CN105904447A - Carrying manipulator used for carrying storage box - Google Patents
Carrying manipulator used for carrying storage box Download PDFInfo
- Publication number
- CN105904447A CN105904447A CN201610404839.0A CN201610404839A CN105904447A CN 105904447 A CN105904447 A CN 105904447A CN 201610404839 A CN201610404839 A CN 201610404839A CN 105904447 A CN105904447 A CN 105904447A
- Authority
- CN
- China
- Prior art keywords
- linear module
- conveying robot
- carrying
- horizontal linear
- guide rail
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a carrying manipulator used for carrying a storage box. The carrying manipulator used for carrying the storage box comprises a machine frame, a carrying manipulator linear module, a carrying manipulator drag chain fixing metal plate, a carrying manipulator drag chain and a carrying mechanical paw. In the carrying mechanical paw, a left hand is fixed to a base, a right hand is opposite to the left hand; the middle portions of the sides, facing each other, of the left hand and the right hand are each provided with a protruding screw used for being matched with a groove of the storage box and a photoelectric sensor used for detecting whether a storage box exists or not; the right hand is installed on a movement linear guide rail, and the movement linear guide rail is slidably installed on a fixed linear guide rail in a sleeving mode; the fixed linear guide rail is fixed to the base; the acting end of a clamping air cylinder is connected with the movable linear guide rail; a buffer is arranged in front of movable linear guide rail in the movement direction; and the clamping air cylinder and the buffer are installed on the base. The carrying manipulator is effectively suitable for soft or sheet machined workpieces, capable of saving time and labor, high in working efficiency and low in cost.
Description
Technical field
The present invention relates to a kind of conveying robot, particularly relate to a kind of intelligent with the micro-drill mill of PCB
The conveying robot that storage system support uses.
Background technology
At present, in automated production equipment, mechanical hand is utilized to realize carrying very universal, and fortune
With the most extensive, but on market, existing mechanical hand is all to utilize frame for movement, as claw type is tied
Structure, picks up processing workpiece, realizes carrying, so for the soft or processing workpiece of lamellar,
Such as PCB micro-drill mill intelligent memory system, uses the receiving box that flexible steel plate material is made,
If using existing mechanical hand easily to cause damage, finally affecting product quality, and removing
Accommodate box during fortune up and down to be difficult to align, can only be operated by staff, the most time-consuming but also take a lot of work,
Add production cost.
Summary of the invention
In order to overcome prior art conveying robot to be not applied for the soft or processing work of lamellar
Part, waste time and energy, relatively costly deficiency, the invention provides one be effectively applicable to soft or
The processing workpiece of lamellar, time saving and energy saving, work efficiency is higher, lower-cost for carrying appearance
The conveying robot of case.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of for carrying the conveying robot accommodating box, linear including frame, conveying robot
Module, conveying robot drag chain fix panel beating, conveying robot drag chain and handling machinery pawl, institute
State handling machinery pawl to be arranged on the linear module of described conveying robot, described handling machinery fingerprint
Group is fixed in frame, and described conveying robot drag chain is arranged on conveying robot drag chain and fixes metal plate
Jin Shang, described handling machinery pawl includes left hand, line of motion guide rail, fixing line slideway, the right side
Hands, photoelectric sensor, protruding screw rod, pedestal, buffer and clamping cylinder, described left hand is solid
Being scheduled on pedestal, the described right hand is oppositely arranged with left hand, in the opposite face of described left hand and the right hand
Portion is respectively provided with the protruding screw rod for mating with the groove accommodating box and for detecting whether has receiving
The photoelectric sensor of box, the described right hand is arranged on line of motion guide rail, and described line of motion is led
Rail is sleeved on fixing line slideway slidably, and described fixing line slideway is fixed on pedestal,
The motion end of described clamping cylinder is connected with described line of motion guide rail, described line of motion guide rail
The direction of motion front buffer is set, described clamping cylinder and buffer are arranged on pedestal.
Further, the linear module of described conveying robot include the first horizontal linear module, second
Horizontal linear module, vertical linear module, control horizontal linear module horizontal servomotor and
Control the servo longitudinal motor of vertical linear module, described first horizontal linear module, the second horizontal stroke
It is arranged in parallel to linear module, the slide block of the first horizontal linear module or the second horizontal linear module
Slide block be connected with the translation motion end of described horizontal servomotor, described vertical linear module
Two ends are connected to the slide block of the first horizontal linear module, the slide block of the second horizontal linear module
On, the slide block of described vertical linear module is connected with the translation motion end of described servo longitudinal motor,
The slide block of described vertical linear module is fixing with the pedestal of described handling machinery pawl to be connected.
Preferably, by connection between described first horizontal linear module, the second horizontal linear module
Axial organ connects.
Further, the right-hand member initial position of described horizontal linear module arranges horizontal linear module
Right sensor, the leftmost terminal position of described horizontal linear module arranges the left biography of horizontal linear module
Sensor；The lower end initial position of described vertical linear module arranges vertical linear module lower sensor,
The upper end final position of described vertical linear module arranges sensor on vertical linear module.
Beneficial effects of the present invention is mainly manifested in: be effectively applicable to the soft or processing work of lamellar
Part, simultaneously be automatically performed receiving box consistency from top to bottom operation, time saving and energy saving, work efficiency is higher,
Cost is relatively low.
Accompanying drawing explanation
Fig. 1 is the conveying robot entirety carrying space frame schematic diagram of the present invention.
Fig. 2 is the linear module front view of the present invention.
Fig. 3 is the side view of Fig. 2.
Fig. 4 is conveying robot front view and the top view of the present invention.
Fig. 5 is the top view of Fig. 4.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1～Fig. 5, a kind of for carrying the conveying robot accommodating box, including frame 1,
The linear module of conveying robot 2, conveying robot drag chain fix panel beating, conveying robot drag chain
With handling machinery pawl 7, described handling machinery pawl 7 is arranged on the linear module of described conveying robot 2
On, described conveying robot module 2 is fixed in frame 1, and described conveying robot drag chain is pacified
Being contained in conveying robot drag chain and fix on panel beating, described handling machinery pawl includes left hand 19, motion
Line slideway 20, fixing line slideway 21, the right hand 22, photoelectric sensor 23, protruding screw rod
24, pedestal 25, buffer 27 and clamping cylinder 28, described left hand 19 is fixed on pedestal 25
On, the described right hand 22 is oppositely arranged with left hand 19, and described left hand 19 is relative with the right hand 22
Middle face is respectively provided with for the protruding screw rod 24 that mate of groove accommodating box with for detecting being
No have the photoelectric sensor 23 accommodating box, and the described right hand 22 is arranged on line of motion guide rail 20,
Described line of motion guide rail 20 is sleeved on fixing line slideway 21 slidably, described fixing
Line slideway 21 is fixed on pedestal 25, the motion end of described clamping cylinder 28 and described motion
Line slideway 20 connects, and the direction of motion front of described line of motion guide rail 20 arranges buffer
27, described clamping cylinder 28 and buffer 27 are arranged on pedestal 25.
Further, the linear module of described conveying robot include the first horizontal linear module 11,
Two horizontal linear modules 16, vertical linear module 14, control the horizontal servo of horizontal linear module
Motor 13 and control the servo longitudinal motor 15 of vertical linear module, described first horizontal linear
Module, 11 second horizontal linear modules 16 are arranged in parallel, the cunning of the first horizontal linear module 11
The translation motion of the slide block of block or the second horizontal linear module 16 13 machines electric with described horizontal servo
End connects, and the two ends of described vertical linear module 14 are connected to the first horizontal linear module
On the slide block of 11, the slide block of the second horizontal linear module 16, described vertical linear module 14
Slide block is connected with the translation motion end of described servo longitudinal motor 15, described vertical linear module
The slide block of 14 is fixing with the pedestal of described handling machinery pawl 7 to be connected.
Preferably, between described first horizontal linear module the 11, second horizontal linear module 16
Connected by shaft coupling 12.
Further, the right-hand member initial position of described horizontal linear module arranges horizontal linear module
Right sensor 9, it is left that the leftmost terminal position of described horizontal linear module arranges horizontal linear module
Sensor 10；The lower end initial position of described vertical linear module arranges and passes under vertical linear module
Sensor 18, the upper end final position of described vertical linear module arranges and senses on vertical linear module
Device 17.
The conveying robot of the present embodiment includes the linear module of frame 1, conveying robot 2, first
Conveying robot drag chain fixes the drag chain 4, second of panel beating the 3, first conveying robot 25 × 38
Drag chain 5, the second conveying robot drag chain of conveying robot 25 × 57 fixes panel beating 6, carrying
Gripper the 7, the 3rd conveying robot drag chain fixes panel beating 8, the wherein linear module of conveying robot
2 include that the right sensor of horizontal linear module 9, the left sensor of horizontal linear module 10, first are horizontal
To linear module 11, shaft coupling 12, control the servomotor 13 of horizontal linear module, longitudinal direction
Linear module 14, servomotor 15, the second horizontal linear module of control vertical linear module
16, sensor 17, vertical linear module lower sensor 18 on vertical linear module, additionally carry
Gripper 7 include left hand 19, line of motion guide rail 20, fixing line slideway 21, the right hand 22,
Photoelectric sensor 23, protruding screw rod 24, pedestal 25, cylinder connecting plate 26, buffer 27
With clamping cylinder 28 etc., the linear module of described conveying robot 2 is fixed in frame 1, removes
Fortune gripper 7 is connected with the slide block bolt on vertical linear module 14 by pedestal 25, passes through
The motion of servomotor can control the upper and lower of the linear module of conveying robot 2 and move left and right,
Thus drive the upper and lower of handling machinery pawl 7 and move left and right.
Fig. 2 and Fig. 3 is linear module front view and side view, the handling machinery hand line of the present invention
Property module 2 include the right sensor of horizontal linear module 9, the left sensor of horizontal linear module 10,
First horizontal linear module 11, shaft coupling 12, control horizontal linear module servomotor 13,
Vertical linear module 14, servomotor 15, the second horizontal linear mould of control vertical linear module
Sensor 17, vertical linear module lower sensor 18 etc. on group 16, vertical linear module are logical
Cross and control the horizontal servomotor 13 of horizontal linear module and drive the first horizontal linear module 11
Slide block moves, and the effect of shaft coupling 12 is just so that the second horizontal linear module 16 and first is horizontal
To linear module 11 synchronizing moving.The right sensor of horizontal linear module 9 is null pick-up, when
Vertical linear module 14 is moved to the left arrival horizontal linear module left sensor 10 and stops mobile.
Vertical linear module lower sensor 18 is null pick-up, by controlling watching of vertical linear module
Taking motor 15 makes the slide block on vertical linear module 14 move, when moving to vertical linear mould
In group, sensor 17 stops mobile.
Fig. 4 and Fig. 5 is handling machinery pawl front view and top view, the handling machinery pawl of the present invention
7 include left hand 19, line of motion guide rail 20, fixing line slideway 21, the right hand 22, photoelectricity
Sensor 23, protruding screw rod 24, pedestal 25, cylinder connecting plate 26, buffer 27 and clamping
Cylinder 28 etc..Fig. 3 show its final position, and the right hand 22 is initial position when right-hand member.
Left hand 19 remains stationary as, and by the action of clamping cylinder 28, the right hand 22 is moved to the left, and moves
Dynamic is to be moved, due to clamping cylinder along fixing line slideway 21 by line of motion guide rail 20
28 motions are very fast, need buffer 27 to buffer so that do not allow fragile during gripping
Bad receiving box.Clamping mainly leans on the protruding screw rod 24 on both sides to enter the groove accommodating box.Photoelectricity
The effect of sensor 23 has been to detect whether receiving box, does not just carry out aforesaid operations.
Content described in this specification embodiment is only the row of the way of realization to inventive concept
Lifting, being not construed as of protection scope of the present invention is only limitted to the concrete shape that embodiment is stated
Formula, protection scope of the present invention also and is caned according to present inventive concept in those skilled in the art
The equivalent technologies means expected.
Claims (4)
1. for carrying the conveying robot accommodating box, including frame, the linear mould of conveying robot
Group, conveying robot drag chain fix panel beating, conveying robot drag chain and handling machinery pawl, described
Handling machinery pawl is arranged on the linear module of described conveying robot, described conveying robot module
Being fixed in frame, described conveying robot drag chain is arranged on conveying robot drag chain and fixes panel beating
On, it is characterised in that:
Described handling machinery pawl include left hand, line of motion guide rail, fixing line slideway, the right hand,
Photoelectric sensor, protruding screw rod, pedestal, buffer and clamping cylinder, described left hand is fixed on
On pedestal, the described right hand is oppositely arranged with left hand, in the middle part of the opposite face of described left hand and the right hand all
Protruding screw rod that the groove being provided for and accommodate box mates and for detecting whether have and accommodate box
Photoelectric sensor, the described right hand is arranged on line of motion guide rail, and described line of motion guide rail can
Being sleeved on slidably on fixing line slideway, described fixing line slideway is fixed on pedestal, institute
The motion end stating clamping cylinder is connected with described line of motion guide rail, described line of motion guide rail
Direction of motion front arranges buffer, and described clamping cylinder and buffer are arranged on pedestal.
2. as claimed in claim 1 for carrying the conveying robot accommodating box, it is characterised in that:
The linear module of described conveying robot include the first horizontal linear module, the second horizontal linear module,
Vertical linear module, the horizontal servomotor controlling horizontal linear module and control vertical linear mould
The servo longitudinal motor of group, described first horizontal linear module, the second horizontal linear module are parallel
Arrange, the slide block of the first horizontal linear module or the slide block of the second horizontal linear module and described horizontal stroke
Connecting to the translation motion end of servomotor, the two ends of described vertical linear module are connected to
The slide block of the first horizontal linear module, the second horizontal linear module slide block on, described vertical line
The property slide block of module is connected with the translation motion end of described servo longitudinal motor, described vertical linear
The slide block of module is fixing with the pedestal of described handling machinery pawl to be connected.
3. as claimed in claim 2 for carrying the conveying robot accommodating box, it is characterised in that:
Connected by shaft coupling between described first horizontal linear module, the second horizontal linear module.
4., as claimed in claim 2 or claim 3 for carrying the conveying robot accommodating box, its feature exists
In: the right-hand member initial position of described horizontal linear module arranges the right sensor of horizontal linear module,
The leftmost terminal position of described horizontal linear module arranges the left sensor of horizontal linear module；Described
The lower end initial position of vertical linear module arranges vertical linear module lower sensor, described longitudinal direction
The upper end final position of linear module arranges sensor on vertical linear module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610404839.0A CN105904447A (en) | 2016-06-08 | 2016-06-08 | Carrying manipulator used for carrying storage box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610404839.0A CN105904447A (en) | 2016-06-08 | 2016-06-08 | Carrying manipulator used for carrying storage box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105904447A true CN105904447A (en) | 2016-08-31 |
Family
ID=56750080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610404839.0A Pending CN105904447A (en) | 2016-06-08 | 2016-06-08 | Carrying manipulator used for carrying storage box |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904447A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945920A (en) * | 2016-06-12 | 2016-09-21 | 浙江工业大学 | Transporting mechanical arm for transporting storage box |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
-
2016
- 2016-06-08 CN CN201610404839.0A patent/CN105904447A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945920A (en) * | 2016-06-12 | 2016-09-21 | 浙江工业大学 | Transporting mechanical arm for transporting storage box |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN110977478B (en) * | 2019-12-26 | 2021-11-16 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
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