CN207578394U - A kind of automation reclaimer robot - Google Patents

A kind of automation reclaimer robot Download PDF

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Publication number
CN207578394U
CN207578394U CN201721249170.9U CN201721249170U CN207578394U CN 207578394 U CN207578394 U CN 207578394U CN 201721249170 U CN201721249170 U CN 201721249170U CN 207578394 U CN207578394 U CN 207578394U
Authority
CN
China
Prior art keywords
sliding rail
motor
connect
close
servo motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201721249170.9U
Other languages
Chinese (zh)
Inventor
鹿文麟
李锴绩
王嘉伟
于进
李童
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Petroleum UPC East China
Original Assignee
China University of Petroleum UPC East China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Petroleum UPC East China filed Critical China University of Petroleum UPC East China
Priority to CN201721249170.9U priority Critical patent/CN207578394U/en
Application granted granted Critical
Publication of CN207578394U publication Critical patent/CN207578394U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of automation reclaimer robots,Including pedestal,The upside of the pedestal is equipped with the first sliding rail,The pedestal is equipped with two group of second symmetrical sliding rail close to the side of the first sliding rail,The centre position of first sliding rail is equipped with leading screw,The output terminal of the servo motor is connected with one end of rotation axis by shaft coupling,The other end of the rotation axis is connect through the first sliding rail and with leading screw,The slide unit is connect by the sliding slot that the first sliding rail bosom position is equipped with the first sliding rail,The upside centre position of the slide unit is connected with one end of motor machine arm,The other end of the motor machine arm is connected with mechanical clamp hand,The feeding precision of motor machine arm can be improved by infrared ambulator and servo motor,The pressure sensor that mechanical clamp hand side is equipped with can sense the feeding error that material whether is gripped inside mechanical clamp hand so as to correct motor machine arm,Feeding efficiency can be improved.

Description

A kind of automation reclaimer robot
Technical field
The utility model is related to manipulator technical field, specially a kind of automation reclaimer robot.
Background technology
In automatically processing device, manipulator and truck have been generally included, has been stacked with placing blank workpiece on truck Pallet, blank workpiece is transported to fixed point to be taken by truck, then holds up pallet by reclaimer robot and send to adding Work end processes, and reclaimer robot directly holds the two bottom sides of pallet in feeding, so as to fulfill the movement of pallet, due to Manipulator is automatically working, will appear certain error at work, and the precision for causing manipulator feeding is poor, feeding efficiency It is low, the feeding error of motor machine arm can not be corrected, as the patent of 201620701098 .8 of application publication number discloses one kind Automate reclaimer robot, including principal arm, laterally set, pick-up arm, there are two and be spaced apart, pick-up arm is lived with principal arm Dynamic connection, fixed block, be set on pick-up arm madial wall and be provided on each pick-up arm at least two be spaced consolidate Determine block, pressure pin is fixedly arranged on fixed block and is using process for the pallet for being placed with workpiece to be held up still Yi Shang patent In, the feeding precision of motor machine arm can not be improved, the feeding error of motor machine arm can not be corrected.
A kind of automation reclaimer robot is we provided thus.
Utility model content
The technical problems to be solved in the utility model is to overcome the defects of existing, provides a kind of automation reclaimer robot, The feeding precision of motor machine arm can be improved, the feeding error of motor machine arm can be corrected, feeding effect can be improved Rate can effectively solve the problems in background technology.
To achieve the above object, the utility model provides following technical solution:A kind of automation reclaimer robot, the bottom of including Seat, the upside of the pedestal are equipped with the first sliding rail, and the pedestal is equipped with symmetrical two groups the close to the side of the first sliding rail Two sliding rails, the centre position of first sliding rail are equipped with leading screw, and the both ends of the leading screw are connect by bearing with the first sliding rail, institute The side for stating the first sliding rail is equipped with servo motor, and first sliding rail is equipped with motor fixing frame, institute close to the side of servo motor It states motor fixing frame to connect with the first sliding rail by bolt, the side of first sliding rail far from servo motor is controlled equipped with PLC Device, the input terminal of the output terminal electrical connection servo motor of the PLC controller.
As a kind of optimal technical scheme of the utility model, the output terminal of the servo motor is connected with by shaft coupling One end of rotation axis, the other end of the rotation axis are connect through the first sliding rail and with leading screw.
As a kind of optimal technical scheme of the utility model, the centre position of the leading screw is equipped with slide unit, the slide unit The sliding slot being equipped with by the first sliding rail bosom position is connect with the first sliding rail, and the upside centre position of the slide unit is connected with One end of motor machine arm, the other end of the motor machine arm are connected with mechanical clamp hand, the output of the PLC controller Hold the input terminal of electrical connection electric motor tool arm.
As a kind of optimal technical scheme of the utility model, in the side of the machinery clamp hand far from motor machine arm Meta position has installed pressure sensor, the input terminal of the output terminal electrical connection PLC controller of the pressure sensor.
As a kind of optimal technical scheme of the utility model, the upside of second sliding rail is connected with cunning by sliding block Plate, the slide plate are equipped with two groups of symmetrical connection boss close to the side of the first sliding rail, and the connection boss is close to first The side of sliding rail is connected with one end of electric telescopic rod, and the other end of the electric telescopic rod is connect with the first sliding rail, the PLC The input terminal of the output terminal electrical connection electric telescopic rod of controller.
As a kind of optimal technical scheme of the utility model, the upside of the slide plate is equipped with material platform, the material platform it is upper Side centre position is equipped with placing groove, and the inner bottom surface of the placing groove is equipped with equidistant four groups or more symmetrical positioning convex platforms, First sliding rail is equipped with infrared ambulator close to the side of material platform, and the material platform is equipped with close to the side of infrared ambulator Ranging tablet, the output terminal of the input terminal electrical connection infrared ambulator of the PLC controller.
Compared with prior art, the beneficial effects of the utility model are:It can be with by infrared ambulator and servo motor The feeding precision of motor machine arm is improved, the pressure sensor that mechanical clamp hand side is equipped with, which can be sensed inside mechanical clamp hand, is No gripping material can improve feeding efficiency so as to correct the feeding error of motor machine arm.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model;
Fig. 2 is the utility model left side structure diagram;
Fig. 3 is the utility model machinery clamp hand partial enlargement structural representation.
In figure:1 pedestal, 2 slide plates, 3 material platforms, 4 infrared ambulators, 5 placing grooves, 6 positioning convex platforms, 7 connection boss, 8 electricity Dynamic telescopic rod, 9 first sliding rails, 10 motor machine arms, 11 slide units, 12 servo motors, 13 motor fixing frames, 14 second sliding rails, 15 leading screws, 16 ranging tablets, 17 mechanical clamp hands, 18 pressure sensors, 19 PLC controllers.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, the utility model provides a kind of technical solution:A kind of automation reclaimer robot, including pedestal 1, the upside of pedestal 1 is equipped with the first sliding rail 9, and pedestal 1 is equipped with two group of second symmetrical sliding rail close to the side of the first sliding rail 9 14, the upside of the second sliding rail 14 is connected with slide plate 2 by sliding block, and the upside of slide plate 2 is equipped with material platform 3, for placing magazine, expects platform 3 upside centre position is equipped with placing groove 5, and the inner bottom surface of placing groove 5 is equipped with equidistant four groups or more symmetrical convexes Platform 6, for the positioning of magazine, the first sliding rail 9 is equipped with infrared ambulator 4 close to the side of material platform 3, for measuring the first sliding rail The distance between 9 and material platform 3, material platform 3 is equipped with ranging tablet 16 close to the side of infrared ambulator 4, PLC controller 19 Input terminal is electrically connected the output terminal of infrared ambulator 4, and slide plate 2 is equipped with symmetrical two groups close to the side of the first sliding rail 9 Connect boss 7, connection boss 7 is connected with one end of electric telescopic rod 8 close to the side of the first sliding rail 9, electric telescopic rod 8 it is another One end is connect with the first sliding rail 9, the input terminal of the output terminal electrical connection electric telescopic rod 8 of PLC controller 19, the first sliding rail 9 Centre position is equipped with leading screw 15, and the centre position of leading screw 15 is equipped with slide unit 11, and slide unit 11 passes through 9 bosom position of the first sliding rail The sliding slot being equipped with is connect with the first sliding rail 9, and the upside centre position of slide unit 11 is connected with one end of motor machine arm 10, electronic The other end of mechanical arm 10 is connected with mechanical clamp hand 17, and for gripping feeding, mechanical clamp hand 17 is far from motor machine arm 10 Side centre position be equipped with pressure sensor 18, pressure sensor 18 output terminal electrical connection PLC controller 19 input terminal, The input terminal of the output terminal electrical connection electric motor tool arm 10 of PLC controller 19, the both ends of leading screw 15 are slided by bearing and first Rail 9 connects, and the side of the first sliding rail 9 is equipped with servo motor 12, and the output terminal of servo motor 12 is connected with rotation by shaft coupling One end of axis, the other end of rotation axis are connect through the first sliding rail 9 and with leading screw 15, and the first sliding rail 9 is close to servo motor 12 Side is equipped with motor fixing frame 13, and motor fixing frame 13 is connect by bolt with the first sliding rail 9, and the first sliding rail 9 is far from servo electricity The side of machine 12 is equipped with PLC controller 19, the input terminal of the output terminal electrical connection servo motor 12 of PLC controller 19.
When in use:Magazine is put in the placing groove 5 being equipped on the upside of feeding table 3, the positioning convex platform that 5 upside of placing groove is equipped with 6 can position magazine, are then controlled by PLC controller 19 and open servo motor 12, the output shaft rotation of servo motor 12 The dynamic rotation axis rotation for driving connection, rotation axis rotation drive the leading screw 15 of connection to rotate, and the rotation of leading screw 15 drives slide unit 11 to exist It is moved in first sliding rail 9, is then controlled by PLC controller 19 and open infrared ambulator 4, infrared ambulator 4 measures the The distance between one sliding rail 9 and material platform 3, then controlled by PLC controller 19 open electric telescopic rod 8 to the first sliding rail 9 with The distance between material platform 3 is adjusted, and is then controlled by PLC controller 19 and opens motor machine arm 10 and mechanical clamp hand 17 Carry out feeding.
The utility model can improve the feeding essence of motor machine arm by infrared ambulator 4 and servo motor 12 Degree, the pressure sensor 18 that mechanical 17 side of clamp hand is equipped with can sense whether gripped inside mechanical clamp hand 17 material so as to The feeding error of motor machine arm is corrected, feeding efficiency can be improved.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art, It is appreciated that can these embodiments be carried out with a variety of variations in the case of the principle and spirit for not departing from the utility model, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims (6)

1. a kind of automation reclaimer robot, including pedestal (1), it is characterised in that:The upside of the pedestal (1) is equipped with first and slides Rail (9), the pedestal (1) close to the first sliding rail (9) side be equipped with two group of second symmetrical sliding rail (14), described first The centre position of sliding rail (9) is equipped with leading screw (15), and the both ends of the leading screw (15) are connect by bearing with the first sliding rail (9), institute The side for stating the first sliding rail (9) is equipped with servo motor (12), and first sliding rail (9) is equipped with close to the side of servo motor (12) Motor fixing frame (13), the motor fixing frame (13) are connect by bolt with the first sliding rail (9), and first sliding rail (9) is remote Side from servo motor (12) is equipped with PLC controller (19), the output terminal electrical connection servo motor of the PLC controller (19) (12) input terminal.
2. a kind of automation reclaimer robot according to claim 1, it is characterised in that:The servo motor (12) it is defeated Outlet is connected with one end of rotation axis by shaft coupling, and the other end of the rotation axis runs through the first sliding rail (9) and and leading screw (15) it connects.
3. a kind of automation reclaimer robot according to claim 1, it is characterised in that:The interposition of the leading screw (15) Slide unit (11) is installed, the sliding slot and the first sliding rail (9) that the slide unit (11) is equipped with by the first sliding rail (9) bosom position Connection, the upside centre position of the slide unit (11) is connected with one end of motor machine arm (10), the motor machine arm (10) the other end is connected with mechanical clamp hand (17), the output terminal electrical connection electric motor tool arm of the PLC controller (19) (10) input terminal.
4. a kind of automation reclaimer robot according to claim 1, it is characterised in that:The machinery clamp hand (17) is separate The side centre position of motor machine arm (10) is equipped with pressure sensor (18), the output terminal electricity of the pressure sensor (18) Connect the input terminal of PLC controller (19).
5. a kind of automation reclaimer robot according to claim 1, it is characterised in that:Second sliding rail (14) it is upper Side is connected with slide plate (2) by sliding block, and the slide plate (2) is equipped with two groups of symmetrical companies close to the side of the first sliding rail (9) Boss (7) is connect, the connection boss (7) is connected with one end of electric telescopic rod (8) close to the side of the first sliding rail (9), described The other end of electric telescopic rod (8) is connect with the first sliding rail (9), and the output terminal electrical connection of the PLC controller (19) is electronic to stretch The input terminal of contracting bar (8).
6. a kind of automation reclaimer robot according to claim 5, it is characterised in that:It is set on the upside of the slide plate (2) There is material platform (3), the upside centre position of the material platform (3) is equipped with placing groove (5), and the inner bottom surface of the placing groove (5) is equipped with Equidistant four groups or more symmetrical positioning convex platforms (6), first sliding rail (9) are equipped with infrared ray close to the side of material platform (3) Rangefinder (4), the material platform (3) are equipped with ranging tablet (16), the PLC controls close to the side of infrared ambulator (4) The output terminal of the input terminal electrical connection infrared ambulator (4) of device (19).
CN201721249170.9U 2017-09-27 2017-09-27 A kind of automation reclaimer robot Expired - Fee Related CN207578394U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721249170.9U CN207578394U (en) 2017-09-27 2017-09-27 A kind of automation reclaimer robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721249170.9U CN207578394U (en) 2017-09-27 2017-09-27 A kind of automation reclaimer robot

Publications (1)

Publication Number Publication Date
CN207578394U true CN207578394U (en) 2018-07-06

Family

ID=62728425

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721249170.9U Expired - Fee Related CN207578394U (en) 2017-09-27 2017-09-27 A kind of automation reclaimer robot

Country Status (1)

Country Link
CN (1) CN207578394U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108812648A (en) * 2018-08-16 2018-11-16 湖州韩汇进出口有限公司 A kind of stem cell cryogenic storage that inner space utilization rate is high

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108812648A (en) * 2018-08-16 2018-11-16 湖州韩汇进出口有限公司 A kind of stem cell cryogenic storage that inner space utilization rate is high
CN108812648B (en) * 2018-08-16 2021-05-04 南华大学 Stem cell low-temperature storage device with high internal space utilization rate

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180706

Termination date: 20190927

CF01 Termination of patent right due to non-payment of annual fee