CN111571608A - Loading and unloading robot for subway hook processing - Google Patents
Loading and unloading robot for subway hook processing Download PDFInfo
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- CN111571608A CN111571608A CN202010406700.6A CN202010406700A CN111571608A CN 111571608 A CN111571608 A CN 111571608A CN 202010406700 A CN202010406700 A CN 202010406700A CN 111571608 A CN111571608 A CN 111571608A
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- module
- subway
- driving module
- linear
- sliding slot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the field of subway hook processing equipment, in particular to a feeding and discharging robot for processing a subway hook, which comprises a rack, a linear reciprocating driver, a guide module, a driving module, a driven module and an electromagnetic adsorption module, wherein the linear reciprocating driver is arranged on the rack; the rack is used for fixedly mounting the linear reciprocating driver and the guide module; the driving module is connected with the guiding module in a sliding manner, and the sliding track of the driving module is a horizontal straight line; the output end of the linear reciprocating driver is in transmission connection with the driving module; the guide module is provided with a door-shaped sliding chute which horizontally penetrates through the guide module, an opening of the door-shaped sliding chute is arranged downwards, the drive module is provided with a V-shaped sliding chute which horizontally penetrates through the drive module, and the sharp corner of the V-shaped sliding chute is arranged upwards; the driven module is in sliding connection with the door-shaped sliding chute and the V-shaped sliding chute, and the electromagnetic adsorption module is fixedly connected with the driven module; the invention solves the problem that fine scraps generated during processing of subway hooks easily cause the fault of a precise robot.
Description
Technical Field
The invention relates to the field of subway hook processing equipment, in particular to a feeding and discharging robot for processing a subway hook.
Background
The subway is one of our public transport, and the subway is when constructing, need lay a large amount of cables, and the fixed couple that need use of cable usually, the couple needs the staff to go up unloading when producing, in order to use manpower sparingly, people use the robot to go up unloading.
And some current subway couple processing are with feeding and discharging robot because its preparation precision is high, lead to the cost level of whole robot high, have improved the cost of subway couple, simultaneously because the subway couple is adding man-hour, produce tiny sweeps easily to make accurate robot break down easily, and then increased the cost of maintenance of whole device, relative reduction the robot speed when going up the unloading.
Therefore, a charging and discharging robot for processing a subway hook is provided so as to solve the problems.
Disclosure of Invention
The invention aims to solve the technical problem of providing a feeding and discharging robot for subway hook processing, which aims to solve the problems that the manufacturing precision of the existing subway hooks in the market is high, so that the manufacturing cost of the whole robot is high, the manufacturing cost of the subway hooks is improved, and fine scraps are easily generated during processing of the subway hooks, so that the precision robot easily breaks down, the maintenance cost of the whole device is increased, and the speed of the robot during feeding and discharging is relatively reduced.
In order to solve the technical problems, the invention provides the following technical scheme:
a feeding and discharging robot for machining subway hooks comprises a rack, a linear reciprocating driver, a guide module, a driving module, a driven module and an electromagnetic adsorption module; the rack is used for fixedly mounting the linear reciprocating driver and the guide module; the driving module is connected with the guiding module in a sliding manner, and the sliding track of the driving module is a horizontal straight line; the output end of the linear reciprocating driver is in transmission connection with the driving module; the guide module is provided with a door-shaped sliding chute which horizontally penetrates through the guide module, an opening of the door-shaped sliding chute is arranged downwards, the drive module is provided with a V-shaped sliding chute which horizontally penetrates through the drive module, a sharp corner of the V-shaped sliding chute is arranged upwards, and the height of the V-shaped sliding chute is equal to that of the door-shaped sliding chute; the driven module is connected with the door-shaped sliding groove and the V-shaped sliding groove in a sliding mode, and the electromagnetic adsorption module is fixedly connected with the driven module.
As a preferred scheme of a feeding and discharging robot for machining subway hooks, the linear reciprocating driver comprises a rotary driver, a crank and a connecting rod, the rotary driver is fixedly connected with the rack, one end of the crank is fixedly connected with an output shaft of the rotary driver, one end of the connecting rod is rotatably connected with the other end of the crank, and a pin shaft rotatably connected with the other end of the connecting rod is arranged on the driving module.
As a preferred scheme of a loading and unloading robot for processing subway hooks, the rotary driver comprises a servo motor and a speed reducer, a non-working part of the servo motor is fixedly connected with the speed reducer, a non-working part of the speed reducer is fixedly connected with the rack, an output end of the servo motor is in transmission connection with an input end of the speed reducer, and an output end of the speed reducer is fixedly connected with a crank.
As an optimized scheme of the feeding and discharging robot for machining the subway hook, the guide module is in a vertical plate shape, a first linear sliding groove, a second linear sliding groove and a third linear sliding groove which penetrate through the guide module horizontally are arranged on the guide module, the first linear sliding groove and the third linear sliding groove are vertically arranged, the second linear sliding groove is horizontally arranged, and the top ends of the first linear sliding groove and the second linear sliding groove are communicated with the two ends of the second linear sliding groove.
As an optimal scheme of the feeding and discharging robot for machining the subway hook, the driving module is in a vertical plate shape, a fourth linear sliding groove and a fifth linear sliding groove which horizontally penetrate through the driving module are arranged on the driving module, the fourth linear sliding groove and the fifth linear sliding groove are respectively located on two sides of the driving module and incline towards the top end of the center line of the driving module, and the top ends of the fourth linear sliding groove and the fifth linear sliding groove are communicated.
As an optimized scheme of going up unloading robot for subway couple processing, drive module is the riser shape, be provided with the holding tank anastomotic with drive module in the guide module, drive module and holding tank clearance fit, the upper and lower two sides of holding tank all are provided with inside sunken first ball groove, drive module's upper and lower two sides are provided with inside sunken and with the second ball groove of first ball groove symmetry, first ball groove and second ball inslot internally mounted have a plurality of balls.
As an optimal scheme of a feeding and discharging robot for machining subway hooks, a driven module comprises a sliding shaft, the sliding shaft is in a cylindrical shape, the sliding shaft is in sliding fit with a door-shaped sliding groove and a V-shaped sliding groove, a first annular flange and a second annular flange which extend outwards in the radial direction are arranged at one end and the middle end of the sliding shaft respectively, the first annular flange is abutted against the surface of a driving module, the second annular flange is abutted against the surface of a guide module, the other end of the sliding shaft is fixedly connected with a connecting block, the connecting block is fixedly connected with one end of a threaded rod, and the threaded rod is detachably connected with an electromagnetic adsorption module.
As a preferred scheme of a feeding and discharging robot for processing subway hangers, the electromagnetic adsorption module comprises a threaded sleeve and an electromagnet, the threaded sleeve is fixedly connected with the electromagnet, and the threaded sleeve is in threaded connection with a threaded rod.
As a preferred scheme of an upper and lower material robot for processing a subway hook, the electromagnetic adsorption module further comprises a self-locking nut, the self-locking nut is in threaded connection with a threaded rod, a flange extending outwards in the radial direction is arranged at the top of the threaded sleeve, anti-skid grains are arranged on the top surface of the flange, and the self-locking nut is abutted to the top surface of the flange.
As an optimal scheme of the feeding and discharging robot for machining the subway hook, the sliding shaft, the connecting block and the threaded rod are all of hollow structures.
Compared with the prior art, the invention has the beneficial effects that:
the linear reciprocating driver is used for driving the driving module to linearly reciprocate on the guiding module, the driven module moves along with the driving module, the V-shaped chute of the driving module serves as a working part for pushing the driven module to move when the driving module moves towards one side, the V-shaped chute pushes the driven module to move along the track of the door-shaped chute, the driven module vertically moves upwards, then horizontally moves and then vertically moves downwards, during the period, the electromagnetic adsorption module moves along with the driven module, and the electromagnetic adsorption module completes the work of power-on feeding and power-off feeding at two lowest points of the position of the electromagnetic adsorption module respectively, so that the problems that the manufacturing precision of the existing subway hooks in the current market is high, the manufacturing cost of the whole robot is high, the manufacturing cost of the subway hooks is improved, and fine scraps are easily generated when the subway hooks are processed are solved, therefore, the precise robot is easy to break down, the maintenance cost of the whole device is increased, and the speed of the robot during feeding and discharging is relatively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a first perspective view of a feeding and blanking robot for processing a subway hook, according to an embodiment of the present invention;
FIG. 2 is a second perspective view of an embodiment of a feeding and blanking robot for processing a subway hook according to the present invention;
FIG. 3 is a front view of an embodiment of a charging and discharging robot for processing a subway hook according to the present invention;
FIG. 4 is a rear view of an embodiment of a charging and discharging robot for processing a subway hook according to the present invention;
FIG. 5 is a perspective view of a guide module, a driving module, a driven module and an electromagnetic adsorption module according to an embodiment of the feeding and blanking robot for processing the subway hook;
FIG. 6 is an exploded perspective view of a guide module, a driving module, a driven module and an electromagnetic adsorption module according to an embodiment of the feeding and blanking robot for subway hook processing;
FIG. 7 is a front view of a guide module, a driving module, a driven module and an electromagnetic adsorption module according to an embodiment of the feeding and blanking robot for processing the subway hook;
FIG. 8 is a cross-sectional view at section A-A of FIG. 7;
FIG. 9 is a perspective view of a driven module and an electromagnetic adsorption module according to an embodiment of the loading and unloading robot for processing the subway hook, provided by the invention;
FIG. 10 is an exploded perspective view of a driven module and an electromagnetic adsorption module according to an embodiment of the loading and unloading robot for processing the subway hook, according to the present invention;
the reference numbers in the figures are:
1-a frame;
2-linear reciprocating driver; 2 a-a rotary drive; 2a 1-servomotor; 2a 2-speed reducer; 2 b-a crank; 2 c-a connecting rod;
3-a boot module; 3 a-a first linear chute; 3 b-a second linear chute; 3 c-a third linear chute; 3 d-accommodating the tank; 3 e-a first ball groove;
4-a drive module; 4 a-a pin shaft; 4 b-a fourth linear chute; 4 c-a fifth linear chute; 4 d-a second ball groove;
5-a slave module; 5 a-a sliding shaft; 5a1 — a first annular flange; 5a2 — a second annular flange; 5 b-connecting block; 5 c-a threaded rod;
6-an electromagnetic adsorption module; 6 a-a threaded sleeve; 6a 1-flange; 6a 2-non-skid pattern; 6 b-an electromagnet; 6 c-self-locking nut.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A feeding and blanking robot for processing a subway hook comprises a rack 1, a linear reciprocating driver 2, a guide module 3, a driving module 4, a driven module 5 and an electromagnetic adsorption module 6; the frame 1 is used for fixedly mounting a linear reciprocating driver 2 and a guide module 3; the driving module 4 is connected with the guiding module 3 in a sliding manner, and the sliding track of the driving module 4 is a horizontal straight line; the output end of the linear reciprocating driver 2 is in transmission connection with the driving module 4; the guide module 3 is provided with a door-shaped sliding chute which horizontally penetrates through the guide module 3, an opening of the door-shaped sliding chute is arranged downwards, the drive module 4 is provided with a V-shaped sliding chute which horizontally penetrates through the drive module 4, a sharp corner of the V-shaped sliding chute is arranged upwards, and the height of the V-shaped sliding chute is equal to that of the door-shaped sliding chute; driven module 5 and door shape spout, V-arrangement spout all sliding connection, electromagnetic adsorption module 6 and driven module 5 fixed connection.
The linear reciprocating driver 2 is used for driving the driving module 4 to linearly reciprocate on the guide module 3, the driven module 5 moves along with the driving module 4, a V-shaped chute of the driving module 4 serves as a working part for pushing the driven module 5 to move when the driving module 4 moves towards one side, the V-shaped chute pushes the driven module 5 to move along the track of the door-shaped chute, the driven module 5 vertically moves upwards firstly, then horizontally moves and then vertically moves downwards, during the period, the electromagnetic adsorption module 6 moves along with the driven module 5, and the electromagnetic adsorption module 6 completes the work of power-on feeding and power-off feeding at two lowest points of the position of the electromagnetic adsorption module 6 respectively.
Specifically, the linear reciprocating driver 2 comprises a rotary driver 2a, a crank 2b and a connecting rod 2c, the rotary driver 2a is fixedly connected with the rack 1, one end of the crank 2b is fixedly connected with an output shaft of the rotary driver 2a, one end of the connecting rod 2c is rotatably connected with the other end of the crank 2b, and a pin shaft 4a rotatably connected with the other end of the connecting rod 2c is arranged on the driving module 4.
The rotary driver 2a drives the crank 2b to rotate, and the driving module 4 can only slide linearly, so that the pin shaft 4a is driven by the connecting rod 2c to reciprocate linearly every time the crank 2b rotates for one circle.
Specifically, the rotary driver 2a comprises a servo motor 2a1 and a speed reducer 2a2, a non-working part of the servo motor 2a1 is fixedly connected with the speed reducer 2a2, a non-working part of the speed reducer 2a2 is fixedly connected with the frame 1, an output end of the servo motor 2a1 is in transmission connection with an input end of the speed reducer 2a2, and an output end of the speed reducer 2a2 is fixedly connected with the crank 2 b.
The servo motor 2a1 and the speed reducer 2a2 are combined into a common rotary driver, and compared with mechanisms such as a rotary cylinder, the rotary speed of the servo motor is high, controllability is strong, and the service life is long.
Specifically, guide module 3 is the riser shape, is provided with the level on the guide module 3 and runs through guide module 3's first straight line spout 3a, second straight line spout 3b, third straight line spout 3c, the equal vertical setting of first straight line spout 3a, third straight line spout 3c, and second straight line spout 3b level sets up, and the top of first straight line spout 3a, second straight line spout 3b and the both ends intercommunication of second straight line spout 3 b.
First straight line spout 3a, second straight line spout 3b, third straight line spout 3c makes up into the gliding door-shaped spout of confession driven module 5, when driven module 5 is being pushed and is moving by drive module 4, the subway couple is adsorbed to electromagnetism absorption module 6 circular telegram, driven module 5 is earlier along the vertical upward movement of first straight line spout 3a, then along second straight line spout 3b horizontal migration, again along the vertical downward movement of third straight line spout 3c, subway couple is released in the outage of electromagnetism absorption module 6, then driven module 5 again along third straight line spout 3c, second straight line spout 3b, the route of first straight line spout 3a resets to material loading station circular telegram and adsorbs the subway couple.
Specifically, drive module 4 is the riser shape, is provided with fourth straight line spout 4b, fifth straight line spout 4c that the level runs through drive module 4 on drive module 4, and fourth straight line spout 4b and fifth straight line spout 4c are located drive module 4's both sides respectively and all incline towards drive module 4's central line top, and fourth straight line spout 4b and fifth straight line spout 4 c's top communicates.
The fourth linear sliding groove 4b and the fifth linear sliding groove 4c are combined into a V-shaped sliding groove for the driven module 5 to slide.
Specifically, drive module 4 is the riser shape, be provided with on the guide module 3 with the anastomotic holding tank 3d of drive module 4, drive module 4 and holding tank 3d clearance fit, the upper and lower two sides of holding tank 3d all is provided with inside sunken first ball groove 3e, the upper and lower two sides of drive module 4 are provided with inside sunken and with the second ball groove 4d of first ball groove 3e symmetry, first ball groove 3e and second ball groove 4d internally mounted have a plurality of balls.
The friction force of the relative sliding between the guide module 3 and the drive module 4 is reduced by a plurality of balls, and the balls cannot roll out in the first ball groove 3e and the second ball groove 4 d.
Specifically, the driven module 5 includes a sliding shaft 5a, the sliding shaft 5a is cylindrical, the sliding shaft 5a is in sliding fit with the door-shaped sliding groove and the V-shaped sliding groove, one end and the middle end of the sliding shaft 5a are respectively provided with a first annular flange 5a1 and a second annular flange 5a2, the first annular flange 5a1 abuts against the surface of the driving module 4, the second annular flange 5a2 abuts against the surface of the guiding module 3, the other end of the sliding shaft 5a is fixedly connected with the connecting block 5b, the connecting block 5b is fixedly connected with one end of the threaded rod 5c, and the threaded rod 5c is detachably connected with the electromagnetic adsorption module 6.
Specifically, the electromagnetic adsorption module 6 comprises a threaded sleeve 6a and an electromagnet 6b, the threaded sleeve 6a is fixedly connected with the electromagnet 6b, and the threaded sleeve 6a is in threaded connection with the threaded rod 5 c.
The electromagnet 6b is electrified to have magnetic force and is used for adsorbing subway hooks, the threaded sleeve 6a and the threaded rod 5c can be in threaded connection or separation, the length of the threaded rod 5c after being combined with the threaded sleeve 6a can be adjusted, and then the distance between the electromagnet 6b and the table top of the rack 1 is adjusted.
Specifically, the electromagnetic adsorption module 6 further comprises a self-locking nut 6c, the self-locking nut 6c is in threaded connection with the threaded rod 5c, a flange 6a1 extending outwards in the radial direction is arranged at the top of the threaded sleeve 6a, anti-skid threads 6a2 are arranged on the top surface of the flange 6a1, and the self-locking nut 6c abuts against the top surface of the flange 6a 1.
The bottom surface of the self-locking nut 6c and the anti-skid threads 6a2 on the top surface of the flange 6a1 generate huge friction force, so that the threaded sleeve 6a and the self-locking nut 6c are prevented from rotating relatively, the threaded sleeve 6a is locked, and the threaded sleeve 6a is prevented from driving the electromagnet 6b to spin in the working process.
Specifically, the sliding shaft 5a, the connecting block 5b and the threaded rod 5c are all hollow structures.
And a power wire penetrates through the sliding shaft 5a, the connecting block 5b, the threaded rod 5c and the hollow hole of the threaded sleeve 6a to be electrically connected with the electromagnet 6b, so that power is supplied to the electromagnet 6 b.
The working principle of the invention is as follows:
the servo motor 2a1 and the speed reducer 2a2 form a common rotary driver, the rotary driver 2a drives the crank 2b to rotate, and the driving module 4 can only slide linearly, so that the crank 2b drives the pin shaft 4a to reciprocate linearly through the connecting rod 2c every time the crank 2b rotates for one circle. The friction force of the relative sliding between the guide module 3 and the drive module 4 is reduced by a plurality of balls, and the balls cannot roll out in the first ball groove 3e and the second ball groove 4 d.
The first linear sliding groove 3a, the second linear sliding groove 3b and the third linear sliding groove 3c are combined to form a gate-shaped sliding groove for the driven module 5 to slide, and the fourth linear sliding groove 4b and the fifth linear sliding groove 4c are combined to form a V-shaped sliding groove for the driven module 5 to slide. Driven module 5 passes through slide shaft 5a and door shape spout, V-arrangement spout sliding connection, slide shaft 5a prevents the axial displacement of self through first cyclic annular flange 5a1 and second cyclic annular flange 5a2, prevents slide shaft 5a and door shape spout, the slippage of V-arrangement spout, slide shaft 5a passes through connecting block 5b and threaded rod 5c fixed connection, threaded rod 5c is used for demountable installation electromagnetic adsorption module 6, under the effect of gravity, threaded rod 5c and electromagnetic adsorption module 6 are vertical downwards all the time. And a power wire penetrates through the sliding shaft 5a, the connecting block 5b, the threaded rod 5c and the hollow hole of the threaded sleeve 6a to be electrically connected with the electromagnet 6b, so that power is supplied to the electromagnet 6 b.
The electromagnet 6b is electrified to have magnetic force and is used for adsorbing subway hooks, the threaded sleeve 6a and the threaded rod 5c can be in threaded connection or separation, the length of the threaded rod 5c after being combined with the threaded sleeve 6a can be adjusted, and then the distance between the electromagnet 6b and the table top of the rack 1 is adjusted.
When driven module 5 is being pushed and is moving by drive module 4, the subway couple is adsorbed to 6 circular telegrams of electromagnetic adsorption module, driven module 5 is earlier along the vertical rebound of first straight line spout 3a, then along second straight line spout 3b horizontal migration, again along the vertical rebound of third straight line spout 3c, subway couple is released in the outage of electromagnetic adsorption module 6, then driven module 5 resets to material loading station circular telegrams along third straight line spout 3c, second straight line spout 3b, the route of first straight line spout 3a again and adsorbs the subway couple.
It should be understood that the above-described embodiments are merely preferred embodiments of the invention and the technical principles applied thereto. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, such variations are within the scope of the invention as long as they do not depart from the spirit of the invention. In addition, certain terms used in the specification and claims of the present application are not limiting, but are used merely for convenience of description.
Claims (10)
1. A feeding and discharging robot for machining subway hooks is characterized by comprising a rack (1), a linear reciprocating driver (2), a guide module (3), a driving module (4), a driven module (5) and an electromagnetic adsorption module (6); the rack (1) is used for fixedly mounting the linear reciprocating driver (2) and the guide module (3); the driving module (4) is connected with the guiding module (3) in a sliding mode, and the sliding track of the driving module (4) is a horizontal straight line; the output end of the linear reciprocating driver (2) is in transmission connection with the driving module (4); a door-shaped sliding groove which horizontally penetrates through the guide module (3) is formed in the guide module (3), an opening of the door-shaped sliding groove is arranged downwards, a V-shaped sliding groove which horizontally penetrates through the drive module (4) is formed in the drive module (4), a sharp corner of the V-shaped sliding groove is arranged upwards, and the height of the V-shaped sliding groove is equal to that of the door-shaped sliding groove; the driven module (5) is connected with the door-shaped sliding groove and the V-shaped sliding groove in a sliding mode, and the electromagnetic adsorption module (6) is fixedly connected with the driven module (5).
2. The feeding and blanking robot for subway hook processing according to claim 1, wherein the linear reciprocating driver (2) comprises a rotary driver (2 a), a crank (2 b) and a connecting rod (2 c), the rotary driver (2 a) is fixedly connected with the frame (1), one end of the crank (2 b) is fixedly connected with an output shaft of the rotary driver (2 a), one end of the connecting rod (2 c) is rotatably connected with the other end of the crank (2 b), and a pin shaft (4 a) rotatably connected with the other end of the connecting rod (2 c) is arranged on the driving module (4).
3. The loading and unloading robot for subway hook processing as claimed in claim 2, wherein said rotary driver (2 a) comprises a servo motor (2 a 1) and a speed reducer (2 a 2), the non-working part of said servo motor (2 a 1) is fixedly connected with said speed reducer (2 a 2), the non-working part of said speed reducer (2 a 2) is fixedly connected with said frame (1), the output end of said servo motor (2 a 1) is drivingly connected with the input end of said speed reducer (2 a 2), and the output end of said speed reducer (2 a 2) is fixedly connected with said crank (2 b).
4. The feeding and blanking robot for subway hook processing according to claim 1, wherein said guiding module (3) is in the shape of a vertical plate, said guiding module (3) is provided with a first linear sliding slot (3 a), a second linear sliding slot (3 b) and a third linear sliding slot (3 c) which horizontally penetrate said guiding module (3), said first linear sliding slot (3 a) and said third linear sliding slot (3 c) are both vertically arranged, said second linear sliding slot (3 b) is horizontally arranged, and the top ends of said first linear sliding slot (3 a) and said second linear sliding slot (3 b) are communicated with the two ends of said second linear sliding slot (3 b).
5. The feeding and blanking robot for subway hook processing according to claim 1, wherein said driving module (4) is in the shape of a vertical plate, said driving module (4) is provided with a fourth linear sliding slot (4 b) and a fifth linear sliding slot (4 c) horizontally penetrating said driving module (4), said fourth linear sliding slot (4 b) and said fifth linear sliding slot (4 c) are respectively located at two sides of said driving module (4) and are both inclined towards the top end of the central line of said driving module (4), and the top ends of said fourth linear sliding slot (4 b) and said fifth linear sliding slot (4 c) are communicated.
6. The loading and unloading robot for subway hook processing according to claim 1, wherein said driving module (4) is in the shape of a riser, said guiding module (3) is provided with a receiving groove (3 d) matching with said driving module (4), said driving module (4) is in clearance fit with said receiving groove (3 d), said receiving groove (3 d) is provided with a first ball groove (3 e) recessed inwards on both sides, said driving module (4) is provided with a second ball groove (4 d) recessed inwards and symmetrical to said first ball groove (3 e), and said first ball groove (3 e) and said second ball groove (4 d) are internally provided with a plurality of balls.
7. The loading and unloading robot for machining subway hangers according to claim 1, wherein the driven module (5) comprises a sliding shaft (5 a), the sliding shaft (5 a) is cylindrical, the sliding shaft (5 a) is in sliding fit with the door-shaped chute and the V-shaped chute, one end and the middle end of the sliding shaft (5 a) are respectively provided with a first annular flange (5 a 1) and a second annular flange (5 a 2) which extend outwards in the radial direction, the first annular flange (5 a 1) abuts against the surface of the driving module (4), the second annular flange (5 a 2) abuts against the surface of the guiding module (3), the other end of the sliding shaft (5 a) is fixedly connected with the connecting block (5 b), the connecting block (5 b) is fixedly connected with one end of the threaded rod (5 c), and the threaded rod (5 c) is detachably connected with the electromagnetic adsorption module (6).
8. The feeding and blanking robot for subway hook processing as claimed in claim 7, wherein said electromagnetic adsorption module (6) comprises a threaded sleeve (6 a) and an electromagnet (6 b), said threaded sleeve (6 a) and electromagnet (6 b) are fixedly connected, and said threaded sleeve (6 a) and threaded rod (5 c) are screw-connected.
9. The feeding and blanking robot for subway hook processing according to claim 8, wherein said electromagnetic adsorption module (6) further comprises a self-locking nut (6 c), said self-locking nut (6 c) is in threaded connection with said threaded rod (5 c), a flange (6 a 1) extending radially outwards is arranged on the top of said threaded sleeve (6 a), anti-slip threads (6 a 2) are arranged on the top surface of said flange (6 a 1), and said self-locking nut (6 c) abuts against the top surface of said flange (6 a 1).
10. The feeding and blanking robot for subway hook processing as claimed in claim 7, wherein said sliding shaft (5 a), connecting block (5 b) and threaded rod (5 c) are all hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010406700.6A CN111571608A (en) | 2020-05-14 | 2020-05-14 | Loading and unloading robot for subway hook processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010406700.6A CN111571608A (en) | 2020-05-14 | 2020-05-14 | Loading and unloading robot for subway hook processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111571608A true CN111571608A (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010406700.6A Withdrawn CN111571608A (en) | 2020-05-14 | 2020-05-14 | Loading and unloading robot for subway hook processing |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171276A (en) * | 2020-10-11 | 2021-01-05 | 罗卫星 | Automatic edge wrapping welding machine for hanging ornament |
| CN115350959A (en) * | 2022-10-19 | 2022-11-18 | 电子科技大学成都学院 | Intelligent mechanical arm for screening containers |
| CN115475691A (en) * | 2022-09-29 | 2022-12-16 | 江苏城乡建设职业学院 | A recovery processing device for aerogel glass |
| CN115739457A (en) * | 2022-11-29 | 2023-03-07 | 江苏俊超电动车配件制造有限公司 | Steel ring paint spraying equipment |
| CN117989661A (en) * | 2024-04-07 | 2024-05-07 | 中国建筑西北设计研究院有限公司 | Zero carbon row adsorption device for subway entrance |
-
2020
- 2020-05-14 CN CN202010406700.6A patent/CN111571608A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171276A (en) * | 2020-10-11 | 2021-01-05 | 罗卫星 | Automatic edge wrapping welding machine for hanging ornament |
| CN115475691A (en) * | 2022-09-29 | 2022-12-16 | 江苏城乡建设职业学院 | A recovery processing device for aerogel glass |
| CN115475691B (en) * | 2022-09-29 | 2024-03-01 | 江苏城乡建设职业学院 | Recovery processing device for aerogel glass |
| CN115350959A (en) * | 2022-10-19 | 2022-11-18 | 电子科技大学成都学院 | Intelligent mechanical arm for screening containers |
| CN115739457A (en) * | 2022-11-29 | 2023-03-07 | 江苏俊超电动车配件制造有限公司 | Steel ring paint spraying equipment |
| CN115739457B (en) * | 2022-11-29 | 2023-11-21 | 江苏俊超电动车配件制造有限公司 | Steel ring paint spraying equipment |
| CN117989661A (en) * | 2024-04-07 | 2024-05-07 | 中国建筑西北设计研究院有限公司 | Zero carbon row adsorption device for subway entrance |
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Application publication date: 20200825 |
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