CN207359166U - Multi-functional processing and transfer robot - Google Patents
Multi-functional processing and transfer robot Download PDFInfo
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- CN207359166U CN207359166U CN201721291739.8U CN201721291739U CN207359166U CN 207359166 U CN207359166 U CN 207359166U CN 201721291739 U CN201721291739 U CN 201721291739U CN 207359166 U CN207359166 U CN 207359166U
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- headstock
- swing arm
- arm unit
- transfer robot
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Abstract
A kind of multi-functional processing and transfer robot are the utility model is related to, includes base, gyro black assembly, waist frame, swing arm unit and executing agency；Executing agency is installed on swing arm unit front end, it includes headstock, cutting assembly and Suction cup assembly；Wherein：Counterweight spring is provided between postbrachium and waist top of the trellis in swing arm unit, the weight of crawl material is improved and reduces moment of torsion；The locating shaft of cutting motor is by the way that oil motor driving adjusts angle, and is coordinated using positioning disk and positional cylinder, realizes the locking of saw blade cutting angle in the cutting assembly；The two groups of suckers in left and right are positioned on two crossbeams of rectangular frame by slip clamp in Suction cup assembly, it is positioned at by torsion shaft on headstock on the downside of rectangular frame, is provided with overturning oil cylinder between upside and headstock, realize the horizontal switching with vertical direction, meet to carry material and stack the needs of material.
Description
Technical field：
The utility model belongs to robot field, more particularly to a kind of multi-functional processing and transfer robot.
Background technology：
Robot is widely used in manufacturing industry, and replacement is accomplished manually repeated labor, is especially suitable for pipelining and one
A little high labor intensity occasions.Such as application number 201710058438.9, a kind of open cutting robot palletizer, has generallyd include bottom
Seat, gyro black assembly, waist frame, swing arm unit and executing agency；By base locking on fixture, gyro black assembly is installed on base
On, between be provided with thrust bearing, and driven by turning motor and rotated around base；Waist frame locks on gyro black assembly, carrying pendulum
Arm component, the elevating mechanism of driving swing arm unit lifting action and the telescoping mechanism of elastic action are provided with waist frame；Institute
State executing agency and be installed on swing arm unit front end, complete cutting and carrying action.The robot is not perfect enough in detail, influences
Using effect.How to improve the deficiencies in the prior art, become the utility model research object.
The content of the invention：
The purpose of this utility model is to be provided with counterweight spring between a kind of swing arm of design and waist frame, and is cut in executing agency
Cut angle of saw blade and can be locked, sucker can adjust multi-functional processing and the transfer robot of spacing.
What technical solutions of the utility model were realized in：A kind of multi-functional processing and transfer robot, include base,
Gyro black assembly, waist frame, swing arm unit and executing agency；On fixture, gyro black assembly passes through thrust bearing for the base locking
On base, and driven by turning motor and rotated around base；Waist frame locks on gyro black assembly, carries swing arm unit, waist
The elevating mechanism of driving swing arm unit lifting action and the telescoping mechanism of elastic action are installed on frame；The executing agency
Installed in swing arm unit front end, it includes headstock, cutting assembly and Suction cup assembly；It is characterized in that：In swing arm unit
Counterweight spring is provided between postbrachium and waist top of the trellis；The cutting motor with saw blade is determined by a shaft in the cutting assembly
Position is on headstock, and the end of headstock is stretched out in shaft one end and rotation oil motor is sequentially connected, which locks in head
On seat；The end locking that the shaft other end stretches out headstock has positioning disk, and the positioning disk is provided circumferentially about locating notch, the side
Headstock on be provided with positional cylinder, the piston end of positional cylinder is inserted into the locating notch, forms determining for angle of saw blade
Position；The two groups of suckers in left and right are positioned on two crossbeams of rectangular frame by slip clamp in the Suction cup assembly, under rectangular frame
Side is positioned on headstock by torsion shaft, is provided with overturning oil cylinder between upside and headstock.
The counterweight spring is symmetrical two, and left and right is discrete to capture postbrachium upper end in the back both sides of postbrachium, balance,
Three-legged structure is formed between two application point of counterweight spring, postbrachium and waist frame.
Locating notch on the positioning disk circumference is respectively at 0 degree, 45 degree and 90 degree central angle.
The slip clamp is configured with manual jackscrew, and slip clamp locks in the tool of rectangular frame crossbeam by the manual jackscrew
On body position.
The crossbeam of the rectangular frame and the section of slip clamp are square, are each provided with covering in slip clamp upper and lower sides
Cylinder, the vertically disposed support column in sucker back pass through the sleeve, and is installed with pre-load nut in end, sucker and sleeve it
Between support column on be arranged with buffer spring.
The lower and upper cross-member left and right ends of the rectangular frame, are located a slip clamp and carry a sucker, sucker leads to respectively
Two support columns are crossed to be positioned in slip clamp.
The utility model has the advantages that：1st, by the setting of counterweight spring so that the sucker in executing agency
Component, can capture heavier material in farthest, and transport operation torque more balances, and after carrying weight, thrust bearing
The moment of torsion smaller born；2nd, angle of saw blade positioning is reliable, and operation process will not deviate, and ensures cutting accuracy；3rd, sucker use can
Slidable adjustment structure, easy to carry the material of different length, aids in buffer spring, avoids being attracted moment generation impact, to quilt
The material of carrying shields.
Brief description of the drawings：
The utility model is described further with reference to specific legend：
Fig. 1 is multi-functional processing and transfer robot cut state figure
Fig. 2 carries state diagram for multi-functional processing and transfer robot
Fig. 3 is multi-functional processing and transfer robot side view
Fig. 4 is multi-functional processing and transfer robot three-dimensional exploded view
Fig. 5 is executing agency's schematic perspective view
Fig. 6 is executing agency's side schematic view
Fig. 7 is executing agency's front schematic view
Wherein
1-base, 2-gyro black assembly, 21-thrust bearing, 22-turning motor
3-waist frame 31-elevating mechanism, 32-telescoping mechanism, 4-swing arm unit
41-postbrachium, 42-counterweight spring, 5-executing agency, 51-headstock
6-cutting assembly, 61-cutting motor, 62-saw blade, 63-shaft
64-rotation oil motor 65-positioning disk, 650-locating notch, 66-positional cylinder
660-piston end, 7-Suction cup assembly, 71-rectangular frame, 711-crossbeam
72-sucker, 721-support column, 722-pre-load nut, 73-slip clamp
731-sleeve 74-manual jackscrew 75-buffer spring, 76-torsion shaft
77-overturning oil cylinder, 8-material
Embodiment：
Referring to figs. 1 to Fig. 4, multi-functional processing and transfer robot, include base 1, gyro black assembly 2, waist frame 3, swing arm
Component 4 and executing agency 5；Base 1 locks on fixture, such as Active workings face；Gyro black assembly 2 is installed by thrust bearing 21
On base 1, and driven by turning motor 22 and rotated around base 1, to complete the need of 360 degree of wide jobs.
Waist frame 3 locks on gyro black assembly 2, carries swing arm unit 4, and it is dynamic that the driving lifting of swing arm unit 4 is provided with waist frame 3
The elevating mechanism 31 of work and the telescoping mechanism 32 of elastic action.And between the postbrachium 41 and the top of waist frame 3 in swing arm unit 4
It is provided with counterweight spring 42；More specifically, counterweight spring 42 is symmetrical two, and left and right is discrete in the back both sides of postbrachium 41,
Balance captures 41 upper end of postbrachium, and three-legged structure is formed between 3 liang of counterweight spring 42, postbrachium 41 and waist frame application points.Swing arm set
When part 4 acts, two application point spacing on waist frame 3 can produce change, make counterweight spring 42 is elastic to produce change, adjusting makes power side
To.2 liang of application points of waist frame described here are waist frame and counterweight spring interface point and the application point of postbrachium 41 and elevating mechanism 31.
Executing agency 5 is installed on 4 front end of swing arm unit, it includes headstock 51, cutting assembly 6 and Suction cup assembly 7.Such as
Fig. 1, the cut-out operation of material 8 is realized by cutting assembly 6, then realizes the carrying of material 8, such as Fig. 2 by Suction cup assembly 7 again,
It can be stacked from vertical angle, degree of switching direction.
With reference to Fig. 5 to Fig. 7, cutting assembly 6 includes cutting motor 61 and saw blade 62, and cutting motor 61 passes through a shaft 63
It is positioned on headstock 51,63 one end of shaft stretches out the end of headstock 51 and rotation oil motor 64 is sequentially connected, the oil motor
64 lockings adjust the angle of inclination of saw blade 62 by rotating oil motor 64, to cut the oblique of different angle on headstock 51
Side；The end locking that 63 other end of shaft stretches out headstock 51 has positioning disk 65, and the positioning disk 65 is provided circumferentially about to have positioning to lack
Mouthfuls 650, positional cylinder 66 is provided with the headstock 51 of the side, and the piston end 660 of positional cylinder 66 is inserted into locating notch 650
In, the reliable location of 62 angle of saw blade is formed, ensures, in cutting process, not produce drift because vibrating.
In this example, the locating notch 650 on 65 circumference of positioning disk respectively at 0 degree, 45 degree and 90 degree central angle, namely
Horizontal, vertical and 45 degree of angles cutting can be carried out, substantially meets current demand.
Suction cup assembly 7 includes rectangular frame 71 and sucker 72, and rectangular frame 71 has upper and lower two crossbeams 711, and horizontal
The section of beam 711 is square；The left and right sides of lower and upper cross-member 711, is located a slip clamp 73 and carries a sucker 72 respectively；
More specifically, section is slidably located on crossbeam 711 for the slip clamp 73 of square, and manual top is configured with slip clamp 73
Silk 74, locks slip clamp 73 on the specific location of crossbeam 711 by the manual jackscrew 74.And 73 upper and lower sides of slip clamp are respectively set
Sleeve 731 is equipped with, vertically disposed two support columns 721 in 72 back of sucker pass through the sleeve 731, and are installed with end pre-
Tight nut 722, is arranged with buffer spring 75 on the support column 721 between sucker 72 and sleeve 731, effectively alleviates and produced when being attracted
Raw impact.
The downside of rectangular frame 71 is positioned on headstock 51 by torsion shaft 76, is provided with upset between upside and headstock 51
Oil cylinder 77, rectangular frame 71 is driven by the overturning oil cylinder 77, can it is horizontal with it is vertical between switch, meet during carrying feeding and
The change demand of angle during windrow.
Claims (6)
1. a kind of multi-functional processing and transfer robot, include base, gyro black assembly, waist frame, swing arm unit and executing agency；
On fixture, gyro black assembly is installed on base by thrust bearing, and is driven by turning motor the bottom of around for the base locking
Seat rotation；Waist frame locks on gyro black assembly, carries swing arm unit, and the liter of driving swing arm unit lifting action is provided with waist frame
Descending mechanism and the telescoping mechanism of elastic action；The executing agency is installed on swing arm unit front end, its include headstock,
Cutting assembly and Suction cup assembly；It is characterized in that：Counterweight spring is provided between postbrachium and waist top of the trellis in swing arm unit；Institute
State the cutting motor with saw blade in cutting assembly to be positioned on headstock by a shaft, the end of headstock is stretched out in shaft one end
Portion is sequentially connected with rotation oil motor, and the oil motor locking is on headstock；The shaft other end stretches out the end lock of headstock
Intrinsic positioning disk, the positioning disk is provided circumferentially about locating notch, and positional cylinder is provided with the headstock, positional cylinder
Piston end is inserted into the locating notch, forms the positioning of angle of saw blade；The two groups of suckers in left and right pass through cunning in the Suction cup assembly
Dynamic folder is positioned on two crossbeams of rectangular frame, is positioned at by torsion shaft on headstock on the downside of rectangular frame, upside and machine
Overturning oil cylinder is provided between headstock.
2. multi-functional processing according to claim 1 and transfer robot, it is characterised in that：Counterweight spring is symmetrical two
Root, left and right is discrete to capture postbrachium upper end, two application point of counterweight spring, postbrachium and waist frame in the back both sides of postbrachium, balance
Between form three-legged structure.
3. multi-functional processing according to claim 1 and transfer robot, it is characterised in that：Positioning on positioning disk circumference
Notch is respectively at 0 degree, 45 degree and 90 degree central angle.
4. multi-functional processing according to claim 1 and transfer robot, it is characterised in that：Slip clamp is configured with manual top
Silk, locks slip clamp on the specific location of rectangular frame crossbeam by the manual jackscrew.
5. multi-functional processing and transfer robot according to claim 1 or 4, it is characterised in that：The crossbeam of rectangular frame
Section with slip clamp is square, and sleeve, the vertically disposed support column in sucker back are each provided with slip clamp upper and lower sides
Pre-load nut is installed with through the sleeve, and in end, buffer spring is arranged with the support column between sucker and sleeve.
6. multi-functional processing according to claim 5 and transfer robot, it is characterised in that：The lower and upper cross-member of rectangular frame
Left and right ends, are located a slip clamp and carry a sucker, sucker is positioned in slip clamp by two support columns respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721291739.8U CN207359166U (en) | 2017-10-09 | 2017-10-09 | Multi-functional processing and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721291739.8U CN207359166U (en) | 2017-10-09 | 2017-10-09 | Multi-functional processing and transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359166U true CN207359166U (en) | 2018-05-15 |
Family
ID=62346765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721291739.8U Active CN207359166U (en) | 2017-10-09 | 2017-10-09 | Multi-functional processing and transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207359166U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747422A (en) * | 2018-05-29 | 2018-11-06 | 苏州库迅机器人有限公司 | Robotic gripper saw cutting device |
| CN113859959A (en) * | 2021-09-26 | 2021-12-31 | 浙江工贸职业技术学院 | Logistics transportation small robot capable of carrying articles with different heights |
-
2017
- 2017-10-09 CN CN201721291739.8U patent/CN207359166U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747422A (en) * | 2018-05-29 | 2018-11-06 | 苏州库迅机器人有限公司 | Robotic gripper saw cutting device |
| CN113859959A (en) * | 2021-09-26 | 2021-12-31 | 浙江工贸职业技术学院 | Logistics transportation small robot capable of carrying articles with different heights |
| CN113859959B (en) * | 2021-09-26 | 2023-06-16 | 浙江工贸职业技术学院 | Logistics transportation small robot capable of carrying articles with different heights |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230908 Address after: 351144 Huangshi Industrial Park, Licheng District, Putian City, Fujian Province Patentee after: FUJIAN HUALONG MACHINERY Co.,Ltd. Address before: 351144 South side of Meishan Road, Huangshi Industrial Park, Licheng District, Putian City, Fujian Province Patentee before: FUJIAN PROVINCE BAICHAO TECHNOLOGY CO.,LTD. |