CN214732183U - Multi freedom transfer robot - Google Patents
Multi freedom transfer robot Download PDFInfo
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- CN214732183U CN214732183U CN202120540687.3U CN202120540687U CN214732183U CN 214732183 U CN214732183 U CN 214732183U CN 202120540687 U CN202120540687 U CN 202120540687U CN 214732183 U CN214732183 U CN 214732183U
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- transfer robot
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- 230000007246 mechanism Effects 0.000 claims description 32
- 230000009471 action Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 15
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model belongs to the technical field of the robot, especially, be a multi freedom transfer robot, including the rotating base, the inner chamber bottom fixed mounting of rotating base has the rotating electrical machines, the output of rotating electrical machines is fixedly connected with the rotating bottom plate, the top fixed mounting of rotating bottom plate has the angle modulation spare, and the other end of angle modulation spare rotates and is connected with the floor of transport, the angle modulation spare includes driving motor, axis of rotation and fixing base; under the mutually supporting of rotating base and angle modulation spare for the transfer robot can carry out multi-angle and multi-direction regulation, makes transfer robot's degree of freedom high, has further enlarged transfer robot's working range, has improved transfer robot's application scope to and be equipped with supplementary carrier in the both sides of floor, make this transfer robot not only accessible floor carry the operation, also can carry the operation through supplementary carrier.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to multi freedom transfer robot.
Background
Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures. There are also a number of taxonomies and controversy over the definition of robots in the narrow sense, and some computer programs are even referred to as robots. In modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits.
The transfer robots in the current market are generally designed for specific work occasions, have few degrees of freedom, lack flexibility and poor adaptability, and when a work place is changed, the transfer robots are not suitable for use, so that the robot has low suitability and the production cost of enterprises is improved.
SUMMERY OF THE UTILITY MODEL
To solve the problems set forth in the background art described above. The utility model provides a multi freedom transfer robot has the degree of freedom height to and the stable characteristics of just being convenient for unload of transport.
In order to achieve the above object, the utility model provides a following technical scheme:
a multi-degree-of-freedom transfer robot comprises a rotating base, wherein a rotating motor is fixedly arranged at the bottom of an inner cavity of the rotating base, the rotating motor is electrically connected with an external power supply, the output end of the rotating motor is fixedly connected with a rotating bottom plate, the top of the rotating bottom plate is fixedly provided with an angle adjusting piece, the other end of the angle adjusting piece is rotatably connected with a carrying table, four corners of the bottom of the rotating base are fixedly provided with Mecanum wheels, the angle adjusting piece comprises a driving motor, a rotating shaft and a fixed seat, the fixed seat is fixedly arranged at the top of the rotating bottom plate, the rotating shaft is rotatably connected inside the fixed seat, the driving motor is fixedly arranged on one side of the fixed seat, and the driving motor is electrically connected with an external power supply, and the output end of the driving motor penetrates through the fixed seat and is fixedly connected with the rotating shaft.
Preferably, the both sides of floor are all rotated and are connected with supplementary transport, supplementary transport includes two conveying mechanism and the mounting bracket that are vertical distribution, mounting bracket fixed mounting be in the both sides of floor, two conveying mechanism all rotates to be connected on the mounting bracket.
Preferably, conveying mechanism includes the action wheel, follows driving wheel and conveying motor, conveying motor fixed mounting is in the mounting bracket is kept away from one side of floor table, just conveying motor and external power source electric connection, conveying motor's output runs through the mounting bracket with action wheel fixed connection, the action wheel with the outside cover from the driving wheel is equipped with the conveyer belt, the action wheel passes through the conveyer belt with connect from the driving wheel transmission.
Preferably, the rotation directions of the two conveying mechanisms are opposite.
Preferably, the conveyer belt is a rigid conveyer belt, and the outside of conveyer belt is fixedly provided with a non-slip mat.
Preferably, the length of the conveying mechanism located above is shorter than that of the conveying mechanism located below.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses in, under mutually supporting of rotating base and angle modulation spare for transfer robot can carry out multi-angle and multi-direction regulation, makes transfer robot's degree of freedom high, has further enlarged transfer robot's working range, has improved transfer robot's application scope.
2. The utility model discloses in, be equipped with supplementary transport through the both sides at the floor, make this transfer robot not only accessible floor carry the operation, also can carry the operation through supplementary transport, and supplementary transport comprises two conveying mechanism that distribute about being, place article at two conveying mechanism, after carrying suitable position, two conveying mechanism of accessible, carry out automatic transport with article, thereby the person of being convenient for use unloads, and two conveying mechanism can be at material handling process and the in-process of unloading, it is spacing with the article centre gripping, prevent effectively that article from taking place the skew and rocking, improve the handling quality of material.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the connection between the transfer table and the auxiliary transfer unit of the present invention;
FIG. 3 is a schematic view of the rotation of the auxiliary transferring member of the present invention;
fig. 4 is a cross-sectional view of the rotating base of the present invention.
In the figure: 1. rotating the base; 11. rotating the bottom plate; 12. a rotating electric machine; 13. a Mecanum wheel; 2. an angle adjusting member; 21. a drive motor; 22. a rotating shaft; 23. a fixed seat; 3. a carrying table; 4. an auxiliary handling member; 41. a conveying mechanism; 411. a driving wheel; 412. a driven wheel; 413. a conveyor belt; 414. a conveying motor; 415. a non-slip mat; 42. and (7) mounting frames.
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 in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides the following technical solutions: a multi-degree-of-freedom transfer robot comprises a rotating base 1, a rotating motor 12 is fixedly installed at the bottom of an inner cavity of the rotating base 1, the rotating motor 12 is electrically connected with an external power supply, an output end of the rotating motor 12 is fixedly connected with a rotating bottom plate 11, an angle adjusting piece 2 is fixedly installed at the top of the rotating bottom plate 11, the other end of the angle adjusting piece 2 is rotatably connected with a carrying platform 3, four corners of the bottom of the rotating base 1 are fixedly provided with Mecanum wheels 13, the angle adjusting piece 2 comprises a driving motor 21, a rotating shaft 22 and a fixed seat 23, the fixed seat 23 is fixedly arranged at the top of the rotating bottom plate 11, and the rotating shaft 22 is rotatably connected inside the fixed seat 23, the driving motor 21 is fixedly installed at one side of the fixed seat 23, the driving motor 21 is electrically connected to an external power source, and an output end of the driving motor 21 penetrates through the fixing base 23 and is fixedly connected to the rotating shaft 22.
In this embodiment: under the mutual cooperation of the rotating base 1 and the angle adjusting piece 2, the transfer robot can carry out multi-angle and multi-direction adjustment, the degree of freedom of the transfer robot is high, the working range of the transfer robot is further enlarged, the application range of the transfer robot is improved, the auxiliary transfer pieces 4 are arranged on the two sides of the transfer platform 3, the transfer robot can carry out transfer operation through the transfer platform 3 and can also carry out transfer operation through the auxiliary transfer pieces 4, the auxiliary transfer pieces 4 are composed of two conveying mechanisms 41 which are distributed up and down, articles are placed on the two conveying mechanisms 41, after being transferred to proper positions, the articles can be automatically conveyed through the two conveying mechanisms 41, so that the use personnel can conveniently unload the articles, and the two conveying mechanisms 41 can clamp and limit the articles in the material transfer process and the unloading process, effectively prevent that article from taking place the skew and rocking, improve the handling quality of material, mecanum wheel 13 is mecanum wheel for but rotatable base 1 three hundred sixty degrees rotate, thereby improved rotatable base 1's rotational degree of freedom.
In fig. 1: rotating base 1's inner chamber bottom fixed mounting has rotating electrical machines 12, rotating electrical machines 12 and external power source electric connection, and rotating electrical machines 12's output fixedly connected with rotates bottom plate 11, and the top fixed mounting that rotates bottom plate 11 has angle modulation 2, and the other end of angle modulation 2 rotates and is connected with floor 3.
In fig. 2: auxiliary carrying members 4 are rotatably connected to both sides of carrying platform 3, each auxiliary carrying member 4 includes two conveying mechanisms 41 and a mounting frame 42 which are vertically distributed, mounting frames 42 are fixedly installed on both sides of carrying platform 3, both conveying mechanisms 41 are rotatably connected to mounting frames 42, auxiliary carrying members 4 are installed on both sides of carrying platform 3, so that the carrying robot can carry out carrying operation not only through carrying platform 3 but also through auxiliary carrying members 4, conveying mechanisms 41 include a driving wheel 411, a driven wheel 412 and a conveying motor 414, conveying motor 414 is fixedly installed on one side of mounting frame 42 far away from carrying platform 3, and conveying motor 414 is electrically connected with an external power supply, an output end of conveying motor 414 penetrates through mounting frame 42 and is fixedly connected with driving wheel 411, a conveying belt 413 is sleeved outside driving wheel 411 and driven wheel 412, driving wheel 411 is in transmission connection with driven wheel 412 through conveying belt 413, the conveying motor 414 is started to drive the driving wheel 411 to rotate, and under the action of the conveying belt 413, the driven wheel 412 is driven to rotate, so that materials can be placed on the conveying belt 413 at the bottom in the conveying process, and the materials are conveyed under the action of the conveying belt 413 until the top of the conveying belt 413 is completely filled and then conveyed.
In fig. 3: two conveying mechanism 41's rotation opposite direction, rotate along opposite direction through two conveying mechanism 41, thereby can carry out centre gripping and transport to the material between two conveying mechanism 41, conveyer belt 413 is the rigidity conveyer belt, the rigidity conveyer belt makes conveyer belt 413 intensity stronger, improve the clamping effect between two conveyer belts 413, and the outside fixed mounting of conveyer belt 413 has slipmat 415, make material accessible slipmat 415 and conveyer belt 413 contact, increase the frictional force between conveyer belt 413 and the material, make the spacing effect of conveyer belt 413 better, because the length of the conveying mechanism 41 who is located the top is shorter than the conveying mechanism 41 who is located the below, make the conveying mechanism 41 of top not shelter from the conveying mechanism 41 of below, thereby be convenient for operating personnel places the material on the conveyer belt 413 of below.
In fig. 4: angle modulation spare 2 includes driving motor 21, axis of rotation 22 and fixing base 23, fixing base 23 fixed mounting is at the top of rotating bottom plate 11, and axis of rotation 22 rotates the inside of connecting at fixing base 23, driving motor 21 fixed mounting is in one side of fixing base 23, and driving motor 21 and external power source electric connection, driving motor 21's output runs through fixing base 23 and axis of rotation 22 fixed connection, start driving motor 21, drive axis of rotation 22 and rotate, thereby adjust the inclination of floor 3, make transfer robot can carry out the regulation of multi-angle.
The utility model discloses a theory of operation and use flow: when the angle and direction of the carrying platform 3 need to be adjusted, the rotary motor 12 can be started to drive the rotary bottom plate 11 to rotate in the rotary base 1 until the rotary bottom plate rotates to a proper position, then the drive motor 21 can be started to drive the rotary shaft 22 to rotate, so as to adjust the inclination angle of the carrying platform 3, so that the carrying robot can be adjusted in multiple angles and multiple directions, the degree of freedom of the carrying robot is high, the working range of the carrying robot is further expanded, the application range of the carrying robot is improved, because the auxiliary carrying pieces 4 are arranged on two sides of the carrying platform 3, the auxiliary carrying pieces 4 are composed of two conveying mechanisms 41 which are distributed up and down, the conveying motor 414 is started to drive the driving wheel 411 to rotate, under the action of the conveying belt 413, so as to drive the driven wheel 412 to rotate, in the carrying process, can place the material on the conveyer belt 413 of bottom, under the effect of conveyer belt 413, carry the material, carry after filling with the top of conveyer belt 413 is whole, after carrying to suitable position, two conveying mechanism 41 of accessible, carry out automatic transport with the article, thereby convenient to use personnel unload, and two conveying mechanism 41 can be at the material handling process with the in-process of unloading, it is spacing with the article centre gripping, prevent effectively that this transfer robot is at rotatory process or angle modulation in-process, the article takes place the skew and rocks, cause dropping or the collision each other of material to take place to damage, and then the handling quality of material has been improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a multi freedom transfer robot, includes rotating base (1), its characterized in that: a rotating motor (12) is fixedly installed at the bottom of an inner cavity of the rotating base (1), the rotating motor (12) is electrically connected with an external power supply, an output end of the rotating motor (12) is fixedly connected with a rotating bottom plate (11), an angle adjusting piece (2) is fixedly installed at the top of the rotating bottom plate (11), the other end of the angle adjusting piece (2) is rotatably connected with a carrying table (3), and four corners of the bottom of the rotating base (1) are fixedly provided with Mecanum wheels (13);
angle modulation spare (2) include driving motor (21), axis of rotation (22) and fixing base (23), fixing base (23) fixed mounting be in the top of rotating bottom plate (11), just axis of rotation (22) rotate to be connected the inside of fixing base (23), driving motor (21) fixed mounting be in one side of fixing base (23), just driving motor (21) and external power source electric connection, the output of driving motor (21) runs through fixing base (23) with axis of rotation (22) fixed connection.
2. The multiple degree of freedom transfer robot according to claim 1, characterized in that: the both sides of floor (3) are all rotated and are connected with supplementary transport (4), supplementary transport (4) are conveying mechanism (41) and mounting bracket (42) that are vertical distribution including two, mounting bracket (42) fixed mounting be in the both sides of floor (3), two conveying mechanism (41) are all rotated and are connected on mounting bracket (42).
3. The multiple degree of freedom transfer robot according to claim 2, characterized in that: conveying mechanism (41) include action wheel (411), follow driving wheel (412) and conveying motor (414), conveying motor (414) fixed mounting is in mounting bracket (42) is kept away from one side of floor (3), just conveying motor (414) and external power source electric connection, the output of conveying motor (414) runs through mounting bracket (42) with action wheel (411) fixed connection, action wheel (411) with the outside cover from driving wheel (412) is equipped with conveyer belt (413), action wheel (411) pass through conveyer belt (413) with from driving wheel (412) transmission is connected.
4. The multiple degree of freedom transfer robot according to claim 2, characterized in that: the rotation directions of the two conveying mechanisms (41) are opposite.
5. The multiple degree of freedom transfer robot according to claim 3, characterized in that: the conveying belt (413) is a rigid conveying belt, and a non-slip pad (415) is fixedly mounted on the outer portion of the conveying belt (413).
6. The multiple degree of freedom transfer robot according to claim 3, characterized in that: the length of the conveyor means (41) located above is shorter than the conveyor means (41) located below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120540687.3U CN214732183U (en) | 2021-03-16 | 2021-03-16 | Multi freedom transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120540687.3U CN214732183U (en) | 2021-03-16 | 2021-03-16 | Multi freedom transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214732183U true CN214732183U (en) | 2021-11-16 |
Family
ID=78594082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120540687.3U Expired - Fee Related CN214732183U (en) | 2021-03-16 | 2021-03-16 | Multi freedom transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214732183U (en) |
-
2021
- 2021-03-16 CN CN202120540687.3U patent/CN214732183U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211116 |