CN206465078U - curve track robot device and automatic processing system - Google Patents
curve track robot device and automatic processing system Download PDFInfo
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- CN206465078U CN206465078U CN201720115018.5U CN201720115018U CN206465078U CN 206465078 U CN206465078 U CN 206465078U CN 201720115018 U CN201720115018 U CN 201720115018U CN 206465078 U CN206465078 U CN 206465078U
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- bearing wheels
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Abstract
The utility model provides a kind of curve track robot device and automatic processing system, it is related to automation processing technique field, the curve track robot device, including robot, track, walking mechanism and the drive mechanism for driving the walking mechanism motion；The track includes upper rail and siding track, and the upper rail is arranged on the upper surface of portal frame, and the siding track is arranged on the side of the portal frame；The walking mechanism includes robot fixed plate and the upper directive wheel group and side directive wheel group that are arranged in the robot fixed plate；The robot is fixedly connected with the walking mechanism.Alleviate the technical problem that track machine people present in prior art can not move along curve track.
Description
Technical field
The utility model is related to automation processing technique field, more particularly, to a kind of curve track robot device and certainly
Dynamicization system of processing.
Background technology
Robot (Robot) is the automatic installations for performing work.Current country's processing mode is generally added using artificial
Work and robot process two ways automatically.But, it is unstable to there are properties of product in artificial, and scrappage is high, construction safety
Coefficient is low, and production efficiency is low, and recruitment cost is high, and Business Economic Benefit is bad to wait not enough.Produced using artificial mode
The market competitiveness it is weak, it is difficult to be based oneself upon in international market.Industrial numerous parts, the processing of equipment are added automatically using robot
Work.
But, at present, in existing use robot production technology, robot is immovable, is generally all that staff will
A workpiece to be processed is put on workbench, it is to be processed finish after, staff again takes manufactured workpiece
Go out, periods of robot operation stop, place into next workpiece to be processed, robot is worked on, circulated with this.Existing production
Technological work is less efficient, and robot can not be carried out continuously work, has also delayed artificial, meanwhile, the unlatching and stopping of robot,
It is accomplished by consuming the more energy, causes to waste, add production cost.
Shortcoming of the prior art is that robot is immovable, it is impossible to continuously worked, therefore has delayed artificial,
The wasting of resources is caused, production cost is added.
Utility model content
The purpose of this utility model is to provide a kind of curve track robot device and automatic processing system, to alleviate
The technical problem that track machine people present in prior art can not move along curve track.
The curve track robot device that the utility model is provided, including：Robot, track, walking mechanism and for driving
The drive mechanism of the dynamic walking mechanism motion；
The track includes upper rail and siding track, and the upper rail is arranged on the upper surface of portal frame, the siding track
It is arranged on the side of the portal frame；
The walking mechanism include robot fixed plate and the upper directive wheel group that is arranged in the robot fixed plate and
Side directive wheel group；
The robot is fixedly connected with the walking mechanism.
Further, the upper directive wheel group includes the first directive wheel and the second directive wheel, first directive wheel and institute
The second directive wheel is stated to contact with the upper rail respectively, and first directive wheel and second directive wheel are symmetricly set on institute
State the both sides of upper rail；
The side directive wheel group include the first bearing wheels, the second bearing wheels and the 3rd bearing wheels, first bearing wheels with
The upper surface contact of the siding track, the second bearing wheels are contacted with the lower surface of the siding track, the 3rd bearing wheels and institute
State the contacts side surfaces of siding track.
Further, first directive wheel and second directive wheel are solid installed in robot by guide wheel shaft respectively
In fixed board.
Further, first bearing wheels and second bearing wheels are arranged on the machine by bearing wheel shaft respectively
In people's fixed plate；
3rd bearing wheels are fixed in the robot fixed plate by bearing wheels mounting seat.
Further, the robot is connected with the robot fixed plate by fastener.
Further, multiple preliminary stations are provided with the track.
Further, the artificial PLC technology of the machine.
Further, the drive mechanism is servomotor or stepper motor.
Further, the track is set to U-shaped or S types.
The utility model additionally provides a kind of automatic processing system, including described curve track robot device.
What the utility model was brought has the beneficial effect that：
The curve track robot device that the utility model is provided, including robot, track, walking mechanism and for driving
The drive mechanism of walking mechanism motion, so as to drive walking mechanism to move.Robot is fixedly connected with walking mechanism, makes robot
It can be moved under the drive of walking mechanism along track, track includes upper rail and siding track, upper rail is arranged on portal frame
Upper surface, siding track is arranged on the side of portal frame, enables robot orbital motion, and energy using upper rail and siding track
Enough turned, the track of robot motion is not limited to linear motion, therefore, can according to actual needs be configured, make machine
Device people utilization ratio is improved, cost-effective.The setting of upper directive wheel group and side directive wheel group, makes warp rail when in use, on
Directive wheel group is contacted with upper rail, and side directive wheel group is contacted with siding track, and upper directive wheel group is stuck on upper rail, when running into bending
During track, upper directive wheel group can make walking mechanism turn with upper rail compressing.After said structure, when walking mechanism is run
Radially or tangentially when rocking of direction is produced, can be common by upper directive wheel group and side directive wheel group and associated track
Effect is eliminated.
In addition, the utility model additionally provides a kind of automatic processing system, including curve track robot device.Use
The automatic processing system for the curve track robot device that the utility model is provided can improve the utilization ratio of robot, save
About cost, improves productivity ratio.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
The structural representation for the curve track robot device that Fig. 1 provides for the utility model embodiment；
The top view for the curve track robot device that Fig. 2 provides for the utility model embodiment；
The left view for the curve track robot device that Fig. 3 provides for the utility model embodiment；
Fig. 4 is Fig. 3 partial enlarged drawing.
Icon：1- robots；2- walking mechanisms；3- gets on the right track；4- siding tracks；5- portal frames；21- robots consolidate
Fixed board；211- upper directive wheel groups；212- sides directive wheel group；213- fasteners；214- guide wheel shafts；215- bearing wheel shafts；
216- bearing wheels mounting seats；The directive wheels of 2111- first；The directive wheels of 2112- second；The bearing wheels of 2121- first；2122-
Two bearing wheels；The bearing wheels of 2123- the 3rd.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The structural representation for the curve track robot device that Fig. 1 provides for the utility model embodiment；Fig. 2 is this practicality
The top view for the curve track robot device that new embodiment is provided；The curve rail that Fig. 3 provides for the utility model embodiment
The left view of pipeline robot device；Fig. 4 is Fig. 3 partial enlarged drawing.
Embodiment one
As Figure 1-4, the device of curve track robot 1 that the utility model is provided, including：Robot 1, track, OK
Walk mechanism 2 and the drive mechanism for driving walking mechanism 2 to move；Track includes upper rail 3 and siding track 4, and upper rail 3 is set
In the upper surface of portal frame 5, siding track 4 is arranged on the side of portal frame 5；Walking mechanism 2 includes robot fixed plate 21 and set
Put upper directive wheel group 211 and side directive wheel group 212 in robot fixed plate 21；Robot 1 is fixed with walking mechanism 2 to be connected
Connect.
The device of curve track robot 1 that the utility model is provided, including robot 1, track and can move in orbit
Walking mechanism 2, robot 1 is fixedly connected with walking mechanism 2, allows robot 1 under the drive of walking mechanism 2 along track
Mobile, track includes upper rail 3 and siding track 4, and upper rail 3 is arranged on the upper surface of portal frame 5, and siding track 4 is arranged on gantry
The side of frame 5, enables the orbital motion of robot 1 using upper rail 3 and siding track 4, and can be turned, and makes robot
The track of 1 motion is not limited to linear motion, therefore, can be configured according to actual needs, makes the utilization ratio of robot 1 high, section
About cost.The setting of upper directive wheel group 211 and side directive wheel group 212, makes warp rail when in use, passes through upper directive wheel group
211 3 are contacted with upper rail, and side directive wheel group 212 is contacted with siding track 4, and upper directive wheel group 211, which is stuck in, to get on the right track on 3, when running into
During warp rail, upper directive wheel group 211 can make walking mechanism 2 turn with the compressing of upper rail 3.After said structure, work as walking
Radially or tangentially when rocking of direction is produced when mechanism 2 is run, can pass through upper directive wheel group 211 and the He of side directive wheel group 212
Associated track collective effect is eliminated.
Drive mechanism be for producing and transmitting strength, can include engine (motor), gearbox, power transmission shaft or
Belt, it is to produce power and transmission power that it, which is acted on, so as to drive walking mechanism 2 to move.
It should be noted that siding track 4 and portal frame 5 can be with into a single integrated structure, to reduce the part of track, reduction production
The cost of manufacture.
The orbital motion on portal frame 5 of robot 1, can make robot 1 be moved to different stations, carry out different
Operation is processed, so as to realize continuous production.Multiple robots 1 can also be in orbit set, be operated simultaneously.Using upper
Track 3 and siding track 4 enable robot 1 along curve track motion structure, it is possible to achieve multiple devices join under the particular surroundings of region
Act industry,
Robot 1 is the automatic installations for performing work.It can both receive mankind commander, and advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, for example, produce industry, construction industry, or dangerous work.
Robot 1 is made up of executing agency, drive device, detection means and control system and mechanical structure
The body of robot 1, its arm typically uses space open chain linkage, kinematic pair (revolute pair or movement therein
It is secondary) joint is frequently referred to, joint number is generally the number of degrees of freedom, of robot 1.According to joint configuration and coordinates of motion shape
The difference of formula, executing agency of robot 1 can be divided into the classes such as Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type and joint coordinates formula
Type.
In the alternative of the present embodiment, track is set to U-shaped or S types.
According to requirements of one's work, track can be arranged to U-shaped or S types, in addition, as needed, can also be set
Into other shapes.
In the alternative of the present embodiment, upper directive wheel group 211 includes the first directive wheel 2111 and the second directive wheel 2112,
First directive wheel 2111 and the second directive wheel 2112 are contacted with upper rail 3 respectively, and the first directive wheel 2111 and the second directive wheel
2112 are symmetricly set on the both sides of upper rail 3；Side directive wheel group 212 includes the first bearing wheels 2121, the and of the second bearing wheels 2122
3rd bearing wheels 2123, the first bearing wheels 2121 are contacted with the upper surface of siding track 4, the second bearing wheels 2122 and siding track 4
Lower surface is contacted, the 3rd bearing wheels 2123 and the contacts side surfaces of siding track 4.
The setting of upper directive wheel group 211 and side directive wheel group 212, makes warp rail when in use, passes through the first directive wheel
2111 and second directive wheel 2,112 3 contacted with upper rail, the first bearing wheels 2121, the second bearing wheels 2122 and the 3rd bearing wheels
2123 contact with siding track 4, and the first directive wheel 2111 and the second directive wheel 2112 are stuck in the both sides of upper rail 3, when running into
During warp rail, the first directive wheel 2111 and the second directive wheel 2112 can make walking mechanism 2 turn with the compressing of upper rail 3.Using
After said structure, radially or tangentially when rocking of direction is produced when walking mechanism 2 is run, can by directive wheel and with its phase
The track collective effect matched somebody with somebody is eliminated.
Upper directive wheel group 211 and side directive wheel group 212 can rotate around the shaft respectively；Directive wheel is fixed installed in robot
On plate 21, in addition, can be provided with guiding wheel carrier between upper directive wheel group 211 and side directive wheel group 212 and robot fixed plate 21.
In the alternative of the present embodiment, the first directive wheel 2111 and the second directive wheel 2112 pass through guide wheel shaft respectively
214 are arranged in robot fixed plate 21.
In the alternative of the present embodiment, the first bearing wheels 2121 and the second bearing wheels 2122 pass through bearing wheel shaft respectively
215 are arranged in robot fixed plate 21；3rd bearing wheels 2123 are fixed on robot fixed plate by bearing wheels mounting seat 216
On 21.
In the alternative of the present embodiment, robot 1 is connected with robot fixed plate 21 by fastener 213.
Fastener 213, is to be fastenedly connected with and apply an extremely wide class machine components.Fastener 213 can be
Bolt, stud or screw.
Bolt：By head and screw rod (carrying externally threaded cylinder) class fastener 213 dimerous, need and spiral shell
Mother coordinates, for being fastenedly connected two parts for carrying through hole.This type of attachment claims bolt connection.Such as nut from bolt
Screw off, having can separate the two parts, therefore bolt connection is to belong to be detachably connected.
Stud：There is no head, the only outer threaded class fastener 213 in two ends.During connection, its one end is necessary
Screw in internal thread hole part in, the other end pass through with through hole part in, then screw on nut, though the two zero
Part is fastenedly connected into an entirety.This type of attachment is referred to as Stud connection, is also to belong to be detachably connected.It is mainly used in being connected
One of pipe fitting thickness is larger, require compact conformation, or because dismounting is frequent, the occasion that should not be connected by screw bolts.
Screw：It is also the class fastener 213 being made up of head and screw rod two parts, can be divided into, according to use, three classes：Machine
Device screw, holding screw and specific use screw.Machine screw is mainly used in the part of a tightening screwed hole, is carried with one
Being fastenedly connected between the part of through hole, it is not necessary to which (this type of attachment is referred to as mode connects for screw, falls within detachable for nut cooperation
Connection；It can also coordinate with nut, for being fastenedly connected between two parts with through hole.) holding screw is mainly used in
The relative position fixed between two parts.
In the alternative of the present embodiment, robot 1 is set to servo robot 1.
Multiple preliminary stations are provided with the alternative of the present embodiment, on track.
Preliminary station 1, preliminary station 2, preliminary station 3, preliminary station 4, preliminary station 5 ... are disposed with track
Robot 1 can by control device it is point-to-point be moved to preliminary station 1, preliminary station 2, preliminary station 3, preliminary station 4,
Preliminary station 5 etc..
In the alternative of the present embodiment, robot 1 is PLC technology.
Robot 1 can be controlled with programmable logic controller (PLC) PLC to control system, and button enters on guidance panel
Row operation, man machine operation interface touch-screen carrys out operational control mode.
Programmable logic controller (PLC) (Programmable Logic Controller, abbreviation PLC), one kind has micro- place
The digital electronic device of reason machine, for the digital logic controller of Automated condtrol, can load internal memory at any time by control instruction
Interior storage is with performing.Programmable controller is by innernal CPU, instruction and data internal memory, input-output unit, power supply module, numeral
The unit institute modularities such as simulation are combined into.
In the alternative of the present embodiment, drive mechanism is servomotor or stepper motor.
Servomotor can make control speed, and positional precision is very accurate, voltage signal can be converted into torque and rotating speed
With drive control object.Servo motor rotor rotating speed by input signal control, and can fast reaction, in automatic control system,
, can be the electric signal received as executive component, and with characteristics such as electromechanical time constant small, the linearity is high, pickup voltages
The angular displacement being converted on motor reel or angular speed output.It is divided into direct current and the major class of AC servomotor two, it is main special
Point is, when signal voltage is zero without rotation phenomenon, rotating speed uniform descent with the increase of torque.
Stepper motor is the opened loop control member stepper motor part that electric impulse signal is changed into angular displacement or displacement of the lines.Non-
In the case of overload, the rotating speed of motor, the position stopped being solely dependent upon the frequency and umber of pulse of pulse signal, without being become by load
The influence of change, when step actuator receives a pulse signal, it rotates one with regard to Driving Stepping Motor by the direction of setting
Fixed angle, is referred to as " step angle ", its rotation is run step by step with fixed angle.Can be by controlling pulse
Number controls angular displacement, so as to reach the purpose being accurately positioned；Simultaneously can be by controlling pulse frequency come controlled motor
The speed and acceleration of rotation, so as to reach the purpose of speed governing.
The length of portal frame 5 and track of the present utility model can be adjusted, and the quantity of preliminary station can also be adjusted, and be had
Simple in construction, reliability is high, efficiency high, stable action the characteristics of, can by simple electric-control system, realize automation control
System, while the utility model can also provide power using hydraulic pressure, pneumatic or other electrically driven mechanisms, it is applied widely, fit
It is strong with property.
Embodiment two
The utility model additionally provides a kind of automatic processing system, including the device of curve track robot 1.
The utility model additionally provides a kind of automatic processing system, including the device of curve track robot 1.Use this reality
The utilization ratio of robot 1 can be improved with the automatic processing system of the device of curve track robot 1 of new offer, is saved
Cost, improves productivity ratio.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of curve track robot device, it is characterised in that including：Robot, track, walking mechanism and for driving
State the drive mechanism of walking mechanism motion；
The track includes upper rail and siding track, and the upper rail is arranged on the upper surface of portal frame, and the siding track is set
In the side of the portal frame；
The walking mechanism includes robot fixed plate and the upper directive wheel group being arranged in the robot fixed plate and side is led
To wheel group；
The robot is fixedly connected with the walking mechanism.
2. curve track robot device according to claim 1, it is characterised in that the upper directive wheel group includes first
Directive wheel and the second directive wheel, first directive wheel and second directive wheel are contacted with the upper rail respectively, and described
First directive wheel and second directive wheel are symmetricly set on the both sides of the upper rail；
The side directive wheel group include the first bearing wheels, the second bearing wheels and the 3rd bearing wheels, first bearing wheels with it is described
The upper surface contact of siding track, the second bearing wheels are contacted with the lower surface of the siding track, the 3rd bearing wheels and the side
The contacts side surfaces of track.
3. curve track robot device according to claim 2, it is characterised in that
First directive wheel and second directive wheel are arranged in robot fixed plate by guide wheel shaft respectively.
4. curve track robot device according to claim 2, it is characterised in that first bearing wheels and described
Two bearing wheels are arranged in the robot fixed plate by bearing wheel shaft respectively；
3rd bearing wheels are fixed in the robot fixed plate by bearing wheels mounting seat.
5. curve track robot device according to claim 1, it is characterised in that the robot and the robot
Fixed plate is connected by fastener.
6. the curve track robot device according to claim any one of 1-5, it is characterised in that set on the track
It is equipped with multiple preliminary stations.
7. curve track robot device according to claim 6, it is characterised in that the artificial programmable control of machine
System.
8. curve track robot device according to claim 1, it is characterised in that the drive mechanism is servomotor
Or stepper motor.
9. curve track robot device according to claim 1, it is characterised in that the track is set to U-shaped or S
Type.
10. a kind of automatic processing system, it is characterised in that including the curve track machine described in claim any one of 1-9
People's device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720115018.5U CN206465078U (en) | 2017-02-07 | 2017-02-07 | curve track robot device and automatic processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720115018.5U CN206465078U (en) | 2017-02-07 | 2017-02-07 | curve track robot device and automatic processing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206465078U true CN206465078U (en) | 2017-09-05 |
Family
ID=59703959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720115018.5U Active CN206465078U (en) | 2017-02-07 | 2017-02-07 | curve track robot device and automatic processing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206465078U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870109A (en) * | 2019-04-15 | 2019-06-11 | 长春理工大学 | A kind of two-dimensional grating displacement sensor device |
-
2017
- 2017-02-07 CN CN201720115018.5U patent/CN206465078U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870109A (en) * | 2019-04-15 | 2019-06-11 | 长春理工大学 | A kind of two-dimensional grating displacement sensor device |
| CN109870109B (en) * | 2019-04-15 | 2021-05-04 | 长春理工大学 | Two-dimensional grating displacement sensor measuring device |
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Address after: 210000 Binjiang Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province Patentee after: Nanjing Dolly Technology Development Co., Ltd. Address before: 210000 Binjiang Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province Patentee before: Nanjing Yodoly Logistics Equipments Manufacturing Co., Ltd. |