CN108748210A - A kind of light-duty package picks and places robot - Google Patents
A kind of light-duty package picks and places robot Download PDFInfo
- Publication number
- CN108748210A CN108748210A CN201810787606.2A CN201810787606A CN108748210A CN 108748210 A CN108748210 A CN 108748210A CN 201810787606 A CN201810787606 A CN 201810787606A CN 108748210 A CN108748210 A CN 108748210A
- Authority
- CN
- China
- Prior art keywords
- plate
- motor
- fixed
- electric pushrod
- connection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008878 coupling Effects 0.000 claims abstract description 21
- 238000010168 coupling process Methods 0.000 claims abstract description 21
- 238000005859 coupling reaction Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of light-duty packages to pick and place robot, belongs to robotic technology field.The present invention includes wheel rack device, base apparatus, lift rotating equipment, mechanical gripper device；Rack device is taken turns for providing walking power；Wherein realize that light-duty package picks and places the walking of robot with motor car wheel by shaft coupling using driving motor supplies power；Base apparatus for realizing wheel rack device and identification device, lift rotating equipment connection；Lift rotating equipment is for making mechanical gripper act on different directions, different location.The configuration of the present invention is simple, it is easy to assembly；It can rotate, can move along vertical direction in the horizontal direction, enable the multi-faceted crawl package of gripper；The present invention can solve the problems, such as that the package place of drawing over to one's side package picks and places, and can be efficiently completed picking and placeing for package, liberate labour.
Description
Technical field
The present invention relates to a kind of light-duty packages to pick and place robot, belongs to robotic technology field.
Background technology
With the development of internet, the people of shopping on the web are more and more, and network trading is more and more frequent, express company
It quickly grows, but the pressure for picking and placeing package for wrapping up the place of drawing over to one's side needs to pick and place the upper a large amount of people of input in package also with increase
Power, and people is not machine, people works long hours it is possible that some careless mistakes, influence whether the efficiency that package picks and places, may
It influences whether some subsequent work, can finally cause damages to company, shops, and put into a large amount of manpower and also need to largely
Financial resources support, this undoubtedly increases operation cost, so the robot of a light-duty package automatic clamping and placing of manufacture substitutes
Manpower solves the problems, such as that package picks and places, and liberates labour, reduces company, shops's operation cost.
Invention content
The technical problem to be solved by the present invention is to：A kind of light-duty package of present invention offer picks and places robot, solves package and takes
The problem of putting the low problem of efficiency and gripper crawl orientation, being limited in scope.
The technical scheme is that：A kind of light-duty package picks and places robot, including wheel rack device, base apparatus, lifting rotation
Rotary device, mechanical gripper device；
The wheel rack device is for providing walking power；Wherein using driving motor supplies power by shaft coupling band motor car wheel come
Realize that light-duty package picks and places the walking of robot；
The base apparatus for realizing wheel rack device and identification control device, lift rotating equipment connection；
The lift rotating equipment is for making mechanical gripper act on different directions, different location；Wherein motor is used to rotate band
Dynamic friction wheel rotates to realize the rotation of lift rotating equipment in the horizontal direction, and flexible using electric pushrod lifts to realize
The movement of rotating device in vertical direction is rotated using motor and pulley rotation is driven to move horizontally platform along bar in level to realize
Movement on direction；
The mechanical gripper device is wrapped up for capturing；The electric pushrod of two different lengths, different location is wherein used to combine
Effect realizes that gripper is multi-faceted, a wide range of crawl is wrapped up.
The wheel rack device includes wheel 1, wheel connecting plate 2, shaft coupling 38, driving motor 39；
Four driving motors 39 are fixed on four 2 insides of wheel connecting plate by clamping screw respectively, and 39 transmission shaft of driving motor is worn
It crosses wheel connecting plate 2 and is connected by bearing, four shaft couplings 38 are connected with 39 transmission shaft of driving motor respectively to be consolidated by clamping screw
Fixed, four wheels 1 are bolted in four 2 outsides of wheel connecting plate with shaft coupling 38 respectively, for realizing light-duty package
Pick and place the walking of robot.
The base apparatus includes connecting plate 3, support plate 4, square plate 36, annular orbit 37；
Four wheel connecting plates 2 of wheel rack device are connected to respectively by bolt two-by-two in a support plate 4, two support plates 4
It is connect with four connecting plates 3 by bolt, annular orbit 37 passes through to be connect by lock-screw with four inside loop connecting plate 5
Plate 3 connects, and square plate 36 is connected to 37 top of annular orbit by lock-screw, is filled for realizing identification device and lifting rotation
Set the effect of intermediate connection.
Further include identification control device, the position that the identification control device wraps up for identification；Wherein use effect side
It is rotated to two vertical motors to realize the multi-faceted rotation of identification control device, to increase the identification model of identification control device
It encloses；
The identification control device includes under T shapes connecting plate 30, control system for identifying 31, motor IV 32, connecting middle plate 33, connection
Plate 34, motor V 35；
The connection lower plate 34 is fixed by the square plate 36 of bolt and base apparatus, and motor V 35 is fixed on company by clamping screw
34 inside top of lower plate is connect, connecting middle plate 33 is driven axis connection with motor V 35 on connection lower plate 34, is consolidated by clamping screw
Fixed, motor IV 32 is fixed on through-hole of 33 outer drive shafts of connecting middle plate on connecting middle plate 33 by clamping screw, and T shapes connect
Fishplate bar 30 is connected on IV 32 transmission shaft of motor, and control system for identifying 31 is bolted on T shapes connecting plate 30 for real
Existing multi-faceted identification.
The lift rotating equipment includes loop connecting plate 5, Y shape plate 6, friction pulley 7, motor I 8, electric pushrod I 9, vertical
Track 10, lifting platform 11, fixed plate 12, bar 13, pulley 14, vertical track support plate 15, horizontal direction mobile station 16, track are solid
Fixed board 17, motor II 19；
Described 6 one end of Y shape plate is stuck in the track groove of annular orbit 37,6 other end lock-screw of Y shape plate and loop connecting plate
5 tops are fixed, and two motors I 8 are fixed on 6 top of Y shape plate by lock-screw, and two friction pulleys 7 are distinguished in 6 lower part of Y shape plate
It is connected with motor I 8,7 outer surface of friction pulley is in close contact with 37 outer surface of annular orbit, and 10 lower part of vertical track passes through locking screw
Nail is connected to 6 top of Y shape plate, and 15 lower part of vertical track support plate is stuck in the card slot on vertical track 10, and lifting platform 11 passes through
Internal card slot is stuck in vertical track 10, in vertical track support plate 15, and I 9 upper end of electric pushrod is threadedly secured to lifting platform
In the threaded hole of 11 lower parts, I 9 lower end of electric pushrod is connected by clamping screw with 6 top of Y shape plate, and track fixed plate 17 is by locking
Tight screw is fixed on 10 top of vertical track, and the card slot of track fixed plate 17 simultaneously blocks 15 top of vertical track support plate, two
Pulley 14 connects the rear side inside mobile station 16 in the horizontal direction by transmission shaft with bearing respectively, and two motors II 19 lead to respectively
Cross clamping screw and fix 16 front end face of mobile station in the horizontal direction, the transmission shafts of two motors II 19 by clamping screw respectively with
Other two pulley 14 connects the front side inside mobile station 16 in the horizontal direction, and two fixed plates 12 are solid by clamping screw respectively
It is scheduled on 11 left and right sides of lifting platform and two bars 13 is blocked by card slot, two bars 13 are played across four pulleys 14 makes water
It square can in the horizontal direction be moved along bar by pulley to mobile station 16；Above structure can realize lift rotating equipment in water
Square 360 ° of upward rotations, the movement of lift rotating equipment in vertical direction move horizontally platform along bar in the horizontal direction
Sliding.
The mechanical gripper device includes U-shaped connecting plate 18, connection ring 20, electric pushrod II 21, electric pushrod III 22, U
Shape support plate 23, L-shaped fixed plate 24, link block 25, motor III 26, partial gear 27, connection strap 28, pawl item 29；
The L-shaped fixed plate 24 is bolted the lower part in 11 front side of lifting platform of lift rotating equipment, U-shaped support plate 23
Lower part is connect by bolt with 24 top of L-shaped fixed plate, and U-shaped connecting plate 18 is bolted on 11 top of lifting platform, electronic
Push rod II 21 is with U-shaped connecting plate 18 by Stud connection, and connection ring 20 is fixed on by interference fit on electric pushrod II 21, electricity
With U-shaped support plate 23 by Stud connection, III 22 upper end of electric pushrod passes through under bolt and connection ring 20 for dynamic III 22 lower end of push rod
Portion connects, and link block 25 is threadedly coupled by internal thread with II 21 end of electric pushrod, and motor III 26 is connected to by clamping screw
25 top of link block, a partial gear 27 are connected to by connecting shaft and bearing inside link block 25, another is not exclusively
Gear 27 is connected by bearing with the transmission shaft of motor III 26, and two partial gears 27 are meshed, and two connection straps 28 pass through
Connecting shaft and bearing are connected to inside link block 25, two pawl items 29 respectively by connecting shaft and bearing with outside partial gear 27
End, 28 outer end of connection strap are connected；To realize that gripper is multi-faceted, a wide range of crawl package.
The present invention operation principle be：Driving motor rotation drives vehicle wheel rotation by shaft coupling；Band is rotated by motor
Dynamic friction wheel rotates, and generates frictional force and lift rotating equipment is driven to be rotated around annular orbit；It is pushed away by electric pushrod stretching motion
Dynamic, pulling lifting platform；Motor rotation band movable pulley slides on bar；It pushed by electric pushrod stretching motion, pull gripper；
Motor rotation drives the grasping movement of partial gear rotation realization gripper.
The present invention the course of work be：
Receive instruction：When needing to pick and place package, control system for identifying 31 receives the work message that background control system is sent out
And it is identified.
Crawl package：Control system for identifying 31 sends out instruction, and the rotation of driving motor 39 is by shaft coupling 38 with 1 turn of motor car wheel
Dynamic to make near mass motion to the package for needing to capture, control system for identifying 31 picks and places the knowledge that robot carries by light-duty package
The specific location of other system identification package, control system for identifying 31 send out instruction, and the rotation of motor I 8 drives friction pulley 7 to rotate, rubs
Wipe wheel 7 makes 6 above section of Y shape plate move to corresponding position by the frictional force of generation along 37 apparent motion of annular orbit, electricity
Dynamic push rod I 9 pushes lifting platform 11 to move to corresponding position along vertical track 10, vertical track support plate 15, and motor II 19 rotates
Band movable pulley 14 rotates, and pulley 14 slides on 13 surface of bar to make horizontal direction mobile station 16 be moved to phase in the horizontal direction
Position is answered, the promotion of III 22 the two of electric pushrod II 21 and electric pushrod, which is combined, keeps gripper componental movement other to package, electricity
The rotation of machine III 26 drives the rotation of partial gear 27 that pawl item 29 is made promptly to be wrapped up in the case where being connect with connection strap 28, at this time driving motor
39 rotations, which are rotated by shaft coupling 38 with motor car wheel 1, makes mass motion to the position for placing package.
Put package：Control system for identifying 31 picks and places the identification that robot carries by background control system and light-duty package
The specific location put is wrapped up in system identification, and control system for identifying 31 sends out instruction, and the rotation of motor I 8 drives friction pulley 7 to rotate,
Friction pulley 7 makes 6 above section of Y shape plate move to corresponding position by the frictional force of generation along 37 apparent motion of annular orbit,
Electric pushrod I 9 pushes or pull on lifting platform 11 and moves to corresponding position, motor along vertical track 10, vertical track support plate 15
II 19 rotation band movable pulleys 14 rotate, and pulley 14 slides on 13 surface of bar to make horizontal direction mobile station 16 in the horizontal direction
It is moved to corresponding position, the promotion, pulling of III 22 the two of electric pushrod II 21 and electric pushrod are combined the machine for making to grasp package
Machinery claw moves to the specific location put of package, the rotation of motor III 26 drive the rotation of partial gear 27 make pawl item 29 with connect
Item 28 unclasps package under connecting；The pulling of III 22 the two of electric pushrod II 21 and electric pushrod is combined withdrawal gripper at this time,
The rotation band movable pulley 14 of motor II 19 rotates, and pulley 14 slides on 13 surface of bar to make horizontal direction mobile station 16 in level side
It is moved upwards up to initial position, the rotation of motor I 8 drives friction pulley 7 to rotate, and friction pulley 7 is by the frictional force of generation along cyclic annular rail
37 apparent motion of road makes 6 above section of Y shape plate move to initial position, and electric pushrod I 9 pulls lifting platform 11 along vertical track
10, vertical track support plate 15 moves to initial position.
Reach next operating point：The rotation of driving motor 39 makes light-duty package take by shaft coupling 38 with the rotation of motor car wheel 1
Robot motion is put to next operating point.
The beneficial effects of the invention are as follows：
1, the configuration of the present invention is simple, it is easy to assembly；
2, identification control device of the present invention is combined by two movements in different directions, and control system for identifying can multi-faceted knowledge
The position picked and placeed is not wrapped up；
3, the present invention can be rotated, be moved along vertical direction in the horizontal direction, enable the multi-faceted crawl package of gripper；
4, it is cumbersome to solve the problems, such as that the package place of drawing over to one's side package picks and places by the present invention, can be efficiently completed the work for picking and placeing package, solve
Put labour.
5, the present invention can liberate labour to cut operating costs.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the wheel carrier apparatus structure schematic diagram of the present invention；
Fig. 3 is the base apparatus structural schematic diagram of the present invention；
Fig. 4 is the identification control device structural schematic diagram of the present invention；
Fig. 5 is the lift rotating equipment structural schematic diagram of the present invention；
Fig. 6 is the mechanical gripper apparatus structure schematic diagram of the present invention；
Fig. 7 is the horizontal direction moving structure structural schematic diagram of the present invention；
Fig. 8 is the gripper structural schematic diagram of the present invention；
Fig. 9 is the ring track structure schematic diagram of the present invention.
Each label in Fig. 1-9：1- wheels, 2- wheels connecting plate, 3- connecting plates, 4- support plates, 5- loop connectings plate, 6-Y
Shape plate, 7- friction pulleys, 8- motors I, 9- electric pushrods I, 10- vertical tracks, 11- lifting platforms, 12- fixed plates, 13- bars, 14- are slided
Wheel, 15- vertical tracks support plate, 16- horizontal directions mobile station, 17- tracks fixed plate, 18-U shapes connecting plate, 19- motors II,
20- connection rings, 21- electric pushrods II, 22- electric pushrods III, 23-U shapes support plate, 24-L shapes fixed plate, 25- link blocks, 26-
Motor III, 27- partial gears, 28- connection straps, 29- pawls item, 30-T shapes connecting plate, 31- control system for identifying, 32- motors
IV, 33- connecting middle plates, 34- connections lower plate, 35- motors V, 36- square plates, 37- annular orbits, 38- shaft couplings, 39- drivings
Motor.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the invention will be further described.
Embodiment 1：As shown in figs 1-9, a kind of light-duty package picks and places robot, including wheel rack device, base apparatus, lifting
Rotating device, mechanical gripper device；
The wheel rack device is for providing walking power；Wherein using driving motor supplies power by shaft coupling band motor car wheel come
Realize that light-duty package picks and places the walking of robot；
The base apparatus for realizing wheel rack device and identification control device, lift rotating equipment connection；
The lift rotating equipment is for making mechanical gripper act on different directions, different location；Wherein motor is used to rotate band
Dynamic friction wheel rotates to realize the rotation of lift rotating equipment in the horizontal direction, and flexible using electric pushrod lifts to realize
The movement of rotating device in vertical direction is rotated using motor and pulley rotation is driven to move horizontally platform along bar in level to realize
Movement on direction；
The mechanical gripper device is wrapped up for capturing；The electric pushrod of two different lengths, different location is wherein used to combine
Effect realizes that gripper is multi-faceted, a wide range of crawl is wrapped up.
Further, the wheel rack device includes wheel 1, wheel connecting plate 2, shaft coupling 38, driving motor 39；
Four driving motors 39 are fixed on four 2 insides of wheel connecting plate by clamping screw respectively, and 39 transmission shaft of driving motor is worn
It crosses wheel connecting plate 2 and is connected by bearing, four shaft couplings 38 are connected with 39 transmission shaft of driving motor respectively to be consolidated by clamping screw
Fixed, four wheels 1 are bolted in four 2 outsides of wheel connecting plate with shaft coupling 38 respectively, for realizing light-duty package
Pick and place the walking of robot.
Further, the base apparatus includes connecting plate 3, support plate 4, square plate 36, annular orbit 37；
Four wheel connecting plates 2 of wheel rack device are connected to respectively by bolt two-by-two in a support plate 4, two support plates 4
It is connect with four connecting plates 3 by bolt, annular orbit 37 passes through to be connect by lock-screw with four inside loop connecting plate 5
Plate 3 connects, and square plate 36 is connected to 37 top of annular orbit by lock-screw, is filled for realizing identification device and lifting rotation
Set the effect of intermediate connection.
Further, further include identification control device, the position that the identification control device wraps up for identification；Wherein adopt
It is rotated with two vertical motors of action direction to realize the multi-faceted rotation of identification control device, to increase identification control device
Identification range；
The identification control device includes under T shapes connecting plate 30, control system for identifying 31, motor IV 32, connecting middle plate 33, connection
Plate 34, motor V 35；
The connection lower plate 34 is fixed by the square plate 36 of bolt and base apparatus, and motor V 35 is fixed on company by clamping screw
34 inside top of lower plate is connect, connecting middle plate 33 is driven axis connection with motor V 35 on connection lower plate 34, is consolidated by clamping screw
Fixed, motor IV 32 is fixed on through-hole of 33 outer drive shafts of connecting middle plate on connecting middle plate 33 by clamping screw, and T shapes connect
Fishplate bar 30 is connected on IV 32 transmission shaft of motor, and control system for identifying 31 is bolted on T shapes connecting plate 30 for real
Existing multi-faceted identification.
Further, the lift rotating equipment includes loop connecting plate 5, Y shape plate 6, friction pulley 7, motor I 8, electronic pushes away
Bar I 9, vertical track 10, lifting platform 11, fixed plate 12, bar 13, pulley 14, vertical track support plate 15, horizontal direction mobile station
16, track fixed plate 17, motor II 19；
Described 6 one end of Y shape plate is stuck in the track groove of annular orbit 37,6 other end lock-screw of Y shape plate and loop connecting plate
5 tops are fixed, and two motors I 8 are fixed on 6 top of Y shape plate by lock-screw, and two friction pulleys 7 are distinguished in 6 lower part of Y shape plate
It is connected with motor I 8,7 outer surface of friction pulley is in close contact with 37 outer surface of annular orbit, and 10 lower part of vertical track passes through locking screw
Nail is connected to 6 top of Y shape plate, and 15 lower part of vertical track support plate is stuck in the card slot on vertical track 10, and lifting platform 11 passes through
Internal card slot is stuck in vertical track 10, in vertical track support plate 15, and I 9 upper end of electric pushrod is threadedly secured to lifting platform
In the threaded hole of 11 lower parts, I 9 lower end of electric pushrod is connected by clamping screw with 6 top of Y shape plate, and track fixed plate 17 is by locking
Tight screw is fixed on 10 top of vertical track, and the card slot of track fixed plate 17 simultaneously blocks 15 top of vertical track support plate, two
Pulley 14 connects the rear side inside mobile station 16 in the horizontal direction by transmission shaft with bearing respectively, and two motors II 19 lead to respectively
Cross clamping screw and fix 16 front end face of mobile station in the horizontal direction, the transmission shafts of two motors II 19 by clamping screw respectively with
Other two pulley 14 connects the front side inside mobile station 16 in the horizontal direction, and two fixed plates 12 are solid by clamping screw respectively
It is scheduled on 11 left and right sides of lifting platform and two bars 13 is blocked by card slot, two bars 13 are played across four pulleys 14 makes water
It square can in the horizontal direction be moved along bar by pulley to mobile station 16；Above structure can realize lift rotating equipment in water
Square 360 ° of upward rotations, the movement of lift rotating equipment in vertical direction move horizontally platform along bar in the horizontal direction
Sliding.
Further, the mechanical gripper device includes U-shaped connecting plate 18, connection ring 20, electric pushrod II 21, electronic pushes away
Bar III 22, U-shaped support plate 23, L-shaped fixed plate 24, link block 25, motor III 26, partial gear 27, connection strap 28, pawl item
29；
The L-shaped fixed plate 24 is bolted the lower part in 11 front side of lifting platform of lift rotating equipment, U-shaped support plate 23
Lower part is connect by bolt with 24 top of L-shaped fixed plate, and U-shaped connecting plate 18 is bolted on 11 top of lifting platform, electronic
Push rod II 21 is with U-shaped connecting plate 18 by Stud connection, and connection ring 20 is fixed on by interference fit on electric pushrod II 21, electricity
With U-shaped support plate 23 by Stud connection, III 22 upper end of electric pushrod passes through under bolt and connection ring 20 for dynamic III 22 lower end of push rod
Portion connects, and link block 25 is threadedly coupled by internal thread with II 21 end of electric pushrod, and motor III 26 is connected to by clamping screw
25 top of link block, a partial gear 27 are connected to by connecting shaft and bearing inside link block 25, another is not exclusively
Gear 27 is connected by bearing with the transmission shaft of motor III 26, and two partial gears 27 are meshed, and two connection straps 28 pass through
Connecting shaft and bearing are connected to inside link block 25, two pawl items 29 respectively by connecting shaft and bearing with outside partial gear 27
End, 28 outer end of connection strap are connected；To realize that gripper is multi-faceted, a wide range of crawl package.
As shown in figure 4, when needing to pick and place package, control system for identifying 31 receives the work that background control system is sent out
Message is simultaneously identified.
As shown in Fig. 2, control system for identifying 31 sends out instruction, the rotation of driving motor 39 is by shaft coupling 38 with motor car wheel 1
Rotation makes near mass motion to the package for needing to capture；As shown in figure 5, control system for identifying 31 passes through light-duty package pick-and-place machine
The specific location for the identifying system identification package that device people carries, control system for identifying 31 send out instruction, and the rotation of motor I 8, which drives, to rub
7 rotation of wheel is wiped, friction pulley 7 makes 6 above section of Y shape plate move to by the frictional force of generation along 37 apparent motion of annular orbit
Corresponding position, electric pushrod I 9 push lifting platform 11 to move to corresponding position along vertical track 10, vertical track support plate 15, electricity
The rotation band movable pulley 14 of machine II 19 rotates, and pulley 14 slides on 13 surface of bar to make horizontal direction mobile station 16 in the horizontal direction
On be moved to corresponding position；As shown in fig. 6, the promotion of both electric pushrod II 21 and electric pushrod III 22, which is combined, makes gripper
Componental movement is other to package, and the rotation of motor III 26 drives the rotation of partial gear 27 that pawl item 29 is made to be grabbed in the case where being connect with connection strap 28
Hard-pressed bale is wrapped up in；At this point, as shown in Fig. 2, the rotation of driving motor 39 makes mass motion to placement by shaft coupling 38 with the rotation of motor car wheel 1
The position of package.
As shown in figure 4, control system for identifying 31 picks and places the knowledge that robot carries by background control system and light-duty package
The specific location put is wrapped up in other system identification；As shown in figure 5, control system for identifying 31 sends out instruction, the rotation of motor I 8 drives
Friction pulley 7 rotates, and friction pulley 7 makes 6 above section of Y shape plate move by the frictional force of generation along 37 apparent motion of annular orbit
To corresponding position, electric pushrod I 9 pushes or pull on lifting platform 11 and moves to phase along vertical track 10, vertical track support plate 15
Position, the rotation band movable pulley 14 of motor II 19 is answered to rotate, pulley 14 slides on 13 surface of bar to make horizontal direction mobile station 16
It is moved to corresponding position in the horizontal direction；As shown in fig. 6, the promotion of both electric pushrod II 21 and electric pushrod III 22, drawing
Dynamic be combined makes the gripper that grasp package move to the specific location that package is put, and the rotation of motor III 26 drives partial gear
27 rotations make pawl item 29 unclasp package in the case where connect with connection strap 28, at this time electric pushrod II 21 and the two of electric pushrod III 22
Pulling is combined withdrawal gripper；As shown in figure 5, the rotation band movable pulley 14 of motor II 19 rotates, pulley 14 is slided on 13 surface of bar
It is dynamic that make horizontal direction mobile station 16 be moved to initial position in the horizontal direction, the rotation of motor I 8 drives friction pulley 7 to rotate,
Friction pulley 7 makes 6 above section of Y shape plate move to initial position by the frictional force of generation along 37 apparent motion of annular orbit,
Electric pushrod I 9 pulls lifting platform 11 to move to initial position along vertical track 10, vertical track support plate 15.
As shown in Fig. 2, the rotation of driving motor 39 makes light-duty package pick and place robot by shaft coupling 38 with the rotation of motor car wheel 1
Move to next operating point.
Specific embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned realities
Example is applied, it within the knowledge of a person skilled in the art, can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (6)
1. a kind of light-duty package picks and places robot, it is characterised in that：Including wheel rack device, base apparatus, lift rotating equipment, machine
Tool gripper equipment；
The wheel rack device is for providing walking power；Wherein using driving motor supplies power by shaft coupling band motor car wheel come
Realize that light-duty package picks and places the walking of robot；
The base apparatus for realizing wheel rack device and lift rotating equipment connection；
The lift rotating equipment is for making mechanical gripper act on different directions, different location；Wherein motor is used to rotate band
Dynamic friction wheel rotates to realize the rotation of lift rotating equipment in the horizontal direction, and flexible using electric pushrod lifts to realize
The movement of rotating device in vertical direction is rotated using motor and pulley rotation is driven to move horizontally platform along bar in level to realize
Movement on direction；
The mechanical gripper device is wrapped up for capturing；The electric pushrod of two different lengths, different location is wherein used to combine
Effect realizes that gripper is multi-faceted, a wide range of crawl is wrapped up.
2. light-duty package according to claim 1 picks and places robot, it is characterised in that：The wheel rack device includes wheel
（1）, wheel connecting plate（2）, shaft coupling（38）, driving motor（39）；
Four driving motors（39）Four wheel connecting plates are fixed on by clamping screw respectively（2）Inside, driving motor（39）It passes
Moving axis passes through wheel connecting plate（2）And it is connected by bearing, four shaft couplings（38）Respectively with driving motor（39）Transmission shaft is connected
It is fixed by clamping screw, four wheels（1）Respectively in four wheel connecting plates（2）Outside and shaft coupling（38）Connected by bolt
It connects, the walking of robot is picked and placeed for realizing light-duty package.
3. light-duty package according to claim 1 picks and places robot, it is characterised in that：The base apparatus includes connecting plate
（3）, support plate（4）, square plate（36）, annular orbit（37）；
Take turns four wheel connecting plates of rack device（2）It is connected to a support plate two-by-two by bolt respectively（4）On, two supports
Plate（4）Pass through bolt and four connecting plates（3）Connection, annular orbit（37）Across loop connecting plate（5）Inside passes through locking screw
Nail and four connecting plates（3）Connection, square plate（36）It is connected to annular orbit by lock-screw（37）Top.
4. light-duty package according to claim 1 picks and places robot, it is characterised in that：Further include identification control device, institute
State the position that identification control device wraps up for identification；It is wherein rotated using two vertical motors of action direction to realize identification
The multi-faceted rotation of control device, to increase the identification range of identification control device；
The identification control device includes T shape connecting plates（30）, control system for identifying（31）, motor IV（32）, connecting middle plate
（33）, connection lower plate（34）, motor V（35）；
The connection lower plate（34）By the square plate of bolt and base apparatus（36）It is fixed, motor V（35）It is solid by clamping screw
It is scheduled on connection lower plate（34）Inside top, connecting middle plate（33）In connection lower plate（34）Above with motor V（35）Transmission shaft connects
It connects, fixed by clamping screw, motor IV（32）It is fixed on connecting middle plate by clamping screw（33）Outer drive shafts pass through connection
Middle plate（33）On through-hole, T shape connecting plates（30）It is connected to motor IV（32）On transmission shaft, control system for identifying（31）Pass through spiral shell
Bolt is fixed on T shape connecting plates（30）On for realizing multi-faceted identification.
5. light-duty package according to claim 3 picks and places robot, it is characterised in that：The lift rotating equipment includes ring
Shape connecting plate（5）, Y shape plate（6）, friction pulley（7）, motor I（8）, electric pushrod I（9）, vertical track（10）, lifting platform（11）,
Fixed plate（12）, bar（13）, pulley（14）, vertical track support plate（15）, horizontal direction mobile station（16）, track fixed plate
（17）, motor II（19）；
The Y shape plate（6）One end is stuck in annular orbit（37）Track groove in, Y shape plate（6）Other end lock-screw and ring-type
Connecting plate（5）Top is fixed, two motors I（8）It is fixed on Y shape plate by lock-screw（6）Top, two friction pulleys（7）In Y
Shape plate（6）Lower part respectively with motor I（8）It is connected, friction pulley（7）Outer surface and annular orbit（37）Outer surface is in close contact, and is hung down
Straight rail（10）Lower part is connected to Y shape plate by lock-screw（6）Top, vertical track support plate（15）Lower part is stuck in vertical rails
Road（10）On card slot in, lifting platform（11）It is stuck in vertical track by internal card slot（10）, vertical track support plate（15）On,
Electric pushrod I（9）Upper end is threadedly secured to lifting platform（11）In the threaded hole of lower part, electric pushrod I（9）Lower end passes through lock
Tight bolt and Y shape plate（6）Top is connected, track fixed plate（17）Vertical track is fixed on by lock-screw（10）Top, track
Fixed plate（17）Card slot and block vertical track support plate（15）Top, two pulleys（14）Pass through transmission shaft and bearing respectively
Connect mobile station in the horizontal direction（16）Internal rear side, two motors II（19）Level side is fixed on by clamping screw respectively
To mobile station（16）Front end face, two motors II（19）Transmission shaft by clamping screw respectively with other two pulley（14）Even
It is connected on horizontal direction mobile station（16）Internal front side, two fixed plates（12）Lifting platform is fixed on by clamping screw respectively
（11）Two bars are simultaneously blocked by card slot in the left and right sides（13）, two bars（13）Across four pulleys（14）Between play and make level
Direction mobile station（16）It can in the horizontal direction be moved along bar by pulley.
6. light-duty package according to claim 1 picks and places robot, it is characterised in that：The mechanical gripper device includes U
Shape connecting plate（18）, connection ring（20）, electric pushrod II（21）, electric pushrod III（22）, U-shaped support plate（23）, L-shaped fixed plate
（24）, link block（25）, motor III（26）, partial gear（27）, connection strap（28）, pawl item（29）；
The L-shaped fixed plate（24）It is bolted the lifting platform in lift rotating equipment（11）The lower part of front side, U-shaped support
Plate（23）Lower part passes through bolt and L-shaped fixed plate（24）Top connects, U-shaped connecting plate（18）It is bolted in lifting platform
（11）Top, electric pushrod II（21）With U-shaped connecting plate（18）Pass through Stud connection, connection ring（20）It is fixed by being interference fitted
In electric pushrod II（21）On, electric pushrod III（22）Lower end and U-shaped support plate（23）Pass through Stud connection, electric pushrod III
（22）Upper end passes through bolt and connection ring（20）Lower part connects, link block（25）Pass through internal thread and electric pushrod II（21）Hold spiral shell
Line connects, motor III（26）It is connected to link block by clamping screw（25）Top, a partial gear（27）Pass through connection
Axis and bearing are connected to link block（25）Inside, another partial gear（27）Pass through bearing and motor III（26）Transmission shaft
It is connected, two partial gears（27）It is meshed, two connection straps（28）It is connected to link block by connecting shaft and bearing（25）
Inside, two pawl items（29）Pass through connecting shaft and bearing and partial gear respectively（27）Outer end, connection strap（28）Outer end is connected；
To realize that gripper is multi-faceted, a wide range of crawl package.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810787606.2A CN108748210A (en) | 2018-07-18 | 2018-07-18 | A kind of light-duty package picks and places robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810787606.2A CN108748210A (en) | 2018-07-18 | 2018-07-18 | A kind of light-duty package picks and places robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748210A true CN108748210A (en) | 2018-11-06 |
Family
ID=63970461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810787606.2A Pending CN108748210A (en) | 2018-07-18 | 2018-07-18 | A kind of light-duty package picks and places robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748210A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171635A (en) * | 2020-09-24 | 2021-01-05 | 上海思寒环保科技有限公司 | Remote control robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| KR20100032244A (en) * | 2008-09-17 | 2010-03-25 | 현대위아 주식회사 | Robot system for 4 wheel driving and 4 wheel steering using motor |
| CN105881489A (en) * | 2016-05-24 | 2016-08-24 | 范志豪 | Multifunctional carrying device |
| CN107016667A (en) * | 2017-03-21 | 2017-08-04 | 哈尔滨理工大学 | A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN207448453U (en) * | 2017-10-26 | 2018-06-05 | 浙江大华技术股份有限公司 | A kind of robot and robot system |
| CN208713995U (en) * | 2018-07-18 | 2019-04-09 | 昆明理工大学 | A kind of light-duty package pick-and-place robot |
-
2018
- 2018-07-18 CN CN201810787606.2A patent/CN108748210A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100032244A (en) * | 2008-09-17 | 2010-03-25 | 현대위아 주식회사 | Robot system for 4 wheel driving and 4 wheel steering using motor |
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| CN105881489A (en) * | 2016-05-24 | 2016-08-24 | 范志豪 | Multifunctional carrying device |
| CN107016667A (en) * | 2017-03-21 | 2017-08-04 | 哈尔滨理工大学 | A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN207448453U (en) * | 2017-10-26 | 2018-06-05 | 浙江大华技术股份有限公司 | A kind of robot and robot system |
| CN208713995U (en) * | 2018-07-18 | 2019-04-09 | 昆明理工大学 | A kind of light-duty package pick-and-place robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171635A (en) * | 2020-09-24 | 2021-01-05 | 上海思寒环保科技有限公司 | Remote control robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108432451B (en) | Hand-push roller type pineapple picking machine | |
| CN206088040U (en) | Vertical turn packing cupboard | |
| CN102976108B (en) | Concrete block stacker | |
| CN108748210A (en) | A kind of light-duty package picks and places robot | |
| CN208713995U (en) | A kind of light-duty package pick-and-place robot | |
| CN106364464A (en) | Battery replacing equipment | |
| CN107745973A (en) | It is a kind of to be used to convey the smart code stack machine with conveniently moving | |
| CN207178123U (en) | A kind of preforming production line of wind electricity blade | |
| CN105947568B (en) | A kind of lifting device automatically entering and export sanitary ceramic die | |
| CN210199232U (en) | Cable fault inspection device | |
| CN203667568U (en) | E-type frame automatic on-line system | |
| CN206263583U (en) | A kind of smoke alarm assembly line | |
| CN202321669U (en) | Band plate conveying platform for concrete-molded product | |
| CN106863261A (en) | A kind of omnidirectional's wheel drive cable type lifting crawl robot | |
| CN105621046A (en) | Electric loom cropping storage-transportation vehicle and use method thereof | |
| CN110199738A (en) | A kind of large area iris flower seedling quickly moves bed system | |
| CN205953058U (en) | Automatic hacking machine of waterproofing membrane | |
| CN105775729B (en) | A kind of electric energy meter movement system and its conveyer method | |
| CN114103774A (en) | Mobile battery replacing equipment | |
| CN201036260Y (en) | Clamping type residual-film pick-up mechanism | |
| CN107511836A (en) | A kind of cantilever type rotating catching robot | |
| CN209467825U (en) | It is a kind of for shifting the fixture of battery pack | |
| CN106395366A (en) | Robot for carrying factory materials | |
| CN206187901U (en) | Horizontal draught device | |
| CN206218813U (en) | Pole piece transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |