CN211193886U

CN211193886U - Anti-toppling transfer robot

Info

Publication number: CN211193886U
Application number: CN201922392926.0U
Authority: CN
Inventors: 樊自岩
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-08-07
Anticipated expiration: 2029-12-27

Abstract

The utility model discloses a prevent empting transfer robot, including the swinging boom, the lower extreme fixed mounting of swinging boom has the roating seat, and the lower surface of roating seat is provided with the support base, the inside of roating seat is provided with weight adjustment mechanism, and the inside of roating seat is provided with pressure sensor, first rotor arm, second rotor arm and third rotor arm have connected gradually on the swinging boom, and set up the linking arm on the third rotor arm, be provided with the clamping jaw arm on the linking arm, and be equipped with the clamping jaw on the clamping jaw arm. A prevent empting transfer robot, through the weight adjustment mechanism who sets up, use balancing weight, servo motor, the cooperation is using pressure sensor, can carry out weight regulation when carrying the heavy object, guarantees that the robot has a stable focus, can effectually prevent empting, adopts removable splint, can dismantle when needing, conveniently adjusts according to the article of difference, guarantees the centre gripping effect.

Description

Anti-toppling transfer robot

Technical Field

The utility model relates to a transfer robot field, in particular to prevent empting transfer robot.

Background

The transfer robot is an automatic product which uses the motion track of the robot to realize the replacement of manual transfer, and the transfer operation refers to holding a workpiece by a device and moving from one processing position to another processing position. The conveying robot can be provided with different end effectors to finish the conveying work of workpieces in different shapes and states, so that the heavy physical labor of human is greatly reduced; among the present transfer robot, the robot is when pressing from both sides the clamp and getting the heavy object, probably the focus is unstable to influence the steady state of robot, very easily cause empting, influence normal operation, and among the present transfer robot, the clamping jaw part is fixed unchangeable usually, can not adjust according to actual conditions, is unfavorable for the transport work of different shapes article, has certain limitation during the use.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a prevent empting transfer robot can effectively solve the problem in the background art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides an anti-toppling transfer robot, includes the swinging boom, the lower extreme fixed mounting of swinging boom has the roating seat, and the lower surface of roating seat is provided with the support base, the inside of roating seat is provided with weight adjustment mechanism, and the inside of roating seat is provided with pressure sensor, first rotor arm, second rotor arm and third rotor arm have connected gradually on the swinging boom, and set up the linking arm on the third rotor arm, be provided with clamping jaw arm on the linking arm, and be equipped with the clamping jaw on the clamping jaw arm, be equipped with removable splint on the clamping jaw.

Preferably, weight adjustment mechanism includes servo motor, worm wheel, slide rail, balancing weight, nut seat and lead screw, servo motor is fixed in the roating seat, and is equipped with the worm on the servo motor, the lead screw sets up in the inside of roating seat, and fixed mounting has the worm wheel on the lead screw, slide rail fixed mounting is in the inside bottom of roating seat, and is equipped with the balancing weight on the slide rail, fixed mounting has the nut seat on the balancing weight.

Preferably, the worm wheel is in meshed connection with the worm, the balancing weight is arranged on the sliding rail in a sliding mode, the screw rod penetrates through the nut seat, and the screw rod is in threaded connection with the nut seat.

Preferably, the connection mode between the rotating arm and the rotating seat is welding, and the rotating seat is rotatably arranged on the supporting base.

Preferably, removable splint include screw hole, splint main part, counter bore, countersunk screw and arc, the screw hole is seted up on the clamping jaw, the counter bore has been seted up in the splint main part, countersunk screw is located the counter bore, and countersunk screw's end and screw hole threaded connection, arc fixed mounting is in the splint main part.

Preferably, the fixed plate is fixedly mounted on the inner side of the clamping jaw and located between the clamping jaw and the detachable clamping plate.

Compared with the prior art, the utility model discloses following beneficial effect has: this prevent empting transfer robot uses balancing weight, servo motor through the weight adjustment mechanism who sets up, is coordinating pressure sensor and is using, can carry out weight control when carrying the heavy object, guarantees that the robot has a stable focus, can effectually prevent empting, adopts removable splint, can dismantle when needing, and the convenience is adjusted according to the article of difference, guarantees the centre gripping effect.

Drawings

Fig. 1 is a schematic view of the overall structure of an anti-toppling transfer robot of the present invention;

fig. 2 is a schematic view of the internal structure of the anti-toppling transfer robot rotary seat of the present invention;

fig. 3 is a schematic structural view of the clamping jaw of the anti-toppling transfer robot of the present invention;

fig. 4 is a schematic structural view of the detachable clamping plate of the anti-toppling transfer robot of the present invention.

In the figure: 1. a rotating arm; 2. a rotating base; 3. a support base; 4. a first rotation arm; 5. a second rotating arm; 6. a third rotating arm; 7. a connecting arm; 8. a gripper arm; 9. a clamping jaw; 10. a detachable splint; 1001. a threaded hole; 1002. a splint main body; 1003. a counter bore; 1004. countersunk head screws; 1005. an arc-shaped plate; 11. a fixing plate; 12. a servo motor; 13. a worm; 14. a worm gear; 15. a pressure sensor; 16. a slide rail; 17. a balancing weight; 18. a nut seat; 19. and a screw rod.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

As shown in fig. 1-4, an anti-toppling transfer robot comprises a rotating arm 1, wherein a rotating seat 2 is fixedly mounted at the lower end of the rotating arm 1, a supporting base 3 is arranged on the lower surface of the rotating seat 2, a weight adjusting mechanism is arranged inside the rotating seat 2, a pressure sensor 15 is arranged inside the rotating seat 2, a first rotating arm 4, a second rotating arm 5 and a third rotating arm 6 are sequentially connected onto the rotating arm 1, a connecting arm 7 is arranged on the third rotating arm 6, a clamping jaw arm 8 is arranged on the connecting arm 7, a clamping jaw 9 is arranged on the clamping jaw arm 8, and a detachable clamping plate 10 is arranged on the clamping jaw 9;

the weight adjusting mechanism comprises a servo motor 12, a worm 13, a worm wheel 14, a sliding rail 16, a balancing weight 17, a nut seat 18 and a screw rod 19, wherein the servo motor 12 is fixed in the rotating seat 2, the worm 13 is arranged on the servo motor 12, the screw rod 19 is arranged in the rotating seat 2, the worm wheel 14 is fixedly arranged on the screw rod 19, the sliding rail 16 is fixedly arranged at the bottom end in the rotating seat 2, the balancing weight 17 is arranged on the sliding rail 16, and the nut seat 18 is fixedly arranged on the balancing weight 17; the worm wheel 14 is engaged with the worm 13, the counterweight 17 is slidably arranged on the slide rail 16, the screw rod 19 penetrates through the nut seat 18, and the screw rod 19 is in threaded connection with the nut seat 18; the rotating arm 1 and the rotating seat 2 are connected in a welding mode, and the rotating seat 2 is rotatably arranged on the supporting base 3; the detachable clamping plate 10 comprises a threaded hole 1001, a clamping plate body 1002, a counter bore 1003, a countersunk screw 1004 and an arc-shaped plate 1005, wherein the threaded hole 1001 is formed in the clamping jaw 9, the counter bore 1003 is formed in the clamping plate body 1002, the countersunk screw 1004 is located in the counter bore 1003, the tail end of the countersunk screw 1004 is in threaded connection with the threaded hole 1001, and the arc-shaped plate 1005 is fixedly mounted on the clamping plate body 1002; the inner side of the clamping jaw 9 is fixedly provided with a fixing plate 11, and the fixing plate 11 is positioned between the clamping jaw 9 and the detachable clamping plate 10.

It should be noted that, the utility model relates to an anti-toppling transfer robot, when using, fix the whole robot to the suitable position on the assembly line through supporting the base 3, guarantee the robot stable installation in assembly line department, connect relevant circuit, connect the robot to the control system, set for relevant procedure, begin to utilize the robot to carry article afterwards, when carrying, the procedure in the control system starts, swinging boom 1 rotates on supporting the base 3 along with roating seat 2, meanwhile first swinging boom 4, second swinging boom 5, third swinging boom 6, linking arm 7 and clamping jaw arm 8 rotate the operation under the drive of relevant actuating mechanism on the robot, until moving clamping jaw 9 to the article that needs to transport out, clamping jaw 9 opens and moves the article out under the drive of other arms, clamping jaw 9 folds afterwards, the detachable clamping plate 10 clamps the object, then under the action of a program, the robot continues to work to convey the object to the next process, when the object is conveyed, the gravity center of the robot is unstable due to the heavy weight of some objects, at this time, the robot can be adjusted by matching the weight adjusting mechanism with the pressure sensor 15, the pressure sensor 15 senses real-time pressure and feeds back data to the control system, when the difference value of the pressures applied to the two pressure sensors 15 exceeds a set value, the control system controls the weight adjusting mechanism to start, the servo motor 12 drives the worm 13 to rotate, the worm 13 drives the worm wheel 14 and the lead screw 19 to rotate, thereby driving the nut seat 18 to move, the nut seat 18 drives the balancing weight 17 to slide on the sliding rail 16 until the pressure difference value applied to the two pressure sensors 15 is within a set range, and the stability of the robot in conveying the heavy object is ensured, improved prevent empting the performance, when using the robot, can adjust the structure of clamping part as required, thereby be applicable to the centre gripping of different article, when the cylindrical article of needs centre gripping, utilize removable splint 10 to carry out the centre gripping, if when needing the massive or platelike article of centre gripping, the staff can unscrew counter bore 1003 and screw hole 1001 countersunk screw 1004, thereby will have the splint main part 1002 of arc 1005 and dismantle from clamping jaw 9, then utilize fixed plate 11 centre gripping article can, when needing the cylindrical article of centre gripping once more the removable splint 10 of reinstallating can.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an anti-toppling transfer robot which characterized in that: including swinging boom (1), the lower extreme fixed mounting of swinging boom (1) has roating seat (2), and the lower surface of roating seat (2) is provided with support base (3), the inside of roating seat (2) is provided with weight adjustment mechanism, and the inside of roating seat (2) is provided with pressure sensor (15), first swing arm (4), second swing arm (5) and third swing arm (6) have connected gradually on swinging boom (1), and set up linking arm (7) on third swing arm (6), be provided with clamping jaw arm (8) on linking arm (7), and be equipped with clamping jaw (9) on clamping jaw arm (8), be equipped with removable splint (10) on clamping jaw (9).

2. An anti-toppling transfer robot, according to claim 1, wherein: weight adjustment mechanism includes servo motor (12), worm (13), worm wheel (14), slide rail (16), balancing weight (17), nut seat (18) and lead screw (19), servo motor (12) are fixed in roating seat (2) in, and are equipped with worm (13) on servo motor (12), lead screw (19) set up in the inside of roating seat (2), and fixed mounting has worm wheel (14) on lead screw (19), slide rail (16) fixed mounting is in the inside bottom of roating seat (2), and is equipped with balancing weight (17) on slide rail (16), fixed mounting has nut seat (18) on balancing weight (17).

3. An anti-toppling transfer robot, according to claim 2, wherein: the worm wheel (14) is meshed with the worm (13) and connected with the worm, the balancing weight (17) is arranged on the sliding rail (16) in a sliding mode, the screw rod (19) penetrates through the nut seat (18), and the screw rod (19) is in threaded connection with the nut seat (18).

4. An anti-toppling transfer robot, according to claim 1, wherein: the connection mode between the rotating arm (1) and the rotating seat (2) is welding, and the rotating seat (2) is rotatably arranged on the supporting base (3).

5. An anti-toppling transfer robot, according to claim 1, wherein: the detachable clamping plate (10) comprises a threaded hole (1001), a clamping plate main body (1002), a counter bore (1003), a countersunk screw (1004) and an arc-shaped plate (1005), the threaded hole (1001) is formed in the clamping jaw (9), the counter bore (1003) is formed in the clamping plate main body (1002), the countersunk screw (1004) is located in the counter bore (1003), the tail end of the countersunk screw (1004) is in threaded connection with the threaded hole (1001), and the arc-shaped plate (1005) is fixedly installed on the clamping plate main body (1002).

6. An anti-toppling transfer robot, according to claim 1, wherein: the clamping jaw is characterized in that a fixing plate (11) is fixedly mounted on the inner side of the clamping jaw (9), and the fixing plate (11) is located between the clamping jaw (9) and the detachable clamping plate (10).