CN202878308U - Carrying mechanical arm - Google Patents
Carrying mechanical arm Download PDFInfo
- Publication number
- CN202878308U CN202878308U CN 201220501814 CN201220501814U CN202878308U CN 202878308 U CN202878308 U CN 202878308U CN 201220501814 CN201220501814 CN 201220501814 CN 201220501814 U CN201220501814 U CN 201220501814U CN 202878308 U CN202878308 U CN 202878308U
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- Prior art keywords
- manipulator
- plate
- described left
- mechanical arm
- adsorption plate
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Abstract
The utility model discloses a carrying mechanical arm which comprises a linear driving device and a mechanical arm device, wherein the mechanical arm device mainly comprises an installation substrate, a left mechanical arm and a right mechanical arm, the installation substrate can be connected on the linear driving device in a linearly back-and-forth reciprocating movement mode, the left mechanical arm and the right mechanical arm are vacuum adsorption mechanical arms and both can be mounted on the installation substrate in a vertically intersecting movement mode, so that carrying of machined workpieces and recovery of jigs and cutting materials can be finished automatically, manual carrying and recovery are not needed, time and labor are saved, cost is reduced, and production efficiency is improved; a vacuum adsorption method is adopted for carrying of the machined workpieces of soft pieces, the machined workpieces are not damaged, product quality can be ensured, and the mechanical arms are compact in structure, easy to control, and stable in working performance; in addition, a balancing weight is arranged on the right mechanical arm, so the weight of the right mechanical arm is equivalent to that of the left mechanical arm, and a driving motor is easy and smooth to control.
Description
[technical field]
The utility model belongs to machinery manufacturing technology field, relates in particular to a kind of conveying robot.
[background technology]
At present, in the automated production equipment, utilize manipulator to realize that carrying is very general, and use the most extensive; But existing manipulator all is to utilize frame for movement on the market, such as the claw type structure, processing work is picked up, realizes carrying, and for the processing work of soft or sheet, particularly the FPC flexible PCB very easily causes damage to it like this, finally affects product quality; And these manipulators also only carry for processing work, still can't carry, reclaim for the waste material (cutting material) of tool and processing work, can only pass through people's hand operated, and are not only time-consuming but also take a lot of work, and increased production cost.
[utility model content]
In order to solve the above-mentioned technical problem that exists in the prior art, the utility model provides a kind of carrying that can automatically finish processing work, automatically finish simultaneously the recovery of tool and cutting material, the time and labour saving reduces cost, and production efficiency is high, product quality is guaranteed, and compact conformation, control is simple, and service behaviour is conveying robot stably.
The technical scheme that the prior art problem that solves the utility model adopts is:
A kind of conveying robot, include linear drive apparatus and robot device, described robot device mainly is comprised of installation base plate, left manipulator and right manipulator, described installation base plate is connected on the described linear drive apparatus back and forth linear reciprocating motion, described left manipulator and right manipulator are the vacuum adsorption type manipulator, all are installed on the described installation base plate to crisscross motion up and down.
Further, described left manipulator includes left skateboard and left adsorption plate, described right manipulator includes right slide plate and right adsorption plate, described installation base plate is provided with longitudinally left rail and right guide rail, described left skateboard and right slide plate be sliding being stuck on described left rail and the right guide rail respectively, described left adsorption plate and right adsorption plate flatly are located at respectively on described left skateboard and the right slide plate, and described left adsorption plate is provided with vacuum pumping valve and the first vacuumizing joint that an end and its internal communication other end are connected with vaccum-pumping equipment by tracheae, described right adsorption plate is provided with the second vacuumizing joint that an end and its internal communication other end are connected with vaccum-pumping equipment by tracheae, its lower surface also is provided with suction nozzle, described suction nozzle and the described right adsorption plate internal communication for the absorption processing work.
Further, also be provided with manipulator driving device on the described installation base plate, include CD-ROM drive motor, Timing Belt and driven pulley between described left rail and right guide rail, described CD-ROM drive motor and driven pulley are located at up and down two ends of described installation base plate, described Timing Belt is connected on the driving pulley and driven pulley of described CD-ROM drive motor, and described left skateboard and right slide plate are fastened on the described Timing Belt.
Further, also be provided with jig clamping device on the described left manipulator, include left holder and the right holder of being located at described left adsorption plate both sides, and left slider, right slide block), slide rail parallel clips and directive slide track, described slide rail parallel clips and slide rail flatly are located on the described left skateboard, described left slider and right slide block are separately fixed on the slide unit of the described slide rail parallel clips left and right sides, and sliding being stuck on the described directive slide track, one end of described left holder and right holder is separately fixed on described left slider and the right slide block, the other end extends to left side and the right side of described left adsorption plate, and exceeds the adsorption plane of described left adsorption plate.
Further, described left adsorption plate and right adsorption plate removably are located on described left skateboard and the right slide plate by the locking turn-knob.
Further, also be provided with the balancing weight of the weight balancing that makes its weight and described left manipulator on the described right manipulator, described balancing weight is fixed on the described right slide plate.
Further, described linear drive apparatus includes linear actuator, fixedly section bar and line slideway, described linear actuator and line slideway are installed on the described fixedly section bar in parallel to each other, and described installation base plate is installed on the described linear actuator back and forth linear reciprocating motion.
Further, described linear actuator is a straight-line electric cylinder.
The beneficial effects of the utility model are as follows:
The utility model can be finished the carrying of processing work automatically by technique scheme, automatically finishes the recovery of tool and cutting material simultaneously, need not staff carrying and recovery, the time and labour saving reduces cost, enhances productivity, and adopt the vacuum suction mode to finish the processing work of soft sheet is carried, can not cause any damage to processing work, product quality is guaranteed, and this conveying robot structure is very compact, control is simple, and service behaviour is steady; In addition, at right manipulator balancing weight is set, makes the balanced of its weight and left manipulator, CD-ROM drive motor control is easier, more smooth and easy.
[description of drawings]
Fig. 1 is the structural representation of a kind of conveying robot embodiment described in the utility model;
Fig. 2 is the structural representation of looking up of a kind of conveying robot embodiment described in the utility model;
Fig. 3 is the structure for amplifying schematic diagram of " A " section among Fig. 1 a kind of conveying robot embodiment described in the utility model.
[specific embodiment]
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
As shown in Fig. 1 to Fig. 3:
The utility model embodiment provides a kind of conveying robot, includes linear drive apparatus 1 and robot device 2; Wherein, described linear drive apparatus 1 includes linear actuator 11, fixedly section bar 12 and line slideway 13, and described linear actuator 11 is straight-line electric cylinders, is installed in parallel to each other fixedly on the section bar 12 with line slideway 13.Described robot device 2 mainly is comprised of installation base plate 21, left manipulator 22 and right manipulator 23, described installation base plate 21 is installed on the linear actuator 11 back and forth linear reciprocating motion, described left manipulator 22 and right manipulator 23 are the vacuum adsorption type manipulator, all can be installed in installation base plate 21 with moving up and down; Concrete structure is:
Described left manipulator 22 includes left skateboard 221 and left adsorption plate 222, described right manipulator 23 includes right slide plate 231 and right adsorption plate 232, described installation base plate 21 is provided with longitudinally left rail 211 and right guide rail 212, described left skateboard 221 and right slide plate 231 be sliding being stuck on left rail 211 and the right guide rail 212 respectively, described left adsorption plate 222 and right adsorption plate 232 removably flatly are located on left skateboard 221 and the right slide plate 231 by locking turn-knob 24 respectively, and the vacuum pumping valve 223 and the first vacuumizing joint 224 that also have an end and its internal communication other end to be connected with vaccum-pumping equipment by tracheae on the described left adsorption plate 222, described right adsorption plate 232 is provided with the second vacuumizing joint 233 that an end and its internal communication other end are connected with vaccum-pumping equipment by tracheae, its lower surface also is provided with the suction nozzle 234 for the absorption processing work, described suction nozzle 234 and right adsorption plate 232 internal communication; Also be provided with manipulator driving device on the described installation base plate 21, include CD-ROM drive motor, Timing Belt 213 and driven pulley 214 between described left rail 211 and right guide rail 212, described CD-ROM drive motor is located at installation base plate 21 back sides (not showing among the figure), driving pulley 215 and the driven pulley 214 of installing on it is located at installation base plate, and about in the of 21 two ends, described Timing Belt 213 is connected on the driving pulley 215 and driven pulley 214 of CD-ROM drive motor, and left skateboard 221 and right slide plate 231 are fastened on the Timing Belt 213.
Also be provided with jig clamping device on the described left manipulator 22, include left holder 225, right holder 226, left slider 227, right slide block 228, slide rail parallel clips 229 and directive slide track 220, described slide rail parallel clips 229 also is gas pawl (such as the MHF2-12D-M9NL gas pawl of SMC), itself and slide rail 220 flatly are located on the left skateboard 221, described left slider 227 and right slide block 228 are separately fixed on the slide unit of slide rail parallel clips 229 left and right sides, and sliding being stuck on the directive slide track 220, described left holder 225 and right holder 226 are located at left adsorption plate 222 both sides, and the one end is separately fixed on left slider 227 and the right slide block 228, the other end extends to left side and the right side of left adsorption plate 222, and exceeds the adsorption plane of left adsorption plate 222.
Also be provided with the balancing weight 235 of the weight balancing that makes its weight and left manipulator 22 on the described right manipulator 23, described balancing weight 235 is fixed on the right slide plate 231.
The operation principle of conveying robot described in the utility model: at first, start linear drive apparatus 1(linear actuator 11), make robot device 2 rectilinear motions to the position of inputting processing work (this processing work can be soft sheet processing work, such as the FPC flexible PCB); Then, CD-ROM drive motor on the startup robot device 2 drives left manipulator 22 and moves downward, start vaccum-pumping equipment in the time of on being displaced downwardly to processing work, processing work is adsorbed on the adsorption plane (lower surface) of left adsorption plate 222 of left manipulator 22, right manipulator 23 moved upward, rose this moment, start simultaneously slide rail parallel clips 229 and make left holder 225 and right holder 226 synchronously with middle mobile, will clamp for the tool of carrying processing work; Then, again start CD-ROM drive motor and drive that left manipulator 22 moves upward and right manipulator 23 moves downward, start linear drive apparatus 1, make robot device 2 that processing work and tool are carried to corresponding Working position and reclaim the position; At last, after the workpiece to be processed completion of processing, the startup CD-ROM drive motor drives right manipulator 23 and moves downward to processing work, and the suction nozzle that starts on the lower surface of right adsorption plate 232 that vaccum-pumping equipment makes right manipulator 23 adsorbs the cutting material of processing work, again starting CD-ROM drive motor rises right manipulator 23, starts linear drive apparatus 1 and will cut material and be carried to cutting and expect recovery place, stop vaccum-pumping equipment, the cutting material is dropped; Iterative cycles like this is until process finishing.
Like this, conveying robot described in the utility model can be finished the carrying of processing work automatically, automatically finishes the recovery of tool and cutting material simultaneously, need not staff carrying and recovery, the time and labour saving reduces cost, enhances productivity, and adopt the vacuum suction mode to finish the processing work of soft sheet is carried, can not cause any damage to processing work, product quality is guaranteed, and this conveying robot structure is very compact, control is simple, and service behaviour is steady; In addition, at right manipulator 23 balancing weight 235 is set, makes the balanced of its weight and left manipulator 22, CD-ROM drive motor control is easier, more smooth and easy.
Above content is in conjunction with concrete optimal technical scheme further detailed description of the utility model, can not assert that implementation of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, can also make some simple deduction or replace, all should be considered as belonging to protection domain of the present utility model.
Claims (8)
1. conveying robot, it is characterized in that: include linear drive apparatus (1) and robot device (2), described robot device (2) mainly is comprised of installation base plate (21), left manipulator (22) and right manipulator (23), described installation base plate (21) is connected on the described linear drive apparatus (1) back and forth linear reciprocating motion, described left manipulator (22) and right manipulator (23) are the vacuum adsorption type manipulator, all are installed on the described installation base plate (21) to crisscross motion up and down.
2. conveying robot according to claim 1, it is characterized in that: described left manipulator (22) includes left skateboard (221) and left adsorption plate (222), described right manipulator (23) includes right slide plate (231) and right adsorption plate (232), described installation base plate (21) is provided with longitudinally left rail (211) and right guide rail (212), described left skateboard (221) and right slide plate (231) be sliding being stuck on described left rail (211) and the right guide rail (212) respectively, described left adsorption plate (222) and right adsorption plate (232) flatly are located at respectively on described left skateboard (221) and the right slide plate (231), and described left adsorption plate (222) is provided with vacuum pumping valve (223) and the first vacuumizing joint (224) that an end and its internal communication other end are connected with vaccum-pumping equipment by tracheae, described right adsorption plate (232) is provided with the second vacuumizing joint (233) that an end and its internal communication other end are connected with vaccum-pumping equipment by tracheae, its lower surface also is provided with the suction nozzle (234) for the absorption processing work, described suction nozzle (234) and described right adsorption plate (232) internal communication.
3. conveying robot according to claim 2, it is characterized in that: described installation base plate also is provided with manipulator driving device on (21), include the CD-ROM drive motor that is positioned between described left rail (211) and the right guide rail (212), Timing Belt (213) and driven pulley (214), described CD-ROM drive motor and driven pulley (214) are located at up and down two ends of described installation base plate (21), described Timing Belt (213) is connected on the driving pulley (215) and driven pulley (214) of described CD-ROM drive motor, and described left skateboard (221) and right slide plate (231) are fastened on the described Timing Belt (213).
4. conveying robot according to claim 3, it is characterized in that: also be provided with jig clamping device on the described left manipulator (22), include left holder (225) and the right holder (226) of being located at described left adsorption plate (222) both sides, and left slider (227), right slide block (228), slide rail parallel clips (229) and directive slide track (220), described slide rail parallel clips (229) and slide rail (220) flatly are located on the described left skateboard (221), described left slider (227) and right slide block (228) are separately fixed on the slide unit of described slide rail parallel clips (229) left and right sides, and sliding being stuck on the described directive slide track (220), one end of described left holder (225) and right holder (226) is separately fixed on described left slider (227) and the right slide block (228), the other end extends to left side and the right side of described left adsorption plate (222), and exceeds the adsorption plane of described left adsorption plate (222).
5. conveying robot according to claim 4 is characterized in that: described left adsorption plate (222) and right adsorption plate (232) removably are located on described left skateboard (221) and the right slide plate (231) by locking turn-knob (24).
6. conveying robot according to claim 5, it is characterized in that: also be provided with the balancing weight (235) of the weight balancing that makes its weight and described left manipulator (22) on the described right manipulator (23), described balancing weight (235) is fixed on the described right slide plate (231).
7. any one described conveying robot in 6 according to claim 1, it is characterized in that: described linear drive apparatus (1) includes linear actuator (11), fixedly section bar (12) and line slideway (13), described linear actuator (11) and line slideway (13) are installed on the described fixedly section bar (12) in parallel to each other, and described installation base plate (21) is installed on the described linear actuator (11) back and forth linear reciprocating motion.
8. conveying robot according to claim 7, it is characterized in that: described linear actuator (11) is a straight-line electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220501814 CN202878308U (en) | 2012-09-28 | 2012-09-28 | Carrying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220501814 CN202878308U (en) | 2012-09-28 | 2012-09-28 | Carrying mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202878308U true CN202878308U (en) | 2013-04-17 |
Family
ID=48069771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220501814 Expired - Lifetime CN202878308U (en) | 2012-09-28 | 2012-09-28 | Carrying mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202878308U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433915A (en) * | 2013-08-28 | 2013-12-11 | 苏州菱欧自动化设备有限公司 | Claw material transporting mechanism of automated magnetism attaching equipment |
| CN103600355A (en) * | 2013-04-28 | 2014-02-26 | 宝山钢铁股份有限公司 | Method and device for adsorption and separation of sheet material and available cutting waste material |
| CN104175322A (en) * | 2014-08-04 | 2014-12-03 | 苏州博众精工科技有限公司 | Grab mechanism |
| CN105181342A (en) * | 2015-10-30 | 2015-12-23 | 北京新能源汽车股份有限公司 | Counter weight mounting device used for vehicle |
| CN107856258A (en) * | 2017-11-09 | 2018-03-30 | 上海亨诺塑料制品有限公司 | A kind of manipulator is classified material device automatically |
| CN111924537A (en) * | 2020-09-16 | 2020-11-13 | 昆山鸿仕达智能科技有限公司 | Double-station material transfer device |
-
2012
- 2012-09-28 CN CN 201220501814 patent/CN202878308U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600355A (en) * | 2013-04-28 | 2014-02-26 | 宝山钢铁股份有限公司 | Method and device for adsorption and separation of sheet material and available cutting waste material |
| CN103600355B (en) * | 2013-04-28 | 2015-10-28 | 宝山钢铁股份有限公司 | A kind of for sheet stock with can utilize the absorption of cutting waste material and the method be separated and device thereof |
| CN103433915A (en) * | 2013-08-28 | 2013-12-11 | 苏州菱欧自动化设备有限公司 | Claw material transporting mechanism of automated magnetism attaching equipment |
| CN104175322A (en) * | 2014-08-04 | 2014-12-03 | 苏州博众精工科技有限公司 | Grab mechanism |
| CN104175322B (en) * | 2014-08-04 | 2016-01-20 | 苏州博众精工科技有限公司 | A kind of grasping mechanism |
| CN105181342A (en) * | 2015-10-30 | 2015-12-23 | 北京新能源汽车股份有限公司 | Counter weight mounting device used for vehicle |
| CN105181342B (en) * | 2015-10-30 | 2018-03-13 | 北京新能源汽车股份有限公司 | Counterweight erecting device for vehicle |
| CN107856258A (en) * | 2017-11-09 | 2018-03-30 | 上海亨诺塑料制品有限公司 | A kind of manipulator is classified material device automatically |
| CN111924537A (en) * | 2020-09-16 | 2020-11-13 | 昆山鸿仕达智能科技有限公司 | Double-station material transfer device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ZHUHAI ZHIXIN AUTOMATION TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: ZHUHAI ZHENCHENG ELECTROMECHANICAL EUIPMENT CO., LTD. Effective date: 20150511 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150511 Address after: 519000, Zhuhai, Guangdong province Xiangzhou District white stone road No. two, building 105, northwest room, room 207 Patentee after: ZHUHAI ZHIXIN AUTOMATION TECHNOLOGY Co.,Ltd. Address before: 519000, Guangdong Province, Xiangzhou District, Zhuhai Jiuzhou Road, white rock road, No. two, building 105, northwest of the building Patentee before: ZHUHAI ZHENSHENG ELECTRICAL AND MECHANICAL EQUIPMENT CO.,LTD. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20130417 |
|
| CX01 | Expiry of patent term |