CN107585556A - Anti-oscillating Plastic Drum transportation robot - Google Patents
Anti-oscillating Plastic Drum transportation robot Download PDFInfo
- Publication number
- CN107585556A CN107585556A CN201710730092.2A CN201710730092A CN107585556A CN 107585556 A CN107585556 A CN 107585556A CN 201710730092 A CN201710730092 A CN 201710730092A CN 107585556 A CN107585556 A CN 107585556A
- Authority
- CN
- China
- Prior art keywords
- groove
- plastic drum
- plate
- hole
- slide bar
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of anti-oscillating Plastic Drum transportation robot, including：Base, base lower surface corner are mounted on pillar, and each lower rod end is provided with driving wheel；Workbench, worktable upper surface is provided with a telescopic column, the column upper surface is provided with a fixed column, the crossbeam that one end is provided with a perforation is sheathed on outside fixed column, crossbeam can rotate around fixed column, crossbeam lower surface is interval with two crawl plates along its length, and below the crossbeam is provided with body feed tank；Two stretching structures, each stretching structure are located between base and workbench along position base length direction, and each stretching structure includes the first rotating bar, the second rotating bar, I-shaped connector.The anti-oscillating Plastic Drum transportation robot of the present invention, it can capture Plastic Drum, grasping stability, and stabilization of being walked in transportation, can prevent extraneous collision.
Description
Technical field
The present invention relates to robotic technology field.A kind of it is more particularly related to anti-oscillating Plastic Drum transporter
Device people.
Background technology
With the continuous development of society, robot is widely used in industry-by-industry and field, is especially given birth in factory
It is widely used in production.Existing Plastic Drum needs to be transported to appointed place after machining to be packed, but existing fortune
Send device typically by manually being carried or simple machinery is carried, but so handling efficiency is low, and make
During with simple and mechanical carrying, capture that the mechanism grabbing claw of Plastic Drum is not tight, cause the Plastic Drum after crawl easily to fall down, crawl is not
It is stable, and existing machinery, after capturing Plastic Drum and when being transported, when being collided by the external world, stability is bad, causes
Walk unstable.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of anti-oscillating Plastic Drum transportation robot, and it can capture Plastic Drum,
Grasping stability, and stabilization of being walked in transportation, can prevent extraneous collision.
In order to realize according to object of the present invention and further advantage, there is provided a kind of anti-oscillating Plastic Drum transportation machines
People, including：
Base, base lower surface corner are mounted on pillar, and each lower rod end is provided with driving wheel, the pillar
Side offers the first groove, is provided with a pole in first groove, the pole offers close to the end face of the first groove
It is first through hole through pole, multiple through pole and be in the second circumferentially distributed through hole, the center of circle of first through hole and multiple the
The center of circle for the circle that two through holes are formed overlaps, first slide bar of the first through hole provided with both ends stretching first through hole, and described second
The second slide bar of the second through hole is stretched out in through hole provided with both ends, the first slide bar, the second slide bar can lead to along first through hole, second respectively
Axially bored line is slided, and the first recess, the second recess are respectively equipped with corresponding first slide bar of first groove floor, the second slide bar,
First slide bar is stretched into the first recess and can moved along the first recess axis direction, and second slide bar stretches into corresponding second recess
It is interior, the first spring is provided between the second slide bar and the second recess bottom surface；Side of the pole away from the first groove is consolidated provided with a U-shaped
Fixed board, the opening of U-shaped fixed plate away from the end of pole, with U-shaped fix by the end face of second slide bar away from the first groove
Plate is connected, and portion perimeter of second slide bar between pole and U-shaped fixed plate is arranged with second spring, and the U-shaped is consolidated
A rotating shaft is provided with fixed board, a cylindric jacket casing is located at rotating shaft periphery and can rotate around the axis；
Workbench, it is located above base, and the worktable upper surface is provided with a telescopic column, on the column
End face is provided with a fixed column, and the crossbeam that one end is provided with a perforation is sheathed on outside fixed column, and the crossbeam can rotate around fixed column,
The crossbeam lower surface is interval with two crawl plates along its length, and each relative side of plate that captures is equipped with an arc
Plate, the arc top of each arc are close to capture plate, and returning spring, the arc are connected between each arc and crawl plate
Plate internal face is sequentially provided with elastic layer, wearing layer from the inside to the outside, and wear-resisting layer surface is serrated setting, and each plate that captures is away from arc
The side of shape plate is equipped with a cylinder, and the piston rod of each cylinder is all connected to capture plate, and cylinder can promote crawl plate, arc
Along cross beam movement；The below the crossbeam is provided with body feed tank, and the body feed tank can be slidably connected to described along workbench length direction
Worktable upper surface, the workbench top are provided with multiple expansion links, one end of each expansion link and material along its length
The connection of case side wall, the other end are connected with a vertical plate, and the vertical plate lower end is connected with worktable upper surface, and the expansion link is stretched
Contracting can move body feed tank；
Two stretching structures, each stretching structure are located between base and workbench along position base length direction, each
Stretching structure includes the first rotating bar, the second rotating bar, I-shaped connector, and the first rotating bar upper end is arranged in work
In the upper and lower neck run through opened up on platform, the I-shaped connector lower end is arranged in neck, I-shaped connector bottom
With the first screwed hole, the first rotating bar upper surface is provided with the second screwed hole connected with the first screwed hole, and a bolt is bolted in
First screwed hole, the second screwed hole, the I-shaped connector upper end are circumferentially with turbine, the output axis connection of an electric rotating machine
One scroll bar, scroll bar engage with the turbine, electric rotating machine rotational band start building font connector, the first rotating bar rotate；Described
One rotating bar lower surface offers the second interconnected groove, the 3rd groove, and the 3rd groove is located at below the second groove, and second
Groove diameter is more than the 3rd groove diameter, and the second rotating bar upper end is stretched into the second groove, the 3rd groove, described second turn
Lever upper end is provided with the first contiguous block, and first contiguous block can move up and down along the second recess sidewall, and described second rotates
Screw thread coordinates between bar and the 3rd groove, and the second rotating bar lower end is connected with the base upper surface.
Preferably, described anti-oscillating Plastic Drum transportation robot, the throwing of one end of the workbench in the horizontal plane
Shadow exceeds the projection of base corresponding end in the horizontal plane, and the workbench is sequentially provided with along its length beyond the end of base
First height sensor, the second height sensor, the first height sensor, the second height sensor can test table lower surfaces
With ground distance between the surface；Data processor, it is connected with the first height sensor, the communication of the second height sensor, at the data
Reason device can receive the first height sensor, the test data of the second height sensor, and calculate generation teaching data；Control is set
Standby, it is communicated with data processor and connected, and the control device is connected with electric rotating machine, and the control device can receive teaching number
According to and control electric rotating machine to rotate.
Preferably, described anti-oscillating Plastic Drum transportation robot, the body feed tank include being arranged successively from inside to outside
Internal box, middle case, outer case, the outer container body sidewall is connected with expansion link, and the outer case is slidably connected to the work
Make platform upper surface, multiple buffer springs, the internal box and middle case to be provided between the middle case outer wall and outer case inwall
Between be provided with elastic rubber layer.
Preferably, described anti-oscillating Plastic Drum transportation robot, on the base between corresponding two stretching structures
Offer the 4th groove, be provided with cushion block in the 4th groove, the cushion block is highly less than the 4th groove height, on the cushion block
End face both ends are connected to the lower surface of two connecting rods respectively, and the cushion block lower end is provided with the first magnet, the 4th groove-bottom
Face is provided with the second magnet, the relative face opposite polarity of the first magnet, the second magnet, and the is provided between the first magnet, the second magnet
One spring, the first magnet lower surface are provided with the first support column, the second magnet upper surface position between the first spring
In being provided with the second support column in the first spring, the first support column lower surface offers the 5th groove vertically, and described second
Support column upper surface is provided with a projection, and the projection is inserted in the 5th groove and can moved along the 5th recess axis direction, described
Second spring is arranged with outside raised, the second spring diameter is slightly larger than the 5th groove diameter.
Preferably, described anti-oscillating Plastic Drum transportation robot, crossbeam lower surface are set between two crawl plates
There is an expansion link, expansion link lower end is connected with sucker.
Preferably, described anti-oscillating Plastic Drum transportation robot, wearing layer include the raw material of following parts by weight：Poly- four
Fluoride modified 10~15 parts of epoxy resin, 3~6 parts of nitrile rubber, 10~15 parts of carborundum, 6~8 parts of silicon nitride, iron powder 8~
13 parts, 7~10 parts of graphite, 6~7 parts of tungsten carbide, 6~12 parts of aromatic polyester fiber, 5~10 parts of silica, chlorinated natural
1~2 part of 3~5 parts of rubber, 7~9 parts of cashew nut shell oil Frication powder and zirconium oxide.
Preferably, described anti-oscillating Plastic Drum transportation robot, the outer case inwall, which is located in buffer spring, to be set
There is support bar, support pole length is less than buffer spring length.
The present invention comprises at least following beneficial effect：
1st, anti-oscillating Plastic Drum transportation robot of the invention, by being arranged at intervals two crawl plates on crossbeam, each
The relative side of crawl plate is equipped with an arc, and returning spring, arc internal face are connected between arc and crawl plate
It is sequentially provided with elastic layer, wearing layer from the inside to the outside, wear-resisting layer surface is serrated setting, passes through the relative shiftings of two crawl plates
Dynamic, the distance between two crawl plates shorten and can capture Plastic Drum, and the wearing layer on arc considerably increases crawl modeling
Frictional force during charging basket, make crawl Plastic Drum more stable, it is not easy to fall down.
2nd, anti-oscillating Plastic Drum transportation robot of the invention, is provided with two stretching structures between base and workbench,
Each stretching structure includes the first rotating bar, the second rotating bar, I-shaped connector, the first rotating bar, I-shaped connector
It is connected on workbench, is bolted to connection between I-shaped connector and the first rotating bar, rotates I-shaped connection
Part makes it drive the first rotating bar to rotate, and drives the second rotating bar flexible up and down when the first rotating bar rotates, so as to adjust bottom
The distance between seat and workbench, to meet different applying working conditions.
3rd, anti-oscillating Plastic Drum transportation robot of the invention, the first height sensor, second high is set on the table
Sensor is spent, the first height sensor, the second height sensor can detect workbench lower surface height from the ground, when encountering ground
For inclined-plane when, by detecting the first height sensor, the second height sensor detects workbench lower surface and oblique distance between the surface,
The gradient on inclined-plane can be extrapolated by data processor, is sending the gradient on inclined-plane to control device, control device is according to inclined-plane
Slope control electric rotating machine rotates, and makes the angle of inclination of base consistent with bevel inclination angle so as to adjust stretching structure, so
Workbench keep level state can be made, it is more steady when making robotic conveyance Plastic Drum.
4th, anti-oscillating Plastic Drum transportation robot of the invention, the 3rd groove is provided with base, is provided with the 3rd groove
Cushion block, cushion block lower end are provided with the first magnet, the second magnet, the first spring are provided between the first magnet, the second magnet, utilizes magnetic
Mutual expelling force between iron, the second magnet can reduce vibration during industrial robot transport article, while the first magnet lower surface the
One support column, the second magnet upper surface are provided with the second support column, and raised on the second support column can be along the on the first support column
Four grooves move, raised outer to be arranged with second spring, substantially increase industrial robot by two-stage damping device and are expert at and pass by
Vibration in journey so that robot ambulation is stable.
5th, anti-oscillating Plastic Drum transportation robot of the invention, is provided with buffer unit on the pillar of base, when pillar by
To the second sliding bar during collision and contradict on the first spring, to mitigate the vibration of pillar, while be arranged outside the second slide bar
Second spring further increases the stability of pillar；And the cylindrical sleeve in rotating shaft is set in U-shaped fixed plate, by
During external world's collision, cylindrical sleeve rotates a part of power that can offset the external world, reduces the vibration of Plastic Drum in robot and touches
Hit, stability is good.
6th, anti-oscillating Plastic Drum transportation robot of the invention, wearing layer include polytetrafluoroethylmodified modified epoxy resin, carbon
Frictional layer of the composition of SiClx, silicon nitride, iron powder, aromatic polyester fiber etc. as raw material, not only coefficient of friction is big, and
Character of heat-fading is excellent, and when capturing plate and repeatedly capturing Plastic Drum, temperature rises, and wearing layer also has excellent frictional force.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structural representation of the anti-oscillating Plastic Drum transportation robot of the present invention；
Fig. 2 is the stretching structure schematic diagram of the present invention；
Fig. 3 is enlarged drawing at A in Fig. 1；
Fig. 4 is the beam structure schematic diagram of the present invention；
Fig. 5 is the body feed tank structural representation of the present invention；
Fig. 6 is the first magnet of the present invention, the second magnet attachment structure schematic diagram.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
As shown in figures 1 to 6, the present invention provides a kind of anti-oscillating Plastic Drum transportation robot, including：
Base 1, the lower surface corner of base 1 are mounted on pillar 7, and each lower end of pillar 7 is provided with driving wheel 71, described
The side of pillar 7 offers the first groove 72, is provided with a pole 73 in first groove 72, the pole 73 is recessed close to first
The end face of groove 72 offers the first through hole through pole 73, is multiple through pole 73 and be in the second circumferentially distributed through hole, the
The center of circle for the circle that the center of circle of one through hole is formed with multiple second through holes overlaps, and the first through hole is provided with both ends and stretches out first through hole
The first slide bar 732, stretch out the second slide bar 731 of the second through hole in second through hole provided with both ends, the first slide bar 732, the
Two slide bars 731 can slide along first through hole, the second through-bore axis respectively, corresponding first slide bar 732 in the bottom surface of the first groove 72,
It is respectively equipped with the first recess 722, the second recess 721 at second slide bar 731, the first slide bar 732 stretches into the first recess 722 and can
Moved along the axis direction of the first recess 722, second slide bar 731 is stretched into corresponding second recess 722, the second slide bar 731 with
The first spring 733 is provided between the bottom surface of second recess 721；Side of the pole 73 away from the first groove 72 is fixed provided with a U-shaped
Plate 74, the opening of U-shaped fixed plate 74 are equal away from the end of pole 73, end face of second slide bar 731 away from the first groove 72
It is connected with U-shaped fixed plate 74, portion perimeter of second slide bar 731 between pole 73 and U-shaped fixed plate 74 is arranged with
Second spring 77, is provided with a rotating shaft 75 in the U-shaped fixed plate 74, and a cylindrical sleeve 76 is sheathed on the periphery of rotating shaft 75 and can be around
Rotating shaft 75 rotates；
Workbench 2, it is located above base, and the upper surface of workbench 2 is provided with a telescopic column 41, described vertical
The upper surface of post 41 is provided with a fixed column 42, and the crossbeam 43 that one end is provided with a perforation is sheathed on outside fixed column 42, the crossbeam 43
It can be rotated around fixed column 42, the lower surface of crossbeam 43 is interval with two crawl plates 44 along its length, each captures plate
44 relative sides are equipped with an arc 46, and the arc top of each arc 46 is close to capture plate 44, each arc 46 with
Returning spring 79 is connected between crawl plate 44, and the internal face of arc 46 is sequentially provided with elastic layer 47, wear-resisting from the inside to the outside
Layer 48, the surface of wearing layer 48 are serrated settings, and each side of the crawl plate 44 away from arc 46 is equipped with a cylinder 45, often
The piston rod of individual cylinder 45 is all connected to capture plate 44, and cylinder 45 can promote crawl plate 44, arc 46 to be moved along crossbeam 43；Institute
State the lower section of crossbeam 43 and be provided with body feed tank 5, the body feed tank 5 is slidably connected to the upper table of workbench 2 along the length direction of workbench 2
Face, the top of workbench 2 are provided with multiple expansion links 62, one end and the side of body feed tank 5 of each expansion link 62 along its length
Wall connection, the other end are connected with a vertical plate 61, and the lower end of vertical plate 61 is connected with the upper surface of workbench 2, the expansion link
62, which stretch, can move body feed tank 5；
Two stretching structures, each stretching structure are located between base 1 and workbench 2 along the length direction of position base 1, often
Individual stretching structure includes the first rotating bar 32, the second rotating bar 33, I-shaped connector 31, the upper end of the first rotating bar 32
It is arranged in the upper and lower neck run through opened up on workbench 2, the I-shaped lower end of connector 31 is arranged in neck, I-shaped
The bottom of shape connector 31 has the first screwed hole, and the upper surface of the first rotating bar 32 is provided with the second screw thread connected with the first screwed hole
Hole, a bolt 311 are bolted in the first screwed hole, the second screwed hole, and the I-shaped upper end of connector 31 is circumferentially with turbine, and one
The scroll bar of output axis connection one of electric rotating machine 35, scroll bar engage with the turbine, the rotational band of electric rotating machine 35 start building font connection
Part 31, the first rotating bar 32 rotate；The lower surface of first rotating bar 32 offers the second interconnected groove the 321, the 3rd
Groove 322, the 3rd groove 322 are located at the lower section of the second groove 321, and the diameter of the second groove 321 is more than the diameter of the 3rd groove 322, institute
State the upper end of the second rotating bar 33 to stretch into the second groove 321, the 3rd groove 322, the upper end of the second rotating bar 33 is provided with connection
Block 34, the contiguous block 34 can move up and down along the side wall of the second groove 321, the groove 322 of the second rotating bar 33 and the 3rd
Between screw thread coordinate, the lower end of the second rotating bar 33 is connected with the upper surface of base 1.
The anti-oscillating Plastic Drum transportation robot of the present invention, in the pillar 7 of base 1, the lower end of pillar 7 is provided with driving wheel 71, branch
The first groove 72 is offered on post 7, a pole 73 is provided with the first groove 72, pole 73 offers first through hole, led to along first
The second through hole that hole is circumferentially arranged, first through hole are provided with the first slide bar 732 that first through hole is stretched out at both ends, are provided with the second through hole
The second slide bar 731 of the second through hole is stretched out at both ends, distinguishes at corresponding first slide bar 732 in the bottom surface of the first groove 72, the second slide bar 731
Provided with the first recess 722, the second recess 721, the first spring 733 is provided between the second slide bar 731 and the bottom surface of the second recess 721；When
When pillar 7 is collided by the external world, the second slide bar 731 slides along the second through hole and compresses the first spring 733, is touched with reducing the external world
The interference hit；Side of the pole 73 away from the first groove 72 is provided with a U-shaped fixed plate 74, and a rotating shaft is provided with U-shaped fixed plate 74
75, a cylindrical sleeve 76 is sheathed on the periphery of rotating shaft 75 and 75 can rotated around the shaft, the cylindrical sleeve in U-shaped fixed plate 74
76, when being collided by the external world, cylindrical sleeve 76 rotates a part of power that can offset the external world, reduces Plastic Drum in robot
Vibration and collision, stability is good；Workbench 2 is provided with a telescopic column 41, and column 41 is provided with fixed column 42, and one is horizontal
The end sleeve of beam 43 is outside fixed column 42 and can be rotated around fixed column 42；The lower surface of crossbeam 43 captures plates along being interval with two
44, each plate 44 that captures is equipped with an arc 46, captures and is provided with returning spring 79, arc 46 between plate 44 and arc 46
Internal face is sequentially provided with elastic layer 47, wearing layer 48 from the inside to the outside, and the surface of wearing layer 48 is serrated setting, each to capture plate 44
Side away from arc 46 is equipped with a cylinder 45, and when capturing Plastic Drum, the piston rod movement of two cylinders 45, promotion is grabbed
Take plate 44 to move, and then make the movement of arc 46 so as to grip plastic bucket, and the wearing layer 48 on arc 46 further increases
Frictional force between arc 46 and Plastic Drum, so that more stable during 46 grip plastic bucket of arc；The lower section of crossbeam 43 is set
There is body feed tank 5, vertical plate 61 is additionally provided with workbench 2, multiple expansion links 62 are provided between body feed tank 5 and vertical plate 61, stretch
The flexible of bar 62 can realize that expansion link 62 is flexible can be moved body feed tank 5, and the Plastic Drum of gripping can be put by telescope motor
Put in body feed tank 5；Two stretching structures are provided between workbench 2 and base 1, electric rotating machine 35, which rotates, drives scroll bar to rotate,
Scroll bar, which rotates, drives turbine rotation, and then rotates I-shaped connector 31, due to the I-shaped rotating bar of connector 31 and first
Connected between 32 by bolt 311, I-shaped connector 31, which rotates, drives the first rotating bar 32 to rotate, and the first rotating bar 32 rotates
So that the contiguous block 34 in the second rotating bar 33 moves up and down along the second groove 321 and then makes to move down in the second rotating bar 33
It is dynamic, and then the distance between workbench 2 and base 1 is changed.The anti-oscillating Plastic Drum transportation robot work of the present invention
When, the flexible of column 41 is first passed through, then rotating beam 43 makes crawl plate 44 be located at Plastic Drum top to be gripped, be rotated further by horizontal stroke
Beam 43 makes Plastic Drum be located at the top of body feed tank 5, unclamps crawl plate 44 and Plastic Drum is placed in body feed tank 5, then driving transport
Robot to destination.
In another middle technical scheme, described anti-oscillating Plastic Drum transportation robot, one end of the workbench 2 is in water
Projection in plane exceeds the projection of the corresponding end of base 1 in the horizontal plane, and the workbench 2 is beyond the end of base 2 along length
Degree direction is sequentially provided with the first height sensor 22, the second height sensor 21, the first height sensor 22, the second highly sensing
Device 21 can be between test table lower surface and ground distance；Data processor, itself and the first height sensor 22, second are highly
The communication connection of sensor 21, the data processor can receive the test of the first height sensor 21, the second height sensor 22
Data, and calculate generation teaching data；Control device, it communicates with data processor and connected, the control device and electric rotating
Machine 35 connects, and the control device can receive teaching data and control electric rotating machine 35 to rotate.
In the above-mentioned technical solutions when industrial transport machine people is in the process of walking if when running into slope, first first is high
Sensor 22, the second height sensor 21 difference the distance between the lower surface of test table 2 and slope L1, L2 are spent, due to the
Horizontal range L between one height sensor 22 and the second height sensor 21 is definite value, passes through data by L1, L2, L value
Processor can calculate the angle of inclination on slope, then the flexible knot of rotation two of electric rotating machine is controlled by control device
Structure stretches, and so as to ensure that the angle of inclination between base 1 between angle of inclination and slope is consistent, now workbench 2 is in level
State, ensure that in industrial transport machine people in transportation, body feed tank 5 is in horizontality all the time, so as to ensure industrial fortune
Defeated robot will not spill the material in body feed tank 5 when walking on the slope.
In another middle technical scheme, described anti-oscillating Plastic Drum transportation robot, the body feed tank 5 include by it is interior to
The outer internal box 53 being arranged successively, middle case 52, outer case 51, the side wall of outer case 51 are connected with expansion link 62, described outer
Casing 51 is slidably connected to the upper surface of workbench 2, is provided between the outer wall of middle case 52 and the inwall of outer case 51 multiple
Buffer spring 54, elastic rubber layer 55 is provided between the internal box 53 and middle case 52.In the technical program, body feed tank 5
Including internal box 53, middle case 52, outer case 51, multiple buffer springs 54, interior case are provided between middle case 52 and outer case 51
Elastic rubber layer 55 is provided between body 53 and middle case 52, the anti-seismic performance of body feed tank 5 is so substantially increased, works as industrial transport
Robot can reduce the interference to Plastic Drum in body feed tank 5 to greatest extent when colliding due to the design of body feed tank 5.
In another middle technical scheme, described anti-oscillating Plastic Drum transportation robot, stretch for corresponding two on the base 1
The 4th groove 12 is offered between shrinking structure, cushion block 13 is provided with the 4th groove 12, the height of cushion block 13 is less than the 4th
The height of groove 12, the upper surface both ends of cushion block 13 are connected to the lower surface of two the second rotating bars 33, the cushion block 13 respectively
Lower end is provided with the first magnet 14, the bottom surface of the 4th groove 12 is provided with the second magnet 15, and the first magnet 14, the second magnet 15 are relative
Face opposite polarity, the first spring 18 is provided between the first magnet 14, the second magnet 15, the lower surface of the first magnet 14 is located at
The first support column 16 is provided between first spring 18, the upper surface of the second magnet 15 is provided with second in the first spring 18
Dagger 17, the lower surface of the first support column 16 offer the 5th groove vertically, and 17 end faces are provided with second support column
One projection 19, described raised 19 insert in the 5th groove and can be moved along the 5th recess axis direction, and the 5th groove height is more than
The height of projection 19, described raised 19 are arranged with second spring 191 outside, and the diameter of second spring 191 is straight slightly larger than the 5th groove
Footpath.
In the above-mentioned technical solutions, the 4th groove 12 is provided with base, cushion block 13, cushion block 13 are provided with the 4th groove 12
Lower end is provided with the first magnet 14, the second magnet 15, and the first spring 18 is provided between the first magnet 14, the second magnet 15, utilizes the
Mutual expelling force between one magnet 14, the second magnet 15 can reduce vibration during industrial robot transport article, while the first magnet
14 the first support columns of lower surface 16, the upper surface of the second magnet 15 are provided with the second support column 17, the projection 19 on the second support column 17
It can be moved along the 4th groove on the first support column 17, second spring 191 is arranged with outside projection 19, it is big by two-stage damping device
Improve the vibration of industrial robot in the process of walking greatly so that robot ambulation is stable.
In another middle technical scheme, described anti-oscillating Plastic Drum transportation robot, the lower surface of crossbeam 43 is located at two
An expansion link is provided between crawl plate 44, expansion link lower end is connected with sucker.Sucker is set between plate 44 is captured, in crawl plate
Before 44 crawl Plastic Drums, first Plastic Drum is drunk up with sucker, is then clamped, used more convenient with crawl plate 44 again.
In another middle technical scheme, described anti-oscillating Plastic Drum transportation robot, wearing layer 48 includes following weight
The raw material of part：Polytetrafluoroethylmodified modified 10~15 parts of epoxy resin, 3~6 parts of nitrile rubber, 10~15 parts of carborundum, silicon nitride 6
~8 parts, 8~13 parts of iron powder, 7~10 parts of graphite, 6~7 parts of tungsten carbide, 6~12 parts of aromatic polyester fiber, silica 5~
1~2 part of 10 parts, 3~5 parts of chlorinated natural rubber, 7~9 parts of cashew nut shell oil Frication powder and zirconium oxide.Wearing layer includes polytetrafluoro
Frictional layer of the composition of ethylene modified epoxy resin, carborundum, silicon nitride, iron powder, aromatic polyester fiber etc. as raw material,
Not only coefficient of friction is big, and character of heat-fading is excellent, and when capturing plate and repeatedly capturing Plastic Drum, temperature rises, and wearing layer also has
Excellent frictional force.
In another middle technical scheme, described anti-oscillating Plastic Drum transportation robot, the inwall of outer case 51 is located at
Support bar is provided with buffer spring, support pole length is less than the length of buffer spring 54.Support bar is set when buffer spring 54 compresses
When support bar can play certain supporting role.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (7)
- A kind of 1. anti-oscillating Plastic Drum transportation robot, it is characterised in that including：Base, base lower surface corner are mounted on pillar, and each lower rod end is provided with driving wheel, the side of the pillar The first groove is offered, is provided with a pole in first groove, the pole offers close to the end face of the first groove runs through The first through hole of pole, multiple through pole and be in the second circumferentially distributed through hole, the center of circle of first through hole leads to multiple second The center of circle for the circle that hole is formed overlaps, and the first through hole is provided with the first slide bar that first through hole is stretched out at both ends, second through hole Interior the second slide bar that the second through hole is stretched out provided with both ends, the first slide bar, the second slide bar respectively can be along first through hole, the second through hole axles Line slides, and is respectively equipped with the first recess, the second recess at corresponding first slide bar of first groove floor, the second slide bar, and first Slide bar is stretched into the first recess and can moved along the first recess axis direction, and second slide bar is stretched into corresponding second recess, The first spring is provided between second slide bar and the second recess bottom surface；Side of the pole away from the first groove is fixed provided with a U-shaped Plate, U-shaped fixed plate opening away from pole end, the end face of second slide bar away from the first groove with U-shaped fixed plate It is connected, portion perimeter of second slide bar between pole and U-shaped fixed plate is arranged with second spring, and the U-shaped is fixed A rotating shaft is provided with plate, a cylindrical sleeve is sheathed on rotating shaft periphery and can rotated around the axis；Workbench, it is located above base, and the worktable upper surface is provided with a telescopic column, the column upper surface Provided with a fixed column, the crossbeam that one end is provided with a perforation is sheathed on outside fixed column, and the crossbeam can rotate around fixed column, described Crossbeam lower surface is interval with two crawl plates along its length, and each relative side of plate that captures is equipped with an arc, The arc top of each arc is close to capture plate, and returning spring, the arc are connected between each arc and crawl plate Internal face is sequentially provided with elastic layer, wearing layer from the inside to the outside, and wear-resisting layer surface is serrated setting, and each plate that captures is away from arc The side of plate is equipped with a cylinder, and the piston rod of each cylinder is all connected to capture plate, and cylinder can promote crawl plate, arc edge Cross beam movement；The below the crossbeam is provided with body feed tank, and the body feed tank can be slidably connected to the work along workbench length direction Make platform upper surface, multiple expansion links, one end of each expansion link and body feed tank to be provided with along its length above the workbench Side wall connection, the other end are connected with a vertical plate, and the vertical plate lower end is connected with worktable upper surface, and the expansion link stretches Body feed tank can be moved；Two stretching structures, each stretching structure are located between base and workbench along position base length direction, each flexible Structure includes the first rotating bar, the second rotating bar, I-shaped connector, and the first rotating bar upper end is arranged on workbench In the upper and lower neck run through opened up, the I-shaped connector lower end is arranged in neck, and I-shaped connector bottom has First screwed hole, the first rotating bar upper surface are provided with the second screwed hole connected with the first screwed hole, and a bolt is bolted in first Screwed hole, the second screwed hole, the I-shaped connector upper end are circumferentially with turbine, the whirlpool of output axis connection one of an electric rotating machine Bar, scroll bar engage with the turbine, electric rotating machine rotational band start building font connector, the first rotating bar rotate；Described first turn Lever lower surface offers the second interconnected groove, the 3rd groove, and the 3rd groove is located at below the second groove, the second groove Diameter is more than the 3rd groove diameter, and the second rotating bar upper end is stretched into the second groove, the 3rd groove, second rotating bar Upper end is provided with the first contiguous block, and first contiguous block can move up and down along the second recess sidewall, second rotating bar with Screw thread coordinates between 3rd groove, and the second rotating bar lower end is connected with the base upper surface.
- 2. anti-oscillating Plastic Drum transportation robot as claimed in claim 1, it is characterised in that one end of the workbench is in water Projection in plane exceeds the projection of base corresponding end in the horizontal plane, and the workbench is beyond the end of base along length side To the first height sensor, the second height sensor is sequentially provided with, the first height sensor, the second height sensor can test work Make platform lower surface and ground distance between the surface；Data processor, it is connected with the first height sensor, the communication of the second height sensor, The data processor can receive the first height sensor, the test data of the second height sensor, and calculate generation teaching number According to；Control device, it is communicated with data processor and connected, and the control device is connected with electric rotating machine, and the control device can Receive teaching data and control electric rotating machine to rotate.
- 3. anti-oscillating Plastic Drum transportation robot as claimed in claim 1, it is characterised in that the body feed tank include by it is interior to The outer internal box being arranged successively, middle case, outer case, the outer container body sidewall are connected with expansion link, and the outer case, which is slided, to be connected The worktable upper surface is connected to, multiple buffer springs, the interior case are provided between the middle case outer wall and outer case inwall Elastic rubber layer is provided between body and middle case.
- 4. anti-oscillating Plastic Drum transportation robot as claimed in claim 1, it is characterised in that stretched for corresponding two on the base The 4th groove is offered between shrinking structure, cushion block is provided with the 4th groove, the cushion block is highly less than the 4th groove height, Cushion block upper surface both ends are connected to the lower surface of two connecting rods respectively, and the cushion block lower end is provided with the first magnet, described 4th groove floor is provided with the second magnet, the relative face opposite polarity of the first magnet, the second magnet, the first magnet, the second magnet Between be provided with the first spring, the first magnet lower surface is provided with the first support column, second magnetic between the first spring Iron upper surface, which is located in the first spring, is provided with the second support column, and it is recessed that the first support column lower surface offers the 5th vertically Groove, the second support column upper surface is raised provided with one, and can be along the 5th recess axis side in the 5th groove of the raised insertion To movement, the projection is outer to be arranged with second spring, and the second spring diameter is slightly larger than the 5th groove diameter.
- 5. anti-oscillating Plastic Drum transportation robot as claimed in claim 1, it is characterised in that grabbed positioned at two crossbeam lower surface Take and be provided with an expansion link between plate, expansion link lower end is connected with sucker.
- 6. anti-oscillating Plastic Drum transportation robot as claimed in claim 1, it is characterised in that wearing layer includes following parts by weight Raw material：Polytetrafluoroethylmodified modified 10~15 parts of epoxy resin, 3~6 parts of nitrile rubber, 10~15 parts of carborundum, silicon nitride 6~ 8 parts, 8~13 parts of iron powder, 7~10 parts of graphite, 6~7 parts of tungsten carbide, 6~12 parts of aromatic polyester fiber, silica 5~10 Part, 3~5 parts of chlorinated natural rubber, 7~9 parts of cashew nut shell oil Frication powder and 1~2 part of zirconium oxide.
- 7. anti-oscillating Plastic Drum transportation robot as claimed in claim 3, it is characterised in that the outer case inwall is positioned at slow Rush in spring and be provided with support bar, support pole length is less than buffer spring length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730092.2A CN107585556A (en) | 2017-08-23 | 2017-08-23 | Anti-oscillating Plastic Drum transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730092.2A CN107585556A (en) | 2017-08-23 | 2017-08-23 | Anti-oscillating Plastic Drum transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107585556A true CN107585556A (en) | 2018-01-16 |
Family
ID=61042489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710730092.2A Pending CN107585556A (en) | 2017-08-23 | 2017-08-23 | Anti-oscillating Plastic Drum transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107585556A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705396A (en) * | 2018-07-05 | 2018-10-26 | 天长市百盛半导体科技有限公司 | A kind of grinding device of solar cell crystalline silicon |
| CN109264295A (en) * | 2018-10-29 | 2019-01-25 | 镇江科胜电子科技有限公司 | Conveying device is used in a kind of production of connector pin |
| CN112340400A (en) * | 2019-08-06 | 2021-02-09 | 金鹏节能科技有限公司 | Feeding device for producing aluminum alloy doors and windows |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1613690A (en) * | 2004-11-19 | 2005-05-11 | 陈振越 | Magnetic anticollison dampener of vehicle |
| CN2793428Y (en) * | 2005-04-30 | 2006-07-05 | 段春生 | Electromagnetic bumper |
| CN200992307Y (en) * | 2006-12-26 | 2007-12-19 | 刘军 | Rotary-drum groupage machine |
| CN202180951U (en) * | 2011-08-11 | 2012-04-04 | 无锡市德瑞包装设备制造有限公司 | Automatic barrel stacking machine |
| CN104136686A (en) * | 2011-12-21 | 2014-11-05 | 卡特彼勒路面机械公司 | Automatic cut-transition milling machine and method |
| CN203996694U (en) * | 2014-08-06 | 2014-12-10 | 天津市博众艺彩金属制品有限公司 | Shock-absorbing front fork |
| CN204738261U (en) * | 2015-06-30 | 2015-11-04 | 中国石油大学(华东) | Wash car anticollision buffering water spray frame |
| CN105035698A (en) * | 2015-05-28 | 2015-11-11 | 芜湖鸣人热能设备有限公司 | Loading device of thermal energy apparatus |
| CN105600448A (en) * | 2016-03-08 | 2016-05-25 | 佳马机械涂覆科技（苏州）有限公司 | Automobile display transport device |
| CN105883403A (en) * | 2016-06-20 | 2016-08-24 | 佛山市联智新创科技有限公司 | Automatic grabbing and lifting mechanism for plastic barrels |
| CN205616085U (en) * | 2016-02-18 | 2016-10-05 | 中国人民解放军总后勤部建筑工程研究所 | Simple and easy garbage bin hoisting frame |
-
2017
- 2017-08-23 CN CN201710730092.2A patent/CN107585556A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1613690A (en) * | 2004-11-19 | 2005-05-11 | 陈振越 | Magnetic anticollison dampener of vehicle |
| CN2793428Y (en) * | 2005-04-30 | 2006-07-05 | 段春生 | Electromagnetic bumper |
| CN200992307Y (en) * | 2006-12-26 | 2007-12-19 | 刘军 | Rotary-drum groupage machine |
| CN202180951U (en) * | 2011-08-11 | 2012-04-04 | 无锡市德瑞包装设备制造有限公司 | Automatic barrel stacking machine |
| CN104136686A (en) * | 2011-12-21 | 2014-11-05 | 卡特彼勒路面机械公司 | Automatic cut-transition milling machine and method |
| CN203996694U (en) * | 2014-08-06 | 2014-12-10 | 天津市博众艺彩金属制品有限公司 | Shock-absorbing front fork |
| CN105035698A (en) * | 2015-05-28 | 2015-11-11 | 芜湖鸣人热能设备有限公司 | Loading device of thermal energy apparatus |
| CN204738261U (en) * | 2015-06-30 | 2015-11-04 | 中国石油大学(华东) | Wash car anticollision buffering water spray frame |
| CN205616085U (en) * | 2016-02-18 | 2016-10-05 | 中国人民解放军总后勤部建筑工程研究所 | Simple and easy garbage bin hoisting frame |
| CN105600448A (en) * | 2016-03-08 | 2016-05-25 | 佳马机械涂覆科技（苏州）有限公司 | Automobile display transport device |
| CN105883403A (en) * | 2016-06-20 | 2016-08-24 | 佛山市联智新创科技有限公司 | Automatic grabbing and lifting mechanism for plastic barrels |
Non-Patent Citations (2)
| Title |
|---|
| 卢大明: "《发明不是梦》", 31 October 2013, 科学普及出版社 * |
| 高宏伟: "《电子制造装备技术》", 30 September 2015, 西安电子科技大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705396A (en) * | 2018-07-05 | 2018-10-26 | 天长市百盛半导体科技有限公司 | A kind of grinding device of solar cell crystalline silicon |
| CN109264295A (en) * | 2018-10-29 | 2019-01-25 | 镇江科胜电子科技有限公司 | Conveying device is used in a kind of production of connector pin |
| CN112340400A (en) * | 2019-08-06 | 2021-02-09 | 金鹏节能科技有限公司 | Feeding device for producing aluminum alloy doors and windows |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107414577A (en) | Industrial transport machine people | |
| CN107585556A (en) | Anti-oscillating Plastic Drum transportation robot | |
| CN106112999B (en) | The multi-functional shipment robot of six degree of freedom | |
| CN104555421B (en) | Five-degree-of-freedom stacking manipulator | |
| CN105059416B (en) | Pole-climbing robot with stabilizing device | |
| CN204366948U (en) | Articulated type series connection robot palletizer | |
| CN103978477B (en) | A kind of articulated robot | |
| CN104044924A (en) | Multi-axis bridge frame type glass online stacking machine about stacking manipulator | |
| CN107323556A (en) | The sufficient climbing robot of Alcula type five and its motion gait method | |
| CN102434117B (en) | Drill rod assembling and disassembling mechanical arm of myriameter well drill | |
| CN104044155B (en) | Gravity offset device | |
| CN207434548U (en) | A kind of rotary charging device | |
| CN106002927B (en) | A kind of construction transportation industrial robot based on redundancy four-degree-of-freedom | |
| CN107585557A (en) | Plastic Drum transportation robot | |
| CN107765793A (en) | A kind of computer for possessing suspended fixing mechanism | |
| CN109571547B (en) | Prevent empting intelligent robot | |
| CN107538461A (en) | Adjustable for height industrial transport machine people | |
| CN104843496B (en) | Carton stacking forming device and method | |
| CN107672649A (en) | A kind of floor truck of even running | |
| CN106002955A (en) | Three-freedom-degree walk device for building construction transfer robot | |
| CN207432229U (en) | A kind of Novel industrial robot handgrip | |
| CN203097759U (en) | Preposed drill rod arranging and placing device for tongue platform of racking platform | |
| CN206668841U (en) | A kind of beam position limiting structure | |
| CN205870532U (en) | Panel is got and is put manipulator | |
| CN205905003U (en) | Novel connecting rod tongs of structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180116 |