CN113086623A - Transfer robot - Google Patents
Transfer robot Download PDFInfo
- Publication number
- CN113086623A CN113086623A CN202110393424.9A CN202110393424A CN113086623A CN 113086623 A CN113086623 A CN 113086623A CN 202110393424 A CN202110393424 A CN 202110393424A CN 113086623 A CN113086623 A CN 113086623A
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- CN
- China
- Prior art keywords
- assembly
- workpiece
- transfer robot
- gripper
- traverse
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention is suitable for the technical field of automobile part processing, and provides a transfer robot, which comprises: the placing frame is used for placing and supporting the workpiece; the crossbeam is used for forming a supporting and sliding main body; the transfer structure is slidably arranged on the cross beam and used for grabbing and transferring the workpiece; the transfer structure comprises a transverse moving assembly, a lifting assembly, a hand grab and a rotating assembly; the hand grab is used for grabbing and releasing the workpiece; the rotating assembly is connected with the gripper and used for driving the gripper to rotate so as to adjust the gripping and placing postures of the workpiece; the lifting assembly is connected with the rotating assembly and used for driving the rotating assembly to lift; and the transverse moving component is connected with the lifting component and transversely moves by taking the cross beam as a track.
Description
Technical Field
The invention belongs to the technical field of automobile part processing, and particularly relates to a transfer robot.
Background
With the development of science and technology and the progress of society, the traffic industry is rapidly developed, and the traffic is the leading officer of richness. Automobiles are the main means of transportation for people. The automobile runs smoothly due to the rotation between the axle and the wheel. The trailer axle is bulky, needs to be carried in the quality, reproduction in-process, needs the manual work to move in current production process to carry through the carrier, cause work load big, it is inefficient.
The conventional conveying device is generally a conveyor belt, but the trailer axle is easy to roll during the conveying process, and the trailer axle cannot be steered according to the requirement.
Disclosure of Invention
An embodiment of the invention aims to provide a transfer robot and aims to solve the problem that steering cannot be performed according to needs.
The present invention is achieved in such a manner that a transfer robot includes:
the placing frame is used for placing and supporting the workpiece;
the crossbeam is used for forming a supporting and sliding main body;
the transfer structure is slidably arranged on the cross beam and used for grabbing and transferring the workpiece;
the transfer structure comprises a transverse moving assembly, a lifting assembly, a hand grab and a rotating assembly;
the hand grab is used for grabbing and releasing the workpiece;
the rotating assembly is connected with the gripper and used for driving the gripper to rotate so as to adjust the gripping and placing postures of the workpiece;
the lifting assembly is connected with the rotating assembly and used for driving the rotating assembly to lift;
and the transverse moving component is connected with the lifting component and transversely moves by taking the cross beam as a track.
In the embodiment of the invention, a workpiece is placed on a placing frame, a transfer structure is started, the transfer structure is moved to the placing position of the workpiece, a lifting assembly is started, a hand grab is moved to the corresponding position of the workpiece, the hand grab grabs the workpiece, the lifting assembly is started to separate the workpiece from the placing frame, a transverse moving assembly is started to transversely move the transfer structure and the workpiece to a specified placing position, meanwhile, a rotating assembly is started to rotate the hand grab to rotate the workpiece to a placing posture, the transverse moving assembly moves the transfer structure to the specified position, the lifting assembly is started to place the workpiece to the specified position, the hand grab releases the workpiece, the workpiece is placed to the specified position, the transverse moving assembly, the lifting assembly, the hand grab and the rotating assembly are matched to realize the specified placing of the placing posture and the placing space position of the workpiece, the application capability is strong, the convenience is realized, and the manual carrying is avoided, the manual work load has been reduced, work efficiency has been improved, the shock damage that artifical transport caused has been avoided simultaneously, and the security is high.
The invention has the advantages of simple structure, convenient operation, high carrying efficiency and avoiding carrying loss.
Drawings
Fig. 1 is a perspective view of a transfer robot according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of A in FIG. 1;
FIG. 3 is a schematic diagram of a traverse assembly of a transfer robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a vertical movement assembly of a transfer robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a rotary assembly of a transfer robot according to an embodiment of the present invention;
fig. 6 is a schematic view of an operation structure of a gripper in a transfer robot according to an embodiment of the present invention;
fig. 7 is a schematic view of a structure of a gripping operation of a gripper in a transfer robot according to an embodiment of the present invention;
in the drawings: the automatic lifting device comprises a placement frame 1, a cross beam 2, a transfer structure 3, a lifting assembly 4, a transverse moving assembly 55, a hand grab 6, a rotary driving piece 7, a supporting plate main body 8, a lower sliding module 9, a lower guide rail 10, a rack 11, an upper guide rail 12, an upper sliding module 13, a transverse moving motor 14, a vertical beam guide rail 15, a support 16, a sliding block 17, a vertical moving motor 18, a vertical beam 19, a vertical moving gear 20, a workpiece 21, a finger 22, a hand grab main body 23 and a buffer rod 24.
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, a structure diagram of a transfer robot according to an embodiment of the present invention includes:
the placing frame 1 is used for placing and supporting a workpiece 21;
a cross beam 2 for forming a supporting and sliding body;
the transfer structure 3 is slidably arranged on the cross beam 2 and is used for grabbing and transferring the workpiece 21;
wherein, the transfer structure 3 comprises a traversing component 5, a lifting component 4, a hand grab 6 and a rotating component;
the hand grab 6 is used for grabbing and releasing the workpiece 21;
the rotating assembly is connected with the gripper 6 and used for driving the gripper 6 to rotate to adjust the grabbing and placing postures of the workpiece 21;
the lifting component 4 is connected with the rotating component and used for driving the rotating component to lift;
and the transverse moving component 5 is connected with the lifting component 4 and transversely moves by taking the cross beam 2 as a track.
In the embodiment of the invention, a workpiece 21 is placed on a placing frame 1, a transfer structure 3 is started, the transfer structure 3 is moved to the placing position of the workpiece 21, a lifting component 4 is started, a hand grab 6 is moved to the corresponding position of the workpiece 21, the hand grab 6 grabs the workpiece 21, the lifting component 4 is started to separate the workpiece 21 from the placing frame 1, a traverse component 5 is started to enable the transfer structure 3 and the workpiece 21 to move transversely and reach the appointed placing position, a rotating component is started simultaneously, the hand grab 6 rotates to enable the workpiece 21 to rotate to the placing posture, the traverse component 5 enables the transfer structure 3 to move to the appointed position, the lifting component 4 is started to enable the workpiece 21 to be placed at the appointed position, the hand grab 6 releases the workpiece 21, the workpiece 21 is placed at the appointed position, and the placing posture of the workpiece 21 is realized through the cooperation of the traverse component 5, the lifting component 4, the hand grab 6 and the rotating, Place spatial position's appointed placing, it is strong to be suitable for the ability, just does conveniently, has avoided artifical transport, has reduced artifical work load, has improved work efficiency, has avoided the shock damage that artifical transport caused simultaneously, and the security is high.
In an example of the present invention, the direction of the beam 2 is the conveying direction of the workpiece 21, so that the main body of the workpiece 21 can be moved by the beam 2, thereby avoiding two-dimensional control of the horizontal plane, the placing rack 1 may be a steel frame structure, the starting point and the placing point of the workpiece 21 may be both on the placing rack 1, and the placing rack 1 may also be a ground, a frame, etc., which are not described again. The supporting plate main body 8 is placed on the cross beam 2 in a sliding mode, the transverse moving assembly 5 is installed on the supporting plate main body 8, the transfer structure 3 can be controlled through the controller, the controller can be a PLC control system and is used for automatically controlling operation beats, and the controller is the prior art and is not described repeatedly herein. The cross beam is in direct contact with the ground through chemical bolts (a fastener similar to expansion bolts), fixing bolts, and the like, thereby increasing the connection stability.
As shown in fig. 2 and 3, as a preferred embodiment of the present invention, the traversing assembly 5 is composed of a plurality of traversing modules, and the traversing modules cooperate with each other to provide good traveling stability and avoid the oscillation or resistance deviation caused by the monorail module. Sideslip subassembly 5 includes gliding module 9 and goes up slide module 13, sets up respectively on the side of the upper and lower face of crossbeam 2, perhaps opposition through gliding module 9 and last slide module 13 cooperation, has increased gliding stability and has advanced stably, drives through two upper and lower drive power, advances stably. The lower sliding module 9 and the upper sliding module 13 of the transverse moving assembly 5 can have the same or different structures, and the same structure is used for explanation, the upper sliding module 13 of the rack comprises an upper guide rail 12, a rack 11, a transverse moving motor 14 and an upper running gear, the upper guide rail 12 is fixed on the cross beam 2, the rack 11 is arranged on the side surface of the upper guide rail 12, the output shaft of the transverse moving motor 14 is coaxially and fixedly connected with the upper running gear, the upper running gear is meshed with the rack 11, and the transverse moving motor 14 drives the upper running gear to rotate, so that the transfer structure 3 is driven to move; the lower sliding module 9 comprises a lower guide rail 10, a rack 11 and a lower running gear, the upper guide rail 12 is fixed on the beam 2, the rack 11 is arranged on the side surface of the upper guide rail 12, the lower running gear is meshed with the rack 11, and the traversing motor 14 drives the lower running gear to rotate so as to drive the transfer structure 3 to move, the two racks 11 are located on the same plane, so that the requirement that one traversing motor 14 drives the lower running gear can be met, the synchronization is good, and energy is saved. Through the cooperation of the rack 11 and the upper and lower running gears, the travelling is stable, the slipping phenomenon is avoided, and the transverse moving positioning is facilitated.
As shown in fig. 4, as a preferred embodiment of the present invention, the lifting assembly 4 includes a vertical beam 19, a vertical movement motor 18, a vertical beam guide rail 15 and a vertical movement gear 20, the lifting assembly 4 is fixedly connected through a bracket 16, the installation is convenient and fast, the output shaft of the vertical movement motor 18 is fixedly connected with the vertical movement gear 20, the vertical beam 19 is fixedly connected with insections, the vertical beam 19 is matched with the slider 17 through the vertical beam guide rail 15 for sliding connection, the vertical movement gear 20 is engaged with the insections, and under the action of the vertical movement motor 18, the vertical movement gear 20 rotates to drive the vertical beam 19 to lift, so as to complete the lifting of the lifting assembly 4; of course, the lifting assembly 4 can also be driven by an electric telescopic rod, a pneumatic rod, a hydraulic rod, etc., which are not described herein. Lifting unit 4 still leads through the guide to increased lifting unit 4 driven stability, avoided the lift in-process unstability. The guide member may include a guide rod fixedly connected to the traverse assembly 5 or the bracket 16 and a guide sleeve fixedly connected to the vertical beam 19, the guide rod being slidably nested on the guide sleeve, so that the guide stability is good.
As a preferred embodiment of the present invention, the rotating assembly includes a rotating driving member 7 and a rotating shaft fixing member, the rotating shaft fixing member is rotatably connected to the lifting assembly 4 and rotatably connected to the vertical beam 19, the rotating shaft fixing member is connected to the gripper 6, the rotating driving member 7 and the rotating shaft fixing member are driven by a gear assembly, and the rotating driving member 7 drives the gripper 6 to rotate by the gear assembly, so as to adjust the placing posture of the workpiece 21.
As shown in fig. 5 and 6, as a preferred embodiment of the present invention, the hand grip 6 includes a hand grip main body 23, a hand grip driving member, and a clamping unit, the hand grip main body 23 is used for supporting and mounting, the clamping unit is provided with a plurality of groups, clamping is performed by combining the groups, the clamping stability is good, the hand grip driving member drives the clamping unit to open and close for clamping and releasing, and thus, clamping and releasing are convenient and fast. Two clamping units are preferably arranged, and the steering of the workpiece 21 in the clamping process is avoided through two-point line arrangement. The clamping unit can include two fingers 22 that set up to the matter, and finger 22 rotates to be connected on grabbing main part 23, and finger 22 rotates the opening and shutting of accomplishing the clamping unit, and it can be pneumatic rod, electric telescopic handle, hydraulic stem etc. to grab the driving piece in hand, and concrete connection structure can be prior art, does not do here and describe repeatedly. Of course, the clamping member may also be a sliding driving structure, which is not described herein.
In a preferred embodiment of the present invention, the grasping body 23 is further connected to a buffer member, and the buffer member is engaged with the holding unit while supporting the workpiece 21, so that the workpiece 21 is held stably. The clamping unit clamps and slides the workpiece 21, and the supporting force of the buffer piece on the workpiece 21 is opposite to the sliding direction of the workpiece 21, so that the workpiece 21 is stably clamped. The bolster can include buffer rod 24 and spring, and buffer rod 24 sliding connection is on holding in hand main part 23 to buffer through the spring and reset, hold in hand main part 23 and slide buffer rod 24 and have limit structure, avoided buffer rod 24 to break away from and hold in hand main part 23. Of course, the buffer rod 24 may also be T-shaped, a groove block, etc., which will not be described herein.
According to the transfer robot provided by the embodiment of the invention, the transverse moving component 5, the lifting component 4, the hand grips 6 and the rotating component are matched, so that the designated placement of the placement posture and the placement space position of the workpiece 21 is realized, the applicability is strong, the transfer robot is convenient and fast, the manual transfer is avoided, the manual workload is reduced, the working efficiency is improved, the vibration damage caused by the manual transfer is avoided, and the safety is high. Through the cooperation of the rack 11 and the upper and lower running gears, the travelling is stable, the slipping phenomenon is avoided, and the transverse moving positioning is facilitated. The clamping is carried out through the combination of a plurality of groups, the clamping stability is good, the clamping unit is driven to open and close by the hand-grasping driving piece to clamp and release, and therefore the clamping and the releasing are convenient and fast. The clamping unit clamps and slides the workpiece 21, and the supporting force of the buffer piece on the workpiece 21 is opposite to the sliding direction of the workpiece 21, so that the workpiece 21 is stably clamped.
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 (10)
1. A transfer robot, characterized by comprising:
the placing frame is used for placing and supporting the workpiece;
the crossbeam is used for forming a supporting and sliding main body;
the transfer structure is slidably arranged on the cross beam and used for grabbing and transferring the workpiece;
the transfer structure comprises a transverse moving assembly, a lifting assembly, a hand grab and a rotating assembly;
the hand grab is used for grabbing and releasing the workpiece;
the rotating assembly is connected with the gripper and used for driving the gripper to rotate so as to adjust the gripping and placing postures of the workpiece;
the lifting assembly is connected with the rotating assembly and used for driving the rotating assembly to lift;
and the transverse moving component is connected with the lifting component and transversely moves by taking the cross beam as a track.
2. A transfer robot as claimed in claim 1, wherein said traverse module is comprised of a plurality of traverse modules.
3. The transfer robot as claimed in claim 2, wherein the traverse assembly includes a lower slide module and an upper slide module, which are respectively provided on the cross member.
4. The transfer robot as claimed in claim 3, wherein the traverse assembly comprises a guide rail, a rack, a traverse motor and a running gear, the guide rail is fixed on the cross beam, the rack is arranged on the side surface of the guide rail, an output shaft of the traverse motor is coaxially and fixedly connected with the running gear, and the running gear is meshed with the rack.
5. The transfer robot of claim 1, wherein the lifting assembly comprises a vertical beam, a vertical movement motor, a vertical beam guide rail and a vertical movement gear, the vertical movement motor has an output shaft fixedly connected with the vertical movement gear, the vertical beam has a tooth pattern fixedly connected with the vertical movement gear, and the vertical movement gear is meshed with the tooth pattern.
6. A transfer robot as claimed in claim 5, wherein the vertical beams are slidably coupled by a sliding structure and guided by a guide.
7. A transfer robot as claimed in claim 6, wherein the guide comprises a guide bar and a guide sleeve, the guide sleeve being fixedly attached to the traverse assembly or the support, the guide bar being fixedly attached to the vertical beam, the guide bar being slidably nested on the guide sleeve.
8. The transfer robot as claimed in claim 1, wherein the rotation assembly includes a rotation driving member and a rotation shaft fixing member, the rotation shaft fixing member is rotatably connected to the lifting assembly and rotatably connected to the vertical beam, the rotation shaft fixing member is connected to the gripper, and the rotation driving member and the rotation shaft fixing member are driven by a gear assembly.
9. A transfer robot as recited in claim 1, wherein said gripper comprises a gripper body for supporting and mounting, a gripper driving member, and a gripping unit provided in a plurality of groups.
10. The transfer robot as claimed in claim 9, wherein a buffer member is further attached to the grip main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110393424.9A CN113086623A (en) | 2021-04-13 | 2021-04-13 | Transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110393424.9A CN113086623A (en) | 2021-04-13 | 2021-04-13 | Transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113086623A true CN113086623A (en) | 2021-07-09 |
Family
ID=76676873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110393424.9A Pending CN113086623A (en) | 2021-04-13 | 2021-04-13 | Transfer robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113086623A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114436142A (en) * | 2022-01-28 | 2022-05-06 | 山东神州机械有限公司 | Wood hoisting suspension guide system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170341879A1 (en) * | 2016-05-25 | 2017-11-30 | Vidir Machine Inc. | System for Loading Elongated Members Such as Tubes Onto a Conveyor for Later Processing |
| CN209455630U (en) * | 2018-10-30 | 2019-10-01 | 无锡职业技术学院 | Cylindrical glass stick lifting translational transport device |
| CN111453398A (en) * | 2019-01-18 | 2020-07-28 | 中国石油天然气股份有限公司 | Pipeline carrying device |
| CN211997732U (en) * | 2020-03-27 | 2020-11-24 | 嘉能工业智能设备（昆山）有限公司 | Snatch stable and coil stock that precision is high and promote pile up neatly mechanism |
| CN112520406A (en) * | 2020-12-11 | 2021-03-19 | 苏州通锦精密工业股份有限公司 | Novel gantry type truss carrying device |
-
2021
- 2021-04-13 CN CN202110393424.9A patent/CN113086623A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170341879A1 (en) * | 2016-05-25 | 2017-11-30 | Vidir Machine Inc. | System for Loading Elongated Members Such as Tubes Onto a Conveyor for Later Processing |
| CN209455630U (en) * | 2018-10-30 | 2019-10-01 | 无锡职业技术学院 | Cylindrical glass stick lifting translational transport device |
| CN111453398A (en) * | 2019-01-18 | 2020-07-28 | 中国石油天然气股份有限公司 | Pipeline carrying device |
| CN211997732U (en) * | 2020-03-27 | 2020-11-24 | 嘉能工业智能设备（昆山）有限公司 | Snatch stable and coil stock that precision is high and promote pile up neatly mechanism |
| CN112520406A (en) * | 2020-12-11 | 2021-03-19 | 苏州通锦精密工业股份有限公司 | Novel gantry type truss carrying device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114436142A (en) * | 2022-01-28 | 2022-05-06 | 山东神州机械有限公司 | Wood hoisting suspension guide system |
| CN114436142B (en) * | 2022-01-28 | 2022-09-16 | 山东神州机械有限公司 | Wood hoisting suspension guide system |
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