CN203973536U - A kind of four axis robot devices - Google Patents
A kind of four axis robot devices Download PDFInfo
- Publication number
- CN203973536U CN203973536U CN201420426775.0U CN201420426775U CN203973536U CN 203973536 U CN203973536 U CN 203973536U CN 201420426775 U CN201420426775 U CN 201420426775U CN 203973536 U CN203973536 U CN 203973536U
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- China
- Prior art keywords
- base
- elevating lever
- axis
- base plate
- axis guide
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- Expired - Lifetime
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- 239000003292 glue Substances 0.000 claims abstract description 28
- 230000003028 elevating effect Effects 0.000 claims abstract description 25
- 230000001737 promoting effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 238000002372 labelling Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 4
- 230000003712 anti-aging effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 230000003000 nontoxic effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of four axis robot devices, be installed on the platen of frame, for glue hook is transferred to different stations, comprise a base for translation planar, base is provided with a main shaft, the top of main shaft is articulated with a swing case, and swing case is provided with an elevating lever away from one end of main shaft, and the bottom of this elevating lever is provided with for drawing and unloads the first sucker of putting glue hook.Base of the present utility model position on platen can be adjusted flexibly, thereby base can be positioned to two optimum positions between station, simplifies motor pattern, thereby improves the operating efficiency of manipulator; By a swing case is set, can make this robot device do significantly to swing, space is large, flexible movements, thereby accuracy and the sensitivity that can improve this robot device.
Description
Technical field
The utility model relate to a kind of on paper bag the automation equipment of glue hook, relate in particular to a kind of four axis robot devices.
Background technology
Paper bag is because it has environmental protection, the moistureproof advantage such as ventilative, anti-aging, high temperature resistant, nontoxic obtains people and uses more and more widely and like.In use, this paper bag generally can be mixed the parts of a glue hook, and this glue hook is provided with hanging hole, for the paper bag that contains clothes or other article is hung over to hook, saves space.
On paper bag, carry out, in the equipment of automatic adhesion glue hook, generally comprising robot device, it is for being transferred to labeling station by glue hook from de-mark station, and this device is the important step of former and later two techniques in the whole automation equipment of contact.
Yet traditional manipulator exists following not enough: one, structural design is unreasonable, and robot movement is dumb; Two, not clarity of workpiece action is put in gripper of manipulator unloading, thereby causes labeling quality dissatisfaction.
Utility model content
For the deficiencies in the prior art, the purpose of this utility model is to provide four axis robot devices of a kind of reasonable in design, flexible movements, and it has efficiently, advantage accurately.
For achieving the above object, the utility model adopts following technical scheme:
A kind of four axis robot devices, be installed on the platen of frame, for glue hook is transferred to different stations, comprise a base for translation planar, base is provided with a main shaft, the top of main shaft is articulated with a swing case, and swing case is provided with an elevating lever away from one end of main shaft, and the bottom of this elevating lever is provided with for drawing and unloads the first sucker of putting glue hook.
Further, described swing case inside is provided with a fine setting motor and a lift cylinder; Described fine setting motor is installed in a side that swings close main shaft in case, and this fine setting motor connects by belt transmission with described elevating lever, for controlling elevating lever rotation; Described lift cylinder is installed in elevating lever top, for controlling elevating lever, moves up and down.
Further, the bottom of described elevating lever is also provided with a contiguous block, and the bottom of this contiguous block is protruded and extended to form a projection to a side, and described the first sucker is installed in the bottom surface of this projection.
Further, the bottom surface of described projection is also provided with for taking the sighting device of the location of workpiece.
Further, between described base and the platen of frame, be also provided with a base plate, the upper surface of base plate is provided with X-axis guide rail, and the lower surface of base plate is provided with Y-axis guide groove; The bottom surface of described base is provided with X-axis guide groove, and this X-axis guide groove is fastened on the X-axis guide rail of base plate, is provided with for promoting base at the X-direction X-axis motor of translation back and forth between base and base plate; The end face of described platen is provided with Y-axis guide rail, and the Y-axis guide groove of base plate is fastened on this Y-axis guide rail, is provided with for promoting base plate at the Y-direction y-axis motor of translation back and forth between platen and base plate.
As mentioned above, base of the present utility model position on platen can be adjusted flexibly, thereby base can be positioned to two optimum positions between station, simplifies motor pattern, thereby improves the operating efficiency of manipulator; By a swing case is set, can make this robot device do significantly to swing, space is large, flexible movements, thereby accuracy and the sensitivity that can improve this robot device.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of a kind of four axis robot devices of the utility model;
Fig. 2 is the side view of a kind of four axis robot devices of the utility model;
Fig. 3 is the internal structure schematic diagram of swing case of the present utility model.
Wherein: 110, platen; 111, Y-axis guide rail; 30, four axis robot devices; 31, base; 311, X-axis guide groove; 312, main shaft; 32, base plate; 321, X-axis guide rail; 322, Y-axis guide groove; 323, X-axis motor; 33, swing case; 331, fine setting motor; 332, the first cylinder; 34, elevating lever; 341, contiguous block; 342, projection; 35, the first sucker; 80, glue hook.
The specific embodiment
Below, by reference to the accompanying drawings and the specific embodiment, the utility model is described further:
Refer to Fig. 1 to Fig. 3, the utility model provides a kind of four axis robot devices 30, and it is installed on the platen 110 of frame, and for workpiece is shifted between two stations, specifically in the present embodiment, this workpiece is glue hook 80, and it is the sheet with hanging hole; Described two stations are respectively de-mark station and labeling station.
Described four axis robot devices 30 are provided with a base 31 of (being platen 110 place planes) translation planar, particularly, between described base 31 and the platen 110 of frame, be also provided with a base plate 32, the upper surface of base plate 32 is provided with X-axis guide rail 321, and the lower surface of base plate 32 is provided with Y-axis guide groove 322; The bottom surface of described base 31 is provided with X-axis guide groove 311, and this X-axis guide groove 311 is fastened on the X-axis guide rail 321 of base plate 32, is provided with for promoting base 31 at the X-direction X-axis motor 323 of translation back and forth between base 31 and base plate 32; The end face of described platen 110 is provided with Y-axis guide rail 111, this Y-axis guide rail 111 extends to four axis robot device 30 belows, the Y-axis guide groove 322 of base plate 32 is fastened on this Y-axis guide rail 111, is provided with for promoting base plate 32 in the Y-direction y-axis motor (not shown) of translation back and forth between platen 110 and base plate 32; By this, can realize this base 31 in 110 of the platens object of free shift planar, in use, can this base 31 be fixed on to an optimum position on platen 110 according to actual conditions, simplify motor pattern, make this four axis robot device 30 with the most rationally, mode is transferred to labeling station by glue hook 80 from de-mark station easily; Be worth mentioning, described X-axis motor 323 and y-axis motor can be stepper motor or servomotor, depending on specific requirement, select.
Described base 31 is provided with a main shaft 312, and the top of main shaft 312 is articulated with a swing case 33, and this main shaft 312 can drive and swing case 33 and realize 90 ° of horizontal huntings, and pendulum is during to 0 ° and 90 °, and length direction of this swing case 33 is just respectively over against two work bit positions; Swing case 33 is provided with an elevating lever 34 away from one end of main shaft 312, and the bottom of this elevating lever 34 is provided with for drawing and unloads the first sucker 35 of putting glue hook 80; As from the foregoing, this robot device significantly swinging, space is large, flexible movements, than the narrow and small space of conventional robot, this setting can improve accuracy and the sensitivity of this robot device.
Particularly, described swing case 33 is rectangular box-like, and the inside that swings case 33 is provided with a fine setting motor 331 and one first cylinder 332, described fine setting motor 331 is installed in and swings the interior side near main shaft 312 of case 33, and this fine setting motor 331 connects by belt transmission with described elevating lever 34, and it is for controlling elevating lever 34 rotations, described the first cylinder 332 is installed in elevating lever 34 tops, for controlling elevating lever 34, moves up and down, the motion of this four axis robot device 30 between described two stations mainly relies on swing case 33 half-twist angles to realize, and work as the glue hook strip of processing, comprise in the situation of two row or multiple row glue hook 80, it is slightly different that described the first sucker 35 front and back are drawn the position of glue hook 80 for twice, have a low-angle difference, now, just need to finely tune motor 331 drives described elevating lever 34 to carry out small angle rotation, thereby guarantee that the first sucker 35 can be adsorbed in the centre position of glue hook 80 each time exactly, and then guarantee the stability of labeling action and the accuracy of guaranteeing glue hook 80 paste positions.
Particularly, the bottom of described elevating lever 34 is also provided with a contiguous block 341, and the bottom of this contiguous block 341 is protruded and extended to form projection 342 to a side, and described the first sucker 35 is installed in the bottom surface of this projection 342; When carrying out the action of glue hook 80 stickups, rotation and lifting bar 34, makes this projection 342 towards described labeling station, and this mechanism design is conducive to carrying out smoothly of labeling.
As further improvement, described projection 342 bottom surfaces are also provided with sighting device (not shown), it is taken for the cursor position that goes out to glue hook 80, especially, the in the situation that of glue hook 80 bid malposition, the shift position of this four axis robot device 30 of auxiliary capable of regulating by this sighting device, described the first sucker 35 is moved to over against the optimum position of glue hook 80, thereby guarantee that described the first sucker 35 can accurately draw the centre place at glue hook 80, and then guarantee to stablize, draw exactly glue hook 80, and stable, glue hook 80 exactly.
In sum, base 31 of the present utility model position on platen 110 can be adjusted flexibly, thereby base 31 can be positioned to two optimum positions between station, simplifies motor pattern, thereby improves the operating efficiency of manipulator; By a swing case 33 is set, can make this robot device do significantly to swing, space is large, flexible movements, thereby accuracy and the sensitivity that can improve this robot device.
To one skilled in the art; can be according to technical scheme described above and design; make other various corresponding changes and deformation; and within these all changes and deformation all should belong to the protection domain of the utility model claim; such as; the utility model is not merely defined in glue is hooked between two stations and is shifted, and other the branch problem between two stations by a workpiece, is all covered by the protection domain of the technical scheme the utility model proposes.
Claims (5)
1. an axis robot device, be installed on the platen of frame, for glue hook is transferred to different stations, it is characterized in that: comprise a base for translation planar, base is provided with a main shaft, the top of main shaft is articulated with a swing case, and swing case is provided with an elevating lever away from one end of main shaft, and the bottom of this elevating lever is provided with for drawing and unloads the first sucker of putting glue hook.
2. four axis robot devices as claimed in claim 1, is characterized in that: described swing case inside is provided with a fine setting motor and a lift cylinder; Described fine setting motor is installed in a side that swings close main shaft in case, and this fine setting motor connects by belt transmission with described elevating lever, for controlling elevating lever rotation; Described lift cylinder is installed in elevating lever top, for controlling elevating lever, moves up and down.
3. four axis robot devices as claimed in claim 1, is characterized in that: the bottom of described elevating lever is also provided with a contiguous block, and the bottom of this contiguous block is protruded and extended to form a projection to a side, and described the first sucker is installed in the bottom surface of this projection.
4. four axis robot devices as claimed in claim 3, is characterized in that: the bottom surface of described projection is also provided with for taking the sighting device of the location of workpiece.
5. four axis robot devices as claimed in claim 1, is characterized in that: between described base and the platen of frame, be also provided with a base plate, the upper surface of base plate is provided with X-axis guide rail, and the lower surface of base plate is provided with Y-axis guide groove; The bottom surface of described base is provided with X-axis guide groove, and this X-axis guide groove is fastened on the X-axis guide rail of base plate, is provided with for promoting base at the X-direction X-axis motor of translation back and forth between base and base plate; The end face of described platen is provided with Y-axis guide rail, and the Y-axis guide groove of base plate is fastened on this Y-axis guide rail, is provided with for promoting base plate at the Y-direction y-axis motor of translation back and forth between platen and base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420426775.0U CN203973536U (en) | 2014-07-30 | 2014-07-30 | A kind of four axis robot devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420426775.0U CN203973536U (en) | 2014-07-30 | 2014-07-30 | A kind of four axis robot devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203973536U true CN203973536U (en) | 2014-12-03 |
Family
ID=51971019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420426775.0U Expired - Lifetime CN203973536U (en) | 2014-07-30 | 2014-07-30 | A kind of four axis robot devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203973536U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000366A (en) * | 2015-07-02 | 2015-10-28 | 邹海英 | LED chip carrying device |
| CN105000380A (en) * | 2015-07-02 | 2015-10-28 | 邹海英 | Z-axis approaching mechanism |
| CN105235200A (en) * | 2015-10-27 | 2016-01-13 | 宁波申洲针织有限公司 | Processing device of hot melting single-face glue piece for zipper pocket opening decoration |
| CN105922284A (en) * | 2016-06-30 | 2016-09-07 | 河北科技大学 | Special terminal operator for circular steel end surface labeling parallel robot |
| CN111186171A (en) * | 2020-03-05 | 2020-05-22 | 深圳市旺盈彩盒纸品有限公司 | A rigging equipment for various box and couple |
-
2014
- 2014-07-30 CN CN201420426775.0U patent/CN203973536U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000366A (en) * | 2015-07-02 | 2015-10-28 | 邹海英 | LED chip carrying device |
| CN105000380A (en) * | 2015-07-02 | 2015-10-28 | 邹海英 | Z-axis approaching mechanism |
| CN105000366B (en) * | 2015-07-02 | 2017-07-28 | 邹海英 | LED chip handling device |
| CN105235200A (en) * | 2015-10-27 | 2016-01-13 | 宁波申洲针织有限公司 | Processing device of hot melting single-face glue piece for zipper pocket opening decoration |
| CN105235200B (en) * | 2015-10-27 | 2017-08-25 | 宁波申洲针织有限公司 | A kind of ornamental hot melt one side glue plate machining device of slide fastener sack |
| CN105922284A (en) * | 2016-06-30 | 2016-09-07 | 河北科技大学 | Special terminal operator for circular steel end surface labeling parallel robot |
| CN105922284B (en) * | 2016-06-30 | 2017-11-14 | 河北科技大学 | Round steel end face labels the special end-effector of parallel robot |
| CN111186171A (en) * | 2020-03-05 | 2020-05-22 | 深圳市旺盈彩盒纸品有限公司 | A rigging equipment for various box and couple |
| CN111186171B (en) * | 2020-03-05 | 2024-05-28 | 深圳市旺盈彩盒纸品有限公司 | Assembly equipment for color box and hook |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: GUANGZHOU SUPERSONIC AUTOMATION TECHNOLOGY CO., LT Free format text: FORMER NAME: GUANGZHOU SUPERSONIC AUTOMATION TECHNOLOGY LTD. |
|
| CP03 | Change of name, title or address |
Address after: 510000 Guangdong city of Guangzhou province Panyu District Shi Ji Zhen Jin Shan Cun CRE Animation Industrial Park building B10 Patentee after: GUANGZHOU SUPERSONIC AUTOMATION TECHNOLOGY Co.,Ltd. Address before: 510006 Guangdong city of Guangzhou province Panyu District Xiaoguwei Street West Outer Ring Road No. 100 room 311 Hall of science Guangdong University of Technology Patentee before: GUANGZHOU SUPERSONIC AUTOMATION TECHNOLOGY CO.,LTD. |
|
| CP03 | Change of name, title or address |
Address after: 511400 building B10, Huachuang Animation Industrial Park, Jinshan Village, Shiji Town, Panyu District, Guangzhou City, Guangdong Province Patentee after: Supersonic Artificial Intelligence Technology Co.,Ltd. Address before: 510000 building B10, Huachuang Animation Industrial Park, Jinshan Village, Shiji Town, Panyu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU SUPERSONIC AUTOMATION TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141203 |
|
| CX01 | Expiry of patent term |