CN207312630U - A kind of conveying robot - Google Patents
A kind of conveying robot Download PDFInfo
- Publication number
- CN207312630U CN207312630U CN201721409134.4U CN201721409134U CN207312630U CN 207312630 U CN207312630 U CN 207312630U CN 201721409134 U CN201721409134 U CN 201721409134U CN 207312630 U CN207312630 U CN 207312630U
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- Prior art keywords
- power set
- arm
- conveying robot
- operating platform
- driven
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Abstract
The utility model discloses a kind of conveying robot, belong to technical field of automation equipment, it includes the first mounting bracket, operating platform and the second mounting bracket set gradually, the telescopic arm for being provided with and being driven by the first power set is slid vertically on first mounting bracket, the telescopic arm is extended laterally to the operating platform direction, and the end of the telescopic arm is provided with pick-up claw；The lifting seat for being provided with and being driven by the second power set is slid vertically on second mounting bracket, on the lifting seat longitudinal sliding motion retainer plate driven by the 3rd power set is installed；The supporting plate of support material is installed with the operating platform, the scraping wings for being provided with and being driven by the 4th power set is slid laterally on the supporting plate, the scraping wings is corresponding with the retainer Board position, the utility model instead of manual work, finished product yield and production capacity are improved, is widely used in electronic product production.
Description
Technical field
It the utility model is related to technical field of automation equipment, more particularly to a kind of conveying robot.
Background technology
Electronic product production in, often have process need by frock carrier, material and other items be transported to gluing, welding,
In assembling, equipment (such as Che Lemei dispensers, Musashi dispenser) workbench examined, Hui Yuanliu is unloaded after work is completed
The action of waterline, is carried back former assembly line again after equipment completes the action such as gluing, assembling, inspection, at present, these consumption
The actions such as the production line carrying tooling carrier of electron-like, material, which can only rely on, manually realize that carrying acts, and not only occupy work
Power, and operating personnel's situations such as occurring replacing or is absent-minded in producing, are easy to cause security incident, material damage that equipment collides
It is bad, reduce finished product yield and production capacity.
Therefore, for developing a kind of new conveying robot, not only with urgent researching value, it may have good warp
Benefit of helping and commercial application potentiality, this is exactly where the power that the utility model is accomplished and basis.
Utility model content
The defects of in order to overcome the prior art as indicated above, the present inventor has made intensive studies this, is paying
After a large amount of creative works, so as to complete the utility model.
Specifically, technical problem to be solved in the utility model is：A kind of conveying robot is provided, instead of manually
Operation, improves finished product yield and production capacity.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of conveying robot, the carrying are provided
Manipulator includes the first mounting bracket, operating platform and the second mounting bracket set gradually, is slid vertically on first mounting bracket
The telescopic arm driven by the first power set is installed, the telescopic arm is extended laterally to the operating platform direction, described to stretch
The end of contracting arm is provided with pick-up claw；The lifting for being provided with and being driven by the second power set is slid vertically on second mounting bracket
Seat, on the lifting seat longitudinal sliding motion retainer plate driven by the 3rd power set is installed；Fixed peace on the operating platform
Supporting plate equipped with support material, the scraping wings for being provided with and being driven by the 4th power set, institute are slid laterally on the supporting plate
It is corresponding with the retainer Board position to state scraping wings.
In the conveying robot of the utility model, as a kind of perferred technical scheme, the telescopic arm includes
The lifting arm of first power set is connected, slides laterally and is provided with by the driving of the 5th power set on the lifting arm
Traversing support arm, the pick-up claw is installed on the end of the traversing support arm.
In the conveying robot of the utility model, as a kind of perferred technical scheme, the traversing support arm bag
Including sliding stack successively, several travelling arms, travelling arm connection the 5th power close to the lifting arm fill together
Put, driving mechanism is equipped between adjacent two travelling arms, the glide direction of all travelling arms is consistent, and the pick-up claw is set
It is placed in the end of the travelling arm farthest from the lifting arm.
It is as a kind of perferred technical scheme, remote on the retainer plate in the conveying robot of the utility model
One end from the operating platform is equipped with the first sensor of detection material.
In the conveying robot of the utility model, as a kind of perferred technical scheme, on the operating platform
Equipped with some pieces of locating pieces, some pieces of locating pieces are surrounded by the accommodating chamber of a receiving material, are vertically slided in the accommodating chamber
Dynamic to be provided with the angled slide block driven by the 6th power set, the scraping wings is located at the top position of the locating piece.
In the conveying robot of the utility model, as a kind of perferred technical scheme, first mounting bracket
On be installed with material receiving.
In the conveying robot of the utility model, as a kind of perferred technical scheme, on the material receiving
Equipped with the gripping block for clamping material, the gripping block connects the 7th power set.
In the conveying robot of the utility model, as a kind of perferred technical scheme, on the material receiving
Equipped with the second sensor up to the material receiving position is expected for detectable substance, the material receiving, which is equipped with, is used for detectable substance
Material leaves the 3rd sensor of the material receiving position, and the second sensor and 3rd sensor are located at the clamping respectively
The both sides of block.
In the conveying robot of the utility model, as a kind of perferred technical scheme, the material receiving
Feed end is equipped with guide plate.
In the conveying robot of the utility model, as a kind of perferred technical scheme, the material receiving
Feed end is equipped with the anticollision element driven by the 8th power set.
After employing above-mentioned technical proposal, the beneficial effects of the utility model are：
(1) after material reaches pick-up claw lower position, pick-up claw moves down into material level under the driving of the first power set
Put, taken material by sucker or electromagnet, then the first power set driving under on move on to operating platform height, pass through
The elongation of telescopic arm, material is placed on the supporting plate of operating platform, and after material fulfils assignment on supporting plate, scraping wings exists
Material is pushed on retainer plate under the effect of 4th power set, retainer plate support the material from operating platform, with lifting
Seat moves down into conveyer belt position together, and under the action of the 3rd power set, retainer plate is retracted, and material is positioned over conveyer belt
On, material is delivered to lower procedure by conveyer belt again, and whole process the degree of automation is high, substitutes manual work of knowing clearly, improves
Finished product yield and production capacity.
(2) since traversing support arm includes sliding stack several travelling arms together successively, technical staff can be according to the
The distance between one mounting bracket and operating platform, select the quantity of travelling arm, and this structure being sequentially overlapped can not only reduce
The length of traversing support arm, and driving mechanism is all between two adjacent travelling arms, it is naked to be exposed on the external, it is easily installed and ties up
Shield.
(3) since operating platform is equipped with some pieces of locating pieces so that material in operation stablize by position, improves
Yield rate, but there is provided the angled slide block driven by the 6th power set, after the completion of material operates on the operational platform, angled slide block
Raised under the action of the 6th power set, the material in accommodating chamber is ejected, put down with facilitating scraping wings that material is pushed away operation
Platform, so as to improve power production capacity.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model embodiment；
Fig. 2 is the structure diagram of telescopic arm in the utility model embodiment；
Fig. 3 is the schematic top plan view of Fig. 2；
Fig. 4 is the structure diagram of operating platform in the utility model embodiment；
Fig. 5 is the schematic top plan view of Fig. 4；
Fig. 6 is the structure diagram of material receiving in the utility model embodiment；
Wherein, in Fig. 1 into Fig. 6, each number designation refers to following concrete meaning, element and/or component respectively.
In figure：1st, the first mounting bracket, the 2, second mounting bracket, 3, operating platform, 4, telescopic arm, 401, lifting arm, 402,
Travelling arm, 403, active synchronization belt wheel, 404, driven synchronous pulley, 405, synchronous belt, 406, driving mechanism, 407, stepping electricity
Machine, 5, pick-up claw, 501, corpus unguis, 502, sucker, 6, material receiving, 7, lifting seat, 8, retainer plate, 9, first sensor, 10, lead
To plate, the 11, the 8th power set, 12, anticollision element, 13, supporting plate, the 14, the 4th power set, 15, scraping wings, 16, positioning
Block, the 17, the 6th power set, 18, angled slide block, the 19, the 7th power set, the 20, gripping block, 21, second sensor, the 22, the 3rd
Sensor.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.But the purposes of these exemplary embodiments
Only it is used for enumerating the utility model with purpose, any type of any limit not is formed to the real protection scope of the utility model
It is fixed, it is more non-that the scope of protection of the utility model is confined to this.
As shown in Figure 1, the utility model provides a kind of conveying robot, including set gradually the first mounting bracket 1,
3 and second mounting bracket 2 of operating platform, the telescopic arm for being provided with and being driven by the first power set is slid vertically on the first mounting bracket 1
4, here, the first power set (not shown) can select, using cylinder, hydraulic cylinder, electric cylinders, can also drive using motor
Dynamic leadscrew-nut mechanism, or hoisting mechanism, chain-drive mechanism, tape handler etc., to realize the elevating movement of telescopic arm 4,
Those skilled in the art can voluntarily select as needed, and telescopic arm 4 is extended laterally to 3 direction of operating platform, and telescopic arm 4 can be with
Transversal stretching, to realize material toward conveying on operating platform 3, the end of telescopic arm 4 is provided with pick-up claw 5, and pick-up claw 5 includes peace
Corpus unguis 501 on telescopic arm 4, sucker 502 or electromagnet for picking and placeing material is provided with corpus unguis 501, for taking
Put material；The lifting seat 7 for being provided with and being driven by the second power set is slid vertically on second mounting bracket 2, equally, the second power dress
Putting (not shown) can select that, using cylinder, hydraulic cylinder, electric cylinders, motor-driven leadscrew-nut mechanism can also be used,
Or hoisting mechanism, chain-drive mechanism, tape handler etc., to realize the elevating movement of lifting seat 7, those skilled in the art can be with
Voluntarily select as needed, on lifting seat 7 longitudinal sliding motion be provided with by the 3rd power set drive retainer plate 8, the 3rd power
Device (not shown) is generally selected is used for thing of the support from operating platform 3 using cylinder, hydraulic cylinder, electric cylinders, retainer plate 8
Material, and under the action of the 3rd power set, retainer plate 8 can retract, and realize and material is positioned on conveyer belt, and material is again
Lower procedure is delivered to by conveyer belt；The supporting plate 13 of support material is installed with operating platform 3, supporting plate 13 carries
Material carries out the action such as gluing, welding, assembling, inspection, slides laterally to be provided with supporting plate 13 and is driven by the 4th power set 14
Dynamic scraping wings 15, scraping wings 15 is corresponding with 8 position of retainer plate, after material fulfils assignment on supporting plate 13, scraping wings 15
Material is pushed on retainer plate 8 under the effect of the 4th power set 14, here, the 4th power set 14 are generally selected using gas
Cylinder, hydraulic cylinder, electric cylinders.After material reaches 5 lower position of pick-up claw, pick-up claw 5 moves down under the driving of the first power set
Material position, has been taken material by sucker 502 or electromagnet, then the first power set driving under on move on to operating platform
3 height, by the elongation of telescopic arm 4, material are placed on the supporting plate 13 of operating platform 3, material is complete on supporting plate 13
Into after operation, scraping wings 15 pushes to material on retainer plate 8 under the effect of the 4th power set 14, and 8 support of retainer plate, which, to be come
From the material of operating platform 3, conveyer belt position is moved down into lifting seat 7, under the action of the 3rd power set, retainer plate
8 retract, and material is positioned on conveyer belt, and material is delivered to lower procedure by conveyer belt again, and whole process the degree of automation is high,
Substitute manual work of knowing clearly, improve finished product yield and production capacity.
As Fig. 2 and Fig. 3 are jointly shown, telescopic arm 4 includes the lifting arm 401 of the first power set of connection, lifting arm
The traversing support arm for being provided with and being driven by the 5th power set is slid laterally on 401, pick-up claw 5 is installed on the end of traversing support arm,
5th power set can select, using cylinder, hydraulic cylinder, electric cylinders, can also use motor-driven leadscrew-nut mechanism, be
So that traversing support arm motion is steady and reduces noise, here, inventor is by further investigation, in one end of lifting arm 401
There is provided the active synchronization belt wheel 403 driven by servomotor or stepper motor 407, is set in the other end of lifting arm 401
Driven synchronous pulley 404, is surrounded with synchronous belt 405 between active synchronization belt wheel 403 and driven synchronous pulley 404, and traversing
Support arm is then connected with synchronous belt 405, with the rotating of servomotor or stepper motor 407, realizes the stretching of traversing support arm
Or retract, achieve the purpose that material being delivered to operating platform 3.
Traversing support arm includes sliding stack several travelling arms 402 together successively, close to the travelling arm of lifting arm 401
402 connect the 5th power set, are equipped with driving mechanism 406 between adjacent two travelling arms 402, driving mechanism 406 is preferably
Cylinder, hydraulic cylinder, electric cylinders, are equipped with slide between two neighboring travelling arm 402, the glide direction of all travelling arms 402 is consistent, takes
Material pawl 5 is arranged at the end of the travelling arm 402 farthest from lifting arm 401.According between the first mounting bracket 1 and operating platform 3
Distance, select the quantity of travelling arm 402, this structure being sequentially overlapped can not only reduce the length of traversing support arm, and
Driving mechanism 406 is naked to be exposed on the external all between two adjacent travelling arms 402, is easily installed and safeguards.
One end away from operating platform 3 is equipped with the first sensor 9 of detection material on retainer plate 8, and first sensor 9 can be with
Touch sensor is selected, such as travel switch etc., also may be selected to use noncontacting proximity sensor, such as optoelectronic switch etc., uses
Whether designated position is reached in detection material.
As Fig. 4 and Fig. 5 are jointly shown, operating platform 3 is equipped with some pieces of locating pieces 16, and some pieces of locating pieces 16 are surrounded by
One accommodates the accommodating chamber of material, is used in accommodating chamber hold material, and positioning materials so that material position in operation
Stablize, improve yield rate, the angled slide block 18 for being provided with and being driven by the 6th power set 17 is slid vertically in accommodating chamber, the 6th is dynamic
Power apparatus 17 is preferably cylinder, hydraulic cylinder, electric cylinders, and scraping wings 15 is located at the top position of locating piece 16, when material is flat in operation
After the completion of being operated on platform 3, angled slide block 18 raises under the action of the 6th power set 17, and the material in accommodating chamber is ejected, with
Facilitate scraping wings 15 that material is pushed away operating platform 3.
As shown in fig. 6, being installed with material receiving 6 on the first mounting bracket 1, it is transitioned into for material from upstream belt
Material receiving 6, so that pick-up claw 5 captures.Material receiving 6 is equipped with the gripping block 20 for being used for clamping material, and gripping block 20 connects
7th power set 19, the 7th power set 19 are preferably cylinder, hydraulic cylinder, electric cylinders, for driving gripping block 20 to stretch out or contract
Return, when material reaches designated position, gripping block 20 is stretched out, and material is positioned at crawl position, when 5 material grasping of pick-up claw, folder
Tight block 20 is retracted.
Material receiving 6 is equipped with expects the second sensor 21 up to 6 position of material receiving for detectable substance, to detect material
Designated position is reached, material receiving 6, which is equipped with, to be used to detect the 3rd sensor 22 that material leaves 6 position of material receiving, works as thing
Material leaves material receiving 6 after being captured by pick-up claw 5, and 3rd sensor 22 just sends signal so that next material can be delivered to
Designated position, second sensor 21 and 3rd sensor 22 are located at the both sides of gripping block 20, equally, 21 He of second sensor respectively
3rd sensor 22 can select touch sensor, such as travel switch etc., also may be selected to use noncontacting proximity sensor,
Such as optoelectronic switch etc..
The feed end of material receiving 6 is equipped with guide plate 10, and being generally directed toward 10 end of plate has a subtended angle, for directing material
Smoothly enter designated position.
The feed end of material receiving 6 is equipped with the anticollision element 12 driven by the 8th power set 11, and anticollision element 12 is usual
For block or tabular structural member, the 8th power set 11 are preferably cylinder, hydraulic cylinder, electric cylinders, when there is a thing crawl position
During material, anticollision element 12 stretches out, and stops that material is gone successively to, and after crawl position is removed when material, anticollision element 12 is retracted,
Next material is allowed into designated position.
Certainly, for the ease of control, this conveying robot further includes control unit, and control unit is usually PLC, and first is dynamic
Power apparatus, the second power set, the 3rd power set, the 4th power set 14, the 5th power set, the 6th power set 17,
7th power set 19, the 8th power set 11, stepper motor 407 and driving mechanism 406 are all connected with control unit, also,
First sensor 9, second sensor 21 and 3rd sensor 22 are all connected with control unit.
Its course of work is as follows：
When frock carrier, material reach crawl position by assembly line, second sensor 21 sends signal, gripping block 20
Stretch out, material is clamped, anticollision element 12 stretches out, and stops that material is gone successively to, under pick-up claw 5 is under the driving of the first power set
Material position is moved on to, gripping block 20 is retracted, and sucker 502 or electromagnet have taken material, then under the driving of the first power set
On move on to 3 working depth of operating platform, 3rd sensor 22 sends signal, and anticollision element 12 is retracted, and next material allows access into,
At this time, telescopic arm 4 extends, and material is placed on the supporting plate 13 of operating platform 3, and material fulfils assignment on supporting plate 13
Afterwards, scraping wings 15 pushes to material on retainer plate 8 under the effect of the 4th power set 14, and first sensor 9 detects material
After send signal, lifting seat 7 moves down into conveyer belt position, and under the action of the 3rd power set, retainer plate 8 is retracted, by material
It is positioned on conveyer belt, material is delivered to lower procedure by conveyer belt again.
It should be appreciated that the purposes of these embodiments is merely to illustrate the utility model and is not intended to limitation the utility model
Protection domain.In addition, it should also be understood that, after the technology contents of the utility model have been read, those skilled in the art can be right
The utility model makees various change, modification and/or variation, all these equivalent forms equally fall within right appended by the application will
Ask within the protection domain that book limited.
Claims (10)
- A kind of 1. conveying robot, it is characterised in that：Including the first mounting bracket, operating platform and the second installation set gradually Frame, slides vertically the telescopic arm for being provided with and being driven by the first power set on first mounting bracket, and the telescopic arm is to described Operating platform direction extends laterally, and the end of the telescopic arm is provided with pick-up claw；Peace is slid vertically on second mounting bracket Equipped with the lifting seat driven by the second power set, on the lifting seat longitudinal sliding motion be provided with by the 3rd power set driving Retainer plate；The supporting plate of support material is installed with the operating platform, slid laterally on the supporting plate be provided with by The scraping wings of 4th power set driving, the scraping wings are corresponding with the retainer Board position.
- 2. conveying robot according to claim 1, it is characterised in that the telescopic arm includes connecting first power The lifting arm of device, the traversing support arm for being provided with and being driven by the 5th power set is slid laterally on the lifting arm, described Pick-up claw is installed on the end of the traversing support arm.
- 3. conveying robot according to claim 2, it is characterised in that the traversing support arm includes sliding stack successively and exists Several travelling arms together, the 5th power set, adjacent two slips are connected close to the travelling arm of the lifting arm Driving mechanism is equipped between arm, the glide direction of all travelling arms is consistent, and the pick-up claw is arranged at from the lifting branch The end of the farthest travelling arm of arm.
- 4. conveying robot according to claim 1, it is characterised in that away from the operating platform on the retainer plate One end is equipped with the first sensor of detection material.
- 5. conveying robot according to claim 1, it is characterised in that the operating platform is equipped with some pieces of positioning Block, some pieces of locating pieces are surrounded by the accommodating chamber of a receiving material, slide vertically and be provided with by the 6th in the accommodating chamber The angled slide block of power set driving, the scraping wings are located at the top position of the locating piece.
- 6. according to the conveying robot described in any one of claim 1 to 5 claim, it is characterised in that first installation Material receiving is installed with frame.
- 7. conveying robot according to claim 6, it is characterised in that the material receiving, which is equipped with, to be used to clamp material Gripping block, the gripping block connects the 7th power set.
- 8. conveying robot according to claim 7, it is characterised in that the material receiving, which is equipped with, to be used to detect material Reach the second sensor of the material receiving position, the material receiving is equipped with to be used to detecting material and leaves the splicing and put down The 3rd sensor of platform position, the second sensor and 3rd sensor are located at the both sides of the gripping block respectively.
- 9. conveying robot according to claim 6, it is characterised in that the feed end of the material receiving, which is equipped with, to be oriented to Plate.
- 10. conveying robot according to claim 6, it is characterised in that the feed end of the material receiving is equipped with by the The anticollision element of eight power set driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721409134.4U CN207312630U (en) | 2017-10-27 | 2017-10-27 | A kind of conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721409134.4U CN207312630U (en) | 2017-10-27 | 2017-10-27 | A kind of conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207312630U true CN207312630U (en) | 2018-05-04 |
Family
ID=62379905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721409134.4U Expired - Fee Related CN207312630U (en) | 2017-10-27 | 2017-10-27 | A kind of conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207312630U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465157A (en) * | 2018-12-29 | 2019-03-15 | 温州市普蓝滤清器设备有限公司 | A kind of end cap glue-injection machine |
-
2017
- 2017-10-27 CN CN201721409134.4U patent/CN207312630U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465157A (en) * | 2018-12-29 | 2019-03-15 | 温州市普蓝滤清器设备有限公司 | A kind of end cap glue-injection machine |
| CN109465157B (en) * | 2018-12-29 | 2023-11-10 | 温州市普蓝滤清器设备有限公司 | End cover glue injection machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20181027 |