CN209065008U - A kind of linkage type transfer robot - Google Patents

A kind of linkage type transfer robot Download PDF

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Publication number
CN209065008U
CN209065008U CN201821668540.7U CN201821668540U CN209065008U CN 209065008 U CN209065008 U CN 209065008U CN 201821668540 U CN201821668540 U CN 201821668540U CN 209065008 U CN209065008 U CN 209065008U
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CN
China
Prior art keywords
motor
clamping
transfer robot
sliding block
pivoted arm
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Active
Application number
CN201821668540.7U
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Chinese (zh)
Inventor
温秀德
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Shenzhen City Jialiqiang Electronic Equipment Co Ltd
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Shenzhen City Jialiqiang Electronic Equipment Co Ltd
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Application filed by Shenzhen City Jialiqiang Electronic Equipment Co Ltd filed Critical Shenzhen City Jialiqiang Electronic Equipment Co Ltd
Priority to CN201821668540.7U priority Critical patent/CN209065008U/en
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Publication of CN209065008U publication Critical patent/CN209065008U/en
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Abstract

The utility model discloses a kind of linkage type transfer robots, the transfer robot includes motor rack, it further include servo motor, decelerating motor, pivoted arm, slave arm, gripper cylinder and clamping fixture pawl, the servo motor, decelerating motor is horizontally installed on motor rack, the servo motor driving portion connects decelerating motor, the shaft of the decelerating motor is set on a rocker stand and is socketed with pivoted arm in its shaft, the pivoted arm is built-in with synchronizing wheel, the shaft end of the synchronizing wheel is connected to the slave arm, the slave arm is placed on the outside of the pivoted arm leading flank, sliding block is installed on double slide bars of the slave arm, the sliding block can position, the sliding block lower end is connected with gripper cylinder, the driving portion of the gripper cylinder is provided with clamping fixture pawl.The utility model product does not need artificial loading and artificial blanking, is directly completed by full-automatic charging & discharging machine, high in machining efficiency.

Description

A kind of linkage type transfer robot
Technical field
The utility model relates to loading and unloading equipment, particularly relate to a kind of linkage type transfer robot.
Background technique
As the machinery equipment of printing word and image, flat screen printer is very widely used;As automation requires not It improving disconnectedly, flat screen printer just gradually develops towards automatic plane screen printer direction, for automatic plane screen printer, on It is automatically performed writings and image printing after the completion of material, is then automatically completed blanking action again.Automatic plane screen printer is generally adopted Feeding movement and blanking action are completed with pneumatic device, it is defeated that existing automatic plane screen printer generallys use human assistance belt Send device to carry out material conveying, i.e. the material to silk-screen is placed in conveyor belt by manpower, working efficiency it is low and increase manually at This.
Utility model content
Aiming at the shortcomings in the prior art, the technical problem to be solved by the present invention is to provide a kind of linkage types to remove Transport robot.
In order to solve the above technical problems, the utility model is realized by following scheme: a kind of linkage type transfer robot, The transfer robot includes motor rack, further includes servo motor, decelerating motor, pivoted arm, slave arm, gripper cylinder and holing clip Having pawl, the servo motor, decelerating motor are horizontally installed on motor rack, and the servo motor driving portion connects decelerating motor, The shaft of the decelerating motor is set on a rocker stand and is socketed with pivoted arm in its shaft, and the pivoted arm is built-in with synchronizing wheel, The shaft end of the synchronizing wheel is connected to the slave arm, and the slave arm is placed on the outside of the pivoted arm leading flank, the slave arm Sliding block is installed on double slide bars, which can position, and the sliding block lower end is connected with gripper cylinder, the driving of the gripper cylinder Portion is provided with clamping fixture pawl.
Further, the motor rack includes bottom plate, reducer pedestal and bracket, and the bottom plate upper surface is transversely mounted institute Reducer pedestal is stated, end face two sides are vertically connected with two rack side plates on bracket thereon, and two rack side plate upper ends pass through two Layer top mounting plate is connected and fixed.
Further, the rocker stand is installed on the reducer pedestal comprising two opposite tops are semicircle Side plate, the pivoted arm are set on two side plates.
Further, the slave arm includes waist type block, double slide bars, sliding block and limited block, is set in the middle part of the waist type block It is equipped with the mounting hole of connection synchronizing wheel axle portion, two sides half-round is provided with slide mounting hole, and two slide mounting holes are equipped with Double slide bars, are cased with sliding block on double slide bars, and double slide bar outer ends are connected and fixed by top by limited block.
Further, the sliding block both ends are provided with the slide opening being placed on double slide bars, and jagged, indentation, there is arranged on the outside of slide opening It is provided with fastening screw hole, fastens and is screwed with fastening screw on screw hole.
Further, the clamping fixture pawl include two with positioning formula sliding rail clamping bar, be set to outside two clamping bars The clamping jaw of side, the positioning formula sliding rail on two clamping bars are oppositely arranged, and are positioned formula sliding rail by positioning sliding block and are connected to clamping cylinder Tensioned portion.
Further, there are two clamping jaws for setting on every clamping bar, and clamping bar lateral surface is provided with multiple location holes.
Compared with the existing technology, the beneficial effects of the utility model are: the linkage type transfer robot of the utility model, Gripper cylinder driving clamping fixture pawl clamps product when feeding, and slave arm is then rotated 180 by pivoted arm, makes gripper cylinder It is placed in motor rack right side and gripper cylinder upward, then drives synchronizing wheel to be rotated by 90 ° slave arm by decelerating motor, make to produce Product are vertically arranged in machining position, open clamping fixture pawl, after the processing is completed, the gripper cylinder on the isostructural blanking machine in the other side Clamping fixture pawl is driven to grab the product after processing, the slave arm on blanking machine is rotated by 90 °, 180 then are rotated by pivoted arm, Make product downward, unclamp clamping fixture pawl, product is put on the conveyor line, processing is completed.The utility model product is not required to very important person Work feeding and artificial blanking, are directly completed by full-automatic charging & discharging machine, high in machining efficiency.
Detailed description of the invention
Action schematic diagram when Fig. 1 is the utility model feeding;
Action schematic diagram when Fig. 2 is the utility model blanking.
Specific embodiment
The preferred embodiment of the utility model is described in detail with reference to the accompanying drawing, so that the advantages of the utility model It can be easier to be readily appreciated by one skilled in the art with feature, to make the protection scope of the utility model apparent clear Define.
Attached drawing 1 is please referred to, a kind of linkage type transfer robot of the utility model, which includes motor rack, It further include servo motor 1, decelerating motor 2, pivoted arm 3, slave arm 4, gripper cylinder 5 and clamping fixture pawl 6, the servo motor 1, decelerating motor 2 is horizontally installed on motor rack, and 1 driving portion of servo motor connects decelerating motor 2, the decelerating motor 2 Shaft be set on a rocker stand 10 and be socketed with pivoted arm 3 in its shaft, the pivoted arm 3 is built-in with synchronizing wheel, the synchronizing wheel Shaft end be connected to the slave arm 4, the slave arm 4 is placed on the outside of 3 leading flank of pivoted arm, the slave arm 4 it is double sliding Sliding block 11 is installed, which can position, and 11 lower end of sliding block is connected with gripper cylinder 5, the gripper cylinder 5 on bar 12 Driving portion be provided with clamping fixture pawl 6.
A kind of optimal technical scheme of the present embodiment: the motor rack includes bottom plate 8, reducer pedestal 9 and bracket 7, institute It states 8 upper surface of bottom plate and is transversely mounted the reducer pedestal 9, end face two sides are vertically connected with two bracket sides on bracket 7 thereon Plate, two rack side plate upper ends are connected and fixed by two layers of top mounting plate.
A kind of optimal technical scheme of the present embodiment: the rocker stand 10 is installed on the reducer pedestal 9 comprising two A opposite top is the side plate of semicircle, and the pivoted arm 3 is set on two side plates.
A kind of optimal technical scheme of the present embodiment: the slave arm 4 include waist type block, double slide bars 12, sliding block 11 and Limited block 13, the waist type block middle part are provided with the mounting hole of connection synchronizing wheel axle portion, and two sides half-round is provided with slide bar peace Hole is filled, two slide mounting holes are equipped with double slide bars 12, and sliding block 11 is cased on double slide bars 12, and top will by limited block 13 Double 12 outer ends of slide bar are connected and fixed, and 11 both ends of sliding block are provided with the slide opening being placed on double slide bars, are provided on the outside of slide opening scarce Mouthful, indentation, there is provided with fastening screw hole, fastens and is screwed with fastening screw on screw hole.Sliding block 11 can slide on double slide bars 12, position It sets adjustable, is fixed after adjusting by fastening screw.
A kind of optimal technical scheme of the present embodiment: the clamping fixture pawl 6 includes two folders for having positioning formula sliding rail Bar, the clamping jaw being set on the outside of two clamping bars, the positioning formula sliding rail on two clamping bars are oppositely arranged, and positioning formula sliding rail passes through positioning Sliding block is connected to the tensioned portion of clamping cylinder, the position of adjustable two clamping bars of formula sliding rail is positioned, to be suitble to optimal clamping Position.
A kind of optimal technical scheme of the present embodiment: there are two clamping jaws for setting on every clamping bar, and set in clamping bar lateral surface Multiple location holes are equipped with, clamping jaw is also adjustable position, and various sizes of product can be by adjusting the position of clamping jaw come real It is existing.
As shown in Figs. 1-2, the full-automatic charging & discharging machine of the utility model, in feeding, gripper cylinder drives clamping fixture pawl Product is clamped, slave arm is then rotated 180 by pivoted arm, gripper cylinder is made to be placed in motor rack right side and gripper cylinder court On, it then drives synchronizing wheel to be rotated by 90 ° slave arm by decelerating motor, is vertically arranged product in machining position, opens holing clip Has pawl, after the processing is completed, after the gripper cylinder driving clamping fixture pawl crawl processing on the isostructural blanking machine in the other side Product, the slave arm on blanking machine are rotated by 90 °, and then by pivoted arm rotation 180, are made product downward, are unclamped clamping fixture pawl, Product is put on the conveyor line, processing is completed.
Above description is merely a prefered embodiment of the utility model, is not intended to limit the patent model of the utility model Enclose, equivalent structure or equivalent flow shift made by using the description of the utility model and the drawings, or directly or It connects and is used in other relevant technical fields, be also included in the patent protection scope of the utility model.

Claims (7)

1. a kind of linkage type transfer robot, the transfer robot include motor rack, it is characterised in that: further include servo motor (1), decelerating motor (2), pivoted arm (3), slave arm (4), gripper cylinder (5) and clamping fixture pawl (6), the servo motor (1), decelerating motor (2) is horizontally installed on motor rack, and servo motor (1) driving portion connects decelerating motor (2), described to subtract The shaft of speed motor (2) is set on a rocker stand (10) and is socketed with pivoted arm (3) in its shaft, and the pivoted arm (3) is built-in with Synchronizing wheel, the shaft end of the synchronizing wheel are connected to the slave arm (4), and the slave arm (4) is placed in outside the pivoted arm (3) leading flank Side is equipped with sliding block (11) on double slide bars (12) of the slave arm (4), which can position, under the sliding block (11) End is connected with gripper cylinder (5), and the driving portion of the gripper cylinder (5) is provided with clamping fixture pawl (6).
2. a kind of linkage type transfer robot according to claim 1, it is characterised in that: the motor rack includes bottom plate (8), reducer pedestal (9) and bracket (7), bottom plate (8) upper surface are transversely mounted the reducer pedestal (9), thereon end face Two sides are vertically connected with two rack side plates on bracket (7), and two rack side plate upper ends are solid by two layers of top mounting plate connection It is fixed.
3. a kind of linkage type transfer robot according to claim 2, it is characterised in that: the rocker stand (10) is installed on On the reducer pedestal (9) comprising two opposite tops are the side plate of semicircle, and the pivoted arm (3) is set to two side plates On.
4. a kind of linkage type transfer robot according to claim 1, it is characterised in that: the slave arm (4) includes waist Type block, double slide bars (12), sliding block (11) and limited block (13), the waist type block middle part are provided with the peace of connection synchronizing wheel axle portion Hole is filled, two sides half-round is provided with slide mounting hole, and two slide mounting holes are equipped with double slide bars (12), in double slide bars (12) On be cased with sliding block (11), double slide bars (12) outer end is connected and fixed by top by limited block (13).
5. a kind of linkage type transfer robot according to claim 4, it is characterised in that: sliding block (11) both ends are provided with The slide opening being placed on double slide bars, the setting of slide opening outside is jagged, and indentation, there is provided with fastening screw hole, fastens and is screwed with fastening on screw hole Screw.
6. a kind of linkage type transfer robot according to claim 1, it is characterised in that: clamping fixture pawl (6) packet It includes two and has the clamping bar of positioning formula sliding rail, the clamping jaw being set on the outside of two clamping bars, the positioning formula sliding rail phase on two clamping bars To setting, the tensioned portion that formula sliding rail is connected to clamping cylinder by positioning sliding block is positioned.
7. a kind of linkage type transfer robot according to claim 6, it is characterised in that: on every clamping bar there are two settings Clamping jaw, and clamping bar lateral surface is provided with multiple location holes.
CN201821668540.7U 2018-10-15 2018-10-15 A kind of linkage type transfer robot Active CN209065008U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821668540.7U CN209065008U (en) 2018-10-15 2018-10-15 A kind of linkage type transfer robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821668540.7U CN209065008U (en) 2018-10-15 2018-10-15 A kind of linkage type transfer robot

Publications (1)

Publication Number Publication Date
CN209065008U true CN209065008U (en) 2019-07-05

Family

ID=67094986

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201821668540.7U Active CN209065008U (en) 2018-10-15 2018-10-15 A kind of linkage type transfer robot

Country Status (1)

Country Link
CN (1) CN209065008U (en)

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