CN211439967U

CN211439967U - Functional WS auxiliary agent humanoid operation robot device

Info

Publication number: CN211439967U
Application number: CN201922364802.1U
Authority: CN
Inventors: 李文胜; 赵琳丽; 王珊珊; 张旭冉; 徐恩静
Original assignee: Anhui Tiantianyun Biotechnology Co ltd
Current assignee: Anhui Tiantianyun Biotechnology Co ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-09-08
Anticipated expiration: 2029-12-25

Abstract

The utility model discloses a functional WS auxiliary agent humanoid operation robot device, including the mount, the fixed base that is equipped with in top of mount, the upper surface of base rotates and is equipped with rotatory stand, the fixed first motor that is equipped with of post wall downside of rotatory stand, the upper end of rotatory stand is rotated through first pivot and is connected with first connecting arm, the fixed second motor that is equipped with in post wall upper end of rotatory stand, the output of second motor and the one end fixed connection of first pivot, the end of first connecting arm is rotated through the second pivot and is connected with the second linking arm, the end of first connecting arm is fixed and is equipped with the third motor, the output of third motor and the one end fixed connection of second pivot, the end of second linking arm is rotated through the third pivot and is connected with the third linking arm, the end of second linking arm is fixed and is equipped with the fourth motor; the utility model discloses not only can accomplish the goods to the different grade type and carry out the pile up neatly, and simple structure, area are little and the suitability is strong.

Description

Functional WS auxiliary agent humanoid operation robot device

Technical Field

The utility model relates to the technical field of robots, specifically be a humanoid operation robot device of functional WS auxiliary agent.

Background

The stacking is to regularly place objects on a tray, and a common stacker crane carries out related stacking operation at present; the existing stacking machines are various in types, some are specially used for stacking of cargoes, some are specially used for machining of parts, and some are specially used for transferring cargoes.

The existing cargo stacking robot has the disadvantages of complex structure, large occupied area and low practicability, can not stack cargos with different sizes, and is not beneficial to mass production of workshop cargos, so that a functional WS auxiliary agent humanoid operation robot device is necessary to design;

the solution described is now provided in view of the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the goods pile up neatly machine people among the prior art's structure comparatively complicated, area is great and the practicality is low, can not carry out the pile up neatly to the goods of equidimension not, is unfavorable for the problem of the bulk production of workshop goods, and provides a functional WS auxiliary agent humanoid operation robot device.

The purpose of the utility model can be realized by the following technical scheme:

a functional WS auxiliary agent humanoid operation robot device comprises a fixing frame, wherein a base is fixedly arranged at the top of the fixing frame, a rotating upright post is rotatably arranged on the upper surface of the base, a first motor is fixedly arranged on the lower side of the column wall of the rotating upright post, the upper end of the rotating upright post is rotatably connected with a first connecting arm through a first rotating shaft, a second motor is fixedly arranged at the upper end of the column wall of the rotating upright post, the output end of the second motor is fixedly connected with one end of the first rotating shaft, the tail end of the first connecting arm is rotatably connected with a second connecting arm through a second rotating shaft, a third motor is fixedly arranged at the tail end of the first connecting arm, the output end of the third motor is fixedly connected with one end of the second rotating shaft, a third connecting arm is rotatably connected at the tail end of the second connecting arm through a third rotating shaft, and a fourth motor is fixedly arranged at the tail end of the, an output shaft of the fourth motor is fixedly connected with one end of the third rotating shaft, a fifth motor is fixedly arranged at the tail end of the third connecting arm, a U-shaped baffle is fixedly arranged at the tail end of the output shaft of the fifth motor, and a material clamping mechanism is arranged inside the U-shaped baffle.

Furthermore, the material clamping mechanism comprises a sixth motor, a bidirectional screw and two clamping plates, the bidirectional screw is horizontally arranged inside the U-shaped baffle, two ends of the bidirectional screw are respectively and rotatably connected with the left inner side wall and the right inner side wall of the U-shaped baffle through rolling bearings, the right end of the bidirectional screw penetrates through the outer portion of the U-shaped baffle, the sixth motor is fixedly arranged on the right side wall of the U-shaped baffle, the output end of the sixth motor is fixedly connected with the right end of the bidirectional screw, the two clamping plates are symmetrically arranged inside the U-shaped baffle, moving blocks are fixedly arranged on the upper sides of the two clamping plates, and the side walls of the two moving blocks are respectively in threaded connection with two sides of the rod wall of the bidirectional screw through first threaded holes and second threaded holes.

Furthermore, a sliding groove is transversely formed in the inner wall of the top of the U-shaped baffle, sliding blocks are fixedly arranged on the upper sides of the two moving blocks, and the two sliding blocks are connected with the sliding groove in a sliding mode.

Furthermore, the left side and the right side of the base are fixedly connected with the top of the fixing frame through the mounting blocks and the mounting bolts.

Further, the first motor, the second motor, the third motor, the fourth motor, the fifth motor and the sixth motor are all AC servo motors.

Compared with the prior art, the utility model provides a humanoid operation robot device of functional WS auxiliary agent possesses following beneficial effect:

1. the utility model can complete the operation of carrying goods at different positions through the rotating upright post, the first motor, the first connecting arm, the second motor, the second connecting arm, the third motor, the third connecting arm, the fourth motor and the fifth motor;

2. the utility model discloses a through setting up at inside sixth motor, two-way screw rod and two splint of U-shaped baffle, can accomplish the goods of equidimension not and press from both sides tight operation to can accomplish the goods to the different grade type and carry out the pile up neatly, and then the utility model discloses not only can accomplish and carry out the pile up neatly to the goods of different grade type, and simple structure, area are little and the suitability is strong.

Drawings

In order to facilitate understanding of the present invention for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;

fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the U-shaped baffle of the present invention;

in the figure: 1. a fixed mount; 2. a base; 3. rotating the upright post; 4. a first motor; 5. a first connecting arm; 6. a second motor; 7. a second connecting arm; 8. a third motor; 9. a third connecting arm; 10. a fourth motor; 11. a fifth motor; 12. a U-shaped baffle; 13. a sixth motor; 14. a bidirectional screw; 15. a splint; 16. a moving block; 17. a slider; 18. a chute.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution:

a functional WS auxiliary agent humanoid operation robot device comprises a fixed frame 1, a base 2 is fixedly arranged at the top of the fixed frame 1, a rotating upright post 3 is rotatably arranged on the upper surface of the base 2, a first motor 4 is fixedly arranged on the lower side of a column wall of the rotating upright post 3, the upper end of the rotating upright post 3 is rotatably connected with a first connecting arm 5 through a first rotating shaft, a second motor 6 is fixedly arranged at the upper end of the column wall of the rotating upright post 3, the output end of the second motor 6 is fixedly connected with one end of the first rotating shaft, the tail end of the first connecting arm 5 is rotatably connected with a second connecting arm 7 through a second rotating shaft, a third motor 8 is fixedly arranged at the tail end of the first connecting arm 5, the output end of the third motor 8 is fixedly connected with one end of the second rotating shaft, the tail end of the second connecting arm 7 is rotatably connected with a third connecting arm 9 through the third rotating shaft, and a fourth motor, an output shaft of a fourth motor 10 is fixedly connected with one end of a third rotating shaft, a fifth motor 11 is fixedly arranged at the tail end of a third connecting arm 9, a U-shaped baffle 12 is fixedly arranged at the tail end of the output shaft of the fifth motor 11, a material clamping mechanism is arranged inside the U-shaped baffle 12, the rotating radius of a mechanical arm consisting of the first connecting arm 5, the second connecting arm 7 and the third connecting arm 9 is 2500mm, and the rotating angle is +/-180 degrees;

wherein, the material clamping mechanism comprises a sixth motor 13, a bidirectional screw 14 and two clamping plates 15, the bidirectional screw 14 is horizontally arranged inside the U-shaped baffle 12, two ends of the bidirectional screw 14 are respectively and rotatably connected with the left and right inner side walls of the U-shaped baffle 12 through rolling bearings, the right end of the bidirectional screw 14 penetrates through the outside of the U-shaped baffle 12, the sixth motor 13 is fixedly arranged on the right side wall of the U-shaped baffle 12, the output end of the sixth motor 13 is fixedly connected with the right end of the bidirectional screw 14, the two clamping plates 15 are symmetrically arranged inside the U-shaped baffle 12, moving blocks 16 are respectively and fixedly arranged on the upper sides of the two clamping plates 15, the side walls of the two moving blocks 16 are respectively and threadedly connected with two sides of the rod wall of the bidirectional screw 14 through a first threaded hole and a second threaded hole, the sixth motor 13 is turned on to work, the bidirectional screw 14 is rotated, the two clamping plates 15, therefore, different types of goods can be clamped and stacked;

the inner wall of the top of the U-shaped baffle 12 is transversely provided with a sliding groove 18, the upper sides of the two moving blocks 16 are respectively and fixedly provided with a sliding block 17, and the two sliding blocks 17 are respectively in sliding connection with the sliding groove 18 and can limit the moving blocks 16, so that the phenomenon that the moving blocks 6 rotate along with the bidirectional screw 14 is avoided;

the left side and the right side of the base 2 are fixedly connected with the top of the fixed frame 1 through mounting blocks and mounting bolts;

the first motor 4, the second motor 6, the third motor 8, the fourth motor 10, the fifth motor 11 and the sixth motor 13 are all AC servo motors.

The working principle is as follows:

the utility model discloses in the use, open first motor 4 work, can drive rotatory stand 3 and rotate, thereby can make U-shaped baffle 12 remove near the goods, open second motor 6 after that, third motor 8, fourth motor 10 and fifth motor 11 work, can make U-shaped baffle 12 cover the goods, open sixth motor 13 work at last, make two-way screw rod 14 rotatory, two-way screw rod 14 make two splint 15 be close to relatively and remove, thereby can press from both sides the goods clamp of different grade type and live, and accomplish and carry out the pile up neatly with the goods of different grade type.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A functional WS auxiliary agent humanoid operation robot device comprises a fixed frame (1) and is characterized in that a base (2) is fixedly arranged at the top of the fixed frame (1), a rotating upright column (3) is rotatably arranged on the upper surface of the base (2), a first motor (4) is fixedly arranged on the lower side of the column wall of the rotating upright column (3), a first connecting arm (5) is rotatably connected to the upper end of the rotating upright column (3) through a first rotating shaft, a second motor (6) is fixedly arranged on the upper end of the column wall of the rotating upright column (3), the output end of the second motor (6) is fixedly connected with one end of the first rotating shaft, the tail end of the first connecting arm (5) is rotatably connected with a second connecting arm (7) through a second rotating shaft, a third motor (8) is fixedly arranged at the tail end of the first connecting arm (5), and the output end of the third motor (8) is fixedly connected with one end of the second rotating shaft, the end of second linking arm (7) rotates through the third pivot and is connected with third linking arm (9), the end of second linking arm (7) is fixed and is equipped with fourth motor (10), the output shaft of fourth motor (10) and the one end fixed connection of third pivot, the end of third linking arm (9) is fixed and is equipped with fifth motor (11), the output shaft end of fifth motor (11) is fixed and is equipped with U-shaped baffle (12), the inside of U-shaped baffle (12) is equipped with material clamping mechanism.

2. The device of claim 1, wherein the material clamping mechanism comprises a sixth motor (13), a bidirectional screw (14) and two clamping plates (15), the bidirectional screw (14) is horizontally arranged inside the U-shaped baffle (12), two ends of the bidirectional screw (14) are respectively and rotatably connected with left and right inner side walls of the U-shaped baffle (12) through rolling bearings, the right end of the bidirectional screw (14) penetrates through the outer portion of the U-shaped baffle (12), the sixth motor (13) is fixedly arranged on the right side wall of the U-shaped baffle (12), the output end of the sixth motor (13) is fixedly connected with the right end of the bidirectional screw (14), the two clamping plates (15) are symmetrically arranged inside the U-shaped baffle (12), and moving blocks (16) are fixedly arranged on the upper sides of the two clamping plates (15), the side walls of the two moving blocks (16) are in threaded connection with two sides of the rod wall of the bidirectional screw (14) through a first threaded hole and a second threaded hole respectively.

3. The device of claim 2, wherein a sliding groove (18) is transversely formed in the inner wall of the top of the U-shaped baffle (12), sliding blocks (17) are fixedly arranged on the upper sides of the two moving blocks (16), and the two sliding blocks (17) are slidably connected with the sliding groove (18).

4. The device of claim 1, wherein the left and right sides of the base (2) are fixedly connected with the top of the fixing frame (1) through mounting blocks and mounting bolts.

5. The device of claim 1, wherein the first motor (4), the second motor (6), the third motor (8), the fourth motor (10), the fifth motor (11) and the sixth motor (13) are all AC servo motors.