CN109531553A - A kind of intelligent robot for flow line production - Google Patents
A kind of intelligent robot for flow line production Download PDFInfo
- Publication number
- CN109531553A CN109531553A CN201710866249.4A CN201710866249A CN109531553A CN 109531553 A CN109531553 A CN 109531553A CN 201710866249 A CN201710866249 A CN 201710866249A CN 109531553 A CN109531553 A CN 109531553A
- Authority
- CN
- China
- Prior art keywords
- motor
- screw rod
- rod
- pedestal
- screw thread
- 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
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/123—Linear actuators
Abstract
The present invention relates to a kind of intelligent robots for flow line production, including pedestal, driving mechanism, elevating mechanism, grasping mechanism, Zhong Kong mechanism and four mobile mechanisms, mobile mechanism is set on the base, driving mechanism is set on the base and is sequentially connected with elevating mechanism, elevating mechanism is arranged in the top of grasping mechanism and is sequentially connected with grasping mechanism, Zhong Kong mechanism is set on the base, mobile mechanism includes first motor, first screw rod, sleeve, first connecting rod, idler wheel, supporting block and two fixed links, this is used for the intelligent robot of flow line production, clamping plate can adjust optimal clamping angle by going up and down and rotating, clamping plate is equipped with foam-rubber cushion simultaneously, scuffing can be generated to avoid to the product being crawled, when telescopic rod elongation, idler wheel can drive pedestal mobile, so that whole carried, it greatly improves Whole mobility, improves the market competitiveness.
Description
Technical field
The present invention relates to robot field, in particular to a kind of intelligent robot for flow line production.
Background technique
Intelligent robot has panoramic internal information sensor and external information sensor, such as vision, the sense of hearing, touching
Feel, smell.In addition to receptor, there are also effectors for it, as the means for acting on ambient enviroment.Here it is muscles, or
Motor synchronizing motor, they move up hand, foot, long-snouted, feeler etc..Thus it will also realize that, intelligent robot will at least have
Three elements: feel element, reaction element and thinking element.
Current intelligent robot is commonly used to the production of workshop assembly line, these intelligent robot volumes are big, and weight is big,
After fixed, it is not easy to it is mobile, and mechanical arm is mostly stainless steel, is easy to cause to scratch to some products easy to damage, wipe
Wound causes existing intelligent robot practicability to reduce.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing a kind of raw for assembly line
The intelligent robot of production.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligence machine for flow line production
People, including pedestal, driving mechanism, elevating mechanism, grasping mechanism, Zhong Kong mechanism and four mobile mechanisms, the mobile mechanism set
It sets on pedestal, the driving mechanism is set on the base and is sequentially connected with elevating mechanism, and the elevating mechanism setting is being grabbed
It takes the top of mechanism and is sequentially connected with grasping mechanism, the Zhong Kong mechanism is set on the base；
The mobile mechanism includes first motor, the first screw rod, sleeve, first connecting rod, idler wheel, supporting block and two fixed links,
The lower section of pedestal is arranged in the supporting block, and two fixed links are separately positioned on the two sides of first motor, and the first motor is logical
It crosses fixed link to be fixedly connected with pedestal, the top of the first motor and the first screw rod is sequentially connected, and the sleeve is set in the
On one screw rod, internal screw thread is equipped in the sleeve, first screw rod is equipped with external screw thread, internal screw thread in the sleeve and the
External screw thread matching on one screw rod, the pedestal are equipped with first through hole, and the sleeve passes through pedestal, the set through first through hole
The bottom end of cylinder and the top of first connecting rod connect, and the bottom end of the first connecting rod is connect with idler wheel；
The grasping mechanism includes the 4th motor, fixed block, the 5th motor, the second screw rod, third screw rod, limit plate, two the
Five connecting rods, two sliding shoes and two clamping plates, the 4th motor are arranged in the first rack gear, and the 4th motor passes through driving
The transmission connection of the top of axis and fixed block, the bottom end of the fixed block are connect with limit plate, and the 5th motor setting is limiting
On plate, second screw rod and third screw rod are horizontally disposed, and one end of second screw rod and one end of third screw rod are all provided with
It sets in fixed block, one end of second screw rod is connect with one end of third screw rod, the external screw thread direction of second screw rod
Contrary with the external screw thread of third screw rod, two sliding shoes are respectively sleeved on the second screw rod and third screw rod, described
The inside of sliding shoe is equipped with internal screw thread, in two sliding shoes, on the internal screw thread and the second screw rod in one of sliding shoe
External screw thread match, the internal screw thread in another sliding shoe matches with the external screw thread on third screw rod, the sliding shoe
Bottom end is contacted with limit plate, is set on the limit plate there are two sliding slot, the top of the 5th connecting rod passes through limit plate through sliding slot
It is connect with sliding shoe, the bottom end of the 5th connecting rod is connect with clamping plate, and the 5th connecting rod is slidably connected in sliding slot, two folders
Plate inclination is symmetrical arranged；
The driving mechanism includes the second motor, the first drive rod, the first follower lever and crossbeam, and second motor is arranged the bottom of at
In seat, first drive rod is vertically arranged, and second motor and the first drive rod are sequentially connected, and first drive rod is set
It sets inside the first follower lever, the bottom end of first follower lever is connect with pedestal, the top of first follower lever and crossbeam
One end connection, the crossbeam is horizontally disposed；
The elevating mechanism includes driving unit, second gear and the first rack gear, and the second gear is engaged with the first rack gear, institute
Crossbeam is stated equipped with first through hole, first rack gear passes through crossbeam through first through hole, and first rack gear is vertically arranged.
Preferably, in order to improve mobility, the idler wheel is universal wheel.
Preferably, in order to protect the product being handled upside down, the surface of the clamping plate is equipped with foam-rubber cushion.
Preferably, in order to improve the precision of motor and service life, the first motor, the second motor, third electricity
Machine, the 4th motor, the 5th motor are servo motor.
Preferably, the Zhong Kong mechanism includes display screen and several buttons, the display screen in order to more carefully observe
For liquid crystal display.
Preferably, in order to more be accurately controlled, the first motor, the second motor, third motor, the 4th motor,
Five motors are electrically connected with each button respectively.
Preferably, in order to improve the stability of grasping mechanism, second screw rod and third screw rod are integrally formed knot
Structure.
Preferably, in order to make elevating mechanism conversion position, the driving unit includes third motor, flywheel, third company
Bar, fourth link, the first limited block, movable plate, first gear and shaft, the third motor are arranged in crossbeam, and described the
Three motors are connect by drive shaft with flywheel, and one end of the third connecting rod and flywheel are hinged, the third connecting rod it is another
One end and one end of fourth link are hinged, and the other end of the fourth link is connect with movable plate, and first limited block is fixed
In crossbeam, the fourth link pass through the first limited block, the movable plate be equipped with the first groove, first groove it is upper
End is equipped with bar shaped tooth, and the bar shaped tooth on first groove is engaged with first gear, and the first gear passes through shaft and second
Gear drive connection.
The invention has the advantages that this is used for the intelligent robot of flow line production, clamping plate can be by going up and down and revolving
It transfers and adjusts optimal clamping angle, while clamping plate is equipped with foam-rubber cushion, scuffing can be generated to avoid to the product being crawled, when
When telescopic rod extends, idler wheel can drive pedestal mobile, so that whole carried, substantially increase whole motor-driven
Property, improve the market competitiveness.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the intelligent robot for flow line production of the invention.
Fig. 2 is the structural schematic diagram of the mobile mechanism of the intelligent robot for flow line production of the invention；
Fig. 3 is the structural schematic diagram of the driving unit of the intelligent robot for flow line production of the invention；
Fig. 4 is the structural schematic diagram of the elevating mechanism of the intelligent robot for flow line production of the invention；
Fig. 5 is the structural schematic diagram of the driving mechanism of the intelligent robot for flow line production of the invention；
Fig. 6 is the structural schematic diagram of the Zhong Kong mechanism of the intelligent robot for flow line production of the invention；
Fig. 7 is the structural schematic diagram of the grasping mechanism of the intelligent robot for flow line production of the invention.
In figure: 1. pedestals, 2. first motors, 3. fixed links, 4. first screw rods, 5. sleeves, 6. first connecting rods, 7. idler wheels,
8. supporting block, 9. mobile mechanisms, 10. second motors, 11. first drive rods, 12. first follower levers, 13. crossbeams, 14. thirds electricity
Machine, 15. flywheels, 16. grasping mechanisms, 17. third connecting rods, 18. fourth links, 19. first limited blocks, 20. movable plates, 21.
One gear, 22. shafts, 23. second gears, 24. first rack gears, 25. the 4th motors, 26. fixed blocks, 27. the 5th motors, 28.
Second screw rod, 29. third screw rods, 30. sliding shoes, 31. limit plates, 32. the 5th connecting rods, 33. clamping plates, 34. Zhong Kong mechanisms, 35.
Display screen, 36. buttons, 37. driving mechanisms, 38. elevating mechanisms.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in figs. 1-7, a kind of intelligent robot for flow line production, including pedestal 1, driving mechanism 37, lifting
Mechanism 38, grasping mechanism 16, Zhong Kong mechanism 34 and four mobile mechanisms 9, the mobile mechanism 9 are arranged on pedestal 1, the drive
Motivation structure 37 is arranged on pedestal 1 and is sequentially connected with elevating mechanism 39, and grasping mechanism 16 is arranged in the elevating mechanism 38
It top and is sequentially connected with grasping mechanism 16, the Zhong Kong mechanism 34 is arranged on pedestal 1；
The mobile mechanism 9 includes first motor 2, the first screw rod 4, sleeve 5, first connecting rod 6, idler wheel 7, supporting block 8 and two
The lower section of pedestal 1 is arranged in fixed link 3, the supporting block 8, and two fixed links 3 are separately positioned on the two sides of first motor 2, institute
It states first motor 2 to be fixedly connected by fixed link 3 with pedestal 1, the top transmission connection of the first motor 2 and the first screw rod 4,
The sleeve 5 is set on the first screw rod 4, and internal screw thread is equipped in the sleeve 5, and first screw rod 4 is equipped with external screw thread, institute
The internal screw thread stated in sleeve 5 is matched with the external screw thread on the first screw rod 4, and the pedestal 1 is equipped with first through hole, the sleeve 5
Pedestal 1 is passed through through first through hole, the bottom end of the sleeve 5 is connect with the top of first connecting rod 6, the bottom end of the first connecting rod 6
It is connect with idler wheel 7；
The grasping mechanism 16 includes the 4th motor 25, fixed block 26, the 5th motor 27, the second screw rod 28, third screw rod 29, limit
Position plate 31, two the 5th connecting rods, 32, two sliding shoes 30 and two clamping plates 33, the 4th motor 25 are arranged in the first rack gear 24
Interior, the 4th motor 25 is sequentially connected by the top of drive shaft and fixed block 26, the bottom end of the fixed block 26 and limit
Plate 31 connects, and the 5th motor 27 is arranged on limit plate 31, and second screw rod 28 and third screw rod 29 are horizontally disposed,
One end of second screw rod 28 and one end of third screw rod 29 are arranged in fixed block 26, one end of second screw rod 28
It is connect with one end of third screw rod 29, the external screw thread direction of second screw rod 28 and the external screw thread direction phase of third screw rod 29
Instead, two sliding shoes 30 are respectively sleeved on the second screw rod 28 and third screw rod 29, and the inside of the sliding shoe 30 is equipped with
Internal screw thread, in two sliding shoes 30, the internal screw thread in one of sliding shoe 30 and the external screw thread phase on the second screw rod 28
It matches, the internal screw thread in another sliding shoe 30 matches with the external screw thread on third screw rod 29, the bottom end of the sliding shoe 30
It contacts, is set on the limit plate 31 there are two sliding slot, the top of the 5th connecting rod 32 passes through limit through sliding slot with limit plate 31
Plate 31 is connect with sliding shoe 30, and the bottom end of the 5th connecting rod 32 is connect with clamping plate 33, and the 5th connecting rod 32 is sliding in sliding slot
Dynamic connection, two inclinations of clamping plate 33 are symmetrical arranged；
The driving mechanism 37 includes the second motor 10, the first drive rod 11, the first follower lever 12 and crossbeam 13, second electricity
Machine 10 is arranged in pedestal 1, and first drive rod 11 is vertically arranged, and second motor 10 and the transmission of the first drive rod 11 connect
It connecing, first drive rod 11 is arranged inside the first follower lever 12, and the bottom end of first follower lever 12 is connect with pedestal 1,
The top of first follower lever 12 is connect with one end of crossbeam 13, and the crossbeam 13 is horizontally disposed；
The elevating mechanism 38 includes driving unit, second gear 23 and the first rack gear 24, the second gear 23 and the first tooth
Item 24 engage, the crossbeam 13 be equipped with first through hole, first rack gear 24 through first through hole pass through crossbeam 13, described first
Rack gear 24 is vertically arranged.
Preferably, in order to improve mobility, the idler wheel 7 is universal wheel.
Preferably, in order to protect the product being handled upside down, the surface of the clamping plate 33 is equipped with foam-rubber cushion.
Preferably, in order to improve the precision of motor and service life, the first motor 2, the second motor 10, third
Motor 14, the 4th motor 25, the 5th motor 27 are servo motor.
Preferably, the Zhong Kong mechanism 34 includes display screen 35 and several buttons 36, described in order to more carefully observe
Display screen 35 is liquid crystal display.
Preferably, in order to more be accurately controlled, the first motor 2, the second motor 10, the 14, the 4th electricity of third motor
Machine 25, the 5th motor 27 are electrically connected with each button respectively.
Preferably, in order to improve the stability of grasping mechanism, second screw rod 28 is integrated into third screw rod 29
Type structure.
Preferably, in order to make elevating mechanism conversion position, the driving unit includes third motor 14, flywheel 15,
Three-link 17, fourth link 18, the first limited block 19, movable plate 20, first gear 21 and shaft 22, the third motor 14 are set
Set in crossbeam 13, the third motor 14 is sequentially connected by drive shaft and flywheel 15, one end of the third connecting rod 17 with
Flywheel 15 is hinged, and the other end of the third connecting rod 17 and one end of fourth link 18 are hinged, the fourth link 18 it is another
End is connect with movable plate 20, and first limited block 19 is fixed in crossbeam 13, and the fourth link 18 passes through the first limited block
19, the movable plate 20 is equipped with the first groove, and the upper end of first groove is equipped with bar shaped tooth 39, on first groove
Bar shaped tooth 39 is engaged with first gear 21, and the first gear 21 is sequentially connected by shaft 22 and second gear 23.
This is used for the intelligent robot of flow line production, since first motor 2 and the first screw rod 4 are sequentially connected, 5 sets of sleeve
It is located on the first screw rod 4, the internal screw thread in sleeve 5 matches with the external screw thread on the first screw rod 4, and sleeve 5 is worn through first through hole
Pedestal 1 is crossed, the bottom end of sleeve 5 is connect by first connecting rod 6 with the top of idler wheel 7, drives the first screw rod when first motor 2 works
When 4 rotation, the first screw rod 4 is slided with moving sleeve 5, so that first connecting rod 6 be driven to move up and down, is moved down on idler wheel 7 to drive
Dynamic, since the second motor 10 and the first drive rod 11 are sequentially connected, the first drive rod 11 is arranged in the first follower lever 12, crossbeam
13 one end is connect with the top of the first follower lever 12, when the second motor 10 drives the rotation of the first drive rod 11, the first driving
Bar 11 drives the rotation of the first follower lever 12 so that crossbeam 13 moves in a circle, due to third motor 14 by drive shaft with
Flywheel 15 is sequentially connected, and one end of third connecting rod 17 and flywheel 15 are hinged, the other end and the fourth link 18 of third connecting rod 17
One end is hinged, and the other end of fourth link 18 is connect with movable plate 20, and fourth link 18 passes through the first limited block 19, so when the
When three motors 14 drive flywheel 15 to rotate, flywheel 15 drives third connecting rod 17 to do simple harmonic motion, so that fourth link 18 is along the
One limited block 19 moves reciprocatingly, and since movable plate 20 is equipped with the first groove, the upper end of the first groove is equipped with bar shaped tooth 39, item
Shape tooth 39 is engaged with first gear 21, so drive movable plate 20 to move back and forth when fourth link 18 moves reciprocatingly, thus
Drive first gear 21 to rotate, since first gear 21 is sequentially connected by shaft 22 and second gear 23, second gear 23 with
The engagement of first rack gear 24, the first rack gear 24 pass through crossbeam 13 through first through hole, so the rotation of first gear 21 drives the second tooth
The rotation of wheel 23, so that the first rack gear 24 moves up and down, the 4th motor 25 is connect by drive shaft with the top of fixed block 26, Gu
The bottom end for determining block 26 is connect with limit plate 31, and the 5th motor 27 is arranged on limit plate 31, the second screw rod 28 and third screw rod 29
Horizontally disposed, one end of the second screw rod 28 and one end of third screw rod 29 are arranged in fixed block 26, the second screw rod 28
One end is connect with one end of third screw rod 29, and the external screw thread of the second screw rod 28 is contrary with the external screw thread of third screw rod 29, sliding
There are two motion blocks 30, and two sliding shoes 30 are respectively sleeved at the second screw rod 28, on third screw rod 29, and the inside of sliding shoe 30 is equipped with
Screw thread, in two sliding shoes 30, the internal screw thread of one of sliding shoe 30 and the external screw thread of the second screw rod 28 match, another
The internal screw thread of sliding shoe 30 is matched with the external screw thread of third screw rod 29, and the bottom end of sliding shoe 30 is contacted with limit plate 31, limit plate
It is set on 31 there are two sliding slot, one end of the 5th connecting rod 32 passes through limit plate 31 through sliding slot and connect with sliding shoe 30, the 5th connecting rod 32
Bottom end connect with clamping plate 33, the 5th connecting rod 32 is slidably connected in sliding slot, and the inclination of two clamping plates 33 is symmetrical arranged, when the 4th electricity
When machine 25 drives fixed block 26 to rotate, fixed block 26 drives limit plate 31 to rotate, so that entire grasping mechanism be driven to rotate, when the
When five motors 27 drive the second screw rod 28 and third screw rod 29 to rotate, two sliding shoes 30 limit turning for it because of limit plate 31
It is dynamic, so two sliding shoes 30 can only be moved towards or be moved away from along the second screw rod 28 and third screw rod 29, to drive
5th connecting rod 32 is moved along sliding slot, so that clamping plate 33 is moved towards or is moved away from.
Compared with prior art, the intelligent robot for being used for flow line production, clamping plate 33 can be by going up and down and rotating
Adjust optimal clamping angle, while clamping plate 33 is equipped with foam-rubber cushion, can generate scuffing to avoid to the product being crawled, when
When telescopic rod extends, idler wheel 7 can drive pedestal 1 mobile, so that whole carried, substantially increase whole motor-driven
Property, improve the market competitiveness.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (8)
1. a kind of intelligent robot for flow line production, which is characterized in that including pedestal (1), driving mechanism (37), lifting
Mechanism (38), grasping mechanism (16), Zhong Kong mechanism (34) and four mobile mechanisms (9), the mobile mechanism (9) are arranged in pedestal
(1) on, the driving mechanism (37) is arranged on pedestal (1) and is sequentially connected with elevating mechanism (38), the elevating mechanism
(38) top in grasping mechanism (16) is set and is sequentially connected with grasping mechanism (16), the Zhong Kong mechanism (34) is arranged the bottom of at
On seat (1)；
The mobile mechanism (9) includes first motor (2), the first screw rod (4), sleeve (5), first connecting rod (6), idler wheel (7), branch
Bracer (8) and two fixed links (3), the supporting block (8) are arranged in the lower section of pedestal (1), and two fixed links (3) are respectively set
In the two sides of first motor (2), the first motor (2) is fixedly connected by fixed link (3) with pedestal (1), first electricity
The top of machine (2) and the first screw rod (4) is sequentially connected, and the sleeve (5) is set on the first screw rod (4), in the sleeve (5)
Equipped with internal screw thread, first screw rod (4) is equipped with external screw thread, on the internal screw thread and the first screw rod (4) in the sleeve (5)
External screw thread matching, the pedestal (1) are equipped with first through hole, and the sleeve (5) passes through pedestal (1) through first through hole, the set
The bottom end of cylinder (5) is connect with the top of first connecting rod (6), and the bottom end of the first connecting rod (6) is connect with idler wheel (7)；
The grasping mechanism (16) includes the 4th motor (25), fixed block (26), the 5th motor (27), the second screw rod (28), the
Three screw rods (29), limit plate (31), two the 5th connecting rods (32), two sliding shoes (30) and two clamping plates (33), the described 4th
In the first rack gear (24), the 4th motor (25) is driven by the top of drive shaft and fixed block (26) for motor (25) setting
Connection, the bottom end of the fixed block (26) are connect with limit plate (31), and the 5th motor (27) is arranged on limit plate (31),
Second screw rod (28) and third screw rod (29) are horizontally disposed, one end and third screw rod (29) of second screw rod (28)
One end be arranged in fixed block (26), one end of second screw rod (28) is connect with one end of third screw rod (29), institute
The external screw thread direction for stating the second screw rod (28) is contrary with the external screw thread of third screw rod (29), two sliding shoes (30) point
It is not set on the second screw rod (28) and third screw rod (29), the inside of the sliding shoe (30) is equipped with internal screw thread, described in two
In sliding shoe (30), the internal screw thread in one of sliding shoe (30) matches with the external screw thread on the second screw rod (28), another
Internal screw thread in a sliding shoe (30) matches with the external screw thread on third screw rod (29), the bottom end of the sliding shoe (30) and limit
Position plate (31) contacts, and is set on the limit plate (31) there are two sliding slot, the top of the 5th connecting rod (32) passes through limit through sliding slot
Position plate (31) is connect with sliding shoe (30), and the bottom end of the 5th connecting rod (32) is connect with clamping plate (33), the 5th connecting rod
(32) it is slided in sliding slot, two clamping plate (33) inclinations are symmetrical arranged；
The driving mechanism (37) includes the second motor (10), the first drive rod (11), the first follower lever (12) and crossbeam (13),
In pedestal (1), first drive rod (11) is vertically arranged for second motor (10) setting, second motor (10) with
First drive rod (11) transmission connection, first drive rod (11) setting is internal in the first follower lever (12), described first from
The bottom end of lever (12) is connect with pedestal (1), and the top of first follower lever (12) is connect with one end of crossbeam (13), described
Crossbeam (13) is horizontally disposed；
The elevating mechanism (38) includes driving unit, second gear (23) and the first rack gear (24), the second gear (23)
It is engaged with the first rack gear (24), the crossbeam (13) is equipped with first through hole, and first rack gear (24) passes through through first through hole
Crossbeam (13), first rack gear (24) are vertically arranged.
2. being used for the intelligent robot of flow line production as described in claim 1, which is characterized in that the idler wheel (7) is ten thousand
To wheel.
3. being used for the intelligent robot of flow line production as described in claim 1, which is characterized in that the table of the clamping plate (33)
Face is equipped with foam-rubber cushion.
4. being used for the intelligent robot of flow line production as described in claim 1, which is characterized in that the first motor (2),
Second motor (10), third motor (14), the 4th motor (25), the 5th motor (27) are servo motor.
5. being used for the intelligent robot of flow line production as described in claim 1, which is characterized in that the Zhong Kong mechanism (34)
Including display screen (35) and several buttons (36), the display screen (35) is liquid crystal display.
6. being used for the intelligent robot of flow line production as claimed in claim 5, which is characterized in that the first motor (2),
Second motor (10), third motor (14), the 4th motor (25), the 5th motor (27) are electrically connected with each button respectively.
7. being used for the intelligent robot of flow line production as described in claim 1, which is characterized in that second screw rod (28)
It is an integral molding structure with third screw rod (29).
8. being used for the intelligent robot of flow line production as described in claim 1, which is characterized in that the driving unit includes
Third motor (14), flywheel (15), third connecting rod (17), fourth link (18), the first limited block (19), movable plate (20),
One gear (21) and shaft (22), in crossbeam (13), the third motor (14) passes through drive for third motor (14) setting
Moving axis and flywheel (15) are sequentially connected, one end and flywheel (15) of the third connecting rod (17) hingedly, the third connecting rod (17)
The other end and fourth link (18) one end it is hinged, the other end of the fourth link (18) is connect with movable plate (20), institute
It states the first limited block (19) to be fixed in crossbeam (13), the fourth link (18) passes through the first limited block (19), the movement
Plate (20) is equipped with the first groove, and the upper end of first groove is equipped with bar shaped tooth (39), the bar shaped tooth on first groove
(39) it is engaged with first gear (21), the first gear (21) is sequentially connected by shaft (22) and second gear (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710866249.4A CN109531553A (en) | 2017-09-22 | 2017-09-22 | A kind of intelligent robot for flow line production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710866249.4A CN109531553A (en) | 2017-09-22 | 2017-09-22 | A kind of intelligent robot for flow line production |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531553A true CN109531553A (en) | 2019-03-29 |
Family
ID=65830479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710866249.4A Pending CN109531553A (en) | 2017-09-22 | 2017-09-22 | A kind of intelligent robot for flow line production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531553A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111719356A (en) * | 2020-06-10 | 2020-09-29 | 安徽博晟亿电力科技有限公司 | Auxiliary positioning device and method for railway construction |
| WO2021017187A1 (en) * | 2019-07-27 | 2021-02-04 | 南京蹑波物联网科技有限公司 | Industrial robot for grabbing work |
| CN112957709A (en) * | 2021-02-03 | 2021-06-15 | 邵阳学院 | Intelligent sports equipment management system |
| CN113074678A (en) * | 2021-04-29 | 2021-07-06 | 银川合宜科技有限公司 | Auxiliary device for lead screw detection |
| CN113733141A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm vision control method and device |
| CN113800185A (en) * | 2021-09-18 | 2021-12-17 | 浙江百世技术有限公司 | Auxiliary device for picking goods |
-
2017
- 2017-09-22 CN CN201710866249.4A patent/CN109531553A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021017187A1 (en) * | 2019-07-27 | 2021-02-04 | 南京蹑波物联网科技有限公司 | Industrial robot for grabbing work |
| CN111719356A (en) * | 2020-06-10 | 2020-09-29 | 安徽博晟亿电力科技有限公司 | Auxiliary positioning device and method for railway construction |
| CN112957709A (en) * | 2021-02-03 | 2021-06-15 | 邵阳学院 | Intelligent sports equipment management system |
| CN113074678A (en) * | 2021-04-29 | 2021-07-06 | 银川合宜科技有限公司 | Auxiliary device for lead screw detection |
| CN113800185A (en) * | 2021-09-18 | 2021-12-17 | 浙江百世技术有限公司 | Auxiliary device for picking goods |
| CN113733141A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm vision control method and device |
| CN113733141B (en) * | 2021-10-09 | 2022-10-25 | 衢州职业技术学院 | Mechanical arm vision control method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109531553A (en) | A kind of intelligent robot for flow line production | |
| CN103987497B (en) | Parallel rod robot | |
| CN103622790B (en) | Patient couch | |
| CN104742116B (en) | A kind of novel robot with five degrees of freedom mechanism | |
| CN103010764B (en) | One parallel bar stacking machine robot | |
| CN102556892A (en) | Electric shear type lifting platform | |
| CN208279835U (en) | A kind of height-adjustable sewing machine | |
| CN106963381B (en) | A kind of nuclear magnetic resonance medical diagnosis moving bed | |
| CN109185630A (en) | A kind of support and position regulator for stereoscopic vision shooting | |
| CN110772380A (en) | Combined movement mechanism for old and disabled assisting bed | |
| CN105726062A (en) | Ultrasonic scanning arm supporting device | |
| CN109048651A (en) | End rotation interchangeable loading and unloading manipulator | |
| CN102267049A (en) | Automatic bolt tightening device | |
| CN101531003A (en) | Parallel mechanism to implement tri-translation and mono-rotation | |
| CN202607678U (en) | Eyeball movement mechanism for bionic-robot | |
| CN208277601U (en) | A kind of curved surface screen printing equipment of imaging clearly | |
| CN208938492U (en) | One kind is convenient for marketing shopping guide's sand table in economic management | |
| CN108678055A (en) | A kind of intelligent building operation machinery equipment | |
| CN108819460A (en) | A kind of curved surface screen printing equipment of imaging clearly | |
| CN206543259U (en) | Series-parallel connection ankle rehabilitation machines | |
| CN109499927A (en) | A kind of assembly line conveyer sorting equipment | |
| CN201511366U (en) | Industrial horizontal multi-joint robot | |
| CN208895855U (en) | End rotation interchangeable loading and unloading manipulator | |
| CN207495496U (en) | A kind of two degrees of freedom carries at a high speed shift mechanism | |
| CN206357642U (en) | Elevating mechanism, triaxial driving apparatus and three-dimensional printer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190329 |
|
| WD01 | Invention patent application deemed withdrawn after publication |