CN103465263B - A kind of Intelligent transfer robot - Google Patents
A kind of Intelligent transfer robot Download PDFInfo
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- CN103465263B CN103465263B CN201310423039.XA CN201310423039A CN103465263B CN 103465263 B CN103465263 B CN 103465263B CN 201310423039 A CN201310423039 A CN 201310423039A CN 103465263 B CN103465263 B CN 103465263B
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Abstract
The present invention discloses a kind of Intelligent transfer robot, comprise base, rear casing, mechanical arm, swing arm motion mechanism, flip-flop movement mechanism, vertical movement mechanism, horizontal mobile mechanism, rotational motion mechanism, rotational motion mechanism is connected with by the runing rest of its driven rotary, runing rest is provided with radio frequency reader and mechanical paw, radio frequency reader is electrically connected with PLC, mechanical paw comprises paw seat, the drive unit of movable plate and driving movable plate, the both sides of movable plate are provided with tooth, drive unit is controlled by PLC, and be arranged on runing rest, paw seat is connected with runing rest by connecting rod, and both sides paw seat being positioned at movable plate are provided with rotating shaft, gear rotating shaft being connected with paw and being meshed with the tooth on movable plate.The present invention is by setting up radio frequency reader, and effectively can identify the RFID tag on workpiece, be convenient to the classification of product, and it adopts mechanical paw grabbing workpiece, cost is low.
Description
Technical field
The present invention relates to a kind of Intelligent transfer robot.
Background technology
At present, in order to reduce labour intensity, reduce employment cost, increasing producer uses transfer robot to realize the carrying of workpiece, transfer robot is the installations automatically performing work, and it both can accept mankind commander, can run again the program of layout in advance, easy to operate, high degree reduce industrial injury probability of happening.But, existing transfer robot, it is difficult to realize the classification to carrying workpiece, after its carrying, also needs manually to classify voluntarily, and the transfer robot on market, its clamping device complex structure, cost is high, and it is firm not to clamp, and easily occurs the problem of landing.
Summary of the invention
The object of the invention is to for the problems referred to above, a kind of Intelligent transfer robot is provided, cannot classify to product to solve original transfer robot, and the illusive problem of original transfer robot grabbing workpiece.
The object of the invention is to be achieved through the following technical solutions:
A kind of Intelligent transfer robot, comprise base and be arranged at the rear casing above base, the side of described rear casing has been horizontally disposed with mechanical arm, be provided with by the swing arm motion mechanism of swing arm driven by servomotor in described base, be provided with by the flip-flop movement mechanism of upset driven by servomotor and by the motor-driven vertical movement mechanism of vertical servo in described rear casing, described mechanical arm is provided with by the motor-driven horizontal mobile mechanism of horizontal servo, the telescopic screw rod nut of described horizontal mobile mechanism is fixedly connected with the rotational motion mechanism driven by rotating servo motor, described rotational motion mechanism is connected with by the runing rest of its driven rotary, described swing arm servomotor, upset servomotor, vertical servo motor, horizontal servo motor, rotating servo motor is all electrically connected with PLC, described runing rest is provided with radio frequency reader and mechanical paw, described radio frequency reader is electrically connected with PLC, described mechanical paw comprises paw seat, the drive unit of movable plate and driving movable plate, the both sides of described movable plate are provided with tooth, described drive unit is controlled by PLC, and be arranged on runing rest, described paw seat is connected with runing rest by connecting rod, and both sides paw seat being positioned at movable plate are provided with rotating shaft, described rotating shaft is arranged symmetrically with, the gear it being fixedly connected with paw and being meshed with the tooth on movable plate.
Further, described drive unit is hydraulic cylinder or cylinder or is made up of motor, lead screw pair, can select as required.
Preferably, described runing rest is provided with and blows bits pipe, be convenient to the Integrated Chip blown away on workpiece.
Preferably, described rotating shaft is provided with angular transducer, described angular transducer is electrically connected with PLC, and the angle calculation turned over by measuring rotating shaft goes out paw opening angle, thus can learn the size of workpiece.
Preferably, the inner surface of described paw is profile of tooth, increasing friction force.
Beneficial effect of the present invention is, described a kind of Intelligent transfer robot is by setting up radio frequency reader, effectively can identify the RFID tag on workpiece, be convenient to the classification of product, and the present invention adopts mechanical paw grabbing workpiece, easy to use, cost is low, the paw inner surface of mechanical paw is profile of tooth, increase frictional force, it is firm to capture, in addition, by setting up angular transducer, effectively can detect the size of workpiece, blow bits pipe by setting up, the Integrated Chip on workpiece can be blown away, structure is simple, is easy to realize.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of Intelligent transfer robot of the present invention;
Fig. 2 is the enlarged drawing of a kind of Intelligent transfer robot of the present invention at A place.
In figure:
1, base; 2, rear casing; 3, swing arm servomotor; 4, servomotor is overturn; 5, vertical servo motor; 6, horizontal servo motor; 7, rotating servo motor; 8, mechanical arm; 9, runing rest; 10, hydraulic cylinder; 11, connecting rod; 12, movable plate; 13, tooth; 14, paw seat; 15, paw; 16, rotating shaft; 17, gear; 18, radio frequency reader.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
Please refer to shown in Fig. 1 and Fig. 2, in the present embodiment, a kind of Intelligent transfer robot, comprise base 1 and be arranged at the rear casing 2 above base 1, the side of described rear casing 2 has been horizontally disposed with mechanical arm 8, the swing arm motion mechanism driven by swing arm servomotor 3 is provided with in described base 1, the flip-flop movement mechanism driven by upset servomotor 4 and the vertical movement mechanism driven by vertical servo motor 5 is provided with in described rear casing 2, described mechanical arm 8 is provided with the horizontal mobile mechanism driven by horizontal servo motor 6, the telescopic screw rod nut of described horizontal mobile mechanism is fixedly connected with the rotational motion mechanism driven by rotating servo motor 7, described rotational motion mechanism is connected with by the runing rest 9 of its driven rotary, described swing arm servomotor 3, upset servomotor 4, vertical servo motor 5, horizontal servo motor 6, rotating servo motor 7 is all electrically connected with PLC, described runing rest 9 is provided with radio frequency reader 18, mechanical paw and blow bits pipe, described radio frequency reader 18 is electrically connected with PLC, described mechanical paw comprises paw seat 14, movable plate 12 and hydraulic cylinder 10, described hydraulic cylinder 10 is arranged on runing rest 9, its expansion link is fixedly connected with movable plate 12, and the oil circuit of hydraulic cylinder 10 is provided with magnetic valve, described magnetic valve is controlled by PLC, the both sides of described movable plate 12 are provided with tooth 13, described paw seat 14 is connected with runing rest 9 by connecting rod 11, and both sides paw seat 14 being positioned at movable plate 12 are provided with rotating shaft 16, described rotating shaft 16 is arranged symmetrically with, it is fixedly connected with angular transducer, paw 15 and the gear 17 be meshed with the tooth 13 on movable plate 12, described angular transducer is electrically connected with PLC, the inner surface of described paw 15 is profile of tooth.
Before and after the present invention can realize, left and right, move up and down and upper and lower axial turning, the action of left and right axial-rotation 5 frees degree, during work, Intelligent transfer robot can according to the position adjustment mechanical paw of workpiece to realize the crawl of workpiece, overall process is by PLC, servomotor accurately controls, and mechanical paw is while grabbing workpiece, radio frequency reader 18 on runing rest 9 identifies the RFID tag on workpiece, with this, PLC can control Intelligent transfer robot and is placed into by workpiece in the case of corresponding model, realize classification carrying, meanwhile, the angle information that the rotating shaft 16 of mechanical paw is rotated can be fed back to PLC by angular transducer, thus, the size of workpiece can be calculated, easy to use, simply, automaticity is high.
Above embodiment has just set forth general principle of the present invention and characteristic; the present invention does not limit by above-described embodiment; without departing from the spirit and scope of the present invention, the present invention also has various change and change, and these changes and change all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (3)
1. an Intelligent transfer robot, comprise base and be arranged at the rear casing above base, the side of described rear casing has been horizontally disposed with mechanical arm, be provided with by the swing arm motion mechanism of swing arm driven by servomotor in described base, be provided with by the flip-flop movement mechanism of upset driven by servomotor and by the motor-driven vertical movement mechanism of vertical servo in described rear casing, described mechanical arm is provided with by the motor-driven horizontal mobile mechanism of horizontal servo, the telescopic screw rod nut of described horizontal mobile mechanism is fixedly connected with the rotational motion mechanism driven by rotating servo motor, described rotational motion mechanism is connected with by the runing rest of its driven rotary, described swing arm servomotor, upset servomotor, vertical servo motor, horizontal servo motor, rotating servo motor is all electrically connected with PLC, it is characterized in that: described runing rest is provided with radio frequency reader and mechanical paw, described radio frequency reader is electrically connected with PLC, described mechanical paw comprises paw seat, the drive unit of movable plate and driving movable plate, the both sides of described movable plate are provided with tooth, described drive unit is controlled by PLC, and be arranged on runing rest, described paw seat is connected with runing rest by connecting rod, and both sides paw seat being positioned at movable plate are provided with rotating shaft, described rotating shaft is arranged symmetrically with, the gear it being fixedly connected with paw and being meshed with the tooth on movable plate, described rotating shaft is provided with angular transducer, described angular transducer is electrically connected with PLC, the inner surface of described paw is profile of tooth.
2. a kind of Intelligent transfer robot according to claim 1, is characterized in that: described drive unit is hydraulic cylinder or cylinder or is made up of motor, lead screw pair.
3. a kind of Intelligent transfer robot according to claim 1, is characterized in that: described runing rest is provided with and blows bits pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310423039.XA CN103465263B (en) | 2013-09-16 | 2013-09-16 | A kind of Intelligent transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310423039.XA CN103465263B (en) | 2013-09-16 | 2013-09-16 | A kind of Intelligent transfer robot |
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| Publication Number | Publication Date |
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| CN103465263A CN103465263A (en) | 2013-12-25 |
| CN103465263B true CN103465263B (en) | 2015-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310423039.XA Active CN103465263B (en) | 2013-09-16 | 2013-09-16 | A kind of Intelligent transfer robot |
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| CN105479434A (en) * | 2016-01-21 | 2016-04-13 | 厦门大学 | Intelligent freshness-preservation carrying robot |
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| CN115488853B (en) * | 2022-10-27 | 2023-07-07 | 合肥工业大学 | Intelligent high-efficient transfer robot |
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| CN105479434A (en) * | 2016-01-21 | 2016-04-13 | 厦门大学 | Intelligent freshness-preservation carrying robot |
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| CN103465263A (en) | 2013-12-25 |
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Effective date of registration: 20190321 Address after: 214192 No. 99 Furong Zhongsan Road, Xishan Economic and Technological Development Zone, Wuxi City, Jiangsu Province Patentee after: Wuxi intelligent power robot Co., Ltd. Address before: 214192 Xishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee before: Jiangsu Shangcheng Precision Mold Technology Co.,Ltd. |
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