CN108406727A - A kind of conveying robot unit - Google Patents

A kind of conveying robot unit Download PDF

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Publication number
CN108406727A
CN108406727A CN201810173598.2A CN201810173598A CN108406727A CN 108406727 A CN108406727 A CN 108406727A CN 201810173598 A CN201810173598 A CN 201810173598A CN 108406727 A CN108406727 A CN 108406727A
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CN
China
Prior art keywords
mechanical arm
main mechanical
disc
conveying robot
mounting seat
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
Application number
CN201810173598.2A
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Chinese (zh)
Inventor
俞权锋
Original Assignee
俞权锋
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 俞权锋 filed Critical 俞权锋
Priority to CN201810173598.2A priority Critical patent/CN108406727A/en
Publication of CN108406727A publication Critical patent/CN108406727A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/92Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers

Abstract

The invention discloses a kind of conveying robot units, including mounting seat and its top is equipped with disc workbench, the vertical support column in disc workbench upper end, main mechanical arm frame and tilt cylinders one, it is by rotating circular disc that fine tuning support device and its are equipped between the vertical upper end of support column, connecting rod, vertical hollow groove, driven gear, transmission shaft, driving gear and rotary electric machine two form, main mechanical arm is equipped in the main mechanical arm frame, the main mechanical arm external part, which can be equipped with time mechanical arm and can be equipped between the two, electricly connects device, the device that electricly connects is by rectangle sliding slot, lead screw, travelling nut, connected components, slide, elongated link, electric rotating machine, worm gear, worm screw, reel and steel wire rope composition, mounting seat upper end side can be equipped with control babinet.The invention has the advantages that of simple structure and strong practicability.

Description

A kind of conveying robot unit
Technical field
The present invention relates to manipulator field, especially a kind of conveying robot unit.
Background technology
Would ordinarily be encountered relatively large article carrying in the factory, traditional carrying means be by manually being carried, Since the dead weight of article, marginal end or the sharp artificial carrying that can make are not only highly difficult while can also be to the life of worker Safety threatens;Some can carry out the carrying of relatively large article using manipulator in factory now, due to manipulator knot Structure is complicated, expensive, to be not particularly suited for the use of midget plant;Traditional manipulator be typically using auxiliary device into The adjusting of row height so that device structure is more complicated;Manipulator is typically to be made of primary and secondary mechanical arm, and secondary mechanical arm is logical It is often the adjusting for carrying out position angle using tilt cylinders, cylinder is easily caused when the article captured is overweight due to overload Damage;For traditional gripper since the activity of end position thereon is fixed, the model captured can be opened by thus greatly reducing it It encloses, therefore needs a kind of conveying robot unit now, which not only may be implemented circular-rotation, but also can be by setting Some finely tune support device adjust main mechanical arm height, be equipped with electricly connect device can make primary and secondary mechanical arm it Between support connection it is more firm, by single load bearing be changed to dispersion stress, substantially increase the working life of equipment, what is be equipped with grabs Take component that can replace different grasp modes according to the article material captured, the mechanical claw assembly being equipped with is grabbed in realization While taking the range of crawl, the apparatus structure can be opened to improve gripper with the distance between control machine machinery claw Simply, price economy is applicable to the use of midget plant.
Invention content
The purpose of the present invention is to solve the above problems, devise a kind of conveying robot unit.
Realize above-mentioned purpose the technical scheme is that, a kind of conveying robot unit, including mounting seat, the peace Dress pedestal lower end four corners are respectively equipped with universal wheel, and the mounting seat upper center is provided with the circular groove of certain depth and institute It states and is equipped with rotary electric machine one in circular groove, disc workbench and the disc workbench are equipped with above the mounting seat With the rotation axis connection of the rotary electric machine one, disc workbench upper end and along its cross-sectional diameter direction two in the middle part of lower end It holds and is fixed with vertical support column respectively, it is movable equipped with main mechanical arm frame between the vertical upper end of support column, it is described Disc workbench upper center is equipped with tilt cylinders one and one piston rod of the tilt cylinders and the main mechanical arm frame Activity is arranged in the middle part of lower end, and fine tuning support device, the fine tuning support device can be additionally provided between the vertical upper end of support column It is by the vertical upper end of support column and to correspond rotating circular disc, rotating circular disc obverse that position is movably equipped with respectively The fixed length that connecting rod, the vertical support column inner cavity positioned at side and the corresponding rotating circular disc position being equipped between marginal end are provided with Driven gear that vertical hollow groove, vertical hollow groove upper end and the corresponding rotating circular disc center location of degree are equipped with, driven gear and The driving gear and be set to vertical support column that the transmission shaft that is movably equipped between the rotating circular disc center of circle, vertical hollow groove lower end are equipped with Outer end and the composition of rotary electric machine two for rotating axis connection driving gear, the connecting rod are cut with scissors with the main mechanical arm frame lower end It connects, the main mechanical arm that can slide stretching along its length, the main mechanical arm is equipped in the main mechanical arm frame Telescopic cylinder can be equipped in built-in sliding end and the main mechanical arm frame between bottom end, the main mechanical arm external part can Device is electricly connected equipped with that can be equipped between secondary mechanical arm and the main mechanical arm external part and the secondary mechanical arm, institute It is by the rectangle sliding slot of main mechanical arm upper end and the certain length that is provided with along its length, edge to state and electricly connect device Rectangle track length direction be set to its inner cavity in the middle part of lead screw, be placed on outside lead screw travelling nut, be placed on outside travelling nut Connected components, connect with connected components and can along slide that rectangle track length direction is slided, slide upper end with The elongated link that is hinged between the secondary mechanical arm upper end end, be set to main mechanical arm inner cavity and with lead screw one It holds the electric rotating machine of connection, the worm gear being separately cased in electric rotating machine rotary shaft, passed through along the main mechanical arm width direction both ends It wears its inner cavity and stretches out and be close to the worm screw being arranged below worm gear, the reel that worm screw both sides external part is cased with respectively and difference one end The steel wire rope composition that the other end is connect with the secondary mechanical arm upper end end, the secondary mechanical arm upper end are connect with reel And hinged between the upper end end certain distance position and the main mechanical arm external part end, the secondary mechanical arm Lower end can be connected with grabbing assembly, and mounting seat upper end side can be equipped with can in control babinet and the control cabinet body It is respectively equipped with supply unit, control device and operation panel.
It is hinged between one bottom end of the tilt cylinders and disc workbench upper end, the wheel outside the driving gear Tooth can be outside the driven gear tooth socket intermeshing, can be set respectively between the rotating circular disc and the vertical support column There is the active connection that support degree is strong, is not touched between the main mechanical arm frame both sides and the rotating circular disc, it is described Connecting rod is made of high-strength metal material.
The connected components are the steel by being placed on steel inner ring outside the travelling nut, being connect with the slide Several balls composition that equal radians are uniformly provided between outer ring processed and steel inner ring and steel outer ring, rectangle sliding slot both ends are not Opening.
The worm gear and worm screw are all activity setting, and the worm gear can cooperate with the worm screw and operate, the rotation Motor can positive and negative rotation, the unidirectional movable length of slide is less than the lead screw external screw-thread layer length, and the slide corresponds to respectively The situation that rotates and reverse of the electric rotating machine only exists one-way movement, when the slide unidirectionally moves forward, the reel unwrapping wire; When the slide list moves back, the reel take-up, the steel wire rope is in tensioned state always.
The grabbing assembly includes mechanical claw assembly and magnechuck component, the magnechuck component are by iron core, line Several parts such as circle, panel and holder are constituted, and the battery Suction cup assembly can be connect with the secondary mechanical arm lower end.
The disc workbench and the mounting seat obverse can have the mutual corresponding annulus in position Equal radians are uniformly provided with several steel balls in connected in star and the toroidal cavity.
The machinery claw assembly is grown along it by work head, the work head that can be connect with the secondary mechanical arm lower end The transversal hollow slot of the certain length that has of degree direction both sides inner cavity, work head lower end and transversal hollow slot position is corresponded to respectively Set the rectangular straight slot being provided with, transversal hollow slot corresponds the electric pushrod for holding the direction of motion being respectively equipped with opposite, sets respectively Welding is fixed in the sliding block being fixedly connected in transversal hollow slot and with electric pushrod telescopic end, respectively with sliding block and is led to through rectangle Divide between arch support, the gripper that is flexibly connected with arch support and gripper upper end and arch support that slot stretches out The tilt cylinders two not being equipped with form.
The sliding block cross-section lengths are more than the rectangular straight slot cross-sectional width, and the tilt cylinders two are along the arch Support element has a down dip setting to the gripper locality, and the gripper is set as arch.
The supply unit is set as accumulator group, and the operation panel is equipped with power knob and several operation keys, described Operation panel and control device are electrically connected with the supply unit positive and negative anodes respectively by power cord, the operation panel signal output End is electrically connected with the control device signal input part.
It is equipped with PLC system in the control device and controls the rotary electric machine one, rotary electric machine two, tilt cylinders respectively One, tilt cylinders two, the control module of telescopic cylinder, electric rotating machine, electric pushrod, magnechuck component, the mounting seat Four ends can be equipped with variable weights.
Circular-rotation not only may be implemented in the conveying robot unit made using technical scheme of the present invention, the device, But also can by equipped with fine tuning support device adjust the height of main mechanical arm, what is be equipped with electricly connects device and can make The support connection obtained between primary and secondary mechanical arm is more firm, and single load bearing is changed to dispersion stress, substantially increases equipment Working life, the grabbing assembly being equipped with can replace different grasp modes according to the article material captured, be equipped with Mechanical claw assembly is grabbed realizing that the while of capturing can be opened with the distance between control machine machinery claw to improving gripper The range taken, the apparatus structure is simple, price economy, is applicable to the use of midget plant.
Description of the drawings
Fig. 1 is the overall structure diagram of conveying robot unit of the present invention;
Fig. 2 is fine tuning support device structure diagram of the present invention;
Fig. 3 is of the present invention to electricly connect device partial structural diagram;
Fig. 4 is slide planar structure schematic diagram of the present invention;
Fig. 5 is gripper component structure diagram of the present invention;
In figure, 1, mounting seat;2, universal wheel;3, circular groove;4, rotary electric machine one;5, disc workbench;6, it erects Allotment dagger;7, main mechanical arm frame;8, tilt cylinders one;9, support device is finely tuned;10, rotating circular disc;11, connecting rod; 12, vertical hollow groove;13, driven gear;14, transmission shaft;15, driving gear;16, rotary electric machine two;17, main mechanical arm; 18, secondary mechanical arm;19, device is electricly connected;20, rectangle sliding slot;21, lead screw;22, travelling nut;23, flexible connection group Part;24, slide;25, elongated link;26, electric rotating machine;27, worm gear;28, worm screw;29, reel;30, steel wire rope;31、 Grabbing assembly;32, mechanical claw assembly;33, work head;34, transversal hollow slot;35, rectangular straight slot;36, electric pushrod;37, sliding Block;38, arch support;39, gripper;40, tilt cylinders two;41, telescopic cylinder.
Specific implementation mode
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figs. 1-5, a kind of conveying robot unit, including Mounting seat 1,1 lower end four corners of the mounting seat are respectively equipped with universal wheel 2, and 1 upper center of the mounting seat is provided with one Rotary electric machine 1 is equipped in the circular groove 3 and the circular groove 3 of depthkeeping degree, 1 top of the mounting seat is equipped with disc Axis connection, the disc work are rotated in the middle part of workbench 5 and 5 lower end of disc workbench with the rotary electric machine 1 5 upper end of platform and be fixed with vertical support column 6 respectively along its cross-sectional diameter direction both ends, 6 upper end of vertical support column it Between it is movable be equipped with main mechanical arm frame 7,5 upper center of disc workbench is equipped with tilt cylinders 1 and described inclines Oblique one 8 piston rod of cylinder is arranged with activity in the middle part of 7 lower end of main mechanical arm frame, between 6 upper end of vertical support column It can be additionally provided with fine tuning support device 9, the fine tuning support device 9 is by 6 upper end of vertical support column and to correspond position The connecting rod 11 that is equipped between the rotating circular disc 10 that is movably equipped with respectively, 10 obverse marginal end of rotating circular disc is located at one It is the vertical hollow groove 12 for the certain length that 6 inner cavity of vertical support column of side and 10 position of corresponding rotating circular disc are provided with, vertical hollow Driven gear 13, driven gear 13 and 10 center of circle of rotating circular disc that 12 upper end of slot and corresponding 10 center location of rotating circular disc are equipped with it Between the driving gear 15 that is equipped with of the transmission shaft 14 that is movably equipped with, 12 lower end of vertical hollow groove and set on 6 outer end of vertical support column and The rotary electric machine 2 16 for rotating axis connection driving gear 15 forms, the connecting rod 11 and 7 lower end of main mechanical arm frame It is hinged, the main mechanical arm 17 that can slide stretching along its length, the main mechanical are equipped in the main mechanical arm frame 7 Telescopic cylinder 41, the master manipulator can be equipped in sliding end built in arm 17 and the main mechanical arm frame 7 between bottom end 17 external part of arm can be equipped with time can between mechanical arm 18 and 17 external part of main mechanical arm and the secondary mechanical arm 18 Equipped with device 19 is electricly connected, the device 19 that electricly connects is to open by 17 upper end of main mechanical arm and along its length The rectangle sliding slot 20 of some certain lengths, along 20 length direction of rectangle sliding slot be set to its inner cavity in the middle part of lead screw 21, be placed on lead screw Travelling nut 22 outside 21, the connected components 23 being placed on outside travelling nut 22, connect with connected components 23 and It can be cut with scissors between the 18 upper end end of slide 24,24 upper end of slide and the secondary mechanical arm that 20 length direction of rectangle sliding slot slides The elongated link 25 that is connected to, set on 17 inner cavity of main mechanical arm and connect with 21 one end of lead screw electric rotating machine 26, rotation The worm gear 27 that is separately cased in 26 rotary shaft of rotating motor, stretched out through its inner cavity along 17 width direction both ends of the main mechanical arm and It is close to the worm screw 28 of 27 lower section setting of worm gear, the reel 29 that 28 both sides external part of worm screw is cased with respectively and difference one end and spiral The steel wire rope 30 that the 29 connection other end of wheel is connect with 18 upper end end of the secondary mechanical arm forms, on the secondary mechanical arm 18 End and hinged between 17 external part end of the upper end end certain distance position and the main mechanical arm, described machinery 18 lower end of arm can be connected with grabbing assembly 31, and 1 upper end side of the mounting seat can be equipped with control babinet and the control Supply unit, control device and operation panel can be respectively equipped in babinet processed;One 8 bottom end of the tilt cylinders and the disc Hinged between 5 upper end of workbench, the tooth socket that the gear teeth outside the driving gear 15 can be outside the driven gear 13 is mutual Engagement, can be respectively equipped with the strong active connection of support degree between the rotating circular disc 10 and the vertical support column 6, described It is not touched between 7 both sides of main mechanical arm frame and the rotating circular disc 10, the connecting rod 11 uses high-strength metal material It is made;The connected components 23 are by being placed on steel inner ring outside the travelling nut 22, being connect with the slide 24 Steel outer ring and steel inner ring and steel outer ring between several balls composition for being uniformly provided with of equal radians, the rectangle sliding slot 20 Both ends are not open;The worm gear 27 and worm screw 28 are all activity setting, and the worm gear 27 can cooperate with the worm screw 28 and transport Make, the electric rotating machine 26 can positive and negative rotation, 24 unidirectional movable length of the slide be less than 21 external screw-thread layer length of the lead screw, The situation that rotates and reverse that the slide 24 corresponds to the electric rotating machine 26 respectively only exists one-way movement, and the slide 24 is unidirectional When Forward, 29 unwrapping wire of the reel;When the slide 24 singly moves back, 29 take-up of the reel, the steel wire rope 30 begins It is in tensioned state eventually;The grabbing assembly 31 includes mechanical claw assembly 32 and magnechuck component, the magnechuck component It is to be made of several parts such as iron core, coil, panel and holder, the battery Suction cup assembly can be with 18 lower end of secondary mechanical arm End connects;The disc workbench 5 and 1 obverse of the mounting seat can have the mutual corresponding circle in position Equal radians are uniformly provided with several steel balls in annular groove and the toroidal cavity;The machinery claw assembly 32 be by can with it is described 18 lower end of secondary mechanical arm connection work head 33, work head 33 along its length both sides inner cavity have it is certain The transversal hollow slot 34 of length, 33 lower end of work head and rectangular straight slot 35 that 34 position of transversal hollow slot is provided with, horizontal is corresponded to respectively The electric pushrod 36 for holding the direction of motion being respectively equipped with opposite is corresponded to hollow groove 34, is respectively arranged in transversal hollow slot 34 And be fixedly connected with 36 telescopic end of electric pushrod sliding block 37, respectively with sliding block 37 fix welding and through rectangular straight slot 35 stretch out Arch support 38, the gripper 39 that is flexibly connected with arch support 38 and 39 upper end of gripper and arch support 38 it Between the tilt cylinders 2 40 that are respectively equipped with form;It is wide that 37 cross-section lengths of the sliding block are more than 35 cross section of the rectangular straight slot Degree, the tilt cylinders 2 40 have a down dip setting along the arch support 38 to 39 locality of the gripper, the machinery Pawl 39 is set as arch;The supply unit is set as accumulator group, and the operation panel is equipped with power knob and several operation keys, The operation panel and control device are electrically connected with the supply unit positive and negative anodes respectively by power cord, the operation panel signal Output end is electrically connected with the control device signal input part;PLC system and respectively described turn of control are equipped in the control device Dynamic motor 1, tilt cylinders 1, tilt cylinders 2 40, telescopic cylinder 41, electric rotating machine 26, electronic pushes away rotary electric machine 2 16 The control module of bar 36, magnechuck component, 1 four end of the mounting seat can be equipped with variable weights.
The features of the present invention is a kind of conveying robot unit, including mounting seat, mounting seat lower end four corners difference Equipped with universal wheel, mounting seat upper center, which is provided in the circular groove of certain depth and circular groove, is equipped with rotary electric machine one, It is equipped with above mounting seat in the middle part of disc workbench and disc workbench lower end and rotates axis connection, disk with rotary electric machine one Shape workbench upper end and vertical support column is fixed with respectively along its cross-sectional diameter direction both ends, between vertical upper end of support column Movable to be equipped with main mechanical arm frame, disc workbench upper center is equipped with tilt cylinders one and one piston rod of tilt cylinders It is arranged with activity in the middle part of main mechanical arm frame lower end, fine tuning support device can be additionally provided between vertical upper end of support column, finely tunes Support device is by vertical upper end of support column and to correspond rotating circular disc, rotating circular disc that position is movably equipped with respectively mutually right Answer one that the connecting rod being equipped between the marginal end of face, the vertical support column inner cavity positioned at side and corresponding rotating circular disc position are provided with Driven gear that the vertical hollow groove of measured length, vertical hollow groove upper end and corresponding rotating circular disc center location are equipped with, driven tooth Take turns the transmission shaft being movably equipped between the rotating circular disc center of circle, the driving gear that vertical hollow groove lower end is equipped with and set on vertical branch Dagger outer end and the composition of rotary electric machine two for rotating axis connection driving gear, connecting rod is hinged with main mechanical arm frame lower end, The main mechanical arm of stretching can be slided along its length by being equipped in main mechanical arm frame, sliding end built in main mechanical arm with Telescopic cylinder can be equipped in main mechanical arm frame between bottom end, main mechanical arm external part can be equipped with time mechanical arm and host It can be equipped between tool arm external part and secondary mechanical arm and electricly connect device, it is by main mechanical arm upper end to electricly connect device And the rectangle sliding slot for the certain length being provided with along its length, the silk along rectangle track length direction in the middle part of its inner cavity Bar, the travelling nut being placed on outside lead screw, the connected components being placed on outside travelling nut, connect with connected components and The elongated company that can be hinged between slide, slide upper end and the secondary mechanical arm upper end end that rectangle track length direction is slided Connect frame, set on main mechanical arm inner cavity and the electric rotating machine being connect with lead screw one end, the snail being separately cased in electric rotating machine rotary shaft Wheel stretches out through its inner cavity along main mechanical arm width direction both ends and is close to the worm screw of setting, worm screw both sides below worm gear and stretches The reel and one end connect the steel that the other end is connect with time mechanical arm upper end end with reel respectively that outlet is cased with respectively Cord forms, secondary mechanical arm upper end and between the upper end end certain distance position and main mechanical arm external part end Hinged, secondary mechanical arm lower end can be connected with grabbing assembly, and mounting seat upper end side can be equipped with control babinet and control Supply unit, control device and operation panel can be respectively equipped in babinet, which not only may be implemented circular-rotation, but also Can by equipped with fine tuning support device adjust the height of main mechanical arm, what is be equipped with electricly connects device and can make primary and secondary Support connection between mechanical arm is more firm, and single load bearing is changed to dispersion stress, substantially increases the work longevity of equipment Life, the grabbing assembly being equipped with can replace different grasp modes, the gripper being equipped with according to the article material captured Component is realizing that the while of capturing can open the model of crawl with the distance between control machine machinery claw to improve gripper It encloses, the apparatus structure is simple, price economy, is applicable to the use of midget plant.
In the present invention, the universal wheel that mounting seat lower end is equipped with facilitates the transfer of equipment, control device controlling rotary For the running of motor one to drive disc workbench to rotate, disc workbench upper end is equipped with one group of vertical support column, vertical to prop up Main mechanical arm frame is movably equipped between dagger upper end, the tilt cylinders one being equipped with are for adjusting inclining for main mechanical arm frame Rake angle.Fine tuning support device can be additionally provided between vertical upper end of support column, control device controls rotary electric machine two and operates, rotation Motor two can drive driving gear to rotate, and driving gear cooperates with driven gear and moves, then pass through transmission shaft band turn Dynamic disk rotational, the connecting rod being equipped with drive main mechanical arm frame to finely tune up and down.The telescopic cylinder being equipped with is for adjusting host The extension of tool arm, main mechanical arm external part can be hinged with time mechanical arm, and control device controls electric rotating machine running, Electric rotating machine drives lead screw positive and negative rotation, then slide can be driven to be moved forward and backward by travelling nut, connected components, is equipped with Elongated link is used to adjust the position angle of time mechanical arm.The running of electric rotating machine can pass through the mating band of worm and gear Dynamic reel positive and negative rotation, to coordinate elongated link to realize to the support connection of secondary mechanical arm and position by steel wire rope It adjusts.Secondary mechanical arm lower end can be equipped with grabbing assembly, and several required substances captured are irony product, and magnechuck group can be used Part is captured, and when the substance of required crawl is non-ferrous product, can be hung and is changed to mechanical claw assembly and captured.What is be equipped with is electronic Push rod is used to adjust the position of arch support, and the tilt cylinders two being equipped with are used for the movement of gripper.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it It is interior.

Claims (10)

1. a kind of conveying robot unit, including mounting seat (1), which is characterized in that mounting seat (1) lower end four corners It is respectively equipped with universal wheel (2), mounting seat (1) upper center is provided with the circular groove (3) of certain depth and the circle It is equipped with rotary electric machine one (4) in groove (3), disc workbench (5) and the disc are equipped with above the mounting seat (1) With the rotary electric machine one (4) rotation axis connection, disc workbench (5) upper end and along it in the middle part of workbench (5) lower end Cross-sectional diameter direction both ends are fixed with vertical support column (6) respectively, movable between vertical support column (6) upper end to set There are main mechanical arm frame (7), disc workbench (5) upper center to be equipped with tilt cylinders one (8) and the inclination gas Activity is arranged in the middle part of cylinder one (8) piston rod and main mechanical arm frame (7) lower end, vertical support column (6) upper end it Between can be additionally provided with fine tuning support device (9), the fine tuning support device (9) is by vertical support column (6) upper end and mutual The connection being equipped between rotating circular disc (10) that corresponding position is movably equipped with respectively, rotating circular disc (10) obverse marginal end The certain length that bar (11), vertical support column (6) inner cavity positioned at side and corresponding rotating circular disc (10) position are provided with it is vertical Driven gear (13) that hollow groove (12), vertical hollow groove (12) upper end and corresponding rotating circular disc (10) center location are equipped with, from The transmission shaft (14) that is movably equipped between moving gear (13) and rotating circular disc (10) center of circle, vertical hollow groove (12) lower end are equipped with Driving gear (15) and rotary electric machine two (16) group for being set to vertical support column (6) outer end and rotation axis connection driving gear (15) At the connecting rod (11) and main mechanical arm frame (7) lower end are hinged, are equipped in the main mechanical arm frame (7) The main mechanical arm (17) of stretching can be slided along its length, sliding end built in the main mechanical arm (17) and the host Telescopic cylinder (41) can be equipped between tool arm frame (7) interior bottom end, main mechanical arm (17) external part can be equipped with time machine It can be equipped between tool arm (18) and main mechanical arm (17) external part and the secondary mechanical arm (18) and electricly connect dress It sets (19), the device (19) that electricly connects is to be provided with by main mechanical arm (17) upper end and along its length certain The rectangle sliding slot (20) of length, along rectangle sliding slot (20) length direction be set to its inner cavity in the middle part of lead screw (21), be placed on lead screw (21) external travelling nut (22), the connected components (23) and connected components that are placed on outside travelling nut (22) (23) connection and can be along slide (24), slide (24) upper end and the secondary mechanical arm that rectangle sliding slot (20) length direction slides (18) the elongated link (25) that is hinged between the end of upper end, be set to main mechanical arm (17) inner cavity and with lead screw (21) The electric rotating machine (26) of one end connection, the worm gear (27) being separately cased in electric rotating machine (26) rotary shaft, along the main mechanical arm (17) width direction both ends are stretched out through its inner cavity and are close to the worm screw (28) being arranged below worm gear (27), worm screw (28) both sides are stretched The reel (29) and one end connect the other end and the secondary mechanical arm (18) with reel (29) respectively that outlet is cased with respectively Steel wire rope (30) composition of upper end end connection, secondary mechanical arm (18) upper end and apart from the upper end end certain distance position It sets and is hinged between main mechanical arm (17) the external part end, secondary mechanical arm (18) lower end, which can be connected with, grabs Component (31) is taken, mounting seat (1) the upper end side, which can be equipped in control babinet and the control cabinet body, can be respectively equipped with electricity Source device, control device and operation panel.
2. a kind of conveying robot unit according to claim 1, which is characterized in that the tilt cylinders one (8) bottom end Hinged between disc workbench (5) upper end, the external gear teeth of the driving gear (15) can the driven gear (13) external tooth socket intermeshing, support can be respectively equipped between the rotating circular disc (10) and the vertical support column (6) Dynamics strong active connection does not touch between the main mechanical arm frame (7) both sides and the rotating circular disc (10), described Connecting rod (11) is made of high-strength metal material.
3. a kind of conveying robot unit according to claim 1, which is characterized in that the connected components (23) are By be placed on the external steel inner ring of the travelling nut (22), the steel outer ring being connect with the slide (24) and steel inner ring and Several balls composition that equal radians are uniformly provided between steel outer ring, rectangle sliding slot (20) both ends are not open.
4. a kind of conveying robot unit according to claim 1, which is characterized in that the worm gear (27) and worm screw (28) All it is activity setting, the worm gear (27) can cooperate with the worm screw (28) and operate, and the electric rotating machine (26) can be positive and negative Turn, the unidirectional movable length of the slide (24) is less than the lead screw (21) external screw-thread layer length, and the slide (24) is right respectively The situation that rotates and reverse of the electric rotating machine (26) is answered to only exist one-way movement, it is described when the slide (24) unidirectionally moves forward Reel (29) unwrapping wire;When the slide (24) singly moves back, reel (29) take-up, the steel wire rope (30) is located always In tensioned state.
5. a kind of conveying robot unit according to claim 1, which is characterized in that the grabbing assembly (31) includes machine Machinery claw component (32) and magnechuck component, the magnechuck component are by a few part structures such as iron core, coil, panel and holder At the battery Suction cup assembly can be connect with secondary mechanical arm (18) lower end.
6. a kind of conveying robot unit according to claim 1, which is characterized in that the disc workbench (5) and Mounting seat (1) obverse can have in the mutual corresponding toroidal cavity in position and the toroidal cavity Equal radians are uniformly provided with several steel balls.
7. a kind of conveying robot unit according to claim 5, which is characterized in that it is described machinery claw assembly (32) be by The work head (33) that can be connect with secondary mechanical arm (18) lower end, work head (33) both sides inner cavity along its length The transversal hollow slot (34) of the certain length having, work head (33) lower end and transversal hollow slot (34) position is corresponded to respectively The rectangular straight slot (35) that is provided with, transversal hollow slot (34) correspond the opposite electric pushrod of the direction of motion that end is respectively equipped with (36), be respectively arranged on the sliding block (37) being fixedly connected in transversal hollow slot (34) and with electric pushrod (36) telescopic end, respectively with The fixed arch support (38) welded and stretched out through rectangular straight slot (35) of sliding block (37) and arch support (38) activity connect Tilt cylinders two (40) group being respectively equipped between the gripper (39) and gripper (39) upper end and arch support (38) that connect At.
8. a kind of conveying robot unit according to claim 7, which is characterized in that sliding block (37) cross-section lengths More than the rectangular straight slot (35) cross-sectional width, the tilt cylinders two (40) arrive the machine along the arch support (38) Machinery claw (39) locality has a down dip setting, and the gripper (39) is set as arch.
9. a kind of conveying robot unit according to claim 1, which is characterized in that the supply unit is set as accumulator Group, the operation panel are equipped with power knob and several operation keys, and the operation panel and control device pass through sub-power source line It is not electrically connected with the supply unit positive and negative anodes, the operation panel signal output end and control device signal input part electricity Even.
10. a kind of conveying robot unit according to claim 1, which is characterized in that be equipped with PLC in the control device System and control respectively the rotary electric machine one (4), rotary electric machine two (16), tilt cylinders one (8), tilt cylinders two (40), The control module of telescopic cylinder (41), electric rotating machine (26), electric pushrod (36), magnechuck component, the mounting seat (1) Four ends can be equipped with variable weights.
CN201810173598.2A 2018-03-02 2018-03-02 A kind of conveying robot unit Pending CN108406727A (en)

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CN109516189A (en) * 2018-11-19 2019-03-26 伊瓦工业技术(天津)有限公司 A kind of ground mechanism for picking of intelligent mobile component mounting
CN110315523A (en) * 2019-07-27 2019-10-11 南京蹑波物联网科技有限公司 A kind of manipulator of industrial plant automated assembly line
CN111285266A (en) * 2020-05-11 2020-06-16 湖南生物机电职业技术学院 Helping hand transport manipulator
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