CN109015624A - It promotes indexing and overturns transfer robot - Google Patents
It promotes indexing and overturns transfer robot Download PDFInfo
- Publication number
- CN109015624A CN109015624A CN201810930055.0A CN201810930055A CN109015624A CN 109015624 A CN109015624 A CN 109015624A CN 201810930055 A CN201810930055 A CN 201810930055A CN 109015624 A CN109015624 A CN 109015624A
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- CN
- China
- Prior art keywords
- bearing
- indexable
- screw
- hydraulic fluid
- fluid port
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of promotion indexing overturning transfer robot, including rack, mounting hole position rotaring part, lifting component, mechanical arm, wearing layer, overturning component, hopper, shaft coupling III, position rotaring part turn over certain angle by position rotaring motor driving；Lifting component drives lead screw positive and negative rotation by promotion motor, moves back and forth up and down mechanical arm along the slideway of two guide posts；It overturns component and sealing fluid cylinder pressure is formed by cylinder body and end cap, process oil area and return oil area are divided by screw-casing, it is outer to be pushed for pressure oil, so that screw-casing is axially moved to right and is rotated by screw pair II, rotates counterclockwise output shaft by screw pair I, the oil of backhaul oil pocket is pressed back into external fuel tank, control process hydraulic fluid port and backhaul hydraulic fluid port pressure difference, output shaft rotational angle is controlled, output shaft is connect by shaft coupling III with hopper, and hopper is driven to overturn.The present invention has the advantages that work normally in the environment such as humidity, dust, high temperature, low temperature.
Description
Technical field
The technology of the present invention relates generally to a kind of promotion indexing overturning transfer robot, and especially a kind of powder that is used for is from inventory
Container slot in, be carried in higher transport tank car, belong to mechanical engineering technology apparatus field.
Background technique
Robot has concentrated the technology of multiple subjects, it is mechanical engineering, electronic technology, computer technology, automatic control
The multi-disciplinary combinations such as theoretical and artificial intelligence are one of the fields of front end of contemporary science and technology development.
With the continuous development of robot technology, robot is just increasingly recognized and is used by people.Nowadays industrial machine
Device people has become the important component on automatic production line, and the utilization rate and technical level of industrial robot are in certain journey
The automatization level of a countries and regions has been reacted on degree.Currently, industrial robot has been widely used in each neck
In the big work of the strong repeatability of fatigabilities such as domain, especially carrying, spray painting, welding.
Powder carry all conveys in such a way that screw pump adds vacuum to inhale at present, but screw pump has volume big, and vacuum is inhaled
Sealing requirements are high, the big disadvantage of dust.
The present invention current powder carry there are aiming at the problem that, innovative design one kind in reserve tank for carrying powder
It is 1 meter wide to 1 meter of the length being placed on transport vehicle, the upper surface of the high 2.4 meters robots having in the groove tank of feed inlet.Its operative orientation
For linear reciprocating motion, reciprocating rotating movement, reciprocal 180 degree overturning.
The present invention solves the problems, such as that traditional powder carrying exists, and has broad application prospects.
It is proposed of the invention, it is therefore an objective to develop a kind of novel powder transfer robot, overcome existing for traditional powder carrying
It is insufficient.
The technical solution of the invention is as follows is achieved:
A kind of promotion indexing overturns transfer robot, including rack, mounting hole position rotaring part position rotaring motor, shaft coupling I, turns
Position axis, indexable thrust bearing, indexable bearing II, opens board I, lifting component, promotes bearing I, promotes thrust axis indexable bearing I
Hold, supporting plate I, lead screw, supporting plate II, shaft coupling II, promoted motor, motor support base, promoted bearing II, bearing block, nut, guide post,
Mechanical arm, overturns component, process oil pocket, process hydraulic fluid port, backhaul oil pocket, screw-casing, backhaul hydraulic fluid port, end cap, output at wearing layer
Axis, bearing I, thrust bearing, bearing II, screw pair I, screw pair II, cylinder body, hopper, shaft coupling III, it is characterised in that described
On the basis of rack is fixed on by mounting hole with foundation bolt；Position rotaring part is by position rotaring motor, shaft coupling I, indexable axis, indexable axis
It holds I, indexable thrust bearing, indexable bearing II, open the composition of board I, position rotaring motor is screwed on the rack, and passes through shaft coupling
Device I and indexable axis connection, indexable axis lean on indexable bearing I and indexable bearing II, indexable thrust bearing support on the rack, open board
I is screwed on indexable axis；Lifting component is by promotion bearing I, promotion thrust bearing, supporting plate I, lead screw, supporting plate II, shaft coupling
Device II promotes motor, motor support base, promotes bearing II, and bearing block, nut, guide post composition, supporting plate I are held with screws tighten opening
On plate I, supporting plate II is fastened on supporting plate I with screw, and bearing block is fastened on supporting plate II with screw, promotes motor and is fastened on motor branch
On seat, motor support base is fastened on supporting plate I, is promoted motor output shaft and is connect by shaft coupling II with lead screw, lead screw one end is by mentioning
Lifting shaft holds I, promotion thrust bearing and is supported on indexable axis, and the other end is supported on bearing block by promoting bearing II, is symmetrically installed
Two guide post one end positioned with seam allowance after be welded on and open on board I, the other end is pressed on supporting plate II with nut；Mechanical arm is led
It is coated with wearing layer into hole and forms slideway with guide post, mechanical arm and lead screw form screw pair, promote motor and drive lead screw positive and negative
Rotation, moves back and forth up and down mechanical arm along the slideway of two guide posts；Component is overturned by process oil pocket, process hydraulic fluid port, backhaul
Oil pocket, screw-casing, backhaul hydraulic fluid port, end cap, output shaft, bearing I, thrust bearing, bearing II, screw pair I, screw pair II, cylinder body
Composition, screw pair I is identical with II screw pitch of screw pair, and output shaft is supported on end cap by bearing I, bearing II, makes by thrust bearing
Its axial restraint, cylinder body and end cap form sealing fluid cylinder pressure, wherein being divided into process oil area and return oil area, outer pressure supply by screw-casing
Power oil enters process oil pocket from process hydraulic fluid port, and oil pressure pushes, so that screw-casing is axially moved to right and is rotated by screw pair II, pass through spiral shell
Rotation pair I rotates counterclockwise output shaft, and the oil of backhaul oil pocket, which is pressed, returns to external fuel tank through backhaul hydraulic fluid port, passes through control process oil
Mouthful with backhaul hydraulic fluid port pressure difference, control output shaft rotational angle, when outer fuel feeding from backhaul hydraulic fluid port enter, return to oil from process hydraulic fluid port
When case, the rotation of output shaft reverse phase restores to original position；Output shaft is connect by shaft coupling III with hopper, and hopper is driven to overturn.
Compared with prior art, it is an advantage of the invention that it will be apparent that being mainly manifested in:
1, environmental suitability is strong, simple and reliable, maintenance cost is low, can adapt to various bad working environments: can be in moist, powder
It is worked normally in the environment such as dirt, high temperature, low temperature.
Detailed description of the invention
The present invention shares 4 width of attached drawing.Wherein:
Fig. 1 is the B-B cross-sectional view of Fig. 4；
Fig. 2 is structure of the invention schematic front view；
Fig. 3 is structure of the invention diagrammatic top view；
Fig. 4 is the A-A cross-sectional view of Fig. 2.
In figure, 1, rack, 2, mounting hole, 3 position rotaring parts, 31, position rotaring motor, 32, shaft coupling I, 33, indexable axis, 34, turn
Position bearing I, 35, indexable thrust bearing, 36, indexable bearing II, 37 open board I, 4, lifting component, and 41, promote bearing I, 42, mention
Liter thrust bearing, 43, supporting plate I, 44, lead screw, 45, supporting plate II, 46, shaft coupling II, 47, promotion motor, 48, motor support base, 49,
Promote bearing II, 410, bearing block, 411, nut, 412, guide post, 5, mechanical arm, 6, wearing layer, 7, overturning component, 71, process
Oil pocket, 72, process hydraulic fluid port, 73, backhaul oil pocket, 74, screw-casing, 75, backhaul hydraulic fluid port, 76, end cap, 77, output shaft, 78, bearing
I, 79, thrust bearing, 710, bearing II, 711, screw pair I, 712, screw pair II, 713, cylinder body, 8, hopper, 9, shaft coupling III.
Specific embodiment
A kind of promotion indexing as shown in Figure 1, Figure 2, Figure 3, Figure 4 overturns transfer robot, including rack 1,2 turns of mounting hole
Position component 3 position rotaring motor 31, shaft coupling I 32, indexable axis 33, indexable bearing I 34, indexable thrust bearing 35, indexable bearing II 36,
Board I 37, lifting component 4 are opened, bearing I 41 is promoted, promotes thrust bearing 42, supporting plate I 43, lead screw 44, supporting plate II 45, shaft coupling
II 46, motor 47, motor support base 48 are promoted, promotes bearing II 49, it is bearing block 410, nut 411, guide post 412, mechanical arm 5, resistance to
Grind layer 6, overturn component 7, process oil pocket 71, process hydraulic fluid port 72, backhaul oil pocket 73, screw-casing 74, backhaul hydraulic fluid port 75, end cap 76,
Output shaft 77, bearing I 78, thrust bearing 79, bearing II 710, screw pair I 711, screw pair II 712, cylinder body 713, hopper 8, connection
Axis device III 9, it is characterised in that on the basis of the rack 1 is fixed on by mounting hole 2 with foundation bolt；Position rotaring part 3 is by turning
Position motor 31, indexable axis 33, indexable bearing I 34, indexable thrust bearing 35, indexable bearing II 36, opens board I 37 at shaft coupling I 32
Composition, position rotaring motor 31 are screwed in rack 1, and are connect by shaft coupling I 32 with indexable axis 33, and indexable axis 33 is by turning
Position bearing I 34 and indexable bearing II 36, indexable thrust bearing 35 are supported in rack 1, are opened board I 37 and are screwed in indexing
On axis 33；Lifting component 4 is by promotion bearing I 41, promotion thrust bearing 42, supporting plate I 43, lead screw 44, supporting plate II 45, shaft coupling II
46, motor 47, motor support base 48 are promoted, promotes bearing II 49, bearing block 410, nut 411, guide post 412 form, and supporting plate I 43 is used
For screws tighten on opening board I 37, supporting plate II 45 is fastened on supporting plate I 43 with screw, and bearing block 410 is fastened on supporting plate II with screw
It on 45, promotes motor 47 and is fastened on motor support base 48, motor support base 48 is fastened on supporting plate I 43, promotes 49 output shaft of motor
It is connect by shaft coupling II 46 with lead screw 44,44 one end of lead screw is supported on indexable axis by promoting bearing I 41, promoting thrust bearing 42
On 33, the other end is supported on bearing block 410 by promoting bearing II 49, and two be symmetrically installed piece guide post, 412 one end seam allowance is fixed
It is welded on and is opened on board I 37 behind position, the other end is pressed on supporting plate II 45 with nut (411)；It is coated in 5 pilot hole of mechanical arm resistance to
It grinds layer 6 and forms slideway with guide post 412, mechanical arm 5 and lead screw 44 form screw pair, promote motor 47 and drive 44 positive and negative rotation of lead screw
It is dynamic, move back and forth up and down mechanical arm 5 along the slideway of two guide posts 412；Component 7 is overturned by process oil pocket 71, process hydraulic fluid port
72, backhaul oil pocket 73, screw-casing 74, backhaul hydraulic fluid port 75, end cap 76, output shaft 77, bearing I 78, thrust bearing 79, bearing II
710, screw pair I 711, screw pair II 712, cylinder body 713 form, and screw pair I 711 is identical with II 712 screw pitch of screw pair, output shaft
77 are supported on end cap 76 by bearing I 78, bearing II 710, make its axial restraint, cylinder body 713 and end cap 76 by thrust bearing 79
Form sealing fluid cylinder pressure, wherein be divided into process oil area and return oil area by screw-casing 74, it is outer for pressure oil from process hydraulic fluid port 72 into
Enter process oil pocket 71, oil pressure pushes, and so that screw-casing 74 is axially moved to right and is rotated by screw pair II 79, makes by screw pair I 78
Output shaft 77 rotates counterclockwise, and the oil of backhaul oil pocket 73, which is pressed, returns to external fuel tank through backhaul hydraulic fluid port 75, passes through control process oil
Mouth 72 and 75 pressure difference of backhaul hydraulic fluid port, control 77 rotational angle of output shaft, when outer fuel feeding enters from backhaul hydraulic fluid port 75, from process oil
When mouth 72 returns to fuel tank, the rotation of 77 reverse phase of output shaft restores to original position；Output shaft 77 is connect by shaft coupling III 9 with hopper 8, band
Dynamic hopper 8 overturns.
Claims (1)
1. a kind of promotion indexing overturns transfer robot, including rack (1), mounting hole (2) position rotaring part (3) position rotaring motor
(31), shaft coupling I (32), indexable axis (33), indexable bearing I (34), indexable thrust bearing (35), indexable bearing II (36), open
Board I (37), lifting component (4) promote bearing I (41), promote thrust bearing (42), supporting plate I (43), lead screw (44), supporting plate
II (45), shaft coupling II (46) promote motor (47), motor support base (48), promote bearing II (49), bearing block (410), nut
(411), guide post (412), mechanical arm (5), wearing layer (6), overturn component (7), process oil pocket (71), process hydraulic fluid port (72), return
Journey oil pocket (73), screw-casing (74), backhaul hydraulic fluid port (75), end cap (76), output shaft (77), bearing I (78), thrust bearing
(79), bearing II (710), screw pair I (711), screw pair II (712), cylinder body (713), hopper (8), shaft coupling III (9),
On the basis of being characterized in that the rack (1) is fixed on by mounting hole (2) with foundation bolt；Position rotaring part (3) is by indexable electricity
Machine (31), shaft coupling I (32), indexable axis (33), indexable bearing I (34), indexable thrust bearing (35), indexable bearing II (36),
Board I (37) composition is opened, position rotaring motor (31) is screwed on rack (1), and passes through shaft coupling I (32) and indexable axis
(33) it connects, indexable axis (33) leans on indexable bearing I (34) and indexable bearing II (36), indexable thrust bearing (35) to be supported on rack
(1) it on, opens board I (37) and is screwed on indexable axis (33)；Lifting component (4) is by promotion bearing I (41), promotion thrust
Bearing (42), lead screw (44), supporting plate II (45), shaft coupling II (46), promotes motor (47), motor support base at supporting plate I (43)
(48), bearing II (49) are promoted, bearing block (410), nut (411), guide post (412) composition, supporting plate I (43) screws tighten exist
It opens on board I (37), supporting plate II (45) is fastened on supporting plate I (43) with screw, and bearing block (410) is fastened on supporting plate II with screw
(45) on, motor (47) is promoted and are fastened on motor support base (48), motor support base (48) is fastened on supporting plate I (43), promotes electricity
Machine (49) output shaft is connect by shaft coupling II (46) with lead screw (44), and lead screw (44) one end is pushed away by promoting bearing I (41), being promoted
Power bearing (42) is supported on indexable axis (33), and the other end is supported on bearing block (410) by promoting bearing II (49), symmetrical to pacify
Two guide post (412) one end of dress are welded on after being positioned with seam allowance and open on board I (37), and the other end is pressed on nut (411)
On supporting plate II (45)；Be coated in mechanical arm (5) pilot hole wearing layer (6) and with guide post (412) form slideway, mechanical arm (5) with
Lead screw (44) forms screw pair, promotes motor (47) and drives lead screw (44) positive and negative rotation, makes mechanical arm (5) along two guide posts
(412) slideway moves back and forth up and down；Overturn component (7) by process oil pocket (71), process hydraulic fluid port (72), backhaul oil pocket (73),
Screw-casing (74), backhaul hydraulic fluid port (75), end cap (76), output shaft (77), bearing I (78), thrust bearing (79), bearing II
(710), screw pair I (711), screw pair II (712), cylinder body (713) composition, screw pair I (711) and screw pair II (712) spiral shell
Away from identical, output shaft (77) is supported on end cap (76) by bearing I (78), bearing II (710), makes its axis by thrust bearing (79)
To fixation, cylinder body (713) and end cap (76) form sealing fluid cylinder pressure, wherein being divided into process oil area and return oil by screw-casing (74)
Area, outer to enter process oil pocket (71) from process hydraulic fluid port (72) for pressure oil, oil pressure pushes, and makes screw-casing by screw pair II (79)
(74) axial to move to right and rotate, rotate counterclockwise output shaft (77) by screw pair I (78), the oil of backhaul oil pocket (73) is pressed
External fuel tank is returned to through backhaul hydraulic fluid port (75), passes through control process hydraulic fluid port (72) and backhaul hydraulic fluid port (75) pressure difference, control output
Axis (77) rotational angle, when outer fuel feeding enters from backhaul hydraulic fluid port (75), when returning to fuel tank from process hydraulic fluid port (72), output shaft (77)
Reverse phase rotation restores to original position；Output shaft (77) is connect by shaft coupling III (9) with hopper (8), and hopper (8) is driven to overturn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810930055.0A CN109015624A (en) | 2018-08-15 | 2018-08-15 | It promotes indexing and overturns transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810930055.0A CN109015624A (en) | 2018-08-15 | 2018-08-15 | It promotes indexing and overturns transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015624A true CN109015624A (en) | 2018-12-18 |
Family
ID=64630454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810930055.0A Pending CN109015624A (en) | 2018-08-15 | 2018-08-15 | It promotes indexing and overturns transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015624A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3212649A (en) * | 1960-07-15 | 1965-10-19 | American Mach & Foundry | Machine for performing work |
| US4336926A (en) * | 1979-06-30 | 1982-06-29 | Fujitsu Fanuc Limited | Workpiece manipulator |
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN103846914A (en) * | 2013-08-12 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Novel part carrying device |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
-
2018
- 2018-08-15 CN CN201810930055.0A patent/CN109015624A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3212649A (en) * | 1960-07-15 | 1965-10-19 | American Mach & Foundry | Machine for performing work |
| US4336926A (en) * | 1979-06-30 | 1982-06-29 | Fujitsu Fanuc Limited | Workpiece manipulator |
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN103846914A (en) * | 2013-08-12 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Novel part carrying device |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
Non-Patent Citations (1)
| Title |
|---|
| 我叫李诺诺: "螺旋摆动油缸原理", 《百度文库》 * |
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| 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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181218 |