CN110328516A - Drill pinning robot - Google Patents
Drill pinning robot Download PDFInfo
- Publication number
- CN110328516A CN110328516A CN201910538383.0A CN201910538383A CN110328516A CN 110328516 A CN110328516 A CN 110328516A CN 201910538383 A CN201910538383 A CN 201910538383A CN 110328516 A CN110328516 A CN 110328516A
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- Prior art keywords
- pinning
- drilling
- chassis
- connecting plate
- sensor
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- 238000005553 drilling Methods 0.000 claims abstract description 160
- 230000000712 assembly Effects 0.000 claims abstract description 16
- 238000000429 assembly Methods 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims description 16
- 239000002184 metal Substances 0.000 claims description 14
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 239000002023 wood Substances 0.000 description 6
- 241001074085 Scophthalmus aquosus Species 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
- B27C3/00—Drilling machines or drilling devices; Equipment therefor
- B27C3/02—Stationary drilling machines with a single working spindle
Abstract
The present invention provides a kind of drilling pinning robot.Pinning robot drill for drilling and pinning on the floor of container, drilling pinning robot includes chassis, at least two drilling Pinning assemblies, longitudinal moving device, sensor and controller；Chassis is provided with walking component；At least two drilling Pinning assemblies are arranged on chassis in transverse direction；Longitudinal moving device is arranged on chassis and connect with drilling Pinning assembly, to move along the longitudinal direction for driving drilling Pinning assembly, to change position of the drilling Pinning assembly relative to chassis；Sensor is arranged on chassis；Controller is electrically connected to walking component and sensor, and the information control walking component operation sensed according to sensor, thus mobile drilling pinning robot.Drilling pinning robot through the invention, at least two drilling Pinning assemblies can while drill on the floor of container and pinning, and pinning is high-efficient, is not necessarily to artificial pinning.
Description
Technical field
Present invention relates generally to container manufacture fields, and relate more specifically to a kind of drilling pinning robot.
Background technique
In container industry, timber floor is fastened on the bottom cross beam of chassis by screw at present.Container production line relates to
And the station of screw fixing wood floor just has 6 to 8.Pass through；The process of screw fixing wood floor is successively are as follows: artificial crossed, brill
Reaming is cleaned, spreads nail, pinning, cleaning, check, reprocess.And 40 ruler TEU (Twenty-foot Equivalent Unit)s need to install timber floor by 408 screws,
45 ruler TEU (Twenty-foot Equivalent Unit)s need to install timber floor by 452 screws, and the container of 53 rulers need to pass through 1462 screw installation wood ground
Plate.And the bottom cross beam (pinning) that screw is fastened to timber floor using hand-held screwdriver main at present, pinning low efficiency, pinning
Large labor intensity, and when pinning operation, close and numerous on plank to have piled screw, operating environment is severe.
Accordingly, it is desirable to provide a kind of drilling pinning robot, at least to be partially solved issue noted above.
Summary of the invention
A series of concept of reduced forms is introduced in Summary, this will be in specific embodiment part into one
Step is described in detail.Summary of the invention is not meant to attempt to limit the pass of technical solution claimed
Key feature and essential features do not mean that the protection scope for attempting to determine technical solution claimed more.
At least to be partially solved above-mentioned technical problem, the present invention provides a kind of drilling pinning robots, for collecting
Drilling and pinning on the floor of vanning, drilling pinning robot includes: chassis, and chassis is provided with walking component；At least two bore
Hole Pinning assembly, at least two drilling Pinning assemblies are arranged on chassis in transverse direction；Longitudinal moving device, longitudinal movement dress
It installs on chassis and is connect with drilling Pinning assembly, to be moved along the longitudinal direction for driving drilling Pinning assembly, thus
Change position of the drilling Pinning assembly relative to chassis；Sensor, sensor are arranged on chassis；And controller, controller
It is electrically connected to walking component and sensor, and the information control walking component operation sensed according to sensor, so that mobile bore
Hole pinning robot.
Drilling pinning robot according to the present invention, drilling pinning robot first drill on floor, then pass through longitudinal direction
Mobile device driving drilling Pinning assembly moves along the longitudinal direction, thus change position of the drilling Pinning assembly relative to chassis,
Pinning operation is rapidly carried out after piercing without the mobile pinning robot that drills；And at least two drilling Pinning assemblies can
Drilling and pinning on the floor of container simultaneously, pinning is high-efficient, is not necessarily to artificial pinning.
Optionally, drilling Pinning assembly includes drilling equipment, pinning device and connecting plate, and drilling equipment and pinning device are equal
It is connected to connecting plate.
Optionally, chassis is additionally provided with sliding stand, and longitudinal moving device includes cylinder body and movably lives relative to cylinder body
Stopper rod, piston rod are connected to sliding stand, and to drive sliding stand to move along the longitudinal direction, connecting plate is arranged on sliding stand.
Optionally, connecting plate is provided with positioning plate, and sliding stand is provided with locating rack, positioning plate by connector can with it is fixed
Position frame is fixedly connected, so that position-adjustable of the connecting plate relative to chassis in transverse direction.
Optionally, connecting plate is provided with connecting plate sliding block, and sliding stand is provided with the cross slide way with the cooperation of connecting plate sliding block.
Optionally, sliding stand is provided with sliding stand sliding block, and chassis is provided with the longitudinal rail with the cooperation of sliding stand sliding block.
Optionally, chassis is additionally provided with horizontal mobile device, and horizontal mobile device is arranged on sliding stand and is connected to position
In the drilling Pinning assembly of the side edge of drilling pinning robot, for driving the drilling Pinning assembly for being located at side edge along horizontal
It is mobile to direction.
Optionally, be provided with first connecting rod and second connecting rod between connecting plate and sliding stand, first connecting rod, second connecting rod,
Connecting plate and sliding stand form four-bar linkage structure, and horizontal mobile device includes cylinder body and relative to the moveable piston rod of cylinder body,
Cylinder body and piston rod are respectively articulated with to connecting plate and sliding stand.
Optionally, drilling equipment includes: drilling equipment support plate, and drilling equipment support plate is connected to connecting plate；Drill bit bores
Head is connected to drilling equipment support plate；Drilling equipment drive member, drilling equipment drive member is for driving drill bit relative to brill
Aperture apparatus support plate moves up and down.
Optionally, pinning device includes: pinning device support plate, and pinning device support plate is connected to connecting plate；Screwdriver,
Screwdriver is connected to pinning device support plate；Pinning device drive member, pinning device drive member is for driving screwdriver phase
Pinning device support plate is moved up and down.
Optionally, walking component includes travel driving motor and the Mecanum wheel by driving motor driving.
Optionally, sensor includes visual sensor, and visual sensor is used to sense the piece on floor, and controller is according to view
The signal control walking component that sensor senses is felt, so that the middle line of chassis is aligned with piece.
Optionally, sensor includes metal sensor, and metal sensor is used to sense the bottom cross beam of container, controller root
The signal control walking component sensed according to metal sensor, so that drilling Pinning assembly is located at the top of bottom cross beam.
Optionally, bolt conveying device is additionally provided on chassis, bolt conveying device is used to for screw to be delivered to drilling lock
Screw assembly.
Optionally, bolt conveying device includes vibrating disk and linking arm, and vibrating disk is connected to chassis by linking arm, connection
Arm is removable relative to chassis, so that vibrating disk is removable relative to chassis.
Optionally, roller assemblies and skate mobile device are additionally provided on chassis, skate mobile device is for driving skate
Component moves in transverse direction.
Detailed description of the invention
It, will be more detailed by reference to the specific embodiment being shown in the accompanying drawings in order to make to advantages of the invention will be readily understood
The present invention being briefly described above carefully is described.It is understood that these attached drawings depict only exemplary embodiment of the invention, because
This is not considered as the limitation to its protection scope, describes and explains the present invention by attached drawing with additional characteristics and details.
Fig. 1 is the three-dimensional view according to the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 2 is another three-dimensional view according to the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 3 is another three-dimensional view according to the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 4 is the front view according to the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 5 is the top view according to the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 6 is the right view according to the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 7 is the top view according to the bottom plate of the drilling pinning robot of the preferred embodiment of the present invention；
Fig. 8 is the partial enlargement diagram at the F in Fig. 4；
Fig. 9 is the partial enlargement diagram at the D in Fig. 2；
Figure 10 is that drilling Pinning assembly, connecting plate sliding block and the positioning plate of the drilling pinning robot of Fig. 1 link together
Stereoscopic schematic diagram；
Figure 11 is that drilling Pinning assembly, connecting plate sliding block and the positioning plate of the drilling pinning robot of Figure 10 link together
Front view；
Figure 12 is the partial enlargement diagram at the A in Fig. 1；
Figure 13 is the partial enlargement diagram at the E in Fig. 3；
Figure 14 is the partial enlargement diagram at the C in Fig. 1；And
Figure 15 is the partial enlargement diagram at the B in Fig. 1.
Description of symbols:
10: drilling pinning robot 100: chassis
110: the first shield, 120: the second shield
130: bottom plate 140: longitudinal rail
150: column 160: crossbeam
170: control cabinet 200: drilling Pinning assembly
210: connecting plate 211: connecting plate sliding block
212: positioning plate 230: drilling equipment
231: drilling equipment support plate 232: drill bit
233: drilling equipment drive member 234: bore motor
235: drill bit locker 236: spline shaft stool
237: belt wheel protection hood 238: band wheeling support
240: pinning device 241: pinning device support plate
242: screwdriver 243: pinning device drive member
244: the first screwdriver fixing seats 245: screwdriver sliding rail
246: linear bearing 247: guide rail bearing
248: the second screwdriver fixing seats 249: spring
310: sliding stand 311: sliding stand sliding block
312: cross slide way 313: locating rack
320: longitudinal moving device 321: longitudinal moving device cylinder block
322: longitudinal moving device cylinder axis 410: visual sensor
411: visual sensor bracket 420: metal sensor
601: first connecting rod 602: second connecting rod
603: horizontal mobile device cylinder block 604: horizontal mobile device cylinder axis
710: travel driving motor 720: Mecanum wheel
800: bolt conveying device 810: vibrating disk
820: linking arm 910: roller assemblies
911: skate bracket 912: skate
920: skate mobile device 930: skate guide rail
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it will be apparent to one skilled in the art that embodiment of the present invention may not need it is one or more of these thin
It saves and is carried out.In other examples, in order to avoid obscuring with embodiment of the present invention, for well known in the art
Some technical characteristics are not described.
In order to thoroughly understand embodiment of the present invention, detailed structure will be proposed in following description.Obviously, of the invention
The execution of embodiment is not limited to the specific details that those skilled in the art is familiar with.Better embodiment of the invention
It is described in detail as follows, however other than these detailed descriptions, the present invention can also have other embodiments.
As shown in Figures 1 to 9, it the present invention provides a kind of drilling pinning robot 10, is used on the wood ground of container
Floor nail hole is drilled out on plate (not shown) and carries out pinning in the floor nail hole drilled out.
Specifically, drilling pinning robot 10 may include chassis 100.Chassis 100 is provided with walking component, drilling pinning group
Part 200, longitudinal moving device 320, sensor and controller.
The Pinning assembly 200 that drills is used for drilling and pinning on the floor of container.At least two drilling Pinning assemblies 200
D1 is arranged on chassis 100 in transverse direction.In the shown embodiment, the quantity for the Pinning assembly 200 that drills is 20,20
The Pinning assembly 200 that drills D2 arrangement along the longitudinal direction is two rows.The quantity for the Pinning assembly 200 that drills and arrangement are not limited to this implementation
Mode can according to need change.
Longitudinal moving device 320 is connect with drilling Pinning assembly 200, for driving drilling Pinning assembly 200 along longitudinal direction
Direction D2 is mobile, to change position of the drilling Pinning assembly 200 relative to chassis 100.In this way, it is possible to fast after piercing
Pinning operation is carried out fastly without the mobile pinning robot 10 that drills.
Controller is electrically connected to walking component and sensor, and can be according to the information control walking component that sensor senses
Work, so that drilling pinning robot 10 be automatically moved.
Drilling pinning robot 10 according to the present invention can drive drilling Pinning assembly by longitudinal moving device 320
200 D2 movements along the longitudinal direction, to change position of the drilling Pinning assembly 200 relative to chassis 100, after piercing rapidly
Pinning operation is carried out without the mobile pinning robot 10 that drills；And multiple drilling Pinning assemblies 200 can be simultaneously in container
Floor on drill or pinning, work efficiency is high, reduce human cost.
It should be noted that transverse direction D1 herein corresponds to the width direction of container.Originally the longitudinal direction side in asking
Correspond to the length direction of container to D2.
Fig. 1 and Fig. 7 please be now go to, the chassis of drilling pinning robot 10 according to the present embodiment will now be described in detail
100.Chassis 100 includes bottom plate 130, the substantially plate of bottom plate 130.Opening is offered on bottom plate 130, for for the pinning that drills
Component 200 extends through.Chassis 100 further includes that the both ends for being separately positioned on the longitudinal direction D2 of bottom plate 130 have the first protection
Cover 110 and the second shield 120.First shield 110 and the second shield 120 are respectively used to be provide with two positioned at bottom plate 130
The walking component at end.
Chassis 100 further includes four columns 150 being arranged on bottom plate 130, and connection be located at two of the same side it is vertical
The crossbeam 160 of column 150.The components such as control cabinet 170, display screen can be set on crossbeam 160.It is provided with such as in control cabinet 170
The controller of PLC (programmable logic controller (PLC)).
In the shown embodiment, the four corners of bottom plate 130 are respectively arranged with travel driving motor 710 and by driving motors
The Mecanum wheel 720 of 710 drivings.It will be understood by those skilled in the art that Mecanum wheel 720 can be rotated along any direction
To drive chassis 100 mobile.Controller can control Mecanum wheel 720 according to the signal from sensor as a result, so that
Drilling pinning robot 10 more rapidly can be moved accurately.
Figure 14 and Figure 15 please be now go to, in the shown embodiment, sensor includes visual sensor 410 and metal sensor
Device 420.Specifically, visual sensor 410 can be CCD camera.Visual sensor 410 can pass through visual sensor bracket 411
The second shield 120 being connected at the front end of chassis 100.Visual sensor 410 is used to sense the spelling of container floor
Seam, the signal control driving motor 710 and Mecanum wheel 720 that controller is sensed according to visual sensor 410, so that bottom
The middle line of frame 100 is aligned with piece.
As shown in figure 15, metal sensor 420 may be provided on chassis 100, and be located at 100 lower section of chassis for sensing
The bottom cross beam of container.The signal control driving motor 710 and Mike that controller can be sensed according to metal sensor 420 are received
Nurse wheel 720, so that drilling Pinning assembly 200 is located at the top of bottom cross beam.
It, can be in drilling pinning by setting Mecanum wheel 720 and visual sensor 410 and metal sensor 420
In the moving process of robot 10, the position of the piece of real-time detection container wood floor, and then according to the position of above-mentioned piece
The movement for automatically controlling drilling pinning robot 10, so that the middle line of chassis 100 is aligned with piece；And pass through metal sensor
The position of the bottom cross beam of 420 detection containers and the quantity of bottom cross beam, and automatically control drilling pinning robot 10 and be moved to bottom
The top of crossbeam, then in the position automatic drilling where bottom cross beam and pinning.
Figure 10 and Figure 11 please be now go to, in the shown embodiment, drilling Pinning assembly 200 includes drilling equipment 230, lock
Spike devices 240 and connecting plate 210.As it will be explained in more detail hereinafter, drilling equipment 230 on the floor of container for being bored
Hole, and pinning device 240 by screw for screwing and being fixed in the floor nail hole that drilling equipment 230 drills out.Drilling equipment 230
Connecting plate 210 is connected to pinning device 240.
In addition, chassis 100 is additionally provided with sliding stand 310.In the shown embodiment, sliding stand 310 is located at connecting plate 210
Lower section.As shown in figure 8, longitudinal moving device 320 (such as cylinder) includes longitudinal moving device cylinder block 321 (that is, cylinder body)
With relative to the moveable longitudinal moving device cylinder axis 322 (that is, piston rod) of longitudinal moving device cylinder block 321.It is longitudinal to move
Dynamic device cylinder axis 322 is connected to sliding stand 310, and to drive sliding stand 310, D2 is mobile along the longitudinal direction.By this method, longitudinal
Mobile device 320 can drive sliding stand 310, and D2 is mobile along the longitudinal direction, is connected to the multiple of sliding stand 310 to also drive
Integrally D2 is mobile along the longitudinal direction for the Pinning assembly 200 that drills.As a result, after drilling is completed, multiple drilling Pinning assemblies 200 can
Integrally move so that pinning device 240 can be moved at the nail hole of floor, without the mobile pinning robot 10 that drills.
In order to guarantee that straightness D2 mobile along the longitudinal direction of sliding stand 310, sliding stand 310 may be provided with sliding stand sliding block
311, bottom plate 130 is provided with the longitudinal rail 140 cooperated with sliding stand sliding block 311.
It is understood that the position of drilling Pinning assembly 200 D1 in transverse direction determines the position of floor nail hole, because
This, in order to adapt to different use environments, the position relative to chassis 100 of drilling Pinning assembly 200 D1 in transverse direction is
It is adjustable.As shown in Figure 9 and Figure 10, the connecting plate 210 for the Pinning assembly 200 that drills is provided with positioning plate 212, positioning plate 212
On be provided with through-hole.Sliding stand 310 is provided with locating rack 313, is provided with elongated slot on locating rack 313.Determining positioning plate as a result,
Behind 212 position relative to locating rack 313, connector can be used to be fixedly connected with positioning plate 212 with locating rack 313.
Further, connecting plate 210 may be provided with connecting plate sliding block 211, and sliding stand 310 may be provided with and connecting plate sliding block
The cross slide way 312 of 211 cooperations.By this method, connecting plate 210 can be relative to 310 transverse shifting of sliding stand, cross slide way
312 can provide guiding and support to connecting plate 210 by connecting plate sliding block 211.In the shown embodiment, connecting plate 210
Lower surface setting there are two connecting plate sliding block 211, be correspondingly arranged that there are two cross slide ways 312 on sliding stand 310.
In order to avoid when entering and exiting container, positioned at the two sides of the transverse direction D1 of drilling pinning robot 10
The Pinning assembly 200 that drills and container collide or rub, and chassis 100 is additionally provided with horizontal mobile device.
In the shown embodiment, horizontal mobile device, which is arranged on sliding stand 310 and is connected to, is located at drilling pinning machine
The drilling Pinning assembly 200 of the side edge of device people 10, for driving the drilling Pinning assembly 200 for being located at side edge transversely square
It is mobile to D1.In this way, the drilling Pinning assembly 200 for being located at side edge can the retraction when robot enters and exits container
In (D1 in transverse direction) to chassis 100, and (D1 in transverse direction) is stretched out to chassis 100 after robot enters container
Outside.
In a kind of optional embodiment, with reference to Figure 12 and Figure 13.Is provided between connecting plate 210 and sliding stand 310
One connecting rod 601 and second connecting rod 602.The both ends of first connecting rod 601 are respectively articulated with to connecting plate 210 and sliding stand 310.Equally
, the both ends of second connecting rod 602 are respectively articulated with to connecting plate 210 and sliding stand 310.First connecting rod 601, connects second connecting rod 602
Fishplate bar 210 and sliding stand 310 form four-bar linkage structure.The four-bar linkage structure can be parallelogram double leval jib.It is real in diagram
It applies in mode, the lower surface in connecting plate 210 and the upper table of sliding stand 310 can be set in first connecting rod 601 and second connecting rod 602
Between face.Further, since it is provided with four-bar linkage structure, the drilling positioned at the two sides of the transverse direction D1 of drilling pinning robot 10
The connecting plate 210 of Pinning assembly 200 can be not provided with connecting plate sliding block.
Horizontal mobile device (such as cylinder) includes horizontal mobile device cylinder block 603 (that is, cylinder body) and relative to transverse direction
The moveable horizontal mobile device cylinder axis 604 (that is, piston rod) of mobile device cylinder block 603, horizontal mobile device cylinder block
603 and horizontal mobile device cylinder axis 604 be respectively articulated with to connecting plate 210 and sliding stand 310.
Fig. 1 and Fig. 5 please be now go to, optionally, roller assemblies 910 and skate mobile device are additionally provided on chassis 100
920.D1 is mobile in transverse direction for driving roller assemblies 910 for skate mobile device 920 (such as cylinder).
Roller assemblies 910 include skate bracket 911 and skate 912.Skate 912 is arranged on skate bracket 911 and can phase
Skate bracket 911 is rotated.Skate mobile device 920 is including cylinder block and relative to the moveable cylinder axis of cylinder block, gas
Cylinder seat is arranged on the crossbeam 160 of chassis 100, and cylinder is pivotally connected to skate bracket 911, to drive skate bracket 911 transversely
Direction D1 is mobile.By this method, the cylinder axis of skate mobile device 920 can drive the D1 shifting in transverse direction of skate bracket 911
It is dynamic, to also drive the integrally D1 movement in transverse direction of skate 912 for being connected to skate bracket 911, locked to avoid in drilling
Chassis 100 or drilling Pinning assembly 200 and container collide or rub when following closely the movement of robot 10.
In order to facilitate skate bracket 911, D1 is mobile in transverse direction, and the crossbeam 160 of chassis 100 is also provided with skate
Guide rail 930.By this method, skate bracket 911 can be relative to 160 transverse shifting of crossbeam of chassis 100.
Figure 10 and Figure 11 please be now go to, optionally, drilling equipment 230 includes drilling equipment support plate 231, drill bit 232, bores
Aperture apparatus drive member 233.Drilling equipment support plate 231 is connected to connecting plate 210.Drill bit 232 is connected to drilling equipment support
Plate 231.Drilling equipment drive member 233 is for driving drill bit 232 to move up and down relative to drilling equipment support plate 231.
Specifically, drilling equipment 230 includes 234, two belts of bore motor being fixed in drilling equipment support plate 231
Wheel, splined shaft, drill bit 232, drill bit locker 235, drill bit sliding rail, drill bit sliding block, spline shaft stool 236, belt wheel protection hood
237, and with wheeling support 238.234, two belt pulleys of bore motor, and pass through drilling equipment support plate with wheeling support 238
231 are fixedly connected on connecting plate 210.Drill bit 232 is pivotally connected to belt pulley by drill bit locker 235, spline.Bore motor
The rotation of 234 driving belt pulleys, and then drill bit 232 is driven to rotate.Belt wheel protection hood 237 covers on outside belt pulley.
As shown in FIG. 10 and 11, drilling equipment drive member 233 (such as cylinder) includes cylinder block and relative to cylinder block
Moveable cylinder axis, cylinder are pivotally connected to splined shaft support 236, to drive spline shaft stool 236 to move along the vertical direction.With
The cylinder axis of this mode, drilling equipment drive member 233 can drive spline shaft stool 236 to move along the vertical direction, thus
The drill bit 232 for being connected to spline shaft stool 236 and splined shaft is driven integrally to move along the vertical direction.
It is moved along the vertical direction in order to facilitate spline shaft stool 236, spline shaft stool 236 is provided with drill bit sliding block, drilling
Device support plate 231 is provided with the drill bit sliding rail with the cooperation of drill bit sliding block.By this method, spline shaft stool 236 can be relative to
Drilling equipment support plate 231 moves up and down.
Optionally, the top of drill bit 232 is additionally provided with cornish bit.In this way, drilling when, can be drilled with counter sink without
Tool changing.
Pinning device 240 includes pinning device support plate 241, screwdriver 242 and pinning device drive member 243.Pinning
Device support plate 241 is connected to connecting plate 210.Screwdriver 242 is connected to pinning device support plate 241.Pinning device drives structure
Part 243 is for driving screwdriver 242 to move up and down relative to pinning device support plate 241.
Specifically, pinning device 240 includes pinning device support plate 241, pinning device drive member 243, the first screw
Criticize fixing seat 244, screwdriver 242, screwdriver sliding rail 245, linear bearing 246, guide rail bearing 247, the second screwdriver fixing seat
248 with spring 249.Pinning device support plate 241 and drilling equipment support plate 231 are arranged along the length direction interval of chassis 100.
The cylinder block of pinning device drive member 243 is fixedly connected on connecting plate 210.
As shown in Figure 10 and Figure 11, pinning device drive member 243 (such as cylinder) includes cylinder block and relative to cylinder
The moveable cylinder axis of seat, cylinder is pivotally connected to the first screwdriver fixing seat 244, to drive 244 edge of the first screwdriver fixing seat
Up and down direction is mobile.By this method, when the cylinder axis of pinning device drive member 243 can drive the first screwdriver fixing seat
244 move along the vertical direction, are connected to the screwdriver 242 of the first screwdriver fixing seat 244 integrally vertically to also drive
Direction is mobile.
The first screwdriver fixing seat 244 moves along the vertical direction for convenience, and the first screwdriver fixing seat 244 is provided with directly
Spool holds 246, and pinning device support plate 241 is connected with the screwdriver sliding rail cooperated with linear bearing 246 by guide rail bearing 247
245.By this method, the first screwdriver fixing seat 244 can be moved up and down relative to pinning device support plate 241.
In order to buffer the downward movement of screwdriver 242, pinning device support plate 241 is provided with the second screwdriver fixing seat
248.Spring 249 is between the first screwdriver fixing seat 244 and the second screwdriver fixing seat 248.By this method, spring 249
Screwdriver 242 can be buffered down to move.
In addition, as shown in figures 1 and 6, bolt conveying device 800, bolt conveying device are additionally provided on chassis 100
800 for being delivered to pinning device 240 for screw.
In the shown embodiment, bolt conveying device 800 includes vibrating disk 810 and linking arm 820.Vibrating disk 810 is used
It sorts in be placed on screw therein, so that screw can be delivered to the nail holder of screwdriver 242 with preset direction.This
Sample, when screw is transported to nail holder, screw state in a vertical shape, and screw it is big head-up, screw it is small upside down.
Vibrating disk 810 can be connected to the crossbeam 160 of chassis 100 by the linking arm 820 of such as joint arm.Also, it connects
Arm 820 can be mobile relative to chassis 100, so that vibrating disk 810 can be mobile relative to chassis 100, to facilitate staff
It carries out the operation such as safeguarding.In the shown embodiment, linking arm 820 includes the first linking arm and the second linking arm.First connection
Arm is rotationally attached to the bottom of vibrating disk 810, and the second linking arm is respectively rotatably connected to crossbeam 160 and the first connection
Arm.
In the present embodiment, the workflow of drilling pinning robot 10 is as follows:
Step A: after the container of pinning hole to be drilled is moved to drilling pinning station on assembly line, drill pinning robot
10 inlet platform (not shown) is docked with container, and the pinning robot 10 that drills is through inlet platform cartonning.At this point, roller assemblies
Close to the crossbeam 160 of chassis 100, the drilling Pinning assembly 200 of side edge is located in chassis 100 910 skate.
Drilling pinning robot 10 can be moved on container floor (drilling pinning robot 10 be provided with visual sensor
Headwall of 410 one end towards container).During the pinning robot 10 that drills is mobile, drilling pinning robot 10 is logical
It crosses visual sensor 410 and finds piece among container wood floor, and control the collaboration rotation of Mecanum wheel 720, lock drilling
Nail robot 10 travels between two parties along piece among timber floor, and metal sensor 420 starts to detect bottom cross beam, and counts.
Step B: horizontal mobile device cylinder axis 604 stretches out horizontal mobile device cylinder block 603, and then makes the brill of side edge
Chassis 100 is stretched out in D1 movement to hole Pinning assembly 200 in transverse direction.
Step C: drilling pinning robot 10 reaches in cabinet at innermost default construction location, according to metal sensor
420 detect the signal of the marginal position of bottom cross beam, and the positioning of controller control walking Component driver drilling pinning robot 10 is extremely
Bottom cross beam middle position, drilling pinning robot 10 stop movement.
Step D: drilling pinning robot 10 starts bore operation, after the completion of bore operation, cleans drilling cuttings.
Step E: longitudinal moving device 320 acts, and drives sliding stand 310 mobile, makes the lock of each drilling Pinning assembly 200
Spike devices 240 are moved at the nail hole of floor.
Step F: before 240 pinning of pinning device, screw has been delivered to the folder of screwdriver 242 by bolt conveying device 800
Device is followed closely, sensor detects screw and is fed to nail holder, and pinning device 240 starts pinning operation.
Step G: after pinning operation, the longitudinal moving device cylinder axis 322 of longitudinal moving device 320 stretches out, and makes every
A drilling Pinning assembly 200 resets, and drilling pinning robot 10, which tracks, to be positioned to next place drilling pinning position, and is made
Industry.
Step H: after the completion of the pinning operation of all drilling pinnings position of present container, skate mobile device 920 is dynamic
Make, skate bracket 911 is made to be recovered to initial position, horizontal mobile device cylinder axis 604 retracts horizontal mobile device cylinder block 603
It is interior, make the drilling Pinning assembly 200 of side edge D1 be mobile in transverse direction to retract chassis 100.
Step I: drilling pinning robot 10 moves out present container through inlet platform, drilling pinning robot 10 into
Case platform retreats, and waits next container to be processed.
Unless otherwise defined, technical and scientific term used herein and those skilled in the art of the invention
Normally understood meaning is identical.Term used herein is intended merely to describe specifically to implement purpose, it is not intended that limitation is originally
Invention.Terms such as herein presented " components " can both indicate single part, can also indicate the group of multiple parts
It closes.The terms such as herein presented " installation ", " setting " can both indicate that a component was attached directly to another component,
It can also indicate that a component is attached to another component by middleware.The feature described in one embodiment herein
It can be applied in combination another embodiment individually or with other feature, unless this feature is in the another embodiment
In be not suitable for or be otherwise noted.
The present invention is illustrated by above embodiment, but it is to be understood that, above embodiment is
Purpose for illustrating and illustrating, and be not intended to limit the invention within the scope of described embodiment.Art technology
Personnel are it is understood that introduction according to the present invention can also make more kinds of variants and modifications, these variants and modifications
All fall within the scope of the claimed invention.
Claims (16)
1. a kind of drilling pinning robot, for drilling and pinning on the floor of container, which is characterized in that the drilling lock
Following closely robot includes:
Chassis, the chassis are provided with walking component；
At least two drilling Pinning assemblies, at least two drilling Pinning assembly are arranged in transverse direction on the chassis；
Longitudinal moving device, the longitudinal moving device are arranged on the chassis and connect with the drilling Pinning assembly, with
For driving the drilling Pinning assembly to move along the longitudinal direction, to change the drilling Pinning assembly relative to the chassis
Position；
Sensor, the sensor are arranged on the chassis；And
Controller, the controller is electrically connected to the walking component and the sensor, and is sensed according to the sensor
Information control the walking component operation, thus the mobile drilling pinning robot.
2. drilling pinning robot according to claim 1, which is characterized in that the drilling Pinning assembly includes drilling dress
It sets, pinning device and connecting plate, the drilling equipment and the pinning device are connected to the connecting plate.
3. drilling pinning robot according to claim 2, which is characterized in that the chassis is additionally provided with sliding stand, institute
Stating longitudinal moving device includes cylinder body and relative to the moveable piston rod of the cylinder body, and the piston rod is connected to the sliding
Platform, to drive the sliding stand to move along the longitudinal direction, the connecting plate is arranged on the sliding stand.
4. drilling pinning robot according to claim 3, which is characterized in that the connecting plate is provided with positioning plate, institute
It states sliding stand and is provided with locating rack, the positioning plate can be fixedly connected by connector with the locating rack, so that described
Position-adjustable of the connecting plate relative to the chassis in transverse direction.
5. drilling pinning robot according to claim 3, which is characterized in that it is sliding that the connecting plate is provided with connecting plate
Block, the sliding stand are provided with the cross slide way with connecting plate sliding block cooperation.
6. drilling pinning robot according to claim 3, which is characterized in that it is sliding that the sliding stand is provided with sliding stand
Block, the chassis are provided with the longitudinal rail with sliding stand sliding block cooperation.
7. drilling pinning robot according to claim 3, which is characterized in that the chassis is additionally provided with transverse shifting dress
It sets, the horizontal mobile device is arranged on the sliding stand and is connected to the side edge positioned at the drilling pinning robot
The drilling Pinning assembly, for driving the drilling Pinning assembly for being located at the side edge to move along the transverse direction
It is dynamic.
8. drilling pinning robot according to claim 7, which is characterized in that between the connecting plate and the sliding stand
It is provided with first connecting rod and second connecting rod, the first connecting rod, second connecting rod, connecting plate and sliding stand form four-bar linkage structure,
The horizontal mobile device includes cylinder body and divides relative to the moveable piston rod of the cylinder body, the cylinder body and the piston rod
It is not hinged to the connecting plate and the sliding stand.
9. drilling pinning robot according to claim 2, which is characterized in that the drilling equipment includes:
Drilling equipment support plate, the drilling equipment support plate are connected to the connecting plate；
Drill bit, the drill bit are connected to the drilling equipment support plate；
Drilling equipment drive member, the drilling equipment drive member is for driving the drill bit relative to the drilling equipment branch
Fagging moves up and down.
10. drilling pinning robot according to claim 2, which is characterized in that the pinning device includes:
Pinning device support plate, the pinning device support plate are connected to the connecting plate；
Screwdriver, the screwdriver are connected to the pinning device support plate；
Pinning device drive member, the pinning device drive member is for driving the screwdriver relative to the pinning device
Support plate moves up and down.
11. drilling pinning robot according to claim 1, which is characterized in that the walking component includes hoofing part
Motor and the Mecanum wheel driven by the driving motor.
12. drilling pinning robot according to claim 1, which is characterized in that the sensor includes visual sensor,
The visual sensor is used to sense the piece on the floor, the signal that the controller is sensed according to the visual sensor
The walking component is controlled, so that the middle line of the chassis is aligned with the piece.
13. drilling pinning robot according to claim 1, which is characterized in that the sensor includes metal sensor,
The metal sensor is used to sense the bottom cross beam of the container, and the controller is sensed according to the metal sensor
Signal controls the walking component, so that the drilling Pinning assembly is located at the top of the bottom cross beam.
14. drilling pinning robot according to claim 1, which is characterized in that it is defeated to be additionally provided with screw on the chassis
Device is sent, the bolt conveying device is used to screw being delivered to the drilling Pinning assembly.
15. drilling pinning robot according to claim 14, which is characterized in that the bolt conveying device includes vibration
Disk and linking arm, the vibrating disk are connected to the chassis by the linking arm, and the linking arm can relative to the chassis
It is mobile, so that the vibrating disk is removable relative to the chassis.
16. drilling pinning robot according to claim 1, which is characterized in that be additionally provided with skate group on the chassis
Part and skate mobile device, the skate mobile device is for driving the roller assemblies to move in transverse direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538383.0A CN110328516A (en) | 2019-06-20 | 2019-06-20 | Drill pinning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538383.0A CN110328516A (en) | 2019-06-20 | 2019-06-20 | Drill pinning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110328516A true CN110328516A (en) | 2019-10-15 |
Family
ID=68142274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910538383.0A Pending CN110328516A (en) | 2019-06-20 | 2019-06-20 | Drill pinning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110328516A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112195809A (en) * | 2020-09-16 | 2021-01-08 | 毕健勇 | Automatic mounting device for highway deceleration strip |
| CN112936446A (en) * | 2021-01-29 | 2021-06-11 | 广东新会中集特种运输设备有限公司 | Drilling and nail locking robot |
| CN113733252A (en) * | 2021-09-24 | 2021-12-03 | 安徽国风木塑科技有限公司 | Automatic locking nail device for wood-plastic floor |
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