CN110039522A - A kind of intelligent industrial robot - Google Patents
A kind of intelligent industrial robot Download PDFInfo
- Publication number
- CN110039522A CN110039522A CN201910413509.1A CN201910413509A CN110039522A CN 110039522 A CN110039522 A CN 110039522A CN 201910413509 A CN201910413509 A CN 201910413509A CN 110039522 A CN110039522 A CN 110039522A
- Authority
- CN
- China
- Prior art keywords
- shaft
- oil cylinder
- electric expansion
- clamping
- expansion oil
- 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.)
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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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Abstract
The present invention relates to Industrial Robot Technology fields, especially a kind of intelligent industrial robot, including base mechanism, the base mechanism bottom is fixed with driving roller and driven roller, the base mechanism upper end is fixed with the first electric expansion oil cylinder and the second electric expansion oil cylinder by supporting mechanism respectively, the first electric expansion oil cylinder control output end is equipped with third electric expansion oil cylinder by the rotation of the first yielding coupling, the third electric expansion oil cylinder control output end is fixed with the first clamping device, the second electric expansion oil cylinder control output end is equipped with the 4th shaft by the rotation of the second yielding coupling, 4th shaft is fixed with clamping large arm far from the side of the second yielding coupling, the clamping end of the large arm far from the 4th shaft is rotatedly connected by bearing and clamping forearm, forearm is clamped far from bearing End is fixed with the second clamping device, and the intelligent industrial robotic gripper is convenient, is worthy to be popularized.
Description
Technical field
The present invention relates to Industrial Robot Technology field more particularly to a kind of intelligent industrial robots.
Background technique
Robot, i.e. automatic control machine automatically control machine and include all simulation human behaviors or thought and simulate it
The machinery of allogene needs to use mechanical arm grabbing workpiece in production line, and gripper can imitate certain movements of manpower and arm,
And then realize and grab by fixed routine, carry the automatic pilot of object or operational instrument.And it industrially needs to various machines
Tool and part etc. carry out whole receipts, not only confusing but also complicated, so what is more focused on for industrial robot is its locomotivity
And holding capability, for this purpose, it is proposed that a kind of intelligent industrial robot solves the above problems.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of intelligent industrial machine proposed
People.
To achieve the goals above, present invention employs following technical solutions:
Design a kind of intelligent industrial robot, including base mechanism, the base mechanism bottom be fixed with driving roller and from
Dynamic idler wheel, the base mechanism upper end are fixed with the first electric expansion oil cylinder and the second electric expansion by supporting mechanism respectively
Oil cylinder, the first electric expansion oil cylinder control output end are equipped with third electric expansion oil by the rotation of the first yielding coupling
Cylinder, the third electric expansion oil cylinder control output end are fixed with the first clamping device, the second electric expansion oil cylinder control
Output end processed by the second yielding coupling rotation be equipped with the 4th shaft, the 4th shaft far from the second yielding coupling one
Side is fixed with clamping large arm, and the clamping end of the large arm far from the 4th shaft is rotatedly connected by bearing and clamping forearm,
The clamping forearm is fixed with the second clamping device far from the end of bearing.
Preferably, the base mechanism includes main shaft, first rotating shaft and main base frame, and the first rotating shaft is fixedly mounted on master
Pedestal upper surface, first rotating shaft upper end are fixed with main shaft, and the main shaft is fixedly linked with supporting mechanism.
Preferably, the supporting mechanism includes that linkage seat, the first attachment base, the second shaft, the second attachment base and third turn
Axis, first attachment base and second attachment base are bolted on the upper surface two sides of linkage seat respectively, and described
A connecting seat upper surface is fixed with the second shaft, and second shaft upper end is connected with the first electric expansion oil cylinder, described
Second attachment base upper surface is fixed with third shaft, and third shaft upper end is connected with the second electric expansion oil cylinder.
Preferably, first clamping device includes clamping element, clamp port, the 4th electric expansion oil cylinder and spring, and two
The end of the clamping element offers multiple clamp ports, and two clamping elements pass through at least two the 4th electric expansion oil cylinder phases
Mutually it is cooperatively connected.
Preferably, second clamping device includes the 5th shaft, set casing, the 5th electric expansion oil cylinder, the first rotation
Axis, connecting plate, the second rotary shaft, third rotary shaft and clamping jaw, the 5th shaft are fixedly connected on clamping forearm end, and described the
The five shaft other ends are fixedly connected with set casing, are fixed with the 5th electric expansion oil cylinder inside the set casing, and the described 5th
Electric expansion oil cylinder control output end is equipped with a pair of of connecting plate by the rotation of the first rotary shaft, and two connecting plate other ends are through solid
Determine shell to extend to outside it, and the connecting plate outer end is rotatedly connected by the second rotary shaft with clamping jaw, two clamping jaws
Middle part is goed deep into being rotatedly connected inside set casing and by third rotary shaft, and the third rotary shaft is fixed in set casing
Portion.
Preferably, two clamping jaw insides close to each other are fixed with restricted entry.
Preferably, driving roller inner shaft one end and the control output end of micromotor are fixedly linked, the micro electric
Machine is fixedly mounted on base mechanism bottom.
Preferably, fixing sleeve is equipped with spring, institute on the outside of the 4th electric expansion oil cylinder control output end being spaced apart from each other
The spring other end is stated to be fixedly connected with clamping element inner wall.
A kind of intelligent industrial robot proposed by the present invention, beneficial effect are: the robot is set there are two different folders
Mechanism is held, can be clamped for different objects, the first clamping device can clamp multiple identical objects simultaneously, improve
The efficiency of clamping, the second clamping device can clamp object of different shapes, and can be improved the power of clamping by restricted entry
Degree, which can be realized movement by idler wheel, improves the working range of the robot, in addition, the robot interior is equipped with
Multiple shafts and yielding coupling greatly improve the opereating specification of the robot.
Detailed description of the invention
Fig. 1 is that schematic perspective view is squinted in a kind of front of intelligent industrial robot proposed by the present invention；
Fig. 2 is that schematic perspective view is squinted in a kind of top of intelligent industrial robot proposed by the present invention；
Fig. 3 is that schematic perspective view is squinted in a kind of lower section of intelligent industrial robot proposed by the present invention；
Fig. 4 is a kind of schematic cross-sectional view of the second clamping device of intelligent industrial robot proposed by the present invention；
Fig. 5 is the enlarged structure schematic diagram in Fig. 1 at A.
In figure: driving roller 1, micromotor 2, driven roller 3, base mechanism 4, main shaft 41, first rotating shaft 42, main base frame
43, supporting mechanism 5, linkage seat 51, the first attachment base 52, the second shaft 53, the second attachment base 54, the 55, first electricity of third shaft
Dynamic telescopic oil cylinder 6, the second electric expansion oil cylinder 7, the first yielding coupling 8, the second yielding coupling 9, third electric expansion oil
Cylinder 10, the first clamping device 11, clamping element 111, clamp port 112, the 4th electric expansion oil cylinder 113, spring 114, the 4th shaft
12, it is electronic that large arm 13, bearing 14, clamping forearm 15, the second clamping device 16, the 5th shaft 161, set casing the 162, the 5th are clamped
Telescopic oil cylinder 163, the first rotary shaft 164, connecting plate 165, the second rotary shaft 166, third rotary shaft 167, clamping jaw 168, restricted entry
169。
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-5, a kind of intelligent industrial robot, including base mechanism 4,4 bottom of base mechanism are fixed with actively
Idler wheel 1 and driven roller 3,1 inner shaft one end of driving roller and the control output end of micromotor 2 are fixedly linked, and micromotor 2 is given
For driving roller 1 with power, driving roller 1 drives driven roller 3 to roll, and then realizes the movement of the robot, and micromotor 2 is solid
Dingan County is mounted in 4 bottom of base mechanism, and 4 upper end of base mechanism is fixed with the first electric expansion oil cylinder 6 by supporting mechanism 5 respectively
With the second electric expansion oil cylinder 7, base mechanism 4 includes main shaft 41, first rotating shaft 42 and main base frame 43, the fixed peace of first rotating shaft 42
Mounted in 43 upper surface of main base frame, 42 upper end of first rotating shaft is fixed with main shaft 41, and main shaft 41 can be realized the robot bottom
Any rotation, main shaft 41 are fixedly linked with supporting mechanism 5.
Supporting mechanism 5 includes linkage seat 51, the first attachment base 52, the second shaft 53, the second attachment base 54 and third shaft
55, the first attachment base 52 and the second attachment base 54 are bolted on the upper surface two sides of linkage seat 51, the first connection respectively
52 upper surfaces of seat are fixed with the second shaft 53, and 53 upper end of the second shaft is connected with the first electric expansion oil cylinder 6, the second shaft
53 make the first electric expansion oil cylinder 6 can be realized rotational action, and 54 upper surface of the second attachment base is fixed with third shaft 55,
55 upper end of third shaft is connected with the second electric expansion oil cylinder 7, and third shaft 55 enables the second electric expansion oil cylinder 7 real
Existing rotational action, 6 control output end of the first electric expansion oil cylinder are equipped with third electric expansion by the rotation of the first yielding coupling 8
Oil cylinder 10, third electric expansion oil cylinder 10 can be carried out by the first yielding coupling 8 around 6 end of the first electric expansion oil cylinder
Rotation, improves the scope of activities of the robot, 10 control output end of third electric expansion oil cylinder is fixed with the first clamping device
11。
First clamping device 11 include clamping element 111, clamp port 112, the 4th electric expansion oil cylinder 113 and spring 114, two
The end of a clamping element 111 offers multiple clamp ports 112, and clamp port 112 is equipped with multiple, can be directed to multiple identical objects
It carries out while clamping, improve the efficiency of the robotic gripper, two clamping elements 111 pass through at least two the 4th electric expansion oil cylinders
113, which cooperate, connects, and fixing sleeve is equipped with spring 114 on the outside of 113 control output end of the 4th electric expansion oil cylinder being spaced apart from each other,
114 other end of spring is fixedly connected with 111 inner wall of clamping element, energy under the action of the 4th electric expansion oil cylinder 113 of clamping element 111
It enough realizes the movement for being bonded to each other and discharging, and can be improved the clamping force of clamping element 111 under the elastic reaction of spring 114
Degree.
Second electric expansion oil cylinder, 7 control output end is rotated by the second yielding coupling 9 is equipped with the 4th shaft 12, and the 4th
Shaft 12 can be realized angle rotation by the second yielding coupling 9, increase the range of the robotic gripper, and the 4th shaft 12 is remote
Side from the second yielding coupling 9 is fixed with clamping large arm 13, and clamping large arm 13 passes through far from the end of the 4th shaft 12
Bearing 14 is rotatedly connected with clamping forearm 15, and the rotation that bearing 14 can be realized clamping large arm 13 and clamp between forearm 15 is dynamic
Make, clamping forearm 15 is fixed with the second clamping device 16 far from the end of bearing 14, and the second clamping device 16 includes the 5th turn
Axis 161, set casing 162, the 5th electric expansion oil cylinder 163, the first rotary shaft 164, connecting plate 165, the second rotary shaft 166, third
Rotary shaft 167 and clamping jaw 168, the 5th shaft 161 are fixedly connected on clamping 15 end of forearm.
5th shaft, 161 other end is fixedly connected with set casing 162, and the 5th is fixed with inside set casing 162 and electronic is stretched
Contracting oil cylinder 163,163 control output end of the 5th electric expansion oil cylinder are equipped with a pair of of connecting plate 165 by the rotation of the first rotary shaft 164,
Two 165 other ends of connecting plate extend to outside it through set casing 162, and 165 outer end of connecting plate passes through the second rotary shaft 166
It is rotatedly connected with clamping jaw 168, gos deep into 162 inside of set casing in the middle part of two clamping jaws 168 and phase is rotated by third rotary shaft 167
Even, third rotary shaft 167 is fixed inside set casing 162, passes through the flexible drive connecting plate of the 5th electric expansion oil cylinder 163
165 are bounced back or are extended into set casing 162, and connecting plate 165 drives clamping jaw 168 that angle occurs by the second rotary shaft 166 in turn
Degree variation, clamping jaw 168 can be realized opening and closing action under the limitation of third rotary shaft 167, and two clamping jaws 168 mutually lean on
Close inside is fixed with restricted entry 169, and restricted entry 169 can be realized clamping jaw 168 and clamp to object of different shapes,
And the rubbing action between clamping jaw 168 and object can be increased, improve the dynamics of clamping.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of intelligent industrial robot, including base mechanism (4), which is characterized in that base mechanism (4) the bottom fixation is set
There are driving roller (1) and driven roller (3), base mechanism (4) upper end is fixed with first by supporting mechanism (5) respectively
Electric expansion oil cylinder (6) and the second electric expansion oil cylinder (7), the first electric expansion oil cylinder (6) control output end pass through the
One yielding coupling (8) rotation is equipped with third electric expansion oil cylinder (10), third electric expansion oil cylinder (10) the control output
End is fixed with the first clamping device (11), and the second electric expansion oil cylinder (7) control output end passes through the second elastic shaft coupling
Device (9) rotation is equipped with the 4th shaft (12), and the 4th shaft (12) is fixed with far from the side of the second yielding coupling (9)
It clamps large arm (13), the end of clamping large arm (13) far from the 4th shaft (12) passes through bearing (14) and clamping forearm (15)
It is rotatedly connected, clamping forearm (15) is fixed with the second clamping device (16) far from the end of bearing (14).
2. a kind of intelligent industrial robot according to claim 1, which is characterized in that the base mechanism (4) includes master
Axis (41), first rotating shaft (42) and main base frame (43), the first rotating shaft (42) are fixedly mounted on main base frame (43) upper surface, the
One shaft (42) upper end is fixed with main shaft (41), and the main shaft (41) is fixedly linked with supporting mechanism (5).
3. a kind of intelligent industrial robot according to claim 1, which is characterized in that the supporting mechanism (5) includes connection
Dynamic seat (51), the first attachment base (52), the second shaft (53), the second attachment base (54) and third shaft (55), described first connects
Joint chair (52) and second attachment base (54) are bolted on the upper surface two sides of linkage seat (51) respectively, and described first
Attachment base (52) upper surface is fixed with the second shaft (53), the second shaft (53) upper end and the first electric expansion oil cylinder
(6) be connected, the second attachment base (54) upper surface is fixed with third shaft (55), third shaft (55) upper end with
Second electric expansion oil cylinder (7) is connected.
4. a kind of intelligent industrial robot according to claim 1, which is characterized in that the first clamping device (11) packet
Include clamping element (111), clamp port (112), the 4th electric expansion oil cylinder (113) and spring (114), two clamping elements
(111) end offers multiple clamp ports (112), and two clamping elements (111) pass through at least two the 4th electric expansions
Oil cylinder (113), which cooperates, to be connected.
5. a kind of intelligent industrial robot according to claim 1, which is characterized in that the second clamping device (16) packet
Include the 5th shaft (161), set casing (162), the 5th electric expansion oil cylinder (163), the first rotary shaft (164), connecting plate (165),
Second rotary shaft (166), third rotary shaft (167) and clamping jaw (168), it is small that the 5th shaft (161) is fixedly connected on clamping
Arm (15) end, the 5th shaft (161) other end are fixedly connected with set casing (162), solid inside the set casing (162)
Surely it is equipped with the 5th electric expansion oil cylinder (163), the 5th electric expansion oil cylinder (163) control output end passes through the first rotary shaft
(164) rotation is equipped with a pair of of connecting plate (165), and two connecting plate (165) other ends extend to outside it through set casing (162)
Portion, and the connecting plate (165) outer end is rotatedly connected by the second rotary shaft (166) with clamping jaw (168), two clamping jaws
(168) middle part gos deep into set casing (162) inside and is rotatedly connected by third rotary shaft (167), the third rotary shaft (167)
It is internal to be fixed at set casing (162).
6. a kind of intelligent industrial robot according to claim 5, which is characterized in that two clamping jaws (168) are mutual
Close inside is fixed with restricted entry (169).
7. a kind of intelligent industrial robot according to claim 1, which is characterized in that driving roller (1) inner shaft one
It holds and is fixedly linked with the control output end of micromotor (2), the micromotor (2) is fixedly mounted on base mechanism (4) bottom.
8. a kind of intelligent industrial robot according to claim 4, which is characterized in that the described 4th be spaced apart from each other is electronic
Fixing sleeve is equipped with spring (114), spring (114) other end and clamping element on the outside of telescopic oil cylinder (113) control output end
(111) inner wall is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910413509.1A CN110039522A (en) | 2019-05-17 | 2019-05-17 | A kind of intelligent industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910413509.1A CN110039522A (en) | 2019-05-17 | 2019-05-17 | A kind of intelligent industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110039522A true CN110039522A (en) | 2019-07-23 |
Family
ID=67282474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910413509.1A Withdrawn CN110039522A (en) | 2019-05-17 | 2019-05-17 | A kind of intelligent industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110039522A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817430A (en) * | 2020-01-08 | 2020-02-21 | 莱克电气股份有限公司 | Loading and unloading device of paint dripping machine and paint dripping system |
| CN110936078A (en) * | 2019-11-15 | 2020-03-31 | 东风柳州汽车有限公司 | Automobile skylight top cover auxiliary part welding fixture |
-
2019
- 2019-05-17 CN CN201910413509.1A patent/CN110039522A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936078A (en) * | 2019-11-15 | 2020-03-31 | 东风柳州汽车有限公司 | Automobile skylight top cover auxiliary part welding fixture |
| CN110936078B (en) * | 2019-11-15 | 2021-08-20 | 东风柳州汽车有限公司 | Automobile skylight top cover auxiliary part welding fixture |
| CN110817430A (en) * | 2020-01-08 | 2020-02-21 | 莱克电气股份有限公司 | Loading and unloading device of paint dripping machine and paint dripping system |
| CN110817430B (en) * | 2020-01-08 | 2020-04-07 | 莱克电气股份有限公司 | Loading and unloading device of paint dripping machine and paint dripping system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190723 |
|
| WW01 | Invention patent application withdrawn after publication |