CN209063116U - A kind of packaged type transfer robot - Google Patents

Abstract

The utility model discloses a kind of packaged type transfer robots, are related to robotic technology field.The mobile robot, including crawler unit, rack, clamp device, control driving device, balancing device and protective device.Crawler unit includes: that crawler belt baffle and crawler belt using the design method of inverted triangle enhance the ability of robot obstacle detouring.Clamp device sets up two groups of clamping jaws separately, convenient for grabbing to object of different shapes, can be moved up and down by the effect of cylinder, can carry out horizontal movement using sliding slot, expand the space of work.Protective device has certain protective effect to controller, prevents small-sized or large-sized object from interfering it, hinders the normal operation of robot, and balancing device is used to carry out counterweight to clamp device, prevents robot from the phenomenon that leans forward occur, make its cisco unity malfunction.It controls driving device and coordinated control is carried out to the molar behavior of robot by driving motor and controller, keep the movement of robot coherent, runs smoothly, compared with manual handling mode, the transfer robot effectively improves handling efficiency, and manpower and material resources is greatly saved.

Description

A kind of packaged type transfer robot

Technical field

The utility model relates to robotic technology field, specially a kind of packaged type transfer robot.

Background technique

Currently, in production line and processing workshop, in order to produce high-quality or qualified product, need to workpiece into The processing of row different station will be carried to another station for all kinds of object workers from a station, general way be The junction of station and station need to send specific operator to carry out carrying movement, this brings certain body to operator and bears Load, works long hours, and body is easy to feel exhausted, and workpiece is caused to fall or collide, and makes workpiece damage or be not able to satisfy processing to want It asks, is unfavorable for the batch production of workpiece, reduces production efficiency.

Summary of the invention

In view of the above circumstances, the utility model proposes a kind of packaged type transfer robots, to solve above-mentioned background technique The middle problem.

To achieve the above object, the utility model provides the following technical solutions: a kind of packaged type transfer robot, including Crawler unit, clamp device, control driving device, balancing device and protective device, crawler unit include crawler belt with Crawler belt baffle, using the design method of inverted triangle, clamp device includes two groups of gripping manipulators, by electric sucking disc, ladder clamping jaw With the manipulator of pneumatic device composition and the manipulator being made of rectangular clamping jaw and power device can in slideway progress it is horizontal It is mobile, clamping jaw by the control of cylinder and power device can with free-open-close, whole clamp device can in the presence of cylinder into Row move up and down, control driving device include driving motor and controller, controller is mounted on roundel, by big disk with Driving motor be connected, driving motor is fixed in rack by connecting plate, control flume is installed on driving motor, can to motor into The adjusting of row parameter, balancing device and protective device are installed on rack using the design of force balance principle and ergonomics The top at rear and control driving device.

Preferably, the rack uses the cross-over design mode of triangular structure, and is reinforced with guide post.

Preferably, the crawler unit installs additional flat using wide formula up-side down triangle crawler belt, every side crawler belt front with rear Weigh block.

Preferably, it is equipped between manipulator and bearing plate between slideway, with slideway equipped with carriage for described two groups.

Preferably, load-bearing plate is housed between the controller and driving motor, installation is equipped between driving motor and rack Seat.

Compared with prior art, the utility model has the beneficial effects that passing through crawler unit, clamp device, control It driving device, balancing device and the mutual cooperation of protective device and cooperates, makes that robot completes walking, clamping and to carry object dynamic Make, two objects can be operated simultaneously, improve handling efficiency, entire walking process of carrying is coherent flexibly, conveying robot People will not generate feeling of fatigue, compared with manual handling, all have some improvement in terms of production efficiency and the quality of production.

Detailed description of the invention

FIG. 1 is a schematic structural view of the utility model；

Fig. 2 is clamp device schematic diagram；

Fig. 3 is control schematic diagram of driving device.

In figure: 1 crawler belt baffle, 2 crawler belts, 3 racks, 4 balancing devices, 5 protective devices, 6 control driving devices, 7 clamping dresses It sets, 8 guide posts, 61 roundels, 62 big disks, 63 controllers, 64 control flumes, 65 driving motors, 66 mounting bases, 67 cylinders, 81 cunnings It takes offence cylinder, 82 power devices, 83 mounting racks, 84 ladder clamping jaws, 85 electric sucking discs, 86 rectangular clamping jaws, 87 pneumatic devices, 88 sliding Road, 89 cylinder mounting plates, 810 cylinder sliding rails.

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 Understand and describes in detail, 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. 1-3 is please referred to, is respectively structural schematic diagram, the clamp device schematic diagram of the transfer robot of the utility model With control schematic diagram of driving device.

Moveable transfer robot includes: 1 crawler belt baffle, 2 crawler belts, 3 racks, 4 balancing devices, 5 protective devices, 6 controls Driving device processed, 7 clamp devices, 8 guide posts.

Crawler unit includes 1 crawler belt baffle and 2 crawler belts, and using the design method of inverted triangle, clamp device includes two Group gripping manipulator, the manipulator be made of 85 electric sucking discs, 84 ladder clamping jaws and 87 pneumatic devices and by 86 rectangular clamping jaws with The manipulator that 82 power devices are constituted can be horizontally moved in 88 slideways, and 84 ladder clamping jaws and 86 rectangular clamping jaws pass through 87 The control of pneumatic device and 82 power devices can with free-open-close, whole 7 clamp devices can under the action of 81 sliding cylinder into Row moves up and down, and 6 control driving devices include 65 driving motors and 63 controllers, and 63 controllers are mounted on 61 roundels, are led to It crosses 62 big disks to be connected with 65 driving motors, 5 driving electricity are fixed in 3 racks by 66 mounting bases, are installed on 65 driving motors Have 64 control flumes, being adjusted to the parameter of 6 driving motors, 4 balancing devices and 5 protective devices, after being installed on 3 racks The top of side and 6 control driving devices.

Above-mentioned moveable transfer robot working principle is as follows: under original state, object is located on initial position, first First, 65 driving motors starting, under the action of 63 controller, 81 sliding cylinders drive 7 clamp devices to move up and down, then Certain group manipulator or two groups of manipulators are selected using 63 controllers while being moved, after reaching object location, 87 The opening and closing movement that 84 ladder clamping jaws and 86 rectangular clamping jaws are carried out under the action of pneumatic device and 82 power devices, until completing to clamp The movement of object acts crawler unit finally by 63 controllers, and transfer robot can drive object to carry out The motion process for object being taken from a position to another location is completed in movement.

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 (5)

1. a kind of packaged type transfer robot, which is characterized in that including crawler unit, clamp device, control driving dress It sets, balancing device and protective device, the crawler unit includes crawler belt and crawler belt baffle, using the design side of inverted triangle Formula；The clamp device include two groups of gripping manipulators, the manipulator be made of electric sucking disc, ladder clamping jaw and pneumatic device and The manipulator being made of rectangular clamping jaw with power device can be horizontally moved in slideway, and clamping jaw is filled by cylinder and power The control set can be moved up and down in the presence of cylinder with free-open-close, whole clamp device；The control driving dress It sets including driving motor and controller, controller is mounted on roundel, it is connected by big disk with driving motor, driving motor It is fixed in rack by connecting plate, control flume is installed on driving motor, the adjusting of parameter can be carried out to motor；Described is flat Weigh device and protective device, is installed on the rear of rack and the top of control driving device.

2. a kind of packaged type transfer robot according to claim 1, it is characterised in that: crawler unit uses The design method of triangle is fixed on the two sides of rack and installs protective plate additional.

3. a kind of packaged type transfer robot according to claim 1, it is characterised in that: set up two groups on clamp device separately Manipulator opens up slideway on bearing plate, and ladder clamping jaw, the combination of pneumatic device electric sucking disc and rectangular clamping jaw and dynamic is respectively adopted The combination of power device installs cylinder on bearing plate.

4. packaged type transfer robot according to claim 1, it is characterised in that: control driving device by controller, Cylinder and driving motor are constituted, and are fixed in rack by connecting plate.

5. packaged type transfer robot according to claim 1, it is characterised in that: balancing device and protective device are distinguished It is mounted on the rack rear of clamp device face and controls the top of driving device.