CN112008708A

CN112008708A - Industrial carrying robot

Info

Publication number: CN112008708A
Application number: CN202010833208.7A
Authority: CN
Inventors: 钱海兰
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2020-12-01

Abstract

The invention is suitable for the technical field of industrial robots, and provides a carrying industrial robot, which comprises: the upper end of the mounting seat is rotatably connected with a lifting chamber; the lifting mechanism comprises a first power part, a driving gear, a driven gear, a first toothed plate and a second toothed plate; the first power part is arranged in the lifting chamber and drives the driving gear to rotate; two sides of the driving gear are respectively meshed with the driven gear and the first toothed plate; the driven gear is rotationally connected inside the lifting chamber and is meshed with the second gear plate; the first toothed plate and the second toothed plate are fixedly connected with the mobile station; one end of the mobile station is hinged with a connecting plate which is fixedly connected with the clamping mechanism; the rotating mechanism comprises a second power part, an incomplete gear and an incomplete gear ring; the incomplete gear ring is fixed outside the lifting chamber, and the second power part drives the incomplete gear ring to rotate through the incomplete gear; the embodiment of the invention can adjust the height of the conveying stroke and realize automatic reversing.

Description

Industrial carrying robot

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to a carrying industrial robot.

Background

The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands, can run according to a pre-programmed program, and can also perform a compendium action according to a principle formulated by an artificial intelligence technology. Although the robot in the prior art can carry goods, the stroke height of most of transfer robots is fixed, the goods at higher or lower places cannot be carried, meanwhile, automatic reversing cannot be realized in the process of carrying the goods, and the use flexibility is reduced.

Disclosure of Invention

It is an object of embodiments of the present invention to provide a handling industrial robot, which aims to solve the problems set forth in the background above.

To achieve the above object, the embodiment of the present invention is implemented as follows:

a handling industrial robot, comprising:

the upper end of the mounting seat is rotatably connected with a lifting chamber;

the lifting mechanism is arranged in the lifting chamber, is connected with the clamping mechanism and is used for adjusting the height of the clamping mechanism;

the rotating mechanism is fixedly connected with the lifting chamber and is used for driving the lifting chamber to rotate;

the lifting mechanism comprises a first power part, a driving gear, a driven gear, a first toothed plate and a second toothed plate; the first power part is fixedly arranged in the lifting chamber, and an output shaft of the first power part is coaxially and fixedly connected with the driving gear; two sides of the driving gear are respectively meshed with the driven gear and the first toothed plate; the driven gear is rotatably connected inside the lifting chamber, and one side of the driven gear, which is far away from the driving gear, is meshed with the second gear plate; the first toothed plate and the second toothed plate penetrate through the top end of the lifting chamber and are fixedly connected with the bottom surface of the moving table; one end, far away from the lifting chamber, of the mobile station is hinged to one end of a connecting plate, the other end of the connecting plate is fixedly connected with a clamping mechanism, and the clamping mechanism can clamp articles to achieve carrying.

In a preferred embodiment of the present invention, the clamping mechanism includes: the device comprises a first mounting plate, a third power part, a threaded rod, a first threaded sliding block, a second mounting plate, an air cylinder and an extrusion plate; the first mounting plate is fixedly connected with the connecting plate; the third power part is fixedly arranged on the bottom surface of the first mounting plate, an output shaft of the third power part is coaxially and fixedly connected with the threaded rod, the middle area of the threaded rod is free of threads, the thread turning directions of two ends of the threaded rod are opposite, and the third power part is respectively in threaded connection with the first threaded sliding block and the second threaded sliding block; the bottom surfaces of the first threaded sliding block and the second threaded sliding block are fixedly connected with the second mounting plate; two equal fixed mounting has the cylinder on the one side that the second mounting panel is not relative, the telescopic link of cylinder runs through the second mounting panel and with stripper plate fixed connection.

In a preferred embodiment of the invention, a rotating table is fixedly mounted on the bottom surface of the first mounting plate, and the threaded rod is rotatably connected with the rotating table.

In a preferred embodiment of the invention, a rubber pad is fixedly arranged on the clamping surface of the extrusion plate, and the friction coefficient of the rubber pad is greater than that of the side surface of the extrusion plate.

In a preferred embodiment of the invention, the rotating mechanism comprises a second power part, an incomplete gear and an incomplete gear ring; the incomplete gear ring is sleeved outside the lifting chamber and fixedly connected with the lifting chamber, and the incomplete gear is coaxially and fixedly connected with an output shaft of the second power part to drive the incomplete gear ring to rotate.

In a preferred embodiment of the invention, two sides of the interior of the lifting chamber are fixedly provided with limiting blocks.

In a preferred embodiment of the invention, a supporting rod is fixedly installed on one side, close to the clamping mechanism, of the top of the installation seat, the supporting rod is fixedly connected with a supporting plate, and the supporting plate is attached to the outer wall of the lifting chamber.

In a preferred embodiment of the present invention, a third mounting plate is fixedly mounted at the bottom of the mobile station, and a fourth power element is fixedly mounted on the side surface of the third mounting plate close to the connecting plate; an output shaft of the fourth power part is coaxially and fixedly connected with the screw rod sleeve; a screw rod is connected in the screw rod sleeve in a threaded manner; the screw rod is hinged with the connecting plate.

In a preferred embodiment of the present invention, a console is fixedly mounted on the mounting base, and the console is used for controlling the operations of the lifting mechanism, the rotating mechanism and the clamping mechanism.

In a preferred embodiment of the invention, a moving wheel for moving the industrial handling robot is fixedly arranged at the bottom of the mounting seat, and the moving wheel is provided with a locking mechanism.

The industrial handling robot provided by the embodiment of the invention has the following beneficial effects:

1. the first power part drives the driving gear to rotate, the driving gear drives the driven gear to rotate and drives the first toothed plate to move up and down, the driven gear drives the second toothed plate to move up and down, the first toothed plate and the second toothed plate drive the moving platform to move up and down, the moving platform drives the clamping mechanism to move up and down through the connecting plate, the stroke height of the industrial carrying robot is adjusted, and articles can be carried at a higher position or a lower position;

2. the second power part drives the incomplete gear ring to rotate intermittently through the incomplete gear, so that the lifting chamber is driven to rotate intermittently, the clamping mechanism is driven to rotate intermittently, automatic steering is achieved in the process of carrying articles, and the rotating angle is 90 degrees each time;

3. and a third power part in the clamping mechanism drives the threaded rod to rotate, so that the first thread sliding block and the second thread sliding block simultaneously move in the middle or at two ends of the threaded rod, the distance between the two extrusion plates is adjusted, the clamping mechanism can clamp articles with different sizes to carry, and the application range is enlarged.

Drawings

Fig. 1 is a schematic structural diagram of a handling industrial robot according to an embodiment of the present invention;

fig. 2 is a three-dimensional schematic diagram of a lifting mechanism of a handling industrial robot according to an embodiment of the present invention;

fig. 3 is a three-dimensional schematic view of a rotating mechanism of a handling industrial robot according to an embodiment of the present invention;

fig. 4 is a three-dimensional schematic view of a support rod and a support plate of a handling industrial robot according to an embodiment of the present invention;

in the drawings: 1. a mounting seat; 2. a lifting chamber; 3. a driving gear; 301. a first power member; 4. a driven gear; 401. a rotating shaft; 5. a first toothed plate; 6. a second toothed plate; 7. a limiting block; 8. an incomplete gear ring; 9. an incomplete gear; 10. a second power member; 11. a mobile station; 12. a connecting plate; 13. a first mounting plate; 14. a third power member; 15. a threaded rod; 16. a first threaded slider; 17. a second threaded slider; 18. a second mounting plate; 19. a cylinder; 20. a pressing plate; 21. a rubber pad; 22. a rotating table; 23. a third mounting plate; 24. a fourth power member; 25. a screw rod sleeve; 26. a screw rod; 27. a support bar; 28. a support plate; 29. a console; 30. the wheel is moved.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Specific implementations of the present invention are described in detail below with reference to specific embodiments.

As shown in fig. 1 and 3, a structure diagram of a handling industrial robot according to an embodiment of the present invention includes:

the upper end of the mounting seat 1 is rotatably connected with a lifting chamber 2;

the lifting mechanism is arranged in the lifting chamber 2, is connected with the clamping mechanism and is used for adjusting the height of the clamping mechanism;

the rotating mechanism is fixedly connected with the lifting chamber 2 and is used for driving the lifting chamber 2 to rotate;

the lifting mechanism comprises a first power part 301, a driving gear 3, a driven gear 4, a first toothed plate 5 and a second toothed plate 6; the first power part 301 is fixedly installed inside the lifting chamber 2, and an output shaft of the first power part is coaxially and fixedly connected with the driving gear 3; two sides of the driving gear 3 are respectively meshed with the driven gear 4 and the first toothed plate 5; the driven gear 4 is rotatably connected inside the lifting chamber 2, and one side of the driven gear, which is far away from the driving gear 3, is meshed with the second gear plate 6; the first toothed plate 5 and the second toothed plate 6 penetrate through the top end of the lifting chamber 2 and are fixedly connected with the bottom surface of the moving platform 11; one end, far away from the lifting chamber 2, of the mobile station 11 is hinged to one end of a connecting plate 12, the other end of the connecting plate 12 is fixedly connected with a clamping mechanism, and the clamping mechanism can clamp articles to achieve carrying.

In the embodiment of the present invention, the first power component 301 drives the driving gear 3 to rotate, so as to drive the driven gear 4 to rotate, the driving gear 3 and the driven gear 4 respectively drive the first tooth plate 5 and the second tooth plate 6 to move in the vertical direction, the first tooth plate 5 and the second tooth plate 6 drive the moving table 11 to move up and down, the moving table 11 drives the clamping mechanism to move up and down through the connecting plate 12, so as to adjust the stroke height of the handling industrial robot, so that the handling industrial robot can handle articles at a higher position or a lower position; expanding the use range of the industrial handling robot; the first power member 301 may use a common motor or a motor, and does not need to use a high-priced servo motor, thereby reducing the cost.

As shown in fig. 1, as a preferred embodiment of the present invention, the clamping mechanism includes: the device comprises a first mounting plate 13, a third power element 14, a threaded rod 15, a first threaded slider 16, a second threaded slider 17, a second mounting plate 18, a cylinder 19 and an extrusion plate 20; the first mounting plate 13 is fixedly connected with the connecting plate 12; the third power element 14 is fixedly installed on the bottom surface of the first installation plate 13, an output shaft of the third power element is coaxially and fixedly connected with the threaded rod 15, the middle area of the threaded rod 15 is free of threads, the thread turning directions of two ends of the threaded rod are opposite, and the third power element is respectively in threaded connection with the first threaded sliding block 16 and the second threaded sliding block 17; the bottom surfaces of the first threaded sliding block 16 and the second threaded sliding block 17 are fixedly connected with the second mounting plate 18; the sides, which are not opposite to the two second mounting plates 18, of the two second mounting plates 18 are fixedly provided with air cylinders 19, and telescopic rods of the air cylinders 19 penetrate through the second mounting plates 18 and are fixedly connected with the extrusion plates 20; the air cylinder 19 drives the extrusion plates 20 to move through telescopic rods, and the two extrusion plates 20 clamp the articles to be carried; and starting the third power part 14 to drive the threaded rod 15 to rotate, so that the first thread sliding block 16 and the second thread sliding block 17 which are in threaded connection with the threaded rod 15 move towards the middle or two ends of the threaded rod 15 at the same time, and the distance between the two extrusion plates 20 is adjusted, so that the clamping mechanism can clamp articles with different sizes to carry, and the application range is expanded.

As another preferred embodiment of the present invention, a rotating table 22 is fixedly mounted on the bottom surface of the first mounting plate 13, and the threaded rod 15 is rotatably connected with the rotating table 22; the rotating table 22 plays a role in supporting and fixing the threaded rod 15, so that the threaded rod is prevented from shaking in the rotating process.

As another preferred embodiment of the present invention, a rubber pad 21 is fixedly mounted on the clamping surface of the pressing plate 20, the friction coefficient of the rubber pad 21 is greater than the friction coefficient of the side surface of the pressing plate 20, and the rubber pad 21 can increase the friction force exerted on the object by the pressing plate 20, so as to prevent the object from falling between the two pressing plates 20 during the transportation process.

As another preferred embodiment of the present invention, the rotating mechanism includes a second power member 10, an incomplete gear 9, an incomplete gear ring 8; the incomplete gear ring 8 is sleeved outside the lifting chamber 2 and fixedly connected with the lifting chamber, and the incomplete gear 9 is coaxially and fixedly connected with an output shaft of the second power part 10 to drive the incomplete gear ring 8 to rotate; the second power part 10 drives the incomplete gear 9 to rotate, the incomplete gear 9 is intermittently meshed with the incomplete gear ring 8 and drives the incomplete gear ring 8 to rotate, and the angle of each rotation of the incomplete gear ring 8 is 90 degrees; the incomplete gear ring drives the lifting chamber 2 to rotate, and further drives the clamping mechanism to rotate, so that automatic steering is realized in the process of carrying articles; the second power part can adopt a common motor or a motor, and can control the lifting chamber to automatically steer without adopting a high-price servo motor, thereby reducing the cost.

As another preferred embodiment of the present invention, two sides of the interior of the lifting chamber 2 are fixedly provided with a limit block 7, and the limit block 7 limits the positions of the first toothed plate 5 and the second toothed plate 6, so as to prevent the first toothed plate 5 and the second toothed plate 6 from being disengaged from the driving gear 3 and the driven gear 4.

As another preferred embodiment of the present invention, a supporting rod 27 is fixedly installed on one side of the top of the installation base 1 close to the clamping mechanism, the supporting rod 27 is fixedly connected with a supporting plate 28, and the supporting plate 28 is attached to the outer wall of the lifting chamber 2; the supporting rod 27 and the supporting plate 28 support the lifting chamber 2, so as to prevent the lifting chamber from inclining due to gravity after the clamping mechanism clamps the object.

As another preferred embodiment of the present invention, a third mounting plate 23 is fixedly mounted at the bottom of the mobile station 11, and a fourth power member 24 is fixedly mounted on a side surface of the third mounting plate 23 close to the connecting plate 12; an output shaft of the fourth power part 24 is coaxially and fixedly connected with the screw rod sleeve 25; the screw rod 26 is connected with the internal thread of the screw rod sleeve 25; the screw rod 26 is hinged with the connecting plate 12; the fourth power part 24 drives the screw rod sleeve 25 rotates, and then drives and the screw rod 26 of the screw rod sleeve 25 threaded connection moves on the horizontal position, the screw rod 26 drives the connecting plate 12 rotates, and then the clamping mechanism rotates, so that the angle is clamped by the clamping mechanism, the article at different angles can be clamped by the clamping mechanism, and the practicability and the application range of the industrial handling robot are improved.

As another preferred embodiment of the present invention, a console 29 is fixedly mounted on the mounting base 1, and the console 29 is used for controlling the operations of the lifting mechanism, the rotating mechanism and the clamping mechanism; the console 29 is electrically connected with the first power part 301, the second power part 10, the third power part 14, the fourth power part 24 and the cylinder 19, so that a worker can conveniently control the power parts to work.

As another preferred embodiment of the present invention, a moving wheel 30 is fixedly mounted at the bottom of the mounting seat 1, and the moving wheel 30 may be a universal wheel or a roller, so as to facilitate moving the industrial handling robot; the moving wheel 30 is provided with a locking mechanism for locking the industrial handling robot after it is moved to a proper position, thereby preventing it from moving again.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A handling industrial robot, characterized in that it comprises:

2. A handling industrial robot according to claim 1, characterized in that said gripping mechanism comprises: the device comprises a first mounting plate, a third power part, a threaded rod, a first threaded sliding block, a second mounting plate, an air cylinder and an extrusion plate; the first mounting plate is fixedly connected with the connecting plate; the third power part is fixedly arranged on the bottom surface of the first mounting plate, an output shaft of the third power part is coaxially and fixedly connected with the threaded rod, the middle area of the threaded rod is free of threads, the thread turning directions of two ends of the threaded rod are opposite, and the third power part is respectively in threaded connection with the first threaded sliding block and the second threaded sliding block; the bottom surfaces of the first threaded sliding block and the second threaded sliding block are fixedly connected with the second mounting plate; two equal fixed mounting has the cylinder on the one side that the second mounting panel is not relative, the telescopic link of cylinder runs through the second mounting panel and with stripper plate fixed connection.

3. A handling industrial robot according to claim 2, characterized in that a turntable is fixedly mounted to the bottom surface of the first mounting plate, the threaded rod being pivotally connected to the turntable.

4. A handling industrial robot according to claim 2, characterized in that a rubber pad is fixedly mounted on the clamping surface of the squeeze plate, the rubber pad having a coefficient of friction which is greater than the coefficient of friction of the side surface of the squeeze plate.

5. A handling industrial robot according to claim 1, characterized in that the rotation mechanism comprises a second power member, a partial gear, a partial ring gear; the incomplete gear ring is sleeved outside the lifting chamber and fixedly connected with the lifting chamber, and the incomplete gear is coaxially and fixedly connected with an output shaft of the second power part to drive the incomplete gear ring to rotate.

6. A handling industrial robot according to claim 1 or 2, characterized in that stoppers are fixedly mounted on both sides of the inside of the elevator chamber.

7. The handling industrial robot of claim 1, wherein a support bar is fixedly mounted on a side of the top of the mounting seat near the clamping mechanism, the support bar is fixedly connected with a support plate, and the support plate is attached to the outer wall of the lifting chamber.

8. A handling industrial robot according to claim 1, wherein a third mounting plate is fixedly mounted to the bottom of the moving table, and a fourth power member is fixedly mounted to a side surface of the third mounting plate adjacent to the connecting plate; an output shaft of the fourth power part is coaxially and fixedly connected with the screw rod sleeve; a screw rod is connected in the screw rod sleeve in a threaded manner; the screw rod is hinged with the connecting plate.

9. A handling industrial robot according to claim 1, characterized in that a control console is fixedly mounted on said mounting seat, said control console being adapted to control the operation of said lifting mechanism, said rotating mechanism and said clamping mechanism.

10. A handling industrial robot according to claim 1, characterized in that a moving wheel for moving the handling industrial robot is fixedly mounted at the bottom of the mounting seat, and the moving wheel is provided with a locking mechanism.