CN110422628A - A kind of industrial production transfer robot and method for carrying - Google Patents
A kind of industrial production transfer robot and method for carrying Download PDFInfo
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- CN110422628A CN110422628A CN201910685811.2A CN201910685811A CN110422628A CN 110422628 A CN110422628 A CN 110422628A CN 201910685811 A CN201910685811 A CN 201910685811A CN 110422628 A CN110422628 A CN 110422628A
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- telescopic rod
- hydraulic telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of industrial production transfer robot, including cabinet, the quantity of the cabinet is two.The present invention passes through setting cabinet, first driven wheel of differential, first drive bevel gear, first motor, frame, conveyer belt, bottom plate, second connecting tube, first hydraulic telescopic rod, cross bar, second hydraulic telescopic rod, vacuum pump, spray head, filter housing, first connecting tube, blower, vacuum chuck, clamping plate, third connecting tube, first roller, second tin roller, second shaft, first rotating shaft, filter screen, rubber block, electric telescopic rod, shell, second motor, second drive bevel gear, second driven wheel of differential and swingle are used cooperatively, it solves existing part industrial production transfer robot and does not have dedusting function and poor to the clamping effect of cargo in the handling process, cause the problem for carrying effect difference, the industrial production conveying robot, have and carries the good advantage of effect, it is worthy to be popularized.
Description
Technical field
The present invention relates to industrial production technology field, specially a kind of industrial production transfer robot and method for carrying.
Background technique
Industry is primarily referred to as the industry or engineering of feedstock capture and product processing and manufacturing.Industry is the production of division of labor in society development
Object, by handicraft, mordern industry, the several developing stage of modern industry, industry is the important component of secondary industry, main
It is divided into light industry and heavy industry two major classes, industrial robot is the multi-joint manipulator or multivariant towards industrial circle
Installations, it can execute work automatically, be a kind of machine that various functions are realized by self power and control ability.It can
To receive mankind commander, can also be run according to the program of preparatory layout, modern industrial robot can also be according to artificial intelligence
The principle program action that energy technology is formulated.
It improves with the continuous development of society, use more extensive of industrial robot, wherein industrial carrying machine people
Be also one kind of industrial robot, existing industrial carrying machine people during use cannot dust to cargo surfaces into
Row is removed, poor to the fixed effect of cargo and during transporting goods, thus cause carrying effect to cargo compared with
Difference.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial production transfer robot and method for carrying, and it is good to have carrying effect
The advantages of, it solves existing part industrial production transfer robot and does not have dedusting function and in the handling process to cargo
Clamping effect it is poor, cause carry effect difference problem.
To achieve the above object, the invention provides the following technical scheme: a kind of industrial production transfer robot, including case
Body, the quantity of the cabinet are two, and the bottom of two cabinet opposite sides is fixedly connected to first motor, first electricity
The output end of machine is through to the inner cavity of cabinet and is fixedly connected with the first drive bevel gear, and the bottom activity of the cabinets cavity connects
It is connected to swingle, the surface fixing sleeve of the swingle is equipped be used cooperatively with the first drive bevel gear first from mantle tooth
Wheel is through to the top of cabinet at the top of the swingle and is fixedly connected with the first hydraulic telescopic rod, and described first hydraulic stretches
It is fixedly connected with cross bar at the top of contracting bar, is fixedly connected with the second hydraulic telescopic rod on the left of the cross bar bottom, described second
The bottom of hydraulic telescopic rod is fixedly connected with vacuum pump, and the bottom fixation of the vacuum pump is communicated with vacuum chuck, the vacuum
The front and rear sides of sucker are fixedly connected to spray head, and blower, the right side of the blower are fixedly connected on the right side of the vacuum pump
It has been respectively communicated with the first connecting tube and the second connecting tube with bottom, the bottom of second connecting tube is communicated with third connecting tube,
The bottom of the third connecting tube is connected to spray head, and the front and rear sides of the vacuum pump are fixedly connected to electric telescopic rod, institute
It states electric telescopic rod and is fixedly connected with clamping plate far from the side of vacuum pump, the bottom of two clamping plate opposite sides is fixedly connected to
Rubber block, is fixedly connected with frame between the top of two cabinet opposite sides, and activity is even respectively for the two sides of the frame inner cavity
It is connected to first rotating shaft and the second shaft, the surface of the first rotating shaft and the second shaft is arranged with the first roller, and two first
Movable sleeve is equipped with conveyer belt between the surface of roller, and the left side on rear side of the frame is fixedly connected with the second motor, and described second
Shell is fixedly connected on the left of motor, the front side of the shell is fixedly connected with frame, and the output end of second motor passes through
It wears to the inner cavity of shell and is fixedly connected with the second drive bevel gear, the rear end of the first rotating shaft sequentially passes through frame and shell
It extends to the inner cavity of shell and is flexibly connected with the rear side of housing cavity, the surface fixing sleeve of the first rotating shaft is equipped with and second
The second driven wheel of differential that drive bevel gear is used cooperatively.
Preferably, the bottom of the cabinet is fixedly connected with bottom plate, and the bottom of the bottom plate offers anti-skid chequer.
Preferably, the top on the left of first hydraulic telescopic rod is fixedly connected with stiffening plate, the top of stiffening plate and cross
Bar is fixedly connected.
Preferably, it is fixedly connected with filter housing on the right side of first connecting tube, the inner cavity of the filter housing is fixedly connected
There is filter screen.
Preferably, the junction of the rear and front end and frame of the first rotating shaft and the second shaft passes through bearing activity and connects
It connects.
Preferably, the inner cavity of the conveyer belt is connected with second tin roller, and the quantity of the second tin roller is several,
The front and rear sides of the second tin roller pass through third shaft and are flexibly connected with the cooperation of bearing with the junction of frame
Preferably, a kind of method for carrying of industrial production transfer robot, specific steps are as follows:
A: being powered for the device, and the operation of the device is controlled using plc controller, extremely by the goods movement for needing to carry first
The left side of robot, the transfer robot in left side first hydraulic telescopic rod under the control of plc controller, which shortens, reduces height, and first
Hydraulic telescopic rod drives cross bar to reduce height, and cross bar drives the decline of the second hydraulic telescopic rod, while can start the second hydraulically extensible
Bar elongation, the second hydraulic telescopic rod drive vacuum chuck decline simultaneously and cargo contacts by vacuum pump, in this process blower
Outside air is drawn by the cooperation of the first connecting tube and filter housing, the dust in air is filtered by filter screen, with
Air carries out the dust of cargo surfaces by the air that in the second connecting tube and third connecting tube injection nozzle, spray head sprays afterwards
It removes, terminates within fan operation two seconds, cargo is adsorbed by vacuum chuck when vacuum pump operation, while electric telescopic rod shortens drive
Clamping plate further fixes goods clamping close to cargo, using rubber block, controls the first hydraulically extensible followed by plc controller
Bar and the second hydraulic telescopic rod reset, and then the transfer robot in left side drives the first active conical tooth by the operation of first motor
Wheel rotation, the first drive bevel gear drive swingle rotation by the first driven wheel of differential, and swingle passes through the first hydraulically extensible
The cooperation of bar and cross bar drives the second hydraulic telescopic rod mobile, and the second hydraulic telescopic rod drives cargo rotation by the structure of bottom
Up to the top of transmission belt, the second hydraulic telescopic rod is extended so that contacting at the top of cargo and conveyer belt and stops the fortune of vacuum pump
Row, while electric telescopic rod extends, and drives rubber block far from cargo by clamping plate, cargo falls in the top of conveyer belt；
The output end of B: the second motor drives the rotation of the second drive bevel gear, and the second drive bevel gear passes through the second driven wheel of differential
First rotating shaft rotation is driven, first rotating shaft drives the first roller to rotate when rotating, the first roller drives another by conveyer belt
The rotation of first roller, while conveyer belt is transmitted cargo；
C: when goods movement to the bottom of right side robot, transfer robot first hydraulically extensible under the control of plc controller
Bar, which shortens, reduces height, and the first hydraulic telescopic rod drives cross bar to reduce height, and cross bar drives the decline of the second hydraulic telescopic rod, simultaneously
The elongation of the second hydraulic telescopic rod can be started, the second hydraulic telescopic rod drives vacuum chuck to decline and connects with cargo by vacuum pump
Touching, blower draws outside air by the cooperation of the first connecting tube and filter housing in this process, by filter screen to air
In dust be filtered, subsequent air passes through the air that in the second connecting tube and third connecting tube injection nozzle, spray head sprays
The dust of cargo surfaces is purged, is terminated within fan operation two seconds, cargo is adsorbed by vacuum chuck when vacuum pump operation, together
When electric telescopic rod shorten drive clamping plate close to cargo, goods clamping is further fixed using rubber block, is controlled followed by plc
Device processed controls the first hydraulic telescopic rod and the second hydraulic telescopic rod resets, the fortune that then right transfer robot passes through first motor
Row drives the rotation of the first drive bevel gear, and the first drive bevel gear drives swingle rotation, rotation by the first driven wheel of differential
Bar drives the second hydraulic telescopic rod mobile by the cooperation of the first hydraulic telescopic rod and cross bar, and the second hydraulic telescopic rod passes through bottom
Structure drive cargo to rotate to the right side of the device, the first hydraulic telescopic rod of right side robot reduces cover degree at this time, second
Hydraulic telescopic rod elongation, so that the bottom of cargo is contacted with other devices, stops the operation of vacuum pump, while electric telescopic rod is stretched
It is long, drive rubber block far from cargo by clamping plate, cargo falls in the top of other devices；
D: then each structure resets, and repeats the movement in step A, B and C, carries out continuing carrying to cargo.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention by setting cabinet, the first driven wheel of differential, the first drive bevel gear, first motor, frame, conveyer belt,
Bottom plate, the second connecting tube, the first hydraulic telescopic rod, cross bar, the second hydraulic telescopic rod, vacuum pump, spray head, filter housing, first connect
Adapter tube, blower, vacuum chuck, clamping plate, third connecting tube, the first roller, second tin roller, the second shaft, first rotating shaft, filtering
Net, rubber block, electric telescopic rod, shell, the second motor, the second drive bevel gear, the second driven wheel of differential and swingle are matched
It closes and uses, solve existing part industrial production transfer robot and do not have dedusting function and in the handling process to cargo
Clamping effect it is poor, cause the problem for carrying effect difference, which has good excellent of carrying effect
Point, is worthy to be popularized.
2, the present invention facilitates first rotating shaft, the second shaft and third shaft to install and use, by setting by setting bearing
Third shaft is set, second tin roller is facilitated to be installed, by the way that second tin roller is arranged, plays the role of supporting conveyer belt, increase
Stability when conveyer belt uses increases the contact area on cabinet and ground by setting bottom plate, by the way that anti-skid chequer is arranged,
The frictional force for increasing bottom plate and ground increases the frictional force between clamping plate and cargo, the table of cargo by the way that rubber block is arranged
Face is smooth flat structure.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the cross-sectional view one of partial structurtes of the present invention；
Fig. 3 is the left view of partial structurtes of the present invention；
Fig. 4 is the cross-sectional view two of partial structurtes of the present invention；
Fig. 5 is the right view of partial structurtes of the present invention；
Fig. 6 is the partial sectional view three of partial structurtes of the present invention.
In figure: 1 cabinet, 2 first driven wheel of differential, 3 first drive bevel gears, 4 first motors, 5 frames, 6 conveyer belts, 7
Bottom plate, 8 second connecting tubes, 9 first hydraulic telescopic rods, 10 cross bars, 11 second hydraulic telescopic rods, 12 vacuum pumps, 13 spray heads, 14 mistakes
Filter housing, 15 first connecting tubes, 16 blowers, 17 vacuum chucks, 18 clamping plates, 19 third connecting tubes, 20 first rollers, 21 second rollings
Cylinder, 22 second shafts, 23 first rotating shafts, 24 filter screens, 25 rubber blocks, 26 electric telescopic rods, 27 shells, 28 second motors, 29
Second drive bevel gear, 30 second driven wheel of differential, 31 swingles.
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.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " rear end ", " two
The orientation or positional relationship of the instructions such as end ", " one end ", " other end " is to be based on the orientation or positional relationship shown in the drawings, and is only
For the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second "
It is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " setting
Have ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, may be a detachable connection, or one
Ground connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, it can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
Cabinet 1, the first driven wheel of differential 2, the first drive bevel gear 3, first motor 4, frame 5, transmission in the present invention
Band 6, bottom plate 7, the second connecting tube 8, the first hydraulic telescopic rod 9, cross bar 10, the second hydraulic telescopic rod 11, vacuum pump 12, spray head
13, filter housing 14, the first connecting tube 15, blower 16, vacuum chuck 17, clamping plate 18, third connecting tube 19, the first roller 20,
Two rollers 21, the second shaft 22, first rotating shaft 23, filter screen 24, rubber block 25, electric telescopic rod 26, shell 27, the second motor
28, the components such as the second drive bevel gear 29, the second driven wheel of differential 30 and swingle 31 are universal standard part or this field skill
The component that art personnel know, structure and principle are all that those skilled in the art can learn by technical manual or pass through routine
Experimental method is known.
Please refer to Fig. 1-6, a kind of industrial production transfer robot, including cabinet 1, it is characterised in that: the quantity of cabinet 1
It is two, the bottom of two 1 opposite sides of cabinet is fixedly connected to first motor 4, and the output end of first motor 4 is through to case
The inner cavity of body 1 is simultaneously fixedly connected with the first drive bevel gear 3, and the bottom of 1 inner cavity of cabinet is connected with swingle 31, swingle
31 surface fixing sleeve is equipped with the first driven wheel of differential 2 being used cooperatively with the first drive bevel gear 3, and the top of swingle 31 is passed through
It wears to the top of cabinet 1 and is fixedly connected with the first hydraulic telescopic rod 9, the top of the first hydraulic telescopic rod 9 is fixedly connected with cross
Bar 10 is fixedly connected with the second hydraulic telescopic rod 11 on the left of 10 bottom of cross bar, and the bottom of the second hydraulic telescopic rod 11 is fixed to be connected
It is connected to vacuum pump 12, the bottom of vacuum pump 12 is fixed to be communicated with vacuum chuck 17, and the front and rear sides of vacuum chuck 17 are fixed to be connected
It is connected to spray head 13, the right side of vacuum pump 12 is fixedly connected with blower 16, and the right side and bottom of blower 16 have been respectively communicated with the first company
Adapter tube 15 and the second connecting tube 8, the bottom of the second connecting tube 8 are communicated with third connecting tube 19, the bottom of third connecting tube 19 with
Spray head 13 is connected to, and the front and rear sides of vacuum pump 12 are fixedly connected to electric telescopic rod 26, and electric telescopic rod 26 is far from vacuum pump
12 side is fixedly connected with clamping plate 18, and the bottom of two 18 opposite sides of clamping plate is fixedly connected to rubber block 25, two casees
Frame 5 is fixedly connected between the top of 1 opposite side of body, the two sides of 5 inner cavity of frame have been movably connected with first rotating shaft 23
With the second shaft 22, the surface of first rotating shaft 23 and the second shaft 22 is arranged with the first roller 20, two the first rollers 20
Movable sleeve is equipped with conveyer belt 6 between surface, and the left side of 5 rear side of frame is fixedly connected with the second motor 28, a left side for the second motor 28
Side is fixedly connected with shell 27, and the front side of shell 27 is fixedly connected with frame 5, and the output end of the second motor 28 is through to shell 27
Inner cavity and be fixedly connected with the second drive bevel gear 29, the rear end of first rotating shaft 23 sequentially passes through frame 5 and shell 27 and extends
To shell 27 inner cavity and be flexibly connected with the rear side of 27 inner cavity of shell, the surface fixing sleeve of first rotating shaft 23 is equipped with and second is main
The second driven wheel of differential 30 that dynamic bevel gear 29 is used cooperatively；
The bottom of cabinet 1 is fixedly connected with bottom plate 7, and the bottom of bottom plate 7 offers anti-skid chequer, 9 left side of the first hydraulic telescopic rod
Top is fixedly connected with stiffening plate, and the top of stiffening plate is fixedly connected with cross bar 10, and the right side of the first connecting tube 15 is fixedly connected
There is filter housing 14, the inner cavity of filter housing 14 is fixedly connected with filter screen 24, the rear and front end of first rotating shaft 23 and the second shaft 22
Pass through bearing with the junction of frame 5 to be flexibly connected, the inner cavity of conveyer belt 6 is connected with second tin roller 21, second tin roller
21 quantity is several, and the front and rear sides of second tin roller 21 pass through the cooperation of third shaft and bearing and the connection of frame 5
Place is flexibly connected；
By the way that bearing is arranged, facilitates first rotating shaft 23, the second shaft 22 and third shaft to install and use, turned by setting third
Axis facilitates second tin roller 21 to be installed, and by the way that second tin roller 21 is arranged, plays the role of supporting conveyer belt 6, increases transmission
Stability when using with 6 increases the contact area of cabinet 1 Yu ground, by the way that anti-skid chequer is arranged, increases by the way that bottom plate 7 is arranged
The frictional force for having added bottom plate 7 Yu ground increases the frictional force between clamping plate 18 and cargo, cargo by the way that rubber block 25 is arranged
Surface be smooth flat structure.
A kind of method for carrying of industrial production transfer robot, specific steps are as follows:
A: being powered for the device, and the operation of the device is controlled using plc controller, extremely by the goods movement for needing to carry first
The left side of robot, the transfer robot in left side first hydraulic telescopic rod 9 under the control of plc controller, which shortens, reduces height, the
One hydraulic telescopic rod 9 drives cross bar 10 to reduce height, and cross bar 10 drives the decline of the second hydraulic telescopic rod 11, while can start second
Hydraulic telescopic rod 11 extends, and the second hydraulic telescopic rod 11 drives the decline of vacuum chuck 17 simultaneously and cargo contacts by vacuum pump 12,
Blower 16 draws outside air by the cooperation of the first connecting tube 15 and filter housing 14 in this process, right by filter screen 24
Dust in air is filtered, and subsequent air passes through in 19 injection nozzle 13 of the second connecting tube 8 and third connecting tube, spray head 13
The air of ejection is purged the dust of cargo surfaces, and blower 16, which is run two seconds, to be terminated, and vacuum pump 12 passes through vacuum when running
Sucker 17 adsorbs cargo, while electric telescopic rod 26 shortens drive clamping plate 18 close to cargo, using rubber block 25 to goods clamping
It further fixes, controls the first hydraulic telescopic rod 9 followed by plc controller and the second hydraulic telescopic rod 11 resets, with rear left
The transfer robot of side drives the rotation of the first drive bevel gear 3 by the operation of first motor 4, and the first drive bevel gear 3 passes through
First driven wheel of differential 2 drives swingle 31 to rotate, and swingle 31 is driven by the cooperation of the first hydraulic telescopic rod 9 and cross bar 10
Second hydraulic telescopic rod 11 is mobile, and the second hydraulic telescopic rod 11 drives cargo to rotate up to transmission belt 6 by the structure of bottom
Top extends the second hydraulic telescopic rod 11, so that cargo is contacted with the top of conveyer belt 6, stops the operation of vacuum pump 12, simultaneously
Electric telescopic rod 26 extends, and drives rubber block 25 far from cargo by clamping plate 18, cargo falls in the top of conveyer belt 6；
The output end of B: the second motor 28 drives the rotation of the second drive bevel gear 29, and the second drive bevel gear 29 is driven by second
Bevel gear 30 drives first rotating shaft 23 to rotate, and first rotating shaft 23 drives the first roller 20 to rotate when rotating, and the first roller 20 passes through
Conveyer belt 6 drives the rotation of another first roller 20, while conveyer belt 6 is transmitted cargo；
C: when goods movement to the bottom of right side robot, transfer robot first hydraulically extensible under the control of plc controller
Bar 9, which shortens, reduces height, and the first hydraulic telescopic rod 9 drives cross bar 10 to reduce height, and cross bar 10 drives the second hydraulic telescopic rod 11
Decline, while the elongation of the second hydraulic telescopic rod 11 can be started, the second hydraulic telescopic rod 11 drives vacuum chuck by vacuum pump 12
17 declines and and cargo contacts, blower 16 is drawn extraneous by the cooperation of the first connecting tube 15 and filter housing 14 in this process
Air is filtered the dust in air by filter screen 24, and subsequent air passes through the second connecting tube 8 and third connecting tube 19
In injection nozzle 13, the air that spray head 13 sprays is purged the dust of cargo surfaces, and blower 16, which is run two seconds, to be terminated, vacuum
Cargo is adsorbed by vacuum chuck 17 when 12 operation of pump, while the shortening of electric telescopic rod 26 drives clamping plate 18 close to cargo, utilizes
Rubber block 25 further fixes goods clamping, stretches followed by the first hydraulic telescopic rod of plc controller control 9 and second are hydraulic
The reset of contracting bar 11, then right transfer robot drives the first drive bevel gear 3 to rotate by the operation of first motor 4, and first
Drive bevel gear 3 drives swingle 31 to rotate by the first driven wheel of differential 2, and swingle 31 passes through 9 He of the first hydraulic telescopic rod
The cooperation of cross bar 10 drives the second hydraulic telescopic rod 11 mobile, and the second hydraulic telescopic rod 11 drives cargo rotation by the structure of bottom
The right side of the device is gone to, the first hydraulic telescopic rod 9 of right side robot reduces cover degree at this time, and the second hydraulic telescopic rod 11 is stretched
It is long, so that the bottom of cargo is contacted with other devices, stop the operation of vacuum pump 12, while electric telescopic rod 26 extends, and passes through
Clamping plate 18 drives rubber block 25 far from cargo, and cargo falls in the top of other devices；
D: then each structure resets, and repeats the movement in step A, B and C, carries out continuing carrying to cargo.
In summary: the industrial production transfer robot, it is main by setting cabinet 1, the first driven wheel of differential 2, first
Dynamic bevel gear 3, first motor 4, frame 5, conveyer belt 6, bottom plate 7, the second connecting tube 8, the first hydraulic telescopic rod 9, cross bar 10,
Two hydraulic telescopic rods 11, vacuum pump 12, spray head 13, filter housing 14, the first connecting tube 15, blower 16, vacuum chuck 17, clamping plate
18, third connecting tube 19, the first roller 20, second tin roller 21, the second shaft 22, first rotating shaft 23, filter screen 24, rubber block
25, electric telescopic rod 26, shell 27, the second motor 28, the second drive bevel gear 29, the second driven wheel of differential 30 and swingle 31
Be used cooperatively, solve existing part industrial production transfer robot and do not have dedusting function and right in the handling process
The clamping effect of cargo is poor, causes the problem for carrying effect difference.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of industrial production transfer robot, including cabinet (1), it is characterised in that: the quantity of the cabinet (1) is two
A, the bottom of two cabinet (1) opposite sides is fixedly connected to first motor (4), and the output end of the first motor (4) passes through
It wears to the inner cavity of cabinet (1) and is fixedly connected with the first drive bevel gear (3), the bottom of cabinet (1) inner cavity is flexibly connected
Have swingle (31), the surface fixing sleeve of the swingle (31) is equipped be used cooperatively with the first drive bevel gear (3) first
Driven wheel of differential (2) is through to the top of cabinet (1) at the top of the swingle (31) and is fixedly connected with the first hydraulically extensible
Bar (9) is fixedly connected with cross bar (10) at the top of first hydraulic telescopic rod (9), and the left side of cross bar (10) bottom is solid
Surely it being connected with the second hydraulic telescopic rod (11), the bottom of second hydraulic telescopic rod (11) is fixedly connected with vacuum pump (12),
The bottom fixation of the vacuum pump (12) is communicated with vacuum chuck (17), and the front and rear sides of the vacuum chuck (17) are fixed to be connected
It is connected to spray head (13), is fixedly connected with blower (16) on the right side of the vacuum pump (12), the right side and bottom of the blower (16)
It is respectively communicated with the first connecting tube (15) and the second connecting tube (8), the bottom of second connecting tube (8) is communicated with third connection
It manages (19), the bottom of the third connecting tube (19) is connected to spray head (13), and the front and rear sides of the vacuum pump (12) are fixed
It is connected with electric telescopic rod (26), the electric telescopic rod (26) is fixedly connected with clamping plate far from the side of vacuum pump (12)
(18), the bottom of two clamping plate (18) opposite sides is fixedly connected to rubber block (25), the top of two cabinet (1) opposite sides
It is fixedly connected between portion frame (5), the two sides of frame (5) inner cavity have been movably connected with first rotating shaft (23) and second
The surface of shaft (22), the first rotating shaft (23) and the second shaft (22) is arranged with the first roller (20), two first rollings
Movable sleeve is equipped with conveyer belt (6) between the surface of cylinder (20), and the left side on rear side of the frame (5) is fixedly connected with the second motor
(28), it is fixedly connected with shell (27) on the left of second motor (28), the front side and frame (5) of the shell (27) are fixed
Connection, the output end of second motor (28) are through to the inner cavity of shell (27) and are fixedly connected with the second drive bevel gear
(29), the rear end of the first rotating shaft (23) sequentially pass through frame (5) and shell (27) extend to shell (27) inner cavity and with
The rear side of shell (27) inner cavity is flexibly connected, and the surface fixing sleeve of the first rotating shaft (23) is equipped with and the second drive bevel gear
(29) the second driven wheel of differential (30) being used cooperatively.
2. a kind of industrial production transfer robot according to claim 1, it is characterised in that: the bottom of the cabinet (1)
Portion is fixedly connected with bottom plate (7), and the bottom of the bottom plate (7) offers anti-skid chequer.
3. a kind of industrial production transfer robot according to claim 1, it is characterised in that: first hydraulically extensible
Top on the left of bar (9) is fixedly connected with stiffening plate, and the top of stiffening plate is fixedly connected with cross bar (10).
4. a kind of industrial production transfer robot according to claim 1, it is characterised in that: first connecting tube
(15) it is fixedly connected on the right side of filter housing (14), the inner cavity of the filter housing (14) is fixedly connected with filter screen (24).
5. a kind of industrial production transfer robot according to claim 1, it is characterised in that: the first rotating shaft (23)
Pass through bearing with the junction of frame (5) with the rear and front end of the second shaft (22) to be flexibly connected.
6. a kind of industrial production transfer robot according to claim 1, it is characterised in that: the conveyer belt (6)
Inner cavity is connected with second tin roller (21), and the quantity of the second tin roller (21) is several, the second tin roller (21)
Front and rear sides pass through third shaft and are flexibly connected with the cooperation of bearing with the junction of frame (5).
7. a kind of method for carrying of industrial production transfer robot described in -6 according to claim 1, concrete operation step is such as
Under:
A: being powered for the device, and the operation of the device is controlled using plc controller, extremely by the goods movement for needing to carry first
The left side of robot, the transfer robot in left side first hydraulic telescopic rod (9) under the control of plc controller, which shortens, reduces height,
First hydraulic telescopic rod (9) drives cross bar (10) to reduce height, and cross bar (10) drives the second hydraulic telescopic rod (11) decline, simultaneously
The second hydraulic telescopic rod (11) elongation can be started, the second hydraulic telescopic rod (11) drives vacuum chuck (17) by vacuum pump (12)
Decline and and cargo contacts, the cooperation absorption that blower (16) passes through the first connecting tube (15) and filter housing (14) in this process
Outside air is filtered the dust in air by filter screen (24), and subsequent air passes through the second connecting tube (8) and third
In connecting tube (19) injection nozzle (13), the air that spray head (13) sprays is purged the dust of cargo surfaces, blower (16)
Operation terminates for two seconds, adsorbs cargo by vacuum chuck (17) when vacuum pump (12) is run, while electric telescopic rod (26) shortens
It drives clamping plate (18) close to cargo, goods clamping is further fixed using rubber block (25), controlled followed by plc controller
First hydraulic telescopic rod (9) and the second hydraulic telescopic rod (11) reset, and then the transfer robot in left side passes through first motor (4)
Operation drive the first drive bevel gear (3) rotation, the first drive bevel gear (3) by the first driven wheel of differential (2) drive rotation
Bull stick (31) rotation, swingle (31) drive the second hydraulically extensible by the cooperation of the first hydraulic telescopic rod (9) and cross bar (10)
Bar (11) is mobile, and the second hydraulic telescopic rod (11) drives cargo to rotate up to the top of transmission belt (6) by the structure of bottom, stretches
Long second hydraulic telescopic rod (11) stop the operation of vacuum pump (12), simultaneously so that cargo is contacted with the top of conveyer belt (6)
Electric telescopic rod (26) elongation drives rubber block (25) far from cargo by clamping plate 18, and cargo falls in the top of conveyer belt (6)；
The output end of B: the second motor (28) drives the second drive bevel gear (29) rotation, and the second drive bevel gear (29) passes through the
Two driven wheel of differential (30) drive first rotating shaft (23) rotation, and first rotating shaft (23) drives the first roller (20) to rotate when rotating,
First roller (20) drives another first roller (20) to rotate by conveyer belt (6), while conveyer belt (6) passes cargo
It send；
C: when goods movement to the bottom of right side robot, transfer robot first hydraulically extensible under the control of plc controller
Bar (9) shortens reduction height, and the first hydraulic telescopic rod (9) drives cross bar (10) to reduce height, and cross bar (10) drive second is hydraulic
Telescopic rod (11) decline, while the second hydraulic telescopic rod (11) elongation can be started, the second hydraulic telescopic rod (11) passes through vacuum pump
(12) drive vacuum chuck (17) decline and and cargo contacts, in this process blower (16) by the first connecting tube (15) and
Outside air is drawn in the cooperation of filter housing (14), is filtered by filter screen (24) to the dust in air, and subsequent air is logical
It crosses in the second connecting tube (8) and third connecting tube (19) injection nozzle (13), the air that spray head (13) sprays is to cargo surfaces
Dust is purged, and blower (16), which is run two seconds, to be terminated, and adsorbs cargo by vacuum chuck (17) when vacuum pump (12) is run, together
When electric telescopic rod (26) shorten and drive clamping plate (18) close to cargo, goods clamping is further fixed using rubber block (25),
It is resetted followed by plc controller control the first hydraulic telescopic rod (9) and the second hydraulic telescopic rod (11), then right carrying implement
Device people drives the first drive bevel gear (3) rotation by the operation of first motor (4), and the first drive bevel gear (3) passes through first
Driven wheel of differential (2) drives swingle (31) rotation, and swingle (31) is matched by the first hydraulic telescopic rod (9) and cross bar (10)
Crossed belt moves the second hydraulic telescopic rod (11) movement, and the second hydraulic telescopic rod (11) drives cargo to rotate to this by the structure of bottom
The right side of device, the first hydraulic telescopic rod (9) of right side robot reduces cover degree at this time, and the second hydraulic telescopic rod (11) extends,
So that the bottom of cargo is contacted with other devices, stop the operation of vacuum pump (12), while electric telescopic rod (26) extends, and passes through
Clamping plate 18 drives rubber block (25) far from cargo, and cargo falls in the top of other devices；
D: then each structure resets, and repeats the movement in step A, B and C, carries out continuing carrying to cargo.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685811.2A CN110422628B (en) | 2019-07-28 | 2019-07-28 | Transfer robot for industrial production and transfer method |
| PCT/CN2020/085196 WO2021017530A1 (en) | 2019-07-28 | 2020-04-16 | Handling robot and handling method for industrial production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685811.2A CN110422628B (en) | 2019-07-28 | 2019-07-28 | Transfer robot for industrial production and transfer method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110422628A true CN110422628A (en) | 2019-11-08 |
| CN110422628B CN110422628B (en) | 2020-05-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910685811.2A Active CN110422628B (en) | 2019-07-28 | 2019-07-28 | Transfer robot for industrial production and transfer method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110422628B (en) |
| WO (1) | WO2021017530A1 (en) |
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| CN111099353A (en) * | 2019-12-26 | 2020-05-05 | 深圳市壹闻科技有限公司 | A glass haulage equipment that is used for intelligent storage's reliability to be high |
| CN111256599A (en) * | 2020-03-11 | 2020-06-09 | 江苏理工学院 | Cooling fan detection device |
| CN111921920A (en) * | 2020-06-16 | 2020-11-13 | 安徽博龙动力科技股份有限公司 | AGV transfer robot |
| CN112158591A (en) * | 2020-10-27 | 2021-01-01 | 湖州信倍连网络科技有限公司 | Manipulator grabbing device with limiting function |
| WO2021017530A1 (en) * | 2019-07-28 | 2021-02-04 | 南京昱晟机器人科技有限公司 | Handling robot and handling method for industrial production |
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| CN113001531A (en) * | 2021-03-02 | 2021-06-22 | 杭州科技职业技术学院 | A intelligent mechanical arm that snatchs for cooperating transfer chain uses |
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| CN113977693A (en) * | 2021-10-09 | 2022-01-28 | 温州大学 | Processingequipment of pregnant woman's shoes with positioning and clamping function |
| CN114772122A (en) * | 2022-04-12 | 2022-07-22 | 南京骆驼储运集团有限公司 | Warehouse handling device with letter sorting function |
| CN114772122B (en) * | 2022-04-12 | 2024-03-26 | 南京骆驼储运集团有限公司 | warehouse handling device with letter sorting function |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110422628B (en) | 2020-05-26 |
| WO2021017530A1 (en) | 2021-02-04 |
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