CN113334346A - Automatic change transport industrial robot - Google Patents
Automatic change transport industrial robot Download PDFInfo
- Publication number
- CN113334346A CN113334346A CN202110734922.5A CN202110734922A CN113334346A CN 113334346 A CN113334346 A CN 113334346A CN 202110734922 A CN202110734922 A CN 202110734922A CN 113334346 A CN113334346 A CN 113334346A
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- Prior art keywords
- rod
- sliding
- industrial robot
- matched
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses an automatic handling industrial robot which comprises a moving unit and a handling unit, wherein the moving unit comprises a supporting base and a roller, and the handling unit comprises a fixed support, a lifting support, a sliding part, a clamping pushing assembly, a bottom supporting part and a first driving part. The device disclosed by the invention can be used for automatically carrying workpieces with different weights, does not need manual assistance, has high carrying efficiency and high stability, does not damage the workpieces, and is very suitable for large-scale production and popularization.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an automatic handling industrial robot.
Background
The transfer robot is an industrial robot capable of performing automated transfer work. The earliest transfer robots appeared in the united states in 1960, both Versatran and Unimate robots being used for the first time for transfer operations. The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robots used in the world are widely applied to loading and unloading of machine tools, automatic production lines of stamping machines, automatic assembly lines, stacking and transfer, automatic transfer of containers and the like, and have over 10 thousands of robots. Some developed countries have established the maximum limit for manual handling, and the handling robot must carry the excess.
When carrying heavy objects, the existing carrying robot generally uses a mechanical arm to clamp a workpiece for carrying, the workpiece is easily damaged by the carrying mode, and the carrying mode is not firm, so that the workpiece is easily dropped.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above and/or other problems occurring in the conventional automated transfer industrial robot.
Therefore, the problem to be solved by the present invention is how to provide an automated handling industrial robot.
In order to solve the technical problems, the invention provides the following technical scheme: an automatic handling industrial robot comprises a moving unit, a first moving unit and a second moving unit, wherein the moving unit comprises a supporting base and rollers, and the rollers are arranged on the supporting base; the carrying unit comprises a fixed support arranged at the front end of the supporting base, a lifting support in interactive fit with the fixed support, a sliding part in sliding fit with the lifting support, a clamping and pushing assembly arranged on the sliding part, a bottom supporting part arranged at the bottom of the lifting support and a first driving part driving the sliding part to move up and down, wherein a vertical limiting groove is formed in the lifting support, and a limiting support matched with the limiting groove is arranged on the sliding part; the clamping and pushing assembly comprises a mechanical arm matched with the sliding part, a pushing part arranged on the mechanical arm and a second driving part matched with the mechanical arm.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: bottom support piece including fix the head rod of slider bottom, set up in second connecting rod, one end of head rod below with second connecting rod normal running fit's first threaded rod, drive first threaded rod carry out pivoted third driving piece, with second connecting rod fixed connection's first extensible member, and with the L type backup pad that first extensible member is connected, first threaded rod with head rod screw-thread fit.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the third driving piece comprises a first worm wheel arranged on the first threaded rod, a first worm matched with the first worm wheel and a third motor driving the first worm to rotate, the second connecting rod is a hollow rod, and the first worm wheel are arranged in the second connecting rod.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: first extensible member include with second connecting rod fixed connection's first fixed frame, with first fixed frame sliding fit's second fixed frame, and set up in the first fixed frame and drive the flexible first telescopic link of second fixed frame, L type backup pad is connected on the second fixed frame.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the lifting support is provided with a second roller attached to the inner side face of the fixed support and a first limiting rod attached to the side face of the fixed support, the second roller and the first limiting rod are arranged at the bottom of the lifting support, and the top of the fixed support is provided with a second limiting rod attached to the side face of the lifting support.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the slider still includes the slide bar, the arm with slide bar sliding fit, the second driving piece is including connecting dead lever on the slider, with dead lever normal running fit's second threaded rod, and drive second threaded rod pivoted second motor, be provided with on the second threaded rod and revolve to two opposite screw threads, two the arm revolves to opposite screw-thread fit with two respectively.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the side surface of the sliding rod is provided with a first groove, and the mechanical arm is provided with a first boss matched with the first groove.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the mechanical arm comprises an inclined arm matched with the sliding rod, a horizontal arm connected with the end of the inclined arm, an L-shaped pulling arm in sliding fit with the horizontal arm, and a fourth telescopic rod arranged in the horizontal arm and driving the L-shaped pulling arm to stretch.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the pushing piece comprises a hinged rod hinged to the side face of the inclined arm, a fifth telescopic rod matched with the hinged rod, a sliding block in sliding fit with the hinged rod, an L-shaped pressing plate connected with the sliding block, and a sixth telescopic rod fixed on the hinged rod and driving the sliding block to stretch, the bottom of the fifth telescopic rod is hinged to the inclined arm, and the telescopic end of the fifth telescopic rod is hinged to the hinged rod.
As a preferable aspect of the automated handling industrial robot of the present invention, wherein: the first driving piece comprises a first motor fixed on the supporting base, a chain matched with the first motor and a first gear fixed at the top end of the lifting support and matched with the chain, and the sliding piece is fixedly connected with the chain.
The automatic conveying device has the advantages that workpieces with different weights can be automatically conveyed, manual assistance is not needed, conveying efficiency is high, stability is high, the workpieces cannot be damaged, and the automatic conveying device is quite suitable for large-scale production and popularization.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a structural view of an automated handling industrial robot.
Fig. 2 is a schematic view of a limit groove and a limit pillar of an automated handling industrial robot.
Fig. 3 is a structural view of a transfer unit of the automated transfer industrial robot.
Fig. 4 is an exploded view of a bottom support of an automated handling industrial robot.
Fig. 5 is a structural view of a second restraining bar of the automated handling industrial robot.
Fig. 6 is a schematic view of a second roller and a first restraining bar of an automated handling industrial robot.
Fig. 7 is a schematic view of a first groove and a first boss of an automated handling industrial robot.
Fig. 8 is an exploded view of the robotic arm and pusher of an automated handling industrial robot.
Fig. 9 is a schematic view of a first drive member of an automated handling industrial robot.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 to 9, a first embodiment of the present invention provides an automated handling industrial robot including a moving unit 100 and a handling unit 200.
Specifically, the mobile unit 100 includes a supporting base 101 and a roller 102, and the roller 102 is disposed on the supporting base 101. The supporting base 101 is provided with a driving motor matched with the roller 102, and the driving motor drives the roller 102 to rotate so that the industrial robot can move.
The carrying unit 200 comprises a fixing support 206 arranged at the front end of the supporting base 101, a lifting support 201 interactively matched with the fixing support 206, a sliding part 202 in sliding fit with the lifting support 201, a clamping pushing assembly 203 arranged on the sliding part 202, a bottom supporting part 204 arranged at the bottom of the lifting support 201, and a first driving part 205 driving the sliding part 202 to move up and down, wherein a vertical limiting groove 201d is formed in the lifting support 201, and a limiting support 202g matched with the limiting groove 201d is arranged on the sliding part 202. The clamping and pushing assembly 203 comprises a mechanical arm 203a cooperating with the slide 202, a pushing member 203b provided on the mechanical arm 203a, and a second driving member 203c cooperating with the mechanical arm 203 a.
It should be noted that the reason for providing the limiting groove 201d and the limiting pillar 202g is to enable the L-shaped pulling arm 203a-4 to still descend after the L-shaped pressing plate 203b-4 contacts the ground, it should be noted that, when the device is used, the L-shaped pulling arm 203a-4 can be attached to the bottom surface and can also move to the middle upper position of the workpiece, when the L-shaped pulling arm 203a-4 moves to the middle upper position of the workpiece, the limiting pillar 202g just matches with the top of the limiting groove 201d, and when the slider 202 continues to move upward, the whole lifting support 201 is driven to move upward, so the device of the invention is only suitable for workpieces with a certain height.
Further, the bottom support 204 includes a first connecting rod 204a fixed to the bottom of the sliding member 202, a second connecting rod 204b disposed below the first connecting rod 204a, a first threaded rod 204c having one end rotatably engaged with the second connecting rod 204b, a third driving member 204d driving the first threaded rod 204c to rotate, a first expansion member 204e fixedly connected with the second connecting rod 204b, and an L-shaped supporting plate 204f connected with the first expansion member 204e, wherein the first threaded rod 204c is in threaded engagement with the first connecting rod 204 a. When the industrial robot does not carry a workpiece, the first threaded rod 204c drives the second connecting rod 204b to ascend, and the L-shaped supporting plate 204f is prevented from contacting the bottom surface in the moving process of the industrial robot.
Preferably, the third driving member 204d includes a first worm gear 204d-1 disposed on the first threaded rod 204c, a first worm 204d-2 engaged with the first worm gear 204d-1, and a third motor 204d-3 driving the first worm 204d-2 to rotate, the second connecting rod 204b is a hollow rod, and the first worm 204d-2 and the first worm gear 204d-1 are disposed in the second connecting rod 204 b.
Further, the first telescopic member 204e includes a first fixed frame 204e-1 fixedly connected to the second connecting rod 204b, a second fixed frame 204e-2 slidably engaged with the first fixed frame 204e-1, and a first telescopic rod 204e-3 disposed in the first fixed frame 204e-1 and driving the second fixed frame 204e-2 to extend and retract, wherein the L-shaped supporting plate 204f is connected to the second fixed frame 204 e-2.
Preferably, the lifting support 201 is provided with a second roller 201a attached to the inner side surface of the fixing support 206 and a first limiting rod 201b attached to the side surface of the fixing support 206, the second roller 201a and the first limiting rod 201b are arranged at the bottom of the lifting support 201, and the top of the fixing support 206 is provided with a second limiting rod 206a attached to the side surface of the lifting support 201. The sliding part 202 further comprises a sliding rod 202b, the mechanical arm 203a is in sliding fit with the sliding rod 202b, the second driving part 203c comprises a fixed rod 203c-1 connected to the sliding part 202, a second threaded rod 203c-2 in rotating fit with the fixed rod 203c-1, and a second motor 203c-3 driving the second threaded rod 203c-2 to rotate, two threads with opposite rotation directions are arranged on the second threaded rod 203c-2, and the two mechanical arms 203a are respectively in fit with the two threads with opposite rotation directions.
Further, a first groove 202b-1 is formed in the side surface of the sliding rod 202b, and a first boss 203a-1 matched with the first groove 202b-1 is formed on the mechanical arm 203 a. The mechanical arm 203a comprises an inclined arm 203a-2 matched with the sliding rod 202b, a horizontal arm 203a-3 connected with the end of the inclined arm 203a-2, an L-shaped pulling arm 203a-4 in sliding fit with the horizontal arm 203a-3, and a fourth telescopic rod 203a-5 arranged in the horizontal arm 203a-3 and driving the L-shaped pulling arm 203a-4 to expand and contract.
Further, the pushing member 203b comprises a hinge rod 203b-1 hinged to the side of the inclined arm 203a-2, a fifth telescopic rod 203b-2 matched with the hinge rod 203b-1, a sliding block 203b-3 in sliding fit with the hinge rod 203b-1, an L-shaped pressing plate 203b-4 connected with the sliding block 203b-3, and a sixth telescopic rod 203b-5 fixed on the hinge rod 203b-1 and driving the sliding block 203b-3 to extend and retract, wherein the bottom of the fifth telescopic rod 203b-2 is hinged to the inclined arm 203a-2, and the telescopic end of the fifth telescopic rod 203b-2 is hinged to the hinge rod 203 b-1.
Preferably, the first driving member 205 includes a first motor 205a fixed on the supporting base 101, a chain 205b engaged with the first motor 205a, and a first gear 205c fixed on the top end of the lifting bracket 201 and engaged with the chain 205b, and the sliding member 202 is fixedly connected to the chain 205 b.
When the device is used, a workpiece is placed on the ground, the industrial robot moves to the position right in front of the workpiece, the sliding part 202 descends, the second connecting rod 204b is driven to descend by the third driving part 204d, the L-shaped supporting plate 204f is attached to the ground, then the second motor 203c-3 rotates to drive the mechanical arm 203a to be opened to hold the workpiece, at the moment, the L-shaped supporting plate 204f does not contact with the workpiece, the sliding part 202 continues descending, the L-shaped pull arm 203a-4 moves to the bottom of the workpiece to limit the bottom end of the workpiece, then the L-shaped pressing plate 203b-4 is matched with the top of the workpiece, the sixth telescopic rod 203b-5 pushes the L-shaped pressing plate 203b-4 to incline the workpiece, at the moment, the L-shaped supporting plate 204f is inserted, the sliding part 202 ascends, the mechanical arm 203a follows the ascending, at the moment, the limit strut 202g moves in the limit groove 201d, and when the L-shaped pull arm 203a-4 falls to the middle upper part of the workpiece, at the moment, the limiting support column 202g is in contact with the top end of the limiting groove 201d, the workpiece is enabled to be vertical through the fourth telescopic rod 203a-5 and limited, the workpiece is limited through the L-shaped support plate 204f, the L-shaped pulling arm 203a-4, the horizontal arm 203a-3 and the L-shaped pressing plate 203b-4, then the sliding piece 202 continues to ascend to drive the workpiece to ascend, and the motor drives the roller 102 to rotate to enable the device to integrally move.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. An automatic handling industrial robot, its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a mobile unit (100) comprising a support base (101) and a roller (102), the roller (102) being disposed on the support base (101);
the carrying unit (200) comprises a fixed support (206) arranged at the front end of the supporting base (101), a lifting support (201) in interactive fit with the fixed support (206), a sliding part (202) in sliding fit with the lifting support (201), a clamping pushing assembly (203) arranged on the sliding part (202), a bottom supporting part (204) arranged at the bottom of the lifting support (201), and a first driving part (205) driving the sliding part (202) to move up and down, wherein a vertical limiting groove (201d) is formed in the lifting support (201), and a limiting support column (202g) matched with the limiting groove (201d) is arranged on the sliding part (202);
the clamping pushing assembly (203) comprises a mechanical arm (203a) matched with the sliding piece (202), a pushing piece (203b) arranged on the mechanical arm (203a), and a second driving piece (203c) matched with the mechanical arm (203 a).
2. An automated handling industrial robot according to claim 1, wherein: the bottom support piece (204) comprises a first connecting rod (204a) fixed to the bottom of the sliding piece (202), a second connecting rod (204b) arranged below the first connecting rod (204a), a first threaded rod (204c) with one end matched with the second connecting rod (204b) in a rotating mode, a third driving piece (204d) driving the first threaded rod (204c) to rotate, a first telescopic piece (204e) fixedly connected with the second connecting rod (204b), and an L-shaped supporting plate (204f) connected with the first telescopic piece (204e), wherein the first threaded rod (204c) is matched with the first connecting rod (204a) in a threaded mode.
3. An automated handling industrial robot according to claim 2, wherein: the third driving part (204d) comprises a first worm wheel (204d-1) arranged on the first threaded rod (204c), a first worm (204d-2) matched with the first worm wheel (204d-1), and a third motor (204d-3) driving the first worm (204d-2) to rotate, the second connecting rod (204b) is a hollow rod, and the first worm (204d-2) and the first worm wheel (204d-1) are arranged in the second connecting rod (204 b).
4. An automated handling industrial robot according to claim 3, wherein: the first telescopic piece (204e) comprises a first fixed frame (204e-1) fixedly connected with the second connecting rod (204b), a second fixed frame (204e-2) in sliding fit with the first fixed frame (204e-1), and a first telescopic rod (204e-3) which is arranged in the first fixed frame (204e-1) and drives the second fixed frame (204e-2) to stretch, wherein the L-shaped supporting plate (204f) is connected to the second fixed frame (204 e-2).
5. An automated handling industrial robot according to any of claims 1, 2 or 4, characterized in that: be provided with on lifting support (201) with second gyro wheel (201a) of fixed bolster (206) medial surface laminating, and with first restriction lever (201b) of fixed bolster (206) side laminating, second gyro wheel (201a) with first restriction lever (201b) set up in the bottom of lifting support (201), fixed bolster (206) top be provided with second restriction lever (206a) of lifting support (201) side laminating.
6. An automated handling industrial robot according to claim 5, wherein: the sliding part (202) further comprises a sliding rod (202b), the mechanical arm (203a) is in sliding fit with the sliding rod (202b), the second driving part (203c) comprises a fixed rod (203c-1) connected to the sliding part (202), a second threaded rod (203c-2) in rotating fit with the fixed rod (203c-1), and a second motor (203c-3) driving the second threaded rod (203c-2) to rotate, two threads with opposite rotation directions are arranged on the second threaded rod (203c-2), and the two mechanical arms (203a) are respectively in sliding fit with the two threads with opposite rotation directions.
7. An automated handling industrial robot according to claim 6, wherein: a first groove (202b-1) is formed in the side face of the sliding rod (202b), and a first boss (203a-1) matched with the first groove (202b-1) is formed in the mechanical arm (203 a).
8. An automated handling industrial robot according to claim 6 or 7, characterized in that: the mechanical arm (203a) comprises an inclined arm (203a-2) matched with the sliding rod (202b), a horizontal arm (203a-3) connected with the end part of the inclined arm (203a-2), an L-shaped pull arm (203a-4) matched with the horizontal arm (203a-3) in a sliding mode, and a fourth telescopic rod (203a-5) arranged in the horizontal arm (203a-3) and driving the L-shaped pull arm (203a-4) to stretch and retract.
9. An automated handling industrial robot according to claim 8, wherein: the pushing piece (203b) comprises a hinge rod (203b-1) hinged to the side face of the inclined arm (203a-2), a fifth telescopic rod (203b-2) matched with the hinge rod (203b-1), a sliding block (203b-3) in sliding fit with the hinge rod (203b-1), an L-shaped pressing plate (203b-4) connected with the sliding block (203b-3), and a sixth telescopic rod (203b-5) fixed on the hinge rod (203b-1) and driving the sliding block (203b-3) to stretch, the bottom of the fifth telescopic rod (203b-2) is hinged to the inclined arm (203a-2), and the stretching end of the fifth telescopic rod is hinged to the hinge rod (203 b-1).
10. An automated handling industrial robot according to any of claims 6, 7 or 9, characterized in that: the first driving piece (205) comprises a first motor (205a) fixed on the supporting base (101), a chain (205b) matched with the first motor (205a), and a first gear (205c) fixed at the top end of the lifting support (201) and matched with the chain (205b), and the sliding piece (202) is fixedly connected with the chain (205 b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110734922.5A CN113334346B (en) | 2021-06-30 | 2021-06-30 | Automatic change transport industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110734922.5A CN113334346B (en) | 2021-06-30 | 2021-06-30 | Automatic change transport industrial robot |
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| Publication Number | Publication Date |
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| CN113334346A true CN113334346A (en) | 2021-09-03 |
| CN113334346B CN113334346B (en) | 2022-04-01 |
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| CN202110734922.5A Active CN113334346B (en) | 2021-06-30 | 2021-06-30 | Automatic change transport industrial robot |
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| WO2012114003A1 (en) * | 2011-02-25 | 2012-08-30 | Rotobloc-Psp Sarl | Device for moving a load around by pushing and pulling and handling vehicle equipped with such a device |
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| CN113334346B (en) | 2022-04-01 |
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