CN216661675U

CN216661675U - Intelligent robot for carrying and conveying

Info

Publication number: CN216661675U
Application number: CN202220145925.5U
Authority: CN
Inventors: 李莉; 朱龙飞; 沈灿基; 王先浩
Original assignee: Dongguan United3 Intelligent Technology Co ltd
Current assignee: Dongguan United3 Intelligent Technology Co ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-06-03
Anticipated expiration: 2032-01-19

Abstract

The utility model discloses an intelligent robot for carrying and conveying, which comprises a rack, intelligent mechanical arms and a linear circulating feeding device, wherein the linear circulating feeding device is positioned between the two intelligent mechanical arms, each intelligent mechanical arm comprises a six-axis rotating mechanism, an image acquisition device, a pressure sensor, a mounting seat, clamping arms, an elastic piece and clamping blocks, the mounting seat is mounted on the six-axis rotating mechanism, a clamping space for clamping an article is formed between the two clamping arms, the image acquisition device is installed in one side that the mount pad is faced the centre gripping space, and the mounting hole has been seted up to the one side that the centre gripping arm is faced the centre gripping space, and pressure sensor installs in the mounting hole, and pressure sensor's response end is connected with the first end of elastic component, and the one end of pressing from both sides tight piece stretches into in the mounting hole and is connected with the second end of elastic component, presss from both sides tight piece and has partial protrusion in the mounting hole and stretch into in the centre gripping space at least. The utility model realizes accurate clamping of products and improves the efficiency of carrying and conveying through the structure.

Description

Intelligent robot for carrying and conveying

Technical Field

The utility model relates to the technical field of intelligent equipment, in particular to an intelligent robot for carrying and conveying.

Background

With the rapid development of society, more and more intelligent devices are developed by people to replace simple and repeated actions of various human beings during production activities.

As is well known, conveyance is an essential process in the production process. The existing manipulator for carrying and conveying basically comprises a three-axis mechanical mechanism and a clamping jaw, wherein the clamping jaw is driven to move by the three-axis mechanical mechanism in actual use, and then a product is clamped and conveyed by the clamping jaw. However, the conventional conveying and conveying device has the following defects: the clamping jaw can only carry out repeated clamping action to preset clamping position, if operating personnel can not accurately place the product in clamping position department, the clamping jaw can be grabbed inaccurately or can not grab the product, has not only reduced production efficiency, the condition that the damage needs by the centre gripping product probably appears when the centre gripping is inaccurate moreover.

Therefore, an intelligent robot for carrying and transporting is needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a to present technique not enough, provide an intelligent robot for carrying is carried.

The technical scheme adopted by the utility model for realizing the purpose is as follows:

an intelligent robot for carrying comprises a rack, at least two intelligent mechanical arms and linear circulating feeding devices, wherein the at least two intelligent mechanical arms are arranged at intervals, the linear circulating feeding devices are positioned between the two intelligent mechanical arms, each intelligent mechanical arm comprises a six-axis rotating mechanism, an image acquisition device, a pressure sensor, a mounting seat, at least two clamping arms, an elastic piece and a clamping block, the mounting seats are mounted on the six-axis rotating mechanisms, the two clamping arms are movably mounted on the mounting seats, a clamping space for clamping articles is formed between the two clamping arms, the image acquisition device is mounted on one side, facing the clamping space, of the mounting seat surface, and mounting holes are formed in one side, facing the clamping space, of the clamping arms, the pressure sensor is arranged in the mounting hole, the sensing end of the pressure sensor is connected with the first end of the elastic piece, one end of the clamping block extends into the mounting hole and is connected with the second end of the elastic piece, and at least part of the clamping block protrudes out of the mounting hole and extends into the clamping space.

In a further improvement, a silica gel gasket is arranged on one side, facing the clamping space, of the clamping block.

In a further improvement, the intelligent robot for carrying and conveying further comprises a distance sensor, and the distance sensor is mounted on one side, opposite to the clamping space, of the mounting seat surface.

The intelligent robot for carrying and conveying is further improved, the intelligent robot for carrying and conveying further comprises a sucker assembly, the sucker assembly is installed on the installation seat, and the air suction end of the sucker assembly extends into the clamping space.

In a further improvement, the sensing end of the distance sensor is higher than the suction end of the sucker component.

The improved structure is characterized in that at least two sucker components are arranged, and the two sucker components are arranged in a left-right symmetrical mode by taking the distance sensor as a center.

The linear circulating feeding device comprises a fixing frame, a driving device, a guide rail and a product placing plate, wherein the fixing frame is installed on the rack, the driving device and the guide rail are installed on the fixing frame, the product placing plate is installed on the guide rail in a sliding mode, the output end of the driving device is connected with the product placing plate and drives the product placing plate to move between the two intelligent mechanical arms in a linear reciprocating mode.

In a further improvement, the driving device is of a screw rod structure.

The clamping block is further improved, and an epoxy resin coating, a polytetrafluoroethylene layer and a reinforced paint layer are sequentially coated on the outer surface of the clamping block from inside to outside.

The utility model has the beneficial effects that: the utility model relates to an intelligent robot for carrying and conveying, which comprises a rack, at least two intelligent mechanical arms and linear circulating feeding devices, wherein the two intelligent mechanical arms are arranged at intervals, the linear circulating feeding devices are positioned between the two intelligent mechanical arms, each intelligent mechanical arm comprises a six-axis rotating mechanism, an image acquisition device, a pressure sensor, a mounting seat, at least two clamping arms, an elastic piece and a clamping block, the mounting seats are mounted on the six-axis rotating mechanisms, the two clamping arms are movably mounted on the mounting seats, a clamping space for clamping an article is formed between the two clamping arms, the image acquisition device is mounted on one side, facing the clamping space, of the mounting seat, mounting holes are formed in one side, facing the clamping space, of each clamping arm, the pressure sensors are mounted in the mounting holes, and the sensing ends of the pressure sensors are connected with the first ends of the elastic pieces, one end of the clamping block extends into the mounting hole and is connected with the second end of the elastic piece, and at least part of the clamping block protrudes out of the mounting hole and extends into the clamping space. When the linear circulation feeding device is actually used, a product can be clamped and placed on the linear circulation feeding device through one of the intelligent mechanical arms, then the product is cached and conveyed through the linear circulation feeding device, and the product on the linear circulation feeding device is clamped and taken through the other intelligent mechanical arm, so that the conveying efficiency between the two positions can be effectively improved. In addition, can also carry out preliminary location to the product through image acquisition device, then dynamics when through pressure sensor control centre gripping has avoided damaging the product because of excessive centre gripping.

The utility model is further described with reference to the following detailed description and accompanying drawings.

Drawings

Fig. 1 is a schematic perspective view of an intelligent robot for carrying and conveying according to the present invention;

FIG. 2 is a schematic view of the connection structure of the image acquisition device, the pressure sensor, the mounting seat, the clamping arm, the elastic member, the clamping block, the distance sensor, the suction cup assembly and the clamping device of the present invention;

FIG. 3 is a schematic structural view of the linear circulation feeding device of the present invention;

FIG. 4 is a schematic view of the connection structure of the clamping block, the epoxy resin coating, the polytetrafluoroethylene layer and the reinforced paint layer according to the utility model.

Detailed Description

The following description is only a preferred embodiment of the present invention, and does not limit the scope of the present invention.

Referring to fig. 1 to 4, an intelligent robot 100 for carrying and transporting according to the present invention includes a rack 10, two intelligent robots 20 and a linear circulation feeding device 30, the intelligent robots 20 are at least two, the two intelligent robots 20 are arranged at intervals, the linear circulation feeding device 30 is located between the two intelligent robots 20, each intelligent robot 20 includes a six-axis rotating mechanism 21, an image capturing device 22, a pressure sensor 23, a mounting seat 24, two clamping arms 25, an elastic member 26 and a clamping block 27, the mounting seat 24 is mounted on the six-axis rotating mechanism 21, the at least two clamping arms 25 are movably mounted on the mounting seat 24, a clamping space 25a for clamping an article is formed between the two clamping arms 25, the image capturing device 22 is mounted on a side of the mounting seat 24 facing the clamping space 25a, a mounting hole 25b is formed on a side of the clamping arm 25 facing the clamping space 25a, the pressure sensor 23 is installed in the installation hole 25b, the sensing end of the pressure sensor 23 is connected with the first end of the elastic member 26, one end of the clamping block 27 extends into the installation hole 25b and is connected with the second end of the elastic member 26, and at least part of the clamping block 27 protrudes out of the installation hole 25b and extends into the clamping space 25 a. Preferably, a silica gel gasket 40 is installed on one side of the clamping block 27 facing the clamping space 25 a; the effect that should set up avoids carrying out the centre gripping damage to the product through silica gel gasket 40, can also increase the frictional force of centre gripping simultaneously.

Referring to fig. 1 and 2, the intelligent robot 100 for carrying and transporting of the present invention further includes a distance sensor 50, the distance sensor 50 being mounted on a side of the mounting seat 24 facing the clamping space 25 a; therefore, in practical use, the product can be initially positioned through the image acquisition device 22, and then the distance measurement is performed on the product through the distance sensor 50, so that the mounting seat 24 is controlled to move for a certain distance towards the position of the product, and the accuracy of clamping can be effectively improved.

With continued reference to fig. 1 and 2, the intelligent robot 100 for carrying and transporting according to the present invention further includes a suction cup assembly 60, wherein the suction cup assembly 60 is mounted on the mounting base 24, and a suction end of the suction cup assembly 60 extends into the clamping space 25 a. Meanwhile, the sensing end of the distance sensor 50 is higher than the suction end of the chuck assembly 60. The purpose of this arrangement is to allow suction to be applied to the product while the product is being held by the suction cup assembly 60. For example, there are at least two suction cup assemblies 60, and the two suction cup assemblies 60 are symmetrically arranged with respect to the distance sensor 50, but not limited thereto.

Referring to fig. 1 and 3, the linear circulation feeding device 30 includes a fixing frame 31, a driving device 32, a guide rail 33, and a product placing plate 34, the fixing frame 31 is installed on the rack 10, the driving device 32 and the guide rail 33 are both installed on the fixing frame 31, the product placing plate 34 is slidably installed on the guide rail 33, an output end of the driving device 32 is connected to the product placing plate 34, and the product placing plate 34 is driven to move linearly back and forth between the two intelligent mechanical arms 20. For example, the driving device 32 is a screw rod structure; a stepless adjustment of the movement of the product placement plate 34 can thus be achieved.

Referring to fig. 1 and 4, the outer surface of the clamping block 27 is sequentially coated with an epoxy resin coating 271, a polytetrafluoroethylene layer 272 and a reinforced paint layer 273 from inside to outside; therefore, the epoxy resin coating 271 can resist acid and alkali corrosion, the polytetrafluoroethylene layer 272 can resist high temperature, and the reinforced paint layer 273 can resist wear, but is not limited thereto.

It should be noted that, the mounting seat 24 is provided with a clamping device 241, and an output end of the clamping device 241 is respectively connected to the two clamping blocks 27 and drives the two clamping blocks 27 to move close to or away from each other to clamp the product, but not limited thereto.

The utility model has the beneficial effects that: the intelligent robot 100 for carrying and conveying comprises a rack 10, two intelligent mechanical arms 20 and linear circulating feeding devices 30, wherein the number of the intelligent mechanical arms 20 is at least two, the two intelligent mechanical arms 20 are arranged at intervals, the linear circulating feeding devices 30 are positioned between the two intelligent mechanical arms 20, each intelligent mechanical arm 20 comprises a six-axis rotating mechanism 21, an image acquisition device 22, a pressure sensor 23, a mounting seat 24, clamping arms 25, elastic pieces 26 and clamping blocks 27, the mounting seat 24 is mounted on the six-axis rotating mechanism 21, at least two clamping arms 25 are arranged on the mounting seat 24, the two clamping arms 25 are movably mounted on the mounting seat 24, a clamping space 25a for clamping an article is formed between the two clamping arms 25, the image acquisition device 22 is mounted on one side of the mounting seat 24 facing the clamping space 25a, one side of the clamping arms 25 facing the clamping space 25a is provided with mounting holes 25b, the pressure sensor 23 is installed in the installation hole 25b, the sensing end of the pressure sensor 23 is connected with the first end of the elastic member 26, one end of the clamping block 27 extends into the installation hole 25b and is connected with the second end of the elastic member 26, and at least part of the clamping block 27 protrudes out of the installation hole 25b and extends into the clamping space 25 a. In practical use, the product can be clamped and placed on the linear circulating feeding device 30 through one of the intelligent mechanical arms 20, then the product is cached and conveyed through the linear circulating feeding device 30, and then the product on the linear circulating feeding device 30 is clamped and taken through the other intelligent mechanical arm 20, so that the conveying efficiency between the two positions can be effectively improved. In addition, the product can be preliminarily positioned through the image acquisition device 22, and then the force during clamping is controlled through the pressure sensor 23, so that the product is prevented from being damaged due to excessive clamping.

The present invention is not limited to the above-described embodiments, and other intelligent robots for carrying and transporting, which are configured or arranged in the same or similar manner as the above-described embodiments of the present invention, are within the scope of the present invention.

Claims

1. An intelligent robot for carrying and conveying, characterized in that: the intelligent mechanical arm comprises at least two intelligent mechanical arms and linear circulating feeding devices, the two intelligent mechanical arms are arranged at intervals, the linear circulating feeding devices are positioned between the two intelligent mechanical arms, each intelligent mechanical arm comprises a six-axis rotating mechanism, an image acquisition device, a pressure sensor, a mounting seat, clamping arms, an elastic piece and clamping blocks, the mounting seats are mounted on the six-axis rotating mechanisms, the clamping arms are at least two, the two clamping arms are movably mounted on the mounting seats, a clamping space for clamping an article is formed between the two clamping arms, the image acquisition device is mounted on one side, facing the clamping space, of the mounting seat surface, mounting holes are formed in one side, facing the clamping space, of the clamping arms, the pressure sensor is mounted in the mounting holes, the sensing end of the pressure sensor is connected with the first end of the elastic piece, one end of the clamping block extends into the mounting hole and is connected with the second end of the elastic piece, and at least part of the clamping block protrudes out of the mounting hole and extends into the clamping space.

2. The intelligent robot for handling transportation of claim 1, wherein: and a silica gel gasket is arranged on one side of the clamping block facing the clamping space.

3. The intelligent robot for handling transportation according to claim 2, wherein: the clamping device further comprises a distance sensor, and the distance sensor is mounted on one side, facing the clamping space, of the mounting seat surface.

4. The intelligent robot for handling transportation of claim 3, wherein: the suction cup component is mounted on the mounting seat, and the suction end of the suction cup component extends into the clamping space.

5. The intelligent robot for handling transportation of claim 4, wherein: the induction end of the distance sensor is higher than the suction end of the sucker component.

6. The intelligent robot for handling transportation of claim 4, wherein: the sucking disc subassembly has two at least, two sucking disc subassembly uses distance sensor is the center and is left-right symmetry and arrange.

7. The intelligent robot for handling transportation of claim 1, wherein: the linear circulating feeding device comprises a fixing frame, a driving device, a guide rail and a product placing plate, wherein the fixing frame is installed on the rack, the driving device and the guide rail are installed on the fixing frame, the product placing plate is installed on the guide rail in a sliding mode, the output end of the driving device is connected with the product placing plate and drives the product placing plate to move back and forth between the two intelligent mechanical arms in a linear mode.

8. The intelligent robot for handling transportation of claim 7, wherein: the driving device is of a screw rod structure.

9. The intelligent robot for handling transportation of claim 1, wherein: the outer surface of the clamping block is coated with an epoxy resin coating, a polytetrafluoroethylene layer and a reinforced paint layer from inside to outside in sequence.