CN106516719A - Robot control device capable of achieving horizontal handling - Google Patents
Robot control device capable of achieving horizontal handling Download PDFInfo
- Publication number
- CN106516719A CN106516719A CN201611032141.7A CN201611032141A CN106516719A CN 106516719 A CN106516719 A CN 106516719A CN 201611032141 A CN201611032141 A CN 201611032141A CN 106516719 A CN106516719 A CN 106516719A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- master control
- bearing
- control device
- belt
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot control device capable of achieving horizontal handling. The robot control device comprises a base frame. Sliding rails are arranged at the lower end of the base frame, and the sliding rails are provided with a gripper base in a sliding mode. The upper end of the gripper base is provided with a motor, and the motor is connected with a center shaft. A master control disk is installed on the lower portion of the center shaft. The left end and the right end of the master control disk are both provided with protruding parts. The front end and the rear end of the master control disk are both provided with pressing plates in a butting mode. The front inner side face and the rear inner side face of the gripper base are both provided with first springs. A through groove is formed in the lower end of the gripper base. The lower ends of the pressing plates are both provided with clamping parts. A belt pulley is installed on the upper portion of the center shaft. By the adoption of the robot control device, objects can be grabbed, conveyed and released in a high automation mode, the automatic handling function is realized, and the effects of simplifying control and being convenient to operate are further achieved. In addition, the whole set of equipment is simple in structure, the number of related parts is small, and the equipment cost is low.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of robot controller for being capable of level carrying.
Background technology
Typically in job shop, people usually need for object to be transported to another place, existing skill from one place
In art, in order to save manpower, major part all adopt corresponding Handling device, object can be passed sequentially through automatic clamping, automatic
Transport, the order being automatically releasable are realized the function of automatic transporting, but the shortcoming of this kind of Handling device are to grip, transport and release
It is required for manually being controlled operation, not only operates inconvenience but also equipment mechanism is often more complicated so that equipment cost is high.
The content of the invention
For the defect that above-mentioned technology is present, the present invention is on the basis of automatic transporting function, it is proposed that with convenient control
The cheap a kind of robot controller for being capable of level carrying of system and equipment cost.
A kind of robot controller for being capable of level carrying, including pedestal frame, the pedestal frame lower end is provided with horizontal
Slide rail, the slide rail are slidably fitted with handgrip pedestal.
The handgrip pedestal upper end is provided with motor, and the motor connection has central shaft, and the central shaft bottom is provided with
Master control disk, the left end of the master control disk, right-hand member are equipped with semicircular lobe, the front end of the master control disk, rear end
There is pressing plate to conjunction, the handgrip pedestal anteromedial surface, rear medial surface are separately installed with and No. for being connected is corresponded with pressing plate
Spring, the handgrip pedestal lower end are provided with the groove that two pressing plates are slidably installed along the longitudinal direction, and the lower end of the pressing plate is equal
It is provided with clamping part.
The top of the central shaft is provided with belt wheel.
Mounting lower end left part is provided with horizontal chute, and mobile bearing, the work are slidably fitted with the chute
Vertical shaft is installed in moving axis bearing, runner is installed on the vertical shaft, the vertical shaft lower end is connected with bearing plate by bearing；Institute
State between bearing plate and the left internal side of pedestal frame with No. two springs being connected with the two.Wherein, No. two springs are chronically at
Be stretched state.
Dividing plate is welded with the middle part of the pedestal frame lower end, the left side of the dividing plate is provided with fixed pulley, and the dividing plate 2 is right
Belt has been tied on end face.
After the belt first extends right up to bypass belt wheel, then after extending to the left and bypassing fixed pulley, prolong to left back
Extend around and be fixed on the runner.
The said equipment when in use, only need to be by starting the dynamic central shaft rotation of motor belt motor to rotate counterclockwise mode.
On the one hand, being rotated by belt wheel causes belt to be driven to the left all the time, and is acted on by the elastic force of No. two springs so that
Belt while being tauted also is pulled to the left and is constantly surround toward on runner, and then caused whole handgrip pedestal
Continuously can slide to the left along the track of slide rail.On the other hand, central shaft can communicate rotational motion to master control
Disk.During master control disk rotary turns around, whenever two lobe are rotated respectively to the conjunction that offsets corresponding with two pressing plates
When, respectively forwardly side, rear side are slided opposite to each other for two clamping parts, when two lobe and two pressing plates are revolved to conjunction state
When going to disengaging, in the presence of a spring, two clamping parts are changed into slide in opposition, this motion mode by opposite slip
Two clamping parts are enabled to during being slided with two pressing plates and handgrip pedestal 8 to the right, once phase can be passed through
The back of the body slides with a slide in opposition to capture object.After a period of time, i.e., when two lobe rotate for the second time to two
When pressing plate is engaged, two clamping parts slide opposite to each other again and discharge object, by the purpose for further reaching carrying.
It should be noted that the elastic force of No. two springs of the present invention is limited, it is impossible to individually act on by the elastic force of itself and hold
Belt can be pulled to the left with handgrip pedestal on fishplate bar.Therefore, it is of the invention only under conditions of the driving of motor, No. two
The elastic force of spring can restraint belt remain tensioned state, and drive runner to incorporate belt into own forces.Therefore, the present invention is being used
When, only the transport to object, crawl need to can be driven by a control element and discharge work, reach simplify control, side
Effect of convenient to operate.Additionally, complete equipment simple structure of the present invention, involved parts are less, equipment cost is low.
The invention has the beneficial effects as follows：
Object can not only be captured, be transported and be discharged in high automatization's mode by the present invention, realize automatic transporting work(
Can, and there is simplify control, convenient operation.Additionally, complete equipment simple structure of the present invention, involved parts
Less, equipment cost is low.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is B-B sectional view of the present invention with regard to Fig. 2；
Fig. 4 is the present invention looks up structural representation of the present invention；
Fig. 5 is A-A sectional view of the present invention with regard to Fig. 4.
Specific embodiment
In order that the technological means realized of the present invention, creation characteristic, reached purpose and effect are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 5, a kind of robot controller for being capable of level carrying, including pedestal frame 1, the pedestal
1 lower end of frame is provided with horizontal slide rail 7, and the slide rail 7 is slidably fitted with handgrip pedestal 8.
8 upper end of handgrip pedestal is provided with motor 17, and the motor 17 is connected with central shaft 9,9 bottom of the central shaft
Master control disk 10 is installed, the left end of the master control disk 10, right-hand member are equipped with semicircular lobe 10a, the master control circle
There is pressing plate 11 front end of disk 10, rear end to conjunction, and 8 anteromedial surface of handgrip pedestal, rear medial surface are separately installed with and pressing plate
11 correspond a spring 12 being connected, and 8 lower end of handgrip pedestal is provided with and two pressing plates 11 slide along the longitudinal direction peace
The groove 8a of dress, the lower end of the pressing plate 11 are equipped with clamping part 11a.
The top of the central shaft 9 is provided with belt wheel 13.
1 lower end left part of the mounting is provided with horizontal chute 1a, is slidably fitted with mobile bearing 2 in the chute 1a,
Vertical shaft 3 is installed in the mobile bearing 2, runner 4 is installed on the vertical shaft 3,3 lower end of the vertical shaft is connected by bearing
There is bearing plate 5；With No. two springs 6 being connected with the two between the bearing plate 5 and the left internal side of pedestal frame 1.Wherein, two
Number spring 6 is chronically at the state of being stretched.
Dividing plate 14 is welded with the middle part of 1 lower end of pedestal frame, the left side of the dividing plate 14 is provided with fixed pulley 16, described
Dividing plate has tied belt 15 on 2 right side.
After the belt 15 first extends right up to bypass belt wheel 13, then after extending to the left and bypassing fixed pulley 16, to the left
Rear extends around and is fixed on the runner 4.
The said equipment when in use, only need to be by starting the rotation of the drive central shaft 9 of motor 17 i.e. to rotate counterclockwise mode
Can.On the one hand, being rotated by belt wheel 13 causes belt 15 to be driven to the left all the time, and by the elastic force of No. two springs 6
Effect so that belt 15 while being tauted also is pulled to the left and constantly surround toward on runner 4, and then caused
Whole handgrip pedestal 8 continuously can be slided to the left along the track of slide rail 7.On the other hand, central shaft 9 will can rotate
Motion passes to master control disk 10.Master control disk 10 rotation turn around during, whenever two lobe 10a rotate respectively to
It is corresponding with two pressing plates 11 offset conjunction when, respectively forwardly side, rear side are slided opposite to each other for two clamping part 11a, when two it is raised
Portion 10a and two pressing plates 11 to conjunction state be rotated into departing from when, in the presence of a spring 12, two clamping part 11a
Slide in opposition is changed into by opposite slip, this motion mode enable to two clamping part 11a with two pressing plates 11 with
And during handgrip pedestal 8 is slided to the right, capture object with a slide in opposition by once opposite can slip.Cross one
After the section time, i.e., when two lobe 10a are rotated when being engaged with two pressing plates 11 for the second time, two clamping part 11a are again
Object is discharged by opposite slip, by the purpose for further reaching carrying.
Ultimate principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
The simply present invention of the personnel it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also have various changes and modifications, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (3)
1. a kind of robot controller for being capable of level carrying, including pedestal frame (1), it is characterised in that：The pedestal frame (1)
Lower end is provided with horizontal slide rail (7), and the slide rail (7) is slidably fitted with handgrip pedestal (8)；
Handgrip pedestal (8) upper end is provided with motor (17), and the motor (17) is connected with central shaft (9), the central shaft
(9) bottom is provided with master control disk (10), and there is pressing plate (11) front end of the master control disk (10), rear end to conjunction, described to grab
Handss pedestal (8) anteromedial surface, rear medial surface are separately installed with and a spring (12) being connected are corresponded with pressing plate (11), described
The lower end of pressing plate (11) is equipped with clamping part (11a)；
The top of the central shaft (9) is provided with belt wheel (13)；
Mounting (1) lower end left part is provided with horizontal chute (1a), the chute (1a) and is slidably fitted with mobile bearing
(2) vertical shaft (3) is installed on the mobile bearing (2), runner (4) is installed, under the vertical shaft (3) on the vertical shaft (3)
End is connected with bearing plate (5) by bearing；Between the bearing plate (5) and the left internal side of pedestal frame (1) with the two phase
No. two springs (6) even；
Dividing plate (14) is welded with the middle part of pedestal frame (1) lower end, the left side of the dividing plate (14) is provided with fixed pulley (16),
Belt (15) has been tied on dividing plate (2) right side；
After the belt (15) first extends right up to bypass belt wheel (13), then after extending to the left and bypassing fixed pulley (16), to
Left back extends around and is fixed on the runner (4).
2. it is according to claim 1 it is a kind of be capable of level carry robot controller, it is characterised in that：The handgrip
Pedestal (8) lower end is provided with the groove (8a) that two pressing plates (11) are slidably installed along the longitudinal direction.
3. it is according to claim 1 it is a kind of be capable of level carry robot controller, it is characterised in that：The master control
The left end of disk (10), right-hand member are equipped with semicircular lobe (10a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032141.7A CN106516719B (en) | 2016-11-22 | 2016-11-22 | A kind of robot controller for capableing of horizontal carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032141.7A CN106516719B (en) | 2016-11-22 | 2016-11-22 | A kind of robot controller for capableing of horizontal carrying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106516719A true CN106516719A (en) | 2017-03-22 |
| CN106516719B CN106516719B (en) | 2019-02-15 |
Family
ID=58356121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611032141.7A Active CN106516719B (en) | 2016-11-22 | 2016-11-22 | A kind of robot controller for capableing of horizontal carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106516719B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3215700A1 (en) * | 1982-04-27 | 1983-10-27 | Siemens AG, 1000 Berlin und 8000 München | Manipulating device, in particular for fitting, unloading and transporting workpieces |
| DE3241006A1 (en) * | 1982-11-06 | 1984-05-10 | Gesellschaft für Pressen-Automation mbH, 7500 Karlsruhe | Automation unit for conveying workpieces |
| CN105416668A (en) * | 2015-12-17 | 2016-03-23 | 纳恩博（天津）科技有限公司 | Product operation system |
| CN105731058A (en) * | 2016-03-29 | 2016-07-06 | 陈善兰 | Automatic horizontal carrying device for panels |
| CN105800298A (en) * | 2016-05-19 | 2016-07-27 | 安徽中工物流有限公司 | Carrying device used between two logistics conveying belts |
-
2016
- 2016-11-22 CN CN201611032141.7A patent/CN106516719B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3215700A1 (en) * | 1982-04-27 | 1983-10-27 | Siemens AG, 1000 Berlin und 8000 München | Manipulating device, in particular for fitting, unloading and transporting workpieces |
| DE3241006A1 (en) * | 1982-11-06 | 1984-05-10 | Gesellschaft für Pressen-Automation mbH, 7500 Karlsruhe | Automation unit for conveying workpieces |
| CN105416668A (en) * | 2015-12-17 | 2016-03-23 | 纳恩博（天津）科技有限公司 | Product operation system |
| CN105731058A (en) * | 2016-03-29 | 2016-07-06 | 陈善兰 | Automatic horizontal carrying device for panels |
| CN105800298A (en) * | 2016-05-19 | 2016-07-27 | 安徽中工物流有限公司 | Carrying device used between two logistics conveying belts |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106516719B (en) | 2019-02-15 |
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