CN113602822A - Industrial robot suitable for workshop - Google Patents

Industrial robot suitable for workshop Download PDF

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Publication number
CN113602822A
CN113602822A CN202110950214.5A CN202110950214A CN113602822A CN 113602822 A CN113602822 A CN 113602822A CN 202110950214 A CN202110950214 A CN 202110950214A CN 113602822 A CN113602822 A CN 113602822A
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CN
China
Prior art keywords
cantilever
product
industrial robot
worm
telescopic
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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.)
Pending
Application number
CN202110950214.5A
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Chinese (zh)
Inventor
周军辙
姚艳华
伍安全
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Sida Intelligent Equipment Co ltd
Original Assignee
Anhui Sida Intelligent Equipment Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Anhui Sida Intelligent Equipment Co ltd filed Critical Anhui Sida Intelligent Equipment Co ltd
Priority to CN202110950214.5A priority Critical patent/CN113602822A/en
Publication of CN113602822A publication Critical patent/CN113602822A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/32Stacking of articles characterised by stacking during transit

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an industrial robot suitable for a production workshop, and relates to the technical field of robots. According to the invention, through the matching of the first cantilever, the second cantilever and the third cantilever, when a product to be stacked moves to the position of the telescopic goods pushing assembly at the second cantilever, the telescopic goods pushing assemblies at two sides are simultaneously driven to clamp the product, when the latter product moves to the telescopic goods pushing assembly at the first cantilever, the telescopic goods pushing assemblies at two sides are simultaneously driven to clamp the product, then the second rotating motor is driven to overturn the product to the upper part of the latter product, and the telescopic goods pushing assembly on the second cantilever is driven to contract, so that the product stacking is finally realized, and the combined packaging or stacking of the subsequent product is facilitated.

Description

Industrial robot suitable for workshop
Technical Field
The invention relates to the technical field of robots, in particular to an industrial robot suitable for a production workshop.
Background
Along with the development of industrial production, production equipment is also diversified, the requirement of a production line is higher and higher, equipment on an ordinary production line cannot meet the requirement of the existing automatic production, more human resources are consumed, and production time and manpower and material resources are wasted. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. In the prior art, during the industrial transportation process, the condition that products are stacked for combined transportation is sometimes encountered, so that the products are subsequently combined for packaging or stacking.
Disclosure of Invention
The object of the present invention is to solve the above problems and to provide an industrial robot suitable for use in a production workshop.
In order to achieve the purpose, the invention adopts the following technical scheme:
an industrial robot suitable for a production workshop comprises two symmetrically arranged conveying frames, wherein a plurality of conveying rollers are arranged between the two conveying frames, one side of the conveying frame close to the outside is connected with a sliding block in a sliding mode, the sliding block is connected with a screw in a threaded mode, and a speed reduction motor for driving the screw to rotate is arranged on the conveying frames;
the slider is provided with a set of cantilevers for vertically stacking a product above a subsequent product.
Optionally, the boom set comprises a bracket, a first boom, a second boom, and a third boom;
the sliding block is fixedly connected with a support, the support is in shaft connection with a first cantilever, and a first rotating motor for driving the first cantilever to rotate is mounted on the support;
one end of the first cantilever, which is far away from the bracket, is connected with a second cantilever through a shaft, and a second rotating motor for driving the second cantilever to rotate is mounted on the first cantilever;
a telescopic driving mechanism is arranged on the second cantilever, and the output end of the telescopic driving mechanism is connected with a third cantilever;
and the second cantilever and the third cantilever are both provided with telescopic pushing assemblies.
Optionally, the telescopic driving mechanism comprises an air cylinder, the air cylinder is mounted on the second cantilever, and a piston rod of the air cylinder is fixedly connected with the third cantilever.
Optionally, the telescopic goods pushing assembly comprises a servo motor, a self-locking transmission mechanism, a ball nut, a ball screw and a pushing block;
the servo motor is connected with the ball nut through the self-locking transmission mechanism to rotate and is self-locked after being stopped;
the ball nut is in threaded connection with the ball screw, and the ball screw is fixedly connected with the push block.
Optionally, the self-locking transmission mechanism comprises a worm and a worm wheel;
the worm is meshed with the worm wheel, the worm is fixedly connected with an output shaft of the servo motor, and the worm wheel is in key connection with the outer surface of the ball nut.
Optionally, the output shaft of the servo motor is fixedly connected with the worm through a coupling.
The invention has the following advantages:
according to the invention, through the matching of the first cantilever, the second cantilever and the third cantilever, when a product to be stacked moves to the position of the telescopic goods pushing assembly at the second cantilever, the telescopic goods pushing assemblies at two sides are simultaneously driven to clamp the product, when the latter product moves to the telescopic goods pushing assembly at the first cantilever, the telescopic goods pushing assemblies at two sides are simultaneously driven to clamp the product, then the second rotating motor is driven to overturn the product to the upper part of the latter product, and the telescopic goods pushing assembly on the second cantilever is driven to contract, so that the product stacking is finally realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a left side view of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic view of the retractable pushing assembly of the present invention;
fig. 4 is a schematic diagram of the movement of the present invention.
In the figure: the device comprises a conveying frame 1, a screw rod 2, a sliding block 3, a support 4, a first cantilever 5, a first rotating motor 6, a second rotating motor 7, a second cantilever 8, a cylinder 9, a third cantilever 10, a telescopic goods pushing assembly 11, a servo motor 111, a worm 112, a worm wheel 113, a ball nut 114, a ball screw 115, a push block 116 and a speed reducing motor 12.
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.
Referring to fig. 1-4, an industrial robot suitable for workshop, including two symmetrical carriage 1 that set up, be provided with a plurality of conveying cylinder jointly between two carriage 1, can pass through modes transmission such as gear or belt pulley between the conveying cylinder to it rotates through driving motor drive, thereby realizes the delivery function.
One side of the conveying frame 1 close to the outside is connected with a sliding block 3 in a sliding mode, the sliding block 3 is connected with a screw rod 2 in a threaded mode, and a speed reduction motor 12 for driving the screw rod 2 to rotate is installed on the conveying frame 1.
Referring to fig. 1 and 2, a suspension arm group for vertically stacking a product above a subsequent product is disposed on the slider 3, and the suspension arm group includes a bracket 4, a first suspension arm 5, a second suspension arm 8 and a third suspension arm 10, as follows:
fixedly connected with support 4 on the slider 3, the first cantilever 5 of upper shaft coupling of support 4, install on the support 4 and be used for driving the rotatory first rotating electrical machines 6 of first cantilever 5. The first suspension arm 5 adopts a plate-like structure.
And one end shaft of the first cantilever 5, which is far away from the support 4, is connected with a second cantilever 8, and a second rotating motor 7 for driving the second cantilever 8 to rotate is installed on the first cantilever 5. The second cantilever 8 adopts an L-shaped plate-like structure.
In the present embodiment, a reduction motor having a self-locking function may be used for each of the first rotating electric machine 6 and the second rotating electric machine 7.
A telescopic driving mechanism is arranged on the second cantilever 8, and the output end of the telescopic driving mechanism is connected with a third cantilever 10. The third cantilever 10 adopts an L-shaped plate-like structure.
The telescopic driving mechanism comprises a cylinder 9, the cylinder 9 is installed on the second cantilever 8, and a piston rod of the cylinder 9 is fixedly connected with the third cantilever 10. The piston rod of the air cylinder 9 pushes the third suspension arm 10 to move closer to or away from the second suspension arm 8, so that the overall length of the second suspension arm 8 and the third suspension arm 10 can be changed, and in this embodiment, the second suspension arm 8 and the third suspension arm 10 can be regarded as being integrated.
Referring to fig. 3, the second cantilever 8 and the third cantilever 10 are both provided with a telescopic pushing assembly 11, and the telescopic pushing assembly 11 includes a servo motor 111, a self-locking transmission mechanism, a ball nut 114, a ball screw 115 and a pushing block 116, as follows:
the servo motor 111 is connected with the ball nut 114 through a self-locking transmission mechanism to rotate and is self-locked after stopping, and the servo motor 111 is respectively arranged on the first cantilever 5 and the second cantilever 8. In this embodiment, the self-locking transmission mechanism includes a worm 112 and a worm wheel 113, which are as follows:
the worm 112 is meshed with the worm wheel 113, the worm 112 is fixedly connected with an output shaft of the servo motor 111, the worm wheel 113 is in key connection with the outer surface of the ball nut 114, one end, far away from the servo motor 111, of the worm 112 is connected with a bearing seat, and the bearing seats are respectively installed on the first cantilever 5 and the second cantilever 8. In this embodiment, the deployment helix angle of the worm is smaller than the friction angle of the worm gear and worm contact, so that the worm gear and worm can practice the self-locking function.
In this embodiment, the output shaft of the servo motor 111 is fixedly connected with the worm 112 through a coupling, and the coupling is convenient to mount and dismount.
The ball nut 114 is in threaded connection with the ball screw 115, the ball screw 115 is fixedly connected with the push block 116, and the ball nut 114 is respectively connected to the first cantilever 5 and the second cantilever 8 in a rotating manner. The rotation of the ball nut 114 can drive the axis of the ball screw 115 to move, and finally drive the axial displacement of the push block 116.
Referring to fig. 4, when a product is slowly transported on the transport roller and needs to be vertically stacked above a subsequent product, the reduction motors 12 on both sides are firstly synchronously turned on, the reduction motors 12 drive the screw rods 2 to rotate, and the screw rods 2 drive the slide blocks 3 in threaded connection with the screw rods 2 to horizontally displace until the slide blocks 3 on both sides move to the front of the product to be exchanged and stop.
Then drive first rotating electrical machines 6, first rotating electrical machines 6 drive first cantilever 5 and rotate, until the flexible goods subassembly 11 that pushes away on first cantilever 5 is located the position of half the height of product, then drive second rotating electrical machines 7, make second cantilever 8 be located the position of half the height of product equally.
When waiting the product of needs pile to move the flexible goods subassembly 11 position that pushes away of 8 departments of second cantilever, the flexible goods subassembly 11 that pushes away of drive both sides simultaneously presss from both sides tightly the product, when waiting the flexible goods subassembly 11 that pushes away of later product motion to 5 departments of first cantilever, the flexible goods subassembly 11 that pushes away of drive both sides simultaneously presss from both sides tightly the product, drive second rotating electrical machines 7 after that with the top of product upset to later product, and the flexible goods subassembly 11 shrink that pushes away on the drive second cantilever 8, finally realize the pile of product.
The above description is only a preferred embodiment of the present invention, and not intended to be exhaustive or to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims (6)

1. An industrial robot suitable for a production workshop comprises two symmetrically arranged conveying frames (1), wherein a plurality of conveying rollers are arranged between the two conveying frames (1) together, and is characterized in that one side of the conveying frames (1) close to the outside is connected with a sliding block (3) in a sliding mode, the sliding block (3) is connected with a screw rod (2) in a threaded mode, and a speed reduction motor (12) for driving the screw rod (2) to rotate is mounted on the conveying frames (1);
the sliding block (3) is provided with a cantilever group used for vertically stacking the product above the next product.
2. An industrial robot adapted for use in a production plant according to claim 1, characterised in that said set of booms comprises a holder (4), a first boom (5), a second boom (8) and a third boom (10);
a bracket (4) is fixedly connected to the sliding block (3), a first cantilever (5) is axially connected to the bracket (4), and a first rotating motor (6) for driving the first cantilever (5) to rotate is mounted on the bracket (4);
one end of the first cantilever (5) far away from the support (4) is connected with a second cantilever (8) in a shaft mode, and a second rotating motor (7) used for driving the second cantilever (8) to rotate is installed on the first cantilever (5);
a telescopic driving mechanism is arranged on the second cantilever (8), and the output end of the telescopic driving mechanism is connected with a third cantilever (10);
and the second cantilever (8) and the third cantilever (10) are both provided with a telescopic pushing assembly (11).
3. An industrial robot adapted for use in a production workshop according to claim 2, characterised in that the telescopic drive comprises a cylinder (9), which cylinder (9) is mounted on the second boom (8), and that the piston rod of the cylinder (9) is fixedly connected to the third boom (10).
4. An industrial robot adapted for a production workshop according to claim 2, characterized in that the telescopic pushing assembly (11) comprises a servo motor (111), a self-locking transmission mechanism, a ball nut (114), a ball screw (115) and a pushing block (116);
the servo motor (111) is connected with the ball nut (114) through a self-locking transmission mechanism to rotate and is self-locked after stopping;
the ball nut (114) is in threaded connection with a ball screw (115), and the ball screw (115) is fixedly connected with the push block (116).
5. An industrial robot adapted for use in a production plant according to claim 4, characterised in that said self-locking transmission comprises a worm (112) and a worm wheel (113);
the worm (112) is meshed with a worm wheel (113), the worm (112) is fixedly connected with an output shaft of the servo motor (111), and the worm wheel (113) is in key connection with the outer surface of the ball nut (114).
6. An industrial robot adapted for use in a production workshop according to claim 4, characterized in that the output shaft of the servo motor (111) is fixedly connected with the worm (112) by means of a coupling.
CN202110950214.5A 2021-08-18 2021-08-18 Industrial robot suitable for workshop Pending CN113602822A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110950214.5A CN113602822A (en) 2021-08-18 2021-08-18 Industrial robot suitable for workshop

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110950214.5A CN113602822A (en) 2021-08-18 2021-08-18 Industrial robot suitable for workshop

Publications (1)

Publication Number Publication Date
CN113602822A true CN113602822A (en) 2021-11-05

Family

ID=78308974

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110950214.5A Pending CN113602822A (en) 2021-08-18 2021-08-18 Industrial robot suitable for workshop

Country Status (1)

Country Link
CN (1) CN113602822A (en)

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1437314A1 (en) * 2003-01-08 2004-07-14 Studio Tecnico Commerciale Morelli & C. S.a.s. Method and apparatus for automatic palletizing of objects
CN101746607A (en) * 2009-12-30 2010-06-23 邮政科学研究规划院 Stacking and unstacking conveying device and method for palletizing and storing postal container boxes
CN203345570U (en) * 2013-06-28 2013-12-18 东莞市西格玛自动化科技有限公司 Automatic stacking machine
CN203382231U (en) * 2013-05-31 2014-01-08 东莞市拓斯普达机械科技有限公司 Modified stacker
CN203728214U (en) * 2013-12-23 2014-07-23 嘉兴市同信机电科技有限公司 Automatic stacking and blank arranging machine for magnetic elements
CN203765612U (en) * 2013-12-31 2014-08-13 安徽大巨工业机器人制造有限公司 Robot palletizer single drive rotation gripper
CN109927010A (en) * 2019-03-20 2019-06-25 江西理工大学南昌校区 A kind of industrial robot based on AGV
CN210619575U (en) * 2019-07-17 2020-05-26 江苏澳兰德新材料科技有限公司 Novel composite material that can arrange automatically piles up device
CN210914416U (en) * 2019-05-23 2020-07-03 余姚市朗坤自动化设备有限公司 Automatic put pile assembly line
CN210973038U (en) * 2019-09-29 2020-07-10 昆山艾诺华电子材料科技有限公司 Rubber product storage stacking machine
CN211225526U (en) * 2019-10-21 2020-08-11 嘉兴市美畅工程科技有限公司 Prefab pile up neatly equipment
CN211812353U (en) * 2019-12-11 2020-10-30 深圳市领略数控设备有限公司 Linear stacking device
CN212075664U (en) * 2020-01-21 2020-12-04 广州储景科技有限公司 Bagged goods stacking device
CN212531447U (en) * 2020-09-27 2021-02-12 南京金东亚办公设备有限公司 Automatic change panel pile up neatly device
CN213678914U (en) * 2020-10-30 2021-07-13 陕西太兴新能源建材有限公司 Coal gangue permeable brick production is with sign indicating number base device

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1437314A1 (en) * 2003-01-08 2004-07-14 Studio Tecnico Commerciale Morelli & C. S.a.s. Method and apparatus for automatic palletizing of objects
CN101746607A (en) * 2009-12-30 2010-06-23 邮政科学研究规划院 Stacking and unstacking conveying device and method for palletizing and storing postal container boxes
CN203382231U (en) * 2013-05-31 2014-01-08 东莞市拓斯普达机械科技有限公司 Modified stacker
CN203345570U (en) * 2013-06-28 2013-12-18 东莞市西格玛自动化科技有限公司 Automatic stacking machine
CN203728214U (en) * 2013-12-23 2014-07-23 嘉兴市同信机电科技有限公司 Automatic stacking and blank arranging machine for magnetic elements
CN203765612U (en) * 2013-12-31 2014-08-13 安徽大巨工业机器人制造有限公司 Robot palletizer single drive rotation gripper
CN109927010A (en) * 2019-03-20 2019-06-25 江西理工大学南昌校区 A kind of industrial robot based on AGV
CN210914416U (en) * 2019-05-23 2020-07-03 余姚市朗坤自动化设备有限公司 Automatic put pile assembly line
CN210619575U (en) * 2019-07-17 2020-05-26 江苏澳兰德新材料科技有限公司 Novel composite material that can arrange automatically piles up device
CN210973038U (en) * 2019-09-29 2020-07-10 昆山艾诺华电子材料科技有限公司 Rubber product storage stacking machine
CN211225526U (en) * 2019-10-21 2020-08-11 嘉兴市美畅工程科技有限公司 Prefab pile up neatly equipment
CN211812353U (en) * 2019-12-11 2020-10-30 深圳市领略数控设备有限公司 Linear stacking device
CN212075664U (en) * 2020-01-21 2020-12-04 广州储景科技有限公司 Bagged goods stacking device
CN212531447U (en) * 2020-09-27 2021-02-12 南京金东亚办公设备有限公司 Automatic change panel pile up neatly device
CN213678914U (en) * 2020-10-30 2021-07-13 陕西太兴新能源建材有限公司 Coal gangue permeable brick production is with sign indicating number base device

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Application publication date: 20211105