CN106516719B - A kind of robot controller for capableing of horizontal carrying - Google Patents
A kind of robot controller for capableing of horizontal carrying Download PDFInfo
- Publication number
- CN106516719B CN106516719B CN201611032141.7A CN201611032141A CN106516719B CN 106516719 B CN106516719 B CN 106516719B CN 201611032141 A CN201611032141 A CN 201611032141A CN 106516719 B CN106516719 B CN 106516719B
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- CN
- China
- Prior art keywords
- pedestal
- central axis
- master control
- pressing plate
- handgrip
- 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 present invention relates to a kind of robot controllers for capableing of horizontal carrying, including pedestal frame, pedestal frame lower end to be equipped with sliding rail, and sliding rail is slidably fitted with handgrip pedestal；Handgrip pedestal upper end is equipped with motor, motor is connected with central axis, central axis lower part is equipped with master control disk, the left end of master control disk, right end are equipped with lug boss, the front end of master control disk, conjunction is supported in rear end pressing plate, handgrip pedestal anteromedial surface, rear medial surface are separately installed with No.1 spring, and handgrip pedestal lower end is provided with through slot, and the lower end of pressing plate is equipped with clamping part；The top of central axis is equipped with belt wheel.Object can not only be grabbed, transported and discharged in a manner of high automation by the present invention, realize automatic transporting function, and have effects that simplified control, facilitate operation.In addition, complete equipment structure of the present invention is simple, related components are less, equipment cost is low.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of robot controller for capableing of horizontal carrying.
Background technique
Generally in processing workshop, people usually need object being transported to another place, existing skill from one place
It is most of all to use corresponding handling device in order to save manpower in art, object can be passed sequentially through to automatic clamping, automatic
Transport, the sequence discharged automatically realize the function of automatic transporting, but the shortcomings that this kind of handling device is clamping, transport and release
It requires manually to carry out control operation, not only inconvenient but also equipment mechanism is often more complicated, so that equipment cost is high.
Summary of the invention
Existing defect in view of the above technology, the present invention on the basis of automatic transporting function, propose have facilitate control
The cheap a kind of robot controller for capableing of horizontal carrying of system and equipment cost.
A kind of robot controller for capableing of horizontal carrying, including pedestal frame, pedestal frame lower end are equipped with horizontal
Sliding rail, the sliding rail are slidably fitted with handgrip pedestal.
Handgrip pedestal upper end is equipped with motor, and the motor is connected with central axis, and the central axis lower part is equipped with
Master control disk, the left end of the master control disk, right end are equipped with semicircular lug boss, front end, the rear end of the master control disk
It supports to close and has pressing plate, the handgrip pedestal anteromedial surface, rear medial surface, which are separately installed with, corresponds the No.1 being connected with pressing plate
Spring, handgrip pedestal lower end are provided with the through slot that two pressing plates are slidably installed along the longitudinal direction, and the lower end of the pressing plate is equal
Equipped with clamping part.
The top of the central axis is equipped with belt wheel.
Pedestal frame lower end left part is equipped with horizontal sliding slot, is slidably fitted with mobile bearing in the sliding slot, described
Vertical shaft is installed in mobile bearing, runner is installed on the vertical shaft, the vertical shaft lower end is connected with bearing plate by bearing；
There are No. two springs being connected with the two between the bearing plate and the left internal side of pedestal frame.Wherein, No. two springs are located for a long time
In the state of being stretched.
It is welded with partition in the middle part of pedestal frame lower end, the left side of the partition is equipped with fixed pulley, the partition 14
Belt has been tied on right side.
The belt is first extended right up to around belt wheel and then is extended to the left around after fixed pulley, is prolonged to left back
It extends to and surround and be fixed on the runner.
Above equipment when in use, only need to drive center axis rotation by starting motor in a manner of rotating counterclockwise.
On the one hand, it is rotated by belt wheel so that belt is driven to the left always, and the elastic force for passing through No. two springs acts on, so that
Belt is also pulled and constantly circular toward carrying out on runner, while being tauted so that entirely handgrip pedestal to the left
It can continuously be slided to the left along the track of sliding rail.On the other hand, central axis can communicate rotational motion to master control
Disk.During master control disk rotary turns around, whenever two lug bosses are rotated respectively to the conjunction that offsets corresponding with two pressing plates
When, respectively forwardly side, rear side are slided two clamping parts opposite to each other, when the conjunction state of supporting of two lug bosses and two pressing plates is revolved
When going to disengaging, under the action of No.1 spring, two clamping parts are slid in opposition by sliding to be changed into opposite to each other, this motion mode
It enables to two clamping parts during sliding to the right with two pressing plates and handgrip pedestal 8, primary phase can be passed through
Back is slided and is once slid in opposition to grab object.After a period of time, i.e., when two lug bosses second rotate to two
When pressing plate matches, two clamping parts slide opposite to each other discharge object again, by achieving the purpose that carrying.
It should be noted that the elastic force of No. two springs of the invention is limited, it can not individually lean on the elastic force of itself to act on and hold
Belt and handgrip pedestal can be pulled to the left on fishplate bar.Therefore, the present invention is only under conditions of the driving of motor, and No. two
The elastic force of spring can restraint belt remain tensioned state, and runner is driven to incorporate belt into own forces.Therefore, the present invention is using
When, transport, crawl and the release work to object need to can be only driven by a control element, reached simplified control, side
Just the effect of operating.In addition, complete equipment structure of the present invention is simple, related components are less, equipment cost is low.
The beneficial effects of the present invention are:
Object can not only be grabbed, transported and discharged in a manner of high automation by the present invention, realize automatic transporting function
Can, and have effects that simplified control, facilitate operation.In addition, complete equipment structure of the present invention is simple, related components
Less, equipment cost is low.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is schematic view of the front view of the invention；
Fig. 3 is B-B cross-sectional view of the present invention about Fig. 2；
Fig. 4 is present invention looks up structural representation of the invention；
Fig. 5 is A-A cross-sectional view of the present invention about Fig. 4.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 5, a kind of robot controller for capableing of horizontal carrying, including pedestal frame 1, the pedestal
1 lower end of frame is equipped with horizontal sliding rail 7, and the sliding rail 7 is slidably fitted with handgrip pedestal 8.
8 upper end of handgrip pedestal is equipped with motor 17, and the motor 17 is connected with central axis 9,9 lower part of central axis
Master control disk 10 is installed, the left end of the master control disk 10, right end are equipped with semicircular lug boss 10a, the master control circle
Conjunction is supported in front end, the rear end of disk 10 pressing plate 11, and 8 anteromedial surface of handgrip pedestal, rear medial surface is separately installed with and pressing plate
11 correspond connected No.1 spring 12, and 8 lower end of handgrip pedestal is provided with slides two pressing plates 11 peace along the longitudinal direction
The through slot 8a of dress, the lower end of the pressing plate 11 is equipped with clamping part 11a.
The top of the central axis 9 is equipped with belt wheel 13.
The 1 lower end left part of pedestal frame is equipped in horizontal sliding slot 1a, the sliding slot 1a and is slidably fitted with mobile bearing
2, vertical shaft 3 is installed in the mobile bearing 2, runner 4 is installed on the vertical shaft 3,3 lower end of vertical shaft passes through bearing and connects
It is connected to bearing plate 5；There are No. two springs 6 being connected with the two between the bearing plate 5 and the left internal side of pedestal frame 1.Wherein,
No. two springs 6 are chronically at the state of being stretched.
It is welded with partition 14 in the middle part of 1 lower end of pedestal frame, the left side of the partition 14 is equipped with fixed pulley 16, described
Partition has tied belt 15 on 14 right side.
The belt 15 is first extended right up to around belt wheel 13 and then is extended to the left around after fixed pulley 16, to the left
Rear extends around and is fixed on the runner 4.
Above equipment when in use, only need to drive the rotation of central axis 9 i.e. by starting motor 17 in a manner of rotating counterclockwise
It can.On the one hand, it is rotated by belt wheel 13 so that belt 15 is driven to the left always, and passes through the elastic force of No. two springs 6
Effect is also pulled and constantly circular toward carrying out on runner 4 to the left so that belt 15 is while being tauted, so that
Entire handgrip pedestal 8 can continuously slide to the left along the track of sliding rail 7.On the other hand, central axis 9 can will rotate
Movement passes to master control disk 10.Master control disk 10 rotation turn around during, whenever two lug boss 10a rotate respectively to
Corresponding with two pressing plates 11 to offset when closing, respectively forwardly side, rear side are slided two clamping part 11a opposite to each other, when two protrusions
When supporting conjunction state and being rotated into disengaging of portion 10a and two pressing plates 11, under the action of No.1 spring 12, two clamping part 11a
Slid in opposition by sliding to be changed into opposite to each other, this motion mode enable to two clamping part 11a with two pressing plates 11 with
And during handgrip pedestal 8 slides to the right, it can be slid in opposition by primary opposite sliding and once to grab object.Cross one
After the section time, i.e., when second of two lug boss 10a rotates to when matching with two pressing plates 11, two clamping part 11a are again
Opposite sliding discharges object, by achieving the purpose that carrying.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (3)
1. one kind is capable of the robot controller of horizontal carrying, including pedestal frame (1), it is characterised in that: the pedestal frame (1)
Lower end is equipped with horizontal sliding rail (7), and the sliding rail (7) is slidably fitted with handgrip pedestal (8)；
Handgrip pedestal (8) upper end is equipped with motor (17), and the motor (17) is connected with central axis (9), the central axis
(9) lower part is equipped with master control disk (10), and conjunction is supported in front end, the rear end of the master control disk (10) to be had pressing plate (11), described to grab
Hand pedestal (8) anteromedial surface, rear medial surface, which are separately installed with, corresponds the No.1 spring (12) being connected with pressing plate (11), described
The lower end of pressing plate (11) is equipped with clamping part (11a)；
The top of the central axis (9) is equipped with belt wheel (13)；
Pedestal frame (1) the lower end left part is equipped with horizontal sliding slot (1a), is slidably fitted with live bearing in the sliding slot (1a)
Seat (2) is equipped with vertical shaft (3) on the mobile bearing (2), is equipped with runner (4) on the vertical shaft (3), the vertical shaft (3)
Lower end is connected with bearing plate (5) by bearing；Have and the two between the bearing plate (5) and the left internal side of pedestal frame (1)
No. two connected springs (6)；
It being welded with partition (14) in the middle part of pedestal frame (1) lower end, the left side of the partition (14) is equipped with fixed pulley (16),
Belt (15) have been tied on partition (14) right side；
The belt (15) first extends right up to around belt wheel (13) and then extends to the left around after fixed pulley (16), to
Left back extends around and is fixed on the runner (4).
2. the robot controller that one kind according to claim 1 is capable of horizontal carrying, it is characterised in that: the handgrip
Pedestal (8) lower end is provided with the through slot (8a) that two pressing plates (11) are slidably installed along the longitudinal direction.
3. the robot controller that one kind according to claim 1 is capable of horizontal carrying, it is characterised in that: the master control
The left end of disk (10), right end are equipped with semicircular lug boss (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 CN106516719A (en) | 2017-03-22 |
| CN106516719B true 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 |
|---|---|
| CN106516719A (en) | 2017-03-22 |
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