CN114516059B - Automatic change robot - Google Patents
Automatic change robot Download PDFInfo
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- CN114516059B CN114516059B CN202210362868.0A CN202210362868A CN114516059B CN 114516059 B CN114516059 B CN 114516059B CN 202210362868 A CN202210362868 A CN 202210362868A CN 114516059 B CN114516059 B CN 114516059B
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- lifting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic robot, which belongs to the technical field of robots and comprises a placing table, wherein a rotating motor is fixedly arranged on the lower surface of the placing table through a fixed box, and a fixed disc is fixedly arranged on the upper surface of the placing table; according to the invention, the threaded sleeve is provided with the lubricating component, the threaded column extrudes the lifting plate while the threaded sleeve ascends, then the connecting rod drives the extrusion plate to extrude the oil bag, so that lubricating oil in the oil bag flows into a gap of threads through the oil pipe, a lubricating effect is achieved on the threaded column and the threaded sleeve, when the threaded column moves upwards, the lifting plate is restored to the original position by the extrusion spring, meanwhile, redundant lubricating oil flows back into the oil bag through the pipeline, and as the one-way valve is fixedly arranged in the pipeline, when the oil bag is extruded, the lubricating oil does not flow out of the pipeline, friction force between parts is reduced, meanwhile, temperature generated due to friction can be reduced, damage to the parts is avoided, and service life of the device is prolonged.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an automatic robot.
Background
The manipulator is a certain function imitating the hand and arm parts of a person, the grabbing, carrying or operating tool of an object is realized through a fixed program, the structure and the performance of the manipulator have the advantages of a person and a manipulator machine, the manipulator is an industrial robot at the earliest, and the manipulator can replace the heavy labor of the person, so that the mechanization and the automation of the production are realized.
Friction is generated among parts of the manipulator when the manipulator is used, if parts which can not timely generate friction are lubricated, the parts can be seriously damaged after long-time use, so that certain loss is caused, most of the current manipulators are controlled by a computer when the manipulator clamps objects, and if the computer has problems, clamping actions can not be realized, for example, an industrial robot of CN 113771025a in the prior art, which relates to safety control, comprises a base, a mechanical arm and joints, and connects two adjacent mechanical arm parts, wherein the joints comprise a transmission device; the first detection module comprises a motor encoder arranged on the input side of the transmission device and is used for detecting at least one of joint position, speed and moment; the second detection module is a motor Hall sensor arranged on the input side of the transmission device and used for detecting at least one of joint position, joint speed and joint moment; the control module is used for controlling the robot to execute the safety action when the difference value between the first safety information and the second safety information is larger than a preset value; other patent technologies such as CN208323387U are electro-hydraulic hybrid driving industrial robot structures, including waist rotary joints, large arm rotary joints, forearm rotary joints, small arm rotary joints, claws and hydraulic oil tanks, and belong to the technical field of intelligent manufacturing. The rotary joint is driven by a motor to drive the whole mechanical arm to rotate, the big arm is driven by 2 hydraulic cylinders to realize lifting and descending of the big arm, and when the front arm lifting hydraulic cylinder stretches and shortens, the front arm and the mechanical arm connected with the front arm do lifting and descending movements; when the forearm rotary hydraulic cylinder is lengthened or shortened, the forearm and the paw connected with the forearm can swing back and forth, and when the hydraulic rod of the claw hydraulic cylinder is lengthened or shortened, the expansion and retraction of the claw arm can be realized under the cooperation of the bearing and the claw connecting rod arranged in the claw arm positioning hole, and the photoelectric encoder and the displacement sensor provide feedback information for the system.
Therefore, in the existing solutions, a precise photoelectric encoder and a displacement sensor are required to be arranged, and position feedback and control action adjustment are performed according to feedback information of the sensor, so that the whole cost is high and the reliability is low, and an automatic robot is provided for the purposes.
Disclosure of Invention
The invention aims at: in order to solve the problems, the invention provides the automatic robot, which does not need to be provided with an accurate electronic device or a complex control program of a proximity switch sensor, can realize automatic clamping and unloading of objects and automatic lubrication, reduces the design cost and greatly improves the working reliability of the transfer robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the automatic robot comprises a placing table, wherein a rotating motor is fixedly arranged on the lower surface of the placing table through a fixing box, and a fixing disc is fixedly arranged on the upper surface of the placing table.
As a further description of the above technical solution:
the upper surface movable mounting of fixed disk has the rolling disc, the output of rotating motor passes through pivot and the lower surface swing joint of rolling disc, the upper surface fixed mounting of rolling disc has the connecting plate, the lateral wall of connecting plate passes through bolt fixed mounting has vertical spliced pole, the other end fixed mounting of vertical spliced pole has the linking bridge, fixed mounting has the horizontal spliced pole on the inner wall of linking bridge, there is the fixed plate through bolt fixed mounting on the inner wall of horizontal spliced pole.
As a further description of the above technical solution:
the lifting device is characterized in that a lifting motor is fixedly arranged on the upper surface of the fixed plate, a threaded column is movably arranged at the output end rotating shaft of the lifting motor, a threaded sleeve is movably arranged on the outer wall of the threaded column through threads, the upper surface of the threaded sleeve is fixedly connected with the lower surface of the fixed plate through a telescopic rod, a clamping assembly is arranged on the lower surface of the threaded sleeve, a lubricating assembly is arranged on the inner wall of the threaded sleeve, clamping and loosening actions of an object to be transported are respectively and automatically triggered in the descending material taking and descending material discharging processes of the clamping assembly, and the lubricating assembly mechanically triggers oiling and lubricating of the threaded sleeve and the threaded column during the ascending period after descending material taking.
As a further description of the above technical solution:
the clamping assembly comprises a fixed support, a telescopic spring is fixedly arranged on the inner wall of the fixed support, a lifting rack is fixedly arranged at the other end of the telescopic spring, the other end of the lifting rack extends out of the lower surface of the fixed support, a bidirectional threaded rod is movably arranged on the inner wall of the fixed support, a rotating gear is fixedly arranged on the outer wall of the bidirectional threaded rod, the rotating gear is meshed with the lifting rack, and a clamping groove is formed in the side wall of the lifting rack.
As a further description of the above technical solution:
the outer wall of the bidirectional threaded rod is movably provided with a first clamping plate and a second clamping plate through threads, the inner walls of the first clamping plate and the second clamping plate are respectively and fixedly provided with a first spring rod and a second spring rod, the other ends of the first spring rod and the second spring rod are respectively and fixedly provided with a first movable plate and a second movable plate, the first movable plate extends out of the side wall of the first clamping plate, and the second movable plate extends out of the side wall of the second clamping plate.
As a further description of the above technical solution:
the utility model discloses a lifting rack, including fixed bolster, a fixed bolster, the fixed bolster is last fixed mounting, the upper surface of second grip block is through stopper movable grafting installation has an embedding horizontal pole, and wherein this stopper top equidistant is equipped with a plurality of jacks, and a plurality of the jack arrangement direction is on a parallel with the axis direction of two-way threaded rod corresponds this jack, is provided with one at the bottom of embedding horizontal pole body of rod and inserts the arch, the lower surface of embedding horizontal pole and the upper surface swing joint of baffle, the lateral wall of embedding horizontal pole is through the inner wall fixed connection of keeping away from lifting rack one side of connecting spring and fixed bolster, the lower surface of baffle is provided with spacing subassembly.
As a further description of the above technical solution:
the lubricating assembly comprises an oil bag, wherein the lower surface of the oil bag is fixedly connected with the inner wall of the bottom surface of a shell cavity of the threaded sleeve, an oil pipe is fixedly installed on the side wall of the oil bag, the other end of the oil pipe is fixedly connected with the inner wall of the threaded sleeve, a liquid adding pipe is fixedly installed on the outer wall of the oil bag, and one end of the liquid adding pipe extends out of the side wall of the threaded sleeve.
As a further description of the above technical solution:
the extrusion device is characterized in that an extrusion spring is fixedly installed on the inner wall of the bottom surface of the threaded sleeve, a lifting plate is fixedly installed at the other end of the extrusion spring, a connecting rod is fixedly installed on the lower surface of the lifting plate, the other end of the connecting rod extends to the inner wall of a shell cavity of the threaded sleeve, an extrusion plate is fixedly installed at the other end of the connecting rod, the lower surface of the extrusion plate is fixedly connected with the upper surface of an oil bag, a pipeline is fixedly installed on the upper surface of the oil bag, and the pipeline extends to the upper surface of the lifting plate.
As a further description of the above technical solution:
the limiting assembly comprises an extension spring, one end of the extension spring is fixedly connected with the lower surface of the partition board, the other end of the extension spring is fixedly provided with a movable rack, the other end of the movable rack extends out of the lower surface of the fixed support, a movable gear is movably mounted on the inner wall of the fixed support through a rotating shaft, a limiting rack is movably mounted on the inner wall of the fixed support through a clamping rod, and the movable rack and the limiting rack are all in meshed connection with the movable gear.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the invention, an accurate electronic device is not required to be equipped, and a complex control program of a proximity switch sensor is not required to be equipped, so that automatic clamping, unloading and automatic lubrication of objects can be realized, the design cost is reduced, and meanwhile, the working reliability of the transfer robot is greatly improved.
2. According to the invention, the threaded sleeve is provided with the lubricating component, the threaded column extrudes the lifting plate while the threaded sleeve ascends, then the connecting rod drives the extrusion plate to extrude the oil bag, so that lubricating oil in the oil bag flows into a gap of threads through the oil pipe, a lubricating effect is achieved on the threaded column and the threaded sleeve, when the threaded column moves upwards, the lifting plate is restored to the original position by the extrusion spring, meanwhile, redundant lubricating oil flows back into the oil bag through the pipeline, and as the one-way valve is fixedly arranged in the pipeline, when the oil bag is extruded, the lubricating oil does not flow out of the pipeline, friction force between parts is reduced, meanwhile, temperature generated due to friction can be reduced, damage to the parts is avoided, and service life of the device is prolonged.
3. According to the invention, the lifting rack is meshed with the rotating gear, so that the bidirectional threaded rod is driven to rotate through the rotating gear, the word sense drives the first clamping plate and the second clamping plate to move relatively through threads, so that the article is clamped through the first movable plate and the second movable plate, meanwhile, when the second clamping plate and the lifting rack move to a certain position, the second clamping plate drives the embedded cross rod to be inserted into the clamping groove of the lifting rack, meanwhile, the limiting rack is inserted into the slotted hole in the embedded cross rod through the limiting assembly, the lifting rack is fixed, the bidirectional threaded rod is fixed, then the lifting motor and the threaded column drive the threaded sleeve to move upwards, the clamping assembly drives the article to ascend, and the clamping function is realized through a mechanical structure, so that when an electric part is damaged, the device cannot be used, and a certain influence is caused on production.
4. According to the invention, the limiting assembly is arranged, when the limiting assembly moves to a position where the limiting assembly is required to be placed, the lifting motor puts down an article, then the lifting motor descends the clamping assembly more than the distance during clamping, at the moment, the first movable plate and the second movable plate can be kept still due to the first spring rod and the second spring rod, the fixed support descends, when the fixed support moves to a certain position, the movable rack can be extruded by the upper surface of the article, at the moment, the limiting rack is driven to move downwards through the movable gear, when the limiting rack is separated from the slot hole of the embedded cross rod, the connecting spring can pull the embedded cross rod backwards, so that the embedded cross rod loses the fixation of the lifting rack, at the moment, the telescopic spring can downwards move the lifting rack for a distance, so that the first clamping plate and the second clamping plate lose the clamping of the article, the clamping is abandoned automatically, the working efficiency of the device can be improved, and labor force and time are saved.
5. According to the invention, through the design of the plurality of inserting holes and the embedded cross bars, objects with different sizes can be stably clamped and matched.
Drawings
Fig. 1 is a schematic perspective view of an automated robot.
Fig. 2 is a front view of a placement table in an automated robot.
Fig. 3 is a schematic view of the internal structure of a screw cap in an automated robot.
Fig. 4 is a schematic view showing an internal structure of a fixing bracket in an automated robot.
Fig. 5 is an enlarged schematic view of the structure at a in an automated robot.
Fig. 6 is a schematic perspective view of a second clamping plate in an automated robot.
Fig. 7 is a schematic perspective view of a telescopic spring and a lifting rack in an automated robot.
Legend description:
1. a placement table; 2. a fixed plate; 3. a rotating disc; 4. a connecting plate; 5. a vertical connecting column; 6. a connecting bracket; 7. a horizontal connecting column; 8. a lifting motor; 9. a fixing plate; 10. a thread sleeve; 11. a clamping assembly; 111. a fixed bracket; 112. a telescopic spring; 113. lifting the rack; 114. rotating the gear; 115. a partition plate; 116. a two-way threaded rod; 117. a first clamping plate; 118. a first movable plate; 119. a first spring lever; 1110. a second clamping plate; 1111. a second movable plate; 1112. a second spring rod; 1113. embedding a cross bar; 12. a rotating motor; 13. a threaded column; 14. a lubrication assembly; 141. an oil bag; 142. an extrusion plate; 143. a connecting rod; 144. an oil pipe; 145. extruding a spring; 146. a lifting plate; 15. a limit component; 151. a tension spring; 152. a movable rack; 153. a movable gear; 154. and a limiting rack.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the present invention provides a technical solution: an automatic robot comprises a placing table 1, wherein a rotating motor 12 is fixedly arranged on the lower surface of the placing table 1 through a fixing box, and a fixing disc 2 is fixedly arranged on the upper surface of the placing table 1.
The upper surface movable mounting of fixed disk 2 has rolling disc 3, the output of rotating motor 12 is through pivot and rolling disc 3's lower surface swing joint, rolling disc 3's upper surface fixed mounting has connecting plate 4, the lateral wall of connecting plate 4 is through bolt fixed mounting has vertical spliced pole 5, the other end fixed mounting of vertical spliced pole 5 has linking bridge 6, fixed mounting has horizontal spliced pole 7 on linking bridge 6's the inner wall, there is fixed plate 9 through bolt fixed mounting on horizontal spliced pole 7's the inner wall.
The specific examples are: the upper surface of the placing table 1 is placed with articles, and then the vertical connecting column 5 is driven to rotate through the rotating motor 12 and the rotating disc 3, so that the clamping assembly 11 is driven to move through the horizontal connecting column 7. Wherein, the clamping component embedding cross rod 11 is respectively automatically and mechanically triggered to clamp and loosen the object to be transported in the descending material taking and descending material discharging processes, and the lubricating component embedding cross rod 14 is embedded into the cross rod during the ascending period after descending material taking to be in oiling lubrication of the embedding cross rod of the threaded sleeve embedding cross rod 10 and the embedding cross rod of the threaded column embedding cross rod 13.
The upper surface fixed mounting of fixed plate 9 has elevator motor 8, elevator motor 8's output pivot movable mounting has screw thread post 13, screw thread post 13's outer wall has screw thread cover 10 through screw thread movable mounting, screw thread cover 10's upper surface passes through telescopic link and fixed plate 9's lower surface fixed connection, screw thread cover 10's lower surface is provided with clamping assembly 11, be provided with lubrication assembly 14 on the inner wall of screw thread cover 10, lubrication assembly 14 includes oil bag 141, oil bag 141's lower surface and screw thread cover 10's shell cavity bottom surface inner wall fixed connection, oil bag 141's lateral wall is last fixed mounting to have oil pipe 144, oil pipe 144's the other end and screw thread cover 10's inner wall fixed connection, oil bag 141's outer wall is last fixed mounting to have the liquid feeding pipe, and the one end of pipe extends to screw thread cover 10's lateral wall outside, fixed mounting has compression spring 145 on screw thread cover 10's the bottom surface inner wall, the other end fixed mounting of compression spring 145 has elevator plate 143, elevator plate 146's lower surface fixed mounting has the connecting rod, the other end of connecting rod 141 to the upper surface of connecting rod's of the shell cavity bottom surface fixed connection of screw thread cover 10, the connecting rod 142.
The specific examples are: when the clamping assembly 11 is aligned with an article, the threaded column 13 is driven to rotate through the lifting motor 8, the clamping assembly 11 is driven to move downwards through the threaded sleeve 10 due to the fact that the threaded sleeve 10 and the threaded column 13 are in threaded movable connection, the threaded column 13 can squeeze the lifting plate 146 when the threaded sleeve 10 ascends, then the squeeze plate 142 is driven to squeeze the oil bag 141 through the connecting rod 143, lubricating oil in the oil bag 141 flows into a gap of threads through the oil pipe 144, a lubricating effect is achieved on the threaded column 13 and the threaded sleeve 10, when the threaded column 13 moves upwards, the lifting plate 146 is restored to the original position through the squeeze spring 145, meanwhile, redundant lubricating oil can flow back into the oil bag 141 through the pipeline, and due to the fact that the one-way valve is fixedly installed in the pipeline, the lubricating oil cannot flow out of the pipeline when the oil bag 141 is squeezed.
The clamping assembly 11 comprises a fixed bracket 111, a telescopic spring 112 is fixedly arranged on the inner wall of the fixed bracket 111, a lifting rack 113 is fixedly arranged at the other end of the telescopic spring 112, the other end of the lifting rack 113 extends out of the lower surface of the fixed bracket 111, a bidirectional threaded rod 116 is movably arranged on the inner wall of the fixed bracket 111, a rotating gear 114 is fixedly arranged on the outer wall of the bidirectional threaded rod 116, the rotating gear 114 is in meshed connection with the lifting rack 113, a clamping groove is arranged on the side wall of the lifting rack 113, a first clamping plate 117 and a second clamping plate 1110 are movably arranged on the outer wall of the bidirectional threaded rod 116 through threads, a first spring rod 119 and a second spring rod 1112 are respectively and fixedly arranged on the inner walls of the first clamping plate 117 and the second clamping plate 1110, the other ends of the first spring rod 119 and the second spring rod 1112 are respectively and fixedly provided with a first movable plate 118 and a second movable plate 1111, the first movable plate 118 extends out of the side wall of the first clamping plate 117, the second movable plate 1111 extends out of the side wall of the second clamping plate 1110, the inner wall of the fixed bracket 111 is fixedly provided with a partition 115, the inner wall of the fixed bracket embedded cross rod 111 is fixedly provided with a partition embedded cross rod 115 embedded cross rod, the upper surface of the embedded cross rod of the second clamping plate 1110 is movably inserted and connected with an embedded cross rod 1113 embedded cross rod through a limiting block, wherein a plurality of jacks are arranged at equal intervals at the top of the limiting block, the arrangement direction of the jacks is parallel to the axis direction of the embedded cross rod of the bidirectional threaded rod embedded cross rod 116, corresponding to the jacks, the bottom of the embedded cross rod body of the embedded cross rod 1113 is provided with an inserting protrusion, the lower surface of embedded horizontal pole 1113 embedded horizontal pole and the upper surface swing joint of baffle embedded horizontal pole 115 embedded horizontal pole, the lateral wall of embedded horizontal pole 1113 embedded horizontal pole is through connecting spring and fixed bolster embedded horizontal pole 111 embedded inner wall fixed connection of keeping away from lifting rack embedded horizontal pole 113 embedded horizontal pole one side of horizontal pole, the lower surface of baffle embedded horizontal pole 115 embedded horizontal pole is provided with spacing subassembly embedded horizontal pole 15 embedded horizontal pole.
The specific examples are: when the fixed support 111 descends to a certain position, the upper surface of the placing table 1 extrudes the lifting rack 113, and because the lifting rack 113 is meshed with the rotating gear 114, the bidirectional threaded rod 116 is driven to rotate through the rotating gear 114, the word sense drives the first clamping plate 117 and the second clamping plate 1110 to do relative motion through threads, so that the article is clamped through the first movable plate 118 and the second movable plate 1111, meanwhile, when the second clamping plate 1110 and the lifting rack 113 move to a certain position, the second clamping plate 1110 drives the embedded cross rod 1113 to be inserted into a clamping groove of the lifting rack 113, meanwhile, the limiting rack 154 is inserted into a slotted hole in the embedded cross rod 1113 through the limiting assembly 15, the lifting rack 113 is fixed, the bidirectional threaded rod 116 is fixed, and then the threaded sleeve 10 is driven to move upwards through the lifting motor 8 and the threaded column 13, so that the article is driven to ascend through the clamping assembly 11.
The limiting component 15 comprises an extension spring 151, one end of the extension spring 151 is fixedly connected with the lower surface of a partition plate 115, the other end of the extension spring 151 is fixedly provided with a movable rack 152, the other end of the movable rack 152 extends out of the lower surface of the fixed support 111, a movable gear 153 is movably mounted on the inner wall of the fixed support 111 through a rotating shaft, a limiting rack 154 is movably mounted on the inner wall of the fixed support 111 through a clamping rod, and the movable rack 152 and the limiting rack 154 are both in meshed connection with the movable gear 153.
The specific examples are: when the article rises to a certain position, the article is driven to move by the rotating motor 12 and the vertical connecting column 5, when the article is moved to a position needing to be placed, the lifting motor 8 puts down the article, then the lifting motor 8 lowers the clamping assembly 11 a little more than the distance during clamping, at this time, the first movable plate 118 and the second movable plate 1111 can keep still due to the first spring rod 119 and the second spring rod 1112, the fixed support 111 descends, when the fixed support 111 moves to a certain position, the upper surface of the article can squeeze the movable rack 152, at this time, the movable rack 152 can drive the limiting rack 154 to move downwards through the movable gear 153, when the limiting rack 154 is separated from the slotted hole of the embedding cross rod 1113, the connecting spring can pull the embedding cross rod 1113 backwards, the embedding cross rod 1113 loses the fixing of the lifting rack 113, at this time, the telescopic spring 112 can move the lifting rack 113 downwards a distance, and the first clamping plate 117 and the second clamping plate 1110 lose the clamping of the article.
When the carrying operation is required in the operation area, the upper surface of the placing table 1 is placed with articles, then the inserting position of the protrusion embedded in the bottom of the cross rod 1113 in the inserting hole is adjusted according to the approximate size of the articles, the larger the size of the articles is, the protrusion is inserted into the inserting hole closer to the lifting rack 113 side, then the vertical connecting column 5 is driven to rotate through the rotating motor 12 and the rotating disc 3, the clamping assembly 11 is driven to move through the horizontal connecting column 7, when the clamping assembly 11 is aligned with the articles, the threaded column 13 is driven to rotate through the lifting motor 8, the clamping assembly 11 is driven to move downwards through the threaded sleeve 10 because the threaded sleeve 10 and the threaded column 13 are movably connected through threads and the top of the threaded sleeve is limited by the movement freedom direction of the telescopic rod, the upper surface of the placing table 1 extrudes the lifting rack 113 upwards, and the lifting rack 113 is meshed with the rotating gear 114, so that the bidirectional threaded rod 116 is driven to rotate by the rotating gear 114, the first clamping plate 117 and the second clamping plate 1110 are driven to move relatively close to each other by threads, so that the first movable plate 118 and the second movable plate 1111 clamp an article, and simultaneously when the second clamping plate 1110 and the lifting rack 113 move to a certain position, the second clamping plate 1110 drives the embedded cross rod 1113 to be inserted into a clamping groove of the lifting rack 113, and meanwhile, the limiting rack 154 is inserted into a slot hole in the embedded cross rod 1113 by the limiting component 15, the lifting rack 113 is fixed, so that the bidirectional threaded rod 116 is fixed, and then the lifting motor 8 and the threaded column 13 drive the threaded sleeve 10 to move upwards, so that the clamping component 11 drives the article to lift, when the screw sleeve 10 ascends, the screw column 13 extrudes the lifting plate 146, then the extrusion plate 142 is driven by the connecting rod 143 to extrude the oil bag 141, so that lubricating oil in the oil bag 141 flows into a gap of screw threads through the oil pipe 144 to lubricate the screw column 13 and the screw sleeve 10, when the screw column 13 moves upwards, the extrusion spring 145 can restore the lifting plate 146 to the original position, meanwhile, redundant lubricating oil can flow back into the oil bag 141 through a pipeline, and as the one-way valve is fixedly arranged in the pipeline, when the oil bag 141 is extruded, lubricating oil can not flow out from the pipeline, when an article ascends to a certain position, the article is driven by the rotating motor 12 and the vertical connecting column 5 to move, when the article moves to a position needing to be placed, the lifting motor 8 puts down the article, then the lifting motor 8 descends the clamping assembly 11 more than the distance during clamping, at this time, the first movable plate 118 and the second movable plate 1111 can keep still due to the first spring rod 119 and the second spring rod 1112, the fixed support 111 descends, when the fixed support 111 moves to a certain position, the upper surface of the article can squeeze the movable rack 152, at this time, the movable rack 152 can drive the limit rack 154 to displace downwards through the movable gear 153, when the limit rack 154 breaks away from the slot hole of the embedding cross rod 1113, the connecting spring can pull the embedding cross rod 1113 backwards to enable the embedding cross rod 1113 to lose the fixing of the lifting rack 113, at this time, the telescopic spring 112 can move the lifting rack 113 downwards for a distance to enable the first clamping plate 117 and the second clamping plate 1110 to lose the clamping of the article.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. An automated robot comprising a placement table (1), characterized in that: the lower surface of the placing table (1) is fixedly provided with a rotating motor (12) through a fixed box, the upper surface of the placing table (1) is fixedly provided with a fixed disc (2), the upper surface of the fixed disc (2) is movably provided with a rotating disc (3), the output end of the rotating motor (12) is movably connected with the lower surface of the rotating disc (3) through a rotating shaft, the upper surface of the rotating disc (3) is fixedly provided with a connecting plate (4), the side wall of the connecting plate (4) is fixedly provided with a vertical connecting column (5) through a bolt, the other end of the vertical connecting column (5) is fixedly provided with a connecting bracket (6), the inner wall of the connecting bracket (6) is fixedly provided with a horizontal connecting column (7), and the inner wall of the horizontal connecting column (7) is fixedly provided with a fixed plate (9) through a bolt;
the lifting device is characterized in that a lifting motor (8) is fixedly arranged on the upper surface of the fixed plate (9), a threaded column (13) is movably arranged at the output end rotating shaft of the lifting motor (8), a threaded sleeve (10) is movably arranged on the outer wall of the threaded column (13) through threads, the upper surface of the threaded sleeve (10) is fixedly connected with the lower surface of the fixed plate (9) through a telescopic rod, a clamping assembly (11) is arranged on the lower surface of the threaded sleeve (10), and a lubricating assembly (14) is arranged on the inner wall of the threaded sleeve (10);
the clamping assembly (11) is used for respectively and automatically triggering the clamping and loosening actions of an object to be transported in the descending material taking and descending material discharging processes, and the lubrication assembly (14) is used for mechanically triggering the oiling lubrication of the threaded sleeve (10) and the threaded column (13) in the ascending period after descending material taking;
the clamping assembly (11) comprises a fixed support (111), a telescopic spring (112) is fixedly arranged on the inner wall of the fixed support (111), a lifting rack (113) is fixedly arranged at the other end of the telescopic spring (112), the other end of the lifting rack (113) extends out of the lower surface of the fixed support (111), a bidirectional threaded rod (116) is movably arranged on the inner wall of the fixed support (111), a rotating gear (114) is fixedly arranged on the outer wall of the bidirectional threaded rod (116), the rotating gear (114) is in meshed connection with the lifting rack (113), and a clamping groove is formed in the side wall of the lifting rack (113);
a first clamping plate (117) and a second clamping plate (1110) are movably mounted on the outer wall of the bidirectional threaded rod (116) through threads, a first spring rod (119) and a second spring rod (1112) are respectively and fixedly mounted on the inner walls of the first clamping plate (117) and the second clamping plate (1110), a first movable plate (118) and a second movable plate (1111) are respectively and fixedly mounted on the other ends of the first spring rod (119) and the second spring rod (1112), the first movable plate (118) extends out of the side wall of the first clamping plate (117), and the second movable plate (1111) extends out of the side wall of the second clamping plate (1110);
the utility model discloses a fixed bolster, including fixed bolster (111) and fixed bolster, fixed mounting has baffle (115) on the inner wall of fixed bolster (111), the upper surface of second grip block (1110) is through stopper movable grafting installation has an embedding horizontal pole (1113), and wherein this stopper top equidistant is equipped with a plurality of jacks, and a plurality of jack arrangement direction is on a parallel with the axis direction of two-way threaded rod (116), corresponds this jack, is provided with an grafting arch in the bottom of embedding horizontal pole (1113) body of rod, the upper surface swing joint of lower surface and baffle (115) of embedding horizontal pole (1113), the inner wall fixed connection of keeping away from lifting rack (113) one side of lateral wall of embedding horizontal pole (1113) through connecting spring and fixed bolster (111), the lower surface of baffle (115) is provided with spacing subassembly (15).
2. The automated robot of claim 1, wherein the lubrication assembly (14) comprises an oil bag (141), the lower surface of the oil bag (141) is fixedly connected with the inner wall of the bottom surface of the shell cavity of the threaded sleeve (10), an oil pipe (144) is fixedly installed on the side wall of the oil bag (141), the other end of the oil pipe (144) is fixedly connected with the inner wall of the threaded sleeve (10), a liquid adding pipe is fixedly installed on the outer wall of the oil bag (141), and one end of the liquid adding pipe extends out of the side wall of the threaded sleeve (10).
3. The automated robot according to claim 2, wherein an extrusion spring (145) is fixedly installed on the inner wall of the bottom surface of the screw sleeve (10), a lifting plate (146) is fixedly installed at the other end of the extrusion spring (145), a connecting rod (143) is fixedly installed on the lower surface of the lifting plate (146), the other end of the connecting rod (143) extends to the inner wall of the shell cavity of the screw sleeve (10), an extrusion plate (142) is fixedly installed at the other end of the connecting rod (143), the lower surface of the extrusion plate (142) is fixedly connected with the upper surface of the oil bag (141), a pipeline is fixedly installed on the upper surface of the oil bag (141), and the pipeline extends to the upper surface of the lifting plate (146).
4. An automated robot according to claim 3, wherein the limiting component (15) comprises an extension spring (151), one end of the extension spring (151) is fixedly connected with the lower surface of the partition plate (115), a movable rack (152) is fixedly arranged at the other end of the extension spring (151), the other end of the movable rack (152) extends out of the lower surface of the fixed support (111), a movable gear (153) is movably arranged on the inner wall of the fixed support (111) through a rotating shaft, a limiting rack (154) is movably arranged on the inner wall of the fixed support (111) through a clamping rod, and the movable rack (152) and the limiting rack (154) are both in meshed connection with the movable gear (153).
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| CN116692467A (en) * | 2023-06-27 | 2023-09-05 | 武汉扶鸾科技有限公司 | Transfer robot rotary mechanism |
| CN117984137B (en) * | 2024-04-03 | 2024-06-04 | 宁波天控五轴数控技术有限公司 | Hydraulic clamping mechanism based on force sealing and five-axis swing head clamping system |
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