CN208614783U

CN208614783U - A kind of multi-functional carrying robot device

Info

Publication number: CN208614783U
Application number: CN201820661707.0U
Authority: CN
Inventors: 杨帅; 邹智慧
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-05-05
Filing date: 2018-05-05
Publication date: 2019-03-19
Anticipated expiration: 2028-05-05

Abstract

The utility model discloses a kind of multi-functional carrying robot devices, including pedestal, the upper surface of pedestal is fixedly connected with revolution reservation, the inside and rotary main shaft for turning round reservation are rotatablely connected, the upper surface of rotary main shaft is fixedly connected with workbench, the upper surface of workbench is fixedly connected there are two bracket, the inside of two brackets is rotatably connected to first mechanical arm by bearing, the first mechanical arm is provided with internal gear close to one end of workbench, the inside of the second mechanical arm is provided with sliding chamber, the internal slide of the sliding chamber is connected with telescopic arm, the inside of the telescopic arm is provided with cavity, the utility model drives workbench rotation by rotary main shaft, robot is set to work in all angles, gear drive greatly increases the amplitude of fluctuation of first mechanical arm, the kind of drive wear resistance of gear engagement simultaneously is It improves.

Description

A kind of multi-functional carrying robot device

Technical field

The utility model relates to robotic technology field, specially a kind of multi-functional carrying robot device.

Background technique

For the working efficiency for preferably improving factory, mitigate worker's work load, improve serious forgiveness, many factories start to make Manual working is replaced with transfer robot, but since plant site situation is complicated, material workpiece puts random larger and size Unevenness, common transfer robot grabs article amplitude and directionality is not good enough and crawl article magnitude range is not big enough, often makes Robot is not able to satisfy various service conditions, and the damage Ye Huiling robot service life decline of transmission device increases maintenance time Several and expense, thus it is proposed that a kind of multi-functional carrying robot device.

Utility model content

The purpose of this utility model is to provide a kind of multi-functional carrying robot devices, to solve in above-mentioned background technique The problem of proposition.

To achieve the above object, the utility model provides the following technical solutions: a kind of multi-functional carrying robot device, packet Pedestal is included, the upper surface of the pedestal is fixedly connected with revolution reservation, and the inside of the revolution reservation and rotary main shaft rotation connect It connects, the upper surface of the rotary main shaft is fixedly connected with workbench, there are two the upper surface of the workbench is fixedly connected The inside of bracket, two brackets is rotatably connected to first mechanical arm by bearing, and the first mechanical arm is close to workbench One end is provided with internal gear, and the inside of the internal gear is equipped with first gear axis, and the is fixed on the outside of the first gear axis One gear, first gear engagement are connected with multiple second gears, and multiple second gears engage connection with internal gear, and described the The side of one mechanical arm is located at workbench upper surface equipped with first motor, and the output shaft of the first motor is connected with axle sleeve, The axle sleeve is clamped through bracket and the activity of first gear axis, and the first mechanical arm passes through third far from one end of workbench Connecting rod is rotatably connected to second mechanical arm, and the side wall of the first mechanical arm is rotatably connected to the second oil cylinder, second oil The side wall of cylinder one end and second mechanical arm far from first mechanical arm is rotatablely connected；

The inside of the second mechanical arm is provided with sliding chamber, and the internal slide of the sliding chamber is connected with telescopic arm, described flexible The inside of arm is provided with cavity, and the flank of tooth and sliding slot, the inside of the cavity are had on the bottom of the cavity and two sides side wall Equipped with second gear axis, one end of the second gear axis sequentially passes through cavity, sliding slot and second mechanical arm and extends to second The outside of mechanical arm is fixed with third gear on the outside of the second gear axis, and the third gear is connect with flank engagement, The upper surface of the second mechanical arm is fixedly connected with the second motor, the output shaft of second motor be connected with electric machine main shaft and It is interconnected by belt and second gear axis, the telescopic arm is fixedly connected with handgrip pedestal far from one end of cavity, described Far from fixing axle is fixedly connected on one end of telescopic arm, the fixing axle is rotated far from one end of handgrip pedestal to be connected handgrip pedestal It is connected to first connecting rod, two groups are rotatably connected on the first connecting rod and grabs bar, the two sides of the fixing axle are located at handgrip bottom It is equipped with the first oil cylinder on the side wall of seat, two the first oil cylinders are connected separately with the second connecting rod far from one end of handgrip pedestal, And two groups are grabbed bar and are rotatablely connected respectively with the second connecting rod.

Preferably, the side wall of the first gear axis is provided with multiple main shaft keyways, and the internal activity of multiple main shaft keyways connects Multiple positioning keys are connected to, the inner sidewall of the axle sleeve is provided with multiple axle sleeve keyways, and multiple axle sleeve keyways are adapted with positioning key.

Preferably, described two groups grab bar up and down be staggered.

Preferably, the central axis of the second gear is connect through first mechanical arm and with holder pivots.

Compared with prior art, the utility model has the beneficial effects that the utility model drives work by rotary main shaft Platform rotation, allows robot to work in all angles, gear drive makes the amplitude of fluctuation of first mechanical arm increase greatly Add, telescopic arm is additionally provided with inside second mechanical arm, greatly increase robot working range, object at various height can be met The carrying of product, mechanical gripper control grasping force by hydraulic cylinder, and grab mutually interspersed assembly between bar, increase crawl range Add, robot is enable to grab different size of object and will not fall off or dynamics excessive the case where damaging, improves The intrinsic inflexible working method of robot, it is convenient and practical.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the pedestal and workbench connection schematic diagram of the utility model；

Fig. 3 is that the first mechanical arm gear of the utility model engages figure；

Fig. 4 is the first motor and first gear axis connection figure of the utility model；

Fig. 5 is the portion the A enlarged drawing of Fig. 4 of the utility model；

Fig. 6 is the telescopic arm and second mechanical arm structure sectional view of the utility model；

Fig. 7 is that the telescopic arm of the utility model stretches out state diagram；

Fig. 8 is second motor and third gear connection figure of the utility model；

Fig. 9 is the mechanical gripper structure chart of the utility model；

Figure 10 is the control system schematic diagram of the utility model.

In figure: 1, pedestal, 2, workbench, 3, first motor, 4, first mechanical arm, 5, second mechanical arm, 6, telescopic arm, 7, the second motor, 8, handgrip pedestal, 9, grab bar, 10, fixing axle, 11 first connecting rods, the 12, second connecting rod, the 13, first oil Cylinder, 14, first gear axis, 15, belt, 16, electric machine main shaft, the 17, second oil cylinder, 18, internal gear, 19, first gear, 20, Two gears, 21, second gear axis, 22, axle sleeve, 23, positioning key, 24, third connecting rod, 25, third gear, 26, cavity, 27, Sliding chamber, 28, rotary main shaft, 29, revolution reservation, 30, the flank of tooth, 31, bracket, 32, main shaft keyway, 33, axle sleeve keyway, 34, sliding slot.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Fig. 1-10 is please referred to, the utility model provides a kind of technical solution: a kind of multi-functional carrying robot device, including Pedestal 1, the upper surface of the pedestal 1 are fixedly connected with revolution reservation 29, the inside of the revolution reservation 29 and rotary main shaft 28 Rotation connection, turning round inside reservation 29 can drive rotary main shaft 28 to rotate equipped with rotary electric machine, revolution reservation 29 and revolution master Axis 28 constitutes swing mechanism and is connected by pedestal 1 with external power, and swing mechanism is rotated under the drive of external power, It drives workbench 2 to realize 360 ° of revolution movements simultaneously, increases robot work range, the upper surface of the rotary main shaft 28 is solid Surely it is connected with workbench 2, the upper surface of the workbench 2 is fixedly connected with that there are two bracket 31, the inside of two brackets 31 It is rotatably connected to first mechanical arm 4 by bearing, the first mechanical arm 4 is provided with internal gear 18 close to one end of workbench 2, The inside of the internal gear 18 is equipped with first gear axis 14, and the outside of the first gear axis 14 is rotatably connected to first gear 19, the engagement of first gear 19 is connected with multiple second gears 20, and multiple second gears 20 engage connection with internal gear 18, the The central axis of two gears 20 is rotatablely connected through first mechanical arm 4 and with bracket 31, and the side of the first mechanical arm 4 is located at work Make 2 upper surface of platform equipped with first motor 3, the output shaft of the first motor 3 is connected with axle sleeve 22, and the axle sleeve 22 is through branch Frame 31 and 14 activity of first gear axis are clamped, and rotary axle box 22 when first motor 3 works realizes that the synchronization of first gear axis 14 turns It moves and first gear 19 is driven to rotate, first gear 19 drives multiple second gears 20 to rotate, and second gear 20 drives internal gear 18 rotations increase the slewing area of first mechanical arm 4 to make 4 unitary rotation of first mechanical arm, the first mechanical arm 4 One end far from workbench 2 is rotatably connected to second mechanical arm 5, the side of the first mechanical arm 4 by third connecting rod 24 Wall is rotatably connected to the second oil cylinder 17, the side wall of second oil cylinder 17 one end far from first mechanical arm 4 and second mechanical arm 5 Rotation connection, the second oil cylinder 17 carries out flexible operation under the drive of external hydraulic oil pump, by pushing second mechanical arm 5 to realize Around the opposite swing of third connecting rod 24 between second mechanical arm 5 and first mechanical arm 4；

The inside of the second mechanical arm 5 is provided with sliding chamber 27, and the internal slide of the sliding chamber 27 is connected with telescopic arm 6, institute The inside for stating telescopic arm 6 is provided with cavity 26, and the flank of tooth 30 and sliding slot 34 are had on the bottom of the cavity 26 and two sides side wall, The inside of the cavity 26 is equipped with second gear axis 21, and one end of the second gear axis 21 sequentially passes through cavity 26, sliding slot 34 With second mechanical arm 5 and the outside of second mechanical arm 5 is extended to, the outside of the second gear axis 21 has been fixed with third tooth Wheel 25, the third gear 25 engages connection with the flank of tooth 30, and the upper surface of the second mechanical arm 5 is fixedly connected with the second motor 7, the output shaft of second motor 7 is connected with electric machine main shaft 16, and electric machine main shaft 16 passes through belt 15 and second gear axis 21 It interconnects, 21 other end of second gear axis connects flat, rotary electric machine main shaft 16, band when the second motor 7 works with sliding 27 side wall of chamber Dynamic belt 15 makes second gear axis 21 that third gear 25 be driven to rotate synchronously, and realizes that telescopic arm 6 prolongs sliding chamber 27 and carries out relative to the The stretching motion of two mechanical arms 5, the telescopic arm 6 are fixedly connected with handgrip pedestal 8, the handgrip bottom far from one end of cavity 26 Fixing axle 10 is fixedly connected on 8 one end far from telescopic arm 6 of seat, the fixing axle 10 is rotated far from one end of handgrip pedestal 8 It is connected with first connecting rod 11, two groups are rotatably connected on the first connecting rod 11 and grabs bar 9, the two sides position of the fixing axle 10 In being equipped with the first oil cylinder 13 on the side wall of handgrip pedestal 8, two the first oil cylinders 13 are separately connected far from one end of handgrip pedestal 8 There is the second connecting rod 12, and two groups are grabbed bar 9 and are rotatablely connected respectively with the second connecting rod 12, the first oil cylinder 13, grabs bar at fixing axle 10 9, first connecting rod 11 and the second connecting rod 12 constitute mechanical gripper, and two the first oil cylinders 13 are real by connection peripheral hardware hydraulic oil pump Existing expanding-contracting action drives the movement of the second connecting rod 12 while realizing the work for grabbing bar 9, and oil cylinder is currently used hydraulic system, Its principle and structure are disclosed technical solution, therefore are not repeated them here to its structure.

Specifically, the side wall of the first gear axis 14 is provided with multiple main shaft keyways 32, multiple main shaft keyways 32 it is interior Portion is connected with multiple positioning keys 23, and the inner sidewall of the axle sleeve 22 is provided with multiple axle sleeve keyways 33, multiple axle sleeve keyways 33 It is adapted with positioning key 23, first gear axis 14 is realized by positioning key 23 and axle sleeve 22 and is clamped, and prevents first motor 3 with moving axis It covers and relative motion occurs between 22 operation process bottom bracket axles 22 and first gear axis 14.

Specifically, described two groups are grabbed about 9 bar and are staggered, the scope of activities of mechanical gripper is enabled to greatly increase realization not The crawl of same volume object simultaneously prevents object from damaging or falling off by the first oil cylinder 13 control grasping force.

Working principle: the present apparatus can be controlled by external equipment, and can be inputted as shown in Figure 10 by master control PC will be into Capable operation so that controlled motor and oil cylinder respectively, now with the master control PC that can much carry out external control, such as west gate The controller that the manufacturers such as son, Schneider sell at present, belongs to the disclosed prior art, and its specific principle and structure are not yet It is the technology spy of the utility model at place therefore does not repeat them here, by workbench 2 and by 28 structure of revolution reservation 29 and rotary main shaft At swing mechanism be connected on pedestal 1, and external power supply is connected by pedestal 1, rotary main shaft 28 drives work flat when energization Platform 2 carries out 360 ° of revolution movements, axle sleeve 22 and first gear axis 14 and is clamped by 23 activity of positioning key, avoids occurring to beat when operating Sliding, first motor 3 is connect with axle sleeve 22, provides power for the rotation of axle sleeve 22, first gear axis 14 drives first gear when rotating 19 rotate synchronously, while second gear 20 being driven to rotate, and drive the rotation of internal gear 18 to realize first mechanical arm 4 by second gear 20 Rotation, increase manipulator be applicable in working range, the second oil cylinder 17 connect peripheral hardware hydraulic oil pump obtain power carry out expanding-contracting action, It drives second mechanical arm 5 to move in telescopic process, realizes first mechanical arm 4 and second mechanical arm 5 around third connecting rod 24 It swings, the second motor 7 work linkage electric machine main shaft 16 rotates, since electric machine main shaft 16 is connected with second gear axis 21 by belt 15 It connects, therefore drives the rotation of second gear axis 21 when the rotation of electric machine main shaft 16 while realizing the rotation of third gear 25, due to third Gear 25 engages connection with the flank of tooth 30, therefore telescopic arm 6 is driven to carry out stretching motion relative to sliding chamber 27, makes robot movable model Enclosing increased, and the first oil cylinder 13 realizes stretching motion, movement while the second connecting rod of promotion under the effect of peripheral hardware hydraulic oil pump 12 movements, final to realize two groups of open and close movements for grabbing bar 9, fixing axle 10 connects first connecting rod 11 and realizes that the positioning for grabbing bar 9 is made With increasing the scope of activities of mechanical gripper, smaller volume can be grabbed since two groups are grabbed about 9 bar and are staggered Object.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims

1. a kind of multi-functional carrying robot device, including pedestal (1), it is characterised in that: the upper surface of the pedestal (1) is fixed It is connected with revolution reservation (29), the inside and rotary main shaft (28) of revolution reservation (29) are rotatablely connected, the rotary main shaft (28) upper surface is fixedly connected with workbench (2), and the upper surface of the workbench (2) is fixedly connected there are two bracket (31), the inside of two brackets (31) is rotatably connected to first mechanical arm (4) by bearing, and the first mechanical arm (4) is close One end of workbench (2) is provided with internal gear (18), and the inside of the internal gear (18) is equipped with first gear axis (14), and described the It is fixed on the outside of one gear shaft (14) first gear (19), first gear (19) engagement is connected with multiple second gears (20), multiple second gears (20) engage connection with internal gear (18), and the side of the first mechanical arm (4) is located at workbench (2) upper surface is equipped with first motor (3), and the output shaft of the first motor (3) is connected with axle sleeve (22), and the axle sleeve (22) is passed through Perforating branches frame (31) and first gear axis (14) activity are clamped, and the first mechanical arm (4) passes through far from the one end of workbench (2) Third connecting rod (24) is rotatably connected to second mechanical arm (5), and the side wall of the first mechanical arm (4) is rotatably connected to the second oil The side wall of cylinder (17), second oil cylinder (17) one end and second mechanical arm (5) far from first mechanical arm (4) is rotatablely connected；

The inside of the second mechanical arm (5) is provided with sliding chamber (27), and the internal slide of the sliding chamber (27) is connected with telescopic arm (6), the inside of the telescopic arm (6) is provided with cavity (26), has tooth on the bottom of the cavity (26) and two sides side wall The inside of face (30) and sliding slot (34), the cavity (26) is equipped with second gear axis (21), and the one of the second gear axis (21) End sequentially passes through cavity (26), sliding slot (34) and second mechanical arm (5) and the outside for extending to second mechanical arm (5), and described the It is fixed on the outside of two gear shafts (21) third gear (25), the third gear (25) engages connection, institute with the flank of tooth (30) The upper surface for stating second mechanical arm (5) is fixedly connected with the second motor (7), and the output shaft of second motor (7) is connected with electricity It owner's axis (16) and is interconnected by belt (15) and second gear axis (21), the telescopic arm (6) is far from cavity (26) One end is fixedly connected with handgrip pedestal (8), is fixedly connected with fixation on one end of the handgrip pedestal (8) separate telescopic arm (6) Axis (10), the fixing axle (10) are rotatably connected to first connecting rod (11) far from the one end of handgrip pedestal (8), and described first connects It is rotatably connected to two groups on extension bar (11) to grab bar (9), the two sides of the fixing axle (10) are located on the side wall of handgrip pedestal (8) Equipped with the first oil cylinder (13), two the first oil cylinders (13) are connected separately with the second connecting rod far from the one end of handgrip pedestal (8) (12), and two groups are grabbed bar (9) and are rotatablely connected respectively with the second connecting rod (12).

2. a kind of multi-functional carrying robot device according to claim 1, it is characterised in that: the first gear axis (14) side wall is provided with multiple main shaft keyways (32), and the internal activity of multiple main shaft keyways (32) is connected with multiple positioning keys (23), the inner sidewall of the axle sleeve (22) is provided with multiple axle sleeve keyways (33), multiple axle sleeve keyways (33) and positioning key (23) phase Adaptation.

3. a kind of multi-functional carrying robot device according to claim 1, it is characterised in that: described two groups are grabbed bar (9) It is staggered up and down.

4. a kind of multi-functional carrying robot device according to claim 1, it is characterised in that: the second gear (20) Central axis through first mechanical arm (4) and with bracket (31) be rotatablely connected.