CN108750649A - A kind of automatic disk loading system with comprehensive transfer robot - Google Patents
A kind of automatic disk loading system with comprehensive transfer robot Download PDFInfo
- Publication number
- CN108750649A CN108750649A CN201810633672.4A CN201810633672A CN108750649A CN 108750649 A CN108750649 A CN 108750649A CN 201810633672 A CN201810633672 A CN 201810633672A CN 108750649 A CN108750649 A CN 108750649A
- Authority
- CN
- China
- Prior art keywords
- arm
- transfer robot
- pedestal
- loading system
- disk loading
- 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
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic disk loading systems with comprehensive transfer robot, including pedestal and bearing block, it is installed with hydraulic column among the upper end of the pedestal, the position that the upper end outer surface of the pedestal is located at the both sides of hydraulic column is equipped with auxiliary hydraulic pressure arm, the upper end outer surface of the hydraulic column and auxiliary hydraulic pressure arm is equipped with the same backing plate, the bearing block is arranged in the upper end outer surface of backing plate, the upper end outer surface of the bearing block is installed with fixed seat, one side external surface of the fixed seat is connected with the active arm of force, it is connected with upper joint bearing above the side of the active arm of force, one side external surface of the upper joint bearing is installed with the second motor, the position that one side external surface of the upper joint bearing is located at the rear of the second motor is fixedly connected with rotating arm.The present invention can facilitate the use of transfer robot, and energy robot easy to carry has practicability to the grasp handling of different articles.
Description
Technical field
The invention patent relates to robotic technology field more particularly to a kind of automatic dresses with comprehensive transfer robot
Disc system.
Background technology
Transfer robot is the industrial robot that can carry out automated handling operation, passes through robot motion's path implementation
Instead of the automated production manually carried, but the existing automatic disk loading system with comprehensive transfer robot is when in use
There are certain defect, transfer robot cannot freely adjust height, it has not been convenient to carry higher-height object, and carrying implement
The gripper of device people is inconvenient to grip the relatively smooth object in some surfaces, to certain influence is brought using process, therefore,
It is proposed a kind of automatic disk loading system with comprehensive transfer robot.
Patent of invention content
The purpose of patent of the present invention is to solve disadvantage existing in the prior art, and the one kind proposed is with comprehensive
The automatic disk loading system of transfer robot.
To achieve the goals above, patent of the present invention uses following technical solution：
A kind of automatic disk loading system with comprehensive transfer robot, including pedestal and bearing block, the pedestal it is upper
End is intermediate to be installed with hydraulic column, and the position that the upper end outer surface of the pedestal is located at the both sides of hydraulic column is equipped with auxiliary hydraulic pressure
The upper end outer surface of arm, the hydraulic column and auxiliary hydraulic pressure arm is equipped with the same backing plate, and the bearing block is arranged in the upper of backing plate
Outer surface, the upper end outer surface of the bearing block is held to be installed with fixed seat, a side external surface activity of the fixed seat connects
It is connected to the active arm of force, upper joint bearing, the side of the upper joint bearing are connected with above the side of the active arm of force
Outer surface is installed with the second motor, and the position that a side external surface of the upper joint bearing is located at the rear of the second motor is solid
Surely it is connected with rotating arm, one end of the rotating arm is connected with auxiliary power arm, and the auxiliary power arm is far from rotation
The one end for turning support arm is connected with connecting support arm, and the one end of the connecting support arm far from auxiliary power arm is connected with fixation
One side external surface of frame, the fixed frame is connected with gripper, and the quantity of the gripper is two groups, mechanical described in two groups
In the side external surface distribution symmetrical above and below of fixed frame, gripper outer surface close to each other described in two groups is equipped with and is equipped with receipts pawl
One side external surface of contracting sleeve, the shrinkage sleeve is equipped with rubber mat plate, and one end outer surface of the shrinkage sleeve is flexibly connected
There is anchor ear clamping jaw.
Preferably, the bearing block is movably connected with the base by hydraulic column and auxiliary hydraulic pressure arm, the auxiliary hydraulic pressure arm
Quantity be two groups.
Preferably, the junction of the connecting support arm and auxiliary power arm is equipped with connecting shaft, and connecting support arm and auxiliary are dynamic
The arm of force is flexibly connected by connecting shaft.
Preferably, the rotating arm is flexibly connected by upper joint bearing with the active arm of force.
Preferably, the leading exterior surface of the fixed seat is installed with first motor, the leading exterior surface of the pedestal
It is installed with hydraulic pump.
Preferably, the shape of the anchor ear clamping jaw is arc, and the quantity of the anchor ear clamping jaw is two groups, anchor ear described in two groups
Clamping jaw combination constitutes semicircle.
Compared with prior art, the advantageous effect of patent of the present invention is：
It 1,, can be to removing by the pedestal of setting, hydraulic pump, hydraulic column, auxiliary hydraulic pressure arm and backing plate in patent of the present invention
The height of fortune robot automatically adjusts, and allows transfer robot according to the object height to be carried to adjust accordingly
Oneself height, to facilitate the carrying of transfer robot；
2, in patent of the present invention, by the shrinkage sleeve of setting, rubber mat plate and anchor ear clamping jaw, conveying robot can be facilitated
The carrying of people's object relatively smooth to some surfaces, and the rubber material that anchor ear clamping jaw outer surface uses frictional force larger,
The object carried can be gripped is more secured, convenient to be carried to the smooth object of some tubuloses；
Patent of the present invention can facilitate the use of transfer robot, and can crawl of the robot easy to carry to different articles
It carries, there is practicability.
Description of the drawings
Fig. 1 is a kind of structural representation for automatic disk loading system with comprehensive transfer robot that patent of the present invention proposes
Figure；
Fig. 2 is to amplify at a kind of A for automatic disk loading system with comprehensive transfer robot that patent of the present invention proposes
Figure.
In figure：1 pedestal, 2 hydraulic pumps, 3 hydraulic columns, 4 auxiliary hydraulic pressure arms, 5 backing plates, 6 bearing blocks, 7 fixed seats, 8 first electricity
Machine, the 9 active arm of forces, 10 upper joint bearings, 11 second motors, 12 rotating arms, 13 auxiliary power arms, 14 connecting support arms, 15 connect
Spindle, 16 fixed frames, 17 grippers, 18 shrinkage sleeves, 19 rubber mat plates, 20 anchor ear clamping jaws.
Specific implementation mode
Below in conjunction with the attached drawing in patent Example of the present invention, the technical solution in patent Example of the present invention is carried out
Clearly and completely describing, it is clear that described embodiment is only patent a part of the embodiment of the present invention, rather than whole
Embodiment.
Referring to Fig.1-2, a kind of automatic disk loading system with comprehensive transfer robot, including pedestal 1 and bearing block 6,
Hydraulic column 3 is installed among the upper end of pedestal 1, the position that the upper end outer surface of pedestal 1 is located at the both sides of hydraulic column 3 is equipped with
The upper end outer surface of auxiliary hydraulic pressure arm 4, hydraulic column 3 and auxiliary hydraulic pressure arm 4 is equipped with the same backing plate 5, and bearing block 6 is arranged in backing plate
The upper end outer surface of 5 upper end outer surface, bearing block 6 is installed with fixed seat 7, and a side external surface activity of fixed seat 7 connects
It is connected to the active arm of force 9, is connected with upper joint bearing 10 above the side of the active arm of force 9, outside the side of upper joint bearing 10
Surface is installed with the second motor 11, and the position that a side external surface of upper joint bearing 10 is located at the rear of the second motor 11 is solid
Surely it is connected with rotating arm 12, one end of rotating arm 12 is connected with auxiliary power arm 13, and auxiliary power arm 13 is far from rotation
The one end for turning support arm 12 is connected with connecting support arm 14, and the one end of connecting support arm 14 far from auxiliary power arm 13 is connected with
One side external surface of fixed frame 16, fixed frame 16 is connected with gripper 17, and the quantity of gripper 17 is two groups, two groups of machineries
In the side external surface distribution symmetrical above and below of fixed frame 16, two groups of grippers 17 outer surface close to each other is equipped with and is equipped with pawl 17
One side external surface of shrinkage sleeve 18, shrinkage sleeve 18 is equipped with rubber mat plate 19, and one end outer surface activity of shrinkage sleeve 18 connects
It is connected to anchor ear clamping jaw 20.
Bearing block 6 is flexibly connected by hydraulic column 3 and auxiliary hydraulic pressure arm 4 with pedestal 1, and the quantity of auxiliary hydraulic pressure arm 4 is two
The junction of group, connecting support arm 14 and auxiliary power arm 13 is equipped with connecting shaft 15, and connecting support arm 14 and auxiliary power arm 13 are logical
The flexible connection of connecting shaft 15 is crossed, rotating arm 12 is flexibly connected by upper joint bearing 10 with the active arm of force 9, before fixed seat 7
End outer surface is installed with first motor 8, and the leading exterior surface of pedestal 1 is installed with hydraulic pump 2, the shape of anchor ear clamping jaw 20
Shape is arc, and the quantity of anchor ear clamping jaw 20 is two groups, and two groups of combinations of anchor ear clamping jaw 20 constitute semicircle.
Operation principle：It fixes in use, pedestal 1 is installed, according to the object height to be carried, is adjusted by hydraulic pump 2
Hydraulic column 3 and auxiliary hydraulic pressure arm 4 are saved, so that transfer robot is reached corresponding object height, to facilitate removing for transfer robot
Fortune, the rotation that the bearing block 6 between backing plate 5 and fixed seat 7 can make transfer robot comprehensive, in first motor 8 and upper pass
Under the second motor 11 effect of bearings 10, rotating arm 12 can be relatively rotated by upper joint bearing 10 and the active arm of force 9,
And the active arm of force 9 can relatively rotate in fixed seat 7, auxiliary power arm 13 is connected on rotating arm 12, can be revolved
Turn operation, connecting support arm 14 is connect by connecting shaft 15 with auxiliary power arm 13, and the change of lower angle, fixed frame can be carried out
Gripper 17 on 16 carries object by the effect of each support arm and power arm after capturing object, if carry
Object surface is relatively smooth, can take out the anchor ear clamping jaw 20 in shrinkage sleeve 18, and 20 outer surface of anchor ear clamping jaw is using friction
The larger rubber material of power, can grip the object carried is more secured, and 18 outer surface of shrinkage sleeve connection one
Layer rubber mat plate 19 increases the frictional force between object and gripper 17, the convenient carrying to different objects；Patent energy of the present invention
Enough facilitate the use of transfer robot, and energy robot easy to carry has practicability to the grasp handling of different articles.
The above, the preferable specific implementation mode of patent only of the present invention, but the protection domain of patent of the present invention is not
It is confined to this, any one skilled in the art is in the technical scope of patent diselosesll of the present invention, according to the present invention
Technical solution and its patent of invention design of patent are subject to equivalent substitution or change, should all cover the protection model in patent of the present invention
Within enclosing.
Claims (6)
1. a kind of automatic disk loading system with comprehensive transfer robot, including pedestal (1) and bearing block (6), feature exists
In being installed with hydraulic column (3) among the upper end of the pedestal (1), the upper end outer surface of the pedestal (1) is located at hydraulic column
(3) position of both sides is equipped with auxiliary hydraulic pressure arm (4), and the hydraulic column (3) and the upper end outer surface of auxiliary hydraulic pressure arm (4) are equipped with
The same backing plate (5), the bearing block (6) are arranged in the upper end outer surface of backing plate (5), the upper end appearance of the bearing block (6)
Face is installed with fixed seat (7), and a side external surface of the fixed seat (7) is connected with the active arm of force (9), the active
It is connected with upper joint bearing (10) above the side of the arm of force (9), a side external surface of the upper joint bearing (10) is fixed
Second motor (11) is installed, a side external surface of the upper joint bearing (10) is located at the position at the rear of the second motor (11)
It is fixedly connected with rotating arm (12), one end of the rotating arm (12) is connected with auxiliary power arm (13), described auxiliary
The one end of the power-assist arm of force (13) far from rotating arm (12) is connected with connecting support arm (14), and the connecting support arm (14) is separate
One end of auxiliary power arm (13) is connected with fixed frame (16), and a side external surface of the fixed frame (16) is connected with
The quantity of gripper (17), the gripper (17) is two groups, and gripper (17) is outside the side of fixed frame (16) described in two groups
Surface distribution symmetrical above and below, gripper (17) outer surface close to each other described in two groups are equipped with and are equipped with shrinkage sleeve (18), institute
The side external surface for stating shrinkage sleeve (18) is equipped with rubber mat plate (19), and one end outer surface activity of the shrinkage sleeve (18) connects
It is connected to anchor ear clamping jaw (20).
2. a kind of automatic disk loading system with comprehensive transfer robot according to claim 1, which is characterized in that institute
Bearing block (6) is stated to be flexibly connected with pedestal (1) by hydraulic column (3) and auxiliary hydraulic pressure arm (4), the auxiliary hydraulic pressure arm (4)
Quantity is two groups.
3. a kind of automatic disk loading system with comprehensive transfer robot according to claim 1, which is characterized in that institute
The junction for stating connecting support arm (14) and auxiliary power arm (13) is equipped with connecting shaft (15), and connecting support arm (14) and auxiliary power
Arm (13) is flexibly connected by connecting shaft (15).
4. a kind of automatic disk loading system with comprehensive transfer robot according to claim 1, which is characterized in that institute
Rotating arm (12) is stated to be flexibly connected with the active arm of force (9) by upper joint bearing (10).
5. a kind of automatic disk loading system with comprehensive transfer robot according to claim 1, which is characterized in that institute
The leading exterior surface for stating fixed seat (7) is installed with first motor (8), and the leading exterior surface of the pedestal (1) is fixedly mounted
There is hydraulic pump (2).
6. a kind of automatic disk loading system with comprehensive transfer robot according to claim 1, which is characterized in that institute
The shape for stating anchor ear clamping jaw (20) is arc, and the quantity of the anchor ear clamping jaw (20) is two groups, anchor ear clamping jaw (20) described in two groups
Combination constitutes semicircle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810633672.4A CN108750649A (en) | 2018-06-20 | 2018-06-20 | A kind of automatic disk loading system with comprehensive transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810633672.4A CN108750649A (en) | 2018-06-20 | 2018-06-20 | A kind of automatic disk loading system with comprehensive transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108750649A true CN108750649A (en) | 2018-11-06 |
Family
ID=63979215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810633672.4A Pending CN108750649A (en) | 2018-06-20 | 2018-06-20 | A kind of automatic disk loading system with comprehensive transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108750649A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592402A (en) * | 2019-01-22 | 2019-04-09 | 辽宁科技大学 | A kind of logistics package carrier robot grasper of comprehensive variable-angle |
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| CN104626175A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Hugging type box clamping mechanism |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN204546511U (en) * | 2015-04-04 | 2015-08-12 | 沈阳工程学院 | A kind of remote control transfer robot |
| WO2015137162A1 (en) * | 2014-03-14 | 2015-09-17 | 三菱重工業株式会社 | Control device, robot system, and method for generating control data |
| CN105437225A (en) * | 2015-08-05 | 2016-03-30 | 台州学院 | Six-degree-of-freedom manipulator |
| JP2016159331A (en) * | 2015-03-02 | 2016-09-05 | 株式会社オプトン | Bending device |
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| CN107639632A (en) * | 2017-10-11 | 2018-01-30 | 深圳好多彩五金有限公司 | A kind of robot arm |
| CN206998924U (en) * | 2017-06-12 | 2018-02-13 | 东莞市新本自动化设备有限公司 | A kind of six degree of freedom mechanical arm based on rotation platform |
| CN107856021A (en) * | 2017-11-12 | 2018-03-30 | 高飞 | A kind of multi-freedom robot |
| CN207467666U (en) * | 2017-05-30 | 2018-06-08 | 天津知天下科技有限公司 | A kind of novel handling machinery arm |
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Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626175A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Hugging type box clamping mechanism |
| WO2015137162A1 (en) * | 2014-03-14 | 2015-09-17 | 三菱重工業株式会社 | Control device, robot system, and method for generating control data |
| JP2016159331A (en) * | 2015-03-02 | 2016-09-05 | 株式会社オプトン | Bending device |
| CN204546511U (en) * | 2015-04-04 | 2015-08-12 | 沈阳工程学院 | A kind of remote control transfer robot |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105437225A (en) * | 2015-08-05 | 2016-03-30 | 台州学院 | Six-degree-of-freedom manipulator |
| CN205588288U (en) * | 2016-03-12 | 2016-09-21 | 天津弘丞华晔科技有限公司 | Robot arm that control accuracy is high |
| CN106477314A (en) * | 2016-11-08 | 2017-03-08 | 苏州巨智能装备有限公司 | A kind of transplanting mechanism for Hard Roll battery core automatic transporting and displacement |
| CN207467666U (en) * | 2017-05-30 | 2018-06-08 | 天津知天下科技有限公司 | A kind of novel handling machinery arm |
| CN206998924U (en) * | 2017-06-12 | 2018-02-13 | 东莞市新本自动化设备有限公司 | A kind of six degree of freedom mechanical arm based on rotation platform |
| CN107639632A (en) * | 2017-10-11 | 2018-01-30 | 深圳好多彩五金有限公司 | A kind of robot arm |
| CN107856021A (en) * | 2017-11-12 | 2018-03-30 | 高飞 | A kind of multi-freedom robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592402A (en) * | 2019-01-22 | 2019-04-09 | 辽宁科技大学 | A kind of logistics package carrier robot grasper of comprehensive variable-angle |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181106 |