge in multitude free people from heavy, machinery and dangerous working environment, and high accuracy, finish the repetitive operation of various complexity expeditiously.Conveying robot is the most frequently used industrial automation equipment, has a wide range of applications in industries such as automobile, packing, medicine, household electrical appliances, battery manufacturing.Conveying robot of a great variety, comparatively common manipulator be generally by hydraulic pressure, pneumatic or driven by servomotor, and controlled by single-chip microcomputer or industrial computer, and be flexible and convenient to use, applicability is strong.But this class conveying robot cost height, control more complicated, translational speed are restricted, efficient is low, fault rate is high and easy-maintaining not.Such as, in making the automatic or semi-automatic laminating machine of lithium battery core, conveying robot need satisfy requirements such as reliable at a high speed, that control is simple, cost is low, and hydraulic pressure, the conveying robot pneumatic or driven by servomotor used always are difficult to be fit to.
Therefore, prior art awaits to improve and development.
The utility model content
The purpose of this utility model is to provide a kind of conveying robot, and it is slow to overcome cost height, speed that manipulator in the prior art exists, and efficient is low, control is complicated, fault rate is high and the technological deficiency of easy-maintaining not.
The technical solution of the utility model is as follows:
A kind of conveying robot, it comprises guide rail, horizontal movement slide block, power shaft; Described horizontal movement slide block and described guide rail slide adaptive, and described horizontal movement slide block has been mounted slidably horizontal swing arm and lifting arm; Described lifting arm is set with vacuum cup, is used to pick and place article; Wherein, hinged horizontal driven pulley, the hinged lifting driven pulley that is provided with of described lifting arm of being provided with of described horizontal swing arm; Described power shaft is set with horizontal cam and lifter cam; The adaptive engagement of described horizontal driven pulley and described horizontal cam is rotated, for described conveying robot provides the horizontal direction displacement; The adaptive engagement of described lifting driven pulley and described lifter cam is rotated, for described conveying robot provides the vertical direction displacement.
Described conveying robot, wherein, described lifting arm also is provided with limited block, is used to control lifting arm displacement.
Described conveying robot, wherein, described conveying robot also is provided with spring, and described both ends of the spring is fixedly connected on respectively on the central shaft and described power shaft of described horizontal driven pulley, is used for providing to conveying robot the recovery elastic force of horizontal direction.
Conveying robot provided by the utility model, rotate owing to be provided with by horizontal driven pulley and the adaptive engagement rotation of described horizontal cam, described lifting driven pulley and the adaptive engagement of described lifter cam, the double cam rotational structure that forms, make the conveying robot compact conformation, cost is low, control is simple, operates steadily the handling efficiency height.
Description of drawings
Fig. 1 is a conveying robot structure vertical view of the present utility model;
Fig. 2 is a conveying robot structure left view of the present utility model;
Fig. 3 is a conveying robot structural representation of the present utility model;
Fig. 4 is a conveying robot structure three-dimensional stereogram of the present utility model;
Fig. 5 is a horizontal cam partial schematic diagram of the present utility model;
Fig. 6 is a lifter cam partial schematic diagram of the present utility model;
Fig. 7 is the graph of a relation that power shaft of the present utility model rotates angle and double cam move distance;
Fig. 8 is a double cam structure partial schematic diagram of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing each preferred embodiment of the present utility model is made a more detailed description.
Conveying robot of the present utility model comprises guide rail 12, horizontal movement slide block 10, the axis of guide 13 and power shaft 14, as shown in Figure 1, 2.Wherein, described power shaft 14 is fixed on (not shown) on the pedestal, and described power shaft 14 fixedly installs horizontal cam 2, lifter cam 1; Described horizontal movement slide block 10 horizontal directions are symmetrically arranged with perpendicular grooves 16 and perpendicular grooves 17, wherein, described perpendicular grooves 16 can slide up and down to be connected with slide block 11, described slide block 11 is hinged to be provided with horizontal swing arm 5, described horizontal swing arm 5 lower ends are fixedly mounted on the described axis of guide 13, described horizontal swing arm 5 nearly bottoms are also hinged to be provided with horizontal driven pulley 3, wherein, and described horizontal driven pulley 3 and described horizontal cam 2 adaptive engagements; Described perpendicular grooves 17 can slide up and down to be connected with slide block 9, described slide block 9 lower ends are provided with a through hole 18, described through hole 18 is used for suit lifting arm 7, the hinged lifting driven pulley 4 that is provided with in described lifting arm 7 bottoms, wherein, described lifting driven pulley 4 and described lifter cam 1 adaptive engagement; Described lifting arm 7 nearly bottoms also are provided with limited block 6, are used for controlling lifting arm 7 in vertical direction displacement, prevent from " dead point " position to occur when lifting arm 7 from moving to bottom, are convenient to assemble lifting arm 7 simultaneously, shown in Fig. 3,4.
Conveying robot of the present utility model, owing to slide block 11 and slide block 9 are installed in respectively in the perpendicular grooves that is parallel to each other 16 and perpendicular grooves 17 of horizontal movement slide block 10, so they have identical horizontal movement speed and consistent horizontal displacement.
Conveying robot of the present utility model, because described horizontal cam 2 is fixedly installed on the same power shaft 14 with described lifter cam 1, therefore, described horizontal cam 2, described lifter cam 1 rotate synchronously with described power shaft 14, promptly have unequal angular velocity.
Conveying robot of the present utility model, be provided with a spring (not shown), described both ends of the spring is fixedly connected on respectively on the central axis and described power shaft 14 of described horizontal driven pulley 3, is used to described conveying robot that the back stretch of horizontal direction is provided.
Conveying robot of the present utility model, the flat shape of its horizontal cam 2 and lifter cam 1 can have multiple setting according to actual needs, the horizontal cam flat shape of preferred embodiment conveying robot of the present utility model as shown in Figure 5, the lifter cam flat shape is as shown in Figure 6.
Work period of conveying robot with above-mentioned preferred embodiment is that example is described in detail operation principle of the present utility model below, the horizontal cam that it adopts and the flat shape of lifter cam such as Fig. 5, shown in Figure 6.
The relation that conveying robot one-period power shaft of the present utility model rotates angle and double cam move distance as shown in Figure 7, its detailed process is as follows:
One, power shaft 14 rotates under common electric machine drives, and drives described horizontal cam 2, lifter cam 1 and rotates synchronously, as shown in Figure 8; Horizontal cam 2 is swung left by ordering about horizontal swing arm 5 with horizontal driven pulley 3 engagement rotations, and described horizontal swing arm 5 drives the horizontal movements left on guide rail 12 of horizontal movement slide block 10 by described slide block 11; Simultaneously, described horizontal movement slide block 10 drives described slide blocks 9 and is fixed on vacuum cup 8 horizontal movement left together on the slide block 9.At this moment, lifter cam 1 is an orthodrome with lifting driven pulley 4 places of being meshed, and therefore, conveying robot does not have motion in vertical direction.
Two, when power shaft 14 turns over 45 and spends, horizontal cam 2 is an orthodrome with horizontal driven pulley 3 places of being meshing with each other, and horizontal movement slide block 10 no levels are moved, and promptly the conveying robot horizontal direction does not have motion.At this moment, lifter cam 1 is a cam curved surface with the engagement place of lifting driven pulley 4, and under the gravity effect, lifting arm 7 moves vertically downward, and vacuum cup 8 motion vertically downward synchronously that drives slide block 9 and be fixed in slide block 9.
Three, power shaft 14 turn to 90 ° the time, vacuum cup 8 moves to desired location vertically downward, at this moment, lifter cam 1 is little circular arc with the engagement place of lifting driven pulley 4, the engagement place of horizontal cam 2 and horizontal driven pulley 3 still is an orthodrome, therefore, conveying robot does not during this period of time all have motion in level and vertical direction, and vacuum cup 8 is finished and grasped the object operation.
Four, be rotated further power shaft 14, when turning to 135 °, lifter cam 1 and lifting driven pulley 4 engagement places become cam curved surface, and at this moment, lifting arm 7 moves vertically upward, and the vacuum cup 8 synchronous motions vertically upward that drive slide block 9 and be fixed in slide block 9; At this moment, horizontal cam 2 and horizontal driven pulley 3 engagement places are orthodrome still, and promptly horizontal direction does not have motion.
Five, when power shaft 14 turns to 180 °, when lifting arm 7 rose to elemental height, lifter cam 1 became orthodrome with lifting driven pulley 4 engagement places, and slide block 9 and vacuum cup 8 vertical direction do not have motion; At this moment, horizontal cam 2 and horizontal driven pulley 3 engagement places become cam curved surface, horizontal swing arm 5 horizontal slip to the right under the elastic force effect of spring, and slide block 11 horizontal slip is to the right ordered about in horizontal swing arm 5, and simultaneously described slide block 11 drives horizontal movement slide blocks 10, slide block 9 and is fixed in vacuum cup 8 horizontal movement to the right synchronously on the slide block 9.
Six, when power shaft 14 turns to 225 °, initial position is returned in promptly horizontal swing arm 5, and at this moment, horizontal movement slide block 10 also returns initial position; Horizontal cam 2 and horizontal driven pulley 3 engagement places become little circular arc, i.e. horizontal movement slide block 10 no level motions; At this moment, lifter cam 1 becomes cam curved surface with lifting driven pulley 4 engagement places, and under the gravity effect, lifting arm 7 moves vertically downward, and vacuum cup 8 motion vertically downward synchronously that drives slide block 9 and be fixed in slide block 9.
Seven, when power shaft 14 turns to 270 °, vacuum cup 8 moves downward desired location, at this moment, lifter cam 1 becomes little circular arc with lifting driven pulley 4 engagement places, horizontal cam 2 and horizontal driven pulley 3 engagement places still are orthodrome, therefore, described conveying robot does not during this period of time all have motion in level, vertical direction, and vacuum cup 8 is finished the releasing operation to the extracting object.
Eight, be rotated further power shaft 14, when turning to 315 °, lifter cam 1 and lifting driven pulley 4 engagement places become cam curved surface, at this moment, lifting arm 7 moves vertically upward, and drives slide block 9 and vacuum cup 8 motion vertically upward synchronously of being fixed on the slide block 9, at this moment, horizontal cam 2 and horizontal driven pulley 3 engagement places are orthodrome still, and horizontal direction does not have motion.Finally, lifting arm 7 drives slide block 9 and vacuum cup 8 is got back to original horizontal position, and a rotation period leaves it at that.
Horizontal cam 2 of the present utility model and lifter cam 1 are fixedly mounted on the same power shaft 14, rotation by power shaft 14, the reciprocating motion of horizontal cam 2 output horizontal directions, the reciprocating motion of lifter cam 1 output vertical direction finally makes described vacuum cup 8 realize " inverted U " motion output.
Conveying robot provided by the utility model, owing to be provided with by horizontal driven pulley and the adaptive engagement rotation of described horizontal cam, described lifting driven pulley and the adaptive engagement of described lifter cam, the double cam rotational structure that forms is for conveying robot provides level and vertical direction displacement; Its structure is compact more, and control is simple, operates steadily, and has improved the handling efficiency of manipulator widely, also reduces the manufacturing cost of conveying robot simultaneously.
Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improvement and conversion all should belong to the protection domain of the utility model claims.

Claims (3)

1. conveying robot, it comprises guide rail, horizontal movement slide block, power shaft; Described horizontal movement slide block and described guide rail slide adaptive, and wherein, described horizontal movement slide block has been mounted slidably horizontal swing arm and lifting arm; Described lifting arm is set with vacuum cup, is used to pick and place article; It is characterized in that hinged horizontal driven pulley, the hinged lifting driven pulley that is provided with of described lifting arm of being provided with of described horizontal swing arm; Described power shaft is set with horizontal cam and lifter cam; Wherein, the adaptive engagement of described horizontal driven pulley and described horizontal cam is rotated, for described conveying robot provides the horizontal direction displacement; The adaptive engagement of described lifting driven pulley and described lifter cam is rotated, for described conveying robot provides the vertical direction displacement.
2. conveying robot according to claim 1 is characterized in that described lifting arm also is provided with limited block, is used to control lifting arm displacement.
3. conveying robot according to claim 1, it is characterized in that, described conveying robot also is provided with spring, and described both ends of the spring is fixedly connected on respectively on the central shaft and described power shaft of described horizontal driven pulley, is used for providing to conveying robot the recovery elastic force of horizontal direction.
CN2009201314123U 2009-04-27 2009-04-27 Carrying manipulator CN201505911U (en)

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Application Number Priority Date Filing Date Title
CN2009201314123U CN201505911U (en) 2009-04-27 2009-04-27 Carrying manipulator

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102528798A (en) * 2012-01-17 2012-07-04 邹建炀 Novel parallel transporting mechanical arm
CN102862158A (en) * 2012-09-07 2013-01-09 北京商驰科技发展有限公司 Single-axis drive plane motion reciprocating delivery device
CN104369184A (en) * 2014-12-04 2015-02-25 桂林电子科技大学 Clamping mechanical arm for rare earth permanent magnet production line
CN104525820A (en) * 2014-12-24 2015-04-22 中国矿业大学 Single-machine multi-station hot forging mechanical arm
CN104703753A (en) * 2012-08-27 2015-06-10 三菱重工业株式会社 Workpiece conveying device
CN105108752A (en) * 2015-08-12 2015-12-02 苏州听毅华自动化设备有限公司 Manipulator
CN105383927A (en) * 2015-12-22 2016-03-09 苏州频发机电科技有限公司 Carrying mechanism for polyurethane rolling wheels
CN105417145A (en) * 2015-12-22 2016-03-23 苏州频发机电科技有限公司 Grabbing mechanism for polyurethane roller
CN105415364A (en) * 2015-12-29 2016-03-23 苏州卓德电子有限公司 Horizontal adjusting device for movable joint of mechanical arm
CN105438550A (en) * 2014-09-26 2016-03-30 天津宏观纸制品有限公司 Supplying and assembling device for corrugated paperboard packaging body
CN105500374A (en) * 2014-09-26 2016-04-20 苏州光舵微纳科技有限公司 Power mechanism and manipulator device comprising same
CN105563479A (en) * 2016-03-02 2016-05-11 戴毅 Transferring and rapid carrying mechanical hand for assembly line
CN105643350A (en) * 2016-04-08 2016-06-08 马怡鑫 Manipulator
CN106369122A (en) * 2016-11-30 2017-02-01 无锡特恒科技有限公司 Cam track transferring and carrying mechanism
CN106584104A (en) * 2016-12-30 2017-04-26 湖南先步信息股份有限公司 Cam-transmission small intelligent assembling platform
CN106584105A (en) * 2016-12-30 2017-04-26 湖南先步信息股份有限公司 Multifunctional automatic assembling system
CN106653665A (en) * 2016-11-30 2017-05-10 惠州金源精密自动化设备有限公司 Semi-finished product transfer manipulator
CN106695325A (en) * 2016-12-30 2017-05-24 湖南先步信息股份有限公司 Full-automatic multifunctional standard assembling platform
CN106736531A (en) * 2016-12-30 2017-05-31 湖南先步信息股份有限公司 Closed circuit Automated assembly platform
CN106736527A (en) * 2016-12-30 2017-05-31 湖南先步信息股份有限公司 Full automatic standard assembly system
CN109484832A (en) * 2018-10-26 2019-03-19 潍坊学院 A kind of cam set automatic conveyor

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102528798A (en) * 2012-01-17 2012-07-04 邹建炀 Novel parallel transporting mechanical arm
CN104703753A (en) * 2012-08-27 2015-06-10 三菱重工业株式会社 Workpiece conveying device
CN102862158B (en) * 2012-09-07 2015-01-28 北京商驰科技发展有限公司 Single-axis drive plane motion reciprocating delivery device
CN102862158A (en) * 2012-09-07 2013-01-09 北京商驰科技发展有限公司 Single-axis drive plane motion reciprocating delivery device
CN105500374A (en) * 2014-09-26 2016-04-20 苏州光舵微纳科技有限公司 Power mechanism and manipulator device comprising same
CN105438550A (en) * 2014-09-26 2016-03-30 天津宏观纸制品有限公司 Supplying and assembling device for corrugated paperboard packaging body
CN104369184A (en) * 2014-12-04 2015-02-25 桂林电子科技大学 Clamping mechanical arm for rare earth permanent magnet production line
CN104525820B (en) * 2014-12-24 2016-04-27 中国矿业大学 A kind of unit multistation forge hot manipulator
CN104525820A (en) * 2014-12-24 2015-04-22 中国矿业大学 Single-machine multi-station hot forging mechanical arm
CN105108752A (en) * 2015-08-12 2015-12-02 苏州听毅华自动化设备有限公司 Manipulator
CN107042421A (en) * 2015-08-12 2017-08-15 张琴 The method of work of manipulator
CN105417145A (en) * 2015-12-22 2016-03-23 苏州频发机电科技有限公司 Grabbing mechanism for polyurethane roller
CN105383927B (en) * 2015-12-22 2017-09-05 苏州频发机电科技有限公司 A kind of carrying mechanism of polyurethane roller
CN105383927A (en) * 2015-12-22 2016-03-09 苏州频发机电科技有限公司 Carrying mechanism for polyurethane rolling wheels
CN105415364A (en) * 2015-12-29 2016-03-23 苏州卓德电子有限公司 Horizontal adjusting device for movable joint of mechanical arm
CN105415364B (en) * 2015-12-29 2017-03-22 苏州卓德电子有限公司 Horizontal adjusting device for movable joint of mechanical arm
CN105563479A (en) * 2016-03-02 2016-05-11 戴毅 Transferring and rapid carrying mechanical hand for assembly line
CN105643350A (en) * 2016-04-08 2016-06-08 马怡鑫 Manipulator
CN106369122A (en) * 2016-11-30 2017-02-01 无锡特恒科技有限公司 Cam track transferring and carrying mechanism
CN106653665A (en) * 2016-11-30 2017-05-10 惠州金源精密自动化设备有限公司 Semi-finished product transfer manipulator
CN106653665B (en) * 2016-11-30 2019-12-24 惠州金源精密自动化设备有限公司 Semi-finished product transferring manipulator
CN106736531A (en) * 2016-12-30 2017-05-31 湖南先步信息股份有限公司 Closed circuit Automated assembly platform
CN106736527A (en) * 2016-12-30 2017-05-31 湖南先步信息股份有限公司 Full automatic standard assembly system
CN106584104A (en) * 2016-12-30 2017-04-26 湖南先步信息股份有限公司 Cam-transmission small intelligent assembling platform
CN106584105A (en) * 2016-12-30 2017-04-26 湖南先步信息股份有限公司 Multifunctional automatic assembling system
CN106695325A (en) * 2016-12-30 2017-05-24 湖南先步信息股份有限公司 Full-automatic multifunctional standard assembling platform
CN109484832A (en) * 2018-10-26 2019-03-19 潍坊学院 A kind of cam set automatic conveyor

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CX01 Expiry of patent term

Granted publication date: 20100616

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