CN216098936U

CN216098936U - Industrial transfer robot

Info

Publication number: CN216098936U
Application number: CN202122714408.3U
Authority: CN
Inventors: 黄愐
Original assignee: Taicang Luoshi Sansheng Network Technology Co ltd
Current assignee: Taicang Luoshi Sansheng Network Technology Co ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-03-22
Anticipated expiration: 2031-11-08

Abstract

The utility model belongs to an industrial robot, and particularly relates to an industrial transfer robot which comprises a fixed base, a first clamping arm, a second clamping arm and a clamping claw, wherein the tail end of the first clamping arm is movably connected with the fixed base, the clamping claw is arranged at the free end of the fixed base, an adjusting rail is arranged on the first clamping arm, and the second clamping arm is arranged on the adjusting rail of the first clamping arm.

Description

Industrial transfer robot

Technical Field

The utility model belongs to the technical field of industrial robots, and particularly relates to an industrial transfer robot.

Background

The industrial robot is a multi-joint manipulator or multi-freedom machine device facing to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capability, can receive human commands and can operate according to a pre-programmed program, can act according to a principle formulated by an artificial intelligence technology, can replace a human to do some monotonous, frequent and repeated long-time operation in industrial production, or in dangerous and harsh environments, such as stamping, die casting, heat treatment, welding, painting, plastic product forming, machining and simple assembly, and in the atomic energy industry and other departments, the transportation or the process operation of materials harmful to human bodies is completed, in developed countries, industrial robot automation line complete equipment becomes the mainstream of automation equipment and the future development direction. Industrial robot automatic production lines have been widely used in foreign automobile industries, electronic and electrical appliance industries, engineering machinery and other industries to ensure product quality, improve production efficiency and avoid a large number of industrial accidents.

The patent with the publication number of CN106113075A discloses an industrial robot, which comprises a supporting seat, a sliding rail, a data line, a fixed block, a first grabbing claw, a rubber pad, a sensor, a supporting rod, a sucker and an air injection device, wherein the supporting seat is provided with a control panel, the upper end of the supporting seat is provided with the sliding rail, the upper end of the sliding rail is provided with a hydraulic power device, the lower end of the sliding rail is connected with a sliding block, the lower end of the sliding block is connected with the fixed block, the data line is connected between the sliding block and the hydraulic power device, the lower end of the fixed block is provided with a telescopic shaft, the lower end of the telescopic shaft is provided with the first grabbing claw, the right end of the first grabbing claw is provided with a second grabbing claw, the sensor is arranged in the second grabbing claw, the rubber pad is arranged on the inner wall of the first grabbing claw, and a tooth-shaped block is arranged on the outer surface of the rubber pad.

Patent publication No. CN109352629A discloses an industrial robot, including a two axle subassembly, main arm, three four-axle subassemblies, auxiliary arm, five six axle subassemblies and pipeline subassembly, the tip of main arm is installed with three four-axle subassemblies through a plurality of heterotypic holes, and the tip of auxiliary arm is installed with five six axle subassemblies through a plurality of heterotypic holes. In the utility model, special-shaped holes are designed at the end parts of the main arm and the auxiliary arm for quick assembly and disassembly. The utility model has reasonable structure, designs the structure of the robot into a plurality of modules which are convenient to assemble and disassemble, and can be widely applied to the technical field of robots.

However, the following problems still exist:

1. the prior art has complex structure, inconvenient operation, low grabbing flexibility and limited service life;

2. the prior art snatchs the scope little, can't quick adjustment.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model provides an industrial transfer robot which is used for solving the problems that the prior art is small in grabbing range and cannot be adjusted quickly and the like.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the utility model provides an industrial transfer robot, includes unable adjustment base, first centre gripping arm, second centre gripping arm and gripper jaw, first centre gripping arm tail end and unable adjustment base swing joint, the gripper jaw is installed in unable adjustment base free end, be equipped with the adjustment rail on the first centre gripping arm, second centre gripping arm is installed on the adjustment rail of first centre gripping arm.

First centre gripping arm, second centre gripping arm are the symmetrical formula structure, when specifically using, slide from top to bottom on the adjustment rail of first centre gripping arm through second centre gripping arm, and the second centre gripping arm drives the centre gripping claw and carries out position adjustment, and it is relative with snatching article position to make the robot snatch the position, makes the robot snatch the flexibility and improves.

Further, unable adjustment base includes motor gear, rotating gear, fixed plate, unable adjustment base upper portion is located to the motor gear, rotating gear and motor gear meshing, rotating gear centre of a circle position is located to the fixed plate, the parallel position of fixed plate still is equipped with the altitude mixture control motor.

When specifically using, motor gear drives rotary gear and carries out 360 rotations, and the fixed plate that is on rotary gear drives first centre gripping arm and rotates, makes the robot can not have the dead angle snatch the transportation to snatching the object.

Furthermore, the tail end of the first clamping arm is provided with a height adjusting gear and a height adjusting rod, the height adjusting gear is arranged at the right end of the height adjusting rod, the height adjusting gear is movably connected with a height adjusting motor, and the first clamping arm is movably connected with the fixed plate through the height adjusting rod.

When specifically using, the altitude mixture control motor makes altitude mixture control pole linkage altitude mixture control pole carry out down or the upwards rotation to first centre gripping arm through driving altitude mixture control gear upwards or the rotation downwards, adjusts and snatchs the height, and is different at first centre gripping arm sliding adjustment with second centre gripping arm, and this adjustment can not influence the distance of snatching of robot.

Further, still be equipped with movable motor, loose gear, chain on the first centre gripping arm, movable motor locates first centre gripping arm left side, just movable motor pivot and loose gear connection.

Furthermore, a sliding rod and a sliding gear are arranged on the second clamping arm, the sliding rod enables the second clamping arm to be installed on the adjusting rail in a sliding mode, the sliding gear is installed in the middle section of the sliding rod, one end of the chain is connected with the movable gear, and the other end of the chain is connected with the sliding gear.

When specifically using, the activity motor drives the loose gear rotation, is in the chain of the chain linkage slip gear one end of loose gear one end, makes the slide bar move about through the slip gear afterwards to this height that adjusts the second centre gripping arm and is located first centre gripping arm has been animated through accurate narrow range formula, improves the precision of snatching of robot.

Furthermore, the gripper jaw comprises a movable plate and a jaw body, the movable plate is mounted at the tail end of the second gripper arm, an adjusting motor is arranged at one end of the movable plate, and the jaw body is mounted at the tail end of the movable plate

Compared with the prior art, the utility model has the following beneficial effects:

1. the second clamping arm slides up and down on the adjusting rail of the first clamping arm, and drives the clamping claw to adjust the position, so that the grabbing position of the robot is opposite to the object grabbing position, and the grabbing flexibility of the robot is improved;

2. make the slide bar move about through sliding gear to this adjusts the height that second centre gripping arm is located first centre gripping arm, has animated through accurate narrow range formula, improves the precision of snatching of robot.

Drawings

FIG. 1 is a first schematic perspective view of an industrial transfer robot according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of an industrial transfer robot according to an embodiment of the present invention;

FIG. 3 is a partially enlarged view of the structure at X in FIG. 2;

reference numerals in the drawings of the specification include:

the clamping device comprises a fixed base 1, a motor gear 11, a rotating gear 12, a fixed plate 13, a height adjusting motor 14, a first clamping arm 2, an adjusting rail 20, a height adjusting gear 21, a height adjusting rod 22, a movable motor 23, a movable gear 24, a chain 25, a second clamping arm 3, a sliding rod 31, a sliding gear 32, a clamping claw 4, a movable plate 41 and a claw body 42.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described in conjunction with the accompanying drawings and examples:

it should be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Examples

As shown in fig. 1-3, an industrial transfer robot comprises a fixed base 1, a first clamping arm 2, a second clamping arm 3 and a clamping claw 4, wherein the tail end of the first clamping arm 2 is movably connected with the fixed base 1, the clamping claw 4 is installed at the free end of the fixed base 1, an adjusting rail 20 is arranged on the first clamping arm 2, the second clamping arm 3 is installed on the adjusting rail 20 of the first clamping arm 2, the first clamping arm 2 and the second clamping arm 3 are of a symmetrical structure, the second clamping arm 3 slides up and down on the adjusting rail 20 of the first clamping arm 2, the second clamping arm 3 drives the clamping claw 4 to adjust the position, so that the grabbing position of the robot is opposite to the object grabbing position, the grabbing flexibility of the robot is improved, meanwhile, the problem of large vibration during the grabbing of the industrial robot is solved, the running quality of the robot is improved, and the service life of the robot is prolonged.

Unable adjustment base 1 includes motor gear 11, rotating gear 12,

fixed plate

13, 1 upper portion of unable adjustment base is located to motor gear 11, rotating gear 12 and the meshing of motor gear 11, rotating gear 12 centre of a circle position is located to fixed plate 13, fixed plate 13 parallel position still is equipped with height control motor 14, motor gear 11 drives rotating gear 12 and carries out 360 rotations, fixed plate 13 that is on rotating gear 12 drives first centre gripping arm 2 and rotates, what make the robot can not have the dead angle snatchs the transportation to snatching the object, guarantee through the adaptation with snatching object height and distance snatch the stability of object again when not damaging the object.

The tail end of the first clamping arm 2 is provided with a height adjusting gear 21 and a height adjusting rod 22, the right end of the height adjusting rod 22 is arranged on the height adjusting gear 21, the height adjusting gear 21 is movably connected with a height adjusting motor 14, the first clamping arm 2 is movably connected with the fixed plate 13 through the height adjusting rod 22, the height adjusting motor 14 drives the height adjusting gear 21 to rotate upwards or downwards to enable the height adjusting rod 22 to be linked with the height adjusting rod 22 to rotate downwards or upwards to the first clamping arm 2, the grabbing height is adjusted, the grabbing distance of the robot cannot be influenced by the adjustment of the height adjusting gear 21 and the sliding adjustment of the second clamping arm 3 on the first clamping arm 2.

The first clamping arm 2 is further provided with a movable motor 23, a movable gear 24 and a chain 25, the movable motor 23 is arranged on the left side of the first clamping arm 2, a rotating shaft of the movable motor 23 is connected with the movable gear 24, the second clamping arm 3 is provided with a sliding rod 31 and a sliding gear 32, the sliding rod 31 is used for slidably mounting the second clamping arm 3 on the adjusting rail 20, the sliding gear 32 is mounted in the middle section of the sliding rod 31, one end of the chain 25 is connected with the movable gear 24, the other end of the chain 25 is connected with the sliding gear 32, the movable motor 23 drives the movable gear 24 to rotate, the chain 25 at one end of the movable gear 24 is linked with the chain 25 at one end of the sliding gear 32, and then the sliding rod 31 is made to move through the sliding gear 32 to adjust the height of the second clamping arm 3 on the first clamping arm 2, the grabbing precision of the robot is improved through accurate small-range animation, and the clamping jaw 4 comprises a movable plate 41, The claw body 42, the fly leaf 41 is installed in the second centre gripping arm 3 tail end, and fly leaf 41 one end is equipped with adjusting motor 43, and the claw body 42 is installed in fly leaf 41 tail end for the mechanism flexibility of whole robot obtains the reinforcing, can carry out the free change of angle and height according to operational environment's demand, and the position nature can supply multiple selection moreover.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art, and it will be appreciated by those skilled in the art that the present invention has been made available to those skilled in the art after the filing date or priority date, and that the present invention may be implemented by those skilled in the art by applying ordinary skill in the art, without departing from the spirit and scope of the present invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.

Claims

1. An industrial transfer robot, characterized in that: including unable adjustment base (1), first centre gripping arm (2), second centre gripping arm (3) and gripper jaw (4), first centre gripping arm (2) tail end and unable adjustment base (1) swing joint, gripper jaw (4) are installed in unable adjustment base (1) free end, be equipped with adjustment rail (20) on first centre gripping arm (2), second centre gripping arm (3) are installed on adjustment rail (20) of first centre gripping arm (2).

2. The industrial transfer robot of claim 1, wherein: unable adjustment base (1) includes motor gear (11), rotating gear (12), fixed plate (13), unable adjustment base (1) upper portion is located in motor gear (11), rotating gear (12) and motor gear (11) meshing, rotating gear (12) centre of a circle position is located in fixed plate (13), fixed plate (13) parallel position still is equipped with altitude mixture control motor (14).

3. The industrial transfer robot of claim 2, wherein: first centre gripping arm (2) tail end is equipped with altitude mixture control gear (21) and altitude mixture control pole (22), altitude mixture control gear (21) are located altitude mixture control pole (22) right-hand member, altitude mixture control gear (21) and altitude mixture control motor (14) swing joint, first centre gripping arm (2) are through altitude mixture control pole (22) and fixed plate (13) swing joint.

4. An industrial transfer robot as defined in claim 3, wherein: still be equipped with movable motor (23), loose gear (24), chain (25) on first centre gripping arm (2), first centre gripping arm (2) left side is located in movable motor (23), just movable motor (23) pivot is connected with loose gear (24).

5. The industrial transfer robot of claim 4, wherein: be equipped with slide bar (31), sliding gear (32) on second centre gripping arm (3), slide bar (31) with second centre gripping arm (3) slidable mounting on adjusting rail (20), sliding gear (32) are installed in slide bar (31) middle section, loose gear (24) is connected to chain (25) one end, sliding gear (32) are connected to chain (25) other end.

6. The industrial transfer robot of claim 1, wherein: the clamping claw (4) comprises a movable plate (41) and a claw body (42), the movable plate (41) is installed at the tail end of the second clamping arm (3), an adjusting motor (43) is arranged at one end of the movable plate (41), and the claw body (42) is installed at the tail end of the movable plate (41).