CN114572677A - Rail type carrying robot and carrying method - Google Patents
Rail type carrying robot and carrying method Download PDFInfo
- Publication number
- CN114572677A CN114572677A CN202210259751.XA CN202210259751A CN114572677A CN 114572677 A CN114572677 A CN 114572677A CN 202210259751 A CN202210259751 A CN 202210259751A CN 114572677 A CN114572677 A CN 114572677A
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- CN
- China
- Prior art keywords
- sliding
- track
- rail
- cylinder
- transfer robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rail type carrying robot and a carrying method, and belongs to the technical field of intelligent manufacturing and robots. The clamping mechanism comprises a track mechanism, a freedom degree mechanism, a first air cylinder and a clamping mechanism, wherein the track mechanism is installed according to a preset working path, the freedom degree mechanism is connected to the track mechanism and arranged on the track mechanism to slide, the first air cylinder is connected to the output end of the freedom degree mechanism, and the clamping mechanism is connected to the telescopic end of the first air cylinder. The rail type carrying robot provided by the invention is mainly used for carrying cylindrical materials or semi-finished products, is suitable for machining and transportation, effectively saves time and is convenient and fast to carry; and a carrying route can be further set, so that the carrying automation is realized.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing and robots, and particularly relates to a rail type carrying robot and a carrying method.
Background
In the machining operation, part of the light barrel-shaped materials are inconvenient to carry intensively due to the special shape in the carrying process, and in the machining operation of wood materials, part of the raw materials are in the shape of a column pier, and the centralized carrying is troublesome.
Disclosure of Invention
The present invention provides a rail type transfer robot and a transfer method for solving the technical problems of the background art.
The invention adopts the following technical scheme: an orbital transfer robot comprising:
the track mechanism is installed according to a preset working path;
a degree of freedom mechanism connected to the rail mechanism; the degree of freedom mechanism is arranged on the track mechanism to slide;
the first air cylinder is connected to the output end of the degree of freedom mechanism;
the clamping mechanism is connected to the telescopic end of the first cylinder.
In a further embodiment, the track mechanism comprises:
a ground rail disposed on the ground;
the sliding rail is laid on the ground rail;
at least one clamping groove connected with the sliding rail in a sliding mode;
the sliding seat is arranged on the clamping groove;
the driving assembly is connected to the sliding seat; the driving assembly is arranged to drive the sliding seat to slide on the sliding track.
Through above-mentioned technical scheme, drive assembly sets up in one side of sliding seat, and the drive sliding seat slides on the slip track.
In a further embodiment, the drive assembly comprises:
the motor is arranged on one side of the sliding seat; the output end of the motor is connected with the reversing speed reducer;
the gear is connected to the output end of the reversing speed reducer;
the tooth track is arranged on the ground rail; the tooth track is parallel to the sliding track; the gear is meshed with the tooth track.
Through above-mentioned technical scheme, during operation, motor drive gear slides along the tooth track to drive the sliding seat and remove.
In a further embodiment, a limiting component is further arranged on the track mechanism; the spacing subassembly includes:
the mounting plate is connected to one side of the sliding seat;
the sliding chute is connected with the ground rail; the sliding groove is parallel to the sliding track;
the limiting block is connected to the mounting plate; the limiting block is arranged in the sliding groove to slide.
Through above-mentioned technical scheme, the stopper slides in the spout along with the removal of sliding seat for stabilize the slip path of sliding seat, further strengthen the stability that transfer robot removed.
In a further embodiment, the degree of freedom mechanism comprises:
the rotating cylinder is arranged on the sliding seat;
the supporting plate is arranged at the rotating end of the rotating cylinder;
the first mounting seat is arranged on the supporting plate;
one end of the second force arm is rotatably connected to the first mounting seat;
one end of the third force arm is rotatably connected to the other end of the second force arm;
one end of the fourth force arm is rotatably connected with the third force arm; the other end of the fourth force arm is connected with the first air cylinder;
and the clamping mechanism is connected to the telescopic end of the first cylinder.
Through above-mentioned technical scheme, set up a plurality of degrees of freedom, reinforcing transfer robot's flexibility.
In a further embodiment, the grasping mechanism includes:
a first support shaft connected to the first cylinder;
the second cylinder is arranged at the bottom of the first supporting shaft; the second cylinder is a bidirectional cylinder;
the two sliding shafts are respectively connected to the moving end of the second cylinder;
two transverse shafts respectively connected to the sliding shafts;
and the positioning assembly is connected with the transverse shaft in a sliding manner.
Through above-mentioned technical scheme, press from both sides and get the mechanism and be set up as pressing from both sides and get the article.
In a further embodiment, the contact surface of the positioning assembly is provided in an arcuate configuration.
Through above-mentioned technical scheme, the contact surface of locating component and article is set up to the arc structure for increase area of contact.
In a further embodiment, the method is characterized by comprising the following steps:
the method comprises the following steps: the rail mechanism is installed according to a preset working path, and the carrying robot carries out reciprocating carrying operation according to the preset path;
step two: the clamping mechanism clamps the object, and the degree of freedom mechanism adjusts the angle so that the object is lifted to a preset position;
step three: the motor drives the gear to slide along the tooth path, so that the degree of freedom mechanism is driven to slide to a preset position along the track mechanism, and the object is conveyed;
step four: the clamping mechanism puts down the object to finish the carrying operation.
The invention has the beneficial effects that: the cylindrical material or semi-finished product is mainly carried, so that the device is suitable for machining and transportation, the time is effectively saved, and the carrying is convenient; and a carrying route can be further set, so that the carrying automation is realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the track mechanism of the present invention.
Fig. 3 is a schematic structural view of the limiting assembly of the present invention.
Fig. 4 is a schematic view of the gripping mechanism of the present invention.
Each of fig. 1 to 4 is labeled as: the device comprises a track mechanism 1, a degree of freedom mechanism 2, a driving assembly 3, a first air cylinder 4, a clamping mechanism 5, a limiting assembly 6, a ground rail 11, a sliding track 12, a clamping groove 13, a sliding seat 14, a first mounting seat 21, a second force arm 22, a third force arm 23, a fourth force arm 24, a motor 31, a gear 32, a tooth track 33, a first supporting shaft 51, a second air cylinder 52, a sliding shaft 53, a transverse shaft 54, a positioning assembly 55, a mounting plate 61, a sliding groove 62 and a limiting block 63.
Detailed Description
Based on the problems mentioned in the background, the present invention provides a rail-type transfer robot, which can transfer materials quickly during a machining process.
The embodiment is a track type transfer robot, which is used for rapidly transferring arc-shaped objects, such as cylindrical empty bottles, the mass is light, but the transfer is troublesome, the transfer robot in the embodiment comprises a track mechanism 1, a degree of freedom mechanism 2, a first air cylinder 4 and a clamping mechanism 5, wherein the track mechanism 1 is installed according to a preset working path, the length and the bending degree of the preset working path are all set in advance, the transfer robot is programmed by a system and performs reciprocating transfer operation according to the preset path, the degree of freedom mechanism 2 capable of sliding in a reciprocating manner is arranged on the track mechanism 1, the first air cylinder 4 is arranged at the output end of the degree of freedom mechanism 2, and the clamping mechanism 5 is arranged at the telescopic end of the first air cylinder 4 and used for clamping the objects.
Further, the track mechanism 1 is laid and installed by adopting the scheme of the ground rail 11, the track mechanism 1 in this embodiment includes the ground rail 11, the sliding rail 12, the card slot 13, the sliding seat 14 and the sliding rail 12, wherein the ground rail 11 is laid on the ground or on the working platform according to a preset path, the sliding rail 12 is laid on the ground rail 11, at least one card slot 13 is provided and is provided to slide on the sliding rail 12, wherein the contact surface between the sliding rail 12 and the card slot 13 is smooth, or further a rolling mechanism, such as a roller set, is provided on the card slot 13 or the contact surface between the sliding rail 12 and the card slot 13, so as to further reduce the friction force between the sliding rail 12 and the card slot 13, the sliding seat 14 is preferably fixedly connected to the card slot 13 through a screw or the like, wherein when the ground rail 11 has a larger bending degree, the sliding seat 14 can be further rotatably connected to the card slot 13, the flexibility of the transfer robot is enhanced, the driving assembly 3 is arranged on one side of the sliding seat 14, the sliding seat 14 is driven to slide on the sliding rail 12, wherein the driving assembly 3 comprises a motor 31, a gear 32 and a tooth track 33, the motor 31 is arranged on one side of the sliding seat 14, the output end of the motor 31 is connected with a reversing reducer, the output end of the reversing reducer is connected with the gear 32, the gear 32 is meshed with the tooth track 33, the tooth track 33 is arranged on the ground rail 11, the tooth track 33 is parallel to the sliding rail 12, and in operation, the gear 32 is driven by the motor 31 to slide along the tooth track 33, so that the sliding seat 14 is driven to move.
Through the technical scheme, in order to further strengthen the stability that transfer robot removed, in a further embodiment, spacing subassembly 6 has still been set up, spacing subassembly 6 includes mounting panel 61, spout 62 and stopper 63, wherein mounting panel 61 is fixed and sets up the one side at sliding seat 14, spout 62 is established the one side at ground rail 11, spout 62 is on a parallel with slip track 12, stopper 63 passes through fixed connection mounting panel 61 such as screw, stopper 63 is set up and slides in spout 62, in operation, stopper 63 is along with the removal of sliding seat 14, slide in spout 62, a sliding path for stabilizing sliding seat 14.
Furthermore, the degree of freedom mechanism 2 is provided with at least one planar degree of freedom, the degree of freedom mechanism 2 of this embodiment includes a rotary cylinder, a support plate, a first mounting seat 21, a second force arm 22, a third force arm 23, a fourth force arm 24 and a clamping mechanism 5, wherein the rotary cylinder is arranged on the sliding seat 14, the support plate is arranged at the rotating end of the rotary cylinder, the first mounting seat 21 is fixedly arranged on the support plate, one end of the second force arm 22 is rotatably connected to the first mounting seat 21, one end of the third force arm 23 is rotatably connected to the other end of the second force arm 22, one end of the fourth force arm 24 is rotatably connected to the third force arm 23, the clamping mechanism 5 is connected to the other end of the fourth force arm 24, wherein the first mounting seat 21 and the second force arm 22 are combined into a first planar degree of freedom, the second force arm 22 and the third force arm 23 are combined into a second planar degree of freedom, the third force arm 23 and the fourth force arm 24 are combined into a third planar degree of freedom, the other end of the fourth force arm 24 is fixedly mounted with a first cylinder 4, an output end of the first cylinder 4 is provided with a clamping mechanism 5, the clamping mechanism 5 in this embodiment includes a first supporting shaft 51, a second cylinder 52, a sliding shaft 53, and a transverse shaft 54, wherein the first supporting shaft 51 is fixedly connected with the first cylinder 4, the second cylinder 52 is disposed at the bottom of the first supporting shaft 51, the second cylinder 52 is a bidirectional cylinder, the sliding shaft 53 is mounted at two moving ends of the second cylinder 52, the sliding shaft 53 is further disposed on the sliding shaft 53, the transverse shaft 54 is provided with a sliding rail for mounting a positioning assembly 55, wherein a contact surface between the positioning assembly 55 and an object is provided with an arc-shaped structure for increasing a contact area.
The working principle is as follows: track mechanism 1 installs according to predetermined working path, and transfer robot carries out reciprocal transport operation according to predetermined route, presss from both sides promptly and gets the fixed article of getting of mechanism 5 control positioning component 55, carries the article, and degree of freedom mechanism 2 carries out the position adjustment according to predetermined angle setting, and motor 31 drive gear 32 slides along tooth track 33 to drive degree of freedom mechanism 2 and slide to predetermined position along track mechanism 1, press from both sides and get mechanism 5 and put down the article, accomplish the transport operation.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (8)
1. A rail-mounted transfer robot, comprising:
the track mechanism is installed according to a preset working path;
a degree of freedom mechanism connected to the rail mechanism; the degree of freedom mechanism is arranged on the track mechanism to slide;
the first air cylinder is connected to the output end of the degree of freedom mechanism;
the clamping mechanism is connected to the telescopic end of the first cylinder.
2. The orbital transfer robot of claim 1 wherein the orbital mechanism comprises:
a ground rail disposed on the ground;
the sliding rail is laid on the ground rail;
at least one clamping groove connected with the sliding rail in a sliding mode;
the sliding seat is arranged on the clamping groove;
the driving component is connected to the sliding seat; the driving assembly is arranged to drive the sliding seat to slide on the sliding track.
3. The orbital transfer robot of claim 2 wherein the drive assembly comprises:
the motor is arranged on one side of the sliding seat; the output end of the motor is connected with the reversing speed reducer;
the gear is connected to the output end of the reversing speed reducer;
the tooth track is arranged on the ground rail; the tooth track is parallel to the sliding track; the gear is meshed with the tooth track.
4. The rail-mounted transfer robot as claimed in claim 2, wherein the rail mechanism is further provided with a limiting component; the spacing subassembly includes:
the mounting plate is connected to one side of the sliding seat;
the sliding chute is connected with the ground rail; the sliding groove is parallel to the sliding track;
the limiting block is connected to the mounting plate; the limiting block is arranged in the sliding groove to slide.
5. The orbital transfer robot of claim 2, wherein the degree-of-freedom mechanism comprises:
the rotating cylinder is arranged on the sliding seat;
the supporting plate is arranged at the rotating end of the rotating cylinder;
the first mounting seat is arranged on the supporting plate;
one end of the second force arm is rotatably connected to the first mounting seat;
one end of the third force arm is rotationally connected with the other end of the second force arm;
one end of the fourth force arm is rotatably connected with the third force arm; the other end of the fourth force arm is connected with the first air cylinder;
the clamping mechanism is connected to the telescopic end of the first cylinder.
6. The orbital transfer robot of claim 1, wherein the gripping mechanism comprises:
a first support shaft connected to the first cylinder;
the second cylinder is arranged at the bottom of the first supporting shaft; the second cylinder is a bidirectional cylinder;
the two sliding shafts are respectively connected to the moving end of the second cylinder;
two transverse shafts respectively connected to the sliding shafts;
and the positioning assembly is connected to the transverse shaft in a sliding mode.
7. The orbital transfer robot of claim 6 wherein the contact surface of the positioning assembly is configured in an arcuate configuration.
8. The transfer method of the rail type transfer robot according to any one of claims 1 to 7, comprising the steps of:
the method comprises the following steps: the rail mechanism is installed according to a preset working path, and the carrying robot carries out reciprocating carrying operation according to the preset path;
step two: the clamping mechanism clamps the object, and the degree of freedom mechanism adjusts the angle so that the object is lifted to a preset position;
step three: the motor drives the gear to slide along the tooth path, so that the degree of freedom mechanism is driven to slide to a preset position along the track mechanism, and the object is conveyed;
step four: the clamping mechanism puts down the object to finish the carrying operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210259751.XA CN114572677A (en) | 2022-03-16 | 2022-03-16 | Rail type carrying robot and carrying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210259751.XA CN114572677A (en) | 2022-03-16 | 2022-03-16 | Rail type carrying robot and carrying method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114572677A true CN114572677A (en) | 2022-06-03 |
Family
ID=81780029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210259751.XA Withdrawn CN114572677A (en) | 2022-03-16 | 2022-03-16 | Rail type carrying robot and carrying method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114572677A (en) |
-
2022
- 2022-03-16 CN CN202210259751.XA patent/CN114572677A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220603 |