CN112678495B - Industrial transfer robot - Google Patents
Industrial transfer robot Download PDFInfo
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- CN112678495B CN112678495B CN202011452343.3A CN202011452343A CN112678495B CN 112678495 B CN112678495 B CN 112678495B CN 202011452343 A CN202011452343 A CN 202011452343A CN 112678495 B CN112678495 B CN 112678495B
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Abstract
The invention relates to the field of industrial robots, in particular to an industrial transfer robot. The industrial transfer robot comprises a base, a central shaft, a first upper spiral cylinder, a lifting spiral cylinder, a movable sleeve, a transfer arm, a first spring and a second spring; the central shaft is vertically arranged on the base and driven by the motor to rotate; the first upper spiral cylinder can slide up and down and is rotatably arranged on the central shaft, the upper end of the first upper spiral cylinder is provided with a first supporting ring, and the upper end of the central shaft is sleeved with a first spring to promote the first upper spiral cylinder to move downwards; the lifting spiral cylinder is sleeved on the first upper spiral cylinder and is in left-hand transmission with the upper section of the first upper spiral cylinder; the upper end of the lifting spiral cylinder is provided with a second supporting ring supported on the first supporting ring, the lower end of the lifting spiral cylinder is provided with a third supporting ring extending outwards in the radial direction, and a second spring is configured to promote the lifting spiral cylinder to move upwards; the movable sleeve is sleeved on the lifting spiral cylinder in a lifting way and ascends under the right-hand transmission with the lifting spiral cylinder; the transfer arm is arranged on the movable sleeve.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an industrial transfer robot.
Background
In the prior art, the robot is mostly adopted to assist in carrying out repeated transfer operation, and if the transfer arm of the robot encounters an obstacle which cannot be flushed when carrying goods, the transfer arm is blocked to stop rotating, so that the motor or the transfer arm is damaged. Therefore, there is a need for an industrial transfer robot capable of lifting and lowering to pass over an obstacle or allowing a motor to idle when a transfer arm meets the obstacle, protecting the motor and the transfer arm.
Disclosure of Invention
The invention provides an industrial transfer robot, which aims to solve the problem that a transfer arm of the existing industrial robot is stuck by an obstacle.
The industrial transfer robot adopts the following technical scheme:
an industrial transfer robot comprises a base, a central shaft, a first upper spiral cylinder, a lifting spiral cylinder, a movable sleeve, a transfer arm, a first spring and a second spring; the central shaft is vertically and rotatably arranged on the base and is driven by the motor to rotate; the first upper spiral cylinder can slide up and down and is synchronously and rotatably arranged on the central shaft, the upper end of the first upper spiral cylinder is provided with a first supporting ring which extends outwards in the radial direction, and a first spring is sleeved at the upper end of the central shaft and is positioned between the first supporting ring and the machine base so as to drive the first upper spiral cylinder to move downwards; the lifting spiral cylinder is sleeved on the first upper spiral cylinder and is in left-hand transmission with the upper section of the first upper spiral cylinder; the upper end of the lifting spiral cylinder is supported on the first support ring, the upper end of the lifting spiral cylinder is provided with a second support ring extending outwards in the radial direction, the lower end of the lifting spiral cylinder is provided with a third support ring extending outwards in the radial direction, and the second spring is configured to impel the lifting spiral cylinder to move upwards; the movable sleeve is sleeved on the lifting spiral cylinder and is in right-handed transmission with the lifting spiral cylinder, when the movable sleeve is positioned at the lowest end of the lifting spiral cylinder, the lower end of the movable sleeve is supported on the third support ring and the machine base, and when the movable sleeve is positioned at the highest end of the lifting spiral cylinder, the upper end of the movable sleeve is supported on the second support ring and the machine base; the transfer arm is arranged on the movable sleeve.
Optionally, the industrial transfer robot further comprises a first lower spiral cylinder, the first lower spiral cylinder is mounted on the central shaft and rotates synchronously with the central shaft, and is located below the first upper spiral cylinder, the lifting spiral cylinder comprises a second upper spiral cylinder and a second lower spiral cylinder, and the second upper spiral cylinder is located above the second lower spiral cylinder; the second support ring is arranged at the upper end of the second upper spiral cylinder, and the third support ring is arranged at the lower end of the second lower spiral cylinder; the second upper spiral cylinder and the second lower spiral cylinder are in right-handed transmission with the movable sleeve; the upper section of the first upper spiral cylinder is in left-hand transmission with the second upper spiral cylinder, and the lower section of the first lower spiral cylinder is in left-hand transmission with the second lower spiral cylinder.
Optionally, the first lower spiral cylinder can be further mounted on the central shaft in a vertically sliding manner, a fourth support ring extending radially outwards is arranged at the lower end of the first lower spiral cylinder, and the second spring is sleeved at the lower end of the central shaft and is located between the fourth support ring and the base; the fourth support ring supports the third support ring at the lower end of the second lower spiral cylinder.
Optionally, the second upper spiral cylinder is positioned above the second lower spiral cylinder, and a gap is left between the second upper spiral cylinder and the second lower spiral cylinder; the upper section of the second upper spiral cylinder is in right-hand transmission with the movable sleeve, and the lower section of the second lower spiral cylinder is in right-hand transmission with the movable sleeve.
Optionally, an industrial transfer robot still includes link mechanism, and link mechanism includes first connecting rod, second connecting rod and solid fixed ring, and solid fixed ring overlaps in movable sleeve, is provided with fender ring and fender ring down on the movable sleeve, goes up the fender ring and is located the transport arm below, goes up fender ring and fender ring down and is located solid fixed ring's upper and lower both sides respectively to inject solid fixed ring and for movable sleeve gliding space from top to bottom. The lower end of the second connecting rod is hinged to the base and located below the fourth support ring, the outer end of the first connecting rod is hinged to the upper end of the second connecting rod, the inner end of the first connecting rod is hinged to the fixing ring, and when the first connecting rod is located at the lower portion of the second lower spiral cylinder, the inner end of the first connecting rod is located below the outer end of the first connecting rod; a torsion spring is arranged between the lower end of the second connecting rod and the base to enable the second connecting rod to swing inwards, so that the movable sleeve is prevented from moving upwards when the inner end of the first connecting rod is positioned below the outer end of the first connecting rod, and the movable sleeve is enabled to move upwards when the inner end of the first connecting rod is positioned above the outer end of the first connecting rod.
Optionally, the inner walls of the first upper spiral cylinder and the first lower spiral cylinder are connected with the central shaft through splines; the right-hand drive and the left-hand drive both comprise spiral protrusions and spiral grooves which are correspondingly arranged.
Optionally, the first connecting rod and the second connecting rod form a connecting rod assembly, and the connecting rod assembly is provided with a plurality of connecting rods which are uniformly distributed along the circumferential direction of the movable sleeve.
Optionally, the machine base is further provided with an upper base and a lower base, the upper end and the lower end of the central shaft are respectively rotatably mounted on the upper base and the lower base, blocking covers are respectively arranged in the upper base and the lower base, the first spring is arranged in the upper base and positioned between the blocking cover in the upper base and the first support ring, and the second spring is arranged in the lower base and positioned between the blocking cover in the lower base and the fourth support ring; the first support ring is supported against the upper base under the action of the first spring to prevent the first upper spiral cylinder from moving downwards; the fourth supporting ring is supported against the lower base under the action of the second spring to block the first lower spiral cylinder from moving upwards.
The invention has the beneficial effects that: the industrial transfer robot provided by the invention has the advantages that the movable sleeve ascends to cross an obstacle when being stuck with the transfer arm in case of the obstacle through the spiral transmission between the spiral cylinder and the movable sleeve; partial spiral transmission is carried out between the first spiral cylinder and the lifting spiral cylinder, so that the motor drives the first spiral cylinder to idle in the lifting spiral cylinder when the movable sleeve rises to the highest point and still cannot cross an obstacle, and the motor and the transfer arm are protected from being damaged due to clamping; the connecting rod mechanism enables the movable sleeve to move upwards and supports the movable sleeve.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a front view of an overall mechanism of an industrial transfer robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a portion of an embodiment of an industrial transfer robot according to the present invention;
FIG. 3 is a schematic diagram of an industrial transfer robot according to an embodiment of the present invention in a normal operating state;
FIG. 4 is a schematic diagram of a buffer state of a first lower spiral cylinder of an industrial transfer robot in a barrier state of a transfer arm according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first link level state of an embodiment of a linkage mechanism of an industrial transfer robot of the present invention;
FIG. 6 is a schematic diagram of an industrial transfer robot with a movable sleeve disengaged from a second lower spiral cylinder for driving the movable sleeve;
FIG. 7 is a schematic diagram of an embodiment of an industrial transfer robot according to the present invention, in which a movable sleeve and a second upper spiral cylinder enter a spiral transmission state;
FIG. 8 is a schematic view of the movable sleeve moving to the uppermost position in the embodiment of the industrial transfer robot according to the present invention;
FIG. 9 is a schematic view of the movable sleeve moving to the uppermost position and the first upper helical tube buffer state in the embodiment of the industrial transfer robot according to the present invention;
FIG. 10 is a schematic view of a movable sleeve moving downward from an uppermost position when a transfer arm cannot pass over an obstacle in an embodiment of an industrial transfer robot according to the present invention;
FIG. 11 is a schematic diagram of an industrial transfer robot according to an embodiment of the present invention in which the transfer arm is unable to pass over an obstacle in an idle state;
FIG. 12 is a schematic view of a movable sleeve structure of an embodiment of an industrial transfer robot according to the present invention;
FIG. 13 is a schematic view of a second lower spiral cylinder according to an embodiment of the industrial transfer robot of the present invention;
in the figure: 1. a machine base; 2. an upper base; 3. a second upper spiral cylinder; 4. a first upper spiral cylinder; 5. a transfer arm; 6. a first link; 7. a second link; 8. a movable sleeve; 9. a lower base; 11. a fixing ring; 12. a blocking cover; 13. a central shaft; 14. a first spring; 15. a second lower spiral cylinder; 16. a first lower spiral cylinder; 17. a second spring; 22. a right-handed spiral groove; 23. an upper baffle ring; 24. a lower baffle ring; 25. a right-handed helical protrusion; 26. a left-hand spiral groove.
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.
An embodiment of an industrial transfer robot according to the present invention, as shown in fig. 1 to 13, includes a base 1, a central shaft 13, a first upper spiral cylinder 4, a lifting spiral cylinder, a movable sleeve 8, a transfer arm 5, a first spring 14, and a second spring 17;
the central shaft 13 is vertically and rotatably arranged on the base 1 and is driven by the motor to rotate;
the first upper spiral cylinder 4 can slide up and down and is synchronously and rotatably arranged on the central shaft 13, the upper end of the first upper spiral cylinder 4 is provided with a first supporting ring which extends outwards in the radial direction, and the first spring 14 is sleeved at the upper end of the central shaft 13 and is positioned between the first supporting ring and the machine base 1 to promote the first upper spiral cylinder 4 to move downwards; the lifting spiral cylinder is sleeved on the first upper spiral cylinder 4 and is in left-hand transmission with the upper section of the first upper spiral cylinder 4, that is, the length of the spiral protrusion structure for spiral transmission on the first upper spiral cylinder 4 is smaller than the length of the spiral groove of the lifting spiral cylinder matched with the lifting spiral cylinder, and the spiral protrusion structure for spiral transmission of the first upper spiral cylinder 4 is arranged on the upper section of the first upper spiral cylinder 4. The upper end of the lifting spiral cylinder is supported on the first support ring, the upper end of the lifting spiral cylinder is provided with a second support ring extending outwards in the radial direction, the lower end of the lifting spiral cylinder is provided with a third support ring extending outwards in the radial direction, and the second spring 17 is configured to promote the lifting spiral cylinder to move upwards; the movable sleeve 8 is sleeved on the lifting spiral cylinder and is in right-handed transmission with the lifting spiral cylinder, when the movable sleeve 8 is positioned at the lowest end of the lifting spiral cylinder, the lower end of the movable sleeve 8 is supported on the third support ring and the machine base 1, and when the movable sleeve 8 is positioned at the highest end of the lifting spiral cylinder, the upper end of the movable sleeve 8 is supported on the second support ring and the machine base 1; the transfer arm 5 is mounted to a movable sleeve 8.
In this embodiment, the industrial transfer robot further includes a first lower spiral cylinder 16, the first lower spiral cylinder 16 is mounted on the central shaft 13 and rotates synchronously with the central shaft 13, and is located below the first upper spiral cylinder 4, the lifting spiral cylinder includes a second upper spiral cylinder 3 and a second lower spiral cylinder 15, and the second upper spiral cylinder 3 is located above the second lower spiral cylinder 15; the second support ring is arranged at the upper end of the second upper spiral cylinder 3, and the third support ring is arranged at the lower end of the second lower spiral cylinder 15; the second upper spiral cylinder 3 and the second lower spiral cylinder 15 are in right-handed transmission with the movable sleeve 8; the upper section of the first upper screw cylinder 4 is in left-hand drive with the second upper screw cylinder 3, and the lower section of the first lower screw cylinder 16 is in left-hand drive with the second lower screw cylinder 15.
In this embodiment, the first lower spiral cylinder 16 can be further installed on the central shaft 13 in a vertically sliding manner, a fourth support ring extending radially outward is disposed at the lower end of the first lower spiral cylinder 16, and the second spring 17 is sleeved at the lower end of the central shaft 13 and is located between the fourth support ring and the base 1; the fourth support ring supports the third support ring at the lower end of the second lower screw cylinder 15.
In this embodiment, the second upper spiral cylinder 3 is located above the second lower spiral cylinder 15, and a gap is left between the second upper spiral cylinder and the second lower spiral cylinder 15; the upper section of the second upper screw cylinder 3 is in right-hand drive with the movable sleeve 8, and the lower section of the second lower screw cylinder 15 is in right-hand drive with the movable sleeve 8. It should be noted here that in the case of left-hand drive or right-hand drive, the upper spiral cylinder includes an upper section and a lower section, the upper section is a section for drive, the lower section corresponds to the optical axis only, and the length of the upper section may be equal to or unequal to the length of the lower section. The lower spiral cylinder includes a lower section which is a section for transmission and an upper section which corresponds to only the optical axis, and the length of the lower section may be equal to or unequal to the length of the upper section.
In this embodiment, industrial transfer robot still includes link mechanism, and link mechanism includes first connecting rod 6, second connecting rod 7 and solid fixed ring 11, and solid fixed ring 11 overlaps in movable sleeve 8, is provided with on the movable sleeve 8 and keeps off ring 23 and keep off ring 24 down, and last fender ring 23 is located transfer arm 5 below, and last fender ring 23 and keep off ring 24 and be located the upper and lower both sides of solid fixed ring 11 respectively to inject solid fixed ring 11 and for the gliding space from top to bottom of movable sleeve 8. The lower end of the second connecting rod 7 is hinged to the base 1 and is positioned below the fourth support ring, the outer end of the first connecting rod 6 is hinged to the upper end of the second connecting rod 7, the inner end of the first connecting rod 6 is hinged to the fixing ring 11, and when the first connecting rod is positioned at the lower part of the second lower spiral cylinder 15, the inner end of the first connecting rod 6 is positioned below the outer end; a torsion spring is arranged between the lower end of the second connecting rod 7 and the machine base 1 to urge the second connecting rod 7 to swing inwards, so that the movable sleeve 8 is prevented from moving upwards when the inner end of the first connecting rod 6 is positioned below the outer end, and the movable sleeve 8 is urged to move upwards when the inner end of the first connecting rod 6 is positioned above the outer end.
In the present embodiment, the inner walls of the first upper spiral cylinder 4 and the first lower spiral cylinder 16 are connected with the central shaft 13 by splines; the right-hand drive and the left-hand drive both comprise spiral protrusions and spiral grooves which are correspondingly arranged. Specifically, left-handed spiral protrusions are arranged on the upper portion of the outer circumference of the first upper spiral cylinder 4 and the lower portion of the outer circumference of the first lower spiral cylinder 16, and left-handed spiral grooves 26 are arranged on the upper portion of the inner wall of the second upper spiral cylinder 3 and the lower portion of the inner wall of the second lower spiral cylinder 15, so that the first upper spiral cylinder 4 and the second upper spiral cylinder 3, and the first lower spiral cylinder 16 and the second lower spiral cylinder 15 are in left-handed transmission respectively; the upper part of the outer circumference of the second upper spiral cylinder 3 and the lower part of the outer circumference of the second lower spiral cylinder 15 are both provided with right-handed spiral protrusions 25, and the inner wall of the movable sleeve 8 is provided with a right-handed spiral groove 22 so as to be in right-handed transmission with the right-handed spiral protrusions 25 on the second lower spiral cylinder 15 when being positioned at the lower part of the second lower spiral cylinder 15 and in right-handed transmission with the right-handed spiral protrusions 25 on the second upper spiral cylinder 3 when being positioned at the upper part of the second upper spiral cylinder 3.
In this embodiment, the first connecting rod 6 and the second connecting rod 7 form a plurality of connecting rod assemblies, and the connecting rod assemblies are uniformly distributed along the circumferential direction of the movable sleeve 8.
In this embodiment, the base 1 is further provided with an upper base 2 and a lower base 9, the upper end and the lower end of the central shaft 13 are respectively rotatably mounted on the upper base 2 and the lower base 9, the upper base 2 and the lower base 9 are both provided with a blocking cover 12, the first spring 14 is arranged in the upper base 2 and is located between the blocking cover 12 in the upper base 2 and the first support ring, and the second spring 17 is arranged in the lower base 9 and is located between the blocking cover 12 in the lower base 9 and the fourth support ring; the first supporting ring is supported against the upper base 2 under the action of the first spring 14 to prevent the first upper spiral cylinder 4 from moving downwards; the fourth supporting ring bears against the lower seat 9 under the action of the second spring 17 to hinder the upward movement of the first lower spiral cylinder 16.
In this embodiment, in an initial state, the movable sleeve 8 is located at the lower portion of the second lower spiral cylinder 15, when the central shaft 13 rotates clockwise along with the motor, the first lower spiral cylinder 16, the second lower spiral cylinder 15, and the movable sleeve 8 are driven to rotate synchronously, and further the transfer arm 5 is driven to swing clockwise around the movable sleeve 8, when the transfer arm 5 encounters an obstacle, the movable sleeve 8 is prevented from continuing to rotate, the second lower spiral cylinder 15 drives the first lower spiral cylinder 16 to move downward through the fourth support ring under the right-hand drive with the movable sleeve 8 and extrude the second spring 17 until the second spring 17 is extruded to a certain position, the movable sleeve 8 drives the transfer arm 5 to move upward under the right-hand drive with the second lower spiral cylinder 15 until the movable sleeve 8 is separated from the spiral portion on the second lower spiral cylinder 15, at this time, the inner end of the first connecting rod 6 of the connecting rod mechanism is located above the outer end, the second connecting rod 7 swings inwards under the action of the torsion spring, and pushes the movable sleeve 8 to slide upwards to be in right-handed transmission with the spiral part of the second upper spiral cylinder 3 through the first connecting rod 6 until the upper end of the movable sleeve 8 abuts against the second supporting ring of the second upper spiral cylinder 3. If the obstacle is crossed, the movable sleeve 8 continues to rotate clockwise under the transmission of the first upper spiral cylinder 4 and the second upper spiral cylinder 3; if the obstacle is not crossed, the first upper spiral cylinder 4 moves upwards under the left-hand transmission of the second upper spiral cylinder 3 and extrudes the first spring 14 until the first spring 14 is extruded to a certain position, the second upper spiral cylinder 3 drives the movable sleeve 8 to move downwards to the lower part of the first upper spiral cylinder 4 under the left-hand transmission of the first upper spiral cylinder 4, no spiral transmission exists between the second upper spiral cylinder 3 and the first upper spiral cylinder 4, the central shaft 13 drives the first upper spiral cylinder 4 to idle in the second upper spiral cylinder 3, the upper end of the second lower spiral cylinder 15 is inserted into the movable sleeve 8 at the moment, and the central shaft 13 drives the first lower spiral cylinder 16 and the second lower spiral cylinder 15 to idle in the movable sleeve 8, so that the motor is prevented from being burnt out or the transfer arm 5 is prevented from deforming.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. An industrial transfer robot, its characterized in that: comprises a machine base, a central shaft, a first upper spiral cylinder, a lifting spiral cylinder, a movable sleeve, a transfer arm, a first spring and a second spring; the central shaft is vertically and rotatably arranged on the base and is driven by the motor to rotate; the first upper spiral cylinder can slide up and down and is synchronously and rotatably arranged on the central shaft, the upper end of the first upper spiral cylinder is provided with a first supporting ring which extends outwards in the radial direction, and a first spring is sleeved at the upper end of the central shaft and is positioned between the first supporting ring and the machine base so as to drive the first upper spiral cylinder to move downwards; the lifting spiral cylinder is sleeved on the first upper spiral cylinder and is in left-hand transmission with the upper section of the first upper spiral cylinder; the upper end of the lifting spiral cylinder is supported on the first support ring, the upper end of the lifting spiral cylinder is provided with a second support ring extending outwards in the radial direction, the lower end of the lifting spiral cylinder is provided with a third support ring extending outwards in the radial direction, and the second spring is configured to impel the lifting spiral cylinder to move upwards; the movable sleeve is sleeved on the lifting spiral cylinder and is in right-handed transmission with the lifting spiral cylinder, when the movable sleeve is positioned at the lowest end of the lifting spiral cylinder, the lower end of the movable sleeve is supported on the third support ring and the machine base, and when the movable sleeve is positioned at the highest end of the lifting spiral cylinder, the upper end of the movable sleeve is supported on the second support ring and the machine base; the transfer arm is arranged on the movable sleeve.
2. An industrial transfer robot as claimed in claim 1, wherein: the lifting spiral cylinder comprises a second upper spiral cylinder and a second lower spiral cylinder, and the second upper spiral cylinder is positioned above the second lower spiral cylinder; the second support ring is arranged at the upper end of the second upper spiral cylinder, and the third support ring is arranged at the lower end of the second lower spiral cylinder; the second upper spiral cylinder and the second lower spiral cylinder are in right-handed transmission with the movable sleeve; the upper section of the first upper spiral cylinder is in left-hand transmission with the second upper spiral cylinder, and the lower section of the first lower spiral cylinder is in left-hand transmission with the second lower spiral cylinder.
3. An industrial transfer robot as claimed in claim 2, wherein: the first lower spiral cylinder is arranged on the central shaft in a vertically sliding manner, the lower end of the first lower spiral cylinder is provided with a fourth support ring which extends outwards in the radial direction, and the second spring is sleeved at the lower end of the central shaft and is positioned between the fourth support ring and the machine base; the fourth support ring supports the third support ring at the lower end of the second lower spiral cylinder.
4. An industrial transfer robot as claimed in claim 3, wherein: the second upper spiral cylinder is positioned above the second lower spiral cylinder, and a gap is reserved between the second upper spiral cylinder and the second lower spiral cylinder; the upper section of the second upper spiral cylinder is in right-hand transmission with the movable sleeve, and the lower section of the second lower spiral cylinder is in right-hand transmission with the movable sleeve.
5. An industrial transfer robot as claimed in claim 4, wherein: the movable sleeve is sleeved with the fixed ring, the movable sleeve is provided with an upper retaining ring and a lower retaining ring, the upper retaining ring is positioned below the transfer arm, and the upper retaining ring and the lower retaining ring are respectively positioned on the upper side and the lower side of the fixed ring so as to limit a space for the fixed ring to slide up and down relative to the movable sleeve;
the lower end of the second connecting rod is hinged to the base and located below the fourth support ring, the outer end of the first connecting rod is hinged to the upper end of the second connecting rod, the inner end of the first connecting rod is hinged to the fixing ring, and when the first connecting rod is located at the lower portion of the second lower spiral cylinder, the inner end of the first connecting rod is located below the outer end of the first connecting rod; a torsion spring is arranged between the lower end of the second connecting rod and the base to enable the second connecting rod to swing inwards, so that the movable sleeve is prevented from moving upwards when the inner end of the first connecting rod is positioned below the outer end of the first connecting rod, and the movable sleeve is enabled to move upwards when the inner end of the first connecting rod is positioned above the outer end of the first connecting rod.
6. An industrial transfer robot according to any one of claims 1 to 4, wherein: the inner walls of the first upper spiral cylinder and the first lower spiral cylinder are connected with the central shaft through splines; the right-hand drive and the left-hand drive both comprise spiral protrusions and spiral grooves which are correspondingly arranged.
7. An industrial transfer robot as claimed in claim 5, wherein: the first connecting rod and the second connecting rod form a connecting rod assembly, and the connecting rod assembly is provided with a plurality of connecting rods which are uniformly distributed along the circumferential direction of the movable sleeve.
8. An industrial transfer robot as claimed in claim 5, wherein: the machine base is also provided with an upper base and a lower base, the upper end and the lower end of the central shaft are respectively and rotatably arranged on the upper base and the lower base, the upper base and the lower base are respectively internally provided with a blocking cover, the first spring is arranged in the upper base and is positioned between the blocking cover in the upper base and the first support ring, and the second spring is arranged in the lower base and is positioned between the blocking cover in the lower base and the fourth support ring; the first support ring is supported against the upper base under the action of the first spring to prevent the first upper spiral cylinder from moving downwards; the fourth supporting ring is supported against the lower base under the action of the second spring to block the first lower spiral cylinder from moving upwards.
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| CN202011452343.3A CN112678495B (en) | 2020-12-10 | 2020-12-10 | Industrial transfer robot |
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| CN202011452343.3A CN112678495B (en) | 2020-12-10 | 2020-12-10 | Industrial transfer robot |
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| CN112678495A (en) | 2021-04-20 |
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