CN112919118A

CN112919118A - Intelligent carrying tooling robot

Info

Publication number: CN112919118A
Application number: CN202110092290.7A
Authority: CN
Inventors: 李洁曼
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-24
Filing date: 2021-01-24
Publication date: 2021-06-08

Abstract

The invention provides an intelligent carrying tooling robot which comprises a supporting seat, wherein a rotating motor is arranged above the supporting seat, a driving shaft of the rotating motor is connected with a first connecting rod, the first connecting rod is detachably connected with the supporting seat, a lifting supporting assembly is detachably connected above the first connecting rod, a floating adjusting structure is detachably connected below one end of the lifting supporting assembly, and a detachable grabbing assembly is detachably connected at the lower end of the floating adjusting structure. According to the invention, the position is adjusted through the lifting support component, then the floating adjustment structure is arranged below the lifting support component, and the angle of the detachable grabbing component is adjusted by utilizing the floating adjustment structure, so that the grabbing effect is better.

Description

Intelligent carrying tooling robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent carrying tooling robot.

Background

Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.

The robot that is used for carrying at present is the stable intelligent transfer robot of centre gripping like patent number CN201920956143.8, belongs to transfer robot technical field. The utility model provides a stable intelligent transfer robot of centre gripping, including installing in the fixing base of transfer robot top surface, the groove has been seted up and has been accomodate to the fixing base upper end, it forms annular equidistant four in the inslot side to accomodate has seted up and has dodged the groove, and be provided with rather than assorted plummer in accomodating the inslot, plummer bottom surface four corners department all is provided with spring A, spring A upper and lower both ends respectively with the plummer bottom surface and accomodate inslot side bottom surface fixed connection, the plummer lower extreme outside is dodged the position in the groove relatively and has all been seted up and is rotated the groove, the fixing base upper end is dodged the. The intelligent carrying robot is compact in structure, and achieves a stable clamping effect by using the self weight of the logistics piece, so that the problem that the article on the upper end of the intelligent carrying robot is easy to slip and damage along with the inertia of the gravity potential energy when the intelligent carrying robot stops in the moving process is solved.

However, in the existing robot, the grabbing structure of the robot is longitudinally fixed, so that the robot can only vertically fall down to clamp, and the object is irregularly arranged, so that the grabbing head is required to float to a certain extent during carrying, and the robot can grab more conveniently.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an intelligent carrying tooling robot.

The technical scheme of the invention is as follows: the utility model provides an intelligence transport frock robot, includes the supporting seat, the supporting seat top is equipped with the rotation motor, rotate the motor drive shaft and connect the head rod, just the connection can be dismantled to the head rod the supporting seat, the connection lift supporting component can be dismantled to the head rod top, lift supporting component one end below can be dismantled and connect the regulation structure that floats, the regulation structure lower extreme that floats can be dismantled and connect detachable subassembly that snatchs.

Further, the lifting support assembly comprises a first rotating rod, the first rotating rod penetrates through the first support rod, the two ends of the first rotating rod are detachably connected with a first connecting plate, one end of the first connecting plate is symmetrically provided with two first connecting rings, the inner openings of the two first connecting rings are detachably connected with a second rotating rod, the two ends of the second rotating rod are detachably connected with an adjusting plate, and the adjusting plate at one side is provided with a first driving motor which is connected with the second rotating shaft through a driving shaft, the second rotating rod sleeve is connected with the second connecting plate between the two first connecting rings, one end of the second connecting plate is sleeved and connected with a third rotating rod, two ends of the third rotating rod are detachably connected with a first supporting frame, the adjusting plate is characterized in that a first traction assembly and a second traction assembly are arranged on two sides of the adjusting plate, and the first traction assembly and the second traction assembly are detachably connected with the first support frame and the first connecting rod respectively.

Further, first subassembly of pulling includes the second connecting rod, the second connecting rod runs through the head rod, two second go-between can be dismantled at second connecting rod both ends and connect two second go-between, two can be dismantled on the second go-between and connect first connecting strip, two the third connecting rod is connected to the bearing between the first connecting strip, third connecting rod cover and connection third connecting plate, third connecting plate upper end cover and connection fourth connecting rod, fourth connecting plate is connected to fourth connecting rod both ends bearing, fourth connecting plate upper end bearing is connected the fourth connecting rod, the connection can be dismantled at fourth connecting rod both ends the regulating plate.

Further, the second traction assembly comprises a fifth connecting rod, bearings at two ends of the fifth connecting rod are connected with the adjusting plate, the outer side of the fifth connecting rod is sleeved with and connected with a fifth connecting plate, the other end of the fifth connecting plate is sleeved with and connected with a sixth connecting rod, the sixth connecting rod can be detachably connected with two first connecting blocks, and the first connecting blocks can be detachably connected with the first supporting frame.

Further, the floating adjustment structure comprises a first connecting ball, a sixth connecting plate is arranged below the first support frame, a spherical groove is arranged below the sixth connecting plate, the first connecting ball groove is connected with the spherical groove, the seventh connecting plate is detachably connected to the lower end of the first connecting ball, a plurality of second limiting holes are arranged below the sixth connecting plate, a plurality of piston positioning pins are slidably connected into the second limiting holes, an air hole is formed in the outer side of the first connecting plate, the air hole is communicated with the plurality of second limiting holes and is in a plurality of shapes, an electromagnetic valve is arranged at the upper end of each second limiting hole, and the piston positioning pins are connected with the seventh connecting plate in an extrusion mode.

Furthermore, a plurality of first sliding grooves are formed in the first connecting ball, a plurality of limiting holes are formed in the sixth connecting plate, electric telescopic rods are arranged in the limiting holes and are connected with the limiting holes in a sliding mode respectively

Furthermore, the detachable subassembly that snatchs includes first flange, the connection can be dismantled to first flange upper end the seventh connecting plate, first flange outside symmetry is equipped with four second spouts, four all be equipped with the angle modulation structure in the second spout, the connection lift assembly can be dismantled to angle modulation structure one end, the connection splint can be dismantled to lift assembly.

Furthermore, angle modulation structure includes four first cylinders, four first cylinder one end can be dismantled respectively and connect two eighth connecting plates, two the eighth connecting rod is by two fourth dwangs, two the connection can be dismantled to the fourth dwang the lifting unit.

Further, the lifting assembly comprises a first lead screw and a first slide rod, a third slide groove is formed in the inner side of the clamping plate, the first lead screw and the first slide rod are detachably connected in the third slide groove respectively, a second driving motor is arranged in the third slide groove, a driving shaft of the second driving motor is connected with the first lead screw, the first lead screw and the first slide rod are connected with a first sliding plate in a rotating mode, and the fourth rotating rod is detachably connected with the first sliding plate respectively.

Furthermore, the lower end of the third sliding groove is provided with a first electromagnet on the clamping plate, the lower end of the first connecting disc is provided with a second electromagnet, the two sides of the first electromagnet are symmetrically provided with rubber plates on the clamping plate.

The invention has the beneficial effects that:

1. according to the invention, the lifting support assembly is arranged on the support seat, the lifting support frame realizes corresponding rotation and adjustment through the rotation of the first driving motor, and then the first traction assembly and the second traction assembly are arranged on the lifting support frame to realize corresponding traction support, so that the whole structure is more stable.

2. Through being equipped with the regulation structure that floats in first support frame below, utilize first connecting ball to carry out the rotation that corresponds, realize pneumatic positioning through the piston locating pin simultaneously to come the stability that keeps the structure under the condition that pressure is less than a definite value, can adjust again when the extrusion force is great, and can carry out artificial control pneumatics and adjust, thereby reach unsteady effect.

3. Be equipped with detachable the subassembly of snatching through floating structure below, detachable the subassembly of snatching utilizes elevation structure to adjust the length of splint through being provided with angle modulation structure and elevation structure, realizes through being provided with angle modulation structure that splint can carry out the rotatory slope that corresponds according to the article, and the effect of both having the centre gripping is better.

Drawings

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

FIG. 2 is a schematic view of the lift support assembly of the present invention;

FIG. 3 is a schematic view of a first draft assembly of the present invention;

FIG. 4 is a schematic structural view of a second pulling assembly of the present invention;

FIG. 5 is a schematic view of a removable gripper assembly of the present invention;

FIG. 6 is a schematic view of the float adjustment configuration of the present invention;

fig. 7 is a schematic view of the lifting assembly of the present invention.

In the figure: 1. a supporting seat; 11. rotating the motor; 2. a first connecting rod; 3. a lifting support assembly; 31. a first rotating lever; 32. a first connecting plate; 321. a first connecting ring; 322. a second rotating lever; 33. an adjusting plate; 34. a first drive motor; 35. a second connecting plate; 36. a third rotating rod; 37. a first support frame; 38. a first pulling assembly; 381. a second connecting rod; 382. a second connection ring; 383. a first connecting bar; 384. a third connecting rod; 385. a third connecting plate; 386. a fourth connecting rod; 387. a fourth connecting plate; 388. a seventh connecting rod; 39. a second traction assembly; 391. a fifth connecting rod; 392. a fifth connecting plate; 393. a sixth connecting rod; 394. a first connection block; 4. a floating adjustment structure; 41. a first connecting ball; 42. a sixth connecting plate; 421. a second limiting hole; 422. a piston positioning pin; 423. air holes; 424. an electromagnetic valve; 425. a limiting hole; 43. a spherical groove; 5. a removable grasping assembly; 51. a first splice tray; 52. a second chute; 53. an angle adjustment structure; 53. an angle adjustment structure; 531. a first cylinder; 532. an eighth connecting plate; 54. a lifting assembly; 541. a first lead screw; 542. a first slide bar; 543. a second drive motor; 544. a first slide plate; 55. a splint; 551. a third chute; 552. a first electromagnet; 553. a rubber plate.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings:

in an embodiment, please refer to fig. 1-7, an intelligent carrying tooling robot includes a supporting seat 1, a rotating motor 11 is disposed above the supporting seat 1, a driving shaft of the rotating motor 11 is connected to a first connecting rod 2, the first connecting rod 2 is detachably connected to the supporting seat 1, a lifting support assembly 3 is detachably connected above the first connecting rod 2, a floating adjustment structure 4 is detachably connected below one end of the lifting support assembly 3, and a detachable grabbing assembly 5 is detachably connected to the lower end of the floating adjustment structure 4.

Referring to fig. 2-4, the lifting support assembly 3 includes a first rotating rod 31, the first rotating rod 31 penetrates through the first connecting rod 2, the two ends of the first rotating rod 31 can be detachably connected with the first connecting plate 32, one end of the first connecting plate 32 is symmetrically provided with two first connecting rings 321, two inner openings of the first connecting rings 321 can be detachably connected with a second rotating rod 322, the two ends of the second rotating rod 322 can be detachably connected with an adjusting plate 33, one side of the adjusting plate 33 is provided with a first driving motor 34, the driving shaft of the first driving motor 34 is connected with the second rotating rod 322, two first connecting rings 321, the second rotating rod 322 is sleeved with a second connecting plate 35, one end of the second connecting plate 35 is sleeved with a third rotating rod 36, the two ends of the third rotating rod 36 can be detachably connected with a first support frame 37, the two sides of the adjusting plate 33 are provided with a first traction assembly 38 and a second traction assembly 39, the first traction assembly 38 and the second traction assembly 39 are detachably connected with the first support frame 37 and the first connecting rod 2 respectively, the first traction assembly 38 comprises a second connecting rod 381, the second connecting rod 381 penetrates through the first connecting rod 2, two second connecting rings 382 are detachably connected with two ends of the second connecting rod 381, a first connecting bar 383 is detachably connected with the upper ends of the two second connecting rings 382, a third connecting rod 384 is connected between the two first connecting bars 383 in a bearing manner, the third connecting rod 384 is sleeved and connected with a third connecting plate 385, a fourth connecting rod 386 is sleeved and connected with the upper end of the third connecting plate 385, a fourth connecting plate 387 is connected with two ends of the fourth connecting plate 387 in a bearing manner, a seventh connecting rod 388 is connected with the upper end of the fourth connecting plate 387 in a bearing manner, the adjusting plate 33 is detachably connected with two ends of the seventh connecting rod 388, the second traction assembly 39 comprises a fifth connecting rod 391, the two ends of the fifth connecting rod 391 are in bearing connection with the adjusting plate 33, the outer side of the fifth connecting rod 391 is sleeved with and connected with a fifth connecting plate 392, the other end of the fifth connecting plate 392 is sleeved with and connected with a sixth connecting rod 393, the sixth connecting rod 393 is detachably connected with two first connecting blocks 394, and the two first connecting blocks 394 are detachably connected with the first supporting frame 37.

Referring to fig. 5-6, the floating adjustment structure 4 includes a first connection ball 41, a sixth connection plate 42 is disposed below the first support frame 37, a spherical groove 43 is disposed below the sixth connection plate 42, the first connection ball 41 is connected to the spherical groove 43, a seventh connection plate 44 is detachably connected to a lower end of the first connection ball 41, a plurality of second limiting holes 421 are disposed below the sixth connection plate 42, piston positioning pins 422 are slidably connected to the second limiting holes 421, an air hole 423 is disposed outside the sixth connection plate 42, the air hole 423 is communicated with the second limiting holes 421, electromagnetic valves 424 are disposed at upper ends of the second limiting holes 421, the piston positioning pins 422 are connected to the seventh connection plate 44 by pressing, a plurality of first sliding grooves 411 are disposed on the first connection ball 41, a plurality of limiting holes 425 are disposed in the sixth connection plate 42, and electric telescopic rods 426 are arranged in the limiting holes 425, and the electric telescopic rods 426 are respectively connected with the limiting holes 425 in a sliding manner.

Referring to fig. 6-7, the detachable grabbing assembly 5 includes a first connecting plate 51, the upper end of the first connecting plate 51 is detachably connected to the seventh connecting plate 44, four second sliding grooves 52 are symmetrically disposed on the outer side of the first connecting plate 51, angle adjusting structures 53 are disposed in the four second sliding grooves 52, one end of each angle adjusting structure 53 is detachably connected to a lifting assembly 54, the lifting assembly 54 is detachably connected to a clamping plate 55, each angle adjusting structure 53 includes four first air cylinders 531, one end of each first air cylinder 531 is detachably connected to two eighth connecting plates 532, one end of each eighth connecting rod 532 penetrates through two fourth rotating rods 533, the two fourth rotating rods 533 are detachably connected to the lifting assembly 54, the lifting assembly 54 includes a first lead screw 541 and a first sliding rod 542, a third sliding groove 551 is disposed on the inner side of the clamping plate 55, the first screw 541 and the first slide bar 542 are detachably connected to the third slide groove 551, a second driving motor 543 is disposed in the third slide groove 551, a driving shaft of the second driving motor 543 is connected to the first screw 541, the first screw 541 and the first slide bar 542 are both rotatably connected to the first slide plate 544, the two fourth rotating levers 533 are detachably connected to the first slide plate 544, the lower end of the third slide groove 551 and the clamp plate 55 are provided with a first electromagnet 552, the lower end of the first connecting plate 51 is provided with a second electromagnet 511, and two sides of the first electromagnet 552 are symmetrically provided with rubber plates 553.

The operation principle is as follows: when the lifting support assembly is used, the support seat is fixed through the bolt, and the first connecting rod is driven to rotate correspondingly through the rotation of the rotating motor, so that the lifting support assembly is driven to rotate correspondingly; the effect that the floating adjusting structure correspondingly rotates is achieved, and meanwhile, the whole structure is more stable under the traction of the three connecting plates by the adjusting plate;

then, rotate through second driving motor and drive the second lead screw and rotate to the removal subassembly adjusts the length of splint, reaches appointed length after, and extension length is controlled according to the demand to four first cylinders, because the first slide of connection can be dismantled to the fourth dwang, thereby the grip block can carry out the slope that corresponds, four simultaneously first cylinder extends simultaneously and realizes the effect of the distance increase between four splint.

When splint carried out the centre gripping, adjust the air pressure in a plurality of piston locating pins through the gas pocket to control the balance of the seventh connecting plate of piston locating pin below, utilize simultaneously a plurality of electric telescopic handle sliding connection respectively spacing hole, thereby come the rotation of the first connecting ball of reinforcement control.

The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.

Claims

1. The utility model provides an intelligence transport frock robot, includes supporting seat (1), its characterized in that: a rotating motor (11) is arranged above the supporting seat (1), a driving shaft of the rotating motor (11) is connected with a first connecting rod (2), the first connecting rod (2) is detachably connected with the supporting seat (1), a lifting supporting assembly (3) is detachably connected above the first connecting rod (2), a floating adjusting structure (4) is detachably connected below one end of the lifting supporting assembly (3), and a detachable grabbing assembly (5) is detachably connected at the lower end of the floating adjusting structure (4);

the lifting support component (3) comprises a first rotating rod (31), the first rotating rod (31) runs through the first connecting rod (2), the first connecting plate (32) can be detachably connected at the two ends of the first rotating rod (31), one end of the first connecting plate (32) is symmetrically provided with two first connecting rings (321), two first connecting rings (321) are detachably connected with an inner opening of each second rotating rod (322), the two ends of each second rotating rod (322) are detachably connected with an adjusting plate (33), one side of each adjusting plate (33) is provided with a first driving motor (34), a driving shaft of the first driving motor (34) is connected with the second rotating rods (322), two first connecting rings (321) are connected, the second rotating rods (322) are sleeved with a connecting second connecting plate (35), one end of the second connecting plate (35) is sleeved with a connecting third rotating rod (36), third dwang (36) both ends can be dismantled and connect first support frame (37), regulating plate (33) both sides are equipped with first traction assembly (38) and second traction assembly (39), first traction assembly (38) with second traction assembly (39) can be dismantled respectively and be connected first support frame (37) with head rod (2).

2. The intelligent handling tooling robot of claim 1, wherein: the first traction assembly (38) comprises a second connecting rod (381), the second connecting rod (381) runs through the first connecting rod (2), two second connecting rings (382) can be detachably connected at two ends of the second connecting rod (381), two first connecting rods (383) can be detachably connected at the upper end of the second connecting ring (382), two third connecting rods (384) are connected between the first connecting rods (383) through bearings, the third connecting rods (384) are sleeved and connected with third connecting plates (385), the upper end of each third connecting plate (385) is sleeved and connected with fourth connecting rods (386), the two ends of each fourth connecting rod (386) are connected with fourth connecting plates (387) through bearings, seventh connecting rods (388) are connected at upper ends of the fourth connecting plates (387), and the two ends of each seventh connecting rod (388) can be detachably connected with the adjusting plate (33).

3. The intelligent handling tooling robot of claim 1, wherein: the second traction assembly (39) comprises a fifth connecting rod (391), two ends of the fifth connecting rod (391) are in bearing connection with the adjusting plate (33), the outer side of the fifth connecting rod (391) is sleeved with and connected with a fifth connecting plate (392), the other end of the fifth connecting plate (392) is sleeved with and connected with a sixth connecting rod (393), the sixth connecting rod (393) is detachably connected with two first connecting blocks (394), and the two first connecting blocks (394) are detachably connected with the first supporting frame (37).

4. The intelligent handling tooling robot of claim 1, wherein: the floating adjusting structure (4) comprises a first connecting ball (41), a sixth connecting plate (42) is arranged below the first supporting frame (37), a spherical groove (43) is arranged below the sixth connecting plate (42), the first connecting ball (41) is connected in the spherical groove (43), the lower end of the first connecting ball (41) is detachably connected with a seventh connecting plate (44), a plurality of second limiting holes (421) are arranged below the sixth connecting plate (42), a plurality of piston positioning pins (422) are connected in the second limiting holes (421) in a sliding manner, an air hole (423) is formed in the outer side of the sixth connecting plate (42), the air hole (423) is communicated with a plurality of second limiting holes (421), electromagnetic valves (424) are arranged at the upper ends of the second limiting holes (421), and a plurality of the piston positioning pins (422) are connected with the seventh connecting plate (44) in a pressing way.

5. The intelligent handling tooling robot of claim 4, wherein: be equipped with a plurality of first spout (411) on first connecting ball (41), be equipped with a plurality of spacing holes (425) in sixth connecting plate (42), it is a plurality of all be equipped with electric telescopic handle (426) in spacing hole (425), it is a plurality of electric telescopic handle (426) sliding connection respectively spacing hole (425).

6. The intelligent handling tooling robot of claim 1, wherein: detachable subassembly (5) of snatching includes first flange (51), first flange (51) upper end can be dismantled and connect seventh connecting plate (44), first flange (51) outside symmetry is equipped with four second spout (52), four all be equipped with angle modulation structure (53) in second spout (52), lifting unit (54) can be dismantled in angle modulation structure (53) one end, lifting unit (54) can be dismantled and connect splint (55).

7. The intelligent handling tooling robot of claim 6, wherein: angle modulation structure (53) include four first cylinders (531), four first cylinder (531) one end can dismantle respectively and connect two eighth connecting plates (532), two eighth connecting plate (532) one end run through fourth dwang (533), two fourth dwang (533) can dismantle and connect lifting unit (54).

8. The intelligent handling tooling robot of claim 7, wherein: the lifting assembly (54) comprises a first screw rod (541) and a first sliding rod (542), a third sliding groove (551) is formed in the inner side of the clamping plate (55), the first screw rod (541) and the first sliding rod (542) are detachably connected into the third sliding groove (551) respectively, a second driving motor (543) is arranged in the third sliding groove (551), a driving shaft of the second driving motor (543) is connected with the first screw rod (541), the first screw rod (541) and the first sliding rod (542) are rotatably connected with a first sliding plate (544), and the four rotating rods (533) are detachably connected with the first sliding plate (544) respectively.

9. The intelligent handling tooling robot of claim 8, wherein: the lower end of the third sliding groove (551) and the clamping plate (55) are provided with first electromagnets (552), the lower end of the first connecting disc (51) is provided with second electromagnets (511), two sides of each first electromagnet (552) are symmetrically provided with rubber plates (553), and the clamping plate (55) is provided with rubber plates (553).