CN109335658A - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
- Publication number
- CN109335658A CN109335658A CN201811381989.XA CN201811381989A CN109335658A CN 109335658 A CN109335658 A CN 109335658A CN 201811381989 A CN201811381989 A CN 201811381989A CN 109335658 A CN109335658 A CN 109335658A
- Authority
- CN
- China
- Prior art keywords
- driving
- grip block
- holding tank
- top plate
- transfer robot
- 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
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
Abstract
The invention discloses a kind of transfer robots, it is related to transfer robot technical field, including body, top plate on body and the guide wheel set on organism bottom, positioning table is connected on top plate, positioning table is rotatably connected on top plate by shaft, the shape of positioning table and the shape of top plate are identical, the driving mechanism for driving shaft to determine angle rotation is equipped in body, driving mechanism include the concentric driven disc being fixed in shaft and be set to the intracorporal driving link of machine, driving link is adapted to driven disc, holding tank is offered in body, top plate sliding is connected in holding tank, the lifters for driving top plate to slide in vertical direction are additionally provided in holding tank, it can more be accurately aligned with orientation locating for the equipment of next process during carrying workpiece, and spend the time less, precision is high, improve automated production The accuracy of line and carrying, working efficiency.
Description
Technical field
The present invention relates to transfer robot technical fields, more particularly to a kind of transfer robot.
Background technique
The artificial applied robot's motion profile of conveying robot realizes the automated production for replacing manual handling, can carry out certainly
The industrial robot of dynamicization transport operation.Earliest transfer robot appears in the U.S. of nineteen sixty, and transport operation refers to one
Kind equipment holds workpiece, refers to from a Working position and moves on to another Working position.
The mountable different end effector of transfer robot is to complete the workpiece handling works of various different shapes and state
Make, significantly reduces the heavy manual labor of the mankind.The transfer robot used in the world exceedes 100,000, is widely used in machine
The automatic transporting of bed loading and unloading, press machine automatic production line, automatic assembly line, Palletised carry, container etc..It sends out part
Manual handling has been made to greatest extent up to country, and what is gone beyond the limit must be completed by transfer robot.
Transfer robot is the new and high technology that modern age automation field occurs, and has been related to mechanics, mechanics, electricity
Device hydraulic-pneumatic technology, automatic control technology, sensor technology, the ambits such as singlechip technology and computer technology have become
For an important component in modern mechanical manufacturing production system.Its advantages are can to complete various expections by programming
Task, have the respective advantage of people and machine in self structure and performance, especially embodied artificial intelligence and adaptability.
AGV Intelligent transfer robot is also one kind of transfer robot, is often known as AGV, and main function concentrates on certainly
Animal stream removes transhipment, and AGV Intelligent transfer robot is by special ground marker navigation automatically by goods transportation to designated place, most often
The guidance mode seen is magnetic stripe guidance, laser aiming, RFID guidance etc..
It is also the minimum mode of cost that the mode of magnetic stripe guidance, which is common, but website be provided with certain limitation and
There is certain influence to place decoration style;Laser aiming cost highest is also relatively high to site requirements so not using generally;
RFID guides moderate cost, its advantage is that guidance accuracy is high, website setting is more convenient can to meet most complicated website layout, to field
Environment is integrally fitted up without influence, secondly RFID high security stability is also that magnetic stripe navigation and laser navigation mode do not have
's.
Currently, the Chinese patent of Publication No. CN207810515U discloses a kind of transfer robot, structure includes report
Alert device, wireless camera, operation panel, tightly stop button, Antiskid handle, LED illumination lamp, obstacle avoidance sensor, safe touch side device,
Power switch, front-wheel drive system, body, rear wheel drive mechanism；
The bottom of body is connected with front-wheel drive system, rear wheel drive mechanism respectively, and front-wheel drive system is set to rear-wheel in parallel
Before driving mechanism, the positive bottom of body is equipped with the safe touch side device being attached thereto, and safe touch side device, which is located at, to be kept away
Hinder the underface of sensor, obstacle avoidance sensor passes through with body to be electrically connected.
Although this Intelligent transfer robot has the function of monitoring camera-shooting, can by being wirelessly connected with external equipment,
To be monitored in real time, but when it is applied in the production line of automation, during carrying workpiece, one of work under docking
When sequence, need to spend more time to adjust the angle of itself to adapt to orientation locating for the equipment of next process, cost
Time is more, and it is lower to adjust precision.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of transfer robot, the top including body, on body
Plate and guide wheel set on organism bottom are connected with positioning table on top plate, and positioning table is rotatably connected on top plate by shaft, peace
The shape for setting platform is identical as the shape of top plate, and the cylindricality fixed mechanism for gripping cylindrical material is additionally provided on body,
Cylindricality fixed mechanism includes the arc grip block that several are slidably connected on body, and arc grip block is around body surface in circle
Shape distribution, body are equipped with terminal pad, and arc grip block slides in terminal pad；
Clamping piece is additionally provided on body, for driving several arc grip blocks while the synchronous circle toward and away from terminal pad
Direction sliding, to complete the clamping of cylindrical material or loosen；
Clamping piece includes the grip block that sliding is connected in terminal pad, and grip block is relatively fixed with arc pressuring plate, in terminal pad
Corresponding grip block offers holding tank, and by the circle of terminal pad, diverging is distributed holding tank outward.
Technical effect: the present invention can more be accurately aligned with the equipment institute of next process during carrying workpiece
The orientation at place, and spend the time less, precision is high, improves the accuracy and carrying, working efficiency of automatic production line.
The technical solution that the present invention further limits is:
Further, driven disc is integrally in the setting of ratchet shape, and outer circle position is equipped with several identical ratchets, ratchet
If being arranged around driven disk center and driven disc being divided into stem portion.
A kind of preceding transfer robot, holding tank are linearly distributed, and grip block is embedded in holding tank, and grip block
It can be slid along the extending direction of holding tank, the impeller for driving grip block to slide is additionally provided in body.
A kind of preceding transfer robot, impeller include the active being parallel to each other in body and with terminal pad
Disk, the interior active motor being equipped with for driving active disc spins of body, the output shaft of active motor are fixed on the center of circle of driving disc spacing pressing
Position.
A kind of preceding transfer robot corresponds to holding tank on driving disc spacing pressing and offers several mutually isostructural actives
Slot, active slot are integrally in arc shape, and active slot and holding tank are interlaced.
A kind of preceding transfer robot, the side of grip block towards active slot are fixed with interlocking lever, and interlocking lever extends
To active slot, and the diameter of interlocking lever and active slot is of same size.
A kind of preceding transfer robot, driving disc spacing pressing are equipped with the helical flute in Archimedes spiral shape, grip block
Bottom be equipped with the loose slot that is adapted to helical flute, loose slot is mutually adapted with helical flute.
A kind of preceding transfer robot, body front is equipped with control panel, and organism bottom is rotatably connected to deflector roll,
Body drives entirely through the intracorporal servo motor of the machine of being set to.
The beneficial effects of the present invention are:
(1) present invention works as conveying robot man-hour, and the driving link in body can drive driven disc spins, drives shaft and peace
Platform rotation is set, since driving link can determine the angle of rotation, transfer robot can pre-set the rotation angle of driving link
The equipment to be adapted to subsequent processing is spent, so that the time needed for reducing transfer robot unitary rotation, improves whole work efficiency；
Cylindrical part can be clamped by the cylindricality fixed mechanism in front of it simultaneously, promotes its practical function.
(2) driving cylinder drives driving lever activity in the present invention, due to being hinged on body among follower, works as driving lever
Activity, it will be able to drive follower to rotate around hinge joint, to pull two driving pawl activities, driving pawl is matched with ratchet
It closes, it will be able to driven disc spins are pulled, and since ratchet is angularly distributed, activity drives driven disc rotation to driving cylinder every time
Angle is fixed, therefore achievees the effect that determine angle rotation；
(3) spring is arranged between baffle and driving ratchet in the present invention, and driving spring can be pulled to rotate towards ratchet, to keep
Cooperation between driving spring and driving disc spacing pressing；
(4) present invention when driving motor rotate, be able to drive driving gear rotation, thus drive drive rack in holding tank on
Lower sliding, burrows and goes up and down the effect of top plate and setter plate；
(5) there is self-locking performance, therefore after driving worm gear rotation stops in the present invention between worm and wheel, existing self-locking performance
It can guarantee that drive rack is maintained at present level and position.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is in embodiment 1 for showing the schematic diagram of driving link；
Fig. 3 is in embodiment 1 for showing the schematic diagram of driving mechanism；
Fig. 4 is in embodiment 1 for showing the schematic diagram of cylindricality fixed mechanism；
Fig. 5 is in embodiment 1 for showing the schematic diagram of clamping piece and impeller；
Fig. 6 is the structural schematic diagram of embodiment 2；
Wherein: 1, body；11, top plate；12, guide wheel；13, holding tank；14, control panel；15, deflector roll；2, positioning table；21, turn
Axis；3, driving mechanism；31, driving link；311, driving lever；312, driving portion；313, follower；314, pawl is driven；315, it drives
It takes offence cylinder；316, baffle；317, spring；32, driven disc；321, ratchet；4, lifters；41, drive rack；42, gear is driven；
43, driving motor；44, worm screw is driven；45, worm gear is driven；46, jackshaft；5, cylindricality fixed mechanism；51, arc grip block；
52, terminal pad；6, clamping piece；61, grip block；62, holding tank；7, impeller；71, driving disc spacing pressing；72, active motor；73, actively
Slot；74, loose slot；75, interlocking lever；76, helical flute.
Specific embodiment
Embodiment 1
A kind of transfer robot provided in this embodiment, as shown in Figure 1 comprising the generally body 1 of rectangular shape, body
The 1 trapezoidal shape in front is equipped with top plate 11 at the top of body 1, and 1 bottom of body is equipped with several and is rotatably connected on the guide wheel on body 1
12, it is equipped with control panel 14 in front of body 1, and 1 lower rotation of body is connected with deflector roll 15, body 1 is entirely through being set to body 1
Interior servo motor driving.
As depicted in figs. 1 and 2, positioning table 2 is connected on top plate 11, positioning table 2 is rotatably connected on top plate by shaft 21
On 11, the shape of positioning table 2 is identical as the shape of top plate 11.The drive for driving shaft 21 to determine angle rotation is equipped in body 1
Motivation structure 3, driving mechanism 3 include the concentric driven disc 32 being fixed in shaft 21 and the driving link 31 in body 1,
Driving link 31 is adapted to driven disc 32.
As shown in Figures 2 and 3, driven disc 32 is whole is arranged in ratchet shape, and outer circle position is equipped with several complete phases
Same ratchet 321, if ratchet 321 is arranged around 32 center of driven disc and driven disc 32 is divided into stem portion.Driving link 31 wraps
Driving lever 311 is included, driving lever 311 includes orthogonal driving portion 312 and follower 313, and 313 both ends of follower are hinged with
Pawl 314 is driven, driving pawl 314 is engaged with the ratchet 321 of different location on driven disc 32 respectively.
Driving link 31 further includes the driving cylinder 315 in body 1, and the ontology of driving cylinder 315 is hinged on body 1
It is interior, and the output shaft of cylinder 315 is driven to be hinged on 312 end of driving portion.Two sides in body 1 positioned at follower 313 are fixed with
Baffle 316 is connected with spring 317 between baffle 316 and driving pawl 314, for pulling driving pawl 314 towards ratchet side
Rotation.
It drives cylinder 315 to drive 311 activity of driving lever, due to being hinged on body 1 among follower 313, works as driving lever
311 activities, it will be able to drive follower 313 to rotate around hinge joint, to pull two driving pawls, 314 activity, drive spine
Pawl 314 and ratchet 321 cooperate, it will be able to and pull driven disc 32 to rotate, and since ratchet 321 is angularly distributed, drive cylinder 315
The angle that activity drives driven disc 32 to rotate every time is fixed, therefore achievees the effect that determine angle rotation.
Holding tank 13 is offered in body 1, the sliding of top plate 11 is connected in holding tank 13, is additionally provided with and is used in holding tank 13
The lifters 4 that driving top plate 11 slides in vertical direction, lifters 4 are connected in holding tank 13 including sliding and one end is fixed
Drive rack 41 in setter plate bottom further includes the driving gear 42 being rotatably connected in holding tank 13, driving gear 42 with
Drive rack 41 is intermeshed.
Lifters 4 further include driving motor 43, and driving worm screw 44, sliding tooth are integrally formed on the output shaft of driving motor 43
Wheel 42 is rotatably connected in holding tank 13 by jackshaft 46, concentric on jackshaft 46 to be equipped with driving worm gear 45, drives worm gear
45 are meshed with driving worm screw 44.
As shown in figure 4, being additionally provided with the cylindricality fixed mechanism 5 for gripping cylindrical material on body 1, cylindricality is fixed
Mechanism 5 includes that several are slidably connected at the arc grip block 51 on body 1, and arc grip block 51 is around 1 surface of body in circle
Shape distribution, body 1 are equipped with terminal pad 52, and arc grip block 51 slides in terminal pad 52.Clamping piece 6 is additionally provided on body 1,
For driving several arc grip blocks 51 while the synchronous circular direction sliding toward and away from terminal pad 52, to complete cylinder
The clamping of shape material is loosened.
As shown in Figure 4 and Figure 5, clamping piece 6 includes the grip block 61 that sliding is connected in terminal pad 52, grip block 61 and arc
Shape connecting plate is relatively fixed, and grip block 61 is corresponded in terminal pad 52 and offers holding tank 62, holding tank 62 by terminal pad 52 circle
Shape dissipates distribution outward, and holding tank 62 is linearly distributed, and grip block 61 is embedded in holding tank 62, and grip block 61 can be along
The extending direction of holding tank 62 slides, and the impeller 7 for driving grip block 61 to slide is additionally provided in body 1.Impeller 7 includes
The driving disc spacing pressing 71 being parallel to each other in body 1 and with terminal pad 52, the interior master being equipped with for driving driving disc spacing pressing 71 to rotate of body 1
Dynamic motor 72, the output shaft of active motor 72 are fixed on the center location of driving disc spacing pressing 71.
Holding tank 62 is corresponded on driving disc spacing pressing 71 and offers several mutually isostructural active slots 73, and whole active slot 73 is in arc
Wire shaped, active slot 73 and holding tank 62 are interlaced.The side of grip block 61 towards active slot 73 is fixed with interlocking lever 75, even
Lever 75 extends in active slot 73, and the diameter of interlocking lever 75 and active slot 73 is of same size.
Embodiment 2
A kind of transfer robot provided in this embodiment, as shown in fig. 6, difference from example 1 is that, on driving disc spacing pressing 71
Equipped with the helical flute 76 for being in Archimedes spiral shape, the bottom of grip block 61 is equipped with the loose slot 74 being adapted to helical flute 76,
Loose slot 74 is mutually adapted with helical flute 76.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (7)
1. a kind of transfer robot including body (1), the top plate (11) being set on body (1) and is set to body (1) bottom
Guide wheel (12), it is characterised in that: be connected with positioning table (2) on the top plate (11), positioning table (2) is connected by shaft (21) rotation
It connecing on top plate (11), the shape of positioning table (2) is identical as the shape of top plate (11),
The cylindricality fixed mechanism (5) for gripping cylindrical material, cylindricality fixed mechanism (5) packet are additionally provided on body (1)
Several arc grip blocks (51) being slidably connected on body (1) are included, arc grip block (51) is around body (1) surface in circle
Shape distribution, body (1) are equipped with terminal pad (52), and arc grip block (51) slides on terminal pad (52)；
Clamping piece (6) are additionally provided on body (1), for driving several arc grip blocks (51) while synchronizing toward and away from even
The circular direction sliding of disk (52) is connect, to complete the clamping of cylindrical material or loosen；
Clamping piece (6) includes the grip block (61) that sliding is connected on terminal pad (52), grip block (61) and arc pressuring plate phase
To fixation, grip block (61) is corresponded in terminal pad (52) and is offered holding tank (62), holding tank (62) by terminal pad (52) circle
Shape dissipates distribution outward.
2. a kind of transfer robot according to claim 1, it is characterised in that: the holding tank (62) is linearly distributed,
Grip block (61) is embedded in holding tank (62), and grip block (61) can slide along the extending direction of holding tank (62), machine
The impeller (7) for driving grip block (61) to slide is additionally provided in body (1).
3. a kind of transfer robot according to claim 2, it is characterised in that: the impeller (7) includes being set to body
(1) driving disc spacing pressing (71) being parallel to each other in and with terminal pad (52), body (1) is interior to be equipped with for driving driving disc spacing pressing (71) to rotate
The output shaft of active motor (72), active motor (72) is fixed on the center location of driving disc spacing pressing (71).
4. a kind of transfer robot according to claim 3, it is characterised in that: correspond to holding tank on the driving disc spacing pressing (71)
(62) several mutually isostructural active slots (73) are offered, active slot (73) is integrally in arc shape, active slot (73) and folder
It is interlaced to hold slot (62).
5. a kind of transfer robot according to claim 4, it is characterised in that: the grip block (61) is towards active slot
(73) side is fixed with interlocking lever (75), and interlocking lever (75) extends in active slot (73), and the diameter of interlocking lever (75) with
Active slot (73) it is of same size.
6. a kind of transfer robot according to claim 3, it is characterised in that: it is in A Ji that the driving disc spacing pressing (71), which is equipped with,
The helical flute (76) of Mead spiral shape, the bottom of grip block (61) are equipped with the loose slot (74) being adapted to helical flute (76), living
Dynamic slot (74) are mutually adapted with helical flute (76).
7. a kind of transfer robot according to claim 6, it is characterised in that: be equipped with manipulation in front of the body (1) (1)
Panel (14) (14), and body (1) (1) lower rotation is connected with deflector roll (15) (15), body (1) (1) is entirely through the machine of being set to
Servo motor driving in body (1) (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811381989.XA CN109335658A (en) | 2018-11-20 | 2018-11-20 | A kind of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811381989.XA CN109335658A (en) | 2018-11-20 | 2018-11-20 | A kind of transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109335658A true CN109335658A (en) | 2019-02-15 |
Family
ID=65316566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811381989.XA Pending CN109335658A (en) | 2018-11-20 | 2018-11-20 | A kind of transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109335658A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111646176A (en) * | 2020-06-12 | 2020-09-11 | 许翠英 | Printing waste recycling process |
| CN113277275A (en) * | 2021-05-19 | 2021-08-20 | 雒浪浪 | Automatic handling system based on AGV and multi-AGV cooperation method |
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| JPS6449237A (en) * | 1987-08-20 | 1989-02-23 | Tokyo Electron Ltd | Method of conveying by robot |
| JP2002145448A (en) * | 2000-11-08 | 2002-05-22 | Kawasaki Heavy Ind Ltd | Reversal piling up device |
| KR101527924B1 (en) * | 2014-10-20 | 2015-06-10 | 동병길 | Construction waste disposal system |
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| CN107364698A (en) * | 2017-09-08 | 2017-11-21 | 陕西来复科技发展有限公司 | Transport angles adjustable intelligent transportation robot |
| CN207139833U (en) * | 2017-02-21 | 2018-03-27 | 成都叮当自动化设备有限公司 | A kind of gripper of industrial robot |
| CN107857066A (en) * | 2017-11-01 | 2018-03-30 | 深圳市泰力废旧电池回收技术有限公司 | A kind of intelligent vehicle equipment for old and useless battery treatment |
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| JP2002145448A (en) * | 2000-11-08 | 2002-05-22 | Kawasaki Heavy Ind Ltd | Reversal piling up device |
| KR101527924B1 (en) * | 2014-10-20 | 2015-06-10 | 동병길 | Construction waste disposal system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111646176A (en) * | 2020-06-12 | 2020-09-11 | 许翠英 | Printing waste recycling process |
| CN111646176B (en) * | 2020-06-12 | 2021-09-10 | 安徽蕴辉科技有限公司 | Printing waste recycling process |
| CN113277275A (en) * | 2021-05-19 | 2021-08-20 | 雒浪浪 | Automatic handling system based on AGV and multi-AGV cooperation method |
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Application publication date: 20190215 |