CN110625603A - Rotary industrial robot equipment - Google Patents
Rotary industrial robot equipment Download PDFInfo
- Publication number
- CN110625603A CN110625603A CN201910873852.4A CN201910873852A CN110625603A CN 110625603 A CN110625603 A CN 110625603A CN 201910873852 A CN201910873852 A CN 201910873852A CN 110625603 A CN110625603 A CN 110625603A
- Authority
- CN
- China
- Prior art keywords
- rotary
- arm
- connecting sleeve
- industrial robot
- clamping
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses rotary industrial robot equipment, relates to the technical field of industrial robots, and mainly aims to solve the problem of low product conveying efficiency among stations in a factory; the industrial robot equipment comprises a base plate, a mechanical clamping arm and a rotating vertical rod shaft arranged on the upper end face of the base plate, wherein the bottom end of the rotating vertical rod shaft is connected with the end face of the base plate in a rotating mode, a connecting sleeve fixedly connected with the rotating vertical rod shaft is sleeved on the rotating vertical rod shaft, a rotary driving box body is arranged on the base plate, a rotating device is arranged in the rotary driving box body and connected with the bottom end of the rotating vertical rod shaft, and the upper end of the mechanical clamping arm is connected to the outer wall of the connecting sleeve. The conveying device has a simple structure, can automatically and quickly convey workpieces or products between stations, is simple and quick to operate, and has high practicability.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a rotary industrial robot device.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system.
And traditional industrial robot snatchs the structure too complicated, and the cost is high and be difficult to the use, in industrial production processing, needs to convey the processing product, and traditional conveyer belt can not satisfy whole needs.
Disclosure of Invention
The invention aims to provide rotary industrial robot equipment to solve the problem of low product conveying efficiency between stations in a factory.
In order to achieve the purpose, the invention provides the following technical scheme:
a rotary industrial robot device comprises a base plate, a mechanical clamping arm and a rotary vertical rod shaft arranged on the upper end surface of the base plate, wherein the bottom end of the rotary vertical rod shaft is rotationally connected with the end surface of the base plate, the rotating upright rod shaft is sleeved with a connecting sleeve fixedly connected with the rotating upright rod shaft, the base plate is provided with a rotating driving box body, the bottom end of the rotating upright rod shaft is arranged in the rotating driving box body and is connected with a rotating device in the rotating driving box body, the upper end of the mechanical clamping arm is connected to the outer wall of the connecting sleeve, the mechanical clamping arm comprises a clamping component and a support arm, the supporting rod arm comprises a first joint arm and a second joint arm, the end part of the second joint arm is hinged to the first joint arm, a telescopic cylinder is further arranged on the lower side of the first joint arm, one end of the telescopic cylinder is hinged to the rod wall of the first joint arm, and the other end of the first joint arm is hinged to the rod wall of the second joint arm in a sliding mode.
On the basis of the technical scheme, the invention also provides the following optional technical scheme:
in one alternative: the wall of the second joint arm rod is provided with a connecting sliding groove and a sliding seat which slides in the connecting sliding groove, and the lower end of the telescopic cylinder is hinged on the sliding seat.
In one alternative: the centre gripping subassembly includes rotating electrical machines and two supporting rods, and the rotating electrical machines top is provided with jib and the articulated arm bottom of second and is articulated mutually with the jib, and two supporting rods are located the both ends of horizontal pole respectively and its middle part and the horizontal pole is distolateral articulated, and the horizontal pole upside is provided with horizontal screw rod, and horizontal screw rod tip passes through the fixing base and installs on the horizontal pole, horizontal screw rod both ends spiral opposite direction just all overlaps and be equipped with link block, link block distolateral be fixed with the projection, the projection stretches into the guiding hole inboard of setting at the supporting rod upper end, and horizontal screw rod's one end is connected with the centre gripping motor, and the bottom of two supporting rods all is provided with relative.
In one alternative: one side of the connecting sleeve, which is far away from the mechanical clamping arm, is provided with a telescopic supporting rod, and the end part of the telescopic supporting rod is fixed with a mounting plate.
In one alternative: install the inductor on the mounting panel, inductor electric connection is in rotary device and the centre gripping motor in the rotatory drive box.
In one alternative: the first joint arm end portion is connected with the side wall of the connecting sleeve through a lifting assembly, the lifting assembly comprises a lifting screw rod and a lifting spiral sleeve, the lifting spiral sleeve is sleeved on the lifting screw rod, the first joint arm end portion is fixed to the end side of the lifting spiral sleeve, the lifting spiral sleeve is close to the end side of the side wall of the connecting sleeve and is in sliding buckling on the inner side of a limiting guide groove formed in the connecting sleeve, two ends of the lifting screw rod are installed on the side wall of the connecting sleeve through bearing seats, and the lower end of the lifting screw rod is connected with a lifting motor arranged on.
In one alternative: the center of the lower end face of the cross rod is provided with a recognizer, and the recognizer is electrically connected to the lifting motor.
Compared with the prior art, the invention has the following beneficial effects:
1. the device can automatically perform identification clamping and placing on a product by utilizing the mechanical clamping arm and the rotating device, and moves to a corresponding station of an automatic production line, and the robot mechanism places the workpiece on the corresponding station, so that the automatic production line finishes processing the workpiece, and the production efficiency is improved;
2. the conveying device has a simple structure, can automatically and quickly convey workpieces or products between stations, is simple and quick to operate, and has high practicability.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partially enlarged schematic structural view of a portion a in fig. 1.
Fig. 3 is a schematic structural view of a rotary driving case of the present invention.
Fig. 4 is a schematic structural diagram of a lifting assembly in another embodiment of the invention.
Notations for reference numerals: the device comprises a base substrate 1, a rotating vertical rod shaft 2, a rotary driving box body 3, a connecting sleeve 4, a first joint arm 5, a second joint arm 6, a lifting screw rod 7, a lifting spiral sleeve 8, a lifting motor 9, a telescopic supporting rod 10, a mounting plate 11, an inductor 12, a telescopic cylinder 13, a connecting sliding groove 14, a sliding seat 15, a cross rod 16, a hanging rod 17, a clamping rod 18, a cross rod 19, a clamping motor 20, a guide hole 21, a connecting slide block 22, a convex column 23, a clamping plate 24, an identifier 25, a rotary motor 26, a transmission gear pair 27 and a limiting guide groove 28.
Detailed Description
The present invention will be described in detail with reference to the following embodiments, wherein like or similar elements are designated by like reference numerals throughout the several views, and wherein the shape, thickness or height of the various elements may be expanded or reduced in practice. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
Example 1
Referring to fig. 1 to 3, in an embodiment of the present invention, a rotary industrial robot apparatus includes a base substrate 1, a mechanical clamping arm, and a rotating shaft 2 disposed on an upper end surface of the base substrate 1, and a bottom end of the rotating shaft 2 is rotatably connected to an end surface of the base substrate 1, a connecting sleeve 4 fixedly connected to the rotating shaft 2 is sleeved on the rotating shaft 2, a rotary driving box 3 is disposed on the base substrate 1, a bottom end of the rotating shaft 2 is disposed in the rotary driving box 3 and connected to a rotating device disposed therein, an upper end of the mechanical clamping arm is connected to an outer wall of the connecting sleeve 4, the mechanical clamping arm includes a clamping assembly and a support arm, the support arm includes a first joint arm 5 and a second joint arm 6 having an end portion hinged to the first joint arm 5, a telescopic cylinder 13 is further disposed under the first joint arm 5, one end of the telescopic cylinder 13 is hinged to a rod wall of the first joint arm 5, the other end of the first articulated arm 5 is hinged with the rod wall of the second articulated arm 6 in a sliding manner, specifically, a connecting sliding groove 14 is formed in the rod wall of the second articulated arm 6, a sliding seat 15 sliding in the connecting sliding groove 14 is arranged in the connecting sliding groove, and the lower end of the telescopic cylinder 13 is hinged on the sliding seat 15;
the clamping assembly comprises a rotating motor 26 and two clamping rods 18, the top end of the rotating motor 26 is provided with a hanging rod 17, the bottom end of the second articulated arm 6 is hinged with the hanging rod 17, the two clamping rods 18 are respectively positioned at the two ends of the cross rod 16, the middle part of the two clamping rods 18 is hinged with the end side of the cross rod 16, the upper side of the cross rod 16 is provided with a cross screw rod 19, the end part of the cross screw rod 19 is arranged on the cross rod 16 through a fixed seat, the spiral directions of the two ends of the transverse screw rod 19 are opposite and are respectively sleeved with a connecting slide block 22, the end side of the connecting slide block 22 is fixedly provided with a convex column 23, the convex column 23 extends into the inner side of a guide hole 21 arranged at the upper end part of each clamping rod 18, one end of the transverse screw rod 19 is connected with a clamping motor 20, the bottom ends of the two clamping rods 18 are respectively provided with an opposite clamping plate 24, the clamping rod 18 can be rotated to clamp the product by the clamping plate 24 by rotating the transverse screw rod 19 by the clamping motor 20 to make the two connecting slide blocks 22 move away from each other; after clamping is finished, the rotating vertical rod shaft 2 can be rotated by rotating a rotating device in the driving box body 3, and then the mechanical clamping arm is driven to rotate, so that a product is clamped to another station or a conveying belt, and the product conveying of the two processing stations is facilitated;
a telescopic supporting rod 10 is arranged on one side, away from the mechanical clamping arm, of the connecting sleeve 4, a mounting plate 11 is fixed at the end part of the telescopic supporting rod 10, an inductor 12 is mounted on the mounting plate 11, the inductor 12 is electrically connected with a rotating device and a clamping motor 20 in the rotary driving box body 3, and when a product is detected to pass through, the rotating device and the clamping motor 20 are controlled to enable the robot to automatically clamp and place the product;
the rotating device comprises a rotating motor 26 arranged in the rotating driving box body 3, and an output shaft of the rotating motor 26 is connected with the bottom end of the rotating vertical rod shaft 2 through a transmission gear pair 27.
Example 2
Referring to fig. 4, the embodiment of the invention is different from embodiment 1 in that: the end part of the first joint arm 5 is connected with the side wall of the connecting sleeve 4 through a lifting assembly, the lifting assembly comprises a lifting screw rod 7 and a lifting spiral sleeve 8 sleeved on the lifting screw rod 7, the end part of the first joint arm 5 is fixed on the end side of the lifting spiral sleeve 8, which is close to the side wall of the connecting sleeve 4, is slidably buckled inside a limited guide groove 28 arranged on the connecting sleeve 4, the two ends of the lifting screw rod 7 are arranged on the side wall of the connecting sleeve 4 through bearing seats, the lower end of the lifting screw rod 7 is connected with a lifting motor 9 arranged on the side wall of the connecting sleeve 4, the center of the lower end surface of the cross rod 16 is provided with an identifier 25, the identifier 25 is electrically connected with the lifting motor 9, when a mechanical clamping arm clamps a product, the identifier 25 can scan the position, where the product is to be placed, attached to the product surface, then convert, and then make mechanical centre gripping arm reciprocate and place it on the rack of take the altitude, convenient processing is used.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (7)
1. A rotary industrial robot device comprises a base substrate (1), a mechanical clamping arm and a rotary vertical rod shaft (2) arranged on the upper end face of the base substrate (1), and the bottom end of the rotary vertical rod shaft (2) is rotatably connected with the end face of the base substrate (1), and is characterized in that a connecting sleeve (4) fixedly connected with the rotary vertical rod shaft (2) is sleeved on the rotary vertical rod shaft (2), a rotary driving box body (3) is arranged on the base substrate (1), the bottom end of the rotary vertical rod shaft (2) is arranged in the rotary driving box body (3) and is connected with a rotating device in the rotary driving box body, the upper end of the mechanical clamping arm is connected to the outer wall of the connecting sleeve (4), the mechanical clamping arm comprises a clamping component and a supporting rod arm, the supporting rod arm comprises a first joint arm (5) and a second joint arm (6) with the end portion hinged to the first joint arm (5), a telescopic cylinder (13) is further arranged on the lower side of, one end of the telescopic cylinder (13) is hinged on the rod wall of the first articulated arm (5), and the other end of the first articulated arm (5) is hinged with the rod wall of the second articulated arm (6) in a sliding manner.
2. The rotary industrial robot apparatus according to claim 1, characterized in that the second articulated arm (6) has a connecting sliding groove (14) formed in the arm wall thereof and a sliding seat (15) sliding therein is provided in the connecting sliding groove (14), and the lower end of the telescopic cylinder (13) is hinged to the sliding seat (15).
3. The rotary industrial robot device according to claim 1, characterized in that the clamping assembly comprises a rotary motor (26) and two clamping rods (18), the top end of the rotary motor (26) is provided with a suspension rod (17) and the bottom end of the second articulated arm (6) is hinged with the suspension rod (17), the two clamping rods (18) are respectively located at both ends of the cross bar (16) and the middle part thereof is hinged with the end side of the cross bar (16), the upper side of the cross bar (16) is provided with a cross bar (19), the end part of the cross bar (19) is mounted on the cross bar (16) through a fixing seat, the two ends of the cross bar (19) have opposite spiral directions and are both sleeved with a connecting slide block (22), the end side of the connecting slide block (22) is fixed with a convex column (23), the convex column (23) extends into the inner side of a guide hole (21) arranged at the upper end part of the clamping rod (18), one end, the bottom ends of the two clamping rods (18) are provided with opposite clamping plates (24).
4. A rotary industrial robot device according to claim 3, characterized in that the side of the connecting sleeve (4) remote from the mechanical gripping arm is provided with a telescopic strut (10) and that the end of the telescopic strut (10) is fixed with a mounting plate (11).
5. A rotating industrial robot device according to claim 4, characterized in that the mounting plate (11) is provided with a sensor (12), which sensor (12) is electrically connected to the rotating means and the gripper motor (20) in the rotation drive housing (3).
6. A rotary industrial robot device according to any of the claims 3-5, characterized in that the end of the first articulated arm (5) is connected to the side wall of the connecting sleeve (4) by means of a lifting assembly comprising a lifting screw (7) and a lifting screw (8) sleeved on the lifting screw (7), the end of the first articulated arm (5) is fixed to the end side of the lifting screw (8) and the end side of the lifting screw (8) close to the side wall of the connecting sleeve (4) is slidably engaged inside a limited guiding groove (28) provided on the connecting sleeve (4), the two ends of the lifting screw (7) are mounted to the side wall of the connecting sleeve (4) by means of bearing seats, and the lower end of the lifting screw (7) is connected to a lifting motor (9) provided on the side wall of the connecting sleeve (4).
7. A rotary industrial robot apparatus according to claim 6, characterized in that the cross bar (16) is centrally provided with an identifier (25) in the lower end surface, which identifier (25) is electrically connected to the lift motor (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910873852.4A CN110625603A (en) | 2019-09-17 | 2019-09-17 | Rotary industrial robot equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910873852.4A CN110625603A (en) | 2019-09-17 | 2019-09-17 | Rotary industrial robot equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110625603A true CN110625603A (en) | 2019-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910873852.4A Pending CN110625603A (en) | 2019-09-17 | 2019-09-17 | Rotary industrial robot equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN110625603A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469122A (en) * | 2020-04-23 | 2020-07-31 | 三门核电有限公司 | Parallel multi-joint lifting manipulator |
| CN111520914A (en) * | 2020-05-13 | 2020-08-11 | 山东海冠新能源科技有限公司 | Gas furnace wall-mounted device with remote control function |
| CN112008312A (en) * | 2020-07-31 | 2020-12-01 | 上海隧道工程有限公司 | Steel reinforcement cage welding clamping device and clamping method thereof |
| CN112405574A (en) * | 2020-11-07 | 2021-02-26 | 常德市金晟科技有限公司 | Multi-claw mechanical clamping device with induction function |
| CN112476480A (en) * | 2020-11-13 | 2021-03-12 | 河南汇邦智能装备有限公司 | Robot arm capable of automatically feeding and discharging and method thereof |
| CN112643685A (en) * | 2020-09-02 | 2021-04-13 | 王卫华 | Multi-cargo carrying robot |
| CN113290544A (en) * | 2021-06-02 | 2021-08-24 | 盐城工业职业技术学院 | Mechanical arm device for logistics sorting |
| CN113799166A (en) * | 2021-10-11 | 2021-12-17 | 江西环境工程职业学院 | Industrial robot composite clamp |
| CN114919943A (en) * | 2022-05-30 | 2022-08-19 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
| CN114919943B (en) * | 2022-05-30 | 2024-04-30 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469122A (en) * | 2020-04-23 | 2020-07-31 | 三门核电有限公司 | Parallel multi-joint lifting manipulator |
| CN111520914A (en) * | 2020-05-13 | 2020-08-11 | 山东海冠新能源科技有限公司 | Gas furnace wall-mounted device with remote control function |
| CN112008312A (en) * | 2020-07-31 | 2020-12-01 | 上海隧道工程有限公司 | Steel reinforcement cage welding clamping device and clamping method thereof |
| CN112643685A (en) * | 2020-09-02 | 2021-04-13 | 王卫华 | Multi-cargo carrying robot |
| CN112643685B (en) * | 2020-09-02 | 2022-05-17 | 中鑫物流(天津)有限公司 | Multi-cargo carrying robot |
| CN112405574A (en) * | 2020-11-07 | 2021-02-26 | 常德市金晟科技有限公司 | Multi-claw mechanical clamping device with induction function |
| CN112476480A (en) * | 2020-11-13 | 2021-03-12 | 河南汇邦智能装备有限公司 | Robot arm capable of automatically feeding and discharging and method thereof |
| CN113290544A (en) * | 2021-06-02 | 2021-08-24 | 盐城工业职业技术学院 | Mechanical arm device for logistics sorting |
| CN113799166A (en) * | 2021-10-11 | 2021-12-17 | 江西环境工程职业学院 | Industrial robot composite clamp |
| CN113799166B (en) * | 2021-10-11 | 2023-03-14 | 江西环境工程职业学院 | Industrial robot composite clamp |
| CN114919943A (en) * | 2022-05-30 | 2022-08-19 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
| CN114919943B (en) * | 2022-05-30 | 2024-04-30 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
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Application publication date: 20191231 |
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