WO2020042682A1 - 一种生产制造用物料跟线机器人 - Google Patents

一种生产制造用物料跟线机器人 Download PDF

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Publication number
WO2020042682A1
WO2020042682A1 PCT/CN2019/087940 CN2019087940W WO2020042682A1 WO 2020042682 A1 WO2020042682 A1 WO 2020042682A1 CN 2019087940 W CN2019087940 W CN 2019087940W WO 2020042682 A1 WO2020042682 A1 WO 2020042682A1
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WO
WIPO (PCT)
Prior art keywords
plate
base
gantry frame
fixedly connected
rod
Prior art date
Application number
PCT/CN2019/087940
Other languages
English (en)
French (fr)
Inventor
朱洋
乐丹丹
Original Assignee
南京瑞贻电子科技有限公司
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Application filed by 南京瑞贻电子科技有限公司 filed Critical 南京瑞贻电子科技有限公司
Publication of WO2020042682A1 publication Critical patent/WO2020042682A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B07C5/28—Sorting according to weight using electrical control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the invention relates to the technical field related to a line following robot, and in particular relates to a material following line robot for manufacturing.
  • Robots In modern manufacturing, robots, manipulators, and manipulators process products on the production line to improve production efficiency. Robots can perform transportation, welding, and assembly work on the production line. Follow-the-line robots are performed on the production line. Robot for material handling.
  • the purpose of the present invention is to provide a material tracking robot for manufacturing to solve the existing material tracking robot proposed in the background art, which does not detect the weight of the material, resulting in a high product repair rate and clamping of the material. Poor effect, easy to fall during transportation.
  • a material-following robot for manufacturing includes a base, and a support plate is fixedly connected to the right end of the base, and a motor is installed on the support plate, and an output end of the motor is provided.
  • a screw rod is connected, the motor is located on the right side of the base, the screw rod is rotatably installed in the inner cavity of the base, a ring side of the screw rod is connected with a mobile seat through a ball nut pair, and a gantry frame is fixedly connected to the upper end of the mobile seat.
  • a right-angle bent plate and a partition plate the front and rear ends of the moving seat are in contact with the front wall and the rear wall inside the moving seat, respectively, and the right end of the gantry frame is fixedly connected to the left end of the right-angle bent plate, the partition plate
  • a second electric push rod is welded on the inner front wall of the gantry frame, and the first push plate is fixedly connected to the telescopic end of the second electric push rod.
  • the first push plate is located inside the gantry frame.
  • a right side wall of the right-angle bent plate is fixed with a clamping mechanism.
  • a weight sensor is installed on the upper surface of the moving base.
  • a PLC controller is installed, a first electric push rod and a second push plate are embedded in the right wall of the gantry frame, the left end of the first electric push rod is fixedly connected to the right end of the second push plate, and the upper end of the base, A vertical plate is provided on the left side far from the partition.
  • An infrared sensor is installed on the vertical plate.
  • a waste collection mechanism is inserted at the front end of the base. The waste collection mechanism is located on the gantry frame and the front lower side of the partition.
  • a battery is provided inside the PLC controller, and the PLC controller is connected to the battery through a wire.
  • the infrared sensor, the weight sensor, the motor, the first electric push rod and the second electric push rod are connected to an external power source through a wire, respectively.
  • the infrared sensor, the weight sensor, the motor, the first electric push rod and the second electric push rod are connected to the PLC controller through wires respectively.
  • the material clamping mechanism includes a connecting post, a splint, and a rubber strip, the left end of the connecting post is fixedly connected to the right end of the right-angle bent plate, the right end of the connecting post is fixedly connected to the left end of the splint, and the rubber strip is attached to the right of the splint side.
  • the waste collection mechanism includes a collection box, an insert rod, and a pusher, the insert rod is fixedly connected to the collection box, the insert rod is inserted at the front end of the base, and the four corners of the lower end of the collection box are hinged with moving wheels.
  • the splint is arched.
  • the first push plate is arcuate, and the second push plate is rectangular.
  • a plurality of sets of balls are embedded and installed on the upper surface of the moving base, and the plurality of sets of the balls are located between the clamping mechanism and the weight sensor.
  • the material clamping mechanism and the second push plate are on the same horizontal plane and are disposed correspondingly.
  • the design can carry out weight detection on the transported material.
  • the PLC controller controls The second electric push rod pushes the material into the waste collection mechanism, which guarantees the yield of the material.
  • the mechanism Due to the setting of the clamping mechanism, the first electric push rod and the second push plate, the mechanism holds the material stably. It will not fall during the movement of the material and has high stability.
  • the infrared sensor senses that the material is transported to the material. After that, the signal is transmitted to the PLC controller.
  • the PLC controller controls the first electric push rod and the second push plate to retract, and at the same time controls the motor to stop rotating.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a plan view of a gantry frame according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a connection between a waste collection mechanism and a base according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a connection between a knot clamping mechanism and a right-angle bent plate according to an embodiment of the present invention
  • FIG. 5 is a block diagram of the working principle of the embodiment of the present invention.
  • This embodiment provides a material-following robot for manufacturing, which includes a base 1.
  • the right end of the base 1 is fixedly connected with a support plate 8.
  • the support plate 8 is equipped with a motor 9, and an output end of the motor 9.
  • the screw rod 2 is connected.
  • the motor 9 is located on the right side of the base 1.
  • the screw rod 2 is rotatably installed in the inner cavity of the base 1.
  • the annular side of the screw rod 2 is connected to a mobile seat 20 through a ball nut pair.
  • the upper end of the mobile seat 20 is fixedly connected to a gantry frame. 12.
  • the right-angle bent plate 13 and the partition plate 3, the front end and the rear end of the mobile seat 20 are in contact with the front wall and the rear wall inside the mobile seat 20, respectively.
  • the right end of the gantry frame 12 is fixedly connected to the left end of the right-angle bent plate 13.
  • the plate 3 is located on the front side of the connection between the gantry frame 12 and the right-angle bent plate 13.
  • a second electric push rod 15 is welded on the inner front wall of the gantry frame 12, and the first push plate is fixedly connected to the telescopic end of the second electric push rod 15. 11.
  • the first push plate 11 is located inside the gantry frame 12.
  • the right side wall of the right-angle bent plate 13 is fixedly equipped with a clamping mechanism 14.
  • the upper surface of the moving base 20 is equipped with a weight sensor 6.
  • the right end of the gantry frame 12 is equipped with a PLC control.
  • the right wall of the gantry frame 12 is fitted with a first The electric push rod 7 and the second push plate 16, the left end of the first electric push rod 7 is fixedly connected to the right end of the second push plate 16, and the upper end of the base 1 is provided with a vertical plate 17 on the left side away from the partition 3, and the vertical plate
  • An infrared sensor 18 is installed on 17; a waste collection mechanism 4 is inserted into the front end of the base 1; the waste collection mechanism 4 is located on the lower side of the front of the gantry frame 12 and the partition plate 3; a battery 19 is provided inside the PLC controller 10;
  • the transmitter 10 is connected to the battery 19 through a wire, the infrared sensor 18, the weight sensor 6, the motor 9, the first electric pusher 7 and the second electric pusher 15 are connected to an external power source through a wire, and the infrared sensor 18 and the weight sensor 6.
  • the motor 9, the first electric pusher 7 and the second electric pusher 15 are connected to the PLC controller 10 through wires, respectively.
  • the whole is installed next to the production line.
  • the fixed value of the material is entered in the PLC controller 10 of the model S7-200, and then the material is placed on the weight sensor 6 on the upper surface of the mobile base 20.
  • the weight sensor 6 pairs the material.
  • the weight of the sensor is detected, and the weight sensor 6 transmits the detected value to the PLC controller 10 for comparison.
  • the PLC controller 10 controls the second electric pusher 15 to start.
  • the two electric push rods 15 work to drive the first push plate 11 to push the material into the waste collection mechanism 4.
  • the PLC controller 10 controls the first electric push rod 7 to start, and the first electric push rod 7 The start pushes the second push plate 16 to the left, the second push plate 16 moves to the left, and the animal material moves to the gripping mechanism 14 for clamping.
  • the PLC controller 10 controls the motor 9 to start, and the motor 9 works to drive the screw 2 to rotate. Since the annular side of the screw rod 2 is connected to the moving seat 20 through a ball nut pair, the rotation of the screw rod 2 can simultaneously drive the moving seat 20, the gantry frame 12 and the right-angle bent plate 13 to move left along the screw rod 2, and the second push Board 16 in During the movement, the material and the clamping mechanism 14 are always fixed.
  • the infrared sensor 18 When the infrared sensor 18 senses that the material moves over, the infrared sensor 18 transmits a signal to the PLC controller 10, and then the PLC controller 10 controls the motor 9 stops, and the first electric pusher 7 moves to the right, the first electric pusher 7 moves to the right to drive the second pusher 16 to the right, and the second pusher 16 moves to the right to separate from the material, and then the production line
  • the gripper or gripper grips the material.
  • the length of the base 1 and the screw rod 2 is not limited, and can be set according to the production line.
  • the model of the motor 9 is Y112M-4, and the models of the first electric pusher 7 and the second electric pusher 15 are both
  • the model of KA4 weight sensor 6 is QS / QS-A, and the model of infrared sensor 18 is LHl958.
  • the material clamping mechanism 14 includes a connection post 142, a clamping plate 143, and a rubber strip 141.
  • the left end of the connection post 142 is fixedly connected to the right end of the right-angle bent plate 13, and the connection post.
  • the right end of 142 is fixedly connected to the left end of the splint 143.
  • the rubber strip 141 fits on the right side of the splint 143, which is convenient for clamping different shapes of materials.
  • the clamping is stable.
  • the rubber strip 141 protects the material, prevents material damage, and collects waste.
  • the mechanism 4 includes a collecting box 41, an inserting rod 43, and a pusher 42.
  • the inserting rod 43 is fixedly connected to the collecting box 41.
  • the inserting rod 43 is inserted at the front end of the base 1.
  • the four corners of the lower end of the collecting box 41 are hinged with moving wheels 44 to facilitate the waste collection mechanism. 4 is easy to move and push out.
  • the first push plate 11 is bow-shaped
  • the second push plate 16 is rectangular
  • the first push plate 11 is bow-shaped
  • the second push plate 16 is rectangular
  • the upper surface of the moving base 20 is embedded.
  • Several groups of balls 5 are installed, and several groups of balls 5 are located between the clamping mechanism 14 and the weight sensor 6 to facilitate the movement of the material on the surface of the moving base 20.
  • the clamping mechanism 14 and the second push plate 16 are on the same horizontal surface and correspond to Assume .
  • orientations or positional relationships indicated by the terms “vertical”, “upper”, “downward”, and “horizontal” are based on the orientations or positional relationships shown in the drawings, only for the purpose of It is convenient to describe the present invention and simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
  • first and second are used for descriptive purposes only and cannot be interpreted as indicating or implying relative importance.

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  • Processing Of Solid Wastes (AREA)
  • Manipulator (AREA)

Abstract

一种生产制造用物料跟线机器人，包括丝杆（2），丝杆（2）的环形侧面通过滚珠螺母副连接有移动座（20），移动座（20）上端固定连接有龙门框架（12）、直角弯板（13）以及隔板（3），龙门框架（12）的内部前壁焊接有第二电动推杆（15），第二电动推杆（15）的伸缩端固定连接有第一推板（11），直角弯板（13）的右侧壁固定安装有夹料机构（14），移动座（20）的上表面安装有重量传感器（6），龙门框架（12）右壁嵌装有第一电动推杆（7）以及第二推板（16）。

Description

一种生产制造用物料跟线机器人 技术领域
本发明涉及跟线机器人相关技术领域，具体为一种生产制造用物料跟线机器人。
 背景技术
在现代生产制造中，机器人、机械臂以及机械手等在产线上对产品进行加工生产，提高生产效率，机器人可在产线上进行运输、焊接以及组装等工作，跟线机器人是产线上进行物料输送的机器人。
现有的物料跟线机器人使用效果差，只具备简单的运输功能，没有对物料的重量进行检测，由于物料中有时会掺杂重量不一致的产品，只进行人工抽检，会有不合格品流向产线，物料的重量不一致就会影响产品的加工质量，从而导致产品返修率高，同时现有的物料跟线机器人对物料的夹持效果差，容易在运输过程中掉落。
 技术问题
本发明的目的在于提供一种生产制造用物料跟线机器人，以解决上述背景技术中提出的现有的物料跟线机器人没有对物料的重量进行检测，导致产品返修率高以及对物料的夹持效果差，容易在运输过程中掉落的问题。
 技术解决方案
为实现上述目的，本发明提供如下技术方案：一种生产制造用物料跟线机器人，包括底座，所述底座右端固定连接有支板，所述支板上安装有电机，所述电机的输出端连接有丝杆，所述电机位于底座右侧，所述丝杆转动安装在底座内腔，所述丝杆的环形侧面通过滚珠螺母副连接有移动座，所述移动座上端固定连接有龙门框架、直角弯板以及隔板，所述移动座的前端以及后端分别与移动座内部的前壁以及后壁相接触，所述龙门框架的右端与直角弯板的左端固定连接，所述隔板位于龙门框架与直角弯板连接处的正前侧，所述龙门框架的内部前壁焊接有第二电动推杆，所述第二电动推杆的伸缩端固定连接有第一推板，所述第一推板位于龙门框架内部，所述直角弯板的右侧壁固定安装有夹料机构，所述移动座的上表面安装有重量传感器，所述龙门框架的右端安装有PLC控制器，所述龙门框架右壁嵌装有第一电动推杆以及第二推板，所述第一电动推杆的左端与第二推板的右端固定连接，所述底座上端，且远离隔板的左侧设置有竖板，所述竖板上安装有红外线感应器，所述底座的前端插接有废料收集机构，所述废料收集机构位于龙门框架以及隔板的前部下侧，所述PLC控制器内部设置有电池，所述PLC控制器通过导线与电池连接，所述红外线感应器、重量传感器、电机、第一电动推杆以及第二电动推杆分别通过导线与外接电源连接，且所述红外线感应器、重量传感器、电机、第一电动推杆以及第二电动推杆分别通过导线与PLC控制器连接。
优选的，所述夹料机构包括连接柱、夹板以及橡胶条，所述连接柱左端与直角弯板右端固定连接，所述连接柱右端与夹板左端固定连接，所述橡胶条贴合在夹板右侧。
优选的，所述废料收集机构包括收集箱、插杆以及推手，所述插杆与收集箱固定连接，所述插杆插接在底座前端，所述收集箱下端四角位置铰接有移动轮。
优选的，所述夹板为弓型。
优选的，所述第一推板为弓型，所述第二推板为长方形。
优选的，所述移动座上表面内嵌安装有若干组滚珠，若干组所述滚珠位于夹料机构以及重量传感器之间。
优选的，所述夹料机构以及第二推板处于同一水平面上，且对应设置。
 有益效果
与现有技术相比，本发明的有益效果是：
1.本发明，通过采用电机带动丝杆转动，从而带动移动座运动的方式，便于对物料进行运输，稳定性好，便与操控。
2.由于设置重量传感器、第二电动推杆、第一推板以及PLC控制器，该设计可对运输的物料进行重量检测，当检测值与所设置的物料重量值不一致时，PLC控制器控制第二电动推杆，推动物料进入到废料收集机构内部，保障了物料的良率。
3.由于设置夹料机构、第一电动推杆以及第二推板，该机构对物料夹持稳定，在物料移动过程中，不会掉落，稳定性高，红外线感应器感应到物料运输到了之后，将信号传输给PLC控制器，PLC控制器控制第一电动推杆以及第二推板缩回，同时控制电机停止转动。
 附图说明
图1为本发明实施例结构示意图；
图2为本发明实施例结构龙门框架俯视图；
图3为本发明实施例废料收集机构与底座连接示意图；
图4为本发明实施例结夹料机构与直角弯板连接示意图；
图5为本发明实施例工作原理框图。
图中：1、底座；2、丝杆；3、隔板；4、废料收集机构；41、收集箱；42、推手；43、插杆；44、移动轮；5、滚珠；6、重量传感器；7、第一电动推杆；8、支板；9、电机；10、PLC控制器；11、第一推板；12、龙门框架；13、直角弯板；14、夹料机构；15、第二电动推杆；16、第二推板；17、竖板；18、红外线感应器；19、电池；20、移动座。
 本发明的实施方式
为了解决现有的物料跟线机器人没有对物料的重量进行检测，导致产品返修率高以及对物料的夹持效果差，容易在运输过程中掉落的问题。下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
请参阅图1-5，本实施例提供了一种生产制造用物料跟线机器人，包括底座1，底座1右端固定连接有支板8，支板8上安装有电机9，电机9的输出端连接有丝杆2，电机9位于底座1右侧，丝杆2转动安装在底座1内腔，丝杆2的环形侧面通过滚珠螺母副连接有移动座20，移动座20上端固定连接有龙门框架12、直角弯板13以及隔板3，移动座20的前端以及后端分别与移动座20内部的前壁以及后壁相接触，龙门框架12的右端与直角弯板13的左端固定连接，隔板3位于龙门框架12与直角弯板13连接处的正前侧，龙门框架12的内部前壁焊接有第二电动推杆15，第二电动推杆15的伸缩端固定连接有第一推板11，第一推板11位于龙门框架12内部，直角弯板13的右侧壁固定安装有夹料机构14，移动座20的上表面安装有重量传感器6，龙门框架12的右端安装有PLC控制器10，龙门框架12右壁嵌装有第一电动推杆7以及第二推板16，第一电动推杆7的左端与第二推板16的右端固定连接，底座1上端，且远离隔板3的左侧设置有竖板17，竖板17上安装有红外线感应器18，底座1的前端插接有废料收集机构4，废料收集机构4位于龙门框架12以及隔板3的前部下侧，PLC控制器10内部设置有电池19，PLC控制器10通过导线与电池19连接，红外线感应器18、重量传感器6、电机9、第一电动推杆7以及第二电动推杆15分别通过导线与外接电源连接，且红外线感应器18、重量传感器6、电机9、第一电动推杆7以及第二电动推杆15分别通过导线与PLC控制器10连接
本实施例中，整体安装在产线旁边，首先在型号为S7-200的PLC控制器10输入物料的定值，然后物料放置在移动座20上表面的重量传感器6上，重量传感器6对物料的重量进行检测，重量传感器6将检测值传输给PLC控制器10进行比对，当PLC控制器10检测到检测值与定值不一致时，PLC控制器10控制第二电动推杆15启动，第二电动推杆15工作带动第一推板11推动物料进入到废料收集机构4内部，当重量检测值与设置值一致时，PLC控制器10控制第一电动推杆7启动，第一电动推杆7启动带动第二推板16向左移动，第二推板16向左移动带动物料移动到夹料机构14进行夹持，同时PLC控制器10控制电机9启动，电机9工作带动丝杆2转动，因为丝杆2的环形侧面通过滚珠螺母副连接有移动座20，所以丝杆2转动可同时带动移动座20，龙门框架12以及直角弯板13沿着丝杆2向左移动，第二推板16在移动过程中，一直处于将物料与夹料机构14进行固定，当红外线感应器18感应到物料移动过来时，红外线感应器18将信号传输给PLC控制器10，然后PLC控制器控器10控制电机9停止，以及第一电动推杆7向右移动，第一电动推杆7向右移动带动第二推板16向右移动，第二推板16向右移动实现与物料分离，然后产线上的机械爪或者机械臂对物料进行夹取。
其中，底座1以及丝杆2的长度不限，可根据产线情况设置，在本发明中电机9的型号为Y112M-4，第一电动推杆7以及第二电动推杆15的型号均为KA4，重量传感器6的型号为QS/QS-A，红外线感应器18的型号为LHl958。
实施例2
请参阅图1-5，在实施例1的基础上做了进一步改进：夹料机构14包括连接柱142、夹板143以及橡胶条141，连接柱142左端与直角弯板13右端固定连接，连接柱142右端与夹板143左端固定连接，橡胶条141贴合在夹板143右侧，便于对不同形状的物料进行夹持，夹持稳定，橡胶条141起到保护物料的作用，防止物料损伤，废料收集机构4包括收集箱41、插杆43以及推手42，插杆43与收集箱41固定连接，插杆43插接在底座1前端，收集箱41下端四角位置铰接有移动轮44，便于废料收集机构4的移动以及推出，方便操作，第一推板11为弓型，第二推板16为长方形，第一推板11为弓型，第二推板16为长方形，移动座20上表面内嵌安装有若干组滚珠5，若干组滚珠5位于夹料机构14以及重量传感器6之间，便于物料在移动座20表面的移动，夹料机构14以及第二推板16处于同一水平面上，且对应设置。
本发明的描述中，需要说明的是，术语“竖直”、“上”、“下”、“水平”等指示的方位或者位置关系为基于附图所示的方位或者位置关系，仅是为了便于描述本发明和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，“第一”、“第二”、仅用于描述目的，而不能理解为指示或者暗示相对重要性。
本发明的描述中，还需要说明的是，除非另有明确的规定和限制，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接，可以是机械连接，也可以是电连接，可以是直接连接，也可以是通过中间媒介相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (7)

  1. 一种生产制造用物料跟线机器人，包括底座（1），其特征在于：所述底座（1）右端固定连接有支板（8），所述支板（8）上安装有电机（9），所述电机（9）的输出端连接有丝杆（2），所述电机（9）位于底座（1）右侧，所述丝杆（2）转动安装在底座（1）内腔，所述丝杆（2）的环形侧面通过滚珠螺母副连接有移动座（20），所述移动座（20）上端固定连接有龙门框架（12）、直角弯板（13）以及隔板（3），所述移动座（20）的前端以及后端分别与移动座（20）内部的前壁以及后壁相接触，所述龙门框架（12）的右端与直角弯板（13）的左端固定连接，所述隔板（3）位于龙门框架（12）与直角弯板（13）连接处的正前侧，所述龙门框架（12）的内部前壁焊接有第二电动推杆（15），所述第二电动推杆（15）的伸缩端固定连接有第一推板（11），所述第一推板（11）位于龙门框架（12）内部，所述直角弯板（13）的右侧壁固定安装有夹料机构（14），所述移动座（20）的上表面安装有重量传感器（6），所述龙门框架（12）的右端安装有PLC控制器（10），所述龙门框架（12）右壁嵌装有第一电动推杆（7）以及第二推板（16），所述第一电动推杆（7）的左端与第二推板（16）的右端固定连接，所述底座（1）上端，且远离隔板（3）的左侧设置有竖板（17），所述竖板（17）上安装有红外线感应器（18），所述底座（1）的前端插接有废料收集机构（4），所述废料收集机构（4）位于龙门框架（12）以及隔板（3）的前部下侧，所述PLC控制器（10）内部设置有电池（19），所述PLC控制器（10）通过导线与电池（19）连接，所述红外线感应器（18）、重量传感器（6）、电机（9）、第一电动推杆（7）以及第二电动推杆（15）分别通过导线与外接电源连接，且所述红外线感应器（18）、重量传感器（6）、电机（9）、第一电动推杆（7）以及第二电动推杆（15）分别通过导线与PLC控制器（10）连接。
  2. 根据权利要求1所述的一种生产制造用物料跟线机器人，其特征在于：所述夹料机构（14）包括连接柱（142）、夹板（143）以及橡胶条（141），所述连接柱（142）左端与直角弯板（13）右端固定连接，所述连接柱（142）右端与夹板（143）左端固定连接，所述橡胶条（141）贴合在夹板（143）右侧。
  3. 根据权利要求1所述的一种生产制造用物料跟线机器人，其特征在于：所述废料收集机构（4）包括收集箱（41）、插杆（43）以及推手（42），所述插杆（43）与收集箱（41）固定连接，所述插杆（43）插接在底座（1）前端，所述收集箱（41）下端四角位置铰接有移动轮（44）。
  4. 根据权利要求2所述的一种生产制造用物料跟线机器人，其特征在于：所述夹板（143）为弓型。
  5. 根据权利要求1所述的一种生产制造用物料跟线机器人，其特征在于：所述第一推板（11）为弓型，所述第二推板（16）为长方形。
  6. 根据权利要求1所述的一种生产制造用物料跟线机器人，其特征在于：所述移动座（20）上表面内嵌安装有若干组滚珠（5），若干组所述滚珠（5）位于夹料机构（14）以及重量传感器（6）之间。
  7. 根据权利要求1所述的一种生产制造用物料跟线机器人，其特征在于：所述夹料机构（14）以及第二推板（16）处于同一水平面上，且对应设置。
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