CN206901341U - A kind of mobile robot palletizer - Google Patents
A kind of mobile robot palletizer Download PDFInfo
- Publication number
- CN206901341U CN206901341U CN201720741423.8U CN201720741423U CN206901341U CN 206901341 U CN206901341 U CN 206901341U CN 201720741423 U CN201720741423 U CN 201720741423U CN 206901341 U CN206901341 U CN 206901341U
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- China
- Prior art keywords
- plate
- mobile robot
- robot palletizer
- arm component
- screw mandrel
- 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.)
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- 210000000707 wrist Anatomy 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a kind of mobile robot palletizer, including panoramic table, includes large arm Component driver part in the panoramic table；The big arm component being connected with the large arm Component driver part；The wrist component being connected with the large arm component end；The panoramic table is slidably assemblied on sliding rail, first screw mandrel is installed on the sliding rail, screw on first screw mandrel is connected by a mounting base with the panoramic table, and first screw mandrel passes through the first motor of its end and the driving rotation of the first decelerator.By upper, by the way that mobile robot palletizer is slidably assemblied on sliding rail, can be achieved for the overall mobile control of robot palletizer, that is, to realize mobility, realize movably automaticity again by the cooperation of motor and decelerator.
Description
Technical field
It the utility model is related to a kind of mobile robot palletizer.
Background technology
With the continuous development of China's economy robot is more and more extensive in the application of industrial circle, especially in stacking, spray
The sector application such as painting and carrying is extensive.Robot palletizer is mainly used in the stacking of product, and product can be carried out into heap as requested
Put.
The robot palletizer of prior art does not have a locomotivity, such as Chinese Application No. CN201410788571.6
Robot palletizer, its bottom are fixed on a base.Therefore, its stacking is confined in the scope that large arm is moved.
Existing corrective measure is included in base bottom assembling wheel, but still needs to Manual-pushing robot palletizer and make it
It is mobile.Because mobile robot deadweight is larger, therefore the time and effort consuming during Manual-pushing.
Utility model content
Main purpose of the present utility model is to provide a kind of mobile robot palletizer, including panoramic table, in the revolution
Platform includes large arm Component driver part；
The big arm component being connected with the large arm Component driver part；
The wrist component being connected with the large arm component end；
The panoramic table is slidably assemblied on sliding rail, and the first screw mandrel is provided with the sliding rail, the
Screw on one screw mandrel is connected by a mounting base with the panoramic table, the first motor that first screw mandrel passes through its end
Drive and rotate with the first decelerator.
By upper, by the way that mobile robot palletizer is slidably assemblied on sliding rail, pass through motor and decelerator
Coordinate and can be achieved for the overall mobile control of robot palletizer, that is, to realize mobility, realize again movably automatic
Property.
Wherein, the sliding rail includes the vertical side of bottom plate and bottom plate both sides, distinguishes in the top of two sides
It is equipped with the first guide rail；
The first sliding block with first guide rail is equipped with the bottom of the mounting base.
By upper, by the mutual cooperation of the first guide rail and the first sliding block, to reduce friction factor, sliding capability is improved.
Wherein, the sliding rail includes yi word pattern sliding rail or cross sliding rail.
By upper, it is possible to achieve the movement of diverse location.
Wherein, displacement transducer is installed on the sliding rail, for detecting the shift position of the mounting base.
By upper, shift position can be detected, to know the shift position of robot palletizer, avoid the occurrence of motor
When failure, although correctly assigning move, the situation of normal movement can not be known whether.
Wherein, the second motor and the second decelerator of drive connection, second electricity are installed on the mounting base
The rotor of machine is fixed by a rotation platform and the panoramic table, and the stator of second decelerator is fixed on institute by fixed seat
State on mounting base.
By upper, panoramic table is driven to rotate by the operation of the second motor and the second decelerator, so as to realize mobile stacking machine
Device people carries out operation towards any direction.
Wherein, the large arm Component driver part includes：
Second screw mandrel of horizontal direction, its screw connection one move horizontally plate, in the upper end connection for moving horizontally plate
The front column of big arm component；
3rd screw mandrel of vertical direction, its screw connection one vertically move plate, and the plate that vertically moves is connected to large arm group
The rear column of part；
Second screw mandrel and the 3rd screw mandrel are driven by a motor respectively.
By upper, by the drive mechanism of the good screw of screw mandrel, under the premise of lower-cost, bowing for big arm component is realized
Face upward control.
Wherein, the plate slidable fit that moves horizontally is on side plate crossbeam；
The side plate crossbeam is installed on the panoramic table by side plate stud, and second is provided with the side plate crossbeam
Guide rail, the second sliding block with second guide rail is installed in the plate bottom that moves horizontally.
By upper, by the mutual cooperation of the second guide rail and the second sliding block, to reduce friction factor, sliding capability is improved.
Wherein, the plate slidable fit that vertically moves is on side plate column；
The side plate column is vertically arranged on the panoramic table, and the 3rd guide rail is provided with the side plate column,
It is described to vertically move the 3rd sliding block being provided with plate with the 3rd guide rail.
By upper, by the mutual cooperation of the 3rd guide rail and the 3rd sliding block, to reduce friction factor, sliding capability is improved.
Wherein, solar panels module is installed on the big arm component, with each consuming parts on mobile robot palletizer
Electrical connection.
It is more green using the power supply mode of solar energy by upper.
Brief description of the drawings
Fig. 1 is the structural representation of mobile robot palletizer；
Fig. 2 is the structural representation of another angle of mobile robot palletizer；
Fig. 3 is the fragmentary bottom schematic diagram of the 3rd screw mandrel and the 4th motor part；
Fig. 4 is the partial rear schematic diagram for vertically moving plate part.
Embodiment
Mobile robot palletizer described in the utility model is described in detail referring to Fig. 1~Fig. 4, including revolution
Platform 200, the base panoramic table 200 are slidably assemblied on sliding rail 100.Also include being arranged at the panoramic table 200
On large arm Component driver part 300, and big arm component 400 and wrist component 500.
As shown in Figure 1, 2, it is in " Qian " type that the sliding rail 100 is overall, including horizontal bottom plate 101 and bottom plate both sides are erected
Straight side 102, the first guide rail 103 is respectively fitted with the top of the side 102.
In the present embodiment, the sliding rail 100 is " one " font, in actual use, can also use " ten " shaped sliding
Track, realized for example with cross slid platform.
In the forward and backward both ends middle position of the sliding rail 100, a support base 104 is separately installed with, in the support
The first screw mandrel 105 is fixedly mounted on seat 104.First screw mandrel 105 is by being assemblied in the first motor 106 and first of its one end
Decelerator 107 drives, and the attachment structure of the decelerator 107 of the first motor 106 and first is same as the prior art, no longer superfluous
State.
Screw (not shown) on first screw mandrel 105 is fixedly connected on the bottom of mounting base 201, in the installation
The bottom of bottom plate 201 also includes removably being provided with the first sliding block 202 matched with first guide rail 103.From there through
The rotation of first motor 106 and the first decelerator 107 drives the rotation of the first screw mandrel 105, so that on the first screw mandrel 105
Screw is subjected to displacement, and then drives mounting base 201 to be moved on sliding rail 100.
Preferably, displacement transducer is additionally provided with the sliding rail 100, for detecting the position of mounting base 201
Put.Institute's displacement sensors include grating sensor, Hall sensor etc..
Panoramic table 200 is fixed on the mounting base 201.
Pedestal cylinder 203 is installed on the mounting base 201, second is internally provided with the pedestal cylinder 203
The decelerator (not shown) of motor 204 and second, the connection of the two are realized using prior art.The rotor of second motor 204
It is fixed on by floating bearing 205 on a rotation platform 207, its stator is fixed on the substrate seat of honour 206.Second decelerator is determined
Sub- fixed seat (not shown) is fixed on the mounting base 201, and rotor is connected with the rotor of the second motor 204.Thus, pass through
The rotation of second motor 204 and the second decelerator drives the rotation platform 207 with second motor 204 integrated connection to rotate.
Large arm Component driver part 300 is installed on the rotation platform 207.On the rotation platform 207, in addition to
Some auxiliary stands, for installing the large arm Component driver part 300.Including four corner positions on rotation platform 207
Side plate stud 301, be fixed on the side plate crossbeam 302 of the top of the side plate stud 301, and side plate cross-beam connecting plate 303.
The upside of side plate cross-beam connecting plate 303 is provided with bearing block 304, for fixing the second screw mandrel 305 of horizontal direction, described
The end of second screw mandrel 305 is connected with the first big belt wheel 309.
In the downside of side plate cross-beam connecting plate 303 and the symmetric position of the bearing block 304, motor mounting plate is installed
306, for fixing the 3rd motor 307, the roller end of the 3rd motor 307 installs the first small pulley 308, first small pulley
Timing belt 310 is installed between 308 and first big belt wheel 309.
Screw on second screw mandrel 305 moves horizontally plate 311 with one and is connected, and this moves horizontally the bottom of version 311 and is provided with
Two sliding blocks 312, the second guide rail 314 matched with second sliding block 312 are installed on the upper end of side plate crossbeam 302.In the water
The upper end of flat movable plate 311, the front column of big arm component 400 is fixed by the cooperation front column of upright supports block 313 connecting shaft 315
401。
As shown in figure 3, on the rotation platform 207, in addition to the 3rd screw mandrel 316 and one of a vertical direction is vertical
4th motor 317 in direction, the output shaft end in the bottom of the 3rd screw mandrel 316 and the 4th motor are separately installed with logical
Cross the second big belt wheel 325 and the second small pulley 326 of the connection of timing belt 324.Screw on 3rd screw mandrel 316 vertically moves with one
Plate 318 connects, and this, which is vertically moved, is provided with the 3rd sliding block 319 on plate 318.On the rotation platform 207, in addition to two vertical
The riser column 320 being symmetrically installed, the 3rd guide rail 321 is installed on the two riser columns 320.3rd guide rail 321
Match with the 3rd sliding block 319, thus by the rotation of the 4th motor the second small pulley and the second big belt wheel can be driven same
Step rotates, and to drive the 3rd screw mandrel 316 to rotate, thus the screw on the 3rd screw mandrel 316, which can drive, vertically moves plate 318 vertical
Move in direction.
With reference to shown in Fig. 4, vertically move plate 318 and pass through a connecting plate 321 and rear column connecting shaft 322 and big arm component
400 rear column 402 connects.In the rear between column 402 and front column, in addition to a column linking arm 323.Big arm component
Side plate 403 it is be hinged with the front column 401 and rear column 402 respectively.
By upper, by the driving of the 3rd motor 307 and the 4th motor 317, final drive moves horizontally plate 311 and vertical shifting
Dynamic plate 318 moves, and then drives front column 401 and rear column 402 to drive the elevating movement of big arm component 400.
Preferably, it is also equipped with solar panels module (not at the side plate 403 and front column 401 and rear column 402
Diagram), electrically connected with each motor, by the cooperation of battery and inverter, convert the solar into electric energy, Xiang Ge electricity
Machine is powered.
The wrist component 500 is installed on the leading section of big arm component 400, wrist by proficiency wrist units installing plate 501
Component 500 includes the 5th motor, and its rotating shaft connects the 3rd small pulley 502.Also include with the 3rd small pulley 502 by water
Square to the 3rd timing belt 503 connect the third-largest belt wheel 504.It is connected with the third-largest in the vertical direction of belt wheel 504
Rotating assembly (not shown), manipulator installing plate 505 is installed in the bottom of the rotating assembly.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in
Within the scope of shield.
Claims (9)
1. a kind of mobile robot palletizer, it is characterised in that including panoramic table (200), be provided with the panoramic table (200)
Large arm Component driver part (300)；
The big arm component (400) being connected with the large arm Component driver part (300)；
The wrist component (500) being connected with big arm component (400) end；
The panoramic table (200) is slidably assemblied on sliding rail (100), the horizontal peace on the sliding rail (100)
Equipped with the first screw mandrel (105), the screw on the first screw mandrel (105) is connected by a mounting base (201) and the panoramic table (200)
Connect, first screw mandrel (105) drives rotation by the first motor (106) and the first decelerator (107) of its end.
2. mobile robot palletizer according to claim 1, it is characterised in that the sliding rail (100) includes bottom plate
(101) and the vertical side (102) in bottom plate both sides, it is respectively fitted with the first guide rail above two sides (102)
(103)；
The first sliding block (202) matched with first guide rail (103) is equipped with the bottom of the mounting base (201).
3. mobile robot palletizer according to claim 1 or 2, it is characterised in that the sliding rail (100) includes one
Shaped sliding track or cross sliding rail.
4. mobile robot palletizer according to claim 1 or 2, it is characterised in that pacify on the sliding rail (100)
Equipped with displacement transducer, for detecting the shift position of the mounting base (201).
5. mobile robot palletizer according to claim 1, it is characterised in that installed on the mounting base (201)
Have the second motor and the second decelerator of drive connection, the rotor of second motor by a rotation platform (207) with it is described
Panoramic table (200) is fixed, and the stator of second decelerator is fixed on the mounting base (201) by fixed seat.
6. mobile robot palletizer according to claim 1, it is characterised in that the large arm Component driver part (300)
Including：
The second screw mandrel (305) of horizontal direction, its screw connection one moves horizontally plate (311), described to move horizontally plate (311) even
Connect the front column (401) of big arm component (400)；
3rd screw mandrel (316) of vertical direction, its screw connection one vertically moves plate (318), described to vertically move plate (318) even
It is connected to the rear column (402) of big arm component (400)；
Second screw mandrel (305) and the 3rd screw mandrel (316) are driven by a motor respectively.
7. mobile robot palletizer according to claim 6, it is characterised in that the plate (311) that moves horizontally slides dress
Assigned on side plate crossbeam (302)；
The side plate crossbeam (302) is installed on the panoramic table (200) by side plate stud (301), in the side plate crossbeam
(302) the second guide rail (314) is installed on, is provided with and second guide rail (314) in described plate (311) bottom that moves horizontally
The second sliding block (312) of matching.
8. mobile robot palletizer according to claim 6, it is characterised in that the plate (318) that vertically moves slides dress
Assigned on side plate column (320)；
The side plate column (320) is vertically arranged on the panoramic table (200), is provided with the side plate column (320)
3rd guide rail (321), in the 3rd sliding block for vertically moving and being provided with plate (318) and being matched with the 3rd guide rail (321)
(319)。
9. mobile robot palletizer according to claim 1, it is characterised in that be provided with the big arm component (400)
Solar panels module, electrically connected with each consuming parts on mobile robot palletizer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720741423.8U CN206901341U (en) | 2017-06-23 | 2017-06-23 | A kind of mobile robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720741423.8U CN206901341U (en) | 2017-06-23 | 2017-06-23 | A kind of mobile robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206901341U true CN206901341U (en) | 2018-01-19 |
Family
ID=61285420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720741423.8U Expired - Fee Related CN206901341U (en) | 2017-06-23 | 2017-06-23 | A kind of mobile robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206901341U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436885A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system |
| CN109159107A (en) * | 2018-09-28 | 2019-01-08 | 江苏派远软件开发有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN109454245A (en) * | 2018-12-26 | 2019-03-12 | 罗甸县金泰模具机械制造有限公司 | Electronic rotation outer circle spindle nose turning equipment |
| CN112249724A (en) * | 2020-10-10 | 2021-01-22 | 江门市恒正自动化设备科技有限公司 | Four-axis pile up neatly machine people that positioning accuracy is high |
| CN112660841A (en) * | 2020-12-12 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Stacking robot capable of moving freely |
| CN116062488A (en) * | 2023-03-02 | 2023-05-05 | 上海图灵智造机器人有限公司 | Movable palletizing robot and use method thereof |
-
2017
- 2017-06-23 CN CN201720741423.8U patent/CN206901341U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436885A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system |
| CN108436885B (en) * | 2018-05-22 | 2023-08-22 | 南京工程学院 | Large-span and large-stroke rectangular coordinate stacking and unstacking robot system |
| CN109159107A (en) * | 2018-09-28 | 2019-01-08 | 江苏派远软件开发有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN109454245A (en) * | 2018-12-26 | 2019-03-12 | 罗甸县金泰模具机械制造有限公司 | Electronic rotation outer circle spindle nose turning equipment |
| CN112249724A (en) * | 2020-10-10 | 2021-01-22 | 江门市恒正自动化设备科技有限公司 | Four-axis pile up neatly machine people that positioning accuracy is high |
| CN112660841A (en) * | 2020-12-12 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Stacking robot capable of moving freely |
| CN116062488A (en) * | 2023-03-02 | 2023-05-05 | 上海图灵智造机器人有限公司 | Movable palletizing robot and use method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180308 Address after: 100192 Beijing city Haidian District Qinghe small Camp Road No. 12 Co-patentee after: KANGZHENG AUTOMATIC EQUIPMENT (GU'AN) CO.,LTD. Patentee after: BEIJING INFORMATION SCIENCE AND TECHNOLOGY University Co-patentee after: AMBITIOUS ROBOT TECHNOLOGY (PANJIN) CO.,LTD. Address before: 100192 Beijing city Haidian District Qinghe small Camp Road No. 12 Co-patentee before: KANGZHENG AUTOMATIC EQUIPMENT (GU'AN) CO.,LTD. Patentee before: Beijing Information Science and Technology University |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |