CN205799490U - A kind of for carrying the conveying robot accommodating box - Google Patents
A kind of for carrying the conveying robot accommodating box Download PDFInfo
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- CN205799490U CN205799490U CN201620562133.2U CN201620562133U CN205799490U CN 205799490 U CN205799490 U CN 205799490U CN 201620562133 U CN201620562133 U CN 201620562133U CN 205799490 U CN205799490 U CN 205799490U
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- linear module
- conveying robot
- horizontal linear
- guide rail
- line
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Abstract
A kind of for carrying the conveying robot accommodating box, including frame, the linear module of conveying robot, conveying robot drag chain fixes panel beating, conveying robot drag chain and handling machinery pawl, in handling machinery pawl, left hand is fixed on pedestal, the right hand is oppositely arranged with left hand, left hand be respectively provided with in the middle part of the opposite face of the right hand for the protruding screw rod that mate of groove accommodating box and for detecting whether there is the photoelectric sensor of receiving box, the right hand is arranged on line of motion guide rail, line of motion guide rail is sleeved on fixing line slideway slidably, fixing line slideway is fixed on pedestal, the motion end of clamping cylinder is connected with line of motion guide rail, the direction of motion front of line of motion guide rail arranges buffer, clamping cylinder and buffer are arranged on pedestal.This utility model is effectively applicable to the soft or processing workpiece of lamellar, time saving and energy saving, work efficiency is higher, cost is relatively low.
Description
Technical field
This utility model relates to a kind of conveying robot, particularly relates to a kind of drill mill intelligent memory system micro-with PCB and joins
The conveying robot that set uses.
Background technology
At present, in automated production equipment, utilize mechanical hand to realize carrying very universal, and use the most extensive, but
On market, existing mechanical hand is all to utilize frame for movement, such as claw-type structure, is picked up by processing workpiece, realizes carrying, the most right
In the soft or processing workpiece of lamellar, such as PCB micro-drill mill intelligent memory system, use the receiving that flexible steel plate material is made
Box, if using existing mechanical hand easily to cause damage, finally affecting product quality, and accommodating up and down in handling process
Box is difficult to align, and can only be operated by staff, the most time-consuming but also take a lot of work, and adds production cost.
Summary of the invention
In order to overcome prior art conveying robot to be not applied for the soft or processing workpiece of lamellar, waste time and energy, become
This highest deficiency, this utility model provides and a kind of is effectively applicable to soft or the processing workpiece of lamellar, time saving and energy saving, work
Efficiency is higher, lower-cost for carrying the conveying robot accommodating box.
This utility model solves its technical problem and be the technical scheme is that
A kind of for carrying the conveying robot accommodating box, including frame, the linear module of conveying robot, conveying robot
Drag chain fixes panel beating, conveying robot drag chain and handling machinery pawl, and described handling machinery pawl is arranged on described handling machinery hand line
On property module, the linear module of described conveying robot is fixed in frame, and described conveying robot drag chain is arranged on handling machinery
Hands drag chain is fixed on panel beating, and described handling machinery pawl includes left hand, line of motion guide rail, fixing line slideway, the right hand, photoelectricity
Sensor, protruding screw rod, pedestal, buffer and clamping cylinder, described left hand is fixed on pedestal, and the described right hand is relative with left hand
Arrange, described left hand be respectively provided with in the middle part of the opposite face of the right hand for the protruding screw rod that mates of groove with receiving box with for examining
Surveying and whether have the photoelectric sensor accommodating box, the described right hand is arranged on line of motion guide rail, and described line of motion guide rail can be slided
Being sleeved on fixing line slideway, described fixing line slideway is fixed on pedestal dynamicly, the motion end of described clamping cylinder with
Described line of motion guide rail connects, and the direction of motion front of described line of motion guide rail arranges buffer, described clamping cylinder and
Buffer is arranged on pedestal.
Further, the linear module of described conveying robot includes the first horizontal linear module, the second horizontal linear module, indulges
To linear module, control horizontal linear module horizontal servomotor and the servo longitudinal motor of control vertical linear module, institute
State the first horizontal linear module, the second horizontal linear module is arranged in parallel, the slide block of the first horizontal linear module or second horizontal
The linear slide block of module is connected with the translation motion end of described horizontal servomotor, and the two ends of described vertical linear module connect respectively
Be connected on the slide block of the slide block of the first horizontal linear module, the second horizontal linear module, the slide block of described vertical linear module with
The translation motion end of described servo longitudinal motor connects, the slide block of described vertical linear module and the pedestal of described handling machinery pawl
Fixing connection.
Preferably, connected by shaft coupling between described first horizontal linear module, the second horizontal linear module.
Further, the right-hand member initial position of described horizontal linear module arranges the right sensor of horizontal linear module, described
The leftmost terminal position of horizontal linear module arranges the left sensor of horizontal linear module；The lower end of described vertical linear module is initial
Position arranges vertical linear module lower sensor, and the upper end final position of described vertical linear module is arranged on vertical linear module
Sensor.
The beneficial effects of the utility model are mainly manifested in: be effectively applicable to the soft or processing workpiece of lamellar, the most certainly
Move receiving box consistency from top to bottom operation, time saving and energy saving, work efficiency is higher, cost is relatively low.
Accompanying drawing explanation
Fig. 1 is that conveying robot entirety of the present utility model carries space frame schematic diagram.
Fig. 2 is linear module front view of the present utility model.
Fig. 3 is the side view of Fig. 2.
Fig. 4 is conveying robot front view of the present utility model and top view.
Fig. 5 is the top view of Fig. 4.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is further described.
With reference to Fig. 1 ~ Fig. 5, a kind of for carrying the conveying robot accommodating box, including frame 1, the linear mould of conveying robot
Group 2, conveying robot drag chain fix panel beating, conveying robot drag chain and handling machinery pawl 7, and described handling machinery pawl 7 is arranged on
On the linear module of described conveying robot 2, the linear module of described conveying robot 2 is fixed in frame 1, described conveying robot
Drag chain is arranged on conveying robot drag chain and fixes on panel beating, and described handling machinery pawl includes left hand 19, line of motion guide rail 20, consolidates
Boning out guide rail 21, the right hand 22, photoelectric sensor 23, protruding screw rod 24, pedestal 25, buffer 27 and clamping cylinder 28, described
Left hand 19 is fixed on pedestal 25, and the described right hand 22 is oppositely arranged with left hand 19, in the opposite face of described left hand 19 and the right hand 22
Portion is respectively provided with the protruding screw rod 24 for mating with the groove accommodating box and for detecting whether has the photoelectric sensor accommodating box
23, the described right hand 22 is arranged on line of motion guide rail 20, and described line of motion guide rail 20 is sleeved on fixing straight line slidably
On guide rail 21, described fixing line slideway 21 is fixed on pedestal 25, and the motion end of described clamping cylinder 28 is straight with described motion
Line guide rail 20 connects, and the direction of motion front of described line of motion guide rail 20 arranges buffer 27, and described clamping cylinder 28 eases up
Rush device 27 to be arranged on pedestal 25.
Further, the linear module of described conveying robot includes first horizontal linear module the 11, second horizontal linear module
16, the longitudinal direction of vertical linear module 14, the horizontal servomotor 13 controlling horizontal linear module and control vertical linear module is watched
Taking motor 15, described first horizontal linear module, 11 second horizontal linear modules 16 are arranged in parallel, the first horizontal linear module 11
Slide block or the translation motion end of slide block and described horizontal servo electricity 13 machines of the second horizontal linear module 16 be connected, described longitudinal direction
The two ends of linear module 14 are connected to the slide block of the first horizontal linear module 11, the slide block of the second horizontal linear module 16
On, the slide block of described vertical linear module 14 is connected with the translation motion end of described servo longitudinal motor 15, described vertical linear
The slide block of module 14 is fixing with the pedestal of described handling machinery pawl 7 to be connected.
Preferably, connected by shaft coupling 12 between described first horizontal linear module the 11, second horizontal linear module 16.
Further, the right-hand member initial position of described horizontal linear module arranges the right sensor of horizontal linear module 9, described
The leftmost terminal position of horizontal linear module arranges the left sensor of horizontal linear module 10；At the beginning of the lower end of described vertical linear module
Beginning position arranges vertical linear module lower sensor 18, and the upper end final position of described vertical linear module arranges vertical linear mould
Sensor 17 in group.
The conveying robot of the present embodiment includes the linear module of frame 1, conveying robot the 2, first conveying robot drag chain
Drag chain 5, second carrying implement of drag chain 4, second conveying robot 25 × 57 of fixing panel beating the 3, first conveying robot 25 × 38
Tool hands drag chain fixes panel beating 6, handling machinery pawl the 7, the 3rd conveying robot drag chain fixes panel beating 8, and wherein conveying robot is linear
Module 2 includes the right sensor of horizontal linear module 9, the left sensor of horizontal linear module the 10, first horizontal linear module 11, shaft coupling
Device 12, control the servomotor 13 of horizontal linear module, vertical linear module 14, control vertical linear module servomotor
15, sensor 17, vertical linear module lower sensor 18 on the second horizontal linear module 16, vertical linear module, additionally carry
Gripper 7 includes left hand 19, line of motion guide rail 20, fixing line slideway 21, the right hand 22, photoelectric sensor 23, protruding screw rod
24, pedestal 25, cylinder connecting plate 26, buffer 27 and clamping cylinders 28 etc., the linear module of described conveying robot 2 is fixed on
In frame 1, handling machinery pawl 7 is connected, by servomotor with the slide block bolt on vertical linear module 14 by pedestal 25
Motion can control the upper and lower of the linear module of conveying robot 2 and move left and right, thus drives the upper and lower and left of handling machinery pawl 7
Move right.
Fig. 2 and Fig. 3 is linear module front view of the present utility model and side view, and the linear module of conveying robot 2 includes
The right sensor of horizontal linear module 9, the left sensor of horizontal linear module the 10, first horizontal linear module 11, shaft coupling 12, control
The servomotor 13 of horizontal linear module, vertical linear module 14, control vertical linear module servomotor 15, second horizontal
Sensor 17, vertical linear module lower sensor 18 etc. on linear module 16, vertical linear module, by controlling horizontal linear mould
The horizontal servomotor 13 of group drives the slide block of the first horizontal linear module 11 to move, and the effect of shaft coupling 12 is just so that second
Horizontal linear module 16 and the first horizontal linear module 11 synchronizing moving.The right sensor of horizontal linear module 9 is null pick-up,
Stop mobile when vertical linear module 14 is moved to the left arrival horizontal linear module left sensor 10.Sense under vertical linear module
Device 18 is null pick-up, by controlling the servomotor 15 of vertical linear module, the slide block on vertical linear module 14 is moved
Dynamic, stop mobile when moving to sensor 17 on vertical linear module.
Fig. 4 and Fig. 5 is handling machinery pawl front view of the present utility model and top view, handling machinery pawl 7 include left hand 19,
Line of motion guide rail 20, fixing line slideway 21, the right hand 22, photoelectric sensor 23, protruding screw rod 24, pedestal 25, cylinder connect
Plate 26, buffer 27 and clamping cylinder 28 etc..Fig. 3 show its final position, and the right hand 22 is initial position when right-hand member.Left
Hands 19 remains stationary as, and by the action of clamping cylinder 28, the right hand 22 is moved to the left, and movement is by line of motion guide rail 20
Move along fixing line slideway 21, owing to clamping cylinder 28 moves comparatively fast, need buffer 27 to buffer so that in gripping
During be not easy destroy accommodate box.Clamping mainly leans on the protruding screw rod 24 on both sides to enter the groove accommodating box.Photoelectric sensing
The effect of device 23 has been to detect whether receiving box, does not just carry out aforesaid operations.
Content described in this specification embodiment is only enumerating of the way of realization to utility model design, and this practicality is new
The protection domain of type be not construed as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model is also
And in those skilled in the art according to this utility model design it is conceivable that equivalent technologies means.
Claims (4)
1., for carrying the conveying robot accommodating box, drag including frame, the linear module of conveying robot, conveying robot
Chain fixes panel beating, conveying robot drag chain and handling machinery pawl, and it is linear that described handling machinery pawl is arranged on described conveying robot
On module, the linear module of described conveying robot is fixed in frame, and described conveying robot drag chain is arranged on conveying robot
Drag chain is fixed on panel beating, it is characterised in that:
Described handling machinery pawl includes left hand, line of motion guide rail, fixing line slideway, the right hand, photoelectric sensor, protruding spiral shell
Bar, pedestal, buffer and clamping cylinder, described left hand is fixed on pedestal, and the described right hand is oppositely arranged with left hand, described left hand
Be respectively provided with in the middle part of the opposite face of the right hand for the protruding screw rod that mates of groove accommodating box and for detecting whether have receiving
The photoelectric sensor of box, the described right hand is arranged on line of motion guide rail, and described line of motion guide rail is sleeved on solid slidably
On boning out guide rail, described fixing line slideway is fixed on pedestal, the motion end of described clamping cylinder and described line of motion
Guide rail connects, and the direction of motion front of described line of motion guide rail arranges buffer, and described clamping cylinder and buffer are arranged on
On pedestal.
2. as claimed in claim 1 for carrying the conveying robot accommodating box, it is characterised in that: described handling machinery hand line
Property module includes the first horizontal linear module, the second horizontal linear module, vertical linear module, controls the horizontal stroke of horizontal linear module
To servomotor and the servo longitudinal motor that controls vertical linear module, described first horizontal linear module, second horizontal linear
Module is arranged in parallel, the slide block of the first horizontal linear module or the slide block of the second horizontal linear module and described horizontal servomotor
Translation motion end connect, the two ends of described vertical linear module be connected to the slide block of the first horizontal linear module, second
On the slide block of horizontal linear module, the slide block of described vertical linear module connects with the translation motion end of described servo longitudinal motor
Connecing, the slide block of described vertical linear module is fixing with the pedestal of described handling machinery pawl to be connected.
3. as claimed in claim 2 for carrying the conveying robot accommodating box, it is characterised in that: described first horizontal linear
Connected by shaft coupling between module, the second horizontal linear module.
4. as claimed in claim 2 or claim 3 for carrying the conveying robot accommodating box, it is characterised in that: described horizontal linear
The right-hand member initial position of module arranges the right sensor of horizontal linear module, and the leftmost terminal position of described horizontal linear module is arranged
The left sensor of horizontal linear module；The lower end initial position of described vertical linear module arranges vertical linear module lower sensor,
The upper end final position of described vertical linear module arranges sensor on vertical linear module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620562133.2U CN205799490U (en) | 2016-06-12 | 2016-06-12 | A kind of for carrying the conveying robot accommodating box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620562133.2U CN205799490U (en) | 2016-06-12 | 2016-06-12 | A kind of for carrying the conveying robot accommodating box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799490U true CN205799490U (en) | 2016-12-14 |
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ID=58142165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620562133.2U Active CN205799490U (en) | 2016-06-12 | 2016-06-12 | A kind of for carrying the conveying robot accommodating box |
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| Country | Link |
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| CN (1) | CN205799490U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945920A (en) * | 2016-06-12 | 2016-09-21 | 浙江工业大学 | Transporting mechanical arm for transporting storage box |
| CN112659173A (en) * | 2020-12-24 | 2021-04-16 | 苏州华数机器人有限公司 | Paw with workpiece position detection |
-
2016
- 2016-06-12 CN CN201620562133.2U patent/CN205799490U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945920A (en) * | 2016-06-12 | 2016-09-21 | 浙江工业大学 | Transporting mechanical arm for transporting storage box |
| CN112659173A (en) * | 2020-12-24 | 2021-04-16 | 苏州华数机器人有限公司 | Paw with workpiece position detection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: The city Zhaohui six districts Chao Wang Road Hangzhou City, Zhejiang province 310014 18 Patentee after: ZHEJIANG University OF TECHNOLOGY Patentee after: Jinzhou Jinggong Technology (Kunshan) Co., Ltd Address before: The city Zhaohui six districts Chao Wang Road Hangzhou City, Zhejiang province 310014 18 Patentee before: ZHEJIANG University OF TECHNOLOGY Patentee before: Warner precision tools (Kunshan) Co., Ltd |
|
| CP01 | Change in the name or title of a patent holder |