CN111469123A

CN111469123A - Column type joint robot

Info

Publication number: CN111469123A
Application number: CN202010417926.6A
Authority: CN
Inventors: 董玉
Original assignee: Benson Intelligent Equipment Shandong Co ltd
Current assignee: Benson Intelligent Equipment Shandong Co ltd
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2020-07-31

Abstract

The invention provides a column type joint robot, which relates to the technical field of automatic handling and comprises a fixed base, wherein an internal gear is arranged on the inner side of the fixed base, a rotating seat is fixedly connected on the top side of the fixed base corresponding to the position of the internal gear, a supporting seat is rotatably connected on the top side of the rotating seat, a first motor is arranged on the top side of the supporting seat, a first speed reducer is fixedly connected at the output end of the first motor, the first speed reducer is fixedly connected with the supporting seat, P L C controls two third motors and a third speed reducer on the bottom side of the third motor to rotate, so that a second joint arm on the bottom side of the first joint arm and a second sliding rail are respectively driven to rotate to adjust the positions, then a P L C controls a manipulator to start to clamp goods, and then P L C starts the second motor and the first motor again to enable the device to clamp the goods to move upwards and rotate to the placing position for stacking.

Description

Column type joint robot

Technical Field

The invention relates to the technical field of automatic handling, in particular to a column type joint robot.

Background

The transfer robot is an industrial robot capable of carrying out automatic transfer operation, the transfer operation refers to that a workpiece is held by one device and is moved from one processing position to another processing position, and the transfer robot can be provided with different end effectors to finish the transfer operation of the workpieces in various shapes and states, so that heavy manual labor of human beings is greatly reduced.

Because the existing stacker crane has poor working stability, the carrier cannot be replaced, has low flexibility and cannot be installed in a small space, and therefore, the stacker crane cannot be suitable for carrying and stacking different products such as bagged materials, cartons and the like.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a column type joint robot, which solves the problems that the existing stacker crane is poor in working stability, low in replacement flexibility and incapable of being installed in a small space, and therefore, the stacker crane cannot be suitable for carrying and stacking different products such as bagged materials, cartons and the like.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the column type joint robot comprises a fixed base, wherein an inner gear is arranged on the inner side of the fixed base, a rotating base is fixedly connected to the position, corresponding to the inner gear, of the top side of the fixed base, a supporting base is rotatably connected to the top side of the rotating base, a first motor is arranged on the top side of the supporting base, a first speed reducer is fixedly connected to the output end of the first motor, the first speed reducer is fixedly connected to the supporting base, a transmission gear is fixedly connected to the output end of the first speed reducer, the transmission gear is meshed with the inner gear, an upright column is fixedly connected to one side, close to the first speed reducer, of the top end of the supporting base, a second motor is arranged on the top side of the upright column, a second speed reducer is fixedly connected to the output end of the second motor, the second speed reducer is fixedly connected to, the upper gear is rotatably connected with the upright column, the upper gear is connected with a transmission chain in a meshing manner, the bottom side of the transmission chain is connected with a lower gear in a meshing manner, the lower gear is rotatably connected with the inner side wall of the upright column, the transmission chain is fixedly connected with a sliding frame, one side, close to the sliding frame, of the outer side wall of the upright column is provided with a first sliding rail, one side, far away from the upright column, of the sliding frame is fixedly connected with a first joint arm, one end, far away from the sliding frame, of the bottom side of the first joint arm is provided with a second joint arm, one end, far away from the first joint arm, of the top side of the second joint arm and one end, far away from the sliding frame, of the top side of the first joint arm are respectively provided with a third motor, the output ends of the two third motors are respectively and fixedly connected.

Preferably, the top side of the upright column is embedded with a telescopic cover in a sliding manner, and the top end and the bottom end of the telescopic cover are respectively fixedly connected with the upright column and the sliding frame.

Preferably, one end of the bottom side of the second articulated arm, which is far away from the first articulated arm, is provided with a second sliding rail.

Preferably, the output ends of the two third speed reducers are respectively and fixedly connected with the second joint arm and the second slide rail.

Preferably, the bottom side of the second slide rail is detachably connected with a manipulator.

Preferably, the first slide rail is connected with the carriage in an embedded sliding manner.

When the device is used, different types of mechanical arms are replaced according to the types of goods to be transported, the first motor and the first speed reducer on the supporting seat are controlled to drive the transmission gear to rotate through the P L C, the transmission gear drives the supporting seat to rotate on the rotating seat when rotating along the inner gear in the fixed base, so that the upright column drives the first knuckle arm and the second knuckle arm to be transported to one side of the goods to be transported, then the P L C controls the second motor and the second speed reducer to drive the upper gear to rotate, so that the transmission chain rotates on the upper gear and the lower gear, meanwhile, the sliding frame is driven to gradually move downwards along the first sliding rail, the mechanical arm moves to the top side of the goods, then the P L C controls the third speed reducers on the bottom sides of the two third motors and the third motor to rotate, so that the second knuckle arm and the second sliding rail on the bottom side of the first knuckle arm are respectively driven to rotate to adjust positions, then the P L C controls the mechanical arm to start to clamp the goods, then, and the P L C starts the second motor to enable the device to clamp the goods to move upwards and rotate to the goods to be placed position, so that.

(III) advantageous effects

The invention provides a column type joint robot. The method has the following beneficial effects:

this column joint robot, the device not only saved the manpower transport through P L C automated control operation, are convenient for promote the efficiency of goods pile up neatly, and the operation is stable moreover, and the space occupancy of the device is littleer than traditional hacking machine simultaneously, therefore the high installation flexibility of space adaptation degree, can be suitable for the transport and the pile up neatly of different products such as bagged materials, carton.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a side view of the structure of the present invention;

FIG. 3 is a top view of the structure of the present invention;

FIG. 4 is a schematic view of the inner side structure of the fixing base of the present invention.

Wherein, 1, fixing the base; 2. an internal gear; 3. a rotating seat; 4. a supporting seat; 5. a first motor; 6. a first speed reducer; 7. a transmission gear; 8. a column; 9. a first slide rail; 10. a carriage; 11. a second motor; 12. a second speed reducer; 13. an upper gear; 14. a drive chain; 15. a lower gear; 16. a telescopic cover; 17. a first articulated arm; 18. a third motor; 19. a third speed reducer; 20. a second slide rail; 21. a second articulated arm; 22. a robot arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b):

as shown in fig. 1-4, the embodiment of the present invention provides a column type articulated robot, including a fixed base 1, an internal gear 2 is disposed inside the fixed base 1, a rotating base 3 is fixedly connected to a top side of the fixed base 1 corresponding to a position of the internal gear 2, a support base 4 is rotatably connected to a top side of the rotating base 3, a first motor 5 is disposed on the top side of the support base 4, a first speed reducer 6 is fixedly connected to an output end of the first motor 5, the first speed reducer 6 and the support base 4 are fixedly connected, a transmission gear 7 is fixedly connected to an output end of the first speed reducer 6, the transmission gear 7 and the internal gear 2 are engaged and connected, a column 8 is fixedly connected to a side of the support base 4 close to the first speed reducer 6, a second motor 11 is disposed on a top side of the column 8, an output end of the second motor 11 is fixedly connected to an output end of the second motor 11, a second speed reducer 12 is fixedly connected between the second speed reducer 12 and the column 8, an output end of the second speed reducer 12 is fixedly connected to an upper gear 13, the upper gear 13 is rotatably connected between the upper gear 13 and the upper gear 13, a third gear 13 and the vertical column 8, a rack is connected to a rack, a rack C17 is connected to a rack C18, a rack C17, a rack C18 is connected to a rack C17, a rack C18 is connected to a rack C17, a rack C18 is connected to a rack C18 rack C17, a rack C17 rack C18, a rack C18 is connected to a rack C18 rack C21, a rack C18 rack C19 is connected to rotate, a rack C18 rack C19 rack C18 rack C, a rack C18 rack C14 is connected to a rack C, a rack C21, a rack C9 rack C18 rack C, a rack C14 is connected to control rack C18 rack C, a rack C19 rack C18 rack C, a rack C for controlling rack C for controlling a rack C for moving mechanism for moving the rack C for moving the rack.

The top side of the upright post 8 is embedded and slidably connected with a telescopic cover 16, and the top end and the bottom end of the telescopic cover 16 are respectively and fixedly connected with the upright post 8 and the sliding frame 10, so that dust or other objects are prevented from falling into the inner side of the upright post 8, and the operation of the transmission chain 14 is prevented from being influenced; a second sliding rail 20 is arranged at one end of the bottom side of the second joint arm 21, which is far away from the first joint arm 17, so that the rotation and the positioning of the manipulator 22 can be conveniently controlled; the output ends of the two third speed reducers 19 are respectively and fixedly connected with the second joint arm 21 and the second slide rail 20, so that the position of the manipulator 22 can be conveniently adjusted; the bottom side of the second slide rail 20 is detachably connected with a manipulator 22, so that the manipulator 22 of different types can be replaced conveniently as required, and various goods can be clamped conveniently; the sliding connection is embedded between the first slide rail 9 and the sliding frame 10, so that the sliding frame 10 can stably drive the first joint arm 17 and the second joint arm 21 to ascend or descend.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Column joint robot, including unable adjustment base (1), its characterized in that: the inner side of the fixed base (1) is provided with an internal gear (2), the top side of the fixed base (1) is fixedly connected with a rotating base (3) corresponding to the position of the internal gear (2), the top side of the rotating base (3) is rotatably connected with a supporting base (4), the top side of the supporting base (4) is provided with a first motor (5), the output end of the first motor (5) is fixedly connected with a first speed reducer (6), the first speed reducer (6) is fixedly connected with the supporting base (4), the output end of the first speed reducer (6) is fixedly connected with a transmission gear (7), the transmission gear (7) is meshed with the internal gear (2), the top end of the supporting base (4) is close to one side of the first speed reducer (6) and is fixedly connected with a stand column (8), the top side of the stand column (8) is provided with a second, the output end of the second motor (11) is fixedly connected with a second speed reducer (12), the second speed reducer (12) is fixedly connected with the upright post (8), the output end of the second speed reducer (12) is fixedly connected with an upper gear (13), the upper gear (13) is rotatably connected with the upright post (8), the upper gear (13) is connected with a transmission chain (14) in a meshing manner, the bottom side of the transmission chain (14) is connected with a lower gear (15) in a meshing manner, the lower gear (15) is rotatably connected with the inner side wall of the upright post (8), the transmission chain (14) is fixedly connected with a sliding frame (10), one side, close to the sliding frame (10), of the outer side wall of the upright post (8) is provided with a first sliding rail (9), one side, far away from the upright post (8), of the sliding frame (10) is fixedly connected with a first joint arm (17), one end, far away from the sliding frame (10), of the bottom side of the first joint arm (, one end, far away from the first articulated arm (17), of the top side of the second articulated arm (21) and one end, far away from the sliding frame (10), of the top side of the first articulated arm (17) are provided with third motors (18), the output ends of the two third motors (18) are fixedly connected with third speed reducers (19), and the two third speed reducers (19) are fixedly connected with the first articulated arm (17) and the second articulated arm (21) respectively.

2. The column joint robot according to claim 1, wherein: the top side of the upright post (8) is embedded with a telescopic cover (16) in a sliding manner, and the top end and the bottom end of the telescopic cover (16) are respectively fixedly connected with the upright post (8) and the sliding frame (10).

3. The column joint robot according to claim 1, wherein: and a second sliding rail (20) is arranged at one end, away from the first articulated arm (17), of the bottom side of the second articulated arm (21).

4. The column joint robot according to claim 1, wherein: the output ends of the two third speed reducers (19) are respectively and fixedly connected with the second joint arm (21) and the second sliding rail (20).

5. The column joint robot according to claim 3, wherein: the bottom side of the second sliding rail (20) is detachably connected with a manipulator (22).

6. The column joint robot according to claim 1, wherein: the first sliding rail (9) is connected with the sliding frame (10) in an embedded sliding mode.