CN205361813U - Fat liquoring industrial robot - Google Patents
Fat liquoring industrial robot Download PDFInfo
- Publication number
- CN205361813U CN205361813U CN201521024954.2U CN201521024954U CN205361813U CN 205361813 U CN205361813 U CN 205361813U CN 201521024954 U CN201521024954 U CN 201521024954U CN 205361813 U CN205361813 U CN 205361813U
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- oiling
- crane
- conveyer belt
- placing device
- suction cup
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Abstract
The utility model provides a fat liquoring industrial robot, includes that frame, transfer gantry, left conveyer belt, oiling station, right conveyer belt, crane, translation frame, left article are got and puts device and right article and get and put the device, the transfer gantry is installed in the frame, and left conveyer belt, oiling station and right conveyer belt are installed on the transfer gantry from a left side to the right side in proper order, being equipped with the elevating system that can drive the crane and go up and down in the frame, being equipped with the translation mechanism that can drive the left right translation of translation frame on the crane, left conveyer belt, oiling station and right conveyer belt all are in translation frame below, left side article are got and are put the device and install at translation frame left end, and right article are got and are put the device and install at translation frame right -hand member. The utility model discloses collecting and removing article and in article oil -coated function in an organic whole on the surface, its function is equivalent to among the prior art combination of two manipulators and oiling station, and the structure is more simple compact, easy control.
Description
Technical field
This utility model relates to industrial robot, is specifically related to a kind of oiling industrial robot.
Background technology
Mechanical hand is generally used for taking out article from a certain position, then article are delivered to release behind target location, thus realizing the movement of article.Some sheet article in process of production, after need to being coated with last layer lubricating oil in its surface, then delivers to next procedure.In order to realize above-mentioned oiling operation, generally need to configure the first mechanical hand, oiling station and the second mechanical hand, article are taken out from the article outgoing position of last process by the first mechanical hand, and it is placed into the article input position of oiling station, article carry out after oiling through oiling station, from the article outgoing position of oiling station, article are taken out by the second mechanical hand again, then be placed into the article input position of next procedure.So, need to configuring separate two mechanical hand and oiling station, structure is compact not, takies larger space, controls also complex, and increases equipment cost.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of oiling industrial robot, this oiling industrial robot integrate mobile article and on article surface the function of oiling, simple and compact for structure.The technical scheme adopted is as follows:
A kind of oiling industrial robot, it is characterised in that include frame, transfer gantry, left conveyer belt, oiling station, right conveyer belt, crane, pan carriage, left item taking-placing device and right item taking-placing device；Transfer gantry is arranged in frame, and left conveyer belt, oiling station and right conveyer belt are sequentially arranged on transfer gantry from left to right；Being provided with driving the elevating mechanism of crane lifting in frame, crane is provided with drive the translation mechanism of translation about pan carriage, left conveyer belt, oiling station and right conveyer belt are all in below pan carriage；Left item taking-placing device is arranged on pan carriage left end, and right item taking-placing device is arranged on pan carriage right-hand member.
In above-mentioned oiling industrial robot, elevating mechanism can drive crane, translation mechanism, pan carriage, left item taking-placing device to rise or fall certain altitude together with right item taking-placing device.Translation mechanism can drive pan carriage, left item taking-placing device to left or to right translation certain distance together with right item taking-placing device, left item taking-placing device and right item taking-placing device synchronizing moving.Combination by elevating mechanism and translation mechanism, the position of left item taking-placing device and right item taking-placing device can be changed simultaneously, so, when left item taking-placing device from the article outgoing position of last process by until oiling article take out time, right item taking-placing device can take out the article through oiling station oiling from right conveyer belt；When left item taking-placing device is by when being placed on left conveyer belt until the article of oiling, the article through oiling can be placed into the article input position of next procedure by right item taking-placing device.
Above-mentioned frame can be provided with the height adjustment mechanism for regulating transfer gantry height and position (such as, height adjustment mechanism includes vertical screw rod and adjusting nut, vertical screw rod upper end is connected with transfer gantry, adjusting nut may be rotatably mounted in frame, adjusting nut engages with vertical screw rod, by rotating adjusting nut, the i.e. height and position of scalable transfer gantry).In preferred version, being provided with multiple guide upright post moved towards up and down bottom above-mentioned transfer gantry, frame is provided with multiple fairlead, and guide upright post is identical with fairlead quantity and one_to_one corresponding, and guide upright post is in fairlead.Guide upright post coordinates with fairlead, and bootable transfer gantry smoothly lifts.
In preferred version, above-mentioned elevating mechanism includes lifting motor and lifting screw, lifting screw may be rotatably mounted in frame, lifting screw is for move towards up and down, lifting motor is fixedly mounted in frame, the power output shaft of lifting motor and lifting screw one end are in transmission connection (power output shaft of lifting motor is in transmission connection with lifting screw lower end usually by gear train or tape handler etc.), and crane is provided with the nut or screw that are meshed with lifting screw.Above-mentioned lifting motor generally adopts servomotor.
More preferably in scheme, above-mentioned frame is provided with the riser guide moved towards up and down, and crane is provided with the lifting slider being slidably matched with riser guide, and by coordinating of lifting slider and riser guide, bootable crane more smoothly lifts.
In preferred version, above-mentioned translation mechanism includes translation motor, driving pulley, driven pulley and transmission band, driving pulley, driven pulley all may be rotatably mounted on crane, driving pulley, driven pulley are jointly by transmission band tensioning, two straightways of transmission band are left and right trend, translation motor is fixedly mounted on crane, and the power output shaft of translation motor and driving pulley are in transmission connection；Pan carriage is fixing with a straightway of transmission band to be connected.Preferred above-mentioned transmission band is Timing Belt, and driving pulley, driven pulley are the synchronous pulley matched with transmission band.Translation motor generally adopts servomotor.
More preferably in scheme, above-mentioned crane is provided with the horizontal guide rail of left and right trend, and crane is provided with the second slide block being slidably matched with horizontal guide rail, and by coordinating of the second slide block and horizontal guide rail, bootable pan carriage more smoothly translates.
In preferred version, above-mentioned left item taking-placing device includes left arm, left suction cup carrier and the multiple left sucker being located in left suction cup carrier, and left suction cup carrier is connected with left arm, and left arm is connected with pan carriage left end；Right item taking-placing device includes right arm, right suction cup carrier and the multiple right sucker being located in right suction cup carrier, and right suction cup carrier is connected with right arm, and right arm is connected with pan carriage right-hand member.More preferably the link position adjustable of the link position adjustable of above-mentioned left arm and pan carriage left end, right arm and pan carriage right-hand member.
Above-mentioned left item taking-placing device, right item taking-placing device may be used without clamping device, and clamping device can clamp, unclamp article, it is achieved picking and placeing of article.
Generally, it is provided with position limiting structure (such as multiple spacing columns) on the right side of above-mentioned right conveyer belt, when making article move to right conveyer belt right-hand member, is maintained at this position, in order to right item taking-placing device position is drawn off exactly.
In this utility model, combination by elevating mechanism and translation mechanism, change left item taking-placing device and the position of right item taking-placing device simultaneously, wherein the article treating oiling of the output of last process are placed on left conveyer belt by left item taking-placing device, article are delivered to by left conveyer belt and are arrived on right conveyer belt after oiling station carries out oiling, right item taking-placing device takes out from right conveyer belt through the article of oiling and is placed into the article input position of next procedure, as can be seen here, this utility model integrate mobile article and on article surface the function of oiling, its function is equivalent to the combination of two mechanical hands and oiling station in prior art, and structure is more simply compact, easily controllable.
Accompanying drawing explanation
Fig. 1 is the structural representation (axonometric chart) of this utility model preferred embodiment；
Fig. 2 is the axonometric chart of another angle of oiling industrial robot shown in Fig. 1；
Fig. 3 is the front view of oiling industrial robot shown in Fig. 1.
Detailed description of the invention
As shown in Figure 1-Figure 3, this oiling industrial robot includes frame 1, transfer gantry 2, left conveyer belt 3, oiling station 4, right conveyer belt 5, crane 6, pan carriage 7, left item taking-placing device 8 and right item taking-placing device 9；Transfer gantry 2 is arranged in frame 1, and left conveyer belt 3, oiling station 4 and right conveyer belt 5 are sequentially arranged on transfer gantry 2 from left to right；Being provided with driving the elevating mechanism of crane 6 lifting in frame 1, crane 6 is provided with drive the translation mechanism of pan carriage about 7 translation, left conveyer belt 3, oiling station 4 and right conveyer belt 5 are all in below pan carriage 7；Left item taking-placing device 8 is arranged on pan carriage 7 left end, and right item taking-placing device 9 is arranged on pan carriage 7 right-hand member.
Frame 1 can be provided with the height adjustment mechanism for regulating transfer gantry 2 height and position (such as, height adjustment mechanism includes vertical screw rod and adjusting nut, vertical screw rod upper end is connected with transfer gantry, adjusting nut may be rotatably mounted in frame, adjusting nut engages with vertical screw rod, by rotating adjusting nut, the i.e. height and position of scalable transfer gantry).In the present embodiment, being provided with multiple guide upright post 10 moved towards up and down bottom transfer gantry 2, frame 1 is provided with multiple fairlead 11, guide upright post 10 identical with fairlead 11 quantity (as being four) and one_to_one corresponding, and guide upright post 10 is in fairlead 11.
In the present embodiment, elevating mechanism includes lifting motor 12 and lifting screw 13, lifting screw 13 may be rotatably mounted in frame 1, lifting screw 13 is for move towards up and down, lifting motor 12 is fixedly mounted in frame 1, the power output shaft of lifting motor 12 and lifting screw 13 one end are in transmission connection (power output shaft of lifting motor 12 can be in transmission connection with lifting screw 13 lower end by gear train or tape handler etc.), and crane 6 is provided with the nut 14 being meshed with lifting screw 13.Lifting motor 12 adopts servomotor.Frame 1 is provided with the riser guide 15 moved towards up and down, and crane 6 is provided with the lifting slider 16 being slidably matched with riser guide 15, and by coordinating of lifting slider 16 and riser guide 15, bootable crane 6 smoothly lifts.
In the present embodiment, translation mechanism includes translation motor 17, driving pulley 18, driven pulley 19 and transmission band 20, driving pulley 18, driven pulley 19 all may be rotatably mounted on crane 6, driving pulley 18, driven pulley 19 are common by transmission band 20 tensioning, transmission is left and right trend with two straightways of 20, translation motor 17 is fixedly mounted on crane 6, and the power output shaft of translation motor 17 and driving pulley 18 are in transmission connection；Pan carriage 7 and transmission fixing are connected with a straightway of 20.Transmission band 20 is Timing Belt, and driving pulley 18, driven pulley 19 are with 20 synchronous pulleys matched with transmission.Translation motor 17 adopts servomotor.Can being provided with the horizontal guide rail of left and right trend on crane 6, crane 7 can be provided with the second slide block being slidably matched with horizontal guide rail, by coordinating of the second slide block and horizontal guide rail, bootable pan carriage 7 smoothly translates.
In the present embodiment, pan carriage 7 includes a stripe board 71, and the length direction of this stripe board 71 is left and right directions.
In the present embodiment, left item taking-placing device 8 includes left arm 81, left suction cup carrier 82 and the multiple left sucker 83 being located in left suction cup carrier 82, left suction cup carrier 82 is connected with left arm 81, and left arm 81 is connected (in the present embodiment, left arm 81 is connected) with stripe board 71 left end with pan carriage 7 left end；Right item taking-placing device 9 includes right arm 91, right suction cup carrier 92 and the multiple right sucker 93 being located in right suction cup carrier 92, right suction cup carrier 92 is connected with right arm 91, and right arm 91 is connected (in the present embodiment, right arm 91 is connected) with stripe board 71 right-hand member with pan carriage 7 right-hand member.The link position adjustable of preferred left arm 81 and stripe board 71 left end, the link position adjustable of right arm 91 and stripe board 71 right-hand member.
Position limiting structure (such as multiple spacing columns) can be provided with on the right side of right conveyer belt 5, make article be maintained at this position when moving to right conveyer belt 5 right-hand member, in order to right item taking-placing device 9 position is drawn off exactly.
Above-mentioned left conveyer belt 3, oiling station 4(oiling station include upper oiling cylinder and the lower oiling cylinder that one or more pairs of (such as two pairs) coordinates in pairs, wherein descend oiling cylinder and drum drive to be in transmission connection, rotate under the drive of drum drive；When sheet article is between upper oiling cylinder and lower oiling cylinder, its surface is coated with oil, is transmitted to the right simultaneously), right conveyer belt 5 all can adopt prior art, be not described in more detail at this.
The operation principle of the brief description industrial robot of this oiling once:
In this oiling industrial robot, when the power output shaft of lifting motor 12 rotates, driving lifting screw 13 to rotate, lifting screw 13 drives nut 14, crane 6, translation mechanism, pan carriage 7, left item taking-placing device 8 to rise or fall certain altitude together with right item taking-placing device 9.When the power output shaft of translation motor 17 rotates, drive pan carriage 7, left item taking-placing device 8 to left or to right translation certain distance together with right item taking-placing device 9 by driving pulley 18, transmission band 20.
The article (sheet article) treating oiling of the output of last process are placed on left conveyer belt 3 by left item taking-placing device 8, article are delivered to by left conveyer belt 3 and are arrived on right conveyer belt 5 after oiling station 4 carries out oiling, and right item taking-placing device 9 takes out from right conveyer belt 5 through the article of oiling and is placed into the article input position of next procedure.
Combination of actions by lifting motor 12 and translation motor 17, the position of left item taking-placing device 8 and right item taking-placing device 9 can be changed simultaneously, particularly as follows: left item taking-placing device 8, right item taking-placing device 9 are in relevant position, the left side together, then in the driving of lifting motor 12, next plays decline, left item taking-placing device 8 holds the article treating oiling on the article outgoing position of last process, and right item taking-placing device 9 holds the article on right conveyer belt 5 through oiling station oiling simultaneously；Subsequently, under the driving of lifting motor 12, pan carriage 7, left item taking-placing device 8 and the article held thereof, its article held of right item taking-placing device 9 rise together, are mentioned by article；Subsequently, translation motor 17 drives pan carriage 7, left item taking-placing device 8 and the article held thereof, right item taking-placing device 9 and the article that hold thereof together to right translation；Move drives next to play decline at lifting motor 12 again to relevant position, the right, and the article treating oiling are placed on left conveyer belt 3 by left item taking-placing device 8, and the article through oiling are placed into the article input position of next procedure by right item taking-placing device 9 simultaneously；Subsequently under the driving of lifting motor 12, pan carriage 7, left item taking-placing device 8 rise together with right item taking-placing device 9；Then, under the driving of translation motor 17, pan carriage 7, left item taking-placing device 8 to left, return back to initial position together with right item taking-placing device 9, carry out next round work.
In other embodiments, left item taking-placing device, right item taking-placing device may be used without clamping device, and clamping device can clamp, unclamp article, it is achieved picking and placeing of article.
Claims (10)
1. an oiling industrial robot, it is characterised in that include frame, transfer gantry, left conveyer belt, oiling station, right conveyer belt, crane, pan carriage, left item taking-placing device and right item taking-placing device；Transfer gantry is arranged in frame, and left conveyer belt, oiling station and right conveyer belt are sequentially arranged on transfer gantry from left to right；Being provided with driving the elevating mechanism of crane lifting in frame, crane is provided with drive the translation mechanism of translation about pan carriage, left conveyer belt, oiling station and right conveyer belt are all in below pan carriage；Left item taking-placing device is arranged on pan carriage left end, and right item taking-placing device is arranged on pan carriage right-hand member.
2. oiling industrial robot according to claim 1, it is characterized in that: described elevating mechanism includes lifting motor and lifting screw, lifting screw may be rotatably mounted in frame, lifting screw is for move towards up and down, lifting motor is fixedly mounted in frame, the power output shaft of lifting motor and lifting screw one end are in transmission connection, and crane is provided with the nut or screw that are meshed with lifting screw.
3. oiling industrial robot according to claim 2, is characterized in that: described lifting motor is servomotor.
4. oiling industrial robot according to claim 2, is characterized in that: described frame is provided with the riser guide moved towards up and down, crane is provided with the lifting slider being slidably matched with riser guide.
5. the oiling industrial robot according to any one of claim 1-4, it is characterized in that: described translation mechanism includes translation motor, driving pulley, driven pulley and transmission band, driving pulley, driven pulley all may be rotatably mounted on crane, driving pulley, driven pulley are jointly by transmission band tensioning, two straightways of transmission band are left and right trend, translation motor is fixedly mounted on crane, and the power output shaft of translation motor and driving pulley are in transmission connection；Pan carriage is fixing with a straightway of transmission band to be connected.
6. oiling industrial robot according to claim 5, is characterized in that: described transmission band is Timing Belt, and driving pulley, driven pulley are the synchronous pulley matched with transmission band.
7. oiling industrial robot according to claim 5, is characterized in that: described translation motor is servomotor.
8. oiling industrial robot according to claim 5, is characterized in that: described crane is provided with the horizontal guide rail of left and right trend, and crane is provided with the second slide block being slidably matched with horizontal guide rail.
9. the oiling industrial robot according to any one of claim 1-4, it is characterized in that: described left item taking-placing device includes left arm, left suction cup carrier and the multiple left sucker being located in left suction cup carrier, left suction cup carrier is connected with left arm, and left arm is connected with pan carriage left end；Right item taking-placing device includes right arm, right suction cup carrier and the multiple right sucker being located in right suction cup carrier, and right suction cup carrier is connected with right arm, and right arm is connected with pan carriage right-hand member.
10. oiling industrial robot according to claim 5, is characterized in that: described left item taking-placing device includes left arm, left suction cup carrier and the multiple left sucker being located in left suction cup carrier, and left suction cup carrier is connected with left arm, and left arm is connected with pan carriage left end；Right item taking-placing device includes right arm, right suction cup carrier and the multiple right sucker being located in right suction cup carrier, and right suction cup carrier is connected with right arm, and right arm is connected with pan carriage right-hand member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521024954.2U CN205361813U (en) | 2015-12-11 | 2015-12-11 | Fat liquoring industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521024954.2U CN205361813U (en) | 2015-12-11 | 2015-12-11 | Fat liquoring industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205361813U true CN205361813U (en) | 2016-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521024954.2U Active CN205361813U (en) | 2015-12-11 | 2015-12-11 | Fat liquoring industrial robot |
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| CN (1) | CN205361813U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109127293A (en) * | 2018-10-31 | 2019-01-04 | 余姚市亿荣自动化科技有限公司 | A kind of automatic oiling assembly system and its oiling assembly method for robot |
-
2015
- 2015-12-11 CN CN201521024954.2U patent/CN205361813U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109127293A (en) * | 2018-10-31 | 2019-01-04 | 余姚市亿荣自动化科技有限公司 | A kind of automatic oiling assembly system and its oiling assembly method for robot |
| CN109127293B (en) * | 2018-10-31 | 2023-09-19 | 宁波亿荣自动化科技有限公司 | Automatic oiling assembly system for robot and oiling assembly method thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee after: SHANTOU YUJIAXING ROBOT TECHNOLOGY CO.,LTD. Address before: 515000 Shantou, Guangdong, Jinping District, Qishan Street cellar Road, No. 13 Patentee before: SHANTOU YUJIAXING AUTOMATION EQUIPMENT Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee after: Guangdong yujiaxing Robot Technology Co.,Ltd. Address before: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee before: SHANTOU YUJIAXING ROBOT TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No.8-8, lianfengfu Road, Huilian street, Jinping District, Shantou City, Guangdong Province Patentee after: Guangdong yujiaxing Technology Co.,Ltd. Address before: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee before: Guangdong yujiaxing Robot Technology Co.,Ltd. |