CN203510216U

CN203510216U - Intelligent transfer robot

Info

Publication number: CN203510216U
Application number: CN201320574517.2U
Authority: CN
Inventors: 何志明; 周利锋
Original assignee: JIANGSU SHANGCHENG PRECISION MOLD TECHNOLOGY CO LTD
Current assignee: JIANGSU SHANGCHENG PRECISION MOLD TECHNOLOGY CO LTD
Priority date: 2013-09-16
Filing date: 2013-09-16
Publication date: 2014-04-02
Anticipated expiration: 2023-09-16

Abstract

The utility model discloses an intelligent transfer robot. The intelligent transfer robot comprises a base, a rear housing, a mechanical arm, an arm swing motion mechanism, an overturn motion mechanism, a perpendicular motion mechanism, a horizontal movement mechanism and a rotary motion mechanism, wherein a rotary support is connected to the rotary motion mechanism, and is driven by the rotary motion mechanism to rotate, a radio frequency reader and mechanical paws are installed on the rotary support, the radio frequency reader is electrically connected with a PLC, each mechanical paw comprises a paw base, a movable plate and a driving device used for diving the movable plate, teeth are arranged on the two sides of each movable plate respectively, the driving devices are controlled by the PLC, and are installed on the rotary support, each paw base is connected with the rotary support through a connecting rod, rotary shafts are arranged on the portions, arranged on the two sides of each movable plate, of the corresponding paw base respectively, and the rotary shafts are connected with the mechanical paws and gears which are meshed with the teeth on the movable plates. According to the intelligent transfer robot, due to the fact that the radio frequency reader is additionally arranged, a radio frequency identification label on a workpiece can be effectively identified, and classification of products can be convenient; due to the fact that the mechanical paws are used for grabbing the workpiece, the cost is low.

Description

A kind of intelligent transfer robot

Technical field

The utility model relates to a kind of intelligent transfer robot.

Background technology

At present, in order to reduce labour intensity, reduce employment cost, increasing producer realizes the carrying of workpiece with transfer robot, transfer robot is the installations that automatically perform work, and it both can accept mankind commander, can move again the program of layout in advance, easy to operate, greatly the reduction of degree industrial injury probability of happening.Yet, existing transfer robot, it is difficult to realize the classification to carrying workpiece, after its carrying, also needs manually to classify voluntarily, and the transfer robot on market, its clamping device complex structure, cost is high, and it is firm not to clamp, and is prone to the problem of landing.

Utility model content

The purpose of this utility model is for the problems referred to above, and a kind of intelligent transfer robot is provided, to solve original transfer robot, cannot classify to product, and the illusive problem of original transfer robot grabbing workpiece.

The purpose of this utility model is to be achieved through the following technical solutions:

A kind of intelligent transfer robot, comprise base and be arranged at the rear casing of base top, one side of described rear casing has been horizontally disposed with mechanical arm, in described base, be provided with the swing arm motion by swing arm driven by servomotor, in described rear casing, be provided with by the flip-flop movement mechanism of upset driven by servomotor and by the vertical movement mechanism of vertical driven by servomotor, on described mechanical arm, be provided with by the motor-driven horizontal mobile mechanism of horizontal servo, on the telescopic screw rod nut of described horizontal mobile mechanism, be fixedly connected with the rotational motion mechanism being driven by rotating servo motor, on described rotational motion mechanism, be connected with the runing rest by its driven rotary, described swing arm servomotor, upset servomotor, vertical servomotor, horizontal servo motor, rotating servo motor is all electrically connected to PLC controller, radio frequency reader and mechanical paw are installed on described runing rest, described radio frequency reader is electrically connected to PLC controller, described mechanical paw comprises paw seat, the drive unit of movable plate and driving movable plate, the both sides of described movable plate are provided with tooth, described drive unit is controlled by PLC controller, and be arranged on runing rest, described paw seat is connected with runing rest by connecting rod, and the both sides that are positioned at movable plate on paw seat are provided with rotating shaft, described rotating shaft is arranged symmetrically with, the gear that is fixedly connected with paw on it and is meshed with tooth on movable plate.

Further, described drive unit is hydraulic cylinder or cylinder or is comprised of motor, lead screw pair, can select as required.

Preferably, on described runing rest, be provided with and blow bits pipe, be convenient to blow away the Integrated Chip on workpiece.

Preferably, in described rotating shaft, be provided with angular transducer, described angular transducer is electrically connected to PLC controller, and the angle calculation turning over by measurement rotating shaft goes out paw opening angle, thereby can learn the size of workpiece.

Preferably, the inner surface of described paw is profile of tooth, increasing friction force.

The beneficial effects of the utility model are, described a kind of intelligent transfer robot is by setting up radio frequency reader, can effectively identify the RFID tag on workpiece, be convenient to the classification of product, and the utility model adopts mechanical paw grabbing workpiece, and easy to use, cost is low, the paw inner surface of mechanical paw is profile of tooth, increased frictional force, it is firm to capture, in addition, by setting up angular transducer, can effectively detect the size of workpiece, by setting up, blow bits pipe, can blow away the Integrated Chip on workpiece, simple in structure, be easy to realize.

Accompanying drawing explanation

Fig. 1 is the structural representation of a kind of intelligent transfer robot of the utility model;

Fig. 2 is that a kind of intelligent transfer robot of the utility model is at the enlarged drawing at A place.

In figure:

1, base; 2, rear casing; 3, swing arm servomotor; 4, upset servomotor; 5, vertical servomotor; 6, horizontal servo motor; 7, rotating servo motor; 8, mechanical arm; 9, runing rest; 10, hydraulic cylinder; 11, connecting rod; 12, movable plate; 13, tooth; 14, paw seat; 15, paw; 16, rotating shaft; 17, gear; 18, radio frequency reader.

The specific embodiment

Below in conjunction with accompanying drawing and by the specific embodiment, further illustrate the technical solution of the utility model.

Please refer to shown in Fig. 1 and Fig. 2, in the present embodiment, a kind of intelligent transfer robot, comprise base 1 and be arranged at the rear casing 2 of base 1 top, one side of described rear casing 2 has been horizontally disposed with mechanical arm 8, in described base 1, be provided with the swing arm motion being driven by swing arm servomotor 3, in described rear casing 2, be provided with the flip-flop movement mechanism being driven by upset servomotor 4 and the vertical movement mechanism being driven by vertical servomotor 5, on described mechanical arm 8, be provided with the horizontal mobile mechanism being driven by horizontal servo motor 6, on the telescopic screw rod nut of described horizontal mobile mechanism, be fixedly connected with the rotational motion mechanism being driven by rotating servo motor 7, on described rotational motion mechanism, be connected with the runing rest 9 by its driven rotary, described swing arm servomotor 3, upset servomotor 4, vertical servomotor 5, horizontal servo motor 6, rotating servo motor 7 is all electrically connected to PLC controller, on described runing rest 9, radio frequency reader 18 is installed, mechanical paw and blow bits pipes, described radio frequency reader 18 is electrically connected to PLC controller, described mechanical paw comprises paw seat 14, movable plate 12 and hydraulic cylinder 10, described hydraulic cylinder 10 is arranged on runing rest 9, its expansion link is fixedly connected with movable plate 12, and be provided with magnetic valve on the oil circuit of hydraulic cylinder 10, described magnetic valve is controlled by PLC controller, the both sides of described movable plate 12 are provided with tooth 13, described paw seat 14 is connected with runing rest 9 by connecting rod 11, and the both sides that are positioned at movable plate 12 on paw seat 14 are provided with rotating shaft 16, described rotating shaft 16 is arranged symmetrically with, on it, be fixedly connected with angular transducer, paw 15 and the gear 17 being meshed with tooth 13 on movable plate 12, described angular transducer is electrically connected to PLC controller, the inner surface of described paw 15 is profile of tooth.

Before and after the utility model can be realized, left and right, move up and down and upper and lower axial turning, the action of 5 frees degree of left and right axial-rotation, during work, intelligence transfer robot can be adjusted mechanical paw to realize the crawl of workpiece according to the position of workpiece, overall process is by PLC controller, servomotor is accurately controlled, and mechanical paw is in grabbing workpiece, RFID tag on radio frequency reader 18 identification workpiece on runing rest 9, with this, PLC controller can be controlled intelligent transfer robot and workpiece is placed in the case of corresponding model, realize classification carrying, meanwhile, the angle information that angular transducer can rotate the rotating shaft of mechanical paw 16 feeds back to PLC controller, thus, can calculate the size of workpiece, easy to use, simply, automaticity is high.

Above embodiment has just set forth basic principle of the present utility model and characteristic; the utility model is not limited by above-described embodiment; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various variations and change, and these variations and change all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.

Claims

1. an intelligent transfer robot, comprise base and be arranged at the rear casing of base top, one side of described rear casing has been horizontally disposed with mechanical arm, in described base, be provided with the swing arm motion by swing arm driven by servomotor, in described rear casing, be provided with by the flip-flop movement mechanism of upset driven by servomotor and by the vertical movement mechanism of vertical driven by servomotor, on described mechanical arm, be provided with by the motor-driven horizontal mobile mechanism of horizontal servo, on the telescopic screw rod nut of described horizontal mobile mechanism, be fixedly connected with the rotational motion mechanism being driven by rotating servo motor, on described rotational motion mechanism, be connected with the runing rest by its driven rotary, described swing arm servomotor, upset servomotor, vertical servomotor, horizontal servo motor, rotating servo motor is all electrically connected to PLC controller, it is characterized in that: radio frequency reader and mechanical paw are installed on described runing rest, described radio frequency reader is electrically connected to PLC controller, described mechanical paw comprises paw seat, the drive unit of movable plate and driving movable plate, the both sides of described movable plate are provided with tooth, described drive unit is controlled by PLC controller, and be arranged on runing rest, described paw seat is connected with runing rest by connecting rod, and the both sides that are positioned at movable plate on paw seat are provided with rotating shaft, described rotating shaft is arranged symmetrically with, the gear that is fixedly connected with paw on it and is meshed with tooth on movable plate.

2. a kind of intelligent transfer robot according to claim 1, is characterized in that: described drive unit is hydraulic cylinder or cylinder or is comprised of motor, lead screw pair.

3. a kind of intelligent transfer robot according to claim 1, is characterized in that: on described runing rest, be provided with and blow bits pipe.

4. a kind of intelligent transfer robot according to claim 1, is characterized in that: in described rotating shaft, be provided with angular transducer, described angular transducer is electrically connected to PLC controller.

5. a kind of intelligent transfer robot according to claim 1, is characterized in that: the inner surface of described paw is profile of tooth.