CN108569545A

CN108569545A - A kind of safe and intelligent robot

Info

Publication number: CN108569545A
Application number: CN201711490909.XA
Authority: CN
Inventors: 贾军霞
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-30
Filing date: 2017-12-30
Publication date: 2018-09-25

Abstract

The invention discloses a kind of safe and intelligent robots,Truss principal organ including forming whole equipment frame,The principal organ includes the first sliding equipment and suspension mechanism,The truss is fixedly installed on ground,The truss top is fixedly installed slidable first sliding equipment,First sliding equipment upper end is provided with transmission case,Transmission box cavity is provided in the transmission case,It is fixedly installed the first motor on the left of the transmission case,The arbor of first motor stretches into the transmission box cavity and worm screw be connected by power,The right end axis of the worm screw is rotatably assorted with the transmission box cavity right end inner wall and connect,The transmission case upper end is fixedly installed cover board,The cover plate central position is provided with rotatable worm gear shaft,Apparatus of the present invention are simple in structure,It is easy to use,This robot is worked together using multimachine structure,Realize scallop carrying,The functions such as handling,With good functional and flexibility.

Description

A kind of safe and intelligent robot

Technical field

The present invention relates to food processing fields, and in particular to a kind of safe and intelligent robot.

Background technology

With the development of science and technology, social progress, country advocates always high-tech development, more and more traditional industries Technology upgrading is needed to regenerate, in extensive food processing field, wherein most importantly marine products processing, general scallop adds Work is traditional-handwork processing, in scallop loads shelf for conveying transport, is carried using artificial and duck conveyor belt, efficiency is low Down, it can be achieved that state-of-the-art technology upgrading, this robot are used as the transportation process in scallop processing, scallop are positioned over scallop The functions such as the handling of scallop are realized in loading frame, and there is good functional and practicability.

Invention content

The purpose of the present invention is to provide a kind of safe and intelligent robots, can overcome the drawbacks described above of the prior art.

According to the present invention, a kind of safe and intelligent robot of apparatus of the present invention includes the truss of composition whole equipment frame And principal organ, the principal organ include the first sliding equipment and suspension mechanism, the truss is fixedly installed on ground, institute It states truss top and is fixedly installed slidable first sliding equipment, first sliding equipment upper end is provided with transmission case, institute It states and is provided with transmission box cavity in transmission case, the first motor, first motor are fixedly installed on the left of the transmission case Arbor stretch into the transmission box cavity with worm screw be connected by power, the right end axis of the worm screw and the transmission box cavity right end Inner wall is rotatably assorted connection, and the transmission case upper end is fixedly installed cover board, and the cover plate central position is provided with rotatably Worm gear shaft, the worm gear shaft stretch into the transmission box cavity, and rotatably pass through the transmission box cavity lower end inner wall, institute State worm gear shaft outer surface and worm gear be connected by power, the worm gear and worm screw be connected by power, the worm gear shaft upper surface fixed setting There are turntable, the turntable upper surface to be fixedly installed pedestal, pedestal inner cavity is provided in the pedestal, the pedestal left side is solid Surely it is provided with the first speed reducer, first speed reducer is connect with the second motor power, first speed reducer and the first spiral shell Line axis be connected by power, first thread spindle are rotatably set to the pedestal inner cavity or so inner wall, the pedestal upper surface It is provided with slidable hollow sliding block, the hollow sliding block inner top side face is fixedly installed the first internal thread block, and described first Internal thread block is connect with the first thread spindle screw-thread fit, and the hollow sliding block lower face is fixedly installed first bevel gear, It is provided with rotatable swivel on the outside of the first bevel gear, swivel inner cavity is provided in the swivel, the swivel right side is solid Surely it is provided with third motor, the arbor of the third motor stretches into intracavitary in the swivel and connects with second bevel gear power It connects, the first bevel gear stretches into intracavitary in the swivel and engaged with second bevel gear, and the swivel lower face is fixedly installed The push rod of electric pushrod device, the electric pushrod device is connect with suspension mechanism secure fit, the pedestal top side detachable Ground is provided with dust preventing component, to which above structure is constituted entire robot, realizes the purpose for swinging and carrying, improves machine The working range of people.

Further technical solution, the suspension mechanism include fixing body, the symmetrical fixation in fixing body upper surface There are two the 4th motor, arbor and the drive sprocket be connected by power of the 4th motor, the fixing body front end faces for setting Lower portion is symmetrical to be fixedly installed two rotation axis, and the rotation axis outer surface is respectively provided with that there are one rotatable driven Sprocket wheel, the chain and driven sprocket by with drive sprocket be connected by power, the chain outer surface is fixedly installed several groups Hook, the hook can be loaded cooperation with scallop loading frame, to drive chain rotation by motor, and then realize with filling The transport of card form loads the function of the scallop loading frame of scallop, improves machine task efficiency.

Further technical solution, first sliding equipment includes being fixedly mounted with body, described to be fixedly mounted with the fixed setting of body rear end face There are the second speed reducer, second speed reducer to be connect with the 5th motor power, second speed reducer and the second thread spindle are dynamic Power connects, second thread spindle pass through it is described be fixedly mounted with body left end with it is described be fixedly mounted with body right end and be rotatably assorted connect, described second Thread spindle is connect with the second internal thread block screw-thread fit, and the second internal thread block, which is slidably arranged on, described is fixedly mounted with internal side Upper surface makes robot that can be moved forward and backward, improves functionality to make first sliding equipment have the function of sliding.

Further technical solution, the body that is fixedly mounted with are connect with truss upper surface secure fit, spiral shell in described second Line block is connect with transmission case lower face secure fit, to which first sliding equipment is fixedly installed in robot, With stronger linkage function.

Further technical solution, the first bevel gear are fixedly installed on the hollow sliding block lower face, the swivel It can relatively rotate with the first bevel gear, the work(for turning to the scallop loading frame for loading scallop when to realize carrying Can, improve machine task efficiency.

Further technical solution, the dust preventing component include detachably being connected with left and right ends at the top of the pedestal Two connecting rods, be fixedly installed dustproof cover at the top of two connecting rods, the length of the dustproof cover is more than the length of the pedestal Degree,

The beneficial effects of the invention are as follows：

In the initial state due to present device, first sliding equipment can drive upper end formation to be moved forward and backward, the biography The structure that dynamic case, the first motor, transmission box cavity, worm screw, worm gear, worm gear shaft, turntable form can generate stable rotation, can Drive the structure that is fixedly connected with the turntable to generate to rotate, second motor, the first speed reducer, pedestal, pedestal inner cavity, First thread spindle, hollow sliding block, the first internal thread block composition structure the hollow sliding block can be made to horizontally slip, and it is described hollow The structure that sliding block is fixedly connected can then horizontally slip, the swivel, swivel inner cavity, first bevel gear, second bevel gear, third electricity Motivation, the structure of electric pushrod device composition can be such that the swivel rotates, and the structure being fixedly connected with the swivel is then rotatable, The push rod of the electric pushrod device can push the suspension mechanism to move up and down, to form several interlinked mechanisms, collaboration Efficient carrying can be realized when work, and structure has very strong stability, improves the practicability of robot.

When robot is run, the first sliding equipment work, the transmission for making first sliding equipment be fixedly connected Case generation moves forward and backward, and robot is made to move forward and backward to designated position, and first electric motor operation drives the worm screw to turn It is dynamic, then generate rotation with the worm gear of the worm screw be connected by power, then the turntable being fixedly connected indirectly with the worm gear generates rotation, The turntable upper end formation is set to turn to assigned direction, second electric motor operation then drives first thread spindle indirectly Rotation, first thread spindle are connect with the first internal thread block screw-thread fit, and the first internal thread block and hollow sliding block are solid Fixed to be connected, then the hollow sliding block sliding, the swivel being fixedly connected with the hollow sliding block, which generates, to be slided and moves to finger The top set is positioned, the suspension mechanism is adjusted to specified altitude assignment, the suspension mechanism work by the electric pushrod device work Make, starting to be loaded is positioned over the scallop loading frame of work top, and the third electric motor operation drives the swivel to occur indirectly Rotation, then the suspension mechanism generate rotation, both sides are overworked to scallop loading frame, when carrying, said mechanism carries out corresponding Action, you can reach next designated position, to the gearing of implementation mechanism, improve the mobility of robot.

When the suspension mechanism is loaded, the 4th electric motor operation drives the drive sprocket to rotate forward, with institute Driven sprocket, the chain rotating forward of drive sprocket be connected by power are stated, the hook moves upwards, and when close to scallop loading frame, leads to It crosses the hook and is realized with the slot that is loaded being arranged in scallop loading frame and is loaded, to moving up under the driving of the 4th motor It is dynamic, to realize the function that is flexibly loaded of robot, save carrying space.

When the suspension mechanism is unloaded, the 4th electric motor operation drives the drive sprocket to invert, with institute Driven sprocket, the chain reversion of drive sprocket be connected by power are stated, the hook moves downward, and the scallop loading frame is made to touch It is detached from and is loaded on work top.

When the swivel rotates, the third electric motor operation, the second cone being connect with the third motor power Gear rotates, since the first bevel gear is connect with hollow sliding block lower face secure fit, and the first bevel gear and the Two bevel gears engage, then the swivel is driven to rotate, and direction convenience when fashionable dress unloading is carried to realize, improves work Make efficiency.

When the first sliding equipment work, the 5th motor is driven, is connected with the indirect power of the 5th motor The the second thread spindle rotation connect, second thread spindle connect with the second internal thread block screw-thread fit, then drive in described second Threaded block it is described be fixedly mounted with body before and after side end face horizontally slip, to realize smooth linear motion, improve the steady of structure It is qualitative.

Apparatus of the present invention are simple in structure, easy to use, this robot is worked together using multimachine structure, is realized scallop and is removed The functions such as fortune, handling have good functional and flexibility.

Description of the drawings

It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only to invent Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is the overall structure diagram of the safe and intelligent robot of the present invention；

Fig. 2 is the overlooking structure diagram of Fig. 1, and the dust preventing component is in and is removed state；

Fig. 3 is the enlarged structure schematic diagram of suspension mechanism in Fig. 1；

Fig. 4 is the enlarged structure schematic diagram of the first sliding equipment in Fig. 1；

Fig. 5 is the structural schematic diagram of arrow direction in Fig. 2.

Specific implementation mode

All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive Feature and/or step other than, can combine in any way.

This specification（Including any accessory claim, abstract and attached drawing）Disclosed in any feature, except non-specifically chatting It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only It is an example in a series of equivalent or similar characteristics.

As shown in Figs. 1-5, a kind of safe and intelligent robot of the invention includes the truss 100 of composition whole equipment frame And principal organ, the principal organ include the first sliding equipment 102 and suspension mechanism 125, the truss 100 is fixedly installed on On ground, 100 top of the truss is fixedly installed slidable first sliding equipment 102, on first sliding equipment 102 End is provided with transmission case 103, and transmission box cavity 105 is provided in the transmission case 103, and 103 left side fixation of the transmission case is set It is equipped with the first motor 104, the arbor of first motor 104 stretches into the transmission box cavity 105 and 107 power of worm screw Connection, the right end axis of the worm screw 107 are rotatably assorted with the 105 right end inner wall of transmission box cavity and connect, the transmission case 103 Upper end is fixedly installed cover board 126, and 126 centre of the cover board is provided with rotatable worm gear shaft 109, the worm gear shaft 109 stretch into the transmission box cavity 105, and rotatably pass through 105 lower end inner wall of transmission box cavity, the worm gear shaft 109 outer surfaces and 108 be connected by power of worm gear, the worm gear 108 and 107 be connected by power of worm screw, 109 upper surface of the worm gear shaft are solid Surely it is provided with turntable 110,110 upper surface of the turntable is fixedly installed pedestal 113, is provided in pedestal in the pedestal 113 Chamber 114,113 left side of the pedestal are fixedly installed the first speed reducer 111, first speed reducer, 111 and second motor 112 be connected by powers, 111 and first thread spindle of the first speed reducer, 115 be connected by power, first thread spindle 115 are rotatable Be set to 114 or so inner wall of the pedestal inner cavity, 113 upper surface of the pedestal is provided with slidable hollow sliding block 116, institute It states 116 inner top side face of hollow sliding block and is fixedly installed the first internal thread block 117, the first internal thread block 117 and described the One thread spindle, 115 screw-thread fit connects, and 116 lower face of hollow sliding block is fixedly installed first bevel gear 121, and described first 121 outside of bevel gear is provided with rotatable swivel 119, and swivel inner cavity 120, the swivel 119 are provided in the swivel 119 Right side is fixedly installed third motor 123, and the arbor of the third motor 123 stretches into the swivel inner cavity 120 with the Two bevel gears, 122 be connected by power, the first bevel gear 121 are stretched into the swivel inner cavity 120 and are nibbled with second bevel gear 122 It closes, 119 lower faces of the swivel are fixedly installed electric pushrod device 124, the push rod of the electric pushrod device 124 and suspension Mechanism 125 secure fit connection, is provided with dust preventing component to 113 top side detachable of the pedestal, to constitute above structure Entire robot realizes the purpose for swinging and carrying, improves the working range of robot.

Valuably, wherein the suspension mechanism 125 includes fixing body 200, and 200 upper surface of the fixing body is symmetrical There are two the 4th motor 201 for fixed setting, and arbor and 202 be connected by power of drive sprocket of the 4th motor 201 are described 200 front end face lower portion of fixing body is symmetrical to be fixedly installed two rotation axis 204, and 204 outer surface of the rotation axis is equal There are one rotatable driven sprocket 205, the driven sprockets 205 to be coordinated by chain 203 with the drive sprocket 202 for setting Connection, 203 outer surface of the chain are fixedly installed several groups hook 206, and the hook 206 can be filled with scallop loading frame 207 Card cooperation to drive chain rotation by motor, and then realizes the scallop that scallop is loaded with the form transport that is loaded The function of loading frame 207 improves machine task efficiency.

Valuably, wherein first sliding equipment 102 includes being fixedly mounted with body 303, and 303 rear end face of body that is fixedly mounted with is fixed It is provided with the second speed reducer 302, second speed reducer 302 and 301 be connected by power of the 5th motor, second speed reducer 302 and 305 be connected by power of the second thread spindle, second thread spindle 305 passes through 303 left end of body that is fixedly mounted with to be fixedly mounted with body with described 303 right ends are rotatably assorted connection, and second thread spindle 305 is connect with 304 screw-thread fit of the second internal thread block, in described second Threaded block 304 is fixedly mounted with 303 inner top side face of body described in being slidably arranged on, to make first sliding equipment 102 have The function of sliding makes robot that can be moved forward and backward, improves functionality.

Valuably, wherein the body 303 that is fixedly mounted with is connect with 100 upper surface secure fit of the truss, spiral shell in described second Line block 304 is connect with 103 lower face secure fit of the transmission case, to which first sliding equipment 102 to be fixedly installed in In robot, there is stronger linkage function.

Valuably, wherein the first bevel gear 121 is fixedly installed on 116 lower face of hollow sliding block, the swivel 119 can relatively rotate with the first bevel gear 121, turn the scallop loading frame for loading scallop when to realize carrying To function, improve machine task efficiency.

Valuably, wherein the dust preventing component includes detachably being connected with 113 top left and right ends of the pedestal Two connecting rods 51, two 51 tops of the connecting rod are fixedly installed dustproof cover 52, and the length of the dustproof cover 52 is more than the seat The length of body 113, thus by the covering of the dustproof cover 52 to prevent dust from falling in the pedestal 113 or described second On motor 112,

In the initial state, first sliding equipment 102 can drive upper end formation to be moved forward and backward to present device, the transmission The structure that case 103, the first motor 104, transmission box cavity 105, worm screw 107, worm gear 108, worm gear shaft 109, turntable 110 form Stable rotation can be generated, the structure being fixedly connected with the turntable 110 can be driven to generate and rotated, second motor 112, First speed reducer 111, pedestal 113, pedestal inner cavity 114, the first thread spindle 115, hollow sliding block 116,117 groups of the first internal thread block At structure the hollow sliding block 116 can be made to horizontally slip, the structure being fixedly connected with the hollow sliding block 116 can then control cunning It is dynamic, the swivel 119, swivel inner cavity 120, first bevel gear 121, second bevel gear 122, third motor 123, electric pushrod The structure that device 124 forms can make 119 rotation of the swivel, and the structure being fixedly connected with the swivel 119 is then rotatable, described The push rod of electric pushrod device 124 can push the suspension mechanism 125 to move up and down.

When robot is run, first sliding equipment 102 works, and first sliding equipment 102 is made to be fixedly connected The generation of transmission case 103 move forward and backward, so that robot is moved forward and backward to designated position, first motor 104 works, and drives The worm screw 107 rotates, then generates rotation with the worm gear 108 of 107 be connected by power of the worm screw, then indirect with the worm gear 108 The turntable 110 being fixedly connected generates rotation, and 110 upper end formation of the turntable is made to turn to assigned direction, second motor 112 work, then drive first thread spindle 115 to rotate, 115 and first internal thread block of the first thread spindle, 117 spiral shell indirectly Line is connected, and the first internal thread block 117 is connect with 116 secure fit of hollow sliding block, then the hollow sliding block 116 is slided Dynamic, the swivel 119 being fixedly connected with the hollow sliding block 116 generates the top for sliding and moving to designated position, described electronic Push rod device 124 works, and the suspension mechanism 125 is adjusted to specified altitude assignment, the suspension mechanism 125 works, starts to be loaded It is positioned over the scallop loading frame of work top, the third motor 123 works, and the swivel 119 is driven to rotate indirectly, Then the suspension mechanism 125 generates rotation, and both sides are overworked to scallop loading frame, and when carrying, said mechanism is moved accordingly Make, you can reach next designated position.

When the suspension mechanism 125 is loaded, the 4th motor 201 work drives the drive sprocket 202 It rotating forward, is rotated forward with driven sprocket 205, the chain 203 of 202 be connected by power of the drive sprocket, the hook 206 moves upwards, When close to scallop loading frame 207, it is loaded with the slot realization that is loaded being arranged in scallop loading frame 207 by the hook 206, It is moved up under the driving of 4th motor 201.

When the suspension mechanism 125 is unloaded, the 4th motor 201 work drives the drive sprocket 202 Reversion is inverted with driven sprocket 205, the chain 203 of 202 be connected by power of the drive sprocket, and the hook 206 moves downward, Make the scallop loading frame 207 touch disengaging on work top to be loaded.

When 119 rotation of swivel, the third motor 123 works, with 123 be connected by power of third motor Second bevel gear 122 rotate, since the first bevel gear 121 is connect with 116 lower face secure fit of hollow sliding block, and institute It states first bevel gear 121 to engage with second bevel gear 122, then drives 119 rotation of the swivel.

When first sliding equipment 102 works, the 5th motor 301 is driven, between the 5th motor 301 The second thread spindle 305 rotation of be connected by power is connect, second thread spindle 305 is connect with 304 screw-thread fit of the second internal thread block, Then drive the second internal thread block 304 it is described be fixedly mounted with body 303 before and after side end face horizontally slip.

The beneficial effects of the invention are as follows：In the initial state due to present device, first sliding equipment can drive Upper end formation is moved forward and backward, and the transmission case, the first motor, transmission box cavity, worm screw, worm gear, worm gear shaft, turntable form Structure can generate stable rotation, and the structure that is fixedly connected with the turntable can be driven to generate rotation, second motor, the The structure that one speed reducer, pedestal, pedestal inner cavity, the first thread spindle, hollow sliding block, the first internal thread block form can make described hollow Sliding block horizontally slips, and the structure being fixedly connected with the hollow sliding block can then horizontally slip, the swivel, swivel inner cavity, first The structure that bevel gear, second bevel gear, third motor, electric pushrod device form can be such that the swivel rotates, with described turn The structure that body is fixedly connected is then rotatable, and the push rod of the electric pushrod device can push the suspension mechanism to move up and down, from And several interlinked mechanisms are formed, efficient carrying can be realized in when collaborative work, and structure has very strong stability, improves The practicability of robot.

The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention It should be determined by the scope of protection defined in the claims.

Claims

1. a kind of safe and intelligent robot, includes the truss principal organ of composition whole equipment frame, the principal organ includes First sliding equipment and suspension mechanism, the truss are fixedly installed on ground, and the truss top is fixedly installed slidably The first sliding equipment, first sliding equipment upper end is provided with transmission case, transmission box cavity is provided in the transmission case, Be fixedly installed the first motor on the left of the transmission case, the arbor of first motor stretch into the transmission box cavity and Worm screw be connected by power, the right end axis of the worm screw are rotatably assorted with the transmission box cavity right end inner wall and connect, the transmission case Upper end is fixedly installed cover board, and the cover plate central position is provided with rotatable worm gear shaft, and the worm gear shaft stretches into the biography In dynamic box cavity, and the transmission box cavity lower end inner wall is rotatably passed through, the worm gear shaft outer surface connects with worm gear power It connects, the worm gear and worm screw be connected by power, the worm gear shaft upper surface are fixedly installed turntable, and the turntable upper surface is fixed and set It is equipped with pedestal, is provided with pedestal inner cavity in the pedestal, the pedestal left side is fixedly installed the first speed reducer, and described first Speed reducer is connect with the second motor power, first speed reducer and the first thread spindle be connected by power, first thread spindle It is rotatably set to the pedestal inner cavity or so inner wall, the pedestal upper surface is provided with slidable hollow sliding block, described Hollow sliding block inner top side face is fixedly installed the first internal thread block, the first internal thread block and the first screw thread axle thread It is connected, the hollow sliding block lower face is fixedly installed first bevel gear, is provided with and can turn on the outside of the first bevel gear Dynamic swivel is provided with swivel inner cavity in the swivel, and third motor, the third electricity are fixedly installed on the right side of the swivel The arbor of motivation stretches into intracavitary and second bevel gear be connected by power, the first bevel gear in the swivel and stretches into the swivel Intracavitary is engaged with second bevel gear, and the swivel lower face is fixedly installed electric pushrod device, the electric pushrod device Push rod is connect with suspension mechanism secure fit, is provided with dust preventing component to the pedestal top side detachable.

2. a kind of safe and intelligent robot as described in claim 1, it is characterised in that：The suspension mechanism includes fixing body, There are two the 4th motor, the arbors and drive chain of the 4th motor for the symmetrical fixed setting in fixing body upper surface Be connected by power is taken turns, the fixing body front end face lower portion is symmetrical to be fixedly installed two rotation axis, outside the rotation axis Surface is respectively provided with there are one rotatable driven sprocket, the chain and driven sprocket by with drive sprocket be connected by power, institute It states chain outer surface and is fixedly installed several groups hook, the hook can be loaded cooperation with scallop loading frame.

3. a kind of safe and intelligent robot as described in claim 1, it is characterised in that：First sliding equipment includes being fixedly mounted with Body, the body rear end face that is fixedly mounted with are fixedly installed the second speed reducer, and second speed reducer is connect with the 5th motor power, institute The second speed reducer and the second thread spindle be connected by power are stated, second thread spindle passes through the body left end that is fixedly mounted with to be fixedly mounted with body with described Right end is rotatably assorted connection, and second thread spindle is connect with the second internal thread block screw-thread fit, and the second internal thread block can Being set to for sliding described is fixedly mounted with internal side upper surface.

4. a kind of safe and intelligent robot as described in claim 1, it is characterised in that：It is described to be fixedly mounted with body and the truss upper end Face secure fit connection, the second internal thread block are connect with transmission case lower face secure fit.

5. a kind of safe and intelligent robot as described in claim 1, it is characterised in that：The first bevel gear is fixedly installed on The hollow sliding block lower face, the swivel can relatively rotate with the first bevel gear.

6. a kind of safe and intelligent robot as described in claim 1, it is characterised in that：The dust preventing component includes and the seat Two connecting rods that left and right ends are detachably connected at the top of body, two connecting rods tops are fixedly installed dustproof cover, described The length of dustproof cover is more than the length of the pedestal.