CN109927023A - A kind of crawl robot of object automatic identification - Google Patents
A kind of crawl robot of object automatic identification Download PDFInfo
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- CN109927023A CN109927023A CN201910293631.XA CN201910293631A CN109927023A CN 109927023 A CN109927023 A CN 109927023A CN 201910293631 A CN201910293631 A CN 201910293631A CN 109927023 A CN109927023 A CN 109927023A
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- 230000007723 transport mechanism Effects 0.000 claims abstract description 18
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- 238000010586 diagram Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
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Abstract
The invention discloses a kind of crawl robot of object automatic identification, including disk, disk side is fixedly installed with PLC control panel, and disk top surface centre is fixed with cover, and cover two sides are respectively symmetrically equipped with hydraulic station and battery.The present apparatus passes through the setting of cylinder and multiple first cylinders, the upper surface of product will push opposite one or several First piston bars, the air in corresponding first cylinder will be passed sequentially through connecting tube by several first pistons in this way and conduit is discharged into cylinder, it is mobile to control switch direction that piston in this way in cylinder will drive piston rod and vertical bar, so that the control button in the ball pressing control switch of vertical bar bottom end, the instruction that motor is subject to PLC control panel in this way is moved to product in corresponding transport mechanism, so that product is transported away by corresponding transport mechanism, and then achievees the purpose that product automatic identification size and classify, to effectively achieve the purpose that object automatic identification.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of crawl robot of object automatic identification.
Background technique
With science and technology high speed development, in many occasions using automatic machinery substitution manually carry out it is relevant activity and
Operation, such as grabbing device are widely used in the fields such as industrial production, logistics, metallurgy medical treatment and 3C industry, to replace
Manpower such as is grabbed and is carried at repeated, the mechanical sex work, can largely improve production；Manpower can also be replaced simultaneously
Some work complicated, risk is high are carried out, are largely ensured personal safety.But in the prior art, using robot pair
There are one or more objects of certain rule mechanically repeat to grab and carry for position, shape, and for position, shape
Shape and the uncertain multiple objects of size can not carry out identification and continuous crawl classification, not have flexibility.Therefore, it is necessary to
For above-mentioned problems of the prior art, a kind of technical solution is provided to solve the above problems.
Summary of the invention
To solve the above problems, the present invention provides a kind of crawl robot of object automatic identification.
The present invention is achieved through the following technical solutions:
A kind of crawl robot of object automatic identification, including disk, the disk side are fixedly installed with PLC control panel,
Disk top surface centre is fixed with cover, and the cover two sides are respectively symmetrically equipped with hydraulic station and battery, the hydraulic station
It is respectively and fixedly installed on disk top surface, is uniformly opened up at the disk top edge there are three mounting groove, each with battery
Transport mechanism, the height and disk apical side height one of the conveyer belt top surface of the transport mechanism are fixedly installed in mounting groove
It causes, the transport mechanism transmits from inside to outside using disc centre as starting point, and motor, the fixed peace of the motor are equipped in the cover
On disk top surface, shaft is fixed on the output shaft of the motor, top is fixed in the shaft top transmission cover body
Cross bar, the shaft and the rotation of cover contact position connect, and are respectively symmetrically fitted with retaining ring on top and top in the cover, institute
Retaining ring fixing sleeve is stated in shaft, is fixedly installed with hydraulic cylinder on the bottom end bottom end of the cross bar other side, the hydraulic cylinder it is defeated
Cabinet is fixed on outlet bottom end, the cabinet side is hinged with chamber door, and handle is fixed on the chamber door, and the cabinet is another
Sliding is cased with U-shaped board on outer three sides, respectively symmetrically offers T-type sliding slot on the box bilateral wall, in two T-type sliding slots
Sliding has a T-type sliding block respectively, and two T-type slider side ends stretch out two T-type sliding slots and the fixed company of U-shaped board two sides inner wall respectively
It connects, baffle is laterally fixed in the cabinet, baffle top surface side is fixed with control switch, sets in the control switch
There are three different control buttons, the baffle top surface other side is fixed with cylinder, and cylinder top surface side is fixed with ventilation
Pipe, the snorkel are connected with cylinder interior, and sliding has piston in the cylinder, and the piston side is fixed at center
Piston rod, the piston rod other end penetrate cylinder inside wall and are fixed with vertical bar, and the piston rod and cylinder sidewall contact position are sliding
Dynamic connection, the vertical bar bottom end are oppositely arranged with control switch, and ball, the ball and vertical bar are embedded on the vertical bar bottom end
Contact position rotary link, is fixed with spring between the piston and cylinder inside wall, the spring be arranged can on the piston rod,
Multiple first cylinders are uniformly fixed in the cabinet on bottom end, each first cylinder sidewall bottom end offers ventilation
Hole, each first cylinder top end are respectively and fixedly provided with connecting tube, and the connecting tube is connected to the first cylinder interior cavity, multiple connections
Tube top end is fixedly connected with the same conduit, and the tube at one end penetrates baffle bottom end and is fixedly connected with cylinder end side,
The conduit is connected to cylinder interior cavity, and sliding has first piston in first cylinder, and the first piston bottom end is fixed
There is a First piston bar, the First piston bar bottom end successively penetrates in the first cylinder that in bottom end and cabinet bottom end, and described first is living
Stopper rod is slidably connected with bottom end contact position in the first cylinder and cabinet respectively.
Preferably, the motor is electrically connected with the battery by conducting wire.
Preferably, the input terminal of the hydraulic cylinder passes through the output end piping connection of conduit and hydraulic station.
Preferably, it is used between the shaft and cross bar and connection is welded and fixed.
Preferably, the spring is pressure spring.
Compared with prior art, the beneficial effects of the present invention are: the present apparatus setting by cylinder and multiple first cylinders
It sets, the upper surface of product will push opposite one or several First piston bars, several first pistons in this way will be
Air in corresponding first cylinder passes sequentially through connecting tube and conduit is discharged into cylinder, and the piston in such cylinder will drive work
Stopper rod and vertical bar are mobile to control switch direction, so that the control button in the ball pressing control switch of vertical bar bottom end,
The instruction that motor is subject to PLC control panel in this way is moved to product in corresponding transport mechanism, so that product
It is transported away by corresponding transport mechanism, and then achievees the purpose that product automatic identification size and classify, to effectively reach
The purpose of object automatic identification.
Detailed description of the invention
Fig. 1 is the schematic diagram of structure of the present invention；
Fig. 2 is the partial structure diagram of structure chart 1 of the present invention；
Fig. 3 is the top view of structure chart 1 of the present invention；
Fig. 4 is the partial structure diagram of structure chart 1 of the present invention；
Fig. 5 is the operation principle schematic diagram of motor in structure of the present invention；
Fig. 6 is the operation schematic diagram of structure of the present invention.
In figure: disk 1, cover 2, mounting groove 3, hydraulic station 4, battery 5, shaft 6, cross bar 7, hydraulic cylinder 8, cabinet 9, U-shaped
Plate 10, transport mechanism 12, T-type sliding slot 13, T-type sliding block 14, baffle 15, control switch 16, cylinder 17, is lived at PLC control panel 11
Plug 18, piston rod 20, vertical bar 21, the first cylinder 22, first piston 23, First piston bar 24, connecting tube 25, is led at snorkel 19
Pipe 26, spring 27, venthole 28, ball 29, motor 30, retaining ring 31, chamber door 32, handle 33.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of crawl robot of object automatic identification, including disk 1, it is described
1 side of disk is fixedly installed with PLC control panel 11, and the 1 top surface centre of disk is fixed with cover 2,2 two sides of cover
It is respectively symmetrically equipped with hydraulic station 4 and battery 5, the hydraulic station 4 and battery 5 are respectively and fixedly installed on 1 top surface of disk, the circle
It is uniformly opened up at 1 top edge of disk there are three mounting groove 3, is fixedly installed with transport mechanism 12 in each mounting groove 3, it is described
The height of the conveyer belt top surface of transport mechanism 12 is consistent with 1 apical side height of disk, and the transport mechanism 12 is with 1 center of disk
Point transmits from inside to outside, is equipped with motor 30 in the cover 2, the motor 30 is fixedly mounted on 1 top surface of disk, the motor
Shaft 6 is fixed on 30 output shaft, 6 top of shaft penetrates top in cover 2 and is fixed with cross bar 7, the shaft 6 and cover
The rotation of 2 contact position of body connects, and is respectively symmetrically fitted with retaining ring 31 on top and top in the cover 2, the retaining ring 31 is fixed
It covers in shaft 6, is fixedly installed with hydraulic cylinder 8, the output end bottom of the hydraulic cylinder 8 on 7 other side bottom end bottom end of cross bar
Cabinet 9 is fixed on end, 9 side of cabinet is hinged with chamber door 32, handle 33, the cabinet are fixed on the chamber door 32
Sliding is cased with U-shaped board 10 on 9 the other three sides, and T-type sliding slot 13, two T are respectively symmetrically offered on 9 two sidewalls of cabinet
Sliding has a T-type sliding block 14 respectively in type sliding slot 13, two 14 sides of T-type sliding block stretch out respectively two T-type sliding slots 13 with it is U-shaped
10 two sides inner wall of plate is fixedly connected, and baffle 15 is laterally fixed in the cabinet 9, and the 15 top surface side of baffle is fixed with control
Make switch 16, set in the control switch 16 there are three different control buttons, the 15 top surface other side of baffle is fixed with gas
Cylinder 17, the 17 top surface side of cylinder are fixed with snorkel 19, are connected inside the snorkel 19 and cylinder 17, the gas
Sliding has piston 18 in cylinder 17, piston rod 20 is fixed at the 18 side center of piston, 20 other end of piston rod penetrates
17 inner sidewall of cylinder is fixed with vertical bar 21, and the piston rod 20 is slidably connected with 17 side wall contact position of cylinder, 21 bottom of vertical bar
End is oppositely arranged with control switch 16, and ball 29, the ball 29 and 21 contact position of vertical bar are embedded on 21 bottom end of vertical bar
Rotary link is fixed with spring 27 between 17 inner sidewall of the piston 18 and cylinder, and the spring 27 is arranged can be in piston rod
On 20, multiple first cylinders 22 are uniformly fixed in the cabinet 9 on bottom end, each first cylinder, 22 side wall bottom end is opened
Equipped with venthole 28, each first cylinder, 22 top end is respectively and fixedly provided with connecting tube 25, in the connecting tube 25 and the first cylinder 22
The connection of portion's cavity, multiple 25 tops of connecting tube are fixedly connected with the same conduit 26, and described 26 one end of conduit penetrates 15 bottom of baffle
End is simultaneously fixedly connected with 17 bottom end side of cylinder, the conduit 26 and 17 connects with the internal cavities of cylinder, in first cylinder 22
Sliding has a first piston 23, and 23 bottom end of first piston is fixed with First piston bar 24,24 bottom end of First piston bar according to
Secondary to penetrate in the first cylinder 22 that in bottom end and cabinet 9 bottom end, the First piston bar 24 is respectively and in the first cylinder 22 and cabinet 9
Bottom end contact position is slidably connected.
The motor 30 is electrically connected by conducting wire and battery 5.
The input terminal of the hydraulic cylinder 8 passes through the output end piping connection of conduit and hydraulic station 4.
It is used between the shaft 6 and cross bar 7 and connection is welded and fixed.
The spring 27 is pressure spring.
Working principle: in the use of the present invention, as shown in Fig. 1, Fig. 6, first successively multiple products of required classification
On the disk 1 being placed into immediately below cabinet 9 one by one, in this way when product is placed on the disk 1 of 9 underface of cabinet,
Staff controls the output end decline of hydraulic cylinder 8 by hydraulic station 4, and such cabinet 9 will follow the output end one of hydraulic cylinder 8
Decline is played, with the decline of cabinet 9, product upper surface can push one or several first work opposite right above it first
Stopper rod 24 can stop when product upper surface is bonded with 9 bottom surface of cabinet until product upper surface is bonded with 9 bottom surface of cabinet
The running of 8 output end of hydraulic cylinder, in the process, one opposite with product upper surface or several First piston bars 24 are divided
It not will push corresponding first piston 23, several first pistons 23 in this way will be the sky in corresponding first cylinder 22
Gas passes sequentially through connecting tube 25 and conduit 26 is discharged into cylinder 17, due to being filled in several first cylinders 22 in cylinder 17
Gas, so the piston 18 in cylinder 17 can squeeze spring 27 to side movement, piston 18 can pass through 20 band of piston rod when mobile
Dynamic vertical bar 21 is mobile to 16 direction of control switch, and the ball 29 of its bottom end can press the control in control switch 16 when vertical bar 21 is mobile
Button processed controls three kinds of motor 30 not since three control buttons in control switch 16 pass through PLC control panel 11 respectively
Same rotational orientation, and three kinds of different rotational orientations of motor 30 are corresponding with the position of three transport mechanisms 12 respectively, so working as
When ball 29 is pressed into the control button in control switch 16, the output end of motor 30 will rotate certain corner, thus electric
The output end of machine 30 will drive cabinet 9 to be moved to right above a corresponding transport mechanism 12 by shaft 6 and cross bar 7,
In the process due to the setting of U-shaped board 10, U-shaped board 10 can not only cover on the outside of product and its bottom end can also be pushed up with disk 1
Face paste is closed, and when such cabinet 9 is moved to corresponding 12 surface of transport mechanism, U-shaped board 10 can also follow cabinet 9 mobile
And product is pushed to above transport mechanism 12, in this way when product is pushed to a corresponding transport mechanism 12 by U-shaped board 10
After above, then by the output end rising of the control hydraulic cylinder 8 of hydraulic station 4, so that cabinet 9 returns to original position, such U-shaped board 10 also can
Cabinet 9 is followed to rise, so that product is no longer limited by U-shaped board 10, and then product is transported away by corresponding transport mechanism 12,
And then achieve the purpose that product automatic identification size and classify, and when cabinet 9 returns in situ, no longer due to First piston bar 24
By the top power of product, so the air being filled in cylinder 17 can be passed through conduit 26 again by the active force lower piston 18 in spring 27
It is sent back in the first cylinder 22 with connecting tube 25, so that 24 homing of First piston bar, while vertical bar 21 can also follow piston 18
Original position is returned to, work is transmitted for the classification of next product and provides convenient, and then effectively raise working efficiency.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (5)
1. a kind of crawl robot of object automatic identification, including disk (1), it is characterised in that: disk (1) side is fixed
It is equipped with PLC control panel (11), disk (1) top surface centre is fixed with cover (2), cover (2) the two sides difference
It is symmetrically arranged with hydraulic station (4) and battery (5), the hydraulic station (4) and battery (5) are respectively and fixedly installed on disk (1) top surface,
It is uniformly opened up at disk (1) top edge there are three mounting groove (3), each mounting groove (3) is interior to be fixedly installed with biography
It send mechanism (12), the height of the conveyer belt top surface of the transport mechanism (12) is consistent with disk (1) apical side height, the conveyer
Structure (12) transmits from inside to outside using disk (1) center as starting point, is equipped with motor (30) in the cover (2), the motor (30)
It is fixedly mounted on disk (1) top surface, is fixed with shaft (6) on the output shaft of the motor (30), shaft (6) top is worn
Saturating cover (2) interior top is fixed with cross bar (7), and the shaft (6) and the rotation of cover (2) contact position connect, in the cover (2)
It is respectively symmetrically fitted on top and top retaining ring (31), retaining ring (31) fixing sleeve is on shaft (6), the cross bar (7)
It is fixedly installed on the bottom end of the other side bottom end hydraulic cylinder (8), is fixed with cabinet (9) on the output end bottom end of the hydraulic cylinder (8),
Cabinet (9) side is hinged with chamber door (32), is fixed with handle (33) on the chamber door (32), and the cabinet (9) is in addition
Sliding is cased with U-shaped board (10) on three sides, is respectively symmetrically offered T-type sliding slot (13) on cabinet (9) two sidewalls, two
Sliding has a T-type sliding block (14) respectively in T-type sliding slot (13), and two T-type sliding slots are stretched out in two T-type sliding block (14) sides respectively
(13) it is fixedly connected with U-shaped board (10) two sides inner wall, is laterally fixed with baffle (15), the baffle in the cabinet (9)
(15) top surface side is fixed with control switch (16), is set on the control switch (16) there are three different control buttons, described
Baffle (15) top surface other side is fixed with cylinder (17), and cylinder (17) the top surface side is fixed with snorkel (19), described logical
It is connected inside tracheae (19) and cylinder (17), there is piston (18) sliding in the cylinder (17), piston (18) side
It being fixed at center piston rod (20), piston rod (20) other end penetrates cylinder (17) inner sidewall and is fixed with vertical bar (21),
The piston rod (20) is slidably connected with cylinder (17) side wall contact position, and vertical bar (21) bottom end and control switch (16) are opposite
It is arranged, is embedded with ball (29) on vertical bar (21) bottom end, the ball (29) and vertical bar (21) contact position rotary link, institute
It states and is fixed with spring (27) between piston (18) and cylinder (17) inner sidewall, the spring (27) is arranged can be in piston rod (20)
On, multiple first cylinders (22), each first cylinder (22) side wall bottom end are uniformly fixed on the interior bottom end of the cabinet (9)
Offer venthole (28), each first cylinder (22) top end is respectively and fixedly provided with connecting tube (25), the connecting tube (25) with
First cylinder (22) connects with the internal cavities, multiple connecting tube (25) tops are fixedly connected with the same conduit (26), the conduit
(26) one end penetrates baffle (15) bottom end and is fixedly connected with cylinder (17) bottom end side, in the conduit (26) and cylinder (17)
The connection of portion's cavity, sliding has first piston (23) in first cylinder (22), and first piston (23) bottom end is fixed with the
One piston rod (24), First piston bar (24) bottom end successively penetrate the interior bottom end of the first cylinder (22) and cabinet (9) interior bottom end,
The First piston bar (24) is slidably connected with the first cylinder (22) and the interior bottom end contact position of cabinet (9) respectively.
2. a kind of crawl robot of object automatic identification according to claim 1, it is characterised in that: the motor (30)
It is electrically connected by conducting wire and battery (5).
3. a kind of crawl robot of object automatic identification according to claim 1, it is characterised in that: the hydraulic cylinder
(8) input terminal passes through the output end piping connection of conduit and hydraulic station (4).
4. a kind of crawl robot of object automatic identification according to claim 1, it is characterised in that: the shaft (6)
It uses to be welded and fixed between cross bar (7) and connect.
5. a kind of crawl robot of object automatic identification according to claim 1, it is characterised in that: the spring (27)
For pressure spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293631.XA CN109927023A (en) | 2019-04-12 | 2019-04-12 | A kind of crawl robot of object automatic identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293631.XA CN109927023A (en) | 2019-04-12 | 2019-04-12 | A kind of crawl robot of object automatic identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109927023A true CN109927023A (en) | 2019-06-25 |
Family
ID=66989881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910293631.XA Pending CN109927023A (en) | 2019-04-12 | 2019-04-12 | A kind of crawl robot of object automatic identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109927023A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115231281A (en) * | 2021-04-23 | 2022-10-25 | 宁波聚轩信息科技有限公司 | Automatic grabbing robot for automatically classifying heating objects |
-
2019
- 2019-04-12 CN CN201910293631.XA patent/CN109927023A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115231281A (en) * | 2021-04-23 | 2022-10-25 | 宁波聚轩信息科技有限公司 | Automatic grabbing robot for automatically classifying heating objects |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190625 |