CN108202315A - Material transportation robot - Google Patents
Material transportation robot Download PDFInfo
- Publication number
- CN108202315A CN108202315A CN201810090105.9A CN201810090105A CN108202315A CN 108202315 A CN108202315 A CN 108202315A CN 201810090105 A CN201810090105 A CN 201810090105A CN 108202315 A CN108202315 A CN 108202315A
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- China
- Prior art keywords
- material transportation
- transportation robot
- main body
- battery
- side wall
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- 239000000463 material Substances 0.000 title claims abstract description 89
- 230000000712 assembly Effects 0.000 claims abstract description 17
- 238000000429 assembly Methods 0.000 claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 238000003860 storage Methods 0.000 abstract description 3
- 238000004064 recycling Methods 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 52
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013502 data validation Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
Material transportation robot provided by the invention includes main body, load-bearing wheel assembly and drive wheel assemblies, mechanical arm, manipulator and haul road device；Manipulator includes photographic device and two groups of Suction head components；Manipulator can move, and manipulator is movable to outside main body between two haul road devices；Haul road device includes fixed seat, transport roller groups and push plate component, fixed seat includes twice side wall, and transport roller groups are arranged between twice side wall, and push plate component includes horizontal air cylinder and push plate, horizontal air cylinder is fixed on side wall, and blade face is to another side wall in fixed seat.There are two haul road device for storing unprocessed workpiece and recycling storage finished work, two groups of Suction head components are suitble to the difference of surface profile between unprocessed workpiece and finished work, ensure to firmly grasp effect for setting on robot body.Transport roller groups are used to integrally transfer material carrier thereon.Material transportation robot automtion, automation ensure that the duration production of production line.
Description
Technical field
The present invention relates to machining production line apparatus field, more particularly to a kind of material transportation robot.
Background technology
Process equipments with more arrangement settings in existing machining production line, and the workpiece transport between process equipment
Then it is achieved by the carrying of transportation robot.Existing transportation robot is mostly fixed mechanical arm or truss-like
Mechanical arm, by the linear movement of mechanical arm on the rotation of joint of mechanical arm or truss to realize the transfer of workpiece.
Existing material transportation robot the problem is that, when the mechanical arm of fixed mechanical arm or truss-like occur
During failure, be responsible for one of the mechanical arm or several production equipments then must be stopped to related property and cause completely to stop production；
Mechanical arm process-cycle variable quantity is big, and load-bearing capacity is difficult to match with multiple devices, and fixed or truss-like mechanical brachium
Phase occupied space, Ground arrangement are restricted.
Invention content
The purpose of the present invention is to provide a kind of material transportation robots for optimizing production line, improving formation efficiency.
Material transportation robot provided by the invention includes main body, the load-bearing wheel assembly and driving wheel that are arranged on bottom part body
Component, the mechanical arm being arranged in main body, the manipulator for being connected to mechanical arm tail end and two haul road devices；Mechanical arm has
Six cradle heads being mutually rotatablely connected, manipulator include photographic device and two groups of Suction head components being oppositely arranged；Mechanical arm
Beginning be fixed in main body and mechanical arm is located between two haul road devices, manipulator can be between two haul road devices
It is mobile, and manipulator is movable to outside main body；Haul road device includes fixed seat, transport roller groups and push plate component, fixed seat
It is fixed in main body, fixed seat includes the twice side wall being oppositely arranged, and has interval, transport roller groups setting between twice side wall
Between twice side wall, in vertical direction, the transportation surface for transporting roller groups is less than side wall；Push plate component include horizontal air cylinder and
The push plate of horizontal air cylinder output terminal is connected to, horizontal air cylinder is fixed on one of side wall in fixed seat, and blade face is to solid
Another side wall in reservation.
By said program as it can be seen that material transportation robot have walking degree of freedom, can the migration between multiple process equipments,
Fixed space is not accounted for, replaceable another works on after failure；There are two haul road devices for setting on robot body
For storing unprocessed workpiece and recycling storage finished work, two groups of Suction head components are set respectively to undressed work on manipulator
Part and finished work are captured, and to be suitble to the difference of surface profile between unprocessed workpiece and finished work, ensure to grab
Tight effect.And setting transport roller groups can be used for integrally transferring material carrier thereon on haul road device.Material transportation
Robot automtion, automation ensure that the duration production of production line.
Further embodiment is that opening is provided in main body and forms placement space in the opening, described to place sky
Between include at least two batteries place position；The material transportation robot further includes battery, and the battery is selectively attached to
One battery is placed in position.
Therefore at any time, two batteries place position can install two batteries simultaneously, and the battery in using disappears
Consumption switches to another battery to keep the operation of material transportation robot before finishing, so as to fulfill the continuous electrician of robot
Make.
Further embodiment is, material transportation robot includes two groups of drive wheel assemblies, drive wheel assemblies include rotation seat,
Motor and driving wheel, rotation seat are rotatably connected on the bottom of main body, and two motors are fixed on rotation seat, the output of each motor
There are one driving wheels for end connection；Lateral arrangement of two haul road devices along main body, transverse direction of two groups of drive wheel assemblies along main body
Arrangement.
Therefore material transportation robot transverse shifting, the work area of bigger is docked with process equipment in main body, is protected
The fluency that workpiece transports is demonstrate,proved, and the space occupied also smaller when transportation robot moves；The drive wheel group of two groups of independence can be real
Existing material transportation robot, which is not required to swing, can also realize 90 degree of steerings.
Further embodiment is that carrying roller group includes being arranged on four carrying rollers of four corners of bottom part body.
Therefore four carrying rollers are uniformly arranged on the bottom of main body to consolidate support to robot.
Further embodiment is that material transportation robot further includes the multiple device for positioning and supporting of setting, device for positioning and supporting
Including support column, support base, cylinder, first connecting rod and second connecting rod, the upper end of support column, the upper end of first connecting rod and cylinder are equal
The bottom for being connected to main body is swung, and first connecting rod is between support column and cylinder；Support base is connected to the lower end of support column,
The output terminal swing of cylinder is connected to the lower end of first connecting rod, and the upper end of second connecting rod is connected to the lower end of first connecting rod, and second
The lower end of connecting rod is connected to the middle part of support column.
Therefore device for positioning and supporting includes the support column of a swingable storage, when robot ambulation, support column
In receiving state to keep the walking fluency of robot；When robot is docked with process equipment, support column, which is in, to be erect
State and pass through support base and ground and coordinate, ensure the stability of machine man-hour.
Further embodiment is that flexural pivot connects between support base and support column.
Therefore support base keeps the contact of maximum area with ground for greater flexibility, is further ensured that robot works
When stability.
Further embodiment is that material transportation robot further includes temporary position device, and temporary position device includes the fixation of L-type
The removable wall and positioning cylinder of wall, L-type, fixation wall are arranged in main body, and positioning cylinder is horizontally set on the lower section of fixation wall,
Removable wall is connected to the output terminal of positioning cylinder；The output terminal driving removable wall of positioning cylinder makes fixation wall and removable wall composition side
The set to be picked and placeed of shape.
Therefore machined workpiece can be transported first to temporary position device, manipulator can set blowning installation or cold
But liquid device is first cooled down and is cleaned to machined workpiece, then ensures work by workpiece handling to haul road device again
The processing quality of part.
Further embodiment is that temporary position device includes column and vertical cylinder, column are erected in main body, vertical cylinder
The upper end of column is arranged on, fixation wall is connected to the output terminal of vertical cylinder.
Therefore can the temporary position of vertical movement be more convenient for surface cleaning of the manipulator to workpiece.
Further embodiment is that two groups of push plate components are provided in a fixed seat, the per pass side wall in a fixed seat
On be mounted on one group of push plate component, in same fixed seat two push plates be oppositely arranged.
Therefore two side push pedal collective effect carry out firm clamping and positioning to Workpiece carrier, ensure robot ambulation
When Workpiece carrier firm placement.
Further embodiment is that material transportation robot is respectively provided in the both lateral sides of main body there are one protective bulkhead, mechanical
Arm, manipulator and two haul road devices are respectively positioned between two protective bulkheads.
Therefore protective bulkhead protects mechanical arm, manipulator and two haul road devices.
Description of the drawings
Fig. 1 is the structure chart at the first visual angle of material transportation robot in material transport system embodiment of the present invention.
Fig. 2 is the structure chart at the second visual angle of material transportation robot in material transport system embodiment of the present invention.
Fig. 3 is the structure chart at material transportation robot third visual angle in material transport system embodiment of the present invention.
Fig. 4 is the enlarged drawing at A in Fig. 1.
Fig. 5 is the enlarged drawing at B in Fig. 1.
Fig. 6 is the enlarged drawing at C in Fig. 1.
Fig. 7 is the enlarged drawing at D in Fig. 2.
Fig. 8 is the enlarged drawing at E in Fig. 2.
Fig. 9 is the enlarged drawing at F in Fig. 3.
Figure 10 is the structure chart that robot with battery is replaced in material transport system embodiment of the present invention.
Figure 11 is the enlarged drawing at G in Figure 10.
Figure 12 is the structure chart that another visual angle of robot with battery is replaced in material transport system embodiment of the present invention.
Figure 13 is the fundamental diagram of the replacement battery methods embodiment first state of material transportation robot of the present invention.
Figure 14 is the fundamental diagram of replacement battery methods the second state of embodiment of material transportation robot of the present invention.
Figure 15 is the fundamental diagram of the replacement battery methods embodiment third state of material transportation robot of the present invention.
The invention will be further described with reference to the accompanying drawings and embodiments.
Specific embodiment
Material transport system embodiment
Referring to Fig. 1 and Fig. 2, Fig. 1 and Fig. 2 are respectively the structure chart of material transportation robot different visual angles.Material transport system packet
Include material transportation robot and the replacement battery machine for carrying out battery altering to material transportation robot and work-handling carries
People.A kind of artificial AGV material transportations robot of material transportation machine provided by the invention, that is, have the function of the transport of homing guidance
Vehicle.Material transportation robot 1 includes main body 10, mechanical arm 2 of the material transportation robot 1 on the working face 100 of main body 10, fortune
Defeated road device 4 and temporary position device 5, the end of mechanical arm 2 are provided with manipulator 3；Material transportation robot is at the bottom of main body 10
Portion is provided with load-bearing wheel assembly, two groups of drive wheel assemblies 6 and four device for positioning and supporting 8,10 middle part of main body have driving circuit,
Negative pressure generating device 12 and battery component 7.Material transportation robot 1 is respectively provided in the both lateral sides of main body 10 there are one protective bulkhead
11, mechanical arm 2, manipulator 3 and two haul road devices 4 are respectively positioned between two protective bulkheads 11.
The drive wheel assemblies 6 for being arranged on 10 bottom of main body include rotation seat 61, motor 62 and driving wheel 63,61 turns of rotation seat
The dynamic bottom for being connected to main body 10, two motors 62 are fixed on rotation seat, and there are one drive for the output terminal connection of each motor 62
Driving wheel 63, two driving wheels 63 are coaxial is oppositely arranged to keep in same group of drive wheel assemblies 6, between driving wheel 63 and motor 62
It is connected with drive train components 64.Main body 10 is whole in elongated, the transverse direction of length direction, that is, material transportation robot of main body 10, and two
Lateral arrangement of the group drive wheel assemblies 6 along main body 10.
Load-bearing wheel assembly includes four carrying rollers 69 for being arranged on 10 four corners in bottom of main body, and carrying roller 69 is rotatablely connected
In the bottom of main body 10.
With reference to Fig. 8, Fig. 8 is the enlarged drawing at E in Fig. 2.Four corners of 10 bottom of main body position branch there are one being respectively provided with
Support arrangement 8, device for positioning and supporting 8 include support column 83, support base 84, support cylinder 80, first connecting rod 81 and second connecting rod 82,
The upper end of support column 83, the upper end of first connecting rod 81 and support cylinder 83 swing the bottom for being connected to main body 10, and first connects
Bar 81 is located between support column 83 and support cylinder 80；84 flexural pivot of support base is connected to the lower end of support column 83, supports cylinder 80
Output terminal swing be connected to the lower end of first connecting rod 81, the upper end of second connecting rod 82 is connected to the lower end of first connecting rod 81, the
The lower end of two connecting rods 82 is connected to the middle part of support column 83.When the work of cylinder 80 is supported to stretch out its output terminal, connect first
Support column 83 can be driven to swing under the linkage of bar 81 and second connecting rod 82, so as to fulfill 8 holding state of device for positioning and supporting and receipts
The switching received between state.
With reference to Fig. 4, Fig. 4 is the enlarged drawing at A in Fig. 1.It is provided on the working face 100 of main body 10 along the lateral cloth of main body 10
The two haul road devices 4 put, and two haul road devices 4 are located at the both lateral sides of main body 10.Haul road device 4 includes fixing
Seat 40, transport roller groups 43 and push plate component, fixed seat 40 are fixed in main body 10, and fixed seat 40 includes the side wall being oppositely arranged
41 and side wall 42, there is interval between side wall 41 and side wall 42, transport roller groups 43 are arranged between side wall 41 and side wall 42,
In vertical direction, the transportation surface of transport roller groups 43 is less than side wall 41 and side wall 42, the material being placed in transport roller groups 43
Carrier both sides are limited by side wall 41 and side wall 42.
Haul road device 4 is provided with two groups of push plate components in fixed seat 40, and push plate component includes horizontal air cylinder 45 and connects
The push plate 44 of 45 output terminal of horizontal air cylinder is connected on, horizontal air cylinder 45 is fixed on side wall 42, side of the push plate 44 in fixed seat
Wall 41 is also provided with the identical push plate component of a structure on certain side wall 41, in same fixed seat 40 two push plates be oppositely arranged.
Two side push pedal collective effects carry out Workpiece carrier firm clamping and positioning, ensure that the firm of Workpiece carrier is put during robot ambulation
It puts.
With reference to Fig. 5 and Fig. 7, Fig. 5 is the enlarged drawing at B in Fig. 1, and Fig. 7 is the enlarged drawing at D in Fig. 2.On working face 100
Temporary position device 5 include the fixation wall 53 of L-type, the removable wall 54 of L-type, positioning cylinder 55, column 51 and vertical cylinder 52, stand
Column 51 is erected on working face 100, and the vertical upper end for being fixed on the column 51 of vertical cylinder 52, fixation wall 53 is connected to vertical
The output terminal of cylinder 52；Positioning cylinder 55 is fixed on the lower section of fixation wall 53, and positioning cylinder 55 is horizontally disposed, and removable wall 54 connects
In the flexible output terminal of positioning cylinder 55, the output terminal driving removable wall 54 of positioning cylinder 55 makes 54 groups of fixation wall 53 and removable wall
Into the rectangular set 50 to be picked and placeed to match with workpiece profile.
With reference to Fig. 6, Fig. 6 is the enlarged drawing at C in Fig. 1.The middle part of main body 10 is provided with opening 130, and main body is being open
The placement space 13 for placing electric component and battery is provided within 130, material transportation robot 1 includes being arranged on described
Transport chain component 73 and transport chain component 74 in placement space 13, transport chain component 73 is identical with transport 74 structure of chain component,
Transport chain component 73 and transport chain component 74 are vertical to be arranged in placement space 13 and transports chain component 73 positioned at transport chain component
74 tops；Two batteries that placement space 13 includes vertical arrangement place position, and transport chain component 73 and transport chain component 74 are distinguished
A battery is arranged on to place in position.
For transporting chain component 74, transport chain component 74 includes being arranged on the lateral twice conveyer chain of placement space 13
741, there is between twice conveyer chain 741 interval to form battery and place position, be both provided on the chain link of twice conveyer chain 741 multiple
Impeller 742, it is preferred that multiple impellers 742 are equidistantly disposed on the defeated chain 741 of institute.
Preferably, main body 10 is provided with two plate placements 75 of vertical arrangement, each placed side in placement space 13
Plate 75 and a battery place position cooperation.At least two row multi-directional balls 751, multi-directional ball 751 are provided on each plate placement 75 to pacify
On the through-hole on plate placement 75, the spin part that multi-directional ball 751 is supported on plate placement 75 and in multi-directional ball 751 can
It is rotated relative to plate placement 75 along any direction.
Material transportation robot 1 further includes battery 71 and battery 72, and battery 71 is identical with 72 structure of battery, is with battery 72
Example, battery 72 is both provided with the horizontal fitting projection 721 stretched at left and right sides of it, and battery 72 is two before and after extending direction
Side is both provided with a pair of of fitting projection 721.Specifically, fitting projection 721 is cylinder.
After battery 72, which is transported to battery, places position, battery 72 is then supported on multiple multi-directional balls of plate placement 75
On 751, when battery 72 moves, battery 72 and multi-directional ball 751, which roll, to be coordinated, battery 72 under the rotation of multi-directional ball 751 glibly
It enters in placement space 13.
By taking battery 72 coordinates with transport chain component 74 as an example, between the preparation of battery 72 is placed into two groups of conveyer chains 741
After battery places position, the front end of 72 extending direction of battery is entered between two groups of conveyer chains 741, at this time both lateral sides on battery 72
Fitting projection 721 be then respectively positioned on the top of one group of conveyer chain 741, when conveyer chain 741 is after motor drives and moves, conveyer chain
Impeller 742 on 741 then abuts with two fitting projections 721 on front side of 72 extending direction of battery and pushes fitting projection 721
Slide battery 72, until battery 72 is completely into in the position between two groups of conveyer chains 741.
Material transportation robot 1 only needs to be powered by one piece of battery in use, and state shown in Fig. 6 is replaces electricity
During pond, it is first put into backup battery, i.e. battery 72, and the state that original battery 71 not yet takes out；Treat material transportation machine
After the power supply circuit of device people 1 is switched to the state being connect with battery 72, battery 71 can be dismantled, hereafter material transportation machine
The power supply source of device people 1 is battery 72.
With reference to Fig. 1 and Fig. 9, Fig. 9 is the enlarged drawing at F in Fig. 3.Manipulator 3 is material transportation machine provided by the invention
Tool hand, manipulator 3 include ontology 30, Suction head component 31, Suction head component 32, photographic device 33 and blowning installation 34, and ontology 30 connects
The end of mechanical arm 2 is connected on, ontology 30 is in square, and Suction head component 31 and Suction head component 32 are oppositely disposed at phase on ontology 30
To two faces on.Since mechanical arm 2 has six cradle heads being mutually rotatablely connected, and the ontology 30 of manipulator 3 connects
In the end of mechanical arm 2, therefore ontology 30 can be rotated relative to the end of mechanical arm 2, and Suction head component 31 and Suction head component 32
On the circumferential position rotated in ontology 30.
Photographic device 33 and blowning installation 34 are arranged in the rotation circumferential direction of ontology 30；Suction head component 31 and Suction head component
32 structures are identical, and by taking Suction head component 31 as an example, Suction head component 31 includes 310, three negative pressure suction nozzles 36 of adjustable plate, 37 and of positioning column
Limited block 38, there are three first straight line slots 311, each negative pressure suction nozzle 36 to pass through a first straight line slot for setting on adjustable plate 310
311 and by bolt lock, so as to fulfill negative pressure suction nozzle 36 relative to the slidably adjusting of adjustable plate 310.Three negative pressure suction nozzles
36 arrays triangular in shape arrangements, positioning column 37 is removably mounted on adjustable plate 310 and enclosing positioned at three negative pressure suction nozzles 36
In region, the extending end of positioning column 36 is tapered.
Connecting plate 381 is installed, there are one second straight line slot 382, second is straight for setting on connecting plate 381 on adjustable plate 310
Wire casing 382 is mounted on perpendicular to first straight line slot 311, limited block 38 on connecting plate 381, and limited block 38 is arranged on three negative pressure and inhales
Between first 36, and the extending direction of limited block 38 is identical with the stretching direction of negative pressure suction nozzle 36.Bolt passes through second straight line slot 382
After be locked on limited block 38, realize that limited block 38 and second straight line slot coordinate with 382 slidably adjusting.
Be provided with gas channel in ontology 30, and on ontology 30 setting there are one with negative pressure generating device 12（Fig. 3 shows）Even
The air flow inlet 392 connect is additionally provided with multiple air stream outlets 391 with 36 quantity Matching of negative pressure suction nozzle on ontology 30, each negative
It is respectively provided on pressure suction nozzle 36 there are one air-flow connector 361, air-flow connector 361 is connected to the negative pressure output of negative pressure suction nozzle 36
End.Gas channel is communicated between air flow inlet 392 and multiple air stream outlets 391；Each air stream outlet 391 passes through hose and one
A air-flow connector 361 connects.Preferably, the negative pressure output terminal of each negative pressure suction nozzle 36 is both provided with compression bumper ring 362, pressure
Contracting bumper ring 362 is the elastic material ring body with rugosity structure.
Suction head component 31 is identical with 32 structure of Suction head component, but Suction head component 31 is installed to ontology 30 with Suction head component 32
Mode is different.It is fixedly mounted on ontology 30 there are one device of rotation driving 35, the adjustable plate 310 of Suction head component 31 is connected to rotation
The rotation output terminal of driving device 35, i.e. Suction head component 31 can be rotated relative to ontology 30；And the adjustable plate of Suction head component 32 is then
It is fixedly mounted on ontology 30.Optionally, device of rotation driving 35 is motor or oscillating cylinder.
Photographic device 33 further includes swingable be mounted on outside ontology 30 in addition to being built in other than the high-definition camera in ontology 30
Light transmission piece 331, there are one cylinders 330 for installation on ontology 30, and one is connected between the output terminal of cylinder 330 and light transmission piece 331
A oscillating bar assembly 332, cylinder 330 link oscillating bar assembly 332 to realize the swing of light transmission piece 331.
Manipulator 3 can drive mechanical arm 2 to draw out workpiece from the carrier of first haul road device 4 and be transferred to processing
It is processed in machine, after work pieces process is complete, manipulator 3 to machined workpiece blow and wipes or spray using blowning installation 34
Leaching etc., then finished work is taken out again and be placed into temporary position device 5 or another haul road device 4 on material carrier
In.
Referring to Figure 10, Figure 11 and Figure 12, Figure 10 and the structure chart that Figure 12 is replacement robot with battery different visual angles, Tu11Wei
Enlarged drawing in Figure 10 at G.It replaces robot with battery 9 and includes main body 91,97 and of drive wheel assemblies for being arranged on 91 bottom of main body
Carrying roller 98, the lifting gear 92 for being arranged on 91 middle part of main body and transport chain component 94 and the purlin for being arranged on 91 top of main body
Shelf for conveying device 95, pneumatic gripping device 959 and haul road device 96.
The bottom of main body 91 is provided with two groups of relatively independent drive wheel assemblies 97, and drive wheel assemblies 97 include rotation seat
971st, motor 972 and driving wheel 973, rotation seat 971 are rotatably connected on the bottom of main body 91, and two motors 972 are fixed on rotation
On seat 971, the output terminal connection of each motor 972 is there are one driving wheel 973, to keep in same group of drive wheel assemblies 97 two
Driving wheel 973 is coaxial to be oppositely arranged, and drive train components 974 are connected between driving wheel 973 and motor 972.Main body 91 is whole to be in
Elongated, the length direction of main body 97 replaces the transverse direction of robot with battery 9, lateral cloth of two groups of drive wheel assemblies 97 along main body 91
It puts.
Main body 91 has opening 910 and main body 91 forms placement space 911 within opening 910, and lifting gear 92 is set
In placement space 911；Lifting gear 92 includes driving device（It is not shown in figure）, be connected to the vertical of driving device output terminal
Conveyer belt 922 and the lifting platform 921 being connected on vertical conveyer belt 922；Plate placement 93 is provided on lifting platform 921, is transported
Chain component 94 is also disposed on lifting platform 921, and two groups of transport chain components 94 are oppositely disposed at the both lateral sides of plate placement 93,
Multiple multi-directional balls 931 are provided on plate placement 93, multiple multi-directional balls 931 are arranged on lateral the two of plate placement 93 in two row
Side.It transports and is provided with multiple impellers 942 in the conveyer chain 941 of chain component 94, it is preferable that multiple impellers 942 are equidistant etc.
It is arranged in conveyer chain 941.In addition, being provided with vertical guide rod 929 in main body 91, lifting platform 921 is matched with the slip of vertical guide rod 929
It closes；Lifting platform 921 is respectively provided in the both lateral sides close to opening 910 there are one inclined-plane guide part 932.
Main body 91 is provided with working face in the top of placement space 911, and two haul road devices 96 are arranged on working face,
Haul road device 96 includes fixed seat 961 and transport roller groups 963, and fixed seat 961 is fixed in main body 91, and fixed seat 961 is wrapped
The twice side wall 962 being oppositely arranged is included, there is interval between twice side wall 962, transport roller groups 963 are arranged on twice side wall
Between 962, in vertical direction, the transportation surface of transport roller groups 963 is placed on less than side wall 962 in transport roller groups 963
Material carrier both sides are limited by twice side wall 962.
The both lateral sides of main body 91 above it are both provided with one of protective bulkhead 912, and truss handling device 95 is arranged on two
Between the top of pipe protection wall 912.Truss handling device 95 includes moving along the X-axis that X-direction is slidably matched with protective bulkhead 912
Part 951, the Y-axis moving member 952 being slidably matched with X-axis moving member 951 along Y direction and with Y-axis moving member 952 along Z axis side
To the Z axis moving member 953 being slidably matched, the end of the as truss handling device 95 of Z axis moving member 953, pneumatic gripping device 959
On Z axis moving member 953, Z axis moving member 953 and pneumatic gripping device 959 can be translated along X-axis, Y-axis and Z-direction,
Pneumatic gripping device 959 is movable at haul road device 96 or is moved to other than main body 91.
The replacement battery methods embodiment of material transportation robot
With reference to Fig. 6, Figure 11 and Figure 13, Figure 13 is that the replacement battery methods embodiment first state work of material transportation robot is former
Reason figure.Battery change method carries out in the material transport system in a upper embodiment, using replacing robot with battery 9 to material
Battery in transportation robot 1 carries out continuous charged renewal.In original state, battery 71 is installed on material transportation machine as power supply
In device people 1.And when not enough power supply in the system monitoring to battery 71 of material transportation robot 1, then system by radio communication
It sends a control signal to and replaces robot with battery 9.Robot with battery 9 is replaced to receive after working signal then to taking out in charging station
As reserve battery battery 72 and be placed in placement space 911（Figure 10 shows）, then replace robot with battery 9 and run to object
Expect at where transportation robot 1.In the way that robot with battery 9 walks is replaced or reach pair with material transportation robot 1
After connecing position, robot with battery 9 is replaced according to the data validation material transportation machine about material transportation robot 1 obtained
The battery to leave unused on people 1 places the level height of position, and starts lifting gear 92 to be moved to transport chain component 94 idle with this
Battery place the level height that matches of transport chain component 74 on position, to prepare replacement robot with battery 9 and material transportation
Docking between robot 1.
With reference to Fig. 6, Figure 11 and Figure 14, Figure 14 is replacement battery methods embodiment the second state work of material transportation robot
Make schematic diagram.After replacing the arrival docking location of robot with battery 9, transport chain component 94 starts, and two conveyer chains 941 are run simultaneously
Make impeller 942 that linear movement occur and abut to a pair of of fitting projection 721 on 72 the first side of moving direction of battery, impeller
942 promotion batteries 72 move, and battery 72 leaves placement space 911 and from material transportation from the opening 910 for replacing robot with battery 9
The opening 130 of robot 1 enters placement space 13.Then transport chain component 74 starts, and the impeller 742 in conveyer chain 741 supports
It is connected on the fitting projection 721 of the second side opposite with the first side on battery 72, and impeller 742 is to pushing direction fitting projection
721 pushing direction enters the direction of advance of opening 130 for battery 72.Second working condition is transport chain component 94 and conveyer chain
Transition state between component 74.During battery 72 goes successively to placement space 13 under the promotion of transport chain component 74, electricity
Pond 72 eventually disengage between transport chain component 94 with merging completely into in placement space 13, power supply original at this time is electric
Pond（Battery 71）And backup battery（Battery 72）With the power supply circuit physical connection in material transportation robot 1, subsequent system
Power supply electrical connection is converted by battery 71 to battery 72, does not power off and completes battery altering.Wherein, battery 72 is in mobile process
Middle holding is rolled and is coordinated with the multi-directional ball 751 of plate placement 75 or the multi-directional ball 931 of plate placement 93.
With reference to Fig. 6, Figure 11 and Figure 15, Figure 15 is the replacement battery methods embodiment third state work of material transportation robot
Make schematic diagram.After the installation for completing battery 72, lifting gear 92（Figure 10）It is again started up, transport chain component 94 is made to be moved to and electricity
The level height that the transport chain component 73 on battery placement position where pond 71 matches, subsequent start-up transport chain component 73, two
Road conveyer chain 731 is run simultaneously and impeller 732 is connected on the fitting projection 711 on 71 the first side of direction of advance of battery, is pushed away
Moving part 932 pushes battery 71 to move, and battery 71 leaves placement space 13 and from replacement from the opening 130 of material transportation robot 1
The opening 910 of robot with battery 9 enters placement space 911.Then transport chain component 73 starts, the impeller in conveyer chain 731
732 are connected on the fitting projection 711 of the second side opposite with the first side on battery 71, and impeller 732 matches pushing direction
The pushing direction for closing protrusion 711 enters the direction of advance of opening 910 for battery 71.Third working condition for transport chain component 73 with
Transport the transition state between chain component 94.Battery 71 goes successively to placement space under the promotion of transport chain component 73
In 911, battery 71 eventually disengage between transport chain component 73 with merging completely into in placement space 911.Wherein, it is electric
Pond 71, which keeps rolling with the multi-directional ball 761 of plate placement 76 or the multi-directional ball 931 of plate placement 93 during movement, to be coordinated.
With reference to Fig. 1 and Figure 10, during the battery altering for carrying out material transportation robot 1, workpiece can be carried out at the same time
Loading and unloading.Before impeller 942 is abutted with the fitting projection of battery 71 to push battery 71 completely into placement space 911, purlin
Shelf for conveying device 95 and pneumatic gripping device 959 start, and pneumatic gripping device 959 is moved to the top of material transportation robot 1,
And capture the finished work carrier in material transportation robot 1 on first haul road device 4, it is then transported to more
It changes on first on robot with battery 9 haul road device 96, subsequent pneumatic gripping device 959 is moved to second haul road dress
It puts on 96 and unprocessed workpiece carrier is captured and is transported to second haul road device 4 in material transportation robot 1
In.While robot with battery is replaced to material transportation robot progress battery altering, truss handling device 95 and Pneumatic clamping
Device 959 recycles Workpiece carrier, and new unprocessed workpiece carrier is carried in material transportation robot, realization pair
The loading of workpiece and unloading.
Finally it is emphasized that the foregoing is merely the preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention,
Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.
Claims (10)
1. material transportation robot, including main body and the load-bearing wheel assembly and drive wheel assemblies that are arranged on the bottom part body；
It is characterized in that：
The material transportation robot further includes setting mechanical arm on the body, the machine for being connected to the mechanical arm tail end
Tool hand and two haul road devices；
The mechanical arm has six cradle heads being mutually rotatablely connected, and the manipulator includes photographic device and is oppositely arranged
Two groups of Suction head components；
The beginning of the mechanical arm is fixed on the body, and the mechanical arm is located between two haul road devices,
The manipulator can move, and the manipulator is movable to outside the main body between two haul road devices；
The haul road device includes fixed seat, transport roller groups and push plate component, and the fixed seat is fixed on the body,
The fixed seat includes the twice side wall being oppositely arranged, and has interval, the transport roller groups setting between side wall described in twice
Between side wall described in twice, in vertical direction, the transportation surface of the transport roller groups is less than the side wall；
The push plate component includes horizontal air cylinder and is connected to the push plate of the horizontal air cylinder output terminal, and the horizontal air cylinder is fixed
On one of them described side wall in fixed seat, the blade face is to another described side wall in the fixed seat.
2. material transportation robot according to claim 1, it is characterised in that：
Opening is provided in the main body and forms placement space in the opening, the placement space includes at least two electricity
Place position in pond；
The material transportation robot further includes battery, and the battery is mounted on a battery and places in position.
3. material transportation robot according to claim 2, it is characterised in that：
The material transportation robot includes drive wheel assemblies described in two groups, and the drive wheel assemblies include：
Rotation seat, motor and driving wheel, the rotation seat are rotatably connected on the bottom of the main body, and two motors are fixed on
On the rotation seat, there are one the driving wheels for the output terminal connection of each motor；
Lateral arrangement of two haul road devices along the main body, transverse direction of the drive wheel assemblies along the main body described in two groups
Arrangement.
4. material transportation robot according to claim 3, it is characterised in that：
The carrying roller group includes four carrying rollers being arranged on described four corners of bottom part body.
5. material transportation robot according to claim 4, it is characterised in that：
The material transportation robot further includes the multiple device for positioning and supporting of setting, the device for positioning and supporting include support column,
Support base, support cylinder, first connecting rod and second connecting rod, the upper end of the support column, the upper end of the first connecting rod and described
Support cylinder swings the bottom for being connected to the main body, and the first connecting rod is located at the support column and the support cylinder
Between；
The support base is connected to the lower end of the support column, and the output terminal swing of the support cylinder is connected to described first and connects
The lower end of bar, the upper end of the second connecting rod are connected to the lower end of the first connecting rod, and the lower end of the second connecting rod is connected to
The middle part of the support column.
6. material transportation robot according to claim 5, it is characterised in that：
Flexural pivot connects between the support base and the support column.
7. material transportation robot according to claim 6, it is characterised in that：
The material transportation robot further includes temporary position device, and the temporary position device includes the work of the fixation wall, L-type of L-type
Dynamic wall and positioning cylinder, on the body, the positioning cylinder is horizontally set on the fixation wall for the fixation wall setting
Lower section, the removable wall are connected to the output terminal of the positioning cylinder；
The output terminal of the positioning cylinder drives that the removable wall makes the fixation wall and the removable wall forms and rectangular waits to take
Place position.
8. material transportation robot according to claim 7, it is characterised in that：
The temporary position device includes column and vertical cylinder, and the column is erect on the body, and the vertical cylinder is set
It puts in the upper end of the column, the fixation wall is connected to the output terminal of the vertical cylinder.
9. material transportation robot according to claim 8, it is characterised in that：
It is provided with push plate component described in two groups in one fixed seat, described in the per pass in a fixed seat on side wall
Push plate component described in one group is installed, in the same fixed seat two push plates be oppositely arranged.
10. according to claim 1 to 9 any one of them material transportation robot, it is characterised in that：
The material transportation robot is respectively provided in the both lateral sides of the main body there are one protective bulkhead, the mechanical arm, described
Manipulator and two haul road devices are respectively positioned between two protective bulkheads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810090105.9A CN108202315A (en) | 2018-01-30 | 2018-01-30 | Material transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810090105.9A CN108202315A (en) | 2018-01-30 | 2018-01-30 | Material transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108202315A true CN108202315A (en) | 2018-06-26 |
Family
ID=62606471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810090105.9A Pending CN108202315A (en) | 2018-01-30 | 2018-01-30 | Material transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108202315A (en) |
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| RU203830U1 (en) * | 2020-06-22 | 2021-04-22 | Общество с ограниченной ответственностью Научно-производственная организация "Рубикон-Инновация" (ООО НПО "Рубикон-Инновация") | Mobile manipulator |
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