CN214818538U - Industrial robot turns to conveyer with automation - Google Patents
Industrial robot turns to conveyer with automation Download PDFInfo
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- CN214818538U CN214818538U CN202121336372.3U CN202121336372U CN214818538U CN 214818538 U CN214818538 U CN 214818538U CN 202121336372 U CN202121336372 U CN 202121336372U CN 214818538 U CN214818538 U CN 214818538U
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- mounting ring
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Abstract
The utility model belongs to the technical field of industrial robot, a industrial robot is with automatic conveyer that turns to is disclosed, the device includes: a transport base; the at least three driving spheres are embedded at the bottom of the transportation base and used for balancing and supporting the transportation base, and the at least three driving spheres comprise at least one driving sphere; the mounting ring is rotatably arranged in the transportation base, is horizontally sleeved on the outer side of the driving ball and is concentrically assembled with the driving ball; the clamping assembly is arranged between the mounting ring and the driving ball and comprises two movable clamps which are symmetrically matched with two sides of the driving ball, the two movable clamps synchronously rotate along with the mounting ring, and the two movable clamps move oppositely or oppositely; and the driving motor is fixedly arranged on one of the moving plates and is used for driving the two clamps to rotate coaxially with the driving ball.
Description
Technical Field
The utility model belongs to the technical field of industrial robot, concretely relates to industrial robot is with automatic conveyer that turns to.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity.
In current industrial production, because industrial robot size is great, consequently adopt fixed mode to install in a certain position department mostly, but according to the work load requirement of difference, often make some industrial robot idle, consequently have certain wasting of resources phenomenon.
SUMMERY OF THE UTILITY MODEL
In view of this, for solving the problem that proposes in the above-mentioned background art, the utility model aims at providing an industrial robot is with automatic transportation device that turns to effectively realize the transportation operation of idle industrial robot between different stations.
In order to achieve the above object, the utility model provides a following technical scheme:
an automated steering transportation apparatus for an industrial robot, comprising:
a transport base;
the at least three driving spheres are embedded at the bottom of the transportation base and used for balancing and supporting the transportation base, and the at least three driving spheres comprise at least one driving sphere;
the mounting ring is rotatably arranged in the transportation base, is horizontally sleeved on the outer side of the driving ball and is concentrically assembled with the driving ball;
the clamping assembly is arranged between the mounting ring and the driving ball and comprises two movable clamps which are symmetrically matched with two sides of the driving ball, and the movable clamps synchronously rotate along with the mounting ring; the two movable clamps move oppositely or oppositely, and each movable clamp comprises a movable plate and a clamp which are connected in a rotating mode;
and the driving motor is fixedly arranged on one of the moving plates and is used for driving the two clamps to rotate coaxially with the driving ball.
Preferably, a movement driving device is connected between the mounting ring and the moving plate, and the movement driving device is used for driving the moving plate to move between the mounting ring and the driving ball.
Preferably, an annular groove is formed between the mounting ring and the driving ball, the bottom of the moving plate is connected with the annular groove in a sliding manner, and a toothed ring is embedded in the annular groove; a servo rotating motor is fixed on the inner wall of the mounting ring, and a driving end of the servo rotating motor is rotatably connected with a first gear meshed with the gear ring.
Preferably, the jig comprises:
the outer sleeve is rotationally connected with the moving plate;
the inner sleeve is in contact with the surface wall of the driving ball, one end of the inner sleeve, which is in contact with the driving ball, is of a porous structure, and the other end of the inner sleeve is in sliding fit with the inside of the outer sleeve;
the movable piston plate is arranged in the inner sleeve, and a transmission mechanism is connected between the piston plate and the outer sleeve so as to drive the piston plate to move towards the outer sleeve when the outer sleeve and the inner sleeve are close to each other.
Preferably, the transmission mechanism includes:
the second gear is rotatably arranged in the inner sleeve and is positioned between the piston plate and the moving plate;
the two racks are respectively meshed with the two sides of the second gear and are respectively and fixedly connected with the piston plate and the outer sleeve in a vertical manner;
and the limiting spring is connected between the piston plate and the outer sleeve and is used for compressing and deforming when the piston plate moves towards the outer sleeve.
Preferably, the number of the driving balls is five, and the five driving balls comprise a driving ball and four driven balls, the driving ball is installed at the center of the bottom of the transportation base, and the four driven balls are respectively installed at four corners of the bottom of the transportation base.
Preferably, the automatic steering and transporting device further comprises a limiting mechanism arranged right above the driving ball, and the limiting mechanism is used for downwards moving and pressing the driving ball when the two movable clamps are far away from each other.
Preferably, the limiting mechanism comprises:
the limiting block is of a prismatic structure, the pressing block is of a cylindrical structure, and the pressing block is connected to the bottom of the limiting block;
the annular sliding groove is formed in the surface wall of the pressing block, the annular sliding groove is coaxially matched with the pressing block, and two sliding blocks are symmetrically connected in the annular sliding groove in a sliding mode;
and the two connecting rods are respectively and rotatably connected between the two sliding blocks and the two moving plates and are symmetrically distributed on two sides of the driving ball.
Compared with the prior art, the utility model, following beneficial effect has:
(1) the utility model discloses in, utilize two symmetry complex movable fixture to constitute the initiative axis of rotation of initiative ball, and two movable fixture can carry out synchronous rotation along with the collar, make the initiative axis of rotation of this initiative ball can carry out the adjustment of arbitrary angle in the horizontal plane from this to can order about this initiative ball and rotate to the equidirectional rotation, and then realize that the integrated device turns to the transportation to the automation of equidirectional.
(2) Aiming at the movable clamp, the clamp is designed into a telescopic negative suction structure, so that a negative suction fixing effect can be synchronously generated when the clamp completely clamps the driving ball, and the stability of connection between the movable clamp and the driving ball is further ensured.
(3) Aiming at the installation ring, the rotation drive is realized by the structural coordination of the servo rotating motor, the gear ring, the first gear and the like, the structure is simple, and the rotation angle can be accurately controlled.
(4) To above-mentioned movable fixture, it has stop gear to correspond still to cooperate to this can also effectively guarantee the stable location of initiative ball and whole transportation base when carrying out movable fixture's rotation adjustment.
(5) Aiming at the limiting mechanism, the structure linkage between the movable clamp and the limiting mechanism can be effectively realized through the matching of the annular sliding groove, the sliding and connecting rod and other structures, so that the limiting mechanism is not required to be provided with an additional driving structure, and the energy consumption and the control difficulty of the whole device are effectively reduced.
Drawings
FIG. 1 is a schematic structural view of the utility model during transportation;
FIG. 2 is a schematic structural view of the present invention during steering;
FIG. 3 is an enlarged view taken at A in FIG. 1;
FIG. 4 is a cross-sectional view taken along direction B of FIG. 1;
fig. 5 is a schematic structural view of the clamp of the present invention;
fig. 6 is a schematic structural view of the middle limiting mechanism of the present invention;
FIG. 7 is a schematic diagram of the automatic steering of the device of the present invention;
in the figure: a transport base-1; a driving ball-2; a mounting ring-3; a toothed ring-31; a servo rotating motor-32; a first gear-33; a movable clamp-4; moving a plate-41; a clamp-42; a movement drive device-43; a jacket-44; an inner sleeve-45; a piston plate-46; a second gear-47; -48 rack; a limiting spring-49; a drive motor-5; a driven ball-6; a limiting mechanism-7; a limiting block-71; briquetting-72; an annular chute-73; a slider-74; a connecting rod-75.
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 to 6, the present invention provides an automatic steering transportation device for an industrial robot, and the device mainly includes:
a transport base 1;
the at least three driving spheres are embedded at the bottom of the transportation base 1 and used for balancing and supporting the transportation base 1, and the at least three driving spheres comprise at least one driving sphere 2; preferably, as shown in fig. 4, the present invention shows an example in which the driving balls are provided with five driving balls, and in this example, the five driving balls include one driving ball 2 and four driven balls 6, the driving ball 2 is installed at the center of the bottom of the transportation base 1, and the four driven balls 6 are respectively installed at four corners of the bottom of the transportation base 1;
the mounting ring 3 is rotatably arranged in the transportation base 1, and the mounting ring 3 is horizontally sleeved on the outer side of the driving ball 2 and is concentrically assembled with the driving ball 2;
the clamping assembly is arranged between the mounting ring 3 and the driving ball 2 and comprises two movable clamps 4 which are symmetrically matched with two sides of the driving ball 2, and the movable clamps 4 synchronously rotate along with the mounting ring 3; the two movable clamps 4 move towards or away from each other, and each movable clamp 4 comprises a moving plate 41 and a clamp 42 which are rotationally connected;
the driving motor 5 is fixedly arranged on one moving plate 41, and the driving motor 5 is used for driving the two clamps 42 to rotate coaxially with the driving ball 2;
and the limiting mechanism 7 is arranged right above the driving ball 2, and the limiting mechanism 7 is used for downwards moving and pressing the driving ball 2 when the two movable clamps 4 are far away from each other.
Specifically, in fig. 7:
when the two movable clamps 4 are symmetrically clamped at the position I, the integral driving ball 2 takes the axis I as a rotating axis, so that the integral transportation base 1 is moved to the direction vertical to the axis I;
when the two movable clamps 4 are symmetrically clamped at the position II, the integral driving ball 2 takes the shaft II as a rotating shaft, so that the integral transportation base 1 moves towards the direction vertical to the shaft II;
when the two movable clamps 4 are symmetrically clamped at the position III, the integrated active ball 2 is rotated about the axis III, thereby moving the integrated transport base 1 in a direction perpendicular to the axis III.
From the above, the automatic steering of the whole device can be realized by changing the clamping positions of the two movable clamps 4, and the adjustment of the clamping positions of the two movable clamps 4 can be realized by the mutual separation of the two movable clamps 4 and the rotation of the mounting ring 3; specifically, when two movable fixture 4 keep away from each other, still drive stop gear 7 and move down and compress tightly initiative ball 2 to this stability of its transportation base 1 location when effectively guaranteeing the whole device to turn to the adjustment.
Further, with respect to the movement of the two movable clamps 4, this is achieved by the following structure:
a moving driving device 43 is connected between the mounting ring 3 and the moving plate 41, and the moving driving device 43 is used for driving the moving plate 41 to move between the mounting ring 3 and the driving ball 2.
Specifically, the movement driving device 43 is preferably formed by a structure such as an electric telescopic rod or an air cylinder, and the movement driving device 43 is arranged to connect the mounting ring 3 and the movable clamp 4, so that the mounting ring 3 and the movable clamp 4 can be effectively rotated synchronously.
Further, with respect to the rotation of the mount ring 3, this is achieved by the following structure:
an annular groove is formed between the mounting ring 3 and the driving ball 2, the bottom of the moving plate 41 is connected with the annular groove in a sliding manner, and a toothed ring 31 is embedded in the annular groove; a servo rotating motor 32 is fixed on the inner wall of the mounting ring 3, and a driving end of the servo rotating motor 32 is rotatably connected with a first gear 33 engaged with the toothed ring 31.
It can be seen that the principle of rotation of the mounting ring 3 is: the servo rotating motor 32 is started to drive the first gear 33 to rotate, the first gear 33 is meshed with the gear ring 31 through the gear ring 33 to move on the gear ring 31, the gear ring 31 is in an annular structure which is concentrically matched with the driving ball 2, so that the first gear 33 revolves around the driving ball 2, the mounting ring 3 is driven to rotate outside the driving ball 2, and the mounting ring 3 drives the movable clamp 4 separated from the driving ball 2 to rotate through the moving driving device 43, so that the positioning positions of the two movable clamps 4 are adjusted.
Further, the symmetrical clamping of the active ball 2 with respect to the two movable clamps 4 is achieved by the following structure:
the jig 42 includes:
an outer case 44 rotatably connected to the moving plate 41;
the inner sleeve 45 is in contact with the surface wall of the driving ball 2, one end of the inner sleeve 45, which is in contact with the driving ball 2, is of a porous structure, and the other end of the inner sleeve 45 is in sliding fit with the inner part of the outer sleeve 44;
a piston plate 46 movably arranged in the inner sleeve 45, and a transmission mechanism is connected between the piston plate 46 and the outer sleeve 44 so as to drive the piston plate 46 to move towards the outer sleeve 44 when the outer sleeve 44 and the inner sleeve 45 approach each other;
the transmission mechanism includes:
a second gear 47 rotatably installed inside the inner sleeve 45, wherein the second gear 47 is located between the piston plate 46 and the moving plate 41;
two racks 48 respectively meshed with two sides of the second gear 47, and the two racks 48 are respectively vertically and fixedly connected with the piston plate 46 and the outer sleeve 44;
a retainer spring 49 connected between the piston plate 46 and the outer sleeve 44, and the retainer spring 49 is adapted to be compressed and deformed when the piston plate 46 moves toward the outer sleeve 44.
As can be seen from the above, when the moving driving device 43 drives the moving plate 41 and the clamp 42 to approach the driving ball 2, the porous end of the inner sleeve 45 first contacts with the surface wall of the driving ball 2, and after the contact, the inner sleeve 45 cannot move continuously due to the limitation of the driving ball 2, and at this time, the outer sleeve 44 continues to move under the driving of the moving driving device 43, so as to achieve the mutual approach of the inner sleeve 45 and the outer sleeve 44; in this state, the outer sleeve 44 drives the corresponding rack 48 to move to the left side in fig. 5, so as to drive the second gear 47 to rotate counterclockwise, and the second gear 47 is engaged with the rack 48 connected with the piston plate 46 to move to the right side in fig. 5, so as to drive the piston plate 46 to move to the right, so as to compress the limit spring 49, and make the left area of the piston plate 46 form a negative pressure state, so that the porous end of the inner sleeve 45 forms negative pressure adsorption on the driving ball 2; in conclusion, the movable clamp 4 can effectively realize double fixation of clamping and negative suction on the driving ball 2, so that the stability of the movable clamp 4 and the driving ball 2 in matching is effectively ensured;
when the moving plate 41 and the clamp 42 are far away from the driving ball 2, the whole clamp 42 structure can be effectively reset based on the return movement of the rack 48 and the rebound of the limiting spring 49, so that the clamp 42 and the driving ball 2 can be conveniently separated.
Further, the limiting mechanism 7 moves downwards to press the driving ball 2, and the structure is as follows:
stop gear 7 includes:
the limiting block 71 and the pressing block 72 are integrally formed, the limiting block 71 is in a prismatic structure, the pressing block 72 is in a cylindrical structure, and the pressing block 72 is connected to the bottom of the limiting block 71;
the annular sliding groove 73 is formed in the surface wall of the pressing block 72, the annular sliding groove 73 is coaxially matched with the pressing block 72, and two sliding blocks 74 are symmetrically connected in the annular sliding groove 73 in a sliding mode;
two connecting rods 75 respectively connected between the two sliders 74 and the two moving plates 41 in a rotating manner, and the two connecting rods 75 are symmetrically distributed on two sides of the driving ball 2.
As can be seen from the above, when the moving driving device 43 drives the moving plate 41 and the clamp 42 to move away from the driving ball 2, the moving plate 41 drives the bottom of the connecting rod 75 to move synchronously, so as to drive the connecting rod 75 to rotate, and the rotation of the connecting rod 75 causes the top of the connecting rod 75 to move downwards, so as to drive the pressing block 72 and the limiting block 71 to move downwards, so that the pressing block 72 is pressed against the top of the driving ball 2, and a state shown in fig. 2 is formed, thereby avoiding the situation that the driving ball 2 rotates automatically during steering, and further effectively ensuring the positioning stability of the driving ball 2 and the transportation base 1.
Wherein, the top of the connecting rod 75 forms sliding fit with the pressing block 72 through the sliding block 74, the annular sliding groove 73 and other structures, so that the movable clamp 4 can be ensured to effectively drive the connecting rod 75 to perform synchronous adjustment when being rotated and adjusted, and the linkage between the movable clamp 4 and the limiting mechanism 7 can not be influenced, and further the reasonable assembly of the whole structure is effectively realized.
In addition, the present invention provides a steering transportation method using the above-disclosed automatic steering transportation device for an industrial robot, and the method includes:
during transportation, the two movable clamps 4 are driven to move oppositely by the movement driving device 43 so as to symmetrically clamp the driving ball 2, and after clamping, the two movable clamps 4 are driven to coaxially and actively rotate with the driving ball 2 by the driving motor 5; the driving ball bodies (driven balls 6) except the driving ball 2 rotate in a driven mode and are matched with the driving ball 2 to support the transportation base 1 in a balanced mode;
when the device is turned, the two movable clamps 4 are driven to move oppositely by the movement driving device 43 so as to be separated from the driving ball 2, and the matching angles of the two movable clamps 4 and the driving ball 2 are synchronously adjusted by the rotation of the mounting ring 3; specifically, in this step, the rotation of the mount ring 3 is driven by the servo rotating motor 32, the ring gear 31, the first gear 33, and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An industrial robot turns to conveyer with automation which characterized in that includes:
a transport base (1);
at least three driving balls embedded at the bottom of the transportation base (1), wherein the at least three driving balls are used for balancing and supporting the transportation base (1), and at least one driving ball (2) is included in the at least three driving balls;
the mounting ring (3) is rotatably arranged in the transportation base (1), and the mounting ring (3) is horizontally sleeved on the outer side of the driving ball (2) and concentrically assembled with the driving ball (2);
the clamping assembly is arranged between the mounting ring (3) and the driving ball (2), the clamping assembly comprises two movable clamps (4) which are symmetrically matched with two sides of the driving ball (2), and the movable clamps (4) synchronously rotate along with the mounting ring (3); the two movable clamps (4) move towards or away from each other, and each movable clamp (4) comprises a movable plate (41) and a clamp (42) which are connected in a rotating manner;
and the driving motor (5) is fixedly arranged on one of the moving plates (41), and the driving motor (5) is used for driving the two clamps (42) to rotate coaxially with the driving ball (2).
2. The automatic steering transportation device for the industrial robot according to claim 1, characterized in that: a moving driving device (43) is connected between the mounting ring (3) and the moving plate (41), and the moving driving device (43) is used for driving the moving plate (41) to move between the mounting ring (3) and the driving ball (2).
3. The automatic steering transportation device for the industrial robot according to claim 1, characterized in that: an annular groove is formed between the mounting ring (3) and the driving ball (2), the bottom of the moving plate (41) is connected with the annular groove in a sliding manner, and a toothed ring (31) is embedded in the annular groove; a servo rotating motor (32) is fixed on the inner wall of the mounting ring (3), and a driving end of the servo rotating motor (32) is rotatably connected with a first gear (33) meshed with the gear ring (31).
4. The industrial robot-used automated steering transportation apparatus according to claim 1, wherein the clamp (42) comprises:
an outer sleeve (44) rotatably connected to the moving plate (41);
the inner sleeve (45) is in contact with the surface wall of the driving ball (2), one end, in contact with the driving ball (2), of the inner sleeve (45) is of a porous structure, and the other end of the inner sleeve (45) is in sliding fit with the inner part of the outer sleeve (44);
the piston plate (46) is movably arranged in the inner sleeve (45), and a transmission mechanism is connected between the piston plate (46) and the outer sleeve (44) so as to drive the piston plate (46) to move towards the outer sleeve (44) when the outer sleeve (44) and the inner sleeve (45) are close to each other.
5. The automated steering transportation apparatus for industrial robots according to claim 4, characterized in that the transmission mechanism comprises:
a second gear (47) rotatably mounted inside the inner sleeve (45), wherein the second gear (47) is positioned between the piston plate (46) and the moving plate (41);
two racks (48) respectively meshed with two sides of the second gear (47), and the two racks (48) are respectively and fixedly connected with the piston plate (46) and the outer sleeve (44) in a vertical mode.
6. The automated steering transportation apparatus for industrial robots according to claim 5, characterized in that the transmission mechanism further comprises:
and a limit spring (49) connected between the piston plate (46) and the outer sleeve (44), wherein the limit spring (49) is used for compressing and deforming when the piston plate (46) moves towards the outer sleeve (44).
7. The automatic steering transportation device for the industrial robot according to claim 1, characterized in that: the driving ball bodies are provided with five driving ball bodies, the five driving ball bodies comprise a driving ball (2) and four driven balls (6), the driving ball (2) is installed at the center of the bottom of the transportation base (1), and the four driven balls (6) are respectively installed at four corners of the bottom of the transportation base (1).
8. The automatic steering transportation device for the industrial robot is characterized by further comprising a limiting mechanism (7) arranged right above the driving ball (2), wherein the limiting mechanism (7) is used for downwards pressing the driving ball (2) when the two movable clamps (4) are far away from each other.
9. The industrial robot automatic steering transportation device according to claim 8, wherein the limit mechanism (7) comprises:
the device comprises a limiting block (71) and a pressing block (72) which are integrally formed, wherein the limiting block (71) is of a prismatic structure, the pressing block (72) is of a cylindrical structure, and the pressing block (72) is connected to the bottom of the limiting block (71);
the annular sliding groove (73) is formed in the surface wall of the pressing block (72), the annular sliding groove (73) is coaxially matched with the pressing block (72), and two sliding blocks (74) are symmetrically connected in the annular sliding groove (73) in a sliding mode;
and the two connecting rods (75) are respectively connected between the two sliding blocks (74) and the two moving plates (41) in a rotating mode, and the two connecting rods (75) are symmetrically distributed on two sides of the driving ball (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121336372.3U CN214818538U (en) | 2021-06-16 | 2021-06-16 | Industrial robot turns to conveyer with automation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121336372.3U CN214818538U (en) | 2021-06-16 | 2021-06-16 | Industrial robot turns to conveyer with automation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214818538U true CN214818538U (en) | 2021-11-23 |
Family
ID=78807339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121336372.3U Active CN214818538U (en) | 2021-06-16 | 2021-06-16 | Industrial robot turns to conveyer with automation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214818538U (en) |
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2021
- 2021-06-16 CN CN202121336372.3U patent/CN214818538U/en active Active
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Effective date of registration: 20230802 Address after: Area A, No.1 Plant, No. 26 Siwei Road, Dongli Development Zone, Dongli District, Tianjin, 300000 Patentee after: Tianjin Aerospace Hexing Technology Co.,Ltd. Address before: 225000 Huayang Xi Road, Yangzhou, Jiangsu 199 Patentee before: YANGZHOU POLYTECHNIC INSTITUTE |