CN210148076U - Side-taking type mechanical arm - Google Patents
Side-taking type mechanical arm Download PDFInfo
- Publication number
- CN210148076U CN210148076U CN201920056620.5U CN201920056620U CN210148076U CN 210148076 U CN210148076 U CN 210148076U CN 201920056620 U CN201920056620 U CN 201920056620U CN 210148076 U CN210148076 U CN 210148076U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- screw rod
- guide rail
- mounting plate
- moving
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a side formula manipulator, including the manipulator mounting panel, the manipulator is connected to one side of manipulator mounting panel, the manipulator includes the sideslip system and erects the system of moving, be equipped with on the sideslip system and erect the system of moving, erect and be connected with the horizontally xarm on the system of moving, the horizontally xarm has colluded the claw, collude claw connection carrier, carry out horizontal and elevating movement through the program control xarm on sideslip moving system and perpendicular moving system to reach and get the carrier and put and remove. The utility model can meet the high-speed start and stop actions, the rigidity of the lifting arm is good, and the levelness and stability of the cross arm can be better ensured; the linear sliding blocks of the upper and lower guide rails are convenient to disassemble and assemble; the manipulator sliding block is provided with a notch structure, so that the guide rail shield can be conveniently installed on equipment; when the rear groove body of the manipulator is maintained by personnel, oil stains on the guide rail can be prevented from rubbing the maintainers, so that the risk of pollution of other areas of the equipment is reduced.
Description
Technical Field
The utility model relates to a semiconductor and solar cleaning equipment and wet processing equipment, especially slot type cleaning equipment and wet processing equipment.
Background
In the groove type automatic cleaning industry, a side-taking type mechanical arm is often needed to transfer cleaned products in equipment to each processing station.
Disclosure of Invention
The to-be-solved technical problem of the utility model is that traditional slot type self-cleaning trade side-hung type manipulator is heavy, the rigidity is not enough, maintain inconvenient scheduling problem.
In order to solve the technical problem, the utility model provides a side-picking manipulator, including the manipulator mounting panel, the manipulator is connected to one side of manipulator mounting panel, the manipulator includes sideslip system and erects the system of moving, be equipped with on the sideslip system and erect the system of moving, erect and be connected with the horizontally xarm on the system of moving, the horizontally xarm has colluded the claw, collude the claw and connect the carrier, carry out horizontal and elevating movement through the program control xarm on sideslip moving system and perpendicular moving system to reach and get to put and remove the carrier.
Preferably, the transverse moving system comprises an upper guide rail fixed on the other side of the manipulator mounting plate through an upper guide rail fixing profile, a sliding block is arranged on the upper guide rail, the sliding block is mounted on a transverse moving gear through a sliding block fixing block, the transverse moving gear is meshed and connected with a transverse moving rack fixed below the upper guide rail fixing profile, and a first speed reducer and a first motor which are connected with the transverse moving gear drive the transverse moving gear to roll on the transverse moving rack in a meshed mode to drive the sliding block connected with the transverse moving gear through the sliding block fixing block to transversely move on the upper guide rail.
Preferably, the vertical moving system comprises a back plate, one side of the back plate is connected with the transverse moving system through a transverse moving system mounting seat, a fixing plate is arranged at the top of the other side of the back plate, a screw rod mounting plate is fixed at the bottom of the other side of the back plate, a screw rod is arranged between the fixing plate and the screw rod mounting plate and fixed in the middle of the screw rod mounting plate through a screw rod supporting seat, a second speed reducer is mounted below the screw rod mounting plate, and a second motor is mounted at the input end of the second; linear guide rails arranged in opposite directions are respectively arranged on two sides of the screw rod and are fixed with the screw rod mounting plate and the back plate through the guide rail mounting plate; the linear guide rails arranged in the opposite directions are respectively provided with a linear sliding block, the linear sliding blocks are respectively connected with a group of lifting arms, the two groups of lifting arms are connected through a fixing plate, and the center of the fixing plate is connected with a screw rod nut arranged in the middle of a screw rod; the lifting arm is connected with the cross arm, the motor II and the speed reducer II drive the screw rod connected with the lifting arm to rotate, and the screw rod nut in the middle of the screw rod drives the lifting arm connected with the fixing plate to move up and down.
Preferably, the guide rail mounting panel is equipped with limit inductor from top to bottom respectively, be equipped with between the limit inductor from top to bottom with the fixed limit response piece of lifing arm, the elevating movement through the lifing arm drives the limit response piece and moves between the limit inductor from top to bottom.
Preferably, a buffer column is arranged below the fixing plate.
Preferably, the screw rod mounting plate is provided with a slider access hole, and the slider access hole is positioned on one side of two groups of linear guide rails arranged in opposite directions.
Preferably, the transverse moving direction of the sliding block is provided with an anti-collision sensor and an anti-collision sensing block which are fixed on one side of the back plate, when the two mechanical arms run in the same track in opposite directions, if the set safety distance is exceeded, the anti-collision sensing block sends a signal and judges through a PLC control system, and sends an instruction to stop the operation of the mechanical arms and give an alarm, so that the aim of preventing the mechanical arms from colliding is fulfilled; the manipulator sideslip direction is equipped with district's portion protection sensor, and when the manipulator normally operates, when the operation region appears the obstacle, judge through PLC control system to send the instruction and stop the manipulator operation and report to the police.
Preferably, the sliding block fixing block is provided with a notch, so that the sliding block is convenient to mount; the lifting arm adopts thickening industry section bar, the mode that adds the reinforcing of steel sheet is adopted to the lifting arm both sides, solves the lift rigidity problem.
Preferably, the upper guide rail is provided with an upper guide rail shield fixed on the back plate and the manipulator mounting plate and used for preventing foreign matters from falling to damage the traversing system, and when a worker maintains the rear groove body of the manipulator, the risk that oil stains on the upper guide rail rub against a maintainer is avoided, so that the risk that other areas of the equipment are polluted by the oil stains is reduced.
Preferably, the bottom surface of the screw rod mounting plate is connected with a guide wheel mounting plate, a guide wheel is arranged on the guide wheel mounting plate, and the guide wheel is connected with a lower guide rail fixed on the manipulator mounting plate.
The utility model provides a side-fetching manipulator structure, which has the advantages of lightness, strong rigidity, convenient maintenance, no oil pollution, light manipulator, high speed start and stop actions, good rigidity of the lifting arm, and better guarantee of the levelness and stability of the cross arm; the linear sliding blocks of the upper and lower guide rails are convenient to disassemble and assemble; the manipulator slider has the breach structure, makes things convenient for equipment fixing to change the guide rail slider.
Drawings
Fig. 1 is a perspective view of a side-fetching manipulator provided by the present invention;
fig. 2 is a right side view of a side-fetching manipulator provided by the present invention;
the numbers in the figure are as follows:
1. a cross arm; 2. hooking claws; 3. a carrier; 4. a lifting arm; 5. a limit sensor; 6. a slider; 7. an upper guide rail; 8. a first speed reducer; 9. a first motor; 10. a limit sensing block; 11. a collision avoidance sensor; 12. a fixing plate; 13. A guide rail mounting plate; 14. a back plate; 15. a second motor; 16. a second speed reducer; 17. a screw rod supporting seat; 18. a slide block access hole; 19. a linear guide rail; 20. a screw rod; 21. a screw rod mounting plate; 22. a buffer column; 23. a feed screw nut; 24. an anti-collision induction block; 25. a linear slider; 26. a sliding block fixing block; 27. an upper rail guard; 28. Fixing the section bar by the upper guide rail; 29. transversely moving the rack; 30. a lateral moving gear; 31. a traverse system mount; 32. a manipulator mounting plate; 33. the lower guide rail fixes the section bar; 34. a lower guide rail; 35. a guide rail mounting plate; 36. a guide rail.
Detailed Description
In order to make the present invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the side-fetching type manipulator provided by the invention comprises a manipulator mounting plate 32, one side of the manipulator mounting plate 32 is connected with a manipulator which comprises a transverse moving system and a vertical moving system, the traversing system comprises an upper guide rail 7 fixed on the other side of the manipulator mounting plate 32 by an upper guide rail fixing profile 28, the upper guide rail 7 is provided with a slide block 6, the slide block 6 is arranged on a transverse gear 30 through a slide block fixing block 26 with a notch, the traversing gear 30 is meshed and connected with a traversing rack 29 fixed under the upper guide rail fixing section bar 28, the transverse gear 30 is driven to be meshed and rolled on the transverse rack 29 through a first speed reducer 8 and a first motor 9 which are connected with the transverse gear 30, and the sliding block 6 which is connected with the transverse gear 30 through a sliding block fixing block 26 is driven to transversely move on the upper guide rail 7; the transverse moving system is provided with a vertical moving system, the vertical moving system is connected with a horizontal cross arm 1, a hook claw 2 is arranged below the horizontal cross arm 1, the hook claw 2 is connected with a carrier 3, and the transverse moving system and the vertical moving system are controlled to transversely move and lift up and down through a program to achieve the purpose of picking, placing and moving the carrier 3.
The vertical moving system comprises a back plate 14, one side of the back plate 14 is connected with a transverse moving system through a transverse moving system mounting seat 31, the top of the other side of the back plate 14 is provided with a fixing plate 12, the bottom of the other side of the back plate 14 is fixedly provided with a screw rod mounting plate 21, a screw rod 20 is arranged between the fixing plate 12 and the screw rod mounting plate 21 and is fixed in the middle of the screw rod mounting plate 21 through a screw rod supporting seat 17, a second speed reducer 16 is arranged at the position concentric with the screw rod 20 below the screw rod mounting plate 21, and the input end of the second speed reducer; linear guide rails 19 arranged in opposite directions are respectively arranged on two sides of the screw rod 20 and are fixedly connected with a screw rod mounting plate 21 and a back plate 14 through a guide rail mounting plate 13; the linear guide rails 19 arranged in the opposite directions are respectively provided with a linear sliding block 25, the linear sliding blocks 25 are respectively connected with a group of lifting arms 4, the two groups of lifting arms 4 are connected through a fixed plate 12, and the center of the fixed plate 12 is connected with a screw rod nut 23 arranged in the middle of a screw rod 20; the lifting arm 4 is connected with the cross arm 1, the screw rod 20 connected with the lifting arm is driven to rotate through the second motor 15 and the second speed reducer 16, and the lifting arm 4 connected with the fixing plate 12 is driven to move up and down through the screw rod nut 23 in the middle of the screw rod 20.
The transverse moving direction of the sliding block 6 is provided with an anti-collision sensor 11 fixed on one side of the back plate 14, and when the manipulator normally operates in an operating area and has a barrier, the barrier contacts an anti-collision sensing block 24, the PLC judges that the manipulator stops operating and gives an alarm.
Furthermore, an upper guide rail shield 27 fixed on the back plate 14 and the manipulator mounting plate 32 is arranged above the upper guide rail 7 and used for preventing foreign matters from falling off and damaging the traversing system, and avoiding oil stains on the upper guide rail from rubbing on maintenance personnel when personnel maintain the groove body at the rear part of the manipulator, thereby reducing the risk that other areas of the equipment are polluted by oil stains; the guide rail mounting plate 13 is respectively provided with limit inductors 5 at the upper and lower parts, a limit induction block 10 fixed with the lifting arm 4 is arranged between the upper and lower limit inductors 5, and the limit induction block 10 is driven to move between the upper and lower limit inductors 5 by the lifting motion of the lifting arm 4; a buffer column 22 is arranged below the fixed plate 12 and used for preventing the lifting arm 4 from being damaged due to impact in the descending process; be equipped with slider access hole 18 on the lead screw mounting panel 21, slider access hole 18 is located one side of two sets of linear guide 19 that set up with the relative direction, can dismantle sharp slider 25 and take out from slider access hole 18 under the prerequisite of not tearing open and getting lifting arm 4 when being convenient for maintain.
Further, the bottom surface of the screw rod mounting plate 21 is connected with a guide wheel mounting plate 35, a guide wheel 36 is arranged on the guide wheel mounting plate 35, and the guide wheel 36 is connected with a lower guide rail 34 fixed on the manipulator mounting plate 32 and used for assisting the sliding block 6 on the upper guide rail 7 to move transversely.
Furthermore, the lifting arm 4 adopts a thickened industrial section bar, and the two sides of the thickened industrial section bar are reinforced by steel plates, so that the problem of lifting rigidity is solved.
During operation, the second motor 15 is controlled by a program to drive the screw rod 20 to rotate, so that the lifting arm 4 is driven to move up and down; and the transverse moving system is driven by the motor I9 to drive the lifting arm 4 on the vertical moving system on the back plate 14 connected with the transverse moving system to do transverse movement, and the carrier 3 indirectly connected with the lifting arm 4 is taken, placed and moved through transverse and lifting movement.
The utility model provides a side-fetching manipulator structure, which has the advantages of lightness, strong rigidity, convenient maintenance, no oil pollution, light manipulator, high speed start and stop actions, good rigidity of the lifting arm, and better guarantee of the levelness and stability of the cross arm; the linear sliding blocks of the upper and lower guide rails are convenient to disassemble and assemble; the manipulator sliding block is provided with a notch structure, so that the guide rail shield can be conveniently installed on equipment; when the rear groove body of the manipulator is maintained by personnel, oil stains on the guide rail can be prevented from rubbing the maintainers, so that the risk of pollution of other areas of the equipment is reduced.
Claims (10)
1. The utility model provides a side formula manipulator, includes manipulator mounting panel (32), the manipulator is connected to one side of manipulator mounting panel (32), a serial communication port, the manipulator includes sideslip system and erects the system of moving, be equipped with on the sideslip system and erect the system of moving, erect and be connected with horizontally xarm (1) on the system of moving, horizontal xarm (1) has colluded claw (2), collude claw (2) and connect carrier (3), carry out horizontal and elevating movement through program control xarm (1) on sideslip moving system and perpendicular system of moving to reach and get carrier (3) and put and remove.
2. The side-fetching manipulator of claim 1, wherein the traverse system comprises an upper guide rail (7) fixed on the other side of the manipulator mounting plate (32) through an upper guide rail fixing profile (28), a slide block (6) is arranged on the upper guide rail (7), the slide block (6) is mounted on a traverse gear (30) through a slide block fixing block (26), the traverse gear (30) is meshed with a traverse rack (29) fixed under the upper guide rail fixing profile (28), and the traverse gear (30) is driven to be meshed and rolled on the traverse rack (29) through a speed reducer I (8) and a motor I (9) connected with the traverse gear (30) so as to drive the slide block (6) connected with the traverse gear (30) through the slide block fixing block (26) to move transversely on the upper guide rail (7).
3. The side-fetching manipulator of claim 2, wherein the vertical moving system comprises a back plate (14), one side of the back plate (14) is connected with the transverse moving system through a transverse moving system mounting seat (31), a fixing plate (12) is arranged at the top of the other side of the back plate (14), a screw rod mounting plate (21) is fixed at the bottom of the other side of the back plate (14), a screw rod (20) is arranged between the fixing plate (12) and the screw rod mounting plate (21) and fixed in the middle of the screw rod mounting plate (21) through a screw rod supporting seat (17), a second speed reducer (16) is installed below the screw rod mounting plate (21), and a second motor (15) is installed at the input end of the second speed reducer (16); two sides of the screw rod (20) are respectively provided with a linear guide rail (19) arranged in opposite directions and are fixed with a screw rod mounting plate (21) and a back plate (14) through a guide rail mounting plate (13); the linear guide rails (19) arranged in the opposite directions are respectively provided with a linear sliding block (25), the linear sliding blocks (25) are respectively connected with a group of lifting arms (4), the two groups of lifting arms (4) are connected through a fixing plate (12), and the center of the fixing plate (12) is connected with a screw rod nut (23) arranged in the middle of a screw rod (20); the lifting arm (4) is connected with the cross arm (1), a screw rod (20) connected with the lifting arm is driven to rotate through a second motor (15) and a second speed reducer (16), and the lifting arm (4) connected with the fixing plate (12) is driven to move up and down through a screw rod nut (23) in the middle of the screw rod (20).
4. The side-fetching manipulator according to claim 3, wherein the guide rail mounting plate (13) is provided with limit sensors (5) at the upper and lower parts, respectively, a limit sensing block (10) fixed with the lifting arm (4) is arranged between the upper and lower limit sensors (5), and the limit sensing block (10) is driven to move between the upper and lower limit sensors (5) through the lifting movement of the lifting arm (4).
5. A side-pick robot as claimed in claim 4, characterised in that a bumper post (22) is provided under the fixed plate (12).
6. A side-fetching robot according to claim 5, characterized in that the lead screw mounting plate (21) is provided with a slider access opening (18), said slider access opening (18) being located at one side of two sets of linear guides (19) arranged in opposite directions.
7. The side-fetching manipulator of claim 6, wherein the lateral moving direction of the slide block (6) is provided with an anti-collision sensor (11) and an anti-collision sensing block (24) which are fixed on one side of the back plate (14), when the two manipulators run in the same track in opposite directions, if the set safe distance is exceeded, the anti-collision sensing block (24) sends a signal and judges through a PLC control system, and sends an instruction to stop the operation of the manipulators and give an alarm, so that the purpose of preventing the collision of the manipulators is achieved; the manipulator sideslip direction is equipped with district's portion protection sensor, and when the manipulator normally operates, when the operation region appears the obstacle, judge through PLC control system to send the instruction and stop the manipulator operation and report to the police.
8. The side-fetching manipulator according to claim 3, wherein the slider fixing block (26) is provided with a notch for facilitating installation of the slider (6); the lifting arm (4) is made of thickened industrial sectional materials, and the two sides of the lifting arm (4) are reinforced by steel plates, so that the problem of lifting rigidity is solved.
9. The side-fetching manipulator of claim 8, wherein an upper guide rail shield (27) fixed on the back plate (14) and the manipulator mounting plate (32) is arranged above the upper guide rail (7) and used for preventing foreign matters from falling off and damaging the traversing system, and avoiding oil stains on the upper guide rail from rubbing on a maintainer when the rear groove body of the manipulator is maintained by the staff, thereby reducing the risk of other areas of the equipment being polluted by the oil stains.
10. The side-fetching manipulator according to any one of claims 3-9, wherein a guide wheel mounting plate (35) is connected to the bottom surface of the screw rod mounting plate (21), a guide wheel (36) is arranged on the guide wheel mounting plate (35), and the guide wheel (36) is connected with a lower guide rail (34) fixed on the manipulator mounting plate (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920056620.5U CN210148076U (en) | 2019-01-14 | 2019-01-14 | Side-taking type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920056620.5U CN210148076U (en) | 2019-01-14 | 2019-01-14 | Side-taking type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210148076U true CN210148076U (en) | 2020-03-17 |
Family
ID=69754433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920056620.5U Active CN210148076U (en) | 2019-01-14 | 2019-01-14 | Side-taking type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210148076U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732561A (en) * | 2019-01-14 | 2019-05-10 | 上海釜川自动化设备有限公司 | A kind of side take-out type manipulator |
-
2019
- 2019-01-14 CN CN201920056620.5U patent/CN210148076U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732561A (en) * | 2019-01-14 | 2019-05-10 | 上海釜川自动化设备有限公司 | A kind of side take-out type manipulator |
| CN109732561B (en) * | 2019-01-14 | 2024-03-12 | 无锡釜川科技股份有限公司 | Side-taking type manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102642718A (en) | Track sucking disk type gripping device | |
| CN210148076U (en) | Side-taking type mechanical arm | |
| CN111453364A (en) | Automatic overturning and transverse moving equipment for long component | |
| CN111331119B (en) | Primary and secondary type movable dust hood vehicle for steelmaking environment and dust removal method | |
| CN112109065A (en) | Anti-collision inspection robot | |
| CN109732561B (en) | Side-taking type manipulator | |
| CN112794023A (en) | Full-automatic assembly production system of air conditioner heat exchanger | |
| CN106976071B (en) | Ultrasonic degreasing line anti-rollover mechanical arm and its anti-rollover guard method | |
| KR200296589Y1 (en) | Automatic washing system for washing insulator and t-bar | |
| CN208677247U (en) | It is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot | |
| CN213647546U (en) | Industrial robot ground rail | |
| CN216033884U (en) | Transmission device and power swapping station | |
| CN216464724U (en) | Visual auxiliary positioning device for truss manipulator | |
| CN208932351U (en) | Fast beat automobile top cover point spells automobile cart conveying system | |
| CN212445214U (en) | Seven axle traveling systems of flexible line of robot | |
| CN204093626U (en) | A kind of hand spray work station | |
| CN209455994U (en) | Centralizer steel plate shearing hoisting machine | |
| CN113415721A (en) | Cover opening machine and method | |
| CN209901561U (en) | Three-coordinate automatic sliding workbench | |
| CN109335650B (en) | Tray replacement system | |
| CN219524053U (en) | Backpack warehouse transport AGV | |
| CN219095128U (en) | Y-beam movable truss girder device | |
| CN219384518U (en) | Control device for avoiding obstacle during driving | |
| CN220903324U (en) | Industrial robot guide rail arrangement structure | |
| CN216271895U (en) | Novel anti-collision stacker crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 209, Zhangjing East Section, Xigang Road, Xibei Town, Xishan District, Wuxi City, Jiangsu Province, 214194 Patentee after: Wuxi Fuchuan Technology Co.,Ltd. Address before: 201808 Building 1, 89 Wuxiang Road, Xuxing Town, Jiading District, Shanghai Patentee before: Shanghai Fuchuan Intelligent Technology Co.,Ltd. Address after: 201808 Building 1, 89 Wuxiang Road, Xuxing Town, Jiading District, Shanghai Patentee after: Shanghai Fuchuan Intelligent Technology Co.,Ltd. Address before: Room J1078, 2F, Building 39, No. 52, Chengliu Road, Jiading District, Shanghai, 200000 Patentee before: SHANGHAI FUCHUAN AUTOMATION EQUIPMENT Co.,Ltd. |