CN207495500U - Can machining robot - Google Patents
Can machining robot Download PDFInfo
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- CN207495500U CN207495500U CN201720967946.4U CN201720967946U CN207495500U CN 207495500 U CN207495500 U CN 207495500U CN 201720967946 U CN201720967946 U CN 201720967946U CN 207495500 U CN207495500 U CN 207495500U
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Abstract
The utility model is related to a kind of can machining robots, and for the transfer of product, can machining robot includes：Rack, the manipulator mechanism being connected in rack and the conveyer mechanism being connected in rack.Manipulator mechanism includes：Lifting unit and manipulator unit；Lifting unit is used to that manipulator unit to be driven to move up and down；Manipulator unit is for crawl and mobile product；Conveyer mechanism is used to receive the product that manipulator unit is captured, and product is sent to the other end of manipulator unit from one end of manipulator unit.Above-mentioned can machining robot, after manipulator unit captures product and mobile a distance, product is placed on conveyer mechanism, product is sent to the other end of manipulator unit using belt mechanism, under the premise of same transferred product distance is realized, reduce the movement range of manipulator unit, realize the purpose of simplifying operation of equipment.
Description
Technical field
The utility model is related to metal can production equipment field, more particularly to a kind of can machining robot.
Background technology
With the development of science and technology, the production of product enters mechanical times.For the production of metal can, in addition to a large amount of
Punch forming lathe, also much apply the robot between punch forming lathe.These robots are used to exist product
It circulates between the punch forming lathe of different processes, on the one hand can improve production efficiency, on the other hand can replace and manually come
It is engaged in high-risk operation action.Traditional robot be mainly by mechanical arm come drive handgrip movement come realize product turn
It moves, and the action of mechanical arm needs very accurate design, significantly acts, and the operation precision of mechanical arm is required just
Higher, in contrast, mechanical arm is just more difficult to debug and be susceptible to mistake.How same transferred product distance is being realized
Under the premise of, the technical issues of reducing the movement range of mechanical arm with simplifying operation of equipment, be those skilled in the art's urgent need to resolve.
Utility model content
Based on this, the utility model provides a kind of can machining robot of simplifying operation of equipment.
A kind of can machining robot, for the transfer of product, can machining robot includes：
Rack；
The manipulator mechanism being connected in rack；Manipulator mechanism includes：The lifting unit being connected in rack and connection
Manipulator unit on lifting unit；Lifting unit is used to that manipulator unit to be driven to move down in the short transverse of rack
It is dynamic；Manipulator unit is for crawl and mobile product；And
The conveyer mechanism being connected in rack；Conveyer mechanism is arranged in parallel in the lower section of manipulator unit；Conveyer belt
Mechanism is used to receive the product that manipulator unit is captured, and product is sent to manipulator list from one end of manipulator unit
The other end of member.
Above-mentioned can machining robot, in use, the height of manipulator unit is adjusted by lifting unit, and it is mechanical
Hand unit picks and mobile product.After manipulator unit captures product and mobile a distance, product is placed on transmission
In band mechanism, product is sent to the other end of manipulator unit using belt mechanism, realize same transferred product away from
From under the premise of, reduce the movement range of manipulator unit, realize the purpose of simplifying operation of equipment.
Lifting unit includes in one of the embodiments,：It is connected to lifting motor in rack, connection lifting motor
The lifting sliding rail of lifting screw, the lift slide being socketed on lifting screw and the lift slide that is slidably connected；Lifting screw with
Lifting sliding rail is parallel and parallel with the short transverse of rack；Lifting motor is slided for lifting screw to be driven to rotate with driving to lift
Seat is moved up and down along the short transverse of rack.
Lifting unit further includes in one of the embodiments,：For detecting the sense group of the work origin of lift slide
Part；Inductive component includes：The origin inductive switch being connected on lifting sliding rail and the sensing chip being connected on lift slide；Origin
Inductive switch is electrically connected lifting motor.
Inductive component further includes in one of the embodiments,：Be connected to up stroke inductive switch on lifting sliding rail and
The down stroke inductive switch being connected on lifting sliding rail；Up stroke inductive switch is located at the top of origin inductive switch；Down stroke
Inductive switch is located at the lower section of origin inductive switch.
Manipulator unit includes in one of the embodiments,：It is connected to drive component on lift slide, connection driving
The active arm component of component, the driven arm component for connecting active arm component and the handgrip component being connected on active arm component；
Drive component is used to that active arm component to be driven to move in the horizontal direction；Active arm component is used to drive driven arm component along level side
To movement；Handgrip component is used to capture product.
Drive component includes in one of the embodiments,：It connects the pinboard of lift slide and is connected on pinboard
Traversing motor；Pinboard follows lift slide to move；The rotor of traversing motor is equipped with gear；Traversing motor passes through gear band
Dynamic active arm component movement.
Active arm component includes in one of the embodiments,：The rack of meshing gear, is set the master arm for connecting rack
Put master arm one end the first idler wheel, be arranged on the master arm other end the second idler wheel, be socketed in the first idler wheel and second rolling
Driving belt, the first link block being connected on driving belt between wheel and the second connection being connected on driving belt
Block；Rack drives master arm to move under the drive of gear；First link block is connect with pinboard；Second link block and slave arm
Component connects.
Driven arm component includes in one of the embodiments,：Be slidably connected the slave arm of master arm；Slave arm connection the
Two link blocks.
Conveyer mechanism includes in one of the embodiments,：The conveyer belt list being arranged in parallel in below manipulator unit
Member；Conveyor unit includes：Stent, the conveyer belt being connected on stent and the product testing inductor being connected on stent；
Conveyer belt is parallel to manipulator unit setting；Product testing inductor is located at the side of the transmission plane of conveyer belt and electrical connection transmission
Band.
Conveyer mechanism further includes in one of the embodiments,：Connect the support unit of conveyor unit；Support unit
Including：The connecting seat that is connected in rack, the elevating lever being connected on connecting seat, the lifting guide pillar being connected on connecting seat, even
The lifting platform being connected on elevating lever；Elevating lever is parallel with lifting guide pillar, and elevating lever is equipped with handwheel；Lifting guide pillar connection lifting
Platform；Lifting platform connecting bracket.
Description of the drawings
Fig. 1 is a kind of schematic diagram of the can machining robot of embodiment of the utility model；
Fig. 2 is the schematic diagram of the lifting unit in the manipulator mechanism in can machining robot shown in FIG. 1；
Fig. 3 is the schematic diagram of the manipulator unit in the manipulator mechanism in can machining robot shown in FIG. 1；
Fig. 4 is the partial schematic diagram of the manipulator unit in manipulator mechanism shown in Fig. 3；
Fig. 5 is the schematic diagram of the driven arm component in manipulator unit shown in Fig. 4；
Fig. 6 is the operating principle schematic diagram of manipulator unit shown in Fig. 3；
Fig. 7 is the schematic diagram of the conveyer mechanism in can machining robot shown in FIG. 1；
Fig. 8 is the schematic diagram of the support unit in conveyer mechanism shown in FIG. 1；
The meaning of each label is in attached drawing：
10- can machining robots；
20- racks, 21- pedestals, 22- columns；
30- manipulator mechanisms, 31- lifting units, 32- manipulator units, 33- lifting motors, 34- lifting screws, 35- liters
Drop slide, 36- lifting sliding rails, 37- inductive components, 38- origin inductive switches, 39- sensing chips, 310- up stroke inductive switches,
311- down stroke inductive switches, 312- drive components, 313- active arm components, the driven arm components of 314-, 315- pinboards,
The traversing motors of 316-, 317- gears, 318- racks, 319- master arms, the first idler wheels of 320-, the second idler wheels of 321-, 323- transmissions
Belt, the first link blocks of 324-, the second link blocks of 325-, 326- slave arms, the first handgrips of 327-, the second handgrips of 328-, 329-
Jig plate, 330- suckers；
40- conveyer mechanisms, 41- conveyor units, 42- stents, 43- conveyer belts, 45- support units, 46- connecting seats,
47- elevating levers, 48- lifting guide pillars, 49- lifting platforms.
Specific embodiment
For that can further appreciate that the feature, technological means and the specific purposes reached, function of the utility model, parse
The advantages of the utility model and spirit, by below in conjunction with attached drawing and specific embodiment the detailed description of the utility model is obtained into
The understanding of one step.
It is a kind of signal of the can machining robot 10 of preferred embodiment of the utility model referring to Fig. 1 to Fig. 8
Figure.
The can machining robot 10 is used for the transfer of product, including：Rack 20, the machine being connected in rack 20
Tool mobile phone structure 30 and the conveyer mechanism 40 being connected in rack 20.Wherein, rack 20 plays the main support work of equipment
With manipulator mechanism 30 is for crawl and mobile product, and conveyer mechanism 40 is used to transmit product to reduce manipulator mechanism
30 movement range.Each mechanism is described as follows：
The rack 20 includes：Pedestal 21 and the column 22 being vertically connected on pedestal 21.
The manipulator mechanism 30 includes：It the lifting unit 31 that is connected in rack 20 and is connected on lifting unit 31
Manipulator unit 32.Lifting unit 31 is used to that manipulator unit 32 to be driven to move up and down along the short transverse of rack 20.Machinery
Hand unit 32 is for crawl and mobile product.In the present embodiment, a kind of lifting unit 31 and manipulator unit 32 are provided respectively
Realization method, it is specific as follows：
Lifting unit 31 includes：Be connected to lifting motor 33 in rack 20, the lifting screw 34 for connecting lifting motor 33,
The lift slide 35 and the lifting sliding rail 36 for the lift slide 35 that is slidably connected being socketed on lifting screw 34.Lifting screw 34
It is parallel with lifting sliding rail 36 and parallel with the short transverse of rack 20.Lifting motor 33 for lifting screw 34 is driven to rotate with
Driving lift slide 35 is moved up and down along the short transverse of rack 20.When lifting motor 33 acts, lifting screw 34 is driven
Rotation, in the limitation plus lifting sliding rail 36 so that the lift slide 35 being socketed on lifting screw 34 can move up and down.
The zero of setting action, that is, work origin are needed in action in view of equipment, lifting unit 31 is made
It is further to improve, such as：Lifting unit 31 further includes：For detecting the inductive component 37 of the work origin of lift slide 35.
Inductive component 37 includes：The origin inductive switch 38 being connected on lifting sliding rail 36 and the sensing chip being connected on lift slide 35
39.Origin inductive switch 38 is electrically connected lifting motor 33.When lift slide 35 moves up and down, sensing chip 39 is also upper and lower therewith
It is mobile, and origin inductive switch 38 can then detect sensing chip 39 and whether have reached work origin, convenient for determining lift slide
Whether 35 resetted and finished.Wherein, origin inductive switch 38 can select optoelectronic switch, when sensing chip 39 enters its induction zone
Domain can trigger.
Based on above-mentioned design, the movement range limitation of equipment is further contemplated, to ensure the action of equipment preset
Rationally and in safe range, in the present embodiment, inductive component 37 further includes：The up stroke sensing being connected on lifting sliding rail 36
Switch 310 and the down stroke inductive switch 311 being connected on lifting sliding rail 36.Up stroke inductive switch 310 is located at origin sensing
The top of switch 38, down stroke inductive switch 311 are located at the lower section of origin inductive switch 38.Up stroke inductive switch 310 is used for
Whether detection lift slide 35 has reached uplink maximum value, and down stroke inductive switch 311 is for detecting lift slide 35
It is no to have reached downlink maximum value.Wherein, up stroke inductive switch 310 and down stroke inductive switch 311 can select close open
It closes.
Manipulator unit 32 includes：It is connected to drive component 312 on lift slide 35, the master for connecting drive component 312
Movable arm-set 313, the driven arm component 314 for connecting active arm component 313 and the handgrip being connected on active arm component 313
Component.Drive component 312 is used to that active arm component 313 to be driven to move in the horizontal direction.Active arm component 313 is driven for driving
Arm component 314 moves in the horizontal direction.Handgrip component is used to capture product.A kind of efficient manipulator unit 32 is provided below
Realization method：
In the present embodiment, drive component 312 includes：It connects the pinboard 315 of lift slide 35 and is connected to pinboard
Traversing motor 316 on 315.Pinboard 315 follows lift slide 35 to move.The rotor of traversing motor 316 is equipped with gear
317.Traversing motor 316 drives active arm component 313 to move by gear 317.Active arm component 313 includes：Meshing gear 317
Rack 318, connect rack 318 master arm 319, be arranged on 319 one end of master arm the first idler wheel 320, be arranged on actively
Second idler wheel 321 of 319 other end of arm, the driving belt 323 being socketed between the first idler wheel 320 and the second idler wheel 321, connection
The first link block 324 on driving belt 323 and the second link block 325 being connected on driving belt 323.Rack 318
Master arm 319 is driven to move under the drive of gear 317.First link block 324 connect with pinboard 315 and positioned at first
323 part of driving belt of the upper end of 320 and second idler wheel 321 of idler wheel.Second link block 325 is connect with driven arm component 314
And positioned at 323 part of driving belt of the first idler wheel 320 and the lower end of the second idler wheel 321.Driven arm component 314 includes：It is sliding
The slave arm 326 of dynamic connection master arm 319.Slave arm 326 connects the second link block 325.Herein, in order to simpler and clear
Ground illustrates the operating principle of the manipulator unit 32, reference can be made to Fig. 6, when traversing motor 316 rotates, the rotation of gear 317
Drive the rack 318 engaged with gear 317 traversing, so that master arm 319 is traversing.Master arm 319 is traversing but also
One idler wheel 320 and the second idler wheel 321 are also traversing therewith.Since the first link block 324 is connect with pinboard 315, and the second connection
Block 325 is connect with slave arm 326, in addition pinboard 315 will not be traversing therewith when master arm 319 is traversing, it therefore, can
It is fixed the first link block 324 to be considered as, then the junction on feed belt with the first link block 324 can also be considered as
Fixed point, meanwhile, the second link block 325 is connect with slave arm 326, so when the second link block 325 moves, can be driven driven
Arm 326 moves, therefore the displacement distance of the second link block 325 is equal to the displacement distance of slave arm 326.It is assumed that master arm 319
Traversing distance is d to the left, and the distance that slave arm 326 is moved to the left is D, and so the first idler wheel 320 and the second idler wheel 321
With the d traversing to the left together of master arm 319.Since the first link block 324 is fixed, and the first idler wheel 320 and second rolls
321 traversing to the left d of wheel, therefore, driving belt 323 can only be along the first idler wheels 320 and the second idler wheel 321 adjustment appearance
State.After driving belt 323 adjusts posture, Distance Shortened d between the second idler wheel 321 and the first link block 324, then
The distance of second link block 325 and the second idler wheel 321 increases d, therefore, worthwhile to get off, and the second link block 325 is relative to first
The distance that link block 324 moves is then 2d, i.e. D=2d.Therefore can obtain, the movement speed of slave arm 326 is master arm 319
2 times of movement speed.Therefore, it is possible to realize the slave arm 326 of double displacement distance by moving master arm 319 by a small margin
Action.It should be noted that the manipulator unit 32, in action, the first link block 324 is always positioned at the first idler wheel 320 and the
323 part of driving belt of the upper end of second wheel 321, and the second link block 325 is always positioned at the first idler wheel 320 and the second rolling
323 part of driving belt of the lower end of wheel 321.
Handgrip component includes：It is connected to first handgrip 327 of 326 one end of slave arm and is connected to 326 other end of slave arm
The second handgrip 328.In the present embodiment, the first handgrip 327 is identical with the structure of the second handgrip 328.It is with the first handgrip 327
Example：First handgrip 327 includes：It is connected to the jig plate 329 of 326 end of slave arm and the multiple suctions being connected on jig plate 329
Disk 330.Sucker 330 is used for the surface of adsorption production to capture product.
The conveyer mechanism 40 is arranged in parallel in the lower section of manipulator unit 32.Conveyer mechanism 40 is used to receive manipulator
The product that unit 32 is captured, and product is sent to the other end of manipulator unit 32 from one end of manipulator unit 32.
In the present embodiment, a kind of realization method of conveyer mechanism 40 is provided, it is as follows：
Conveyer mechanism 40 includes：It is arranged in parallel in the conveyor unit 41 of 32 lower section of manipulator unit.Conveyor unit
41 include：Stent 42, the conveyer belt 43 being connected on stent 42 and the product testing inductor being connected on stent 42 (figure
Do not show).Conveyer belt 43 is parallel to manipulator unit 32 and sets.Product testing inductor is located at the side of the transmission plane of conveyer belt 43
And electrical connection conveyer belt 43.When product A is captured product A from the punch forming lathe of a upper process by the first handgrip 327
And when being moved to conveyer belt 43 close to one end of the first handgrip 327, product A is placed on conveyer belt 43 by the first handgrip 327,
Product A is transmitted at the material grasping of the second handgrip 328 by conveyer belt 43, is located at 328 material grasping of the second handgrip when product A is reached
During product testing inductor, 43 pause of conveyer belt action, product A enters wait state.When the first handgrip 327 goes one again
The punch forming lathe of process get on product B when, while the second handgrip 328 also picks up product A, with the first handgrip 327 to
Conveyer belt 43 is close, and the second handgrip 328 also on the punch forming lathe that product A is grabbed next process, that is, is capturing
While product B, the transfer of product A is also achieved, can be improved between the punch forming lathe between two neighboring process
Transferred product efficiency.
For the ease of adjusting the height of conveyor unit, in the present embodiment, 40 mechanism of conveyer belt further includes：Connection transmission
The support unit 45 of tape cell 41.Support unit 45 includes：The connecting seat 46 that is connected in rack 20 is connected on connecting seat 46
Elevating lever 47, the lifting guide pillar 48 being connected on connecting seat 46, the lifting platform 49 that is connected on elevating lever 47.Elevating lever 47 with
Lifting guide pillar 48 is parallel, and elevating lever 47 is equipped with handwheel 410.Lifting guide pillar 48 connects lifting platform 49.49 connecting bracket of lifting platform
42.Rotation handwheel 410 can adjust the height of lifting platform 49 manually, achieve the purpose that adjust conveyor unit height.It needs
It is bright, in other embodiments, the design of lifting unit 31 above can also be referred to, using motor and screw-rod structure come real
The height adjustment of existing conveyor unit 41.
Above-mentioned can machining robot 10, in use, adjusting the height of manipulator unit 32 by lifting unit 31
Degree, and manipulator unit 32 captures and mobile product.After manipulator unit 32 captures product and mobile a distance, it will produce
Product are placed on conveyer mechanism 30, product are sent to the other end of manipulator unit 32 using belt mechanism 30, in reality
Now under the premise of same transferred product distance, reduce the movement range of manipulator unit 32, realize simplifying operation of equipment
Purpose reduces the time of the unloaded action of manipulator unit 32, and the transfer of product is more energy-efficient.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield is all considered to be the range of this specification record.
Above example only expresses the preferred embodiment of the utility model, and description is more specific and detailed, but
Can not the limitation to utility model patent range therefore be interpreted as.It should be pointed out that the ordinary skill for this field
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of can machining robot, for the transfer of product, it is characterised in that：The can machining robot packet
It includes：
Rack；
The manipulator mechanism being connected in the rack；The manipulator mechanism includes：The lifting list being connected in the rack
Member and the manipulator unit being connected on the lifting unit；The lifting unit is used to drive the manipulator unit along institute
The short transverse for stating rack moves up and down；The manipulator unit is for crawl and mobile product；And
The conveyer mechanism being connected in the rack；The conveyer mechanism is arranged in parallel under the manipulator unit
Side；The conveyer mechanism is for receiving the product that the manipulator unit is captured, and by product from the manipulator list
One end of member is sent to the other end of the manipulator unit.
2. can machining robot according to claim 1, which is characterized in that the lifting unit includes：It is connected to
The lifting screw of lifting motor, the connection lifting motor in the rack, the lifting being socketed on the lifting screw are slided
The lifting sliding rail of seat and the lift slide that is slidably connected；The lifting screw is parallel with the lifting sliding rail and and institute
The short transverse for stating rack is parallel；The lifting motor is used to that the lifting screw rotation to be driven to drive the lift slide edge
The short transverse for the rack moves up and down.
3. can machining robot according to claim 2, which is characterized in that the lifting unit further includes：For
Detect the inductive component of the work origin of the lift slide；The inductive component includes：It is connected on the lifting sliding rail
Origin inductive switch and the sensing chip being connected on the lift slide；The origin inductive switch electrical connection lifting electricity
Machine.
4. can machining robot according to claim 3, which is characterized in that the inductive component further includes：Connection
Up stroke inductive switch on the lifting sliding rail and the down stroke inductive switch being connected on the lifting sliding rail；On described
Stroke inductive switch is located at the top of the origin inductive switch；The down stroke inductive switch is located at the origin inductive switch
Lower section.
5. can machining robot according to claim 2, which is characterized in that the manipulator unit includes：Connection
The active arm component of drive component, connection the driving component on the lift slide connects the active arm component
Driven arm component and the handgrip component being connected on the active arm component；The driving component is used to drive the active
Arm component moves in the horizontal direction；The active arm component is used to that the driven arm component to be driven to move in the horizontal direction；It is described
Handgrip component is used to capture product.
6. can machining robot according to claim 5, which is characterized in that drive component includes：Connect the liter
The traversing motor for dropping the pinboard of slide and being connected on the pinboard；The pinboard follows the lift slide to move；
The rotor of the traversing motor is equipped with gear；The traversing motor drives the active arm component to move by the gear.
7. can machining robot according to claim 6, which is characterized in that the active arm component includes：Engagement
The rack of the gear, the connection rack master arm, be arranged on described master arm one end the first idler wheel, be arranged on it is described
Second idler wheel of the master arm other end, is connected to the driving belt being socketed between first idler wheel and second idler wheel
The first link block on the driving belt and the second link block being connected on the driving belt；The rack is in institute
It states and the master arm is driven to move under the drive of gear；First link block is connect with the pinboard；Second connection
Block is connect with the driven arm component.
8. can machining robot according to claim 7, which is characterized in that the driven arm component includes：It slides
Connect the slave arm of the master arm；The slave arm connects second link block.
9. can machining robot according to claim 1, which is characterized in that the conveyer mechanism includes：It is parallel
The conveyor unit being set to below the manipulator unit；The conveyor unit includes：Stent, connection are on the bracket
Conveyer belt and connection product testing inductor on the bracket；The conveyer belt is parallel to the manipulator unit
Setting；The product testing inductor is located at the side of the transmission plane of the conveyer belt and the electrical connection conveyer belt.
10. can machining robot according to claim 9, which is characterized in that the conveyer mechanism further includes：Even
Connect the support unit of the conveyor unit；The support unit includes：The connecting seat that is connected in the rack is connected to institute
State the elevating lever on connecting seat, the lifting guide pillar being connected on the connecting seat, the lifting platform being connected on the elevating lever；Institute
It is parallel with the lifting guide pillar to state elevating lever, and the elevating lever is equipped with handwheel；The lifting guide pillar connects the lifting platform；Institute
It states lifting platform and connects the stent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720967946.4U CN207495500U (en) | 2017-08-03 | 2017-08-03 | Can machining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720967946.4U CN207495500U (en) | 2017-08-03 | 2017-08-03 | Can machining robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207495500U true CN207495500U (en) | 2018-06-15 |
Family
ID=62497606
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720967946.4U Active CN207495500U (en) | 2017-08-03 | 2017-08-03 | Can machining robot |
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| Country | Link |
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| CN (1) | CN207495500U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351070A (en) * | 2017-08-03 | 2017-11-17 | 东莞市铭铉自动化科技有限公司 | Can machining robot |
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2017
- 2017-08-03 CN CN201720967946.4U patent/CN207495500U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351070A (en) * | 2017-08-03 | 2017-11-17 | 东莞市铭铉自动化科技有限公司 | Can machining robot |
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