CN215159238U

CN215159238U - Novel automatic ingot stacking robot

Info

Publication number: CN215159238U
Application number: CN202121155386.5U
Authority: CN
Inventors: 杨吟秋
Original assignee: Nantong Zhongfu New Material Technology Co ltd
Current assignee: Nantong Zhongfu New Material Technology Co ltd
Priority date: 2021-05-24
Filing date: 2021-05-24
Publication date: 2021-12-14
Anticipated expiration: 2031-05-24

Abstract

The utility model discloses a novel automatic ingot stacking robot, which comprises a base, wherein the bottom surface of the base is symmetrically provided with a driving wheel and a universal wheel; the driving wheels are positioned at the left side and the right side of the traveling direction of the robot, and the universal wheels are positioned at the front side and the rear side of the traveling direction of the robot; the top surface of the base is provided with a slewing device, a vertical large arm is arranged on the slewing device through a large arm seat, a transverse cantilever is arranged at the end part of the large arm, and a grabbing device is arranged at the end part of the cantilever; the big arm comprises a driving arm and a driven arm which are parallel to each other and are bent centripetally. The utility model provides a can freely remove fold spindle robot can serve the production line more than two simultaneously, but long distance transport goods to the transfer and the transportation of robot are convenient. The utility model relates to a entad crooked initiative arm and driven arm, increased the bending resistance of the big arm of robot and the anti performance of overturning of robot itself. The robot has the advantages of simple structure, miniaturization, space saving and enhancement of the flexibility of robot application.

Description

Novel automatic ingot stacking robot

Technical Field

The utility model relates to a fold spindle robot, especially relate to a novel automatic spindle robot that folds.

Background

The existing ingot stacking robot is generally fixed on the ground for use, and is difficult to move after being fixed, so that the flexibility is poor. And one ingot stacking robot can only serve one production line, and for a factory with a plurality of production lines, the ingot stacking robots need to be correspondingly configured, so that the production cost is obviously increased.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects of the prior art, the utility model provides a novel automatic ingot stacking robot.

In order to solve the technical problem, the utility model discloses a technical scheme is: a novel automatic ingot stacking robot comprises a base, wherein driving wheels and universal wheels are symmetrically arranged on the bottom surface of the base; the driving wheels are positioned at the left side and the right side of the traveling direction of the robot, and the universal wheels are positioned at the front side and the rear side of the traveling direction of the robot;

the top surface of the base is provided with a slewing device, a vertical large arm is arranged on the slewing device through a large arm seat, a transverse cantilever is arranged at the end part of the large arm, and a grabbing device is arranged at the end part of the cantilever; the big arm comprises a driving arm and a driven arm which are parallel to each other and are bent in a centripetal mode, the driving arm is located on one side close to the grabbing device, the driven arm is located on one side far away from the grabbing device, a compression cylinder is installed between the driven arm and the big arm seat, and two ends of the compression cylinder are hinged to the driven arm and the big arm seat respectively.

Furthermore, a rotary motor for driving the rotary device to rotate relative to the base is mounted on the rotary device.

Furthermore, the driving arm and the driven arm are both hinged to a large arm seat, a longitudinal rotation motor is mounted on the large arm seat relative to the driving arm, and the longitudinal rotation motor drives the driving arm to rotate.

Furthermore, a connecting arm is arranged between the cantilever and the large arm, the cantilever, the driving arm and the driven arm are all hinged to the connecting arm, a cantilever motor is further arranged on the connecting arm, and the cantilever motor drives the cantilever to rotate relative to the connecting arm.

Further, the gripping device is hinged to the cantilever, a gripper motor is mounted on the cantilever, and the gripper motor drives the gripping device to rotate relative to the cantilever.

Further, the base is round or square.

Furthermore, two driving wheels are respectively and correspondingly provided with a driving motor, and the two driving wheels have the same rotating speed or different rotating speeds.

The utility model provides a can freely remove fold spindle robot can serve the production line more than two simultaneously, owing to have the removal function, but long distance transport goods to the transfer and the transportation of robot are convenient. The utility model relates to a entad crooked initiative arm and driven arm, increased the bending resistance of the big arm of robot and the anti performance of overturning of robot itself. Furthermore, the utility model has the advantages of simple structure, can miniaturize, save space, the flexibility that the reinforcing robot used.

Drawings

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

Fig. 2 is a schematic structural view of the bottom surface of the base.

In the figure: 1. a base; 2. a drive wheel; 3. a universal wheel; 4. a turning device; 5. a large arm seat; 6. a cantilever; 7. a gripping device; 8. an active arm; 9. a driven arm; 10. a compression cylinder; 11. a rotary motor; 12. a longitudinal rotation motor; 13. a connecting arm; 14. a cantilever motor; 15. and the gripper motor.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The novel automatic ingot stacking robot shown in fig. 1 and 2 comprises a round or square base 1, wherein a driving wheel 2 and a universal wheel 3 are symmetrically arranged on the bottom surface of the base; the driving wheels are positioned at the left side and the right side of the traveling direction of the robot, and the universal wheels are positioned at the front side and the rear side of the traveling direction of the robot; the two driving wheels are respectively and correspondingly provided with a driving motor, and the two driving wheels have the same rotating speed or different rotating speeds. The driving motor enables the driving wheel to rotate, linear walking of the robot is achieved, turning of the robot is driven through the universal wheel, and the turning angle of the robot can be adjusted through adjusting the rotating angle of the universal wheel. Through the cooperation of universal wheel and drive wheel, can make the walking of robot realization freedom to realize the freely movable of robot, be convenient for cooperate multiple production line.

The top surface of the base is provided with a rotating device 4, and a rotating motor 11 for driving the rotating device to rotate relative to the base is arranged on the rotating device, so that the rotating device can rotate on a horizontal plane.

The slewing device is provided with a vertical big arm through a big arm seat 5, the big arm comprises a driving arm 8 and a driven arm 9 which are parallel to each other and are bent in a centripetal mode, the driving arm is located on one side close to the grabbing device, and the driven arm is located on one side far away from the grabbing device. The driving arm and the driven arm are both hinged to the large arm seat, a longitudinal rotation motor 12 is mounted on the large arm seat relative to the driving arm, and the longitudinal rotation motor drives the driving arm to rotate on a vertical surface, so that the vertical movement of the grabbing device can be realized.

The shapes of the driving arm and the driven arm are centripetally bent, and a space similar to an ellipse is formed between the driving arm and the driven arm, so that the bending strength of the driving arm and the driven arm can be enhanced. And the driven arm also has the function of sharing the gravity pressure of the driving arm, a compression cylinder 10 is arranged between the driven arm and the large arm seat 5, and two ends of the compression cylinder are respectively hinged on the driven arm and the large arm seat. When the robot grabs the goods, the gravity center of the robot shifts towards the driving arm, the pressure of the driven arm is increased through the compression cylinder at the moment, the whole gravity center can be transferred towards the driven arm, and therefore the robot can be prevented from being overturned by the goods.

The end of the big arm is provided with a transverse cantilever 6, a connecting arm 13 is arranged between the cantilever and the big arm, the cantilever 6, the driving arm 8 and the driven arm 9 are all hinged on the connecting arm, a cantilever motor 14 is further arranged on the connecting arm, and the cantilever motor drives the cantilever to rotate relative to the connecting arm, so that the front-back distance of the grabbing device can be adjusted.

The gripping device is hinged to the cantilever, and a gripper motor 15 is mounted on the cantilever and drives the gripping device to rotate relative to the cantilever. The horizontal position of the gripping device can be adjusted by the gripper motor, so that goods can be conveniently gripped.

The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, and the technical personnel in the technical field are in the present invention, which can also belong to the protection scope of the present invention.

Claims

1. The utility model provides a novel automatic ingot stacking robot which characterized in that: comprises a base (1), wherein the bottom surface of the base is symmetrically provided with a driving wheel (2) and a universal wheel (3); the driving wheels are positioned at the left side and the right side of the traveling direction of the robot, and the universal wheels are positioned at the front side and the rear side of the traveling direction of the robot;

the top surface of the base is provided with a rotating device (4), a vertical large arm is arranged on the rotating device through a large arm seat (5), a transverse cantilever (6) is arranged at the end part of the large arm, and a grabbing device (7) is arranged at the end part of the cantilever; the big arm comprises a driving arm (8) and a driven arm (9) which are parallel to each other and are bent in a centripetal mode, the driving arm is located on one side close to the grabbing device, the driven arm is located on one side far away from the grabbing device, a compression cylinder (10) is installed between the driven arm and the big arm seat (5), and two ends of the compression cylinder are hinged to the driven arm and the big arm seat respectively.

2. The novel automatic ingot stacking robot of claim 1, wherein: and a rotary motor (11) for driving the rotary device to rotate relative to the base is arranged on the rotary device.

3. The novel automatic ingot stacking robot of claim 2, wherein: the driving arm and the driven arm are both hinged to a large arm seat, a longitudinal rotation motor (12) is mounted on the large arm seat relative to the driving arm, and the longitudinal rotation motor drives the driving arm to rotate.

4. The novel automatic ingot stacking robot of claim 3, wherein: a connecting arm (13) is arranged between the cantilever and the big arm, the cantilever (6), the driving arm (8) and the driven arm (9) are all hinged on the connecting arm, a cantilever motor (14) is further arranged on the connecting arm, and the cantilever motor drives the cantilever to rotate relative to the connecting arm.

5. The novel automatic ingot stacking robot of claim 4, wherein: the gripping device is hinged to the cantilever, a gripper motor (15) is mounted on the cantilever, and the gripper motor drives the gripping device to rotate relative to the cantilever.

6. The novel automatic ingot stacking robot of claim 5, wherein: the base is round or square.

7. The novel automatic ingot stacking robot of claim 6, wherein: the two driving wheels are respectively and correspondingly provided with a driving motor, and the two driving wheels have the same rotating speed or different rotating speeds.