CN109676591A - A kind of power-assisting robot carried based on heavy duty - Google Patents
A kind of power-assisting robot carried based on heavy duty Download PDFInfo
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- CN109676591A CN109676591A CN201910135543.7A CN201910135543A CN109676591A CN 109676591 A CN109676591 A CN 109676591A CN 201910135543 A CN201910135543 A CN 201910135543A CN 109676591 A CN109676591 A CN 109676591A
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- linear guide
- axis linear
- power
- heavy duty
- driven gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000008878 coupling Effects 0.000 claims description 10
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- 238000005859 coupling reaction Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of power-assisting robots carried based on heavy duty, including touch screen (1), programmable controller (2), power-driven gear and mechanical actuating mechanism, programmable controller is electrically connected with touch screen and power-driven gear respectively, power-driven gear and mechanical actuating mechanism are electrically connected, mechanical actuating mechanism includes the first X-axis linear guide (3), second X-axis linear guide (4), Y-axis linear guide (5) and Z axis linear guide (6), first X-axis linear guide is parallel to each other with the second X-axis linear guide, first X-axis linear guide, second X-axis linear guide, Y-axis linear guide, adaptedly sliding block (7) are equipped in Z axis linear guide, Y-axis linear guide both side ends are adapted to connection with the sliding block in the first X-axis linear guide and the second X-axis linear guide respectively.The present invention uses the power-assisting robot carried based on heavy duty, and flexibility ratio is big, reduces worker's labour, and work efficiency is high, and control precision is high.
Description
Technical field
The present invention relates to power-assisting robot technical fields, and in particular to a kind of power-assisting robot carried based on heavy duty.
Background technique
With economical fast development and manufacturing prosperity and development, industrial heavy duty carries demand increasingly
Greatly.The close product with people's life and industrial and agricultural production, such as grain, flour, cement, chemical fertilizer, feed, agricultural and sideline product and mineral products
The powder and granule shape materials such as product mostly use bag to pack, and bagged material all be unable to do without carrying and the dress of material during production and transport
It unloads.The warehouse of China's bagged material is carried at present and handling means of transportation is mainly leaned on and pickaback drawn with trolley, due to loading and unloading
Load is big, large labor intensity, working efficiency are low, worker less and less is ready to be engaged in this industry, causes many enterprises
The status of " recruitment is difficult, recruitment is expensive " that heavy duty is carried.Although some enterprises attempt to complete heavy duty carrying using industrial robot,
Because heavy duty is carried and handling operation often require that working space variation greatly, flexibility ratio greatly, and do not have can for industrial robot
Mobility still has biggish gap with traditional manual work in the various aspects such as working space, flexibility ratio degree.Due to these limits
Factor processed, industrial robot are unable to satisfy the actual demand of factory so far.Therefore, those skilled in the art are needed and develops one kind
The power-assisting robot carried based on heavy duty.
Summary of the invention
The purpose of the present invention is to solve above-mentioned the deficiencies in the prior art, provide a kind of based on heavy duty carrying
Power-assisting robot.
In order to achieve the above object of the invention, technical solution provided by the invention is as follows: a kind of power-assisted carried based on heavy duty
Robot, including touch screen, programmable controller, power-driven gear and mechanical actuating mechanism, the programmable controller point
It is not electrically connected with touch screen and power-driven gear, the power-driven gear and mechanical actuating mechanism are electrically connected, in which:
The mechanical actuating mechanism includes the first X-axis linear guide, the second X-axis linear guide, Y-axis linear guide and Z axis straight line
Guide rail, the first X-axis linear guide are parallel to each other with the second X-axis linear guide, the first X-axis linear guide, the second X-axis
Linear guide, Y-axis linear guide are adaptedly provided with sliding block, the Y-axis linear guide both side ends in Z axis linear guide
It is adapted and connect with the sliding block in the first X-axis linear guide and the second X-axis linear guide respectively, in the Z axis linear guide
The fixed plate for carrying heavy duty, the first X-axis linear guide, the second X-axis linear guide, Y-axis straight line are provided on sliding block
Guide rail, Z axis linear guide end are adapted to and are provided with shaft coupling, wherein being located at the first X-axis linear guide, the second X-axis straight line is led
It is connected between two shaft couplings of rail end by a fixing axle, the first X-axis linear guide, Y-axis linear guide
Power-driven gear is provided with Z axis linear guide end；
The power-driven gear includes motor, driving pulley, driven pulley and belt, the first X-axis linear guide, Y-axis
Motor is provided in linear guide, Z axis linear guide, the motor output shaft end is adaptedly provided with driving pulley, described
Driven pulley is provided on shaft coupling, the driving pulley is sequentially connected by belt and driven pulley, so that booster engine
Device people carries out heavily loaded carrying.
Preferably, the power-driven gear further includes servo-driver, and programmable controller passes through servo-drive
Device and electrical connection of motor.
Preferably, the motor is letter victory MS-60SET-M01330B-20P4 AC servo motor.
Preferably, the programmable controller and touch screen are realized logical by Modbus agreement and RS485 signal wire
Letter, the programmable controller are connect by Xnet movement bus with servo-driver and are communicated.
Preferably, the concrete model of the servo-driver is DS3E-20P2-PFA.
Preferably, the programmable controller concrete model is letter victory XDC-60C4-E.
Based on the above-mentioned technical proposal, of the invention that there is following technological merit compared with prior art:
The present invention uses the power-assisting robot carried based on heavy duty, and reasonable in design, flexibility ratio is big, moves, reduces work
The labour of people, work efficiency is high, small in size using power-driven gear, Yi Zucheng closed-loop control system, and control precision is high, makes
With conveniently.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the power-assisting robot carried the present invention is based on heavy duty.
Fig. 2 is the module connection figure of programmable controller of the present invention.
In figure: 1. touch screens, 2. programmable controllers, 3. first X-axis linear guides, 4. second X-axis linear guides, 5.Y
Axis linear guide, 6.Z axis linear guide, 7. sliding blocks, 8. fixed plates, 9. shaft couplings, 10. fixing axles, 11. motors, 12. servos are driven
Dynamic device, 13. driving pulleys, 14. driven pulleys, 15. belts.
Specific embodiment
Explanation that the present invention will be further explained with reference to the accompanying drawings and examples.
As Figure 1-Figure 2, it is a kind of based on heavy duty carry power-assisting robot, including touch screen 1, programmable controller 2,
Power-driven gear and mechanical actuating mechanism, the programmable controller 2 electrically connect with touch screen 1 and power-driven gear respectively
It connects, the power-driven gear and mechanical actuating mechanism are electrically connected, in which:
The mechanical actuating mechanism includes that the first X-axis linear guide 3, the second X-axis linear guide 4, Y-axis linear guide 5 and Z axis are straight
Line guide rail 6, the first X-axis linear guide 3 are parallel to each other with the second X-axis linear guide 4, the first X-axis linear guide 3,
Second X-axis linear guide 4, Y-axis linear guide 5 are adaptedly provided with sliding block 7 in Z axis linear guide 6, and the Y-axis straight line is led
5 both side ends of rail are adapted with the sliding block in the first X-axis linear guide 3 and the second X-axis linear guide 4 connect respectively, the Z axis
The fixed plate 8 for carrying heavy duty is provided on sliding block in linear guide 6, the first X-axis linear guide 3, the second X-axis are straight
Line guide rail 4, Y-axis linear guide 5,6 end of Z axis linear guide are adapted to and are provided with shaft coupling 9, wherein being located at the first X-axis straight line
Guide rail 3,4 end of the second X-axis linear guide two shaft couplings 9 between be connected by a fixing axle 10, the first X
Axis linear guide 3, Y-axis linear guide 5 and 6 end of Z axis linear guide are provided with power-driven gear；
The power-driven gear includes motor 11, driving pulley 13, driven pulley 14 and belt 15, the first X-axis straight line
Guide rail 3, Y-axis linear guide 5 are provided with motor 11 in Z axis linear guide 6, and 11 output shaft end of motor is adaptedly arranged
There is driving pulley 13, driven pulley 14 is provided on the shaft coupling 9, the driving pulley 13 passes through belt 15 and driven pulley
14 transmission connections, so that power-assisting robot carries out heavily loaded carrying.
The power-driven gear further includes servo-driver 12, and programmable controller 2 passes through servo-driver 12 and electricity
Machine 11 is electrically connected.The motor 11 is letter victory MS-60SET-M01330B-20P4 AC servo motor.The PLC technology
Device 2 is communicated by Modbus agreement with the realization of RS485 signal wire with touch screen 1, the programmable controller 2 and servo-driver
12, which move bus connection by Xnet, is communicated.The concrete model of the servo-driver 12 is DS3E-20P2-PFA.It is described
2 concrete model of programmable controller is letter victory XDC-60C4-E.
Above content is example and explanation of the invention, but does not mean that the obtainable advantage of the present invention is so limited, all
It is wherein one the advantages of may being realized in simple transformation, and/or some embodiments to structure in practice process of the present invention
It is a or it is multiple within the scope of protection of this application.
Claims (6)
1. it is a kind of based on heavy duty carry power-assisting robot, it is characterised in that: including touch screen (1), programmable controller (2),
Power-driven gear and mechanical actuating mechanism, the programmable controller (2) are electric with touch screen (1) and power-driven gear respectively
Property connection, the power-driven gear and mechanical actuating mechanism are electrically connected, in which:
The mechanical actuating mechanism includes the first X-axis linear guide (3), the second X-axis linear guide (4), Y-axis linear guide (5)
With Z axis linear guide (6), the first X-axis linear guide (3) is parallel to each other with the second X-axis linear guide (4), the first X
Axis linear guide (3), the second X-axis linear guide (4), Y-axis linear guide (5), Z axis linear guide are adaptedly arranged on (6)
Have sliding block (7), Y-axis linear guide (5) both side ends respectively with the first X-axis linear guide (3) and the second X-axis linear guide
(4) sliding block on is adapted connection, and the fixed plate for carrying heavy duty is provided on the sliding block on the Z axis linear guide (6)
(8), the first X-axis linear guide (3), the second X-axis linear guide (4), Y-axis linear guide (5), Z axis linear guide (6) end
Portion, which is adapted to, is provided with shaft coupling (9), wherein be located at the first X-axis linear guide (3), second X-axis linear guide (4) end two
It is connected between a shaft coupling (9) by a fixing axle (10), the first X-axis linear guide (3), Y-axis linear guide
(5) and Z axis linear guide (6) end is provided with power-driven gear；
The power-driven gear includes motor (11), driving pulley (13), driven pulley (14) and belt (15), and described first
X-axis linear guide (3), Y-axis linear guide (5) are provided with motor (11) in Z axis linear guide (6), and the motor (11) is defeated
Shaft end is adaptedly provided with driving pulley (13) out, is provided with driven pulley (14), the driving pulley on the shaft coupling (9)
(13) it is sequentially connected by belt (15) and driven pulley (14), so that power-assisting robot carries out heavily loaded carrying.
2. the power-assisting robot according to claim 1 carried based on heavy duty, it is characterised in that: the power-driven gear
It further include servo-driver (12), programmable controller (2) is electrically connected by servo-driver (12) and motor (11).
3. the power-assisting robot according to claim 1 carried based on heavy duty, it is characterised in that: the motor (11) is letter
Prompt MS-60SET-M01330B-20P4 AC servo motor.
4. the power-assisting robot according to claim 2 carried based on heavy duty, it is characterised in that: the programmable controller
(2) it is communicated by Modbus agreement with the realization of RS485 signal wire with touch screen (1), the programmable controller (2) and servo are driven
Dynamic device (12) move bus connection by Xnet and are communicated.
5. the power-assisting robot according to claim 2 carried based on heavy duty, it is characterised in that: the servo-driver
(12) concrete model is DS3E-20P2-PFA.
6. the power-assisting robot according to claim 1 carried based on heavy duty, it is characterised in that: the programmable controller
(2) concrete model is letter victory XDC-60C4-E.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135543.7A CN109676591A (en) | 2019-02-25 | 2019-02-25 | A kind of power-assisting robot carried based on heavy duty |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135543.7A CN109676591A (en) | 2019-02-25 | 2019-02-25 | A kind of power-assisting robot carried based on heavy duty |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109676591A true CN109676591A (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910135543.7A Pending CN109676591A (en) | 2019-02-25 | 2019-02-25 | A kind of power-assisting robot carried based on heavy duty |
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| Country | Link |
|---|---|
| CN (1) | CN109676591A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202151862U (en) * | 2011-07-04 | 2012-02-29 | 东莞市骏泰精密机械有限公司 | Baking Jig Handling Manipulator |
| CN206066432U (en) * | 2016-04-14 | 2017-04-05 | 杨林 | A kind of clothing shaping robot running gear |
| CN206614537U (en) * | 2017-02-14 | 2017-11-07 | 深圳市中天元光学玻璃有限公司 | A kind of mechanical arm handling equipment |
| CN108032290A (en) * | 2018-01-11 | 2018-05-15 | 广东科达洁能股份有限公司 | A kind of girder device with double servo synchronization movements |
| CN109044788A (en) * | 2018-08-21 | 2018-12-21 | 西安伊蔓蒂电子科技有限公司 | A kind of massage bed |
-
2019
- 2019-02-25 CN CN201910135543.7A patent/CN109676591A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202151862U (en) * | 2011-07-04 | 2012-02-29 | 东莞市骏泰精密机械有限公司 | Baking Jig Handling Manipulator |
| CN206066432U (en) * | 2016-04-14 | 2017-04-05 | 杨林 | A kind of clothing shaping robot running gear |
| CN206614537U (en) * | 2017-02-14 | 2017-11-07 | 深圳市中天元光学玻璃有限公司 | A kind of mechanical arm handling equipment |
| CN108032290A (en) * | 2018-01-11 | 2018-05-15 | 广东科达洁能股份有限公司 | A kind of girder device with double servo synchronization movements |
| CN109044788A (en) * | 2018-08-21 | 2018-12-21 | 西安伊蔓蒂电子科技有限公司 | A kind of massage bed |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190426 |
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| RJ01 | Rejection of invention patent application after publication |