CN216889921U - Cantilever truss multistage telescopic transfer robot - Google Patents
Cantilever truss multistage telescopic transfer robot Download PDFInfo
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- CN216889921U CN216889921U CN202121556529.3U CN202121556529U CN216889921U CN 216889921 U CN216889921 U CN 216889921U CN 202121556529 U CN202121556529 U CN 202121556529U CN 216889921 U CN216889921 U CN 216889921U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 230000007306 turnover Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The utility model discloses a cantilever truss multistage telescopic carrying robot which comprises an upright post, a walking beam, a primary telescopic arm, a secondary telescopic arm, a tertiary telescopic arm, a first transmission chain, a walking transmission chain, a second transmission chain and the like; the chain wheel is driven to rotate through the servo motor, so that two shafts of the truss robot move, and synchronous telescopic motion of two stages of telescopic arms is realized on the lifting shaft through two transmission chains. The telescopic mechanism can realize telescopic movement with a larger stroke in a smaller height space, and can solve the problem of insufficient operation stroke in a space with limited height.
Description
[ technical field ] A method for producing a semiconductor device
The utility model belongs to the technical field of transfer robots, and particularly relates to a cantilever truss multistage telescopic transfer robot.
[ background of the utility model ]
To light-duty turnover case transport in the existing market, generally adopt robot tongs cooperation transfer chain to use in the existing market, this kind of mode is subject to the robot working space little, can only carry the turnover case at fixed position, and the cost is with high costs, and the system flexibility is little. The walking shaft and the lifting shaft of the existing truss robot are generally driven by a linear guide rail matched gear rack transmission mode, the structure of the mode is complex, the cost is high, and the lifting height is greatly influenced by the height of a lifting upright post and the height of a field. In the space of height-limited, can't realize the high operation of great stroke, lead to being located the turnover case of bottommost layer and can't be carried, can't satisfy the transport demand in the space of height-limited.
Therefore, there is a need to provide a new boom truss multistage telescoping transfer robot to solve the above problems.
[ Utility model ] content
The utility model mainly aims to provide a cantilever truss multistage telescopic carrying robot which can realize telescopic motion with a large stroke in a small height space and solve the problem of insufficient operation stroke in a space with limited height.
The utility model realizes the purpose through the following technical scheme: a cantilever truss multistage telescopic transfer robot comprises a stand column, a walking beam arranged on the stand column, a mounting plate which is used for carrying out horizontal transfer movement on the walking beam, a first driving motor which is fixed on the mounting plate and drives the mounting plate to move horizontally, a first telescopic arm plate fixed on the mounting plate, a second driving motor fixed on the first telescopic arm plate, a second telescopic arm plate which is driven by the second driving motor to move up and down on the first telescopic arm plate, a third telescopic arm plate which is driven by the second driving motor to move up and down on the second telescopic arm plate, and a material supporting module arranged on the third telescopic arm plate, wherein a first chain which is driven by the second driving motor to move circularly is arranged on the first telescopic arm plate, and a first connecting piece is fixedly arranged on one side chain of the first chain, the first connecting piece is fixedly connected with the second telescopic arm plate; two second chains which are distributed in parallel and do independent circular motion are arranged on the second telescopic arm plate, a second connecting piece is fixedly arranged on the chain at the lower side of the second chain, and the second connecting piece is fixedly connected with the first telescopic arm plate; and a third connecting piece is fixedly arranged on the chain on the upper side of the second chain, and the third connecting piece is fixedly connected with the third telescopic arm plate.
Furthermore, a walking transmission chain is fixedly arranged on the walking beam, and a first chain wheel meshed with the walking transmission chain is arranged at the rotating end of the first driving motor.
Furthermore, the upper surface of walking crossbeam is provided with first guide rail, the side surface is provided with the second guide rail, be provided with the card on the mounting panel and establish a plurality of fifth leading pulleys, the card of first guide rail both sides are established a plurality of sixth leading pulleys of second guide rail both sides.
Furthermore, a pair of first guide sliding grooves are formed in two sides of the first telescopic arm plate, and first guide rail structures matched with the first guide sliding grooves are arranged in two sides of the second telescopic arm plate.
Furthermore, a second guide chute which is vertically communicated is formed in the first guide rail structure in a hollow mode, and second guide rail structures matched with the second guide chute are arranged on two sides of the third telescopic arm plate.
Furthermore, a plurality of first guide pulleys extending into the first guide sliding groove from the side and second guide pulleys extending into the first guide sliding groove from the front are arranged on the first telescopic arm plate along the vertical direction.
Furthermore, the back of the third telescopic arm plate is provided with a plurality of third guide pulleys which slide in the second guide sliding grooves, and the side of the third telescopic arm plate is provided with a plurality of fourth guide pulleys which slide in the second guide sliding grooves.
Furthermore, a plurality of second chain wheels are arranged on the second telescopic arm plate, and two ends of the second chain are respectively wound on the corresponding second chain wheels.
Compared with the prior art, the cantilever truss multistage telescopic transfer robot has the beneficial effects that: the horizontal walking adopts chain and chain wheel transmission, the chain is fixed on the walking beam, the chain is driven to rotate by the driving chain wheel, and the movement of the walking shaft is realized by chain transmission; the technology has the advantages of simple structure, stable operation, high cost advantage and the like; the lifting shaft adopts a three-stage telescopic arm structure, and can obtain a larger lifting stroke under the premise of smaller height space of the lifting upright post and the field through the transmission of two groups of chains; the problem of the operating stroke in the height-limited space is not enough is solved.
[ description of the drawings ]
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a three-stage expansion module according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of a walking driving module according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a portion of a transmission connection between a first telescopic boom and a second telescopic boom according to an embodiment of the present invention;
FIG. 5 is a schematic view of a portion of the structure of the first and second chain drives of the present invention;
FIG. 6 is a schematic view of a transmission connection structure between a third telescopic arm plate and a second chain according to an embodiment of the present invention;
the figures in the drawings represent:
100 cantilever truss multistage telescopic transfer robots;
1, upright column; 2, a walking beam; 3, mounting a plate; 4 a first drive motor; 5 a first telescopic arm plate; 6 a second drive motor; 7 a second telescopic arm plate; 8 a third telescopic arm plate; 9, supporting a material module; 10 a first chain; 11 a first connecting member; 12 a second chain; 13 a second connector; 14 a third connecting member; 15 walking transmission chains; 16 a first sprocket; 17 a first guide rail; 18 a second guide rail; 19 a sixth guide pulley; 20 a first rail structure; 21 a second rail structure; 22 a first guide pulley; 23 a second guide pulley; 24 a third guide pulley; 25 a fourth guide pulley; 26 a second sprocket; 27 first guide runner.
[ detailed description ] embodiments
Example (b):
referring to fig. 1 to 6, the present embodiment is a cantilever-truss multistage telescopic transfer robot 100, which includes a vertical column 1, a walking beam 2 disposed on the vertical column 1, a mounting plate 3 horizontally moving on the walking beam 2, a first driving motor 4 fixed on the mounting plate 3 and driving the mounting plate 3 to move horizontally, a first telescopic arm plate 5 fixed on the mounting plate 3, a second driving motor 6 fixed on the first telescopic arm plate 5, a second telescopic arm plate 7 driven by the second driving motor 6 to move up and down on the first telescopic arm plate 5, a third telescopic arm plate 8 moving up and down on the second telescopic arm plate 7, and a material supporting module 9 disposed on the third telescopic arm plate 8, wherein a first chain 10 driven by the second driving motor 6 to move circularly is disposed on the first telescopic arm plate 5, a first connecting member 11 is fixedly disposed on a chain on one side of the first chain 10, the first connecting piece 11 is fixedly connected with the second telescopic arm plate 7; two second chains 12 which are distributed in parallel and do independent circular motion are arranged on the second telescopic arm plate 7, a second connecting piece 13 is fixedly arranged on the chain of the second chain 12 at the lower side, and the second connecting piece 13 is fixedly connected with the first telescopic arm plate 5; a third connecting piece 14 is fixedly arranged on the chain of the second chain 12 at the upper side, and the third connecting piece 14 is fixedly connected with the third telescopic arm plate 8.
The first chain 10 is driven to circularly move by the second driving motor 6, the second telescopic arm plate 7 is fixedly connected with the first chain 10 by the first connecting piece 11 to realize synchronous up-and-down movement, when the second telescopic arm plate 7 is extended downward, both end portions of the second chain 12 are synchronously moved downward, and the lower side chain of the second chain 12 is fixedly connected with the first telescopic arm plate 5 through a second connecting piece 13, so that the upper chain of the second chain 12 moves synchronously downwards with the second telescopic arm plate 7, and the third telescopic arm plate 8 is fixedly connected with the upper side chain of the second chain 12 through a third connecting piece 14, so that when the second telescopic arm plate 7 extends downwards, under the transmission action of the second chain 12, the third telescopic arm plate 8 also synchronously extends downwards, so that the telescopic motion of the multi-stage telescopic arm driven by one driving part is realized, and the requirement of the long-stroke telescopic motion in a height-limited space is met.
A walking transmission chain 15 is fixedly arranged on the walking beam 2, a first chain wheel 16 meshed with the walking transmission chain 15 is arranged at the rotating end of the first driving motor 4, the first chain wheel 16 is driven to rotate through the first driving motor 4, and the horizontal movement of the mounting plate 3 is realized under the transmission action of the walking transmission chain 15 and the first chain wheel 16.
The upper surface of the walking beam 2 is provided with a first guide rail 17, the side surface is provided with a second guide rail 18, and the mounting plate 3 is provided with a plurality of fifth guide pulleys (not marked in the figure) clamped at the two sides of the first guide rail 17 and a plurality of sixth guide pulleys 19 clamped at the two sides of the second guide rail 18.
A pair of first guide chutes 27 are formed on both sides of the first telescopic boom plate 5, and first guide rail structures 20 matched with the guide chutes are provided on both sides of the second telescopic boom plate 7. The first guide rail structure 20 is hollow and is provided with a vertically through second guide chute, and the two sides of the third telescopic arm plate 8 are provided with second guide rail structures 21 matched with the second guide chute.
A plurality of first guide pulleys 22 extending into the first guide sliding groove from the side and second guide pulleys 23 extending into the first guide sliding groove from the front are arranged on the first telescopic arm plate 5 along the vertical direction.
The back of the third telescopic arm plate 8 is provided with a plurality of third guide pulleys 24 which slide in the second guide sliding grooves, and the side of the third telescopic arm plate is provided with a plurality of fourth guide pulleys 25 which slide in the second guide sliding grooves.
The second telescopic arm plate 7 is provided with a plurality of second chain wheels 26, and two ends of the second chain 12 are respectively wound on the corresponding second chain wheels 26.
The material supporting module 9 comprises a material supporting roller fixed on the third telescopic arm plate 8.
According to the multi-stage telescopic transfer robot 100 with the cantilever truss, horizontal walking is driven by a chain and a chain wheel, the chain is fixed on a walking beam, the chain wheel is driven to rotate, and the movement of a walking shaft is realized by chain transmission; the technology has the advantages of simple structure, stable operation, high cost advantage and the like; the lifting shaft adopts a three-stage telescopic arm structure, and can obtain a larger lifting stroke under the premise of smaller height space of the lifting upright post and the field through the transmission of two groups of chains; the problem of the operating stroke in the height-limited space is not enough is solved.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the utility model.
Claims (8)
1. The utility model provides a multistage telescopic transfer robot of cantilever truss which characterized in that: which comprises a column, a walking beam arranged on the column, a mounting plate for carrying out horizontal transfer movement on the walking beam, a first driving motor fixed on the mounting plate and driving the mounting plate to move horizontally, a first telescopic arm plate fixed on the mounting plate, a second driving motor fixed on the first telescopic arm plate, a second telescopic arm plate driven by the second driving motor to move up and down on the first telescopic arm plate, a third telescopic arm plate for moving up and down on the second telescopic arm plate, and a material supporting module arranged on the third telescopic arm plate, the first telescopic arm plate is provided with a first chain which is driven by the second driving motor to do circular motion, a first connecting piece is fixedly arranged on the chain at one side of the first chain and is fixedly connected with the second telescopic arm plate; two second chains which are distributed in parallel and do independent circular motion are arranged on the second telescopic arm plate, a second connecting piece is fixedly arranged on the chain at the lower side of the second chain, and the second connecting piece is fixedly connected with the first telescopic arm plate; and a third connecting piece is fixedly arranged on the chain of the upper side of the second chain, and the third connecting piece is fixedly connected with the third telescopic arm plate.
2. The boom truss multistage telescoping transfer robot of claim 1, wherein: a walking transmission chain is fixedly arranged on the walking beam, and a first chain wheel meshed with the walking transmission chain is arranged at the rotating end of the first driving motor.
3. The boom truss multistage telescoping transfer robot of claim 1, wherein: the upper surface of walking crossbeam is provided with first guide rail, side surface is provided with the second guide rail, be provided with the card on the mounting panel and establish a plurality of fifth leading pulleys, the card of first guide rail both sides are established a plurality of sixth leading pulleys of second guide rail both sides.
4. The boom truss multistage telescoping transfer robot of claim 1, wherein: a pair of first guide chutes are formed on two sides of the first telescopic arm plate, and first guide rail structures matched with the first guide chutes are arranged on two sides of the second telescopic arm plate.
5. The boom truss multistage telescoping transfer robot of claim 4, wherein: the first guide rail structure is hollow and is provided with a vertically through second guide chute, and the two sides of the third telescopic arm plate are provided with second guide rail structures matched with the second guide chute.
6. The boom truss multi-stage telescopic transfer robot of claim 5, wherein: a plurality of first guide pulleys extending into the first guide sliding groove from the side and second guide pulleys extending into the first guide sliding groove from the front are arranged on the first telescopic arm plate along the vertical direction.
7. The boom truss multistage telescoping transfer robot of claim 6, wherein: the back of the third telescopic arm plate is provided with a plurality of third guide pulleys which slide in the second guide sliding grooves, and the side of the third telescopic arm plate is provided with a plurality of fourth guide pulleys which slide in the second guide sliding grooves.
8. The boom truss multistage telescoping transfer robot of claim 1, wherein: and a plurality of second chain wheels are arranged on the second telescopic arm plate, and two ends of the second chain are respectively wound on the corresponding second chain wheels.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020115474773 | 2020-12-24 | ||
| CN202011547477.3A CN112298947A (en) | 2020-12-24 | 2020-12-24 | Cantilever truss multistage telescopic transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216889921U true CN216889921U (en) | 2022-07-05 |
Family
ID=74487523
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011547477.3A Withdrawn CN112298947A (en) | 2020-12-24 | 2020-12-24 | Cantilever truss multistage telescopic transfer robot |
| CN202121556529.3U Active CN216889921U (en) | 2020-12-24 | 2021-07-09 | Cantilever truss multistage telescopic transfer robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011547477.3A Withdrawn CN112298947A (en) | 2020-12-24 | 2020-12-24 | Cantilever truss multistage telescopic transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112298947A (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008061685A1 (en) * | 2008-12-11 | 2010-06-17 | Dürkopp Adler AG | Loading station for transport bags transported in a suspended conveyor system |
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN106051088A (en) * | 2016-07-11 | 2016-10-26 | 江阴市君胜金属制品有限公司 | Single-source multi-level mechanical transmission telescopic structure |
| CN106629065A (en) * | 2016-12-28 | 2017-05-10 | 佛山市华普瑞联机电科技有限公司 | Ceramic substrate vacuum carrying device |
| CN207359060U (en) * | 2017-09-22 | 2018-05-15 | 中国东方电气集团有限公司 | A kind of manipulator with space all standing work capacity |
| CN107746026A (en) * | 2017-11-21 | 2018-03-02 | 健芮智能科技（昆山）有限公司 | Draw-gear for AGV trailer wagons |
| CN212126742U (en) * | 2020-04-22 | 2020-12-11 | 湖北楚天卓越工程技术有限公司 | Automatic stacking device of concrete test block curing room |
| CN111994628A (en) * | 2020-09-29 | 2020-11-27 | 浙江平川智能装备股份有限公司 | Go up two manipulators that snatch of unloading |
-
2020
- 2020-12-24 CN CN202011547477.3A patent/CN112298947A/en not_active Withdrawn
-
2021
- 2021-07-09 CN CN202121556529.3U patent/CN216889921U/en active Active
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| Publication number | Publication date |
|---|---|
| CN112298947A (en) | 2021-02-02 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215300 room 1, No. 1187, Foxconn Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Jianrui Intelligent Technology Co.,Ltd. Country or region after: China Address before: 215300 room 1, No. 1187, Foxconn Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: JIANRUI INTELLIGENT TECHNOLOGY (KUNSHAN) CO.,LTD. Country or region before: China |
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| CP03 | Change of name, title or address |