CN116079688B - Material handling robot for industrial production - Google Patents
Material handling robot for industrial production Download PDFInfo
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- CN116079688B CN116079688B CN202310032598.1A CN202310032598A CN116079688B CN 116079688 B CN116079688 B CN 116079688B CN 202310032598 A CN202310032598 A CN 202310032598A CN 116079688 B CN116079688 B CN 116079688B
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- 239000000463 material Substances 0.000 title claims abstract description 20
- 238000009776 industrial production Methods 0.000 title claims abstract description 11
- 239000003921 oil Substances 0.000 claims abstract description 81
- 238000003860 storage Methods 0.000 claims abstract description 50
- 230000000694 effects Effects 0.000 claims abstract description 41
- 239000012791 sliding layer Substances 0.000 claims abstract description 37
- 239000010687 lubricating oil Substances 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 239000002344 surface layer Substances 0.000 claims abstract description 26
- 230000008859 change Effects 0.000 claims abstract description 9
- 238000002347 injection Methods 0.000 claims abstract description 5
- 239000007924 injection Substances 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 67
- 239000010410 layer Substances 0.000 claims description 27
- 230000000903 blocking effect Effects 0.000 claims description 20
- 238000005192 partition Methods 0.000 claims description 20
- 230000004927 fusion Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 11
- 238000000889 atomisation Methods 0.000 claims description 10
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 10
- 238000005498 polishing Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 2
- 230000007797 corrosion Effects 0.000 claims description 2
- 238000009792 diffusion process Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 abstract description 7
- 239000000047 product Substances 0.000 description 11
- 230000006872 improvement Effects 0.000 description 8
- 239000007787 solid Substances 0.000 description 8
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- 239000002184 metal Substances 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000007769 metal material Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
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- 230000002411 adverse Effects 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
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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
- 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
- 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
Abstract
The invention provides a material handling robot for industrial production, which structurally comprises: the self-propelled module penetrates through the left side and the right side of the bottom plate, and the center of the surface layer of the bottom plate is in positioning connection with the intelligent box; according to the invention, after the swing arm is further improved, the azimuth change fluency of the azimuth wheel body driving the lifting grabbing piece can be improved through stabilizing the support column and the ball balls in the sliding layer, so that the oiling mechanism arranged at the center of the circle can guide lubricating oil in the oil storage body through the guide pipe and the extractor of the oil storage body to be sprayed into the sliding layer and the ball balls through the atomizing block, the original frequent oil disassembly and filling effects of the azimuth wheel body and the swing arm can be replaced by the automatic oil injection effect of the oiling mechanism, and the loosening condition caused by the splicing area of the two parts due to frequent disassembly and assembly can be further improved due to the oiling convenience of the rotation friction surfaces of the swing arm and the azimuth wheel body.
Description
Technical Field
The invention relates to the technical field of material handling robots, in particular to a material handling robot for industrial production.
Background
The intelligent improvement of the industrial production machinery is followed, so that a large amount of material carrying robots can be thrown in an industrial production workshop, the carrying robots can replace manual carrying operation on materials by utilizing the self-intelligent and maneuverability and grabbing characteristics, the using intensity of manpower can be reduced, and the stability in the material carrying process and the position accuracy of subsequent placement can be improved by utilizing the mechanical intelligent holding;
in summary, the present inventors have found that the conventional transfer robot mainly has the following drawbacks: the transfer robot controls the azimuth effect of the grabbing piece through the swing arm, so that the swing arm and the grabbing piece adopt the characteristic of friction micro-joint connection rotation to improve the activity performance before the swing arm and the grabbing piece, the friction rotation area is required to be removed after the robot is operated, and the maintenance and oiling foundation is carried out on the friction rotation area, so that the maintenance convenience of the robot assembly can be reduced according to frequent disassembly and assembly, inaccuracy of a flowing area and continuous outward exudation are easily generated if the robot assembly is directly subjected to micro-joint oiling, and meanwhile, the swinging shaking condition caused by the connection stability between the robot assemblies can be reduced due to frequent disassembly.
Disclosure of Invention
The technical scheme adopted for realizing the technical purpose of the invention is as follows: a material handling robot for industrial production, the structure of which comprises: self-propelled module, bottom plate, intelligent box, base, swing arm, position wheel body, lift snatch, self-propelled module runs through in the left and right sides of bottom plate, bottom plate top layer center and intelligent box are located to be connected, intelligent box carries out the electricity with self-propelled module through the bottom plate and is connected, the base sets up in intelligent box upper end, it carries out swing joint with the position wheel body to break the arm both ends off with fingers and thumb, lift snatch carries out movable fit with the swing arm through top position wheel body.
As a further improvement of the invention, the swing arm is provided with a stable support column, a positioning ring, a friction ring, balls, a sliding layer and an oiling mechanism, wherein two sides of the stable support column are fixedly connected with the positioning ring, the friction ring is arranged at two sides of the stable support column through the positioning ring, the balls are arranged inside the friction ring and are in clearance fit, the balls are distributed at the center of the surface layer of the sliding layer, the oiling mechanism is embedded in the center of the sliding layer and is communicated with the balls, and the oiling mechanism and the surface layer of the azimuth wheel body are positioned at the same center and are communicated; the stabilizing support is a solid steel product, the diameter of the left positioning ring is smaller than that of the right positioning ring, the edge of the friction ring is in a completely solid shape, the balls are in a sphere shape, the sliding layers are arranged in an annular direction, the surface layers of the sliding layers are in a finish polishing shape, and the number of oiling mechanisms is consistent with that of the sliding layers and is positioned at the center of a circle of the sliding layers.
As a further improvement of the invention, the oiling mechanism is provided with an oil adding end, an oil storage body, a guide pipe, an atomization block and an extractor, wherein the oil adding end and the oil storage body are positioned at the same center of a circle, the oil storage body is connected with the guide pipe, the upper end of the guide pipe is fixedly connected with the atomization block, the extractor is arranged below the atomization block and is connected with the middle section of the guide pipe, the extractor is communicated with the oil storage body through the guide pipe, and the extractor is arranged below the sliding layer and the ball; the oil adding end is in a round hollow shape, the oil storage body is made of stainless steel metal materials, the guide pipe is arranged on the outer layer of the oil storage body in an annular direction, the guide pipe is arranged along with the edge of the oil storage body according to six self-contained extractors, and the atomizing block is in a semicircular shape.
As a further improvement of the invention, the extractor is provided with an antirust frame body, a supporting component, a limiting plate, a first connecting groove, a second connecting groove, a partition module and a pneumatic system, wherein the inner layer of the antirust frame body is mutually vertical to the supporting component, the supporting component is fixed at the center of the side end of the limiting plate, the first connecting groove is communicated with the limiting plate, the second connecting groove is positioned on the same vertical line as the first connecting groove and penetrates the upper end and the lower end of the antirust frame body, the partition module is embedded in the space between the first connecting groove and the second connecting groove and is fixedly connected with the center of the antirust frame body, and the pneumatic system is arranged at the center of the antirust frame body through the partition module and is communicated with the first connecting groove and the second connecting groove and is positioned on the same vertical line as the guide pipe; the anti-rust frame comprises an anti-rust frame body, and is characterized in that the centers of the upper end and the lower end of the anti-rust frame body respectively comprise a concave empty groove, a group of supporting components are respectively arranged on the left side and the right side of the interior of the anti-rust frame body and are arranged in symmetrical directions, the number of limiting plates is consistent with that of the supporting components, the first connecting groove and the second connecting groove are positioned on the same vertical line, and the partition module is square and is positioned in the center distance between the first connecting groove and the second connecting groove.
As a further improvement of the invention, the pneumatic system is provided with parallel blocks, an airtight piece, a blocking piece, a sliding rod, an electric wheel and a piston, wherein the parallel blocks are fixed on two sides of the airtight piece, the upper part of the airtight piece is in clearance fit with the blocking piece, the sliding rod is mutually perpendicular to the blocking piece, two sides of the sliding rod are connected with the electric wheel, the electric wheel penetrates through the center part of the airtight piece through the sliding rod, the piston is arranged below the electric wheel and is fixedly connected with the lower end of the sliding rod, the airtight piece is fixed in the blocking module through the parallel blocks, and the piston moves up and down in a second connecting groove through the sliding rod and the electric wheel; the parallel blocks are respectively arranged on two sides of the airtight piece, the airtight piece is arranged in a transverse linear direction, the blocking block and the sliding rod are metal products, the electric wheel is arranged at the edge of the sliding rod in a vertical direction and is internally provided with an automatic program running module, and the piston is a rubber product.
As a further improvement of the invention, the oil adding end is provided with a locking bolt, a sealing ring, a flow guiding end, an empty groove, a rotating assembly and a sealing cover, wherein the locking bolt penetrates through the lower part of the circle center of the sealing ring, the sealing ring and the flow guiding end are in the same circle center, the empty groove penetrates through the circle centers of the flow guiding end and the sealing ring, the rotating assembly is arranged above the empty groove and is in positioning connection with the upper part of the circle center of the sealing ring, the sealing cover is attached to the empty groove and the flow guiding end through the rotating movement of the rotating assembly, and the sealing cover is in the same circle center and is communicated with the oil storage body through the rotating assembly and the empty groove; the locking bolt is a common bolt product, the sealing ring and the diversion end form corresponding clamping assembly, the empty groove is in a round hollow shape, the rotary assembly is internally provided with a push button, and the sealing cover is made of magnetic metal materials.
As a further improvement of the invention, a fusion disc, a carrying layer, a bearing block and a convex rod are additionally arranged at the center side end of the sealing cover, the fusion disc and the carrying layer are of an integrated structure, the bearing block is embedded into the center part of the fusion disc through the carrying layer, the convex rod is vertically welded at the center of the surface layer of the bearing block, and the bearing block is fixedly connected with the center side end of the sealing cover through the carrying layer and the fusion disc; the object carrying layer of the fusion disc is in a polishing-flat shape, the bearing block is in a completely solid state, and the convex rod and the bearing block b63 are mutually perpendicular.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, after the swing arm is further improved, the azimuth change fluency of the azimuth wheel body driving the lifting grabbing piece can be improved through stabilizing the support column and the ball balls in the sliding layer, so that the oiling mechanism arranged at the center of the circle can guide lubricating oil in the oil storage body through the guide pipe and the extractor of the oil storage body to be sprayed into the sliding layer and the ball balls through the atomizing block, the original frequent oil disassembly and filling effects of the azimuth wheel body and the swing arm can be replaced by the automatic oil injection effect of the oiling mechanism, and the loosening condition caused by the splicing area of the two parts due to frequent disassembly and assembly can be further improved due to the oiling convenience of the rotation friction surfaces of the swing arm and the azimuth wheel body.
2. After the extractor is further improved, the use performance of parts such as an internal air pressure system and the like can be ensured through the rust-proof frame body, and the surface corrosion condition caused by continuous contact with air is prevented, so that under the basis that the first connecting groove and the second connecting groove are connected with the air pressure system, the air pressure system can drive the sliding rod and the piston to move in the second connecting groove by utilizing the electric wheel, and the air pressure in the second connecting groove can be changed according to the movement basis of the sliding rod and the piston, so that the lubricating oil in the oil storage body is extracted, and the lubricating oil extraction effect is further improved.
3. According to the invention, after the oil adding end is further improved, the sealing ring and the diversion end which are arranged at the center part can ensure that lubricating oil can stably enter the empty tank oil storage body during manual addition, so that the seepage condition generated in the oil adding process is prevented, and then the sealing cover can change the self placement area through the rotating assembly under the condition that the rotating assembly at the upper end of the sealing ring is matched with the sealing cover, so that the sealing cover can close the empty tank and form gapless joint with the sealing ring and the diversion end, the oil storage body can be kept in an airtight state after being filled with oil, and adverse phenomena such as seepage caused by the influence of the gap, stable air pressure formed between the interior and the extractor are avoided.
Drawings
Fig. 1 is a schematic structural view of a material handling robot for industrial production.
Fig. 2 is a schematic sectional view of an improved swing arm.
Fig. 3 is a schematic structural diagram of the oiling mechanism in front view after improvement.
Fig. 4 is a schematic diagram of an improved internal analysis structure of the extractor.
Fig. 5 is a schematic structural diagram of an improved overall front view of a pneumatic system.
Fig. 6 is a schematic diagram of the structure of the improved oil adding end with the front part opened.
Fig. 7 is a schematic view of a structure of a new component of the cover surface layer.
In the figure: self-propelled module-1, bottom plate-2, intelligent box-3, base-4, swing arm-5, azimuth wheel-6, lifting grabbing piece-7, stabilizing pillar-51, positioning ring-52, friction ring-53, ball-54, sliding layer-55, oiling mechanism-56, oiling end-561, oil storage body-562, conduit-563, atomizing block-564, extractor-565, rust-proof frame-a 1, supporting component-a 2, limiting plate-a 3, first engagement groove-a 4, second engagement groove-a 5, partition module-a 6, pneumatic system-a 7, parallel block-a 71, airtight piece-a 72, blocking block-a 73, sliding rod-a 74, electric wheel-a 75, piston-a 76, locking bolt-b 1, sealing ring-b 2, diversion end-b 3, empty groove-b 4, rotating component-b 5, sealing cover-b 6, fusion disc-b 61, carrier layer-b 62, bearing block-b 63, and protruding rod-b 64.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example 1:
fig. 1 to 5 show:
the invention provides a material handling robot for industrial production,
the structure of the intelligent box comprises a self-propelled module 1, a bottom plate 2, an intelligent box body 3, a base 4, a swinging arm 5, an azimuth wheel body 6 and a lifting grabbing piece 7, wherein the self-propelled module 1 penetrates through the left side and the right side of the bottom plate 2, the center of the surface layer of the bottom plate 2 is in positioning connection with the intelligent box body 3, the intelligent box body 3 is electrically connected with the self-propelled module 1 through the bottom plate 2, the base 4 is arranged at the upper end of the intelligent box body 3, two ends of the swinging arm 5 are movably connected with the azimuth wheel body 6, and the lifting grabbing piece 7 is movably matched with the swinging arm 5 through the azimuth wheel body 6 at the top.
The swing arm 5 is provided with a stable support column 51, a positioning ring 52, a friction ring 53, balls 54, a sliding layer 55 and an oiling mechanism 56, wherein two sides of the stable support column 51 are fixedly connected with the positioning ring 52, the friction ring 53 is arranged at two sides of the stable support column 51 through the positioning ring 52, the balls 54 are arranged in the friction ring 53 and are in clearance fit, the balls 54 are distributed in the center of the surface layer of the sliding layer 55, the oiling mechanism 56 is embedded in the center of the sliding layer 55 and is communicated with the balls 54, and the oiling mechanism 56 and the surface layer of the azimuth wheel body 6 are positioned in the same center and are communicated; the stabilizing struts 51 are solid steel products, the positioning rings 52 are respectively arranged on two sides of the stabilizing struts 51, the diameter of the left positioning ring 52 is smaller than that of the right positioning ring 52, the edges of the friction rings 53 are in a completely solid shape, the balls 54 are in a sphere shape, the sliding layers 55 are arranged in an annular direction, the surface layers of the sliding layers are in a finish polishing shape, the number of oiling mechanisms 56 is consistent with that of the sliding layers 55, and the oiling mechanisms are positioned at the center of the sliding layers 55;
the stability pillar 51 can improve the rotation stability of the parts that both sides holding ring 52, sliding layer 55 are connected through solid steel products, the holding ring 52 can link up with corresponding part size through two quantity and diameter different basis, the friction ring 53 can guarantee the positional performance when the part rotates according to self form, the sliding layer 55 can prevent the card that produces when the part rotates through self shape and finish polishing effect, the ball 54 can improve the rotatory smoothness of part on the sliding layer 55 through the spheroid form, the oiling mechanism 56 can be accurate through self quantity and position for sliding layer 55, ball 54 supplements corresponding lubricating oil.
The oiling mechanism 56 is provided with an oiling end 561, an oil storage body 562, a conduit 563, an atomization block 564 and an extractor 565, wherein the oiling end 561 and the oil storage body 562 are positioned at the same center of a circle, the oil storage body 562 is connected with the conduit 563, the upper end of the conduit 563 is fixedly connected with the atomization block 564, the extractor 565 is arranged below the atomization block 564 and is connected with the middle section of the conduit 563, the extractor 565 is communicated with the oil storage body 562 through the conduit 563, and the extractor 565 is arranged below the sliding layer 55 and the ball 54; the oil adding end 561 is in a circular hollow shape, the oil storage body 562 is made of stainless steel metal, the guide tube 563 is arranged on the outer layer of the oil storage body 562 in a ring-shaped direction, the guide tube 563 is arranged with six groups of extractors 565 according to the six number of the guide tube 563, and the atomizing block 564 is in a semicircular shape;
the oil adding end 561 can be connected with a corresponding oiling component through a round hollow shape, the oil storage body 562 can ensure that lubricating oil is stably loaded through the self material, the guide pipe 563 can rapidly extract the lubricating oil in the oil storage body 562 according to the self quantity and the carried extractor 565, and then the injection range of the lubricating oil is improved by means of annular azimuth arrangement according to the edge foundation of the oil storage body 562, and the atomizing block 564 can uniformly spray the lubricating oil into the surface layer of the component through a semicircular shape and according to the self atomization effect, so that the phenomenon of flowing is prevented.
The extractor 565 is provided with an antirust frame body a1, a supporting component a2, a limiting plate a3, a first connecting groove a4, a second connecting groove a5, a partition module a6 and a pneumatic system a7, wherein the inner layer of the antirust frame body a1 is perpendicular to the supporting component a2, the supporting component a2 is fixed at the center of the side end of the limiting plate a3, the first connecting groove a4 is communicated with the limiting plate a3, the second connecting groove a5 and the first connecting groove a4 are positioned on the same vertical line and penetrate the upper end and the lower end of the antirust frame body a1, the partition module a6 is embedded in the space between the first connecting groove a4 and the second connecting groove a5 and is fixedly connected with the center of the antirust frame body a1, the pneumatic system a7 is arranged at the center of the antirust frame body a1 through the partition module a6 and is communicated with the first connecting groove a4 and the second connecting groove a5, and the pneumatic system a7 is positioned on the same vertical line with the guide pipe 563; the centers of the upper end and the lower end of the antirust frame body a1 respectively comprise a concave empty groove, a group of supporting components a2 are respectively arranged on the left side and the right side in the antirust frame body a1 and are arranged in a symmetrical direction, the number of limiting plates a3 is consistent with that of the supporting components a2, the first connecting groove a4 and the second connecting groove a5 are positioned on the same vertical line, and the partition module a6 is square and is positioned in the center distance between the first connecting groove a4 and the second connecting groove a 5;
the concave empty slots at the upper end and the lower end of the antirust frame body a1 can be used for determining the inserted positions of the components, the supporting component a2 can be used for fixing the positions of two limiting plates a3 through symmetrical distribution in the antirust frame body a1, the limiting plates a3 can be used for improving the vertical inserting effect of the first connecting slots a4 and the second connecting slots a5 according to the number of the limiting plates a3 and vertical arrangement, the two connecting slots a4 and a5 are ensured to be positioned on the same straight line, and the partition module a6 can be used for determining the position of the pneumatic system a7 through the shape of the supporting component a6 and the position of the supporting component a 6.
The pneumatic system a7 is provided with a parallel block a71, an airtight piece a72, a blocking block a73, a sliding rod a74, an electric wheel a75 and a piston a76, wherein the parallel block a71 is fixed on two sides of the airtight piece a72, the upper part of the airtight piece a72 is in clearance fit with the blocking block a73, the sliding rod a74 is perpendicular to the blocking block a73, two sides of the sliding rod a74 are connected with the electric wheel a75, the electric wheel a75 penetrates through the center part of the airtight piece a72 through the sliding rod a74, the piston a76 is arranged below the electric wheel a75 and is fixedly connected with the lower end of the sliding rod a74, the airtight piece a72 is fixed in a partition module a6 through the parallel block a71, and the piston a76 moves up and down in a second connecting groove a5 through the sliding rod a74 and the electric wheel a 75; the parallel blocks a71 are respectively arranged on two sides of the airtight piece a72, the airtight piece a72 is arranged in a transverse linear direction, the blocking blocks a73 and the sliding rod a74 are both metal products, the electric wheel a75 is arranged at the edge of the sliding rod a74 in a vertical direction and comprises an automatic program running module, and the piston a76 is a rubber product;
the parallel blocks a71 can ensure that the airtight piece a72 is arranged in a transverse straight line direction to prevent the inclination phenomenon through the positions on two sides of the airtight piece a72, so that the cross vertical movement stability of the sliding rod a74 and the electric wheel a75 is ensured, the blocking blocks a73 and the sliding rod a74 can improve the service cycle of the electric wheel a75 through a metal product foundation to prevent deformation generated during frequent movement, the electric wheel a75 can adapt to the intelligent operation characteristics of the whole robot through the position distribution of the electric wheel a75 and an automatic program operation module carried in the electric wheel a75, the electric wheel a75 can effectively drive the sliding rod a74 to perform cross sliding in the center of the airtight piece a72, the piston a76 can change the air pressure in a part through rubber products according to the air tightness sliding, and the extraction operation of lubricating oil is completed through changing the air pressure mode.
Specific functions and operation procedures of the present embodiment:
in the present invention,
first: the material handling robot can directly drive the self-propelled module 1 of the bottom plate 2 to carry out displacement movement through the automatic program operation characteristic of the intelligent box body 3, then a swinging arm 5 arranged on a base 4 on the upper surface layer of the intelligent box body 3 can adjust the position of the lifting grabbing piece 7 by means of a position wheel body 6, after the position of the lifting grabbing piece 7 is adjusted to be in place by means of automatic operation and holding, the lifting grabbing piece 7 descends to grab and fix four directions of the material surface layer by means of the control of the intelligent box body 3, and then the material handling operation is completed by means of the displacement movement of the self-propelled module 1;
second,: the swing arm 5 can determine the positions of the positioning rings 52 with inconsistent diameters at two sides through the stabilizing support posts 51, so that the positioning rings 52 with small diameters at the left side can be connected with the azimuth wheel body 6 of the arm 5, otherwise, the positioning rings 52 with large diameters at the right side can be connected with the azimuth wheel body 6 with large diameters at the bottom of the swing arm 5 to achieve the mutual dragging effect of the positions among components, then the rotating effect of the azimuth wheel body 6 on the finish polishing sliding layer 55 can be improved by virtue of the friction rings 53 in the positioning rings 52, meanwhile, the ball balls 54 can be pushed to assist in the rotating process, the rotating smoothness of the azimuth wheel body 6 on the sliding layer 55 is improved, finally, after the robot finishes carrying operation, the oiling mechanism 56 at the center of the sliding layer 55 can automatically add lubricating oil to the sliding layer 55 and the balls 54 by virtue of intelligent control of the intelligent box 3, replace the original characteristic that components are required to be removed one by one and the position is smeared, and the shaking condition caused by loosening and instability of the joint area among components can be prevented;
third,: the shape of the oil applying mechanism 56 can be matched with the shape of the existing oil applying assembly through the round shape of the oil applying end 561, so that corresponding lubricating oil can be conveniently supplied to the inside of the oil storing body 562 according to the oil applying end 561, and accordingly six groups of guide pipes 563 and extractors 565 arranged at the edge of the oil storing body 562 can extract the lubricating oil of the oil storing body 562 by means of automatic operation characteristics and then spray out in an annular direction, the omnibearing oil applying effect on the sliding layer 55 and the ball 54 is achieved, the lubricating oil can be atomized by the atomizing block 564 in the process, so that the lubricating oil can adhere to the sprayed positions after entering the sliding layer 55 and the ball 54, the phenomenon of flowing caused by excessive accumulation at a small number of corners is avoided, and the service performance of the oil applying mechanism 56 can be improved;
fourth,: the extractor 565 can ensure the effect that the first and second connecting grooves a4 and a5 can be positioned on the same vertical line through the mutual holding of the antirust frame body a1, the supporting component a2 and the limiting plate a3, so that the original point positioning property of the first and second connecting grooves a4 and a5 and the partition module a6 and the air pressure system a7 at the central part can be ensured according to the position determination and the covering effect of the antirust frame body a1, the surface rust caused by continuous contact with air is prevented, finally the first and second connecting grooves a4 and a5 can be spliced by the guide pipe 563, then the effect of changing the air pressure effect of the air pressure system a7 of the partition module a6 is utilized to finish the effect of air pressure inside the guide pipe 563 and the oil storage body 562, the lubricating oil extraction effect of the oil storage body 562 can be finished according to the pressure change characteristics, the lubricating oil of the oil storage body 562 can be further ensured to be asked for extraction use, and the convenience of maintaining the sliding layer 55 and the ball 54 can be replaced by the effect of manual oiling according to extraction spraying;
fifth,: the airtight piece a72 of the air pressure system a7 can be transversely fixed at the middle upper part of the partition module a6 through two parallel blocks a71, so that the sliding rod a74 of the blocking piece a73 can be assembled in a crossed mode according to the transverse arrangement effect of the airtight piece a72, the sliding rod a74 drives the piston a76 at the bottom to move up and down at the position of the second connecting groove a5 through two side electric wheels a75 (an automatic program running module is contained in the sliding rod and can be controlled to rotate forward and backward according to the program of the intelligent box 3), the operation of changing the air pressure in the oil storage body 562 to extract lubricating oil can be achieved by means of the circulating movement of the piston a76 and the sliding rod a74, the crossed sliding performance of the sliding rod a74 and the airtight piece a72 can be improved according to the clamping effect of the electric wheels a75, the linear movement can be kept, the blocking piece a73 at the top of the sliding rod a74 can play a preventive role, and the situation that the sliding rod a74 falls deeply from the airtight piece a72 due to excessive program error can be prevented according to the mutually perpendicular foundation with the sliding rod a 74.
Example 2:
fig. 6 to 7 show:
the invention provides a material handling robot for industrial production,
the oil adding end 561 is provided with a locking bolt b1, a sealing ring b2, a diversion end b3, an empty groove b4, a rotating assembly b5 and a sealing cover b6, wherein the locking bolt b1 penetrates through the lower part of the circle center of the sealing ring b2, the sealing ring b2 and the diversion end b3 are in the same circle center, the empty groove b4 penetrates through the circle centers of the diversion end b3 and the sealing ring b2, the rotating assembly b5 is arranged above the empty groove b4 and is in positioning connection with the upper part of the circle center of the sealing ring b2, the sealing cover b6 is attached to the empty groove b4 and the diversion end b3 through the rotating movement of the rotating assembly b5, and the sealing cover b6 is in the same circle center with the oil storage body 562 and is communicated with the oil storage body 562 through the rotating assembly b5 and the empty groove b 4; the locking bolt b1 is a common bolt product, the sealing ring b2 and the diversion end b3 form corresponding clamping assembly, the empty groove b4 is in a round hollow shape, the rotary assembly b5 internally comprises a push button, and the sealing cover b6 is made of a magnetic metal material;
the locking bolt b1 can improve the position locking effect to sealing ring b2 through ordinary bolt basis, sealing ring b2 and water conservancy diversion end b3 are assembled through the block and can be convenient for to sealing ring b 2's quick renew effect, empty slot b4 can carry out the adaptation with the assembly shape that refuels through circular hollow form, relies on hollow effect to enable lubricating oil to pour into fast, the inside push button of rotating assembly b5 can follow the motion when closing cap b6 rotates, and on the contrary closing cap b6 stops moving the back push button then can fix closing cap b6 position, improves the oiling effect of follow-up toward empty slot b4, closing cap b6 can adsorb each other with water conservancy diversion end b3 at empty slot b4 edge through self magnetism nature, reaches the zero clearance and assembles the effect.
The center side end of the sealing cover b6 is additionally provided with a fusion disc b61, a carrying layer b62, a bearing block b63 and a protruding rod b64, the fusion disc b61 and the carrying layer b62 are of an integrated structure, the bearing block b63 is embedded into the center part of the fusion disc b61 through the carrying layer b62, the protruding rod b64 is vertically welded to the center of the surface layer of the bearing block b63, and the bearing block b63 is fixedly connected with the center side end of the sealing cover b6 through the carrying layer b61 and the fusion disc b 61; the carrying layer b62 of the fusion disc b61 is in a polishing shape, the carrying block b63 is in a completely solid state, and the convex rod b64 and the carrying block b63 are mutually perpendicular;
the carrying layer b62 of the fusion disc b61 can ensure that the carrying block b63 can be horizontally placed after being put in through a polishing mode, so that the inclination phenomenon is prevented, and the carrying block b63 can enable the convex rod b64 to be stably fixed through a completely solid mode, so that the convex rod b64 is prevented from being broken due to mutually perpendicular and wrenching.
Specific functions and operation procedures of the present embodiment:
in the present invention,
first: the newly added sealing ring b2 and the newly added diversion end b3 at the surface layer edge of the oil adding end 561 are positioned by the locking bolt b1, so that the convenience of adding lubricating oil into the oil storage body 562 can be improved according to the fact that the diversion end b3 and the empty groove b4 are positioned at the same circle center, edge diffusion generated in the lubricating oil injection process can be prevented by means of the azimuth guiding characteristic of the diversion end b3 and edge sealing of the sealing ring b2, then the sealing cover b6 connected with the rotating assembly b5 on the diversion end b3 can change in position by means of the rotating assembly b5, the empty groove b4 can be sealed after the oil storage body 562 is filled with oil, then the sealing cover b6 and the surface layer of the diversion end b3 are in gapless fit by means of the magnetic attraction characteristic of the sealing cover b6, and stable operation air pressure conditions formed by the oil storage body 562 and the extractor can be prevented from being damaged due to the influence of gaps in the use process;
second,: the surface layer side end of the sealing cover b6 can be fixed with the bearing block b63 through the newly-added fusion disc b61, so that the bearing block b63 can be horizontally arranged on the sealing cover b6 according to the polished bearing layer b62, therefore, the sealing cover b6 can be controlled through manual breaking through the convex rod b64 at the center of the top of the bearing block b63, the sealing cover b6 can achieve the effect of simple pushing, the position of the sealing cover b6 after the change can be fixed by matching with the pushing buckle contained in the rotating assembly b5 in the process, and the effect of conveniently adding corresponding lubricating oil into the empty groove b4 and the oil storage body 562 is achieved.
By utilizing the technical scheme of the invention or under the inspired by the technical scheme of the invention, a similar technical scheme is designed by a person skilled in the art, so that the technical effects are achieved, and the technical scheme falls into the protection scope of the invention.
Claims (1)
1. A material handling robot for industrial production, the structure of which comprises: self-propelled module (1), bottom plate (2), intelligent box (3), base (4), swing arm (5), position wheel body (6), lift snatch piece (7), its characterized in that: the self-propelled module (1) penetrates through the left side and the right side of the bottom plate (2), the center of the surface layer of the bottom plate (2) is in positioning connection with the intelligent box body (3), the intelligent box body (3) is electrically connected with the self-propelled module (1) through the bottom plate (2), the base (4) is arranged at the upper end of the intelligent box body (3), two ends of the swinging arm (5) are movably connected with the azimuth wheel bodies (6), and the lifting grabbing piece (7) is in movable fit with the swinging arm (5) through the top azimuth wheel bodies (6);
the swing arm (5) is provided with a stable support column (51), a positioning ring (52), a friction ring (53), balls (54), a sliding layer (55) and an oiling mechanism (56), wherein two sides of the stable support column (51) are fixedly connected with the positioning ring (52), the friction ring (53) is arranged at two sides of the stable support column (51) through the positioning ring (52), the balls (54) are arranged in the friction ring (53) and are in clearance fit, the balls (54) are distributed at the center of the surface layer of the sliding layer (55), the oiling mechanism (56) is embedded in the center of the sliding layer (55) and is communicated with the balls (54), and the oiling mechanism (56) and the surface layer of the azimuth wheel body (6) are positioned at the same center and are communicated with each other;
the oiling mechanism (56) is provided with an oil adding end (561), an oil storage body (562), a guide pipe (563), an atomization block (564) and an extractor (565), wherein the oil adding end (561) and the oil storage body (562) are positioned at the same center of a circle, the oil storage body (562) is connected with the guide pipe (563), the upper end of the guide pipe (563) is fixedly connected with the atomization block (564), the extractor (565) is arranged below the atomization block (564) and is connected with the middle section of the guide pipe (563), the extractor (565) is communicated with the oil storage body (562) through the guide pipe (563), and the extractor (565) is arranged below the sliding layer (55) and the ball (54);
the extractor (565) is provided with an anti-rust frame (a 1), a supporting component (a 2), a limiting plate (a 3), a first connecting groove (a 4), a second connecting groove (a 5), a partition module (a 6) and a pneumatic system (a 7), wherein the inner layer of the anti-rust frame (a 1) is perpendicular to the supporting component (a 2), the supporting component (a 2) is fixed at the center of the side end of the limiting plate (a 3), the first connecting groove (a 4) is communicated with the limiting plate (a 3), the second connecting groove (a 5) is positioned on the same vertical line as the first connecting groove (a 4) and penetrates the upper end and the lower end of the anti-rust frame (a 1), the partition module (a 6) is embedded in the space between the first connecting groove (a 4) and the second connecting groove (a 5) and is fixedly connected with the center of the anti-rust frame (a 1), and the pneumatic system (a 7) is arranged at the center of the anti-rust frame (a 1) through the partition module (a 6) and is positioned on the same vertical line as the first connecting groove (a 4) and the second connecting groove (a 5) and the pneumatic system (563);
the pneumatic system (a 7) is provided with parallel blocks (a 71), airtight pieces (a 72), blocking blocks (a 73), sliding rods (a 74), electric wheels (a 75) and pistons (a 76), wherein the parallel blocks (a 71) are fixed on two sides of the airtight pieces (a 72), the upper parts of the airtight pieces (a 72) are in clearance fit with the blocking blocks (a 73), the sliding rods (a 74) are perpendicular to the blocking blocks (a 73), two sides of the sliding rods (a 74) are connected with the electric wheels (a 75), the electric wheels (a 75) penetrate through the central parts of the airtight pieces (a 72) through the sliding rods (a 74), the pistons (a 76) are arranged below the electric wheels (a 75) and are fixedly connected with the lower ends of the sliding rods (a 74), the airtight pieces (a 72) are fixed inside the blocking modules (a 6) through the parallel blocks (a 71), and the pistons (a 76) move up and down in the second grooves (a 5) through the connection of the electric wheels (a 75).
The oil adding end (561) is provided with a locking bolt (b 1), a sealing ring (b 2), a diversion end (b 3), an empty groove (b 4), a rotating assembly (b 5) and a sealing cover (b 6), wherein the locking bolt (b 1) penetrates through the lower part of the circle center of the sealing ring (b 2), the sealing ring (b 2) and the diversion end (b 3) are in the same circle center, the empty groove (b 4) penetrates through the circle centers of the diversion end (b 3) and the sealing ring (b 2), the rotating assembly (b 5) is arranged above the empty groove (b 4) and is in positioning connection with the upper part of the circle center of the sealing ring (b 2), the sealing cover (b 6) is attached to the empty groove (b 4) and the diversion end (b 3) through the rotating assembly (b 5) and the empty groove (b 4) and is in the same circle center and communicated with the oil storage body (562);
the novel integrated sealing cover is characterized in that a fusion disc (b 61), a carrying layer (b 62), a carrying block (b 63) and a protruding rod (b 64) are additionally arranged at the center side end of the sealing cover (b 6), the fusion disc (b 61) and the carrying layer (b 62) are of an integrated structure, the carrying block (b 63) is embedded into the center part of the fusion disc (b 61) through the carrying layer (b 62), the protruding rod (b 64) is vertically welded to the center of the surface layer of the carrying block (b 63), and the carrying block (b 63) is fixedly connected with the center side end of the sealing cover (b 6) through the carrying layer (b 61) and the fusion disc (b 61);
the material handling robot can directly drive the self-propelled module (1) of the bottom plate (2) to carry out displacement movement through the automatic program operation characteristic of the intelligent box body (3), then a swinging arm (5) arranged on a base (4) on the top surface layer of the intelligent box body (3) can adjust the position of the lifting grabbing piece (7) by means of a position wheel body (6), after the position of the lifting grabbing piece (7) is adjusted to be in place by means of automatic operation and holding, the lifting grabbing piece (7) descends to grab and fix four directions of the material surface layer by means of the control of the intelligent box body (3), and then the material handling operation is completed by means of the displacement movement of the self-propelled module (1); the swing arm (5) can confirm the position of the positioning ring (52) with inconsistent diameters at two sides through the stable support column (51), so that the positioning ring (52) with small diameter at the left side can be connected with the positioning wheel body (6) of the arm (5) with the fingers, otherwise, the positioning ring (52) with large diameter at the right side can be connected with the positioning wheel body (6) with large diameter at the bottom of the swing arm (5) to finish the mutual drag effect of the positions of the parts, then the rotating effect of the positioning wheel body (6) on the finish polishing slide layer (55) can be improved by virtue of the friction ring (53) in the positioning ring (52), meanwhile, the rotating process can push the ball balls (54) to assist, the rotating smoothness of the positioning wheel body (6) on the slide layer (55) is improved, finally, after the robot finishes the carrying operation, the oiling mechanism (56) at the center part of the slide layer (55) can rely on intelligent control of the intelligent box (3) to automatically add the characteristics of the slide layer (55) and the balls (54), and replace the original characteristics that the parts are required to be removed and the positions are coated one by one, and the situation that the follow-up shaking and the parts can be prevented from being frequently removed and the shaking and the subsequent shaking conditions can be caused; the oiling mechanism (56) can be matched with the shape of the existing oiling assembly through the round shape of the oiling end (561), so that corresponding lubricating oil can be conveniently supplemented into the oil storage body (562) according to the oiling end (561), six groups of guide pipes (563) and extractors (565) arranged at the edge of the oil storage body (562) can extract the lubricating oil of the oil storage body (562) according to the automatic operation characteristic and then spray the lubricating oil in an annular direction, the omnibearing oiling effect on the sliding layer (55) and the ball (54) is achieved, the lubricating oil can be atomized by the atomizing block (564) in the process, the lubricating oil can be adhered to the positions which are sprayed in the sliding layer (55) and the ball (54) to break a plurality of corners to be accumulated, and the use performance of the oiling mechanism (56) can be improved; the extractor (565) can ensure the effect that the first connecting groove (a 4) and the second connecting groove (a 5) can be positioned on the same vertical line through the mutual holding of the antirust frame body (a 1) and the supporting component (a 2) and the limiting plate (a 3), so that the original point positioning property of the first connecting groove (a 4) and the second connecting groove (a 5) and the central part of the partition module (a 6) and the air pressure system (a 7) can be ensured according to the position determination and the covering effect of the antirust frame body (a 1), the surface corrosion caused by continuous contact with air is prevented, finally the guide pipe (563) can be spliced by the aid of the first connecting groove (a 4) and the second connecting groove (a 5), then the air pressure changing effect of the air pressure system (a 7) of the partition module (a 6) is utilized to finish the air pressure effect of the guide pipe (563) and the oil storage body (562), the lubricating oil extraction effect of the oil storage body (562) can be finished according to the change pressure characteristics, and further the lubricating oil can be ensured to be used by asking for the user, and the convenience of manually maintaining the balls (54) on the upper layer (55) can be replaced by extracting and spraying; the airtight piece (a 72) of the air pressure system (a 7) can be transversely fixed at the middle upper part of the partition module (a 6) through two parallel blocks (a 71), so that the sliding rods (a 74) of the blocking pieces (a 73) can be assembled in a crossed mode according to the transverse arrangement effect of the airtight piece (a 72), the sliding rods (a 74) can keep linear motion through two side electric wheels (a 75) (which contain automatic program operation modules, so that the piston (a 76) at the bottom can be driven to move up and down at the position of the second connecting groove (a 5) according to the program control of the intelligent box body (3), and therefore, the operation of extracting lubricating oil can be achieved by changing the air pressure in the oil storage body (562) according to the circulating motion of the piston (a 76) and the sliding rods (a 74), the crossed sliding performance of the sliding rods (a 74) and the airtight piece (a 72) can be improved under the holding of the electric wheels (a 75), the blocking pieces (a 73) can keep linear motion, and the blocking pieces (a 73) at the top of the sliding rods (a 74) can be prevented from falling off from the position of the sliding rods (a 72) due to the fact that the sliding rods (a 74) are perpendicular to each other can be prevented from falling down from the position of the sliding rods (a 72); the newly added sealing rings (b 2) and the newly added diversion ends (b 3) at the edges of the surface layers of the oil adding ends (561) are positioned by the locking bolts (b 1), so that the convenience of adding lubricating oil into the oil storage body (562) can be improved according to the fact that the diversion ends (b 3) and the empty slots (b 4) are positioned at the same circle center, edge diffusion generated in the lubricating oil injection process can be prevented by means of the azimuth guiding characteristics of the diversion ends (b 3) and edge sealing of the sealing rings (b 2), then the position of the sealing cover (b 6) connected with the rotating assembly (b 5) on the diversion ends (b 3) can be changed by means of the rotating assembly (b 5), the sealing cover (b 6) can seal the empty slots (b 4) after the oil storage body (562) is filled with oil, then the sealing cover can be attached with the surface layers of the diversion ends (b 3) in a gapless manner by means of the self-magnetic attraction characteristics, and stable operation air pressure conditions formed by the oil storage body (562) and the extractor (565) can be prevented from being damaged due to the influence of the gaps in the use process; the surface layer side end of the sealing cover (b 6) can be fixed with the bearing block (b 63) through the newly-added fusion disc (b 61), so that the bearing block (b 63) can be horizontally arranged on the sealing cover (b 6) according to the polished object carrying layer (b 62), and therefore the sealing cover (b 6) can be controlled through manual breaking through a convex rod (b 64) at the top center of the bearing block (b 63), the sealing cover (b 6) can achieve the effect of simple pushing, the position of the sealing cover (b 6) after the change can be fixed through pushing buckles contained in the matching rotating assembly (b 5), and the effect of adding corresponding lubricating oil into the empty groove (b 4) and the oil storage body (562) is achieved.
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