CN104590884B - A kind of triangle object transportation robot - Google Patents
A kind of triangle object transportation robot Download PDFInfo
- Publication number
- CN104590884B CN104590884B CN201410825607.3A CN201410825607A CN104590884B CN 104590884 B CN104590884 B CN 104590884B CN 201410825607 A CN201410825607 A CN 201410825607A CN 104590884 B CN104590884 B CN 104590884B
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- Prior art keywords
- transport desk
- rotation shaft
- electric rotation
- slideway
- transportation robot
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Abstract
A kind of triangle object transportation robot, relate to a kind of automation equipment, including Transport Desk, controller and driving means is had in Transport Desk, range radar is had on Transport Desk, first slideway is also had on Transport Desk, first slideway extends to Transport Desk edge, first telescopic cylinder is had on first slideway, first electric rotation shaft is had on first telescopic cylinder, expansion link on first electric rotation shaft, the third electric rotation shaft is had on expansion link, vacuum cup is had on third electric rotation shaft, second electric rotation shaft is had on first slideway, placement plate is had on second electric rotation shaft, place edges of boards edge and have hang plate, place and also stop version on plate, place and have two electromagnet bottom plate, the metal trough matched with electromagnet is had on Transport Desk, guide post is also had on Transport Desk, roller is had on guide post, pressure detector is had on roller.Compared with prior art, the transportation robot of the present invention can pick up triangular pyramid type workpiece automatically, and can also automatic conveying workpiece to specifying position, significantly increase the efficiency of transport, consume when decreasing artificial.
Description
Technical field
The present invention relates to a kind of automation equipment, especially a kind of transfer robot.
Background technology
In the middle of industrial production, having a lot of raw material, parts to be processed and finished product in workshop and between workshop needs transport, is the most all carried by workman's a dead lift or use haulage vehicle.But it is heavier to some, for shape is the workpiece of triangle or polygon abnormity, general machine cannot mention or carry this workpiece, a dead lift can only be used for this, but the reason due to shape, the article of this shape cannot well be exerted a force by a dead lift, and long-time carrying not only easily causes workman's fatigue and is also easy to have an accident；If using haulage vehicle to carry out transporting the fixing device without suitable, the most polygon abnormity of these workpiece is just very easy to drop thus causes the damage to workpiece.A kind of machine that can transport triangle or special-shaped workpiece specially is needed now for this.
Summary of the invention
The present invention is directed to deficiency of the prior art, provide a kind of triangle object transportation robot, this transportation robot can pick up triangular pyramid type workpiece automatically, and can also automatic conveying workpiece to specifying position, solve the problem of necessary a dead lift when in the past transporting triangular pyramid type workpiece, significantly increase the efficiency of transport, consume when decreasing artificial.
nullIn order to solve above-mentioned technical problem，The present invention is addressed by following technical proposals，A kind of triangle object transportation robot，Including Transport Desk，Controller and driving means it is provided with in described Transport Desk，Several range radars it are provided with on described Transport Desk，First slideway it is additionally provided with on described Transport Desk，Described first slideway extends to described Transport Desk edge，It is provided with first telescopic cylinder on described first slideway，It is provided with first electric rotation shaft on described first telescopic cylinder，It is provided with expansion link on described first electric rotation shaft，The third electric rotation shaft it is provided with on described expansion link，It is provided with vacuum cup on the third described electric rotation shaft，It is additionally provided with second electric rotation shaft on described first slideway，It is provided with placement plate on described second electric rotation shaft，Described placement edges of boards edge is provided with hang plate，It is additionally provided with barrier plate on described placement plate，Two electromagnet it are respectively arranged with bottom described placement plate，The metal trough matched with described electromagnet it is provided with on described Transport Desk，It is additionally provided with guide post on described Transport Desk，It is provided with roller on described guide post，Several pressure detectors it are provided with on described roller.
In technique scheme, it is preferred that be provided with several described range radars on described expansion link.
In technique scheme, it is preferred that described Transport Desk both sides are provided with sidepiece cylinder, on described sidepiece cylinder, front end and sidepiece are both provided with described range radar.
In technique scheme, it is preferred that be provided with several grooves on described placement plate, being provided with steel ball in described groove, described steel ball has part to stretch out outside described groove.
In technique scheme, it is preferred that be provided with 4 bottom described Transport Desk and support cylinder.
In technique scheme, it is preferred that described driving means includes driving motor, gear motor and battery.
For the workpiece being shaped as triangular pyramidal, due to the peculiar bad stress of its shape, general by manually these workpiece being placed on haulage vehicle, if workpiece weight is bigger, a dead lift is the most difficult, it is tired out that the long-time workpiece carrying this shape then easily causes workman so that handling efficiency is low, is also easy to induction accident.The present invention be then a kind of can be with the transportation robot of automatic transporting triangular pyramid type workpiece, its principle is that Transport Desk moves to triangular pyramid type workpiece side, then by the movement of first telescopic cylinder and stretching of expansion link, the vacuum cup on expansion link is made to hold triangular pyramid type side surface of workpiece, then the cylinder jack-up that supports bottom Transport Desk keeps stablizing of Transport Desk, subsequently by the movement of first telescopic cylinder and stretching of expansion link, triangular pyramid type workpiece is made to tilt to expose bottom surface, then extend into bottom triangular pyramid type place plate, finally by the rotation of second electric rotation shaft and sliding on first slideway, triangular pyramid type workpiece is moved on Transport Desk.Then Transport Desk can move to specify position with the help of range radar, can also sense, according to pressure detector on guide post roller, the data snooping route ahead returned the most smooth, it is to avoid Transport Desk is by bigger vibrations in moving process.Having only to when unloading triangular pyramid type workpiece rotate and place plate, triangular pyramid type workpiece will automatically fall off.By this set, participate in without artificial during whole handling and transport, significantly increase transport and the efficiency of carrying.
Compared with prior art, this transportation robot can pick up triangular pyramid type workpiece automatically, and can also automatic conveying workpiece to specifying position, must the problem of a dead lift when solving transport triangular pyramid type workpiece in the past, significantly increase the efficiency of transport, consume when decreasing artificial.
Accompanying drawing explanation
Fig. 1 is side schematic view of the present invention.
Fig. 2 is schematic top plan view of the present invention.
Fig. 3 is elevational schematic view of the present invention.
Fig. 4 is driving means schematic diagram of the present invention.
Fig. 5 is that the present invention uses view 1.
Fig. 6 is that the present invention uses view 2.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, a kind of delta-shaped members transportation robot, including Transport Desk 1, in described Transport Desk 1, it is provided with controller 16 and driving means, described driving means includes driving motor 12, gear motor 13 and battery 11.Being provided with several range radars 9 on described Transport Desk 1, described Transport Desk 1 both sides are provided with sidepiece cylinder 5, and on described sidepiece cylinder 5, front end and sidepiece are both provided with described range radar 9.It is provided with 4 bottom described Transport Desk 1 and supports cylinder 15.It is additionally provided with first slideway 2 on described Transport Desk 1, described first slideway 2 extends to described Transport Desk 1 edge, it is provided with first telescopic cylinder 3 on described first slideway 2, it is provided with first electric rotation shaft 31 on described first telescopic cylinder 3, it is provided with expansion link 32 on described first electric rotation shaft 31, described expansion link 32 is provided with several described range radars 9.It is provided with the third electric rotation shaft 33 on described expansion link 32, the third described electric rotation shaft 33 is provided with vacuum cup 34.It is additionally provided with second electric rotation shaft 4 on described first slideway 2, placement plate 41 it is provided with on described second electric rotation shaft 4, being provided with several grooves on described placement plate 41, be provided with steel ball 44 in described groove, described steel ball 44 has part to stretch out outside described groove.Described placement plate 41 edge is provided with hang plate 42, and described placement plate 41 is additionally provided with barrier plate 43, is respectively arranged with two electromagnet 45, described Transport Desk 1 is provided with the metal trough 46 matched with described electromagnet 45 bottom described placement plate 41.It is additionally provided with guide post 8 on described Transport Desk 1, described guide post 8 is provided with roller 81, described roller 81 is provided with several pressure detectors 82.
During use, first Transport Desk 1 is reached triangular pyramid type workpiece 100 side, the first telescopic cylinder 3 being arranged on first slideway 2 by movement, allow the vacuum cup 34 on expansion link 32 be held the side of triangular pyramid type workpiece 100 by the rotation of the third electric rotation shaft 33.Hold and bottom rear Transport Desk 1, stretch out support cylinder 15, support cylinder 15 is allowed to fix Transport Desk 1, then allowed by the rotation of first electric rotation shaft 31 or the rotation of the movement of first telescopic cylinder 3 or the third electric rotation shaft 33 and lift bottom the triangular pyramid type workpiece 100 of Transport Desk 1 side, subsequently move the second electric rotation shaft 4 on first slideway 2, second electric rotation shaft 4 is made to move to Transport Desk 1 edge, at this moment placement plate 41 is allowed to extend into the bottom that triangular pyramid type workpiece 100 is lifted, because the hang plate 42 placed on plate 41 has oblique angle, can be easily inserted into.When place plate 41 the biggest stretch into after, rotate second electric rotation shaft 4, it is moved rearwards by first telescopic cylinder 3 simultaneously, under the effect of second electric rotation shaft 4 and first telescopic cylinder 3 and the third electric rotation shaft 33, triangular pyramid type workpiece 100 can be lifted, now placing plate 41 and can present an angle tilted, under steel ball 44 effect that then can be movable on placement plate 41, triangular pyramid type workpiece 100 can slide until propping up the barrier plate 43 placed on plate 41.Last second electric rotation shaft 4 and first telescopic cylinder 3 are moved rearwards by jointly, allow placement plate 41 completely return on Transport Desk 1, start the electromagnet 45 placed bottom plate 41 simultaneously, allow electromagnet 45 hold metal trough 46, it is ensured that place stablizing of plate 41.Time mobile, regain and support cylinder 15, Transport Desk 1 four limit is provided with range radar 9, it is appreciated that the road conditions of Transport Desk 1 surrounding, sidepiece cylinder 5 is also set up in Transport Desk 1 both sides, sidepiece cylinder 5 can stretch out length wide as triangular pyramid type workpiece 100, thus it is avoided that the wide jammed situation of triangular pyramid type workpiece 100, expansion link 32 is also equipped with range radar 9, so can avoid the too high jammed situation of triangular pyramid type workpiece 100, on guide post 8, it is provided with roller 81 simultaneously, roller 81 is when mobile, if running into broken terrain, the pressure detector 82 being arranged on roller 81 just can sense, Transport Desk 1 just can be avoided to suffer bigger vibrations.After Transport Desk 1 advances to specify position transport, stretch out support cylinder 15, support cylinder 15 is allowed to support Transport Desk 1, then second electric rotation shaft 4 and first telescopic cylinder 3 move forward jointly, second electric rotation shaft 4 is allowed to be in Transport Desk 1 edge, then allow vacuum cup 34 venting depart from triangular pyramid type workpiece 100, then rotate second electric rotation shaft 4, allow the natural landing of triangular pyramid type workpiece 100.The process of these all of work and range radar 9 data all has controller 16 control to process.
Claims (6)
- null1. a triangle object transportation robot，Including Transport Desk (1)，It is provided with controller (16) and driving means in described Transport Desk (1)，It is provided with several range radars (9) on described Transport Desk (1)，It is characterized by，It is additionally provided with first slideway (2) on described Transport Desk (1)，Described first slideway (2) extends to described Transport Desk (1) edge，It is provided with first telescopic cylinder (3) on described first slideway (2)，It is provided with first electric rotation shaft (31) on described first telescopic cylinder (3)，It is provided with expansion link (32) on described first electric rotation shaft (31)，It is provided with the third electric rotation shaft (33) on described expansion link (32)，It is provided with vacuum cup (34) on described the third electric rotation shaft (33)，It is additionally provided with second electric rotation shaft (4) on described first slideway (2)，Placement plate (41) it is provided with on described second electric rotation shaft (4)，Described placement plate (41) edge is provided with hang plate (42)，It is additionally provided with barrier plate (43) on described placement plate (41)，Described placement plate (41) bottom is respectively arranged with two electromagnet (45)，The metal trough (46) matched with described electromagnet (45) it is provided with on described Transport Desk (1)，It is additionally provided with guide post (8) on described Transport Desk (1)，It is provided with roller (81) on described guide post (8)，It is provided with several pressure detectors (82) on described roller (81).
- A kind of triangle object transportation robot the most according to claim 1, is characterized by, described expansion link (32) is provided with several described range radars (9).
- A kind of triangle object transportation robot the most according to claim 1, it is characterized by, described Transport Desk (1) both sides are provided with sidepiece cylinder (5), and the upper front end of described sidepiece cylinder (5) is both provided with described range radar (9) with sidepiece.
- A kind of triangle object transportation robot the most according to claim 1, it is characterized by, it is provided with several grooves on described placement plate (41), being provided with steel ball (44) in described groove, described steel ball (44) top is stretched out outside described groove.
- A kind of triangle object transportation robot the most according to claim 1, is characterized by, described Transport Desk (1) bottom is provided with 4 and supports cylinder (15).
- A kind of triangle object transportation robot the most according to claim 1, is characterized by, described driving means includes driving motor (12), gear motor (13) and battery (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410825607.3A CN104590884B (en) | 2014-12-28 | 2014-12-28 | A kind of triangle object transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410825607.3A CN104590884B (en) | 2014-12-28 | 2014-12-28 | A kind of triangle object transportation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104590884A CN104590884A (en) | 2015-05-06 |
| CN104590884B true CN104590884B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410825607.3A Expired - Fee Related CN104590884B (en) | 2014-12-28 | 2014-12-28 | A kind of triangle object transportation robot |
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| CN (1) | CN104590884B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126900A (en) * | 2019-05-23 | 2019-08-16 | 江苏经贸职业技术学院 | A kind of declaration transport device convenient for fixed position |
| CN116654501A (en) * | 2020-05-12 | 2023-08-29 | 深圳市海柔创新科技有限公司 | Container taking-out device and method and transfer robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10180655A (en) * | 1996-12-19 | 1998-07-07 | Nkk Corp | Remover for foreign matter in pipe |
| JPH11216690A (en) * | 1998-01-30 | 1999-08-10 | Nachi Fujikoshi Corp | Robot running device |
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN202241267U (en) * | 2011-09-05 | 2012-05-30 | 余胜东 | Anti-terrorist intelligent vehicle applicable to removing dangerous obstacles |
| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| RU144273U1 (en) * | 2014-03-18 | 2014-08-20 | Артем Сергеевич Бондаренко | SELF-PROPELLED MULTIFUNCTIONAL MANIPULATOR |
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- 2014-12-28 CN CN201410825607.3A patent/CN104590884B/en not_active Expired - Fee Related
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| CN104590884A (en) | 2015-05-06 |
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