CN106043480A - New-energy automobile part warehouse operation robot - Google Patents
New-energy automobile part warehouse operation robot Download PDFInfo
- Publication number
- CN106043480A CN106043480A CN201610355161.1A CN201610355161A CN106043480A CN 106043480 A CN106043480 A CN 106043480A CN 201610355161 A CN201610355161 A CN 201610355161A CN 106043480 A CN106043480 A CN 106043480A
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- CN
- China
- Prior art keywords
- slide block
- electric
- telescoping crossbeam
- shifting sledge
- motor
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a new-energy automobile part warehouse operation robot which comprises a walking device, an adjustable support, a rotating device, a parallel and serial connection mechanism and a stacking mechanical hand. The adjustable support is located above the rear portion of the walking device, the rotating device is located at the position of the front end of the adjustable support and fixedly connected with the adjustable support, the parallel and serial connection mechanism is located between the rotating device and the stacking mechanical hand, the upper end of the parallel and serial connection mechanism is connected with the rotating device, and the lower end of the parallel and serial connection mechanism is connected with the stacking mechanical hand. By the adoption of the new-energy automobile part warehouse operation robot, a series of operation of grabbing, carrying and stacking hubs can be achieved, the automation degree is high, the movement is stable and flexible, the operation efficiency is high, and the problems that manual operation is high in cost, low in efficiency, large in dangerousness and the like are solved.
Description
Technical field
The present invention relates to auto parts and components and process mechanical field, a kind of new-energy automobile parts warehouse is made
Industry robot.
Background technology
Along with social economy and the fast development of science and technology, people go on a journey the increasing of the vehicles, and present people go on a journey mostly
Being all that self-driving is driven, therefore, automobile is seen everywhere, and wherein Household electric motor car, car, new-energy automobile and electric automobile etc. are more
Coming the most, parts industry have also been obtained and develops rapidly, and wheel hub is as the one of the parts of automobile own, and its wheel hub is named again
Wheel rim, wheel or tire bell, be in tire the wide drum-shaped supporting tire and metal parts that center is contained on axle；Wheel hub according to
Diameter, width, molding mode are different with material, and it is of a great variety；Wheel hub on market according to material can be divided into steel wheel hub and
The big class of alloy wheel hub two, the manufacture method of aluminium alloy wheel hub has three kinds, is gravitational casting, forging and low pressure hot investment casting respectively；
The structure structure of wheel hub is divided into wheel rim, spoke, wheel rim, offset distance, bcad seats, bottom land and valve port, and wherein wheel rim is to fill with tire
Cooperation, supports the wheel portion of tire；Spoke is to implement to install with axle hub to be connected, the wheel portion of support wheel rim；Partially
Away from being wheel rim median plane to the distance between spoke installation surface, have positive offset distance, zero offset distance and negative bias away from point；Wheel rim is to maintain and props up
The inner rim portion in support tire direction；Bcad seats, also known as installed surface, with wheel beads contact, supports the wheel rim maintaining tire radius direction
Part；Bottom land is for convenience of tire mounting or dismounting, leaves the pit of certain depth and width on wheel rim；Valve port is mounting tyre gas
The hole of door mouth.
Wheel hub is typically all aluminium alloy or steel matter due to material, and therefore, hub weight compares and lays particular stress on, at present for life
Produce producer or car repair shop, for the carrying of wheel hub or to take be all that a dead lift is stacked or fork truck carries out carrying heap
Putting, the most not only occupy substantial amounts of labour force, production cost is high, and carrying stacking efficiency of taking is low, its interprocedual simultaneously
Easily cause certain dangerous security incident, such as scratch operation arm or pound legs and feet.In consideration of it, the invention provides one
Kind of new-energy automobile parts warehouse homeworks robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of new-energy automobile parts warehouse homework machine
People.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of new-energy automobile parts warehouse homeworks robot, including running gear, adjustable support, rotary apparatus, mixed
Online structure and palletizing mechanical arm；Described adjustable support is positioned at running gear back upper place, and rotary apparatus is positioned at adjustable support front end
Position, and rotary apparatus is connected with adjustable support, hybrid mechanism is between rotary apparatus and palletizing mechanical arm, and series-parallel connection machine
Structure upper end is connected with rotary apparatus, and hybrid mechanism lower end is connected with palletizing mechanical arm.
As a further improvement on the present invention, described running gear includes chassis, drives motor, drive shaft, treads
Wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking belt wheel
Quantity is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor to be separately fixed at
Before and after chassis in the mounting groove of both sides, and driving motor to use Biaxial synchronous output motor, drive shaft one end is defeated with driving motor
Shaft is connected, and the drive shaft other end is connected with walking belt wheel, and is carried out by tight locking button between drive shaft and walking belt wheel
Fixing, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle tread plate outside traveling crawler；Logical
The rotation that the rotation of motor of overdriving drives treads to take turns, thus drive the motion of traveling crawler, running gear is mainly used in this
Walking, the movement of invention and turn to, and running gear is by using track structure to easily facilitate the walking of different physical features ground condition,
The suitability making the present invention is higher.
As a further improvement on the present invention, described adjustable support include rotary disk basement, elevating lever, telescoping crossbeam, first
Rotating shaft, regulation connecting rod, the second rotating shaft and the 3rd rotating shaft；Described elevating lever bottom is fixed on upper surface, chassis by rotary disk basement,
Telescoping crossbeam rear end is connected with elevating lever top by the first rotating shaft, and telescoping crossbeam uses double-deck telescopic structure, and stretches
Using support column to be attached between contracting crossbeam the upper and lower, telescoping crossbeam rear end is provided with the first ear mount, in telescoping crossbeam
Being provided with the second ear mount at subordinate's end position, telescoping crossbeam front end is provided with mounting ring, and regulation connecting rod one end is by the second rotating shaft
Being connected with the second ear mount at lower end position in the middle part of telescoping crossbeam, the regulation connecting rod other end is arranged on lifting by the 3rd rotating shaft
At bar medium position, and regulation connecting rod is I-shaped structure；Elevating lever can realize regulating integral-rotation and the whole height of support
The function of regulation, telescoping crossbeam can be carried out the regulation of horizontal cross length, can be driven by the stretching motion of regulation connecting rod simultaneously
Telescoping crossbeam carries out local rotary motion with the first rotating shaft for center of rotation, it is achieved thereby that adjustable support on the vertical plane whole
The regulation of body angle, adjustable support can carry out two translations two in space and rotate the motion in totally four degree of freedom directions, by adjusting
Joint support can realize entirety orientation of the present invention and the adjustment of angle, and regulates quick and convenient, it is simple to wheel hub piling is made by the present invention
The carrying out of industry.
As a further improvement on the present invention, described rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotation
Dish；Described electric rotating machine uses low-speed high-torque motor, and electric rotating machine vertically stands upside down and is positioned at the mounting ring of telescoping crossbeam front end
It is fixed by motor cabinet between inside, and electric rotating machine and telescoping crossbeam, between electric rotating machine main shaft and column spinner upper end
Being attached by key, column spinner lower end is connected with rotating disk, rotating disk upper end structure in the form of annular discs, rotating disk lower end edge its
Central axis is that circumferential direction is evenly arranged with connection post, and connects the stepped column structure of post；Can be carried by rotary apparatus
The integral-rotation motion of dynamic hybrid mechanism and palletizing mechanical arm.
As a further improvement on the present invention, described hybrid mechanism includes roll-out tray and four-freedom parallel mechanism,
Roll-out tray is positioned at above four-freedom parallel mechanism, and roll-out tray is connected with four-freedom parallel mechanism；Described movement
Underframe includes base plate, shifting sledge, slide block, limit spring and locking post, and the quantity of shifting sledge and slide block is four, spacing
Number of springs is 16, and the quantity of locking post is 32；Described base plate is fixed on four-freedom parallel mechanism, mobile sliding
Rail is respectively symmetrically layout along longitudinal center's axis of base plate, and shifting sledge two ends are respectively arranged with baffle plate, and slide block is arranged on movement
On slide rail, limit spring is between slide block and the baffle plate of shifting sledge, and limit spring one end is sliding with mobile by locking post
The baffle plate of rail is connected, the limit spring other end by locking post be connected with slide block, and the baffle plate medial surface of shifting sledge with
All offering installation screwed hole before and after slide block on end face, locking post one end is provided with the tight locking button for fixing limit spring,
The locking post other end is provided with and installs the external screw thread that corresponding threaded holes closes；Roll-out tray uses the cascaded structure of a translation, moves
Dynamic underframe can move forward and backward, and can drive moving up and down of four-freedom parallel mechanism by roll-out tray；Described four selfs
Fixed platform, Hooke's hinge, expansion link, spherical hinge and moving platform is included by degree parallel institution, and Hooke's hinge, expansion link and spherical hinge
Quantity is four；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at immediately below fixed platform, fixed platform
Upper part and moving platform end portion are provided with installation screw thread respectively, and expansion link bottom is connected with slide block by Hooke's hinge
Connecing, expansion link top is connected with moving platform by spherical hinge；Four-freedom parallel mechanism uses the parallel machine of 4-UPS form
Structure, can realize a translation three and rotate the motion in totally four degree of freedom directions, and movement effects is good, and freedom of motion is many, compact conformation
And bearing capacity is strong；In the present invention, whole palletizing mechanical arm is driven can to carry out two translations three in space by hybrid mechanism
Rotating the motion in totally five degree of freedom directions, the local that hybrid mechanism is mainly used in when the present invention carries out wheel hub palletizing operation is small
The adjustment of size.
As a further improvement on the present invention, described palletizing mechanical arm includes piling stand, electric sliding rail, moves and slide
Block, electric turntable, hydraulic cylinder, chuck and clamping screw, and electric sliding rail, mobile slide block, electric turntable, hydraulic cylinder, chuck and
The quantity of clamping screw is four；Described piling stand is cross-shaped configuration, is provided with mounting disc, piling in the middle part of piling stand
Being symmetrically arranged with leg outside stand, electric sliding rail is fixed on the foot bottom end face of piling stand, and electric sliding rail outboard end
Being provided with block, mobile slide block is arranged on electric sliding rail, and electric turntable is positioned at immediately below mobile slide block, and electric turntable upper end
Being connected with mobile slide block, electric turntable lower end is connected with hydraulic cylinder upper end, uses locking between hydraulic cylinder lower end and chuck
Bolt is attached fixing, and hydraulic cylinder uses two-action multi-stage telescoping hydraulic cylinder, and chuck is sector structure；Concrete operation
Time, by electric sliding rail and coordinating of mobile slide block regulating the mobile scallop hole being directed on wheel hub the upright position of chuck, and
By the rotation of electric turntable, the outer rim side of chuck is adjusted to externally, then drives hanging down of chuck by the stretching of hydraulic cylinder
Directly move downward, when chuck is transferred in the scallop hole of wheel hub, by rotating of electric turntable, the outer rim side of chuck is adjusted
In in pairs, and by the upward vertical movement of the contractile motion drive chuck of hydraulic cylinder, it is achieved thereby that palletizing mechanical arm is to wheel
The crawl of hub, carries out piling process finally by the present invention to wheel hub.
Compared with prior art, the invention have the advantages that
(1) present invention can realize the crawl to wheel hub, carry and a series of operations such as stacking, and automaticity is high, fortune
Dynamic the most flexibly, working performance high, the problem such as solve that manual work cost is high, efficiency is low and danger is big.
(2) running gear of the present invention is mainly used in walking, moves and turn to, and running gear is by using crawler type to tie
Structure easily facilitates the walking of different physical features ground condition so that the suitability of the present invention is higher.
(3) adjustable support of the present invention can carry out two translations two in space and rotates the motion in totally four degree of freedom directions,
Entirety orientation of the present invention and the adjustment of angle can be realized by regulation support, and regulate quick and convenient, it is simple to the present invention is to wheel hub
The carrying out of palletizing operation.
(4) roll-out tray in the hybrid mechanism of the present invention uses the cascaded structure of a translation, four-freedom parallel mechanism
Using the parallel institution of 4-UPS form, can realize a translation three and rotate the motion in totally four degree of freedom directions, movement effects is good,
Freedom of motion is many, and compact conformation and bearing capacity are strong；In the present invention, whole palletizing mechanical arm is driven to exist by hybrid mechanism
Can carry out two translations three in space and rotate the motion in totally five degree of freedom directions, hybrid mechanism is mainly used in the present invention and carries out wheel hub
The minute sized adjustment in local during palletizing operation.
(5) palletizing mechanical arm of the present invention can carry out the motion in two translations one rotation three degree of freedom directions altogether, and it is radially
Spacing is adjustable, it is simple to capture the wheel hub of different-diameter size, and it stretches height adjustable, it is simple to disposable crawl is multiple to be taken turns
Hub, captures efficiency high.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when running gear of the present invention, adjustable support and rotary apparatus cooperation；
Fig. 3 is perspective view when hybrid mechanism of the present invention and palletizing mechanical arm cooperation；
Fig. 4 is the perspective view of hybrid mechanism of the present invention；
Fig. 5 is the perspective view of palletizing mechanical arm of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 5, a kind of new-energy automobile parts warehouse homeworks robot, including running gear 1, adjustable
Support 2, rotary apparatus 3, hybrid mechanism 4 and palletizing mechanical arm 5；Described adjustable support 2 is positioned at running gear 1 back upper place, rotation
Rotary device 3 is positioned at adjustable support 2 front position, and rotary apparatus 3 is connected with adjustable support 2, and hybrid mechanism 4 is positioned at rotation dress
Put between 3 and palletizing mechanical arm 5, and hybrid mechanism 4 upper end is connected with rotary apparatus 3, hybrid mechanism 4 lower end and palletizing mechanical
Hands 5 is connected.
As in figure 2 it is shown, described running gear 1 includes chassis 11, drives motor 12, drive shaft 13, walking belt wheel 14, lock
Link closely 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft 13 and row
Walking belt wheel 14 quantity is four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers mounting groove respectively, drives electricity
Machine 12 is separately fixed in the mounting groove of both sides front and back, chassis 11, and drives motor 12 to use Biaxial synchronous output motor, drives
Axle 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14, and drive shaft 13
And being fixed by tight locking button 15 between walking belt wheel 14, walks on belt wheel 14 rotating around being enclosed within traveling crawler 16 two ends, and
Semicircle tread plate it is evenly arranged with outside traveling crawler 16；By driving the rotation rotating drive treads wheel 14 of motor 12
Turning, thus drive the motion of traveling crawler 16, running gear 1 is mainly used in the walking of the present invention, movement and turns to, and walking dress
Put 1 by using track structure to easily facilitate the walking of different physical features ground condition so that the suitability of the present invention is higher.
As in figure 2 it is shown, described adjustable support 2 include rotary disk basement 21, elevating lever 22, telescoping crossbeam the 23, first rotating shaft 24,
Regulation connecting rod the 25, second rotating shaft 26 and the 3rd rotating shaft 27；Described elevating lever 22 bottom is fixed on chassis 11 by rotary disk basement 21
Upper surface, telescoping crossbeam 23 rear end is connected with elevating lever 22 top by the first rotating shaft 24, and telescoping crossbeam 23 uses the bilayer can
Using support column to be attached between telescopic structure, and telescoping crossbeam 23 the upper and lower, telescoping crossbeam 23 rear end is provided with
First ear mount, is provided with the second ear mount at lower end position in the middle part of telescoping crossbeam 23, telescoping crossbeam 23 front end is provided with mounting ring, adjusts
Joint connecting rod 25 one end is connected with the second ear mount at lower end position in the middle part of telescoping crossbeam 23 by the second rotating shaft 26, regulates connecting rod
25 other ends are arranged at elevating lever 22 medium position by the 3rd rotating shaft 27, and regulation connecting rod 25 is in I-shaped structure；Lifting
Bar 22 can realize regulating the integral-rotation of support 2 and the function of whole height regulation, and it is long that telescoping crossbeam 23 can carry out horizontal cross
The regulation of degree, can drive telescoping crossbeam 23 to enter with the first rotating shaft 24 for center of rotation by the stretching motion of regulation connecting rod 25 simultaneously
Row local rotary motion, it is achieved thereby that the regulation of the overall angle that adjustable support 2 is on the vertical plane, adjustable support 2 is in space
In can carry out two translations two and rotate the motion in totally four degree of freedom directions, entirety orientation of the present invention can be realized by regulation support 2
With the adjustment of angle, and regulate quick and convenient, it is simple to wheel hub palletizing operation is carried out by the present invention.
As in figure 2 it is shown, described rotary apparatus 3 includes electric rotating machine 31, motor cabinet 32, column spinner 33 and rotating disk 34；
Described electric rotating machine 31 uses low-speed high-torque motor, and electric rotating machine 31 vertically stands upside down and is positioned at the installation of telescoping crossbeam 23 front end
Inside ring, and it is fixed by motor cabinet 32 between electric rotating machine 31 and telescoping crossbeam 23, electric rotating machine 31 main shaft and rotation
Post 33 is attached by key between upper end, and column spinner 33 lower end is connected with rotating disk 34, and rotating disk 34 upper end is in the form of annular discs
Structure, rotating disk 34 lower end edge its center axis is that circumferential direction is evenly arranged with connection post, and connects the stepped cylinder of post
Structure；The integral-rotation that can be driven hybrid mechanism 4 and palletizing mechanical arm 5 by rotary apparatus 3 is moved.
As shown in Figure 3 and Figure 4, described hybrid mechanism 4 includes roll-out tray 41 and four-freedom parallel mechanism 42, mobile
Underframe 41 is positioned at above four-freedom parallel mechanism 42, and roll-out tray 41 is connected with four-freedom parallel mechanism 42；Described
Roll-out tray 41 includes base plate 411, shifting sledge 412, slide block 413, limit spring 414 and locking post 415, and shifting sledge
412 and the quantity of slide block 413 be four, limit spring 414 quantity is 16, and the quantity of locking post 415 is 32；Described
Base plate 411 is fixed on four-freedom parallel mechanism 42, and shifting sledge 412 is respectively symmetrically along longitudinal center's axis of base plate 411
Arranging, shifting sledge 412 two ends are respectively arranged with baffle plate, and slide block 413 is arranged on shifting sledge 412, and limit spring 414 is positioned at
Between the baffle plate of slide block 413 and shifting sledge 412, and limit spring 414 one end is by locking post 415 and shifting sledge 412
Baffle plate is connected, and limit spring 414 other end is connected with slide block 413 by locking post 415, and the baffle plate of shifting sledge 412
All offering installation screwed hole before and after medial surface and slide block 413 on end face, locking post 415 one end is provided with for fixing spacing
The tight locking button of spring 414, locking post 415 other end is provided with and installs the external screw thread that corresponding threaded holes closes；Roll-out tray 41 is adopted
With the cascaded structure of a translation, roll-out tray 41 can move forward and backward, and four-degree-of-freedom can be driven in parallel by roll-out tray 41
Mechanism 42 moves up and down；Described four-freedom parallel mechanism 42 includes fixed platform 421, Hooke's hinge 422, expansion link 423, ball
Hinge 424 and moving platform 425, and the quantity of Hooke's hinge 422, expansion link 423 and spherical hinge 424 is four；Described fixed platform
424 and moving platform 425 be disc-shaped structure, and moving platform 425 is positioned at immediately below fixed platform 425, fixed platform 421 upper part
Being provided with installation screw thread respectively with moving platform 425 end portion, Hooke's hinge 422 and slide block 413 phase are passed through in expansion link 423 bottom
Connecting, expansion link 423 top is connected with moving platform 425 by spherical hinge 424；Four-freedom parallel mechanism 42 uses 4-UPS
The parallel institution of form, can realize a translation three and rotate the motion in totally four degree of freedom directions, and movement effects is good, freedom of motion
Many, compact conformation and bearing capacity are strong；In the present invention, drive the whole palletizing mechanical arm 5 can in space by hybrid mechanism 4
Carrying out two translations three and rotate the motion in totally five degree of freedom directions, hybrid mechanism 4 is mainly used in the present invention and carries out wheel hub piling work
The minute sized adjustment in local during industry.
As shown in Figure 3 and Figure 5, described palletizing mechanical arm 5 include piling stand 51, electric sliding rail 52, mobile slide block 53,
Electric turntable 54, hydraulic cylinder 55, chuck 56 and clamping screw 57, and electric sliding rail 52, mobile slide block 53, electric turntable 54, liquid
The quantity of cylinder pressure 55, chuck 56 and clamping screw 57 is four；Described piling stand 51 in cross-shaped configuration, piling stand 51
Middle part is provided with mounting disc, is symmetrically arranged with leg outside piling stand 51, and electric sliding rail 52 is fixed on propping up of piling stand 51
On sole end face, and electric sliding rail 52 outboard end is provided with block, and mobile slide block 53 is arranged on electric sliding rail 52, electric turntable
54 are positioned at immediately below mobile slide block 53, and electric turntable 54 upper end is connected with mobile slide block 53, electric turntable 54 lower end and liquid
Cylinder pressure 55 upper end is connected, and uses clamping screw 57 to be attached fixing between hydraulic cylinder 55 lower end and chuck 56, and hydraulic cylinder
55 use two-action multi-stage telescoping hydraulic cylinder, and chuck 56 is in sector structure；During concrete operation, by electric sliding rail 52 and movement
The regulation that coordinates of slide block 53 is moved the scallop hole on the upright position alignment wheel hub of chuck 56, and turning by electric turntable 54
Move and the outer rim side of chuck 56 is adjusted to externally, then driven the fortune vertically downward of chuck 56 by the stretching of hydraulic cylinder 55
Dynamic, when chuck 56 is transferred in the scallop hole of wheel hub, by the rotation of electric turntable 54, the outer rim side of chuck 56 is adjusted to
Internally, and by the upward vertical movement of the contractile motion drive chuck 56 of hydraulic cylinder 55, it is achieved thereby that palletizing mechanical arm 5 is right
The crawl of wheel hub, carries out piling process finally by the present invention to wheel hub.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a new-energy automobile parts warehouse homeworks robot, it is characterised in that: include running gear, adjustable support, rotation
Rotary device, hybrid mechanism and palletizing mechanical arm；Described adjustable support is positioned at running gear back upper place, and rotary apparatus is positioned at adjustable
At support front position, and rotary apparatus and adjustable support are connected, hybrid mechanism between rotary apparatus and palletizing mechanical arm,
And hybrid mechanism upper end is connected with rotary apparatus, hybrid mechanism lower end is connected with palletizing mechanical arm；Wherein:
Described rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotating disk；Described electric rotating machine uses low speed big
Torque motor, electric rotating machine vertically stands upside down and is positioned at inside the mounting ring of telescoping crossbeam front end, and electric rotating machine and telescoping crossbeam it
Between be fixed by motor cabinet, be attached by key between electric rotating machine main shaft and column spinner upper end, column spinner lower end with
Rotating disk is connected, rotating disk upper end structure in the form of annular discs, and rotating disk lower end edge its center axis is that circumferential direction is uniformly arranged
There is connection post, and connect the stepped column structure of post；
Described hybrid mechanism includes roll-out tray and four-freedom parallel mechanism, and roll-out tray is positioned at four-freedom parallel mechanism
Top, and roll-out tray is connected with four-freedom parallel mechanism；
Described roll-out tray includes base plate, shifting sledge, slide block, limit spring and locking post, and shifting sledge and slide block
Quantity is four, and limit spring quantity is 16, and the quantity of locking post is 32；Described base plate is fixed on four-degree-of-freedom also
On online structure, shifting sledge is respectively symmetrically layout along longitudinal center's axis of base plate, and shifting sledge two ends are respectively arranged with baffle plate,
Slide block is arranged on shifting sledge, and limit spring is between slide block and the baffle plate of shifting sledge, and limit spring one end is passed through
Locking post is connected with the baffle plate of shifting sledge, and the limit spring other end is connected with slide block by locking post, and shifting sledge
Baffle plate medial surface and slide block before and after all offer installation screwed hole on end face, locking post one end is provided with for fixing spacing
The tight locking button of spring, the locking post other end is provided with and installs the external screw thread that corresponding threaded holes closes；
Described four-freedom parallel mechanism includes fixed platform, Hooke's hinge, expansion link, spherical hinge and moving platform, and Hooke's hinge, stretches
The quantity of contracting bar and spherical hinge is four；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at and allocates
Immediately below platform, fixed platform upper part and moving platform end portion are provided with installation screw thread respectively, and expansion link bottom is by tiger
Gram hinge is connected with slide block, and expansion link top is connected with moving platform by spherical hinge；
Described palletizing mechanical arm includes piling stand, electric sliding rail, mobile slide block, electric turntable, hydraulic cylinder, chuck and locking
Bolt, and the quantity of electric sliding rail, mobile slide block, electric turntable, hydraulic cylinder, chuck and clamping screw is four；Described code
Buttress stand is cross-shaped configuration, is provided with mounting disc, is symmetrically arranged with leg, electric sliding outside piling stand in the middle part of piling stand
Rail is fixed on the foot bottom end face of piling stand, and electric sliding rail outboard end is provided with block, and mobile slide block is arranged on electronic
On slide rail, electric turntable is positioned at immediately below mobile slide block, and electric turntable upper end is connected with mobile slide block, electric turntable lower end
It is connected with hydraulic cylinder upper end, between hydraulic cylinder lower end and chuck, uses clamping screw to be attached fixing, and hydraulic cylinder uses
Two-action multi-stage telescoping hydraulic cylinder, chuck is sector structure.
A kind of new-energy automobile the most according to claim 1 parts warehouse homeworks robot, it is characterised in that: described
Running gear includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives motor, tight locking button
Being two with the quantity of traveling crawler, drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, before and after chassis
Two ends offer mounting groove respectively, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to use
Biaxial synchronous output motor, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel
Connecing, and be fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler two ends are walked on belt wheel rotating around being enclosed within,
And outside traveling crawler, it is evenly arranged with semicircle tread plate.
A kind of new-energy automobile the most according to claim 1 parts warehouse homeworks robot, it is characterised in that: described
Adjustable support includes rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft, regulation connecting rod, the second rotating shaft and the 3rd rotating shaft；Described
Elevating lever bottom be fixed on upper surface, chassis by rotary disk basement, telescoping crossbeam rear end pass through the first rotating shaft and elevating lever top phase
Connecting, telescoping crossbeam uses bilayer to use support column to be attached between telescopic structure, and telescoping crossbeam the upper and lower,
Telescoping crossbeam rear end is provided with the first ear mount, is provided with the second ear mount, telescoping crossbeam front end in the middle part of telescoping crossbeam at lower end position
Being provided with mounting ring, regulation connecting rod one end is connected with the second ear mount at lower end position in the middle part of telescoping crossbeam by the second rotating shaft
Connecing, the regulation connecting rod other end is arranged at elevating lever medium position by the 3rd rotating shaft, and regulation connecting rod is I-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106787491A (en) * | 2016-12-23 | 2017-05-31 | 潘学勇 | A kind of power distribution station stator core in motor intelligently clears up robot |
| CN106743565A (en) * | 2016-12-27 | 2017-05-31 | 上海绿立方农业发展有限公司 | Automatic disc loading machinery hand |
| CN107191764A (en) * | 2017-06-02 | 2017-09-22 | 苏州优银机械有限公司 | A kind of industrial cantilever of stable oscillation |
| CN107672692A (en) * | 2017-06-19 | 2018-02-09 | 广东美的智能机器人有限公司 | Automatic guided vehicle |
| CN107672693A (en) * | 2017-06-19 | 2018-02-09 | 广东美的智能机器人有限公司 | Rotating-table apparatus and automatic guided vehicle for automatic guided vehicle |
| WO2018233515A1 (en) * | 2017-06-19 | 2018-12-27 | 广东美的智能机器人有限公司 | Unmanned transport vehicle |
| CN109147540A (en) * | 2018-10-22 | 2019-01-04 | 江苏大鑫教育装备有限公司 | A kind of simulation automatic turning machinery hand instruments used for education |
| WO2019015164A1 (en) * | 2017-07-19 | 2019-01-24 | 安徽理工大学 | Multi-arm suspended rail type casting cleaning robot |
| CN109551349A (en) * | 2018-12-28 | 2019-04-02 | 苏州比雷艾斯电子科技有限公司 | A kind of the construction material sander and its polishing process of adjustable polishing position |
| CN109822479A (en) * | 2019-03-21 | 2019-05-31 | 姜平乐 | A kind of hydraulic control automotive hub repair apparatus |
| CN111255287A (en) * | 2020-03-18 | 2020-06-09 | 杭州智骨软件科技有限公司 | Novel mechanical garage provided with mobile maintenance robot |
| CN112412203A (en) * | 2020-11-24 | 2021-02-26 | 江苏金鼎汽车锁制造有限公司 | Automobile door lock mounting structure |
| CN112590955A (en) * | 2020-12-31 | 2021-04-02 | 广东技术师范大学 | Combined type mobile robot |
| CN113116479A (en) * | 2021-05-08 | 2021-07-16 | 吕岩 | Intracardiac branch of academic or vocational study puncture positioner |
| CN113197625A (en) * | 2021-05-11 | 2021-08-03 | 吕岩 | Intracardiac branch of academic or vocational study piercing depth |
| CN113333366A (en) * | 2021-06-24 | 2021-09-03 | 广西大学 | Controllable intelligent salt core flushing device of fluid path based on FMS |
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| CN106743565A (en) * | 2016-12-27 | 2017-05-31 | 上海绿立方农业发展有限公司 | Automatic disc loading machinery hand |
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| CN109147540A (en) * | 2018-10-22 | 2019-01-04 | 江苏大鑫教育装备有限公司 | A kind of simulation automatic turning machinery hand instruments used for education |
| CN109147540B (en) * | 2018-10-22 | 2024-03-15 | 江苏大鑫教育装备有限公司 | Teaching instrument for simulating automatic overturning manipulator |
| CN109551349A (en) * | 2018-12-28 | 2019-04-02 | 苏州比雷艾斯电子科技有限公司 | A kind of the construction material sander and its polishing process of adjustable polishing position |
| CN109822479A (en) * | 2019-03-21 | 2019-05-31 | 姜平乐 | A kind of hydraulic control automotive hub repair apparatus |
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| CN112412203A (en) * | 2020-11-24 | 2021-02-26 | 江苏金鼎汽车锁制造有限公司 | Automobile door lock mounting structure |
| CN112590955B (en) * | 2020-12-31 | 2022-02-08 | 广东技术师范大学 | Combined type mobile robot |
| CN112590955A (en) * | 2020-12-31 | 2021-04-02 | 广东技术师范大学 | Combined type mobile robot |
| CN113116479A (en) * | 2021-05-08 | 2021-07-16 | 吕岩 | Intracardiac branch of academic or vocational study puncture positioner |
| CN113197625A (en) * | 2021-05-11 | 2021-08-03 | 吕岩 | Intracardiac branch of academic or vocational study piercing depth |
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| CN113333366A (en) * | 2021-06-24 | 2021-09-03 | 广西大学 | Controllable intelligent salt core flushing device of fluid path based on FMS |
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