CN203221335U

CN203221335U - Nut screwing robot

Info

Publication number: CN203221335U
Application number: CN 201320269256
Authority: CN
Inventors: 金济民; 叶江涛; 王挺锋; 顾凯健
Original assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Current assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Priority date: 2013-05-17
Filing date: 2013-05-17
Publication date: 2013-10-02
Anticipated expiration: 2023-05-17

Abstract

A nut screwing robot comprises a car frame. Rear wheels connected with a trundle motor and front wheels capable of rotating freely are arranged at the bottom of the car frame, lower caterpillar bands are connected between the front wheels and the rear wheels, a column is positioned on one side of the car frame, a sliding sleeve capable of sliding up and down along the column is embedded on the column, a rack and a front arm are arranged out the sliding sleeve, a lifting motor is positioned on the lateral side of the car frame, a lifting gear is arranged on the lifting motor, the lifting gear and the rack are meshed, a T-shaped rack is positioned on the front arm, a front arm motor installation plate is positioned on one side of the front arm, a front arm motor is positioned on the front arm motor installation plate, a front arm gear is positioned on the front arm motor, the front arm gear is meshed with the T-shaped rack, a rotating motor is arranged at the outer end of the T-shaped rack, a rotating motor shaft is connected with a sleeve, a barrel-shaped rack is embedded into the sleeve, and the barrel-shaped rack can slide up and down in the sleeve. A grabbing motor is positioned on one side of the sleeve, a grabbing gear is arranged on the grabbing motor, the grabbing gear and the barrel-shaped rack are meshed, and the lower end of the sleeve is connected with a grabber.

Description

A kind of nutting machine people

Technical field

The utility model relates to a kind of machinery equipment, especially a kind of nutting machine people.

Background technology

More and more for the design of robot at present, general robot is according to its structure of required design.Now need to design a kind of robot, need stride across width and the degree of depth is the river of 400mm all, and the high 200mm that is is arranged on the river, and wide is the beam of 30mm, adjacency has on the step goes to river, the korneforos is anhydrous, after crossing the river, grasps bearing, pad and nut that the opposite, river is placed on large, medium and small 3 kinds of different sizes of fixed position, pack into respectively in the assigned address screw rod, and when loading nut, require nut screwing clamping on screw rod, post-tensioning penoncel is finished.

The utility model content

The utility model will solve the shortcoming of above-mentioned prior art, provides a kind of nutting machine people, its reasonable in design, flexible operation.

The utility model solves the technical scheme that its technical problem adopts: this nutting machine people, comprise vehicle frame, bottom of frame is provided with the trailing wheel of connecting pin turbin generator and the front-wheel that freely rotates, be connected crawler belt down between front-wheel and the trailing wheel, one side of vehicle frame is provided with column, column is nested with the sliding sleeve that can slide up and down along column outward, sliding sleeve is equipped with tooth bar and forearm outward, the side of vehicle frame is equipped with the lifting motor installing plate, on the lifting motor installing plate lifting motor is installed, lifter wheel is installed on the lifting motor, the engagement of lifting tooth wheel and rack, T type tooth bar is housed on the forearm, forearm one side is equipped with the forearm motor mounting plate, and the forearm motor is installed on the forearm motor mounting plate, and preceding arm gear is installed on the forearm motor, preceding arm gear and the engagement of T type tooth bar, T type tooth bar outer end is equipped with the electric rotating machine installing plate, mounting rotary electric machine on the electric rotating machine installing plate, and spin motor shaft is connected with sleeve, sleeve inner is nested with the tubular tooth bar, and the tubular tooth bar can slide up and down in sleeve; Sleeve one side is equipped with the extracting motor mounting plate, grasps on the motor mounting plate extracting motor is installed, and grasps on the motor extracting gear is installed, and grasps the engagement of gear and tubular tooth bar; The sleeve lower end connects steel ring, is with equally distributed three handgrips on the steel ring, and the other end of handgrip is enclosed within on the pivot pin of tubular tooth bar lower end.

One side of vehicle frame also is equipped with the gap bridge motor, and the gap bridge trailing wheel is installed on the gap bridge motor, and the gap bridge trailing wheel is installed in the groove of vehicle frame, and the gap bridge front-wheel also is installed in the vehicle frame front slot, is connected crawler belt between gap bridge front-wheel and the gap bridge trailing wheel.

The effect that the utility model is useful is: the utility model reasonable in design, realize the movement of robot by the elevating mechanism on the vehicle frame, front and back slide mechanism and grasping mechanism, and control handgrip and grasp object.

Description of drawings

Fig. 1 is front view of the present utility model;

Fig. 2 is left view of the present utility model;

Fig. 3 is the cutaway view on the A-A direction among Fig. 2;

Fig. 4 is the cutaway view on the B-B direction among Fig. 1.

Description of reference numerals: vehicle frame 1, trailing wheel 2, front-wheel 3, following crawler belt 4, drive motors 5, column 6, sliding sleeve 7, tooth bar 8, forearm 9, lifting motor installing plate 10, lifting motor 11, lifter wheel 12, T type tooth bar 13, forearm motor mounting plate 14, forearm motor 15, preceding arm gear 16, electric rotating machine installing plate 17, electric rotating machine 18, sleeve 19, tubular tooth bar 20 grasps motor mounting plate 21, grasp motor 22, grasp gear 23, steel ring 24, handgrip 25, pivot pin 26, gap bridge motor 27, gap bridge trailing wheel 28, gap bridge front-wheel 29, last crawler belt 30.

The specific embodiment

The utility model is described in further detail below in conjunction with accompanying drawing:

With reference to accompanying drawing: this nutting machine people, comprise vehicle frame 1, vehicle frame 1 bottom is provided with the trailing wheel 2 of connecting pin turbin generator 5 and the front-wheel 3 that freely rotates, be connected crawler belt 4 down between front-wheel 3 and the trailing wheel 2, one side of vehicle frame 1 is provided with column 6, column 6 is outer to be nested with the sliding sleeve 7 that can slide up and down along column 6, sliding sleeve 7 outer tooth bar 8 and the forearms 9 of being equipped with, the side of vehicle frame 1 is equipped with lifting motor installing plate 10, lifting motor 11 is installed on the lifting motor installing plate 10, lifter wheel 12 is installed on the lifting motor 11, lifter wheel 12 and tooth bar 8 engagements, T type tooth bar 13 is housed on the forearm 9, forearm 9 one sides are equipped with forearm motor mounting plate 14, forearm motor 15 is installed on the forearm motor mounting plate 14, arm gear 16 before being equipped with on the forearm motor 15, preceding

arm gear

16 and 13 engagements of T type tooth bar, T type tooth bar 13 outer ends are equipped with electric rotating machine installing plate 17, mounting rotary electric machine 18 on the electric rotating machine installing plate 17, electric rotating machine 18 is connected with sleeve 19, sleeve 19 nested inside have tubular tooth bar 20, and tubular tooth bar 20 can slide up and down in sleeve 19; Sleeve 19 1 sides are equipped with and grasp motor mounting plate 21, grasp to be equipped with on the motor mounting plate 21 and grasp motor 22, grasp to be equipped with on the motor 22 and grasp gear 23,

grasp gear

23 and 20 engagements of tubular tooth bar; Sleeve 19 lower ends are connected with steel ring 24, are with equally distributed three handgrips 25 on the steel ring 24, and the other end of handgrip 25 is enclosed within on the pivot pin 26 of tubular tooth bar 20 lower ends.

One side of vehicle frame 1 also is equipped with gap bridge motor 27, and gap bridge trailing wheel 28 is installed on the gap bridge motor 27, and gap bridge trailing wheel 28 is installed in the groove of vehicle frame 1, in the end slot gap bridge front-wheel 29 is installed also before the vehicle frame 1, is connected crawler belt 30 between gap bridge front-wheel 29 and the gap bridge trailing wheel 28.

When starting castor motor 5, drive trailing wheel 2 rotates, and crawler belt 4 drives front-wheel 3 rotations under passing through again, and robot just advances like this, when left and right sides castor motor 5 rotating speeds can not realized turning simultaneously.When robot advances to upper beam limit, river, make the groove of vehicle frame 1 aim at beam, start gap bridge motor 27 simultaneously, make gap bridge trailing wheel 28 drive front-wheel by last crawler belt 30 and rotate, robot is advanced along beam, cross the river, to correct position, start forearm motor 15 and lifting motor 11, arm gear 16 rotated before forearm motor 15 drove, by with the engagement of T type tooth bar 13, T type tooth bar 13 can be stretched, in like manner, lifting motor 11 drives tooth bar 8 and makes forearm 9 liftings, when grasping part, start and grasp motor 22, make and grasp gear 23 rotations, drive tubular tooth bar 20 and move up and down, thereby make three handgrips 25 realize the action of grasping and decontroling, during nutting, start electric rotating machine 18, make whole handgrip 25 rotations, thereby reach the purpose of nutting.

Though the utility model illustrates and describes by the reference preferred embodiment,, those skilled in the art should understand, and in the scope of claims, can do the various variation on form and the details.

Claims

1. nutting machine people, comprise vehicle frame (1), it is characterized in that: described vehicle frame (1) bottom is provided with the trailing wheel (2) of connecting pin turbin generator (5) and the front-wheel (3) that freely rotates, be connected crawler belt (4) down between front-wheel (3) and the trailing wheel (2), one side of vehicle frame (1) is provided with column (6), column (6) is outer to be nested with the sliding sleeve (7) that can slide up and down along column (6), outer tooth bar (8) and the forearm (9) of being equipped with of sliding sleeve (7), the side of vehicle frame (1) is equipped with lifting motor installing plate (10), lifting motor (11) is installed on the lifting motor installing plate (10), lifter wheel (12) is installed on the lifting motor (11), lifter wheel (12) and tooth bar (8) engagement, T type tooth bar (13) is housed on the forearm (9), forearm (9) one sides are equipped with forearm motor mounting plate (14), forearm motor (15) is installed on the forearm motor mounting plate (14), preceding arm gear (16) is installed on the forearm motor (15), preceding arm gear (16) and T type tooth bar (13) engagement, T type tooth bar (13) outer end is equipped with electric rotating machine installing plate (17), electric rotating machine installing plate (17) is gone up mounting rotary electric machine (18), electric rotating machine (18) is connected with sleeve (19), sleeve (19) nested inside has tubular tooth bar (20), and tubular tooth bar (20) can slide up and down in sleeve (19); Sleeve (19) one sides are equipped with and grasp motor mounting plate (21), grasp to be equipped with on the motor mounting plate (21) and grasp motor (22), grasp to be equipped with on the motor (22) and grasp gear (23), grasp gear (23) and tubular tooth bar (20) engagement; Sleeve (19) lower end is connected with steel ring (24), is with equally distributed three handgrips (25) on the steel ring (24), and the other end of handgrip (25) is enclosed within on the pivot pin (26) of tubular tooth bar (20) lower end.

2. nutting machine people according to claim 1, it is characterized in that: a side of described vehicle frame (1) also is equipped with gap bridge motor (27), gap bridge trailing wheel (28) is installed on the gap bridge motor (27), gap bridge trailing wheel (28) is installed in the groove of vehicle frame (1), in the preceding end slot of vehicle frame (1) gap bridge front-wheel (29) is installed also, is connected crawler belt (30) between gap bridge front-wheel (29) and the gap bridge trailing wheel (28).