CN210709631U - Transfer manipulator - Google Patents
Transfer manipulator Download PDFInfo
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- CN210709631U CN210709631U CN201921086807.6U CN201921086807U CN210709631U CN 210709631 U CN210709631 U CN 210709631U CN 201921086807 U CN201921086807 U CN 201921086807U CN 210709631 U CN210709631 U CN 210709631U
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Abstract
The utility model belongs to the technical field of automation equipment, in particular to a transfer manipulator, which comprises a machine base, an X-axis supporting seat, a Y-axis supporting seat and a Z-axis supporting seat; a sucker assembly is arranged at one end of the Z-axis supporting seat and comprises a sucker bracket, a glass sucker connected to the sucker bracket, an isolation paper sucker and an air cylinder; the suction cup support is rotatably connected to the Z-axis support seat, and the air cylinder is connected with the isolation paper suction cup and drives the isolation paper suction cup to do telescopic motion; the glass isolation paper and the automatic glass carrying are automatically taken by the transfer manipulator, the glass sucker and the isolation paper sucker are arranged at the front and the back at intervals, interference generated in the working process between the glass sucker and the isolation paper sucker is reduced, and the production efficiency is improved.
Description
Technical Field
The utility model belongs to the technical field of automation equipment, especially, relate to a move and carry manipulator.
Background
The glass isolation paper is special paper used for preventing the surface from being scratched or scratched due to friction between two adjacent pieces of glass, the glass isolation paper needs to be taken away by a mechanical arm before the glass is conveyed by the mechanical arm, the glass isolation paper is generally taken away in a manual mode at the present stage, and then the mechanical arm conveys the glass.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a move and carry manipulator aims at solving the technical problem that move among the prior art moves the glass barrier paper that the manipulator can't tak the glass surface away.
In order to achieve the above object, an embodiment of the present invention provides a transfer robot, which includes a machine base, an X-axis supporting seat, a Y-axis supporting seat, and a Z-axis supporting seat; the X-axis support seat is arranged on the machine base along the X-axis direction, a sliding seat is arranged on the X-axis support seat, an X-axis driving mechanism and a Y-axis driving mechanism are arranged on the sliding seat, and the sliding seat is driven by the X-axis driving mechanism to slide on the X-axis support seat; the Y-axis support seat is arranged on the sliding seat along the Y-axis direction, and the Y-axis driving mechanism drives the Y-axis support seat to slide along the Y-axis direction; a Z-axis driving mechanism is arranged on the Y-axis supporting seat, the Z-axis supporting seat is arranged on the Y-axis supporting seat along the Z-axis direction, and the Z-axis driving mechanism drives the Z-axis supporting seat to slide along the Z-axis direction;
a sucker assembly is arranged at one end of the Z-axis supporting seat and comprises a sucker bracket, a glass sucker connected to the sucker bracket, an isolation paper sucker and an air cylinder; the sucking disc support rotate connect in on the Z axle supporting seat, the cylinder with the barrier paper sucking disc is connected and drive the barrier paper sucking disc is concertina movement.
Optionally, the suction cup bracket comprises a rotating seat, two connecting rods and a plurality of suction cup fixing rods; the rotary seat is rotatably connected to the Z-axis supporting seat, the two connecting rods are respectively and fixedly connected to two ends of the rotary seat, and the sucking disc fixing rods are arranged at intervals and are respectively connected with the two sucking disc fixing rods; the glass sucker, the isolation paper sucker and the cylinder are connected to the sucker fixing rod.
Optionally, each be equipped with four on the sucking disc dead lever the glass sucking disc, each the glass sucking disc evenly arrange in on the sucking disc dead lever.
Optionally, the glass suction cups and the release paper suction cups are vacuum suction cups.
Optionally, a rotating mechanism is further arranged on the Z-axis supporting seat, and the rotating mechanism is connected with the sucker support and drives the sucker support to rotate.
Optionally, the rotating mechanism includes a rotating motor and a rotating shaft, the rotating motor is fixedly connected to the Z-axis supporting seat, the rotating motor is connected to the rotating shaft, and the rotating shaft is connected to the suction cup bracket.
Optionally, the X-axis driving mechanism includes an X-axis driving motor and an X-axis transmission gear, an X-axis rack is disposed on the X-axis support base, the X-axis driving motor is connected with the X-axis transmission gear, and the X-axis transmission gear is connected with the X-axis rack; and the X-axis support base is provided with an X-axis track corresponding to the sliding base.
Optionally, the Y-axis driving mechanism includes a Y-axis driving motor and a Y-axis transmission gear, a Y-axis rack is disposed on the Y-axis supporting base, the Y-axis driving motor is connected to the Y-axis transmission gear, and the Y-axis transmission gear is connected to the Y-axis rack; and the Y-axis support base is provided with a Y-axis rail corresponding to the sliding base.
Optionally, the Z-axis driving mechanism includes a Z-axis driving motor and a Z-axis transmission gear, a Z-axis rack is disposed on the Z-axis support base, the Z-axis driving motor is connected to the Z-axis transmission gear, and the Z-axis transmission gear is connected to the Z-axis rack; and the Z-axis support base is provided with a Z-axis line rail corresponding to the Y-axis support base.
Optionally, the transfer manipulator further comprises a console, a PLC controller is arranged on the console, and the X-axis driving mechanism, the Y-axis driving mechanism, the Z-axis driving mechanism and the rotating mechanism are electrically connected to the PLC controller.
The embodiment of the utility model provides an above-mentioned one or more technical scheme that move among the manipulator that moves have one of following technological effect at least: when the transfer manipulator works, the sliding seat slides on the X-axis supporting seat along the X-axis direction, the Y-axis supporting seat on the sliding seat slides along the Y-axis direction, and the Z-axis supporting seat on the Y-axis supporting seat slides along the X-axis direction, so that the sucker assembly can move in three directions of XYZ; the glass sucker and the isolation paper sucker are both connected with an external air source, so that the glass sucker and the isolation paper sucker generate negative pressure to realize suction, the isolation paper sucker adopts a small-size specification and is convenient for sucking the glass isolation paper with smaller weight, the glass sucker adopts a large-size specification and generates larger negative pressure to be convenient for sucking the glass with larger weight; when the sucking disc subassembly moves glass one side, the cylinder drive barrier paper sucking disc is toward the direction motion near glass, the barrier paper sucking disc contacts with glass barrier paper, the barrier paper sucking disc produces the negative pressure and holds glass barrier paper, move and carry the manipulator motion and make glass barrier paper drop from glass, realize getting glass barrier paper automatically, move and carry the manipulator and continue to move toward the glass direction after that, glass sucking disc contacts and holds glass, it carries glass to move and carry the manipulator motion, make and carry the manipulator and realize getting glass barrier paper and automatic transport glass automatically, glass sucking disc and barrier paper sucking disc front and back interval set up, reduce the interference that produces between glass sucking disc and the barrier paper sucking disc in the course of the work, and the improvement production efficiency is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a front view of a transfer robot provided in an embodiment of the present invention.
Fig. 2 is a side view of a transfer robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10-machine base 20-X-axis bearing base 21-sliding base
22-X-axis driving mechanism 30-Y-axis supporting seat 31-Y-axis driving mechanism
40-Z-axis supporting seat 41-Z-axis driving mechanism 50-sucker assembly
51-glass suction cup 52-cylinder 53-isolation paper suction cup
54-suction cup bracket 60-rotation mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-2 are exemplary and intended to be used to illustrate embodiments of the present invention, and should not be construed as limiting the invention.
In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.
In an embodiment of the present invention, as shown in fig. 1-2, a transfer robot is provided, which includes a machine base 10, an X-axis support base 20, a Y-axis support base 30, and a Z-axis support base 40; wherein, the X-axis support 20 is disposed on the machine base 10 along the X-axis direction, a sliding base 21 is disposed on the X-axis support 20, an X-axis driving mechanism 22 and a Y-axis driving mechanism 31 are disposed on the sliding base 21, and the X-axis driving mechanism 22 drives the sliding base 21 to slide on the X-axis support 20; the Y-axis support base 30 is provided on the slide base 21 along the Y-axis direction, and the Y-axis drive mechanism 31 drives the Y-axis support base 30 to slide along the Y-axis direction; a Z-axis driving mechanism 41 is arranged on the Y-axis supporting seat 30, the Z-axis supporting seat 40 is arranged on the Y-axis supporting seat 30 along the Z-axis direction, and the Z-axis driving mechanism 41 drives the Z-axis supporting seat 40 to slide along the Z-axis direction; one end of the Z-axis supporting seat 40 is provided with a sucker assembly 50, and the sucker assembly 50 comprises a sucker bracket 54, and a glass sucker 51, an isolation paper sucker 53 and an air cylinder 52 which are connected to the sucker bracket 54; the suction cup support 54 is rotatably connected to the Z-axis support base 40, and the cylinder 52 is connected to the release paper suction cup 53 and drives the release paper suction cup 53 to perform telescopic movement.
In the embodiment of the present invention, when the transfer robot works, the slide base 21 slides on the X-axis support base 20 along the X-axis direction, the Y-axis support base 30 on the slide base 21 slides along the Y-axis direction, and the Z-axis support base 40 on the Y-axis support base 30 slides along the X-axis direction, so that the suction cup assembly 50 can move in three directions of XYZ; the glass sucker 51 and the isolation paper sucker 53 are both connected with an external air source, so that the glass sucker 51 and the isolation paper sucker 53 generate negative pressure to realize suction, the isolation paper sucker 53 adopts a small-size specification and is convenient for sucking the glass isolation paper with smaller weight, and the glass sucker 51 adopts a large-size specification and generates larger negative pressure and is convenient for sucking the glass with larger weight; when the sucker assembly 50 moves to one side of glass, the cylinder 52 drives the isolation paper sucker 53 to move towards the direction close to the glass, the isolation paper sucker 53 is in contact with the glass isolation paper, the isolation paper sucker 53 generates negative pressure to suck the glass isolation paper, the glass isolation paper is enabled to fall off from the glass by the movement of the transfer manipulator, automatic taking of the glass isolation paper is achieved, then the transfer manipulator continues to move towards the direction of the glass, the glass sucker 51 is in contact with the glass and sucks the glass, the transfer manipulator moves to carry the glass, the transfer manipulator achieves automatic taking of the glass isolation paper and automatic carrying of the glass, the glass sucker 51 and the isolation paper sucker 53 are arranged at intervals in the front and back, the interference generated in the working process between the glass sucker 51 and the isolation paper sucker 53 is reduced, and the production efficiency is.
In another embodiment of the present invention, the sucker bracket 54 of the transfer robot comprises a rotary seat, two connecting rods and a plurality of sucker fixing rods; the rotary seat is rotatably connected to the Z-axis supporting seat 40, the two connecting rods are respectively and fixedly connected to two ends of the rotary seat, and the sucking disc fixing rods are arranged at intervals and are respectively connected with the two sucking disc fixing rods; the glass sucker 51, the isolation paper sucker 53 and the air cylinder 52 are all connected to the sucker fixing rod; this sucking disc support 54 structural design is reasonable, and the atress is even for move and carry the manipulator more stable when absorbing glass.
In another embodiment of the present invention, as shown in fig. 1-2, the manipulator is moved and installed with four glass suckers 51, respectively, the glass suckers 51 are uniformly arranged on the sucker fixing rod and are obtained through multiple experiments, so as to provide a better glass effect of the four glass suckers 51.
In another embodiment of the present invention, the glass chuck 51 and the isolation paper chuck 53 of the transfer manipulator are vacuum chucks, which have the advantages of being pollution-free and not damaging the workpiece, and the vacuum chucks are made of rubber materials, so that the glass is sucked or put down to cause less damage to the glass.
In another embodiment of the present invention, as shown in fig. 1-2, a rotating mechanism 60 is further disposed on the Z-axis supporting seat 40 of the transfer robot, and the rotating mechanism 60 is connected to the suction cup bracket 54 and drives the suction cup bracket 54 to rotate; the Z-axis supporting seat 40 is provided with a rotating mechanism 60, the rotating mechanism 60 is connected with the sucker assembly 50, the rotating mechanism 60 enables the sucker assembly 50 to rotate when working, and the sucker assembly 50 is placed on a goods shelf after rotating for a certain angle after adsorbing glass; when the transfer manipulator works, the sucker component 50 cannot damage glass, the transfer manipulator is suitable for transfer work in the glass industry, and the sucker component 50 can rotate and can be used in cooperation with a goods shelf.
In another embodiment of the present invention, the rotating mechanism 60 of the transfer robot comprises a rotating motor and a rotating shaft, the rotating motor is fixedly connected to the Z-axis supporting seat 40, the rotating motor is connected to the rotating shaft, and the rotating shaft is connected to the suction cup support 54.
In another embodiment of the present invention, the X-axis driving mechanism 22 of the transfer robot comprises an X-axis driving motor and an X-axis transmission gear, an X-axis rack is disposed on the X-axis supporting base 20, the X-axis driving motor is connected to the X-axis transmission gear, and the X-axis transmission gear is connected to the X-axis rack; the X-axis support base 20 is provided with an X-axis rail corresponding to the slide base 21; the X-axis drive motor works to drive the X-axis drive gear to rotate, and the X-axis drive gear is meshed with the X-axis rack, so that the X-axis support seat 20 moves on the X-axis track, and the structure is stable.
In another embodiment of the present invention, the Y-axis driving mechanism 31 of the transfer robot includes a Y-axis driving motor and a Y-axis transmission gear, a Y-axis rack is disposed on the Y-axis supporting base 30, the Y-axis driving motor is connected to the Y-axis transmission gear, and the Y-axis transmission gear is connected to the Y-axis rack; a Y-axis rail corresponding to the sliding seat 21 is arranged on the Y-axis supporting seat 30; the Y-axis driving motor works to drive the Y-axis transmission gear to rotate, and the Y-axis transmission gear is meshed with the Y-axis rack, so that the Y-axis support base 30 moves on the Y-axis track, and the structure is stable.
In another embodiment of the present invention, the Z-axis driving mechanism 41 of the transfer robot comprises a Z-axis driving motor and a Z-axis transmission gear, a Z-axis rack is disposed on the Z-axis supporting seat 40, the Z-axis driving motor is connected to the Z-axis transmission gear, and the Z-axis transmission gear is connected to the Z-axis rack; a Z-axis linear rail corresponding to the Y-axis supporting seat 30 is arranged on the Z-axis supporting seat 40; the Z-axis driving motor works to drive the Z-axis transmission gear to rotate, and the Z-axis transmission gear is meshed with the Z-axis rack, so that the Z-axis supporting seat 40 moves on the Z-axis track, and the structure is stable.
In another embodiment of the present invention, the transferring manipulator of the transferring manipulator further comprises a console, a PLC controller is disposed on the console, and the X-axis driving mechanism 22, the Y-axis driving mechanism 31, the Z-axis driving mechanism 41 and the rotating mechanism 60 are all electrically connected to the PLC controller; the PLC controller is well known to those skilled in the art, and is preferably a mitsubishi PLC controller, and the X-axis driving mechanism 22, the Y-axis driving mechanism 31, the Z-axis driving mechanism 41 and the rotating mechanism 60 are controlled to move by the PLC controller.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A transfer manipulator comprises a machine base, an X-axis supporting seat, a Y-axis supporting seat and a Z-axis supporting seat; the X-axis support seat is arranged on the machine base along the X-axis direction, a sliding seat is arranged on the X-axis support seat, an X-axis driving mechanism and a Y-axis driving mechanism are arranged on the sliding seat, and the sliding seat is driven by the X-axis driving mechanism to slide on the X-axis support seat; the Y-axis support seat is arranged on the sliding seat along the Y-axis direction, and the Y-axis driving mechanism drives the Y-axis support seat to slide along the Y-axis direction; a Z-axis driving mechanism is arranged on the Y-axis supporting seat, the Z-axis supporting seat is arranged on the Y-axis supporting seat along the Z-axis direction, and the Z-axis driving mechanism drives the Z-axis supporting seat to slide along the Z-axis direction;
a sucker assembly is arranged at one end of the Z-axis supporting seat and comprises a sucker bracket, a glass sucker connected to the sucker bracket, an isolation paper sucker and an air cylinder; the sucking disc support rotate connect in on the Z axle supporting seat, the cylinder with the barrier paper sucking disc is connected and drive the barrier paper sucking disc is concertina movement.
2. The transfer robot according to claim 1, wherein the suction cup holder includes a rotary base, two connecting rods, and a plurality of suction cup fixing rods; the rotary seat is rotatably connected to the Z-axis supporting seat, the two connecting rods are respectively and fixedly connected to two ends of the rotary seat, and the sucking disc fixing rods are arranged at intervals and are respectively connected with the two sucking disc fixing rods; the glass sucker, the isolation paper sucker and the cylinder are connected to the sucker fixing rod.
3. The transfer robot as claimed in claim 2, wherein four glass suction cups are provided on each of said suction cup fixing bars, and each of said glass suction cups is arranged uniformly on said suction cup fixing bar.
4. The transfer robot according to claim 1, wherein the glass suction cup and the separator suction cup are vacuum suction cups.
5. The transfer robot as claimed in claim 1, wherein the Z-axis supporting base further comprises a rotating mechanism, and the rotating mechanism is connected to the suction cup holder and drives the suction cup holder to rotate.
6. The transfer robot of claim 5, wherein said rotation mechanism comprises a rotation motor and a rotation shaft, said rotation motor is fixedly connected to said Z-axis support base, said rotation motor is connected to said rotation shaft, and said rotation shaft is connected to said suction cup holder.
7. The transfer robot according to any one of claims 1 to 6, wherein the X-axis driving mechanism comprises an X-axis driving motor and an X-axis transmission gear, an X-axis rack is arranged on the X-axis support base, the X-axis driving motor is connected with the X-axis transmission gear, and the X-axis transmission gear is connected with the X-axis rack; and the X-axis support base is provided with an X-axis track corresponding to the sliding base.
8. The transfer robot according to any one of claims 1 to 6, wherein the Y-axis driving mechanism comprises a Y-axis driving motor and a Y-axis transmission gear, a Y-axis rack is arranged on the Y-axis support base, the Y-axis driving motor is connected with the Y-axis transmission gear, and the Y-axis transmission gear is connected with the Y-axis rack; and the Y-axis support base is provided with a Y-axis rail corresponding to the sliding base.
9. The transfer robot according to any one of claims 1 to 6, wherein the Z-axis drive mechanism comprises a Z-axis drive motor and a Z-axis transmission gear, a Z-axis rack is arranged on the Z-axis support base, the Z-axis drive motor is connected with the Z-axis transmission gear, and the Z-axis transmission gear is connected with the Z-axis rack; and the Z-axis support base is provided with a Z-axis line rail corresponding to the Y-axis support base.
10. The transfer robot according to claim 5 or 6, further comprising a console, wherein a PLC controller is provided on the console, and the X-axis driving mechanism, the Y-axis driving mechanism, the Z-axis driving mechanism and the rotating mechanism are electrically connected to the PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921086807.6U CN210709631U (en) | 2019-07-10 | 2019-07-10 | Transfer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921086807.6U CN210709631U (en) | 2019-07-10 | 2019-07-10 | Transfer manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN210709631U true CN210709631U (en) | 2020-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921086807.6U Active CN210709631U (en) | 2019-07-10 | 2019-07-10 | Transfer manipulator |
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| CN (1) | CN210709631U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116354111A (en) * | 2023-06-01 | 2023-06-30 | 常州银河世纪微电子股份有限公司 | Full-automatic material taking mechanism for DFN packaging and film loading equipment and working method |
-
2019
- 2019-07-10 CN CN201921086807.6U patent/CN210709631U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116354111A (en) * | 2023-06-01 | 2023-06-30 | 常州银河世纪微电子股份有限公司 | Full-automatic material taking mechanism for DFN packaging and film loading equipment and working method |
| CN116354111B (en) * | 2023-06-01 | 2023-08-25 | 常州银河世纪微电子股份有限公司 | Full-automatic material taking mechanism for DFN packaging and chip loading equipment and working method |
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