CN211569397U - Multifunctional carrying mechanism of plant factory three-dimensional operation robot - Google Patents
Multifunctional carrying mechanism of plant factory three-dimensional operation robot Download PDFInfo
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- CN211569397U CN211569397U CN202020023015.0U CN202020023015U CN211569397U CN 211569397 U CN211569397 U CN 211569397U CN 202020023015 U CN202020023015 U CN 202020023015U CN 211569397 U CN211569397 U CN 211569397U
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- positioning plate
- lifting device
- mounting seat
- plant factory
- servo motor
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- 238000005096 rolling process Methods 0.000 claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims abstract description 10
- 241000196324 Embryophyta Species 0.000 claims description 21
- 241000252254 Catostomidae Species 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000004064 recycling Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The utility model relates to a multifunctional handling mechanism of a plant factory three-dimensional operation robot, which comprises an mechanical arm, a lifting device and at least one mechanical arm mechanism, wherein the lifting device can lift along the mechanical arm, the mechanical arm mechanism is fixedly connected with the lifting device, and the mechanical arm mechanism can be driven to lift when the lifting device lifts; the manipulator mechanism comprises a mounting seat, a servo motor, a first positioning plate, a second positioning plate, mechanical claws, a control mechanism and a gear rolling device, wherein the first positioning plate is mounted inside the mounting seat, a plurality of mechanical claws are fixedly arranged below the second positioning plate, the servo motor is fixedly mounted at the top of the mounting seat, the first positioning plate is driven by the servo motor to move along the length direction of the mounting seat, and the second positioning plate can move along the moving direction of the first positioning plate through the gear rolling device when the first positioning plate moves; the utility model discloses guarantee stable operating condition, be convenient for maintain, dismouting, change.
Description
Technical Field
The utility model belongs to the technical field of transfer robot, especially, relate to a plant factory three-dimensional operation robot multifunctional handling mechanism.
Background
With the continuous development and application of the robot technology, the advantages of the robot are more and more prominent. The robot is widely applied to the manufacturing industry, replaces manual work to finish repetitive work, and is particularly suitable for assembly line work and some occasions with high labor intensity. The existing multifunctional carrying robot is small in structure, high in structural strength, stable in working and accurate in positioning, and can perfectly replace a forklift. However, the intelligent degree is not very high, manual control is needed, and the existing robot is not perfect in details and affects the use effect.
Therefore, based on these problems, provide one kind and can be used for snatching of goods, guarantee stable operating condition, be convenient for maintain, dismouting, the multi-functional handling mechanism of plant factory three-dimensional operation robot who changes, have important realistic meaning.
Disclosure of Invention
An object of the utility model is to overcome prior art's is not enough, provides one kind and can be used for snatching of goods, guarantees stable operating condition, the plant factory three-dimensional operation robot multifunctional handling mechanism of being convenient for maintain, dismouting, change.
The utility model provides a its technical problem take following technical scheme to realize:
a multifunctional handling mechanism of a three-dimensional operation robot of a plant factory comprises a mechanical arm, a lifting device and at least one mechanical arm mechanism, wherein the lifting device can lift along the mechanical arm, the mechanical arm mechanism is fixedly connected with the lifting device, and the mechanical arm mechanism can be driven to lift when the lifting device lifts;
the manipulator mechanism comprises a mounting seat, a servo motor, a first positioning plate, a second positioning plate, mechanical claws, a control mechanism and a gear rolling device, wherein the first positioning plate is mounted inside the mounting seat, a plurality of mechanical claws are fixedly arranged below the second positioning plate, the servo motor is fixedly mounted at the top of the mounting seat, the first positioning plate is driven by the servo motor to move along the length direction of the mounting seat, and the second positioning plate can move along the moving direction of the first positioning plate through the gear rolling device when the first positioning plate moves;
and the control mechanism controls the lifting device and the servo motor to work.
Furthermore, the gear rolling device comprises a first sawtooth strip, a second sawtooth strip, a third sawtooth strip and a pair of I-shaped positioning plates, wherein sunken slideways are formed on two sides of the pair of I-shaped positioning plates, the top parts of the pair of I-shaped positioning plates are fixedly connected with the bottom surfaces of the first positioning plates, the mounting seat is of a half-frame structure, a plurality of pulleys are arranged on two side walls of the mounting seat, the pulleys are positioned in the slideways on one side of the I-shaped positioning plates, a pair of supporting plates are arranged on the upper surface of the second positioning plate, a plurality of pulleys are arranged on the supporting plates, the pulleys are positioned in the slideways on the other side of the I-shaped positioning plates, the first sawtooth strip is fixedly positioned on the upper surface of the first positioning plate, the servo motor can drive the first sawtooth strip to drive the first positioning plates to move, and the second sawtooth strip is fixedly positioned, the third sawtooth strip is fixedly arranged on the upper surface of the second positioning plate, a gear is further rotatably arranged on the first positioning plate, and the gear penetrates through the first positioning plate and is respectively meshed with the second sawtooth strip and the third sawtooth strip.
Furthermore, the gripper is of a strip-shaped structure, and electromagnet suckers are respectively installed on the bottom surfaces of the two ends of the gripper.
Furthermore, the electromagnet sucker controls the power supply to electrify the electromagnet sucker through the control mechanism to grab the goods.
Furthermore, the lifting device lifts along the mechanical arm through a guide rail on the mechanical arm, and the mounting seat is fixed with the lifting device through a connecting rod.
Furthermore, the lifting device is of a frame structure with a through middle, the inner frame wall of the lifting device is fixedly connected with a belt, and the belt is driven to rotate by a motor so as to drive the lifting device to lift up and down.
The utility model has the advantages that:
the utility model discloses a plant factory three-dimensional operation robot multifunctional handling mechanism, a lifting device can lift along an arm, thereby driving the arm mechanism to lift, realizing that a mounting seat is controlled to rise and fall through the lifting device; the inside of mount pad is equipped with gear rolling device, can realize advancing and retreating of gripper to carry out the transport of goods through the electro-magnet sucking disc, this device structure is convenient for maintain, dismouting, change.
Drawings
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus are not intended to limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of a multifunctional handling mechanism of a plant factory three-dimensional operation robot provided by an embodiment of the invention;
fig. 2 is a schematic structural view of a manipulator mechanism and a lifting device of a multifunctional handling mechanism of a plant factory three-dimensional operation robot provided by an embodiment of the invention;
fig. 3 is a structural section view of a manipulator mechanism of the multifunctional handling mechanism of the plant factory three-dimensional operation robot provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of the lifting device of the multifunctional handling mechanism of the plant factory three-dimensional operation robot provided by the embodiment of the invention;
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be described in detail below by way of example, but all the descriptions are only for illustrative purpose and should not be construed as forming any limitation to the present invention. Furthermore, any individual technical features described or implicit in the embodiments mentioned herein may continue to be combined or subtracted between any of these technical features (or their equivalents) to obtain still further embodiments of the present invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The present invention will be described in detail with reference to fig. 1 to 4.
Example 1
Fig. 1 is a schematic structural view of a multifunctional handling mechanism of a plant factory three-dimensional operation robot provided by an embodiment of the invention; fig. 2 is a schematic structural view of a manipulator mechanism and a lifting device of a multifunctional handling mechanism of a plant factory three-dimensional operation robot provided by an embodiment of the invention; fig. 3 is a structural section view of a manipulator mechanism of the multifunctional handling mechanism of the plant factory three-dimensional operation robot provided by the embodiment of the invention; fig. 4 is a schematic structural diagram of the lifting device of the multifunctional handling mechanism of the plant factory three-dimensional operation robot provided by the embodiment of the invention; as shown in fig. 1 to 4, the multifunctional handling mechanism of a three-dimensional operation robot for a plant factory provided in this embodiment includes a robot arm 12, a lifting device 6, and at least one robot mechanism, where the lifting device 6 can be lifted along the robot arm 12, the robot mechanism is fixedly connected to the lifting device 6, and when the lifting device 6 is lifted, the robot mechanism can be driven to lift, and specifically, in this embodiment, the robot mechanism is fixedly connected to the lifting device 6 through a connecting roller 19;
the manipulator mechanism comprises an installation seat 1, a servo motor 2, a first positioning plate 31, a second positioning plate 32, mechanical claws 4, a control mechanism 8 and a gear rolling device 10, wherein the first positioning plate 31 is installed inside the installation seat 1, a plurality of mechanical claws 4 are fixedly arranged below the second positioning plate 32, the servo motor 2 is fixedly installed at the top of the installation seat 1, the first positioning plate 31 moves along the length direction of the installation seat 1 under the driving of the servo motor 2, and the second positioning plate 32 can move along the moving direction of the first positioning plate 31 through the gear rolling device 10 when the first positioning plate 31 moves;
It should be noted that, in this embodiment, gear rolling device 10 includes first sawtooth rack 101, second sawtooth rack 102, third sawtooth rack 103, a pair of i shape locating plate 104, and a pair of i shape locating plate 104 both sides form sunken slide 105, and are a pair of i shape locating plate 104 top and first locating plate 31 underrun bolt fixed connection, mount pad 1 is half frame construction, all be equipped with a plurality of pulley 7 on the wall of mount pad 1 both sides, pulley 7 adopt current product can, pulley 7 is located the slide 105 of i shape locating plate 104 one side, second locating plate 32 upper surface is equipped with a pair of backup pad 11, be equipped with a plurality of pulley 7 in the backup pad 11, pulley 7 is located the slide 105 of i shape locating plate 104 opposite side, first sawtooth rack 101 is fixed to be located first locating plate 31 upper surface, thereby servo motor 2 accessible drive first sawtooth rack 101 drives first locating plate 31 moves Move, in this embodiment, the output of servo motor 2 shifts back, drives first sawtooth rack 101 through the gear and removes, and when first locating plate 31 removed, I shape locating plate 104 with a plurality of pulley 7 relative slip on the wall of mount pad 1 both sides have reduced frictional force, second sawtooth rack 102 is fixed to be located on the inner wall of mount pad 1 top, third sawtooth rack 103 is fixed to be located second locating plate 32 upper surface, it is equipped with gear 14 still to rotate on the first locating plate 31, gear 14 passes first locating plate 31 and meshes with second sawtooth rack 102, third sawtooth rack 103 respectively, and is concrete, in this embodiment, first locating plate 31 bottom surface is fixed and is equipped with a pair of mounting panel 15, gear 14 installs through the pivot between mounting panel 15, in order to reduce the friction, can consider, set up the bearing between pivot and the mounting panel 15, when the first positioning plate 31 moves, the gear 14 rotates under the action of the second sawtooth rack 102, so as to drive the third sawtooth rack 103 to move, the third sawtooth rack 103 moves to drive the second positioning plate 32 to move, and when the second positioning plate 32 moves, the pulley 7 on the supporting plate 11 slides along the slide way 105 on the other side of the i-shaped positioning plate 104, so as to reduce friction.
The gripper is of a long strip structure, the electromagnet suckers 5 are respectively mounted on the bottom surfaces of the two ends of the gripper 4, it should be noted that the electromagnet suckers 5 are existing products, in this embodiment, electromagnets of TS-P25/20 model manufactured by seiko electric appliances limited are adopted, wherein the electromagnet suckers 5 control the power supply 13 to be powered on through the control mechanism 8 to grab goods, and it should be noted that the power supply 13 supplies power to modules in the device, which need to be powered on.
The lifting device 6 is lifted along the mechanical arm 12 through the guide rail 9 on the mechanical arm 12, and the mounting base 1 is fixed with the lifting device 6 through the connecting rod 15, it should be noted that, in this embodiment, it is considered that a plurality of pulleys 7 are mounted on the lifting device, and the pulleys 7 are embedded into the guide rail 9, so that friction is reduced during lifting.
It should be noted that, the lifting device 6 is a frame structure with a through middle, and the inner frame wall of the lifting device 6 is fixedly connected with the belt, in this embodiment, it can be considered that, as shown in fig. 4, two opposite sides of the inner frame wall of the lifting device 6 are fixedly connected with the belt 17 through the fixing modules 16, and the fixing modules 16 adopt conventional fixing mechanisms, as long as the fixing of the lifting device 6 and the belt 17 is realized, and the belt 17 is lifted up and down through the belt pulleys 18, in this embodiment, four belt pulleys 18 are adopted, and the driving of the motor to the belt pulleys is realized through the installation of appropriate positions, where the belt pulleys 1801 are driven by the motor, the four belt pulleys are fixedly installed at appropriate positions of the mechanical arm 12, and the belt pulleys 1801 are driven to rotate through the motor, so that the lifting device 6 is driven to lift up and.
It should be noted that, the fixing and connecting method of the present invention adopts conventional means such as bolts, rivets, welding, etc. which are mature in the prior art, and is not described herein again, but due to the above reasons, the repeated reproduction of the technicians in the field will not be affected.
In this embodiment, for example, when the power supply 13 is activated, the control box 8 controls the lifting device 6 to transport the robot mechanism to a predetermined height, then the operation of the servo motor 2 controls the gear rolling device 10 in the mounting seat 1, thereby driving the second positioning plate 32, the mechanical claw 4 arranged below the second positioning plate 32 and the electromagnet suction cups 5 arranged at two ends of the mechanical claw 4 to move back and forth, when the second positioning plate 32 reaches a designated position forwards, the electromagnet sucker 5 is electrified by the power supply 13 to grab the goods, after the goods are grabbed, the servo motor works again to drive the gear rolling device 10 to act, thereby moving the second positioning plate 32, the gripper 4 installed under the second positioning plate 32, and the electromagnet chucks 5 installed at both ends of the gripper 4 to initial positions, and completing the recycling of the robot.
The above embodiments are described in detail, but the above description is only for the preferred embodiments of the present invention, and should not be construed as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.
Claims (6)
1. The utility model provides a plant factory three-dimensional operation robot multifunctional handling mechanism which characterized in that: the manipulator mechanism is fixedly connected with the lifting device, and can be driven to lift when the lifting device is lifted;
the manipulator mechanism comprises a mounting seat, a servo motor, a first positioning plate, a second positioning plate, mechanical claws, a control mechanism and a gear rolling device, wherein the first positioning plate is mounted inside the mounting seat, a plurality of mechanical claws are fixedly arranged below the second positioning plate, the servo motor is fixedly mounted at the top of the mounting seat, the first positioning plate is driven by the servo motor to move along the length direction of the mounting seat, and the second positioning plate can move along the moving direction of the first positioning plate through the gear rolling device when the first positioning plate moves;
and the control mechanism controls the lifting device and the servo motor to work.
2. The multifunctional handling mechanism of a plant factory three-dimensional operation robot of claim 1, wherein: the gear rolling device comprises a first sawtooth strip, a second sawtooth strip, a third sawtooth strip, a pair of I-shaped positioning plates and a pair of slide ways formed by two sides of the I-shaped positioning plates, wherein the top of each I-shaped positioning plate is fixedly connected with the bottom surface of the first positioning plate, the mounting seat is of a half-frame structure, a plurality of pulleys are arranged on two side walls of the mounting seat, the pulleys are positioned in the slide ways on one side of the I-shaped positioning plates, a pair of supporting plates are arranged on the upper surface of the second positioning plate, a plurality of pulleys are arranged on the supporting plates, the pulleys are positioned in the slide ways on the other side of the I-shaped positioning plates, the first sawtooth strip is fixedly positioned on the upper surface of the first positioning plate, the servo motor can drive the first sawtooth strip to drive the first positioning plates to move, the second sawtooth strip is fixedly positioned on the inner wall of the top end, the first positioning plate is further rotatably provided with a gear, and the gear penetrates through the first positioning plate and is respectively meshed with the second sawtooth strips and the third sawtooth strips.
3. The multifunctional handling mechanism of a plant factory three-dimensional operation robot of claim 1, wherein: the gripper is of a strip-shaped structure, and electromagnet suckers are respectively installed on the bottom surfaces of two ends of the gripper.
4. The multifunctional handling mechanism of a plant factory three-dimensional operation robot of claim 3, wherein: the electromagnet sucker controls the power supply to electrify the electromagnet sucker through the control mechanism to grab the goods.
5. The multifunctional handling mechanism of a plant factory three-dimensional operation robot of claim 1, wherein: the lifting device is lifted along the mechanical arm through a guide rail on the mechanical arm, and the mounting seat is fixed with the lifting device through a connecting rod.
6. The multifunctional handling mechanism of a plant factory three-dimensional operation robot of claim 5, wherein: the lifting device is of a frame structure with a through middle, the inner frame wall of the lifting device is fixedly connected with a belt, and the belt is driven to rotate by a motor so as to drive the lifting device to lift up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020023015.0U CN211569397U (en) | 2020-01-07 | 2020-01-07 | Multifunctional carrying mechanism of plant factory three-dimensional operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020023015.0U CN211569397U (en) | 2020-01-07 | 2020-01-07 | Multifunctional carrying mechanism of plant factory three-dimensional operation robot |
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| CN211569397U true CN211569397U (en) | 2020-09-25 |
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| CN202020023015.0U Expired - Fee Related CN211569397U (en) | 2020-01-07 | 2020-01-07 | Multifunctional carrying mechanism of plant factory three-dimensional operation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071793A (en) * | 2020-01-07 | 2020-04-28 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Multifunctional carrying mechanism of plant factory three-dimensional operation robot |
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- 2020-01-07 CN CN202020023015.0U patent/CN211569397U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071793A (en) * | 2020-01-07 | 2020-04-28 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Multifunctional carrying mechanism of plant factory three-dimensional operation robot |
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Granted publication date: 20200925 |