CN205674206U - Automatic transporting machine people - Google Patents

Automatic transporting machine people Download PDF

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Publication number
CN205674206U
CN205674206U CN201620642407.9U CN201620642407U CN205674206U CN 205674206 U CN205674206 U CN 205674206U CN 201620642407 U CN201620642407 U CN 201620642407U CN 205674206 U CN205674206 U CN 205674206U
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CN
China
Prior art keywords
axis
line slideway
rack
erecting bed
machine people
Prior art date
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.)
Expired - Fee Related
Application number
CN201620642407.9U
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Chinese (zh)
Inventor
吴年祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Vocational College of Defense Technology
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Anhui Vocational College of Defense Technology
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Filing date
Publication date
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Priority to CN201620642407.9U priority Critical patent/CN205674206U/en
Application granted granted Critical
Publication of CN205674206U publication Critical patent/CN205674206U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses automatic transporting machine people, it includes master control system module, sensor signal processing module, mair motor drive circuit, mechanical transmission mechanism;Achieving horizontal mechanism X-axis by said apparatus uses line slideway to position, rack pinion.In order to ensure X-axis strength and stiffness, using line slideway and rack-and-pinion to be installed separately, after preventing grabbing workpiece, X-axis is unstable, offsets;Telescoping mechanism Y-axis uses line slideway and rack and pinion drive mechanism, mobile slide block, slide block is respectively mounted grabbing device and pneumatic gripping device, captures wheel Internal and external cycle and axletree respectively.Owing to stroke is longer and captures nearly 3 kilograms of finished products, use bilinear guide rail to be separately fixed on leading screw and Z axis support column for the shake of anti-robot, alleviate Y-axis weight to greatest extent;Elevating mechanism Z axis uses ball-screw-transmission, and line slideway is installed and formed leverage with ball-screw on the support columns simultaneously, prevents Y-axis sagging or skew.

Description

Automatic transporting machine people
Technical field
This utility model relates to handling machinery class, is automatic transporting machine people in particular.
Background technology
Nervous plus human resources in recent years, industrial upgrading, structural adjustment, the needs that processing enterprise continues to bring out, remove Fortune robot presents the trend that supply falls short of demand, covers the fields such as logistics, storage, chemical industry, food from traditional manufacture.Just at this In the stage, domestic emerge in large numbers a collection of picture Shanghai to irrigate enlightening, rich reality in Harbin, Shenyang newly pine, Shanghai Xin Shida, Yancheng HTC, Kunshan magnificent The private enterprise of permanent welding is just putting into the exploitation of transfer robot, in processing, and is promoted also by its respective leading robot In the middle of application is actual.
Although robot of China starting some developed countries relatively are relatively slow, it is implicitly present in a certain distance, but through this The development of 30 years, all kinds of transfer robots apply very successful [12] in a lot of fields.Promote liter transition of Chinese manufacturing Level, improves the competitiveness of enterprise, solves the deficient problem that China human resources is nervous, explores transfer robot industry Developmental pattern.Transfer robot as high-end equipment services for China's modernization construction, promotes whole machine People's Bank of China The optimized development of industry, has the most wide application prospect.
Utility model content
This utility model is just for above technical problem, it is provided that a kind of reasonable in design, easy to use, it is possible to automatically Identify clamping object, and realize automated exchanged cutter transhipment.
For solving the problem mentioned of background technology, the utility model proposes following technical scheme: automatic transporting machine people, it Include master control system module, sensor signal processing module, mair motor drive circuit, mechanical transmission mechanism, described machine Tool drive mechanism has base plate, power module, source of the gas, group of motors, described base plate to be provided with installing rack, sets in described installing rack Having motor, described installing rack to be provided with line slideway a, described line slideway is provided with Y-axis erecting bed, described Y-axis peace Being provided with rack and pinion drive mechanism between dress platform and line slideway, described Y-axis erecting bed is provided with Z axis support column, described Z Axle support column side is provided with ball-screw transmission mechanism, and described Z axis support column is provided with X-axis erecting bed, described X-axis peace Dress platform is provided with line slideway b, rack and pinion drive mechanism between same X-axis erecting bed and line slideway, and described straight line is led Rail b is provided with mechanical gripper.
Preferably, described mechanical gripper includes slideway, and described slideway two ends are provided with and are respectively provided with rolling steel rider, described Rolling steel rider between be fixed with cylinder, described rolling steel rider one end is provided with fixed plate, and rolls and be provided with between steel rider Clamping element in the shape workpiece of hole, described cylinder is connected with source of the gas.
Preferably, described fixed plate is separately mounted to roll the two ends up and down of steel rider, and fixed plate is semicircle shape, described Location-plate in be provided with clamping leather packing.
Preferably, in described hole shape workpiece, clamping element includes pinching end and fixing end, and described fixing end is by being provided with Trip bolt with roll steel rider is connected, described pinching end is respectively equipped with clamping leather packing, in described hole shape workpiece clamping element and Fixed plate is not in same level.
Preferably, described ball-screw transmission mechanism is provided with group of motors, and described group of motors is arranged on Z axis support column Top.
Preferably, described base plate is respectively provided on two sides with drivewheel, and base plate rear and front end is respectively equipped with driven pulley, institute The drivewheel stated is provided with groove, is provided with rubber wheel case in described groove.
Preferably, described source of the gas total measurement (volume) be 1.5L compressed air pressure be 0.8Mpa, described battery module includes Two groups of 24V series connected battery.
Operation principle of the present utility model is, the first step is by the spacing sensing of the collision in sensor signal processing module Device encounters workpiece storage platform or assembling post location;Second step be by control expander board to X, Y, Z tri-axle provide three from By degree motor message, including vertical direction elevating movement, left and right motion in horizontal plane, elastic motion in horizontal plane.When often After the absolute location information of the individual direction of motion determines, the displacement of system three axes uses infrared emission sensor to position. According to first X-axis left and right translation direction displacement Z axis adjustable height again during location, finally determine Y-axis stroke programme-control.Vertically side To absolute position according to workpiece store platform height, workpiece height determines;
With the predeterminated position of grabbing workpiece, the associated workpiece of wheel can be carried out colour recognition, master control when arriving mechanical hand System module processed sends signal and drives associated mechanisms to carry out the crawl of workpiece, carry and assemble, if not completing task by cylinder Continue to patrol, until assembling is complete.
In the shape workpiece of hole, the fixing end of clamping element is connected by trip bolt and connecting piece are fixing, connecting piece by screw and One end of fixed connecting plate is fixing to be connected, and the other end of fixed connecting plate is connected with the external stability rolling steel rider by screw, Make clamping element and fixed plate and the connection rolled between steel rider in the shape workpiece of hole more firm, it is to avoid in the shape of hole, clamping element comes off, two In the shape workpiece of individual hole, the pinching end of clamping element is respectively provided with clamping leather packing, rubs in increasing hole shape workpiece between clamping element and workpiece Wipe, it is to avoid workpiece drops;
Original paw of industrial robot adds clamping element in the shape workpiece of hole, makes industrial robot can capture circle Cylindrical workpiece, also can capture circle hole shape workpiece, it is achieved the multifunction of industrial robot paw simultaneously.
Two arc-shaped work external clamp members arrange angle bar in the junction with fixed plate, make the outside folder of arc-shaped work Tightly being connected more firm between part with fixed plate, the pinching end of two arc-shaped work external clamp members is respectively provided with clamping leather packing, Increase the friction between arc-shaped work external clamp members and workpiece, it is to avoid workpiece drops.
The beneficial effect of utility model:
1) horizontal mechanism X-axis uses line slideway location, rack pinion.In order to ensure X-axis strength and stiffness, use Line slideway and rack-and-pinion are installed separately, and after preventing grabbing workpiece, X-axis is unstable, offsets;
2) telescoping mechanism Y-axis uses line slideway and rack and pinion drive mechanism, mobile slide block, slide block is respectively mounted and grabs Fetching is put and pneumatic gripping device, captures wheel Internal and external cycle and axletree respectively.Owing to stroke is longer and captures nearly 3 kilograms of finished products, for The shake of anti-robot uses bilinear guide rail to be separately fixed on leading screw and Z axis support column, alleviates Y-axis weight to greatest extent;
3) elevating mechanism Z axis use ball-screw-transmission, simultaneously line slideway install on the support columns with ball-screw group Become leverage, prevent Y-axis sagging or skew.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is plan structure schematic diagram of the present utility model;
Fig. 3 is mechanical gripper structural representation of the present utility model;
Clamping element structural representation in the shape workpiece of Fig. 4 hole of the present utility model.
Wherein, 1, base plate;2, power module;3, source of the gas;4, group of motors;5, installing rack;6, line slideway a;7, Y-axis is installed Platform;8, rack and pinion drive mechanism;9, Z axis support column;10, ball-screw transmission mechanism;11, X-axis erecting bed;12, straight line is led Rail b;13, mechanical gripper;14, slideway;15, steel rider is rolled;16, cylinder;17, fixed plate;18, clamping element in hole shape workpiece;19、 Clamping leather packing;20, pinching end;21, fixing end;22, trip bolt;23, drivewheel;24, driven pulley.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the technical solution of the utility model, below to this utility model It is described further:
Automatic transporting machine people, it includes master control system module, sensor signal processing module, mair motor driving electricity Road, mechanical transmission mechanism, described mechanical transmission mechanism has base plate, power module, source of the gas, group of motors, described base plate sets Having installing rack, be provided with motor in described installing rack, described installing rack is provided with line slideway a, on described line slideway Being provided with Y-axis erecting bed, be provided with rack and pinion drive mechanism between described Y-axis erecting bed and line slideway, described Y-axis is installed Platform is provided with Z axis support column, and described Z axis support column side is provided with ball-screw transmission mechanism, on described Z axis support column Being provided with X-axis erecting bed, described X-axis erecting bed is provided with line slideway b, gear between same X-axis erecting bed and line slideway Rack gear, described line slideway b is provided with mechanical gripper.
Preferably, described mechanical gripper includes slideway, and described slideway two ends are provided with and are respectively provided with rolling steel rider, described Rolling steel rider between be fixed with cylinder, described rolling steel rider one end is provided with fixed plate, and rolls and be provided with between steel rider Clamping element in the shape workpiece of hole, described cylinder is connected with source of the gas.
Preferably, described fixed plate is separately mounted to roll the two ends up and down of steel rider, and fixed plate is semicircle shape, described Location-plate in be provided with clamping leather packing.
Preferably, in described hole shape workpiece, clamping element includes pinching end and fixing end, and described fixing end is by being provided with Trip bolt with roll steel rider is connected, described pinching end is respectively equipped with clamping leather packing, in described hole shape workpiece clamping element and Fixed plate is not in same level.
Preferably, described ball-screw transmission mechanism is provided with group of motors, and described group of motors is arranged on Z axis support column Top.
Preferably, described base plate is respectively provided on two sides with drivewheel, and base plate rear and front end is respectively equipped with driven pulley, institute The drivewheel stated is provided with groove, is provided with rubber wheel case in described groove.
Preferably, described source of the gas total measurement (volume) be 1.5L compressed air pressure be 0.8Mpa, described battery module includes Two groups of 24V series connected battery.
Operation principle of the present utility model is, the first step is by the spacing sensing of the collision in sensor signal processing module Device encounters workpiece storage platform or assembling post location;Second step be by control expander board to X, Y, Z tri-axle provide three from By degree motor message, including vertical direction elevating movement, left and right motion in horizontal plane, elastic motion in horizontal plane.When often After the absolute location information of the individual direction of motion determines, the displacement of system three axes uses infrared emission sensor to position. According to first X-axis left and right translation direction displacement Z axis adjustable height again during location, finally determine Y-axis stroke programme-control.Vertically side To absolute position according to workpiece store platform height, workpiece height determines;
With the predeterminated position of grabbing workpiece, the associated workpiece of wheel can be carried out colour recognition, master control when arriving mechanical hand System module processed sends signal and drives associated mechanisms to carry out the crawl of workpiece, carry and assemble, if not completing task by cylinder Continue to patrol, until assembling is complete.
In the shape workpiece of hole, the fixing end of clamping element is connected by trip bolt and connecting piece are fixing, connecting piece by screw and One end of fixed connecting plate is fixing to be connected, and the other end of fixed connecting plate is connected with the external stability rolling steel rider by screw, Make clamping element and fixed plate and the connection rolled between steel rider in the shape workpiece of hole more firm, it is to avoid in the shape of hole, clamping element comes off, two In the shape workpiece of individual hole, the pinching end of clamping element is respectively provided with clamping leather packing, rubs in increasing hole shape workpiece between clamping element and workpiece Wipe, it is to avoid workpiece drops;
Original paw of industrial robot adds clamping element in the shape workpiece of hole, makes industrial robot can capture circle Cylindrical workpiece, also can capture circle hole shape workpiece, it is achieved the multifunction of industrial robot paw simultaneously.
Two arc-shaped work external clamp members arrange angle bar in the junction with fixed plate, make the outside folder of arc-shaped work Tightly being connected more firm between part with fixed plate, the pinching end of two arc-shaped work external clamp members is respectively provided with clamping leather packing, Increase the friction between arc-shaped work external clamp members and workpiece, it is to avoid workpiece drops.

Claims (4)

1. automatic transporting machine people, it is characterised in that it includes master control system module, sensor signal processing module, master Motor-drive circuit, mechanical transmission mechanism, described mechanical transmission mechanism has base plate, power module, source of the gas, group of motors, described Base plate be provided with installing rack, be provided with motor in described installing rack, described installing rack is provided with line slideway a, described Line slideway is provided with Y-axis erecting bed, is provided with rack and pinion drive mechanism, institute between described Y-axis erecting bed and line slideway The Y-axis erecting bed stated is provided with Z axis support column, and described Z axis support column side is provided with ball-screw transmission mechanism, described Z axis support column is provided with X-axis erecting bed, and described X-axis erecting bed is provided with line slideway b, and same X-axis erecting bed is led with straight line Rack and pinion drive mechanism between rail, described line slideway b is provided with mechanical gripper.
Automatic transporting machine people the most according to claim 1, it is characterised in that set on described ball-screw transmission mechanism Group of motors, described group of motors is had to be arranged on Z axis support column top.
Automatic transporting machine people the most according to claim 1, it is characterised in that be respectively provided on two sides with master on described base plate Driving wheel, and base plate rear and front end is respectively equipped with driven pulley, described drivewheel is provided with groove, is provided with rubber in described groove Wheel case.
Automatic transporting machine people the most according to claim 1, it is characterised in that described source of the gas total measurement (volume) is 1.5L compression Atmospheric pressure is 0.8Mpa, and described battery module includes two groups of 24V series connected battery.
CN201620642407.9U 2016-06-22 2016-06-22 Automatic transporting machine people Expired - Fee Related CN205674206U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620642407.9U CN205674206U (en) 2016-06-22 2016-06-22 Automatic transporting machine people

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620642407.9U CN205674206U (en) 2016-06-22 2016-06-22 Automatic transporting machine people

Publications (1)

Publication Number Publication Date
CN205674206U true CN205674206U (en) 2016-11-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107032188A (en) * 2017-04-25 2017-08-11 苏州和丰工业设备有限公司 Yarn-twisting machine yarn reel feeding device
CN108996240A (en) * 2018-09-27 2018-12-14 袁年来 A kind of combined steel plate transfer robot
CN110104093A (en) * 2019-06-14 2019-08-09 哈尔滨工业大学 A kind of all-terrain moving robot for material clamping
CN111908114A (en) * 2020-08-18 2020-11-10 上海大族富创得科技有限公司 Transfer equipment for carrying wafer box storage rack

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107032188A (en) * 2017-04-25 2017-08-11 苏州和丰工业设备有限公司 Yarn-twisting machine yarn reel feeding device
CN108996240A (en) * 2018-09-27 2018-12-14 袁年来 A kind of combined steel plate transfer robot
CN108996240B (en) * 2018-09-27 2020-03-17 苏州托玛斯机器人集团有限公司 Combined steel plate carrying robot
CN110104093A (en) * 2019-06-14 2019-08-09 哈尔滨工业大学 A kind of all-terrain moving robot for material clamping
CN110104093B (en) * 2019-06-14 2021-08-31 哈尔滨工业大学 All-terrain mobile robot for clamping materials
CN111908114A (en) * 2020-08-18 2020-11-10 上海大族富创得科技有限公司 Transfer equipment for carrying wafer box storage rack
CN111908114B (en) * 2020-08-18 2022-07-29 上海大族富创得科技有限公司 Transfer equipment for carrying wafer box storage rack

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20161109

Termination date: 20180622