CN206764781U - A kind of robot handling system of working stability - Google Patents

A kind of robot handling system of working stability Download PDF

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Publication number
CN206764781U
CN206764781U CN201720420721.7U CN201720420721U CN206764781U CN 206764781 U CN206764781 U CN 206764781U CN 201720420721 U CN201720420721 U CN 201720420721U CN 206764781 U CN206764781 U CN 206764781U
Authority
CN
China
Prior art keywords
goods
plate
workbench
support base
working stability
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
CN201720420721.7U
Other languages
Chinese (zh)
Inventor
有德义
朱绍伟
王会芹
杜秋丽
王肖
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.)
University of Jinan
Original Assignee
University of Jinan
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by University of Jinan filed Critical University of Jinan
Priority to CN201720420721.7U priority Critical patent/CN206764781U/en
Application granted granted Critical
Publication of CN206764781U publication Critical patent/CN206764781U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of robot handling system of working stability,Including fixed mount,Support base,Workbench,The active arm of force and folder goods plate,Crawler belt is installed outside the fixed mount,By being rotatably connected to workbench above the support base,Fluid pressure drive device is installed inside the workbench,The secondary power arm other end is provided with folder goods plate,The main bearing plate side is slidably connected with secondary bearing plate,The utility model is designed reasonably,It is simple to operate,The secondary rotary shaft other end is connected with folder goods plate,The essential information of goods is set on control computer,Such as weight,Width etc.,Pressing from both sides goods plate will be under the control of control computer,The goods for needing to carry is clamped,Lifted by power arm,In order to ensure that goods is not fallen off,Secondary bearing plate on main bearing plate will skid off automatically,Goods is lifted,By pressing from both sides goods plate and main bearing plate cooperation,Goods can is stably handled upside down,The advantages of with working stability.

Description

A kind of robot handling system of working stability
【Technical field】
A kind of handling device is the utility model is related to, more particularly to a kind of robot handling system of working stability.
【Background technology】
Robot is the automatic installations for performing work, and it can both receive mankind commander, run the journey of advance layout Sequence, can also be according to the principle guiding principle action formulated with artificial intelligence technology, and its task is assistance or substitution human work Work, such as production industry, construction industry, or dangerous work, and transfer robot is widely used in the industrial production A kind of robot, transfer robot can install different end effectors to complete the workpiece handling of various different shapes and state Work, the heavy manual labor of the mankind is significantly reduced, therefore the handling device research to robot is also more and more deep, still At present there is the problem of many in some handling devices, such as handling efficiency is low, goods easily comes off etc., all influence operating personnel Normal work, the improvement for handling device, job stability is improved, therefore, a kind of it is proposed that machine of working stability Device people's handling device.
【Utility model content】
Main purpose of the present utility model is to provide a kind of robot handling system of working stability have working stability With the ability on cleaning ground, effectively can solve the problems, such as in background technology.
To achieve the above object, the technical scheme that the utility model is taken is:
A kind of robot handling system of working stability, including fixed mount, support base, workbench, the active arm of force and folder goods Plate, crawler belt is installed outside the fixed mount, the crawler belt is fixedly arranged above support base, and the support base internal welding is connected to driving Motor, by being rotatably connected to workbench above the support base, fluid pressure drive device is installed inside the workbench, it is described By being rotatably connected to fixed plate above workbench, the fixed plate is connected by main shaft with the active arm of force, the active force Arm is connected by auxiliary spindle with secondary power arm, and the secondary power arm other end is provided with folder goods plate, and the folder goods plate other end is consolidated Surely there is folder goods bar, be connected on the downside of the folder goods plate by rebound with main bearing plate, the main bearing plate side and secondary bearing plate It is slidably connected;Control computer is provided with the upper side of the support base, electrically driven, institute are installed inside the support base State and pass through rotation connection with cleaner below electrically driven.
Further, side has been bolted ultrasonic sensor outside the workbench.
Further, it is connected with auxiliary rod between the active arm of force and secondary power arm.
Further, the folder goods plate side is provided with assisted sucking disc.
Further, inside the bearing plate with stretches push rod by being slidably connected.
Compared with prior art, the utility model has the advantages that:The utility model is designed reasonably, operation letter It is single, the material safety durable of use, meet the various use demands of handling device, crawler belt is installed on fixed mount, in motor In the presence of, crawler belt can drive transfer robot to walk, and have the advantages of motion facilitates, can adapt to various landform, support Seat top is provided with workbench, and workbench will be according to need of work, random rotation direction, in the drive of fluid pressure drive device Under, the active arm of force can drive secondary power arm to work, and have the advantages of stable drive and large carrying capacity, and can turn by main Axle is freely raised and lowered, and improves the flexibility of handling device, improves handling efficiency, and the secondary rotary shaft other end is connected with folder Goods plate, sets the essential information of goods, such as weight, width etc. on control computer, and folder goods plate will be in control computer Under control, it would be desirable to the goods of carrying is clamped, and is lifted by power arm, in order to ensure that goods is not fallen off, main bearing plate On secondary bearing plate will skid off automatically, goods is lifted, by pressing from both sides goods plate and main bearing plate cooperation, goods can is steady Surely it is handled upside down, there is the advantages of working stability, projected route is inputted on control computer, robot can is by goods handling To the position of needs, the automation of handling device is improved, greatly reduces manpower and materials, while improving operating efficiency, Cost is also reduced, presss from both sides and is additionally provided with assisted sucking disc on thing plate, when carrying out carrying work, assisted sucking disc can be by goods firmly Ground is held, and more ensures the stable transport of goods, avoids, because landing causes cargo damage, reducing economic loss, workbench side Ultrasonic sensor is also equipped with, when robot movement suddenly encounters barrier, ultrasonic sensor can detect barrier Position, stopped or around dataway operation, avoid bumping against barrier in walking, goods and equipment are caused to damage, embodies and removes The functional reliability of shipping unit, support base lower section are provided with cleaner, and after setting cleaning operation on control computer, cleaner is just It can work automatically, land clearing is clean, it is easy to use, and also cleaning effect is good, improves the quality of robot, while also side Operating personnel work.
【Brief description of the drawings】
Fig. 1 is a kind of overall structure diagram of the robot handling system of working stability of the utility model.
Fig. 2 is a kind of positive structure schematic of the robot handling system of working stability of the utility model.
In figure:1st, fixed mount;2nd, crawler belt;3rd, support base;4th, motor;5th, workbench;6th, fluid pressure drive device;7th, surpass Sonic sensor;8th, fixed plate;9th, main shaft;10th, the active arm of force;11st, auxiliary spindle;12nd, secondary power arm;13rd, auxiliary rod;14、 Press from both sides goods plate;15th, assisted sucking disc;16th, goods bar is pressed from both sides;17th, rebound;18th, main bearing plate;19th, stretches push rod;20th, secondary bearing plate; 21st, computer is controlled;22nd, electrically driven;23rd, cleaner.
【Embodiment】
Technological means, creation characteristic, reached purpose and effect to realize the utility model are easy to understand, below With reference to embodiment, the utility model is expanded on further.
As shown in Figure 1-2, a kind of robot handling system of working stability, including fixed mount 1, support base 3, workbench 5, The active arm of force 10 and folder goods plate 14, crawler belt 2 is installed outside the fixed mount 1, the crawler belt 2 is fixedly arranged above support base 3, institute State the internal welding of support base 3 and be connected to motor 4, the top of support base 3 is by being rotatably connected to workbench 5, the workbench 5 Inside is provided with fluid pressure drive device 6, and by being rotatably connected to fixed plate 8, the fixed plate 8 passes through for the top of workbench 5 Main shaft 9 is connected with the active arm of force 10, and the active arm of force 10 is connected by auxiliary spindle 11 with secondary power arm 12, the secondary power The other end of arm 12 is provided with folder goods plate 14, and the other end of folder goods plate 14 is fixed with folder goods bar 16, and the downside of folder goods plate 14 is logical Cross rebound 17 to be connected with main bearing plate 18, the main side of bearing plate 18 is slidably connected with secondary bearing plate 20;The support base 3 Upper side is provided with control computer 21, and electrically driven 22, the electrically driven are provided with inside the support base 3 22 lower sections pass through rotation connection with cleaner 23.
The material safety durable that the utility model uses, meets the various use demands of handling device, is provided with fixed mount 1 Crawler belt 2, in the presence of motor 4, crawler belt 2 can drive transfer robot to walk, and have the advantages of motion facilitates, can Adapt to various landform, the top of support base 3 is provided with workbench 5, workbench 5 will according to need of work, random rotation direction, Under the drive of fluid pressure drive device 6, the active arm of force 9 can drive secondary power arm 12 to work, and have stable drive and bearing capacity The advantages of big, and can be freely raised and lowered by main shaft 8, the flexibility of handling device is improved, lifting is carried Efficiency, the secondary other end of rotary shaft 12 are connected with folder goods plate 14, and the essential information of goods is set on control computer 21, such as heavy Amount, width etc., folder goods plate 14 will be under the controls of control computer 21, it would be desirable to which the goods of carrying is clamped, will by power arm It is lifted, and in order to ensure that goods is not fallen off, the secondary bearing plate 20 on main bearing plate 18 will be skidded off automatically, and goods is lifted, By pressing from both sides goods plate 14 and the cooperation of main bearing plate 18, goods can is stably handled upside down, and has the advantages of working stability, Projected route is inputted on control computer 21, goods handling to the position needed, is improved handling device by robot can Automation, greatly reduces manpower and materials, while improving operating efficiency, also reduces cost, is also set up on folder thing plate 14 There is assisted sucking disc 15, when carrying out carrying work, assisted sucking disc 15 can firmly hold goods, more ensure the steady of goods Fixed transport, avoiding, because landing causes cargo damage, reducing economic loss, the side of workbench 5 is also equipped with ultrasonic sensor 7, When robot movement suddenly encounters barrier, ultrasonic sensor 7 can detect the position of barrier, stopped or detoured Operation, avoid bumping against barrier in walking, goods and equipment are caused to damage, embody the functional reliability of handling device, is propped up The lower section of support seat 3 is provided with cleaner 23, and after setting cleaning operation on control computer 21, cleaner 23 will work automatically, will Land clearing is clean, easy to use, and cleaning effect is good, improves the quality of robot, while has been also convenient for operating personnel Work.
Wherein, the outside side of workbench 5 has been bolted ultrasonic sensor 7, is dashed forward when in robot movement When so running into barrier, ultrasonic sensor 7 can detect the position of barrier, stopped or around dataway operation, avoid walking In bump against barrier.
Wherein, auxiliary rod 13 is connected between the active arm of force 10 and secondary power arm 12, auxiliary rod 13 has auxiliary The ability that the active arm of force 10 and secondary power arm 12 rotate, ensure the working stability of handling device.
Wherein, the side of folder goods plate 14 is provided with assisted sucking disc 15, and assisted sucking disc 15 can firmly hold goods, Ensure the stable transport of goods, avoid because landing causes cargo damage.
Wherein, the inside of the bearing plate 18 with stretches push rod 19 by being slidably connected, when having carried goods, stretches push rod 19 will release secondary bearing plate 20 from the main inside of bearing plate 18, so as to which goods be lifted, improve the stability for protecting cargo transport thing.
Operation principle:Crawler belt 2 is installed, in the presence of motor 4, crawler belt 2 can drive carrying implement on fixed mount 1 Device people walks, and the top of support base 3 is provided with workbench 5, and workbench 5 will be according to need of work, random rotation direction, in liquid Under the drive of hydraulic driver 6, the active arm of force 9 can drive secondary power arm 12 to work, and can freely be risen by main shaft 8 High or reduction, the secondary other end of rotary shaft 12 are connected with folder goods plate 14, and the essential information of goods, example are set on control computer 21 Such as weight, width, folder goods plate 14 will be under the controls of control computer 21, it would be desirable to which the goods of carrying is clamped, and passes through power Arm is lifted, and in order to ensure that goods is not fallen off, the secondary bearing plate 20 on main bearing plate 18 will be skidded off automatically, and goods is lifted Rise, projected route is inputted on control computer 21, robot can goes back goods handling to the position needed on folder thing plate 14 Assisted sucking disc 15 is provided with, when carrying out carrying work, assisted sucking disc 15 can firmly hold goods, when robot moves When suddenly encountering barrier, ultrasonic sensor 7 can detect the position of barrier, stopped or around dataway operation, controlled After setting cleaning operation on computer 21, cleaner 23 will work automatically, and land clearing is clean.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification Simply illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model is also Various changes and modifications are had, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model Claimed scope is by appended claims and its equivalent thereof.

Claims (5)

1. a kind of robot handling system of working stability, including fixed mount (1), support base (3), workbench (5), the active arm of force (10) and folder goods plate (14), it is characterised in that:Crawler belt (2) is installed, crawler belt (2) top is solid outside the fixed mount (1) Surely there is support base (3), support base (3) internal welding is connected to motor (4), passes through the company of rotation above the support base (3) Workbench (5) is connected to, fluid pressure drive device (6) is installed, workbench (5) top is by turning inside the workbench (5) Dynamic to be connected with fixed plate (8), the fixed plate (8) is connected by main shaft (9) with the active arm of force (10), the active arm of force (10) it is connected by auxiliary spindle (11) with secondary power arm (12), secondary power arm (12) other end is provided with folder goods plate (14), Described folder goods plate (14) other end is fixed with folder goods bar (16), passes through rebound (17) and main load-bearing on the downside of the folder goods plate (14) Plate (18) connects, and main bearing plate (18) side is slidably connected with secondary bearing plate (20);Set at the upper side of the support base (3) Control computer (21) is equipped with, electrically driven (22), the electrically driven (22) are installed inside the support base (3) Lower section passes through rotation connection with cleaner (23).
A kind of 2. robot handling system of working stability according to claim 1, it is characterised in that:The workbench (5) outside side has been bolted ultrasonic sensor (7).
A kind of 3. robot handling system of working stability according to claim 1, it is characterised in that:The active arm of force (10) auxiliary rod (13) is connected between secondary power arm (12).
A kind of 4. robot handling system of working stability according to claim 1, it is characterised in that:The folder goods plate (14) side is provided with assisted sucking disc (15).
A kind of 5. robot handling system of working stability according to claim 1, it is characterised in that:The bearing plate (18) with stretches push rod (19) by being slidably connected inside.
CN201720420721.7U 2017-04-21 2017-04-21 A kind of robot handling system of working stability Expired - Fee Related CN206764781U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720420721.7U CN206764781U (en) 2017-04-21 2017-04-21 A kind of robot handling system of working stability

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720420721.7U CN206764781U (en) 2017-04-21 2017-04-21 A kind of robot handling system of working stability

Publications (1)

Publication Number Publication Date
CN206764781U true CN206764781U (en) 2017-12-19

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ID=60635496

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720420721.7U Expired - Fee Related CN206764781U (en) 2017-04-21 2017-04-21 A kind of robot handling system of working stability

Country Status (1)

Country Link
CN (1) CN206764781U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108942881A (en) * 2018-05-22 2018-12-07 王维 A kind of carrying platform stabilization ejector half industrial machinery arm
CN112775927A (en) * 2021-01-07 2021-05-11 奥尔森(镇江)电气机械有限公司 Storage transfer robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108942881A (en) * 2018-05-22 2018-12-07 王维 A kind of carrying platform stabilization ejector half industrial machinery arm
CN112775927A (en) * 2021-01-07 2021-05-11 奥尔森(镇江)电气机械有限公司 Storage transfer robot

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GR01 Patent grant
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: 20171219

Termination date: 20180421