CN118106988A - Single-machine connecting rod multi-station transfer conveying manipulator - Google Patents
Single-machine connecting rod multi-station transfer conveying manipulator Download PDFInfo
- Publication number
- CN118106988A CN118106988A CN202410535433.0A CN202410535433A CN118106988A CN 118106988 A CN118106988 A CN 118106988A CN 202410535433 A CN202410535433 A CN 202410535433A CN 118106988 A CN118106988 A CN 118106988A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- arm
- rail
- positioning rod
- chute
- 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.)
- Granted
Links
- 230000009194 climbing Effects 0.000 claims abstract description 36
- 238000001179 sorption measurement Methods 0.000 claims abstract description 12
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 210000001503 joint Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 23
- 230000008569 process Effects 0.000 abstract description 19
- 230000001105 regulatory effect Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
Abstract
The invention belongs to the technical field of automatic manipulators, and discloses a single-machine connecting rod multi-station transfer conveying manipulator which comprises a support, a transfer arm and a connecting arm, wherein the support is connected with the transfer arm through a transverse moving assembly, the transfer arm is connected with the connecting arm through a longitudinal moving assembly, the single-machine connecting rod multi-station transfer conveying manipulator further comprises a stabilizing frame arranged on one side, far away from the transfer arm, of the connecting arm, the surface of the stabilizing frame is fixedly connected with a guide rail, an adsorption piece for transferring objects is arranged in the guide rail, the lower surface of the guide rail is fixedly connected with a climbing rail, the surface of the climbing rail is provided with a chute, the adsorption piece is connected with the chute through a positioning rod, and the surface of the climbing rail is provided with a clamping groove for placing the positioning rod. According to the invention, through the cooperation of the pushing component and the climbing rail, when the pushing component encounters obstruction in the process of transferring and conveying the bagged objects, the pushing component pushes the adsorption component with the positioning rod to pass over the obstruction, so that the bag body is prevented from being torn, the normal transportation of the connecting arm is not influenced, and the whole mechanical arm structure is prevented from being damaged.
Description
Technical Field
The invention belongs to the technical field of automatic manipulators, and particularly relates to a single-machine connecting rod multi-station transfer manipulator.
Background
The single-machine multi-station transfer manipulator is an automatic device for an industrial production line, a plurality of stations are preset generally when stamping in multiple working procedures, and the multi-station manipulator is needed for transferring and conveying workpieces on the stations.
At present, the hand part of the multi-station conveying manipulator (namely the part contacting and extracting and transferring the workpiece) is divided into a clamping type and an adsorption type, wherein the adsorption type hand part is mainly used for transferring light and small smooth articles or bagged articles, sucking materials is carried out through negative pressure, and in the process of extracting and transferring the bagged articles or articles with package coverage on the surfaces, the bagged articles are inconvenient to keep in a fixed shape compared with the articles with fixed shape and size, so that under the same height, the bagged articles are more easily blocked by the positioning piece on the surface of the processing table during transverse movement, the problems of bag tearing, unsuccessful hand part transfer and the like are caused, the conventional transfer of the multi-station workpieces is further influenced, and even the mechanical arm is damaged.
Disclosure of Invention
The invention aims to provide a single-machine connecting rod multi-station transfer manipulator for solving the problems in the background technology.
In order to achieve the above object, the present invention provides the following technical solutions: the single-machine connecting rod multi-station transfer conveying manipulator comprises a support, a transfer arm and a connecting arm, wherein the support is connected with the transfer arm through a transverse movement assembly, the transfer arm is connected with the connecting arm through a longitudinal movement assembly, the single-machine connecting rod multi-station transfer conveying manipulator further comprises a stabilizing frame arranged on one side of the connecting arm far away from the transfer arm, the surface of the stabilizing frame is fixedly connected with a guide rail, an adsorption piece for transferring objects is arranged in the guide rail, the lower surface of the guide rail is fixedly connected with a climbing rail, the surface of the climbing rail is provided with a chute, the adsorption piece is connected with the chute through a positioning rod, and the surface of the climbing rail is provided with a clamping groove for placing the positioning rod;
The pushing components are arranged on two sides of the climbing rail, and when the pushing components are blocked from moving, the positioning rod is pushed to slide upwards along the chute to avoid obstacles;
the inner surface of the chute is fixedly connected with a lug, and when the positioning rod slides to the lug, the lug can lift the positioning rod beyond the pushing assembly and slide back to the right along the chute.
Preferably, the pushing assembly comprises a plurality of adjusting blocks, the adjacent adjusting blocks are connected through a connecting plate, the distance between the adjacent adjusting blocks is matched with the width of the positioning rod, the inner wall of the stabilizing frame is close to two sides of the climbing rail and is fixedly connected with a limiting rail, the surface of the limiting rail is provided with a sliding groove, and the connecting plate is connected with the sliding groove through a buffer assembly.
Preferably, the surface fixedly connected with a plurality of gas pole B under the linking board, gas pole B lower extreme fixedly connected with is used for exploring the guide board of obstacle, guide board bottom fixedly connected with buffer block.
Preferably, the buffer assembly comprises a plurality of movable pieces penetrating through the surfaces of two ends of the connecting plate, one end of each movable piece is limited and slides in the corresponding sliding groove, the movable pieces are connected with the connecting plate through springs B, springs C are fixedly connected to two sides of the inner wall of the sliding groove, and the movable pieces are abutted to the springs C.
Preferably, the device further comprises an adjusting assembly for enabling the guide plate to actively move upwards to cross the obstacle, the adjusting assembly comprises a plurality of air rods A arranged in the climbing rail, the output ends of the air rods A are fixedly connected with a pushing plate, the pushing plate is connected with the climbing rail through springs A, one ends, far away from the pushing plate, of the air rods A are fixedly connected with connecting pipes A, the upper ends of the air rods B are fixedly connected with connecting pipes B, and the connecting pipes A are connected with the connecting pipes B through connecting hoses.
Preferably, the connection pipe A is positioned inside the climbing rail, and the connection pipe B is positioned inside the connecting plate.
Preferably, the surface of the adjusting block is provided with a transverse groove matched with the push plate, and the position, close to the transverse groove, of the surface of the adjusting block is fixedly connected with a protruding block.
Preferably, the surface of the guide rail is provided with a limit groove, the guide rail is connected with a sliding block in a sliding manner through the limit groove, the upper end of the absorption part slides in the sliding block, and the upper end of the absorption part is fixedly connected with a connecting port.
Preferably, the sideslip subassembly includes two synchronizing wheels that rotate to be connected in the support surface, two the transmission is connected with the hold-in range between the synchronizing wheel, support back fixedly connected with motor A, motor A output and one of them synchronizing wheel fixed connection, the transfer arm passes through the clamp splice and links to each other with the hold-in range.
Preferably, the longitudinal moving assembly comprises a motor B fixedly connected to the surface of the transfer arm, the output end of the motor B is fixedly connected with a screw rod, and the connecting arm is connected with the screw rod through a connecting piece.
The beneficial effects of the invention are as follows:
1. According to the invention, through the cooperation of the pushing component and the climbing rail, when the pushing component encounters obstruction in the process of transferring and conveying the bagged objects, the pushing component pushes the adsorption component with the positioning rod to move upwards along the chute, so that the bagged objects rise without contacting the obstruction, the bag body is prevented from being torn, meanwhile, the pushing component can transversely move and be prevented from being left in situ, but the whole connecting arm can still continue to operate, the normal transportation of the connecting arm is not influenced, and the whole mechanical arm structure is prevented from being damaged.
2. According to the invention, the convex lugs are arranged on the surface of the chute, when the positioning rod moves to the position of the convex lugs along the chute, the positioning rod is influenced by the lifting effect of the convex lugs, moves upwards rapidly and passes over the highest point of the adjusting block, the unconstrained positioning rod can slide down to the bottom along the chute, the process is carried out after the connecting arm moves to the position of the preset workbench, so that the bagged objects rise and pass over the barriers, and then return to the original position, and the effects that the bagged objects are free from damage, do not need to be stopped and can continue to normally operate are achieved.
3. According to the invention, through the cooperation of the air rod A and the air rod B, the air rod A and the air rod B are mutually communicated, when the regulating block transversely moves and pushes the push plate, the push plate is pulled outwards to form negative pressure in the air rod A, the air rod B correspondingly contracts, the guide plate is lifted up and then passes over an obstacle, the whole pushing assembly is promoted to be corrected, and the transferring and moving process of the whole connecting arm is not influenced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the present invention showing the pushing assembly in a conventional state;
FIG. 3 is a schematic view of the push assembly of the present invention showing the push assembly after an obstructed traverse;
FIG. 4 is a schematic diagram of the present invention for separately showing climbing rails and their vicinity;
FIG. 5 is an enlarged view of the invention at A in FIG. 4;
FIG. 6 is an enlarged view of the invention at B in FIG. 4;
FIG. 7 is a schematic diagram of the present invention showing the adjustment block and its vicinity;
FIG. 8 is a schematic diagram showing a traversing assembly and a traversing assembly according to the present invention.
In the figure: 1. a bracket; 11. a motor A; 12. a synchronizing wheel; 13. a synchronous belt; 2. a transfer arm; 21. a motor B; 211. a screw; 22. a connecting piece; 221. a connecting arm; 23. clamping blocks; 3. a stabilizing rack; 31. a guide rail; 311. a slide block; 32. climbing a rail; 321. a chute; 322. a bump; 323. a clamping groove; 33. an absorbing member; 331. a positioning rod; 332. a connection port; 34. a gas rod A; 341. a push plate; 342. a spring A; 343. a connecting pipe A; 344. a connecting hose; 4. a limit rail; 41. an adjusting block; 411. a splice plate; 412. an air rod B; 413. a guide plate; 414. a buffer block; 415. a connecting pipe B; 42. a movable member; 421. a spring B; 43. a transverse groove; 431. a protruding block; 44. and a spring C.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 8, the embodiment of the invention provides a single-machine connecting rod multi-station transfer and conveying manipulator, which comprises a support 1, a transfer arm 2 and a connecting arm 221, wherein the support 1 is connected with the transfer arm 2 through a traversing component, the transfer arm 2 is connected with the connecting arm 221 through a longitudinal component, the traversing component and the longitudinal component realize the object transfer process of the whole transfer and conveying manipulator, the single-machine connecting rod multi-station transfer and conveying manipulator further comprises a stabilizing frame 3 arranged on one side of the connecting arm 221 far away from the transfer arm 2, the surface of the stabilizing frame 3 is fixedly connected with a guide rail 31, an adsorbing piece 33 for transferring the object is arranged in the guide rail 31, the adsorbing piece 33 is a long pipe with a sucker at the lower end, the object is adsorbed mainly through the sucker, so that the subsequent transfer is performed, a climbing rail 32 is fixedly connected with the lower surface of the guide rail 31, the guide rail 31 and the climbing rail 32 form an inverted triangle shape, the surface of the climbing rail 32 is provided with a chute 321, the adsorbing piece 33 is connected with the chute 321 through a positioning rod 331, the chute 321 is also arranged into an inverted triangle shape, the chute 321 is provided with two mutually intersected oblique sides, so that the positioning rod 331 can climb to two sides in the chute 321, in a normal state, the positioning rod 321 is positioned at the position of the whole climbing rod 331 under the action of gravity, namely, the two oblique sides 331 are positioned at the position close to the position of the two oblique sides of the oblique sides 331 are positioned at the position 32 by the position of the oblique sides 32, and the position 32, which are positioned at the position 32, and close to the position 32 is positioned at the position 32, and close to the position groove 32.
The device also comprises pushing components which are arranged on two sides of the climbing rail 32, and when the movement of the pushing components is blocked, the positioning rod 331 is pushed to slide upwards along the chute 321 to avoid obstacles.
The inner surface of the chute 321 is fixedly connected with a bump 322, and when the positioning rod 331 slides to the bump 322, the bump 322 can lift the positioning rod 331 beyond the pushing component and slide back down the chute 321.
Specifically, during the traversing process of the connecting arm 221, when the pushing component is blocked, the pushing component is left in place, that is, the connecting arm 221 continues the traversing process, and the pushing component moves reversely relative to the connecting arm 221, during the process, the pushing component pushes the positioning rod 331 to move reversely, because the positioning rod 331 is limited by the chute 321, the positioning rod 331 slides upwards synchronously along the chute 321 during the traversing process, drives the adsorbing component 33 to move upwards, and promotes the object adsorbed below to move upwards, so that the lifting height is not contacted with the obstacle, then contacts with the bump 322 and forms a lifting effect, the positioning rod 331 moves upwards quickly in a short time and passes over the pushing component, and is influenced by gravity, and the positioning rod 331 slides downwards along the chute 321 to the initial position, so that the object passes over the obstacle.
In a further embodiment, as shown in fig. 6, the pushing component includes a plurality of adjusting blocks 41, since the pushing component is disposed on two sides of the climbing rail 32, the adjusting blocks 41 are four, two adjacent adjusting blocks 41 are connected through a connecting plate 411, the space between the adjacent adjusting blocks 41 is adapted to the width of the positioning rod 331, the positioning rod 331 is located in a gap formed between the adjacent adjusting blocks 41, in the state shown in fig. 2, the inner wall of the stabilizing frame 3 is close to two sides of the climbing rail 32, and is fixedly connected with a limiting rail 4, a sliding groove is formed on the surface of the limiting rail 4, and the connecting plate 411 is connected with the sliding groove through a buffer component.
Specifically, since the positioning rod 331 is located in the gap formed between the adjacent adjusting blocks 41, no matter in which direction the adjusting blocks 41 move transversely, the positioning rod 331 is driven to move transversely correspondingly, and is caused to slide in the chute 321.
It is worth noting that, one side of two adjacent regulating blocks 41 that keep away from each other is the arc surface, through setting up to the arc surface, after locating lever 331 breaks away from the space between two regulating blocks 41, regulating block 41 is at the in-process of returning to the right, this arc surface can contact with locating lever 331 to outwards remove under the promotion effect of locating lever 331, avoid locating lever 331 to block regulating block 41 and return to the right, buffer assembly can corresponding atress this moment, after until locating lever 331 relatively moves to the clearance position between the adjacent regulating blocks 41, buffer assembly makes regulating block 41 kick-back, with locating lever 331 card income, accomplish and return to the right and location, thereby wait for next triggering.
Wherein, the fixed surface is connected with a plurality of gas pole B412 under the linking board 411, gas pole B412 lower extreme fixedly connected with is used for exploring the guide board 413 of obstacle, guide board 413 bottom fixedly connected with buffer block 414, the enclosure space that a plurality of guide board 413 encloses is the size of whole article promptly, consequently guide board 413 size and position should be confirmed according to the size of different articles, and the minimum position of guide board 413 is the minimum height after the article is absorbed promptly, and because the setting of gas pole B412, when linking arm 221 moves down in order to release the article, the shrink resilience that gas pole B412 can correspond plays the cushioning effect to linking arm 221, also avoid the unable problem of normal lower movement of linking arm 221 that leads to because the blocking of guide board 413.
Further, in this embodiment, the buffer assembly includes a plurality of movable members 42 penetrating through the surfaces of two ends of the connecting plate 411, one end of each movable member 42 is limited and slides in the corresponding sliding groove, the movable member 42 is connected with the connecting plate 411 through a spring B421, two ends of the spring B421 are fixedly connected with the movable member 42 and the connecting plate 411 respectively, two sides of the inner wall of the sliding groove are fixedly connected with springs C44, and the movable member 42 is abutted against the springs C44.
Specifically, the spring B421 is used for buffering the adjusting block 41 that is blocked by the positioning rod 331 and moves outwards, because the two adjusting blocks 41 and the connecting plate 411 are integrated, when one of the adjusting blocks 41 is forced to move outwards, the connecting plate 411 is driven to move outwards synchronously and slide on the surface of the movable member 42, so that the spring B421 is compressed, in addition, the spring C44 is used for helping the adjusting block 41 after being shifted to be aligned, when the adjusting block 41 is blocked from being shifted transversely, the movable member 42 connected with the surface of the connecting plate 411 is synchronously driven to slide in the surface sliding groove of the limiting rail 4, and the movable member 42 is made to squeeze and compress the spring C44, so that when the adjusting block 41 needs to be aligned, the spring C44 rebounds, and drives the movable member 42 to be aligned quickly, thereby aligning the adjusting block 41 to the initial position.
As shown in fig. 3 to 6, further, the device further comprises an adjusting component for enabling the guide plate 413 to actively move upwards to cross an obstacle, the adjusting component comprises a plurality of air rods a34 arranged in the climbing rail 32, the output ends of the air rods a34 are fixedly connected with a push plate 341, the air rods a34 are in a contracted state in a conventional state, namely, the push plate 341 is close to the air rods a34, the push plate 341 is connected with the climbing rail 32 through springs a342, two ends of the springs a342 are fixedly connected with the push plate 341 and the climbing rail 32 respectively, one end, far away from the push plate 341, of the air rods a34 is fixedly connected with a connecting pipe a343, the connecting pipe a343 is mutually communicated with the air rods a34, the upper end of the air rods B412 is fixedly connected with a connecting pipe B415, the connecting pipe B415 is mutually communicated with the air rods B412, two ends of the connecting hose 344 are fixedly connected with the connecting pipe a343 and the connecting pipe B415 respectively and are mutually communicated, the connecting hose 344 is a polyethylene or polyurethane hose, or a corrugated pipe is convenient to stretch or contract, when the pushing component moves transversely, the connecting hose 344 is arranged to be pulled to be in an external state, and the connecting hose is set to be in a stretch, and the length of the connecting hose is also suitable to be left in a transverse moving process.
The connecting pipe A343 is positioned inside the climbing rail 32, the connecting pipe B415 is positioned inside the connecting plate 411, and the connecting pipe A343 and the connecting pipe B415 are respectively positioned inside the climbing rail 32 and the connecting plate 411, so that the effect of effectively protecting a pipeline is achieved.
The surface of the adjusting block 41 is provided with a transverse groove 43 which is matched with the pushing plate 341, the pushing plate 341 can completely slide into the transverse groove 43, and a protruding block 431 is fixedly connected to the position, close to the transverse groove 43, of the surface of the adjusting block 41.
Specifically, when the adjusting block 41 is stretched to a limit while encountering an obstacle, the push plate 341 is correspondingly clamped into the transverse groove 43, in the process of continuously traversing the connecting arm 221, the push plate 341 moves to the tail end of the transverse groove 43 and is pushed by the continuously moving adjusting block 41, the air inside the air rod a34 is pumped out by the outward movement of the push plate 341, negative pressure is formed, the air inside the air rod B412 communicated with the air rod a enters the air rod a34 through the connecting pipe B415, the connecting hose 344 and the connecting pipe a343, so that the air rod B412 is contracted, the guide plate 413 below the guide plate 413 is moved upwards, and after the guide plate 413 passes over the obstacle and is not blocked by the obstacle, the movable member 42 is pushed to reversely traverse to the right in the chute under the resilience force of the spring C44, and the whole pushing assembly is corrected.
It should be noted that the protruding block 431 is provided to avoid the problem that the positioning rod 331 is blocked on the surface of the transverse slot 43 in the process of reaching the highest point and sliding down, so that the positioning rod 331 cannot slide down and return to the right, because after the positioning rod 331 moves up over the highest point of the adjusting block 41 due to the influence of the protruding block 322, the top of the adjusting block 41 is also provided with an arc shape, the positioning rod 331 will slide down at the top of the adjusting block 41 first, and when sliding to the protruding block 431, the positioning rod 331 will "bounce" outwards along the protruding block 431, thereby crossing the opening of the transverse slot 43 until falling onto the surface of the chute 321, so as to perform normal sliding down and return to the right.
As shown in fig. 3, further, in this embodiment, the surface of the guide rail 31 is provided with a limit groove, and is slidably connected with a slide block 311 through the limit groove, the slide block 311 is slidably limited in the limit groove, the upper end of the suction member 33 is slidably connected in the slide block 311, the slide block 311 only laterally slides in the limit groove and does not rotate, so that the upper end of the suction member 33 is limited by the slide block 311, and accordingly, the suction member 33 is prevented from swinging or rotating in the sliding and traversing process, thereby affecting the object suction strength, the upper end of the suction member 33 is fixedly connected with a connection port 332, the connection port 332 is communicated with the inside of the suction member 33 below, and the connection port 332 is used for being connected with an external negative pressure forming device through a pipeline and is used for providing negative pressure suction force for a suction cup at the bottom of the suction member 33.
Further, as shown in fig. 2, the traversing assembly comprises two synchronizing wheels 12 rotatably connected to the surface of the support 1, a synchronous belt 13 is connected between the two synchronizing wheels 12 in a transmission manner, a motor A11 is fixedly connected to the back of the support 1, the output end of the motor A11 is fixedly connected with one of the synchronizing wheels 12, the output end of the motor A11 penetrates through the support 1, the transferring arm 2 is connected with the synchronous belt 13 through a clamping block 23, the clamping block 23 is fixedly connected to the back of the transferring arm 2, and the surface of the synchronous belt 13 is clamped and fixed, and it is noted that the transferring arm 2 is connected with the synchronous belt 13 only through one clamping block 23, so that the problem that the synchronous belt 13 cannot drive the transferring arm 2 to traverse is avoided.
Specifically, when the motor A11 outputs, one of the synchronous wheels 12 is driven to rotate, and then the synchronous belt 13 is driven to drive the clamping blocks 23 on the surface to move, so that the transfer arm 2 can perform the transverse movement transfer operation.
In addition, indulge and move subassembly including fixed connection in the motor B21 on transporting arm 2 surface, motor B21 output fixedly connected with screw rod 211, link arm 221 passes through connecting piece 22 and links to each other with screw rod 211, connecting piece 22 and link arm 221 fixed connection, and one side that connecting piece 22 kept away from connecting arm 221 and transporting arm 2 sliding connection, and screw rod 211 threaded connection is on the connecting piece 22 surface, like this, when motor B21 exports, drive screw rod 211 rotation, can be corresponding drive threaded connection at the connecting piece 22 reciprocates on screw rod 211 surface, realize the longitudinal movement of link arm 221, be convenient for absorb lifting or whereabouts release article.
Principle of operation
When the bagged articles are transported, the motor B21 rotates to drive the screw 211 to rotate, the connecting piece 22 sliding on the surface of the transporting arm 2 is driven to move up and down, the sucking disc at the bottom of the sucking piece 33 can suck the bagged articles, after the sucking disc contacts the articles, negative pressure is formed in the sucking disc through external negative pressure equipment, the articles are sucked up, then the motor B21 reverses to lift the articles, and meanwhile, one of the synchronous wheels 12 is driven to rotate through the motor A11, the clamping block 23 and the transporting arm 2 are driven to transversely move in the transmission process of the synchronous belt 13, the articles are transversely moved, in the process, when the articles are blocked by the obstacles, the obstacles firstly contact the guide plates 413 positioned around the articles, and when the guide plates 413 are blocked, the upper air rods B412 are connected to push the transversely moving connecting plate 411, and the connecting plate 411 transversely slides in the sliding grooves on the surfaces of the limiting rails 4 through the movable pieces 42, and the adjusting block 41 drives the positioning rod 331 to synchronously move transversely, because the positioning rod 331 slides in the chute 321, the positioning rod 331 slides upwards in the chute 321 in the process of synchronous moving transversely, the absorbing member 33 is driven to move upwards, the object rises and is not contacted with the obstacle, at the moment, the motor A11 is still output, and the transferring arm 2 and the connecting arm 221 are driven to move transversely, so the moving direction of the adjusting block 41 relative to the climbing rail 32 is opposite until the positioning rod 331 is pushed to the position of the bump 322 above the chute 321, the positioning rod 331 is blocked by the bump 322 to move upwards, then the positioning rod 331 is higher than the adjusting block 41, the positioning rod 331 which is not affected by the adjusting block 41 slides downwards by gravity and slides downwards into the chute 321 again, the absorbing member 33 passes through the obstacle body in the process of sliding downwards until the absorbing member is slid into the clamping groove 323 to be fixed, and the absorbing member 33 is reset to the initial position again, and the bagged articles sucked by the suction member 33 are not affected by the obstacle.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a single-machine connecting rod multistation moves carries transfer robot, includes support (1), transfer arm (2) and linking arm (221), and support (1) link to each other with transfer arm (2) through sideslip subassembly, and transfer arm (2) link to each other with linking arm (221) through indulging the subassembly, its characterized in that: the automatic transfer device is characterized by further comprising a stabilizing frame (3) arranged on one side, far away from the transfer arm (2), of the connecting arm (221), wherein a guide rail (31) is fixedly connected to the surface of the stabilizing frame (3), an adsorption piece (33) for transferring objects is arranged in the guide rail (31), a climbing rail (32) is fixedly connected to the lower surface of the guide rail (31), a chute (321) is formed in the surface of the climbing rail (32), the adsorption piece (33) is connected with the chute (321) through a positioning rod (331), and a clamping groove (323) for placing the positioning rod (331) is formed in the surface of the climbing rail (32);
The pushing components are arranged on two sides of the climbing rail (32), and when the pushing components are blocked from moving, the positioning rod (331) is pushed to slide upwards along the chute (321) to avoid obstacles;
The inner surface of the chute (321) is fixedly connected with a lug (322), and when the positioning rod (331) slides to the lug (322), the lug (322) can lift the positioning rod (331) beyond the pushing component and slide downwards along the chute (321) to be correct.
2. The single-link multi-station transfer robot of claim 1, wherein: the pushing assembly comprises a plurality of adjusting blocks (41), the adjacent adjusting blocks (41) are connected through a connecting plate (411), the distance between the adjacent adjusting blocks (41) is matched with the width of the locating rod (331), the inner wall of the stabilizing frame (3) is close to two sides of the climbing rail (32) and is fixedly connected with a limiting rail (4), a sliding groove is formed in the surface of the limiting rail (4), and the connecting plate (411) is connected with the sliding groove through a buffering assembly.
3. The single-link multi-station transfer robot of claim 2, wherein: the connecting plate (411) lower surface fixedly connected with a plurality of gas pole B (412), gas pole B (412) lower extreme fixedly connected with is used for exploring guide board (413) of obstacle, guide board (413) bottom fixedly connected with buffer block (414).
4. The single-link multi-station transfer robot of claim 2, wherein: the buffer assembly comprises a plurality of movable pieces (42) penetrating through the surfaces of two ends of the connecting plate (411), one ends of the movable pieces (42) are limited and slide in the sliding groove, the movable pieces (42) are connected with the connecting plate (411) through springs B (421), springs C (44) are fixedly connected to two sides of the inner wall of the sliding groove, and the movable pieces (42) are in butt joint with the springs C (44).
5. A single-link multi-station transfer robot as claimed in any one of claims 1 to 4, wherein: still including being used for making guide board (413) initiative shift up in order to cross the regulation subassembly of obstacle, regulation subassembly is including setting up a plurality of gas pole A (34) in climbing rail (32), gas pole A (34) output fixedly connected with push pedal (341), push pedal (341) link to each other with climbing rail (32) through spring A (342), one end fixedly connected with connecting pipe A (343) of push pedal (341) are kept away from to gas pole A (34), gas pole B (412) upper end fixedly connected with connecting pipe B (415), connecting pipe A (343) link to each other with connecting pipe B (415) through coupling hose (344).
6. The single-link multi-station transfer robot of claim 5, wherein: the connecting pipe A (343) is positioned inside the climbing rail (32), and the connecting pipe B (415) is positioned inside the connecting plate (411).
7. The single-link multi-station transfer robot of claim 2, wherein: the surface of the adjusting block (41) is provided with a transverse groove (43) which is matched with the push plate (341), and a protruding block (431) is fixedly connected to the position, close to the transverse groove (43), of the surface of the adjusting block (41).
8. The single-link multi-station transfer robot of claim 1, wherein: the surface of the guide rail (31) is provided with a limit groove, a sliding block (311) is connected with the guide rail in a sliding way, the upper end of the adsorption piece (33) slides in the sliding block (311), and a connecting port (332) is fixedly connected with the upper end of the adsorption piece (33).
9. The single-link multi-station transfer robot of claim 1, wherein: the transverse moving assembly comprises two synchronous wheels (12) which are rotationally connected to the surface of the support (1), a synchronous belt (13) is connected between the two synchronous wheels (12) in a transmission mode, a motor A (11) is fixedly connected to the back face of the support (1), the output end of the motor A (11) is fixedly connected with one of the synchronous wheels (12), and the transfer arm (2) is connected with the synchronous belt (13) through a clamping block (23).
10. The single-link multi-station transfer robot of claim 1, wherein: the longitudinal moving assembly comprises a motor B (21) fixedly connected to the surface of the transferring arm (2), the output end of the motor B (21) is fixedly connected with a screw (211), and the connecting arm (221) is connected with the screw (211) through a connecting piece (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410535433.0A CN118106988B (en) | 2024-04-30 | 2024-04-30 | Single-machine connecting rod multi-station transfer conveying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410535433.0A CN118106988B (en) | 2024-04-30 | 2024-04-30 | Single-machine connecting rod multi-station transfer conveying manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118106988A true CN118106988A (en) | 2024-05-31 |
| CN118106988B CN118106988B (en) | 2024-06-25 |
Family
ID=91219683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410535433.0A Active CN118106988B (en) | 2024-04-30 | 2024-04-30 | Single-machine connecting rod multi-station transfer conveying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118106988B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005230941A (en) * | 2004-02-18 | 2005-09-02 | Sankyo Seiki Mfg Co Ltd | Robot for conveying glass substrate |
| CN111633680A (en) * | 2020-06-09 | 2020-09-08 | 滁州明诺机械有限公司 | Freezer box manipulator |
| CN214772037U (en) * | 2021-05-19 | 2021-11-19 | 南京工业职业技术大学 | Manipulator pick-off device |
| CN220094636U (en) * | 2023-06-26 | 2023-11-28 | 刘绍平 | Negative pressure material sucking manipulator for automatic processing |
| CN117415663A (en) * | 2023-11-23 | 2024-01-19 | 启东市云鹏玻璃机械有限公司 | Manipulator special for glass milling and polishing compound machine |
| CN117944078A (en) * | 2024-03-19 | 2024-04-30 | 苏州睿新浩电子科技有限公司 | Manipulator for production and transportation |
-
2024
- 2024-04-30 CN CN202410535433.0A patent/CN118106988B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005230941A (en) * | 2004-02-18 | 2005-09-02 | Sankyo Seiki Mfg Co Ltd | Robot for conveying glass substrate |
| CN111633680A (en) * | 2020-06-09 | 2020-09-08 | 滁州明诺机械有限公司 | Freezer box manipulator |
| CN214772037U (en) * | 2021-05-19 | 2021-11-19 | 南京工业职业技术大学 | Manipulator pick-off device |
| CN220094636U (en) * | 2023-06-26 | 2023-11-28 | 刘绍平 | Negative pressure material sucking manipulator for automatic processing |
| CN117415663A (en) * | 2023-11-23 | 2024-01-19 | 启东市云鹏玻璃机械有限公司 | Manipulator special for glass milling and polishing compound machine |
| CN117944078A (en) * | 2024-03-19 | 2024-04-30 | 苏州睿新浩电子科技有限公司 | Manipulator for production and transportation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118106988B (en) | 2024-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109850208B (en) | Paper diaper packaging system | |
| CN105600489B (en) | A kind of wood moulding substrate production line stamps palletizing apparatus with double | |
| CN110899485B (en) | Automatic stamping bending equipment | |
| CN109110486B (en) | Be applied to anti falling adsorption equipment of automatic transport | |
| CN111470103B (en) | Outer package protective layer sleeving device and driving method | |
| CN211711230U (en) | Intelligent PCB bagging machine | |
| WO2022267581A1 (en) | Packaging machine which quickly switches specifications | |
| CN110498090A (en) | A kind of automatic packing device and its application method | |
| CN111232648A (en) | Photovoltaic glass deep-processing grabbing and stacking system | |
| CN111362020B (en) | Efficient mechanical automatic unloading mechanism | |
| CN118106988B (en) | Single-machine connecting rod multi-station transfer conveying manipulator | |
| CN208044297U (en) | A kind of dual stage face LDI automatic connectings | |
| CN113879839A (en) | Suction nozzle type truss mechanical arm automatic feeding device for carton carrying | |
| CN113394154B (en) | Suction device and method for detector chip | |
| CN109867131B (en) | Elastic clamping overturning conveying manipulator | |
| CN211521123U (en) | Paperboard receiving, taking and stacking device for carton production | |
| CN114162531A (en) | Conveying device, conveying method thereof, pushing mechanism and assembly line | |
| CN209699294U (en) | A kind of plate cutting equipment | |
| CN113716343A (en) | Automatic-overturning automobile glass blanking device and blanking method thereof | |
| CN113816070A (en) | Conveying mechanism for automatic detection line of through-flow fan blade | |
| CN113732532A (en) | Automatic production device and method | |
| CN112959423A (en) | Complete equipment for full-information automatic longitudinal and transverse edge sawing | |
| JPH07277499A (en) | Transferring device for lead frame | |
| CN216548520U (en) | Automatic glass loading and unloading platform | |
| CN112110213A (en) | Stacking paw and air conditioner indoor unit carrying device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |