CN218641905U - Industrial goods carrying robot - Google Patents
Industrial goods carrying robot Download PDFInfo
- Publication number
- CN218641905U CN218641905U CN202222322912.3U CN202222322912U CN218641905U CN 218641905 U CN218641905 U CN 218641905U CN 202222322912 U CN202222322912 U CN 202222322912U CN 218641905 U CN218641905 U CN 218641905U
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- Prior art keywords
- plate
- frame
- lifting
- shaped goods
- motor
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 35
- 238000013016 damping Methods 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
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Abstract
The utility model discloses an industrial goods transfer robot, including the base: the base is rotatably connected with a rotating seat, a vertical frame is arranged on the rotating seat, a transverse frame is movably connected onto the vertical frame, a conveying frame is movably connected to the end portion of the transverse frame, a vacuum adsorption assembly in contact with the plate-shaped goods is arranged on the conveying frame, a rotatable lifting assembly is arranged on the vacuum adsorption assembly, and the lifting assembly is provided with a lifting position in contact with the plate-shaped goods and a picking and placing position separated from the plate-shaped goods and staggered from the plate-shaped goods in the stroke. The utility model discloses in, this transfer robot can make its rotatory back remove the below of plate-shaped goods through the subassembly that lifts that sets up when the vacuum adsorption subassembly gets up plate-shaped goods vacuum adsorption, the drive lifts the subassembly to play the effect of lifting the support to the bottom of plate-shaped goods, avoid the vacuum adsorption subassembly trouble to take place the phenomenon that plate-shaped goods dropped often, improved the transport operational safety of plate-shaped goods.
Description
Technical Field
The utility model relates to a transfer robot technical field especially relates to an industrial goods transfer robot.
Background
The transfer robot is an automated product that uses a robot motion trajectory to replace manual transfer, and transfer fixing modes of the transfer robot for transferring goods are classified into a clamping type, a vacuum adsorption type, a magnetic adsorption type, and the like.
Chinese patent publication No.: CN215438702U discloses a small vacuum chuck glass carrying robot, which comprises a mechanical arm, a power device, a transmission device and an execution device, wherein the mechanical arm comprises a rotary table, a machine base, a lower arm, an upper arm and a wrist; the power device comprises five motors, wherein a base motor arranged on the rotary table realizes the rotation of the base, a motor A arranged on the lower arm realizes the pitching of the lower arm, a motor B arranged on the upper arm realizes the pitching of the upper arm, a motor C arranged on the wrist realizes the pitching of the wrist, and a control box motor arranged on the control box realizes the rotation of the execution device and provides power for the execution device; the transmission device comprises a main transmission shaft arranged in the control box, a driving gear and a rolling bearing which are arranged on the main transmission shaft, and a rack matched with the driving gear; the execution device comprises a control box, a vacuum generator, a sucker frame, a guide rail, a sliding block, a positioning block, a pipe clamp, a connecting plate A, a connecting plate B, a fixing block, a fixing plate, a fastening bolt, a nut, an air guide pipe and a sucker.
When current transfer robot was carried at vacuum adsorption plate-like goods, only relied on vacuum suction to fix the position of goods usually for plate-like goods's stress state is comparatively single, breaks down and leads to suction to weaken or lose when vacuum apparatus or gas circuit pipeline, and plate-like goods will drop and take place the phenomenon of damage, thereby is unfavorable for the safe handling of goods.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an adopt rotatory subassembly of lifting, can play the lift to the goods of absorption transport and support the protection, avoid taking place to drop an industrial goods transfer robot who damages the phenomenon.
In order to achieve the above object, the present invention provides the following technical solutions: an industrial goods handling robot comprising a base:
the base is rotatably connected with a rotating seat, a vertical frame is arranged on the rotating seat, a transverse frame is movably connected to the vertical frame, and the end part of the transverse frame is movably connected with a carrying frame;
the conveying frame is provided with a vacuum adsorption assembly which is in contact with the plate-shaped goods;
the vacuum adsorption component is provided with a rotatable lifting component, and the lifting component is provided with a lifting position which is tightly contacted with the plate-shaped goods and a picking and placing position which is separated from the plate-shaped goods and staggered on the stroke.
As a further description of the above technical solution:
the vacuum adsorption component comprises a vacuum air pump arranged on the carrying frame, an air exhaust pipe is arranged on the vacuum air pump, a mounting plate is arranged at the end of the air exhaust pipe, and a hollowed adsorption plate is arranged in the mounting plate.
As a further description of the above technical solution:
and the carrying frame is provided with a damping spring shock absorber connected with the mounting plate.
As a further description of the above technical solution:
the lifting assembly comprises a side plate arranged on the side wall of the mounting plate, a third motor is arranged on the side plate, the output end of the third motor is connected with a shaft rod, and an arc-shaped lifting plate is arranged on the shaft rod.
As a further description of the above technical solution:
the base is provided with a first motor, the output end of the first motor is connected with a gear, and the gear is meshed with a toothed ring on the rotating seat.
As a further description of the above technical solution:
the top of erecting the frame is provided with the second motor, and the output of second motor is connected with ball screw, and is provided with the crane on the ball screw.
As a further description of the above technical solution:
and a first hydraulic cylinder connected with the lifting frame is arranged on the transverse frame.
As a further description of the above technical solution:
and a second hydraulic cylinder connected with the carrying frame is arranged at the top of the transverse frame.
In the technical scheme, the utility model provides a pair of industrial goods transfer robot has following beneficial effect:
this transfer robot can make its below that removes the plate-shaped goods after rotatory through the subassembly of lifting that sets up, drive when the vacuum adsorption subassembly gets up plate-shaped goods vacuum adsorption, lift the subassembly and make to the bottom of plate-shaped goods plays the effect of lifting the support, avoids the phenomenon that the plate-shaped goods dropped when the vacuum adsorption subassembly trouble often takes place, has improved the transport operation security of plate-shaped goods.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to these drawings.
Fig. 1 is a schematic structural diagram of an industrial cargo handling robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a joint between the conveying frame and the vacuum adsorption assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lift assembly according to an embodiment of the present invention.
Description of reference numerals:
1. a base; 2. a rotating base; 3. a first motor; 4. a gear; 5. a toothed ring; 6. a vertical frame; 7. a second motor; 8. a ball screw; 9. a lifting frame; 10. a transverse frame; 11. a first hydraulic cylinder; 12. a second hydraulic cylinder; 13. a carrying frame; 14. a vacuum adsorption assembly; 141. a vacuum pump; 142. an air exhaust pipe; 143. mounting a plate; 144. an adsorption plate; 15. a damping spring damper; 16. a lifting assembly; 161. a side plate; 162. a third motor; 163. a shaft lever; 164. a lifting plate.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, an industrial goods handling robot includes a base 1:
the rotary seat 2 is connected to the base 1 in a rotating mode, the first motor 3 is arranged on the base 1, the output end of the first motor 3 is connected with the gear 4, the gear 4 is meshed with the toothed ring 5 on the rotary seat 2, the gear 4 can be driven to rotate under the driving of the first motor 3, and the rotary seat 2 can be driven to horizontally rotate on the base 1 through the meshed connection of the gear 4 and the toothed ring 5, so that the horizontal carrying position of the robot is automatically adjusted, and the reciprocating rotation switching of the carrying structure of the robot between the initial position and the terminal position of the plate-shaped goods is realized;
the rotating base 2 is provided with a vertical frame 6, the vertical frame 6 is movably connected with a transverse frame 10, the top of the vertical frame 6 is provided with a second motor 7, the output end of the second motor 7 is connected with a ball screw 8, the ball screw 8 is provided with a lifting frame 9, and the ball screw 8 can be driven to rotate under the driving of the second motor 7, so that the lifting frame 9 is driven to move up and down on the vertical frame 6, and the vertical position of the transverse frame 10 can be adjusted greatly;
the end part of the transverse frame 10 is movably connected with a conveying frame 13, the transverse frame 10 is provided with a first hydraulic cylinder 11 connected with the lifting frame 9, the transverse frame 10 can be driven to horizontally move on the lifting frame 9 through the driving action of the first hydraulic cylinder 11, the position of the conveying frame 13 can be adjusted, the distance between the conveying frame 13 and the vertical frame 6 is changed, the top part of the transverse frame 10 is provided with a second hydraulic cylinder 12 connected with the conveying frame 13, the height position of the conveying frame 13 can be adjusted in a small range through the driving action of the second hydraulic cylinder 12, and the conveying frame 13 is ensured to be accurately contacted with the plate-shaped goods after being accurately moved downwards when moving to the position above the plate-shaped goods;
the carrying frame 13 is provided with a vacuum adsorption component 14 contacted with the plate-shaped goods, when the carrying frame 13 moves to the upper part of the plate-shaped goods and the vacuum adsorption component 14 is contacted with the plate-shaped goods, the plate-shaped goods can be adsorbed by utilizing the vacuum adsorption force of the vacuum adsorption component 14, so that the plate-shaped goods are carried;
the vacuum adsorption component 14 is provided with the rotatable lifting component 16, the lifting component 16 is provided with a lifting position which is tightly contacted with the plate-shaped goods and a picking and placing position which is separated from and staggered with the plate-shaped goods on the stroke, when the vacuum adsorption component 14 adsorbs the plate-shaped goods in vacuum, the lifting component 16 is driven to rotate and move to the lower part of the plate-shaped goods, the lifting and supporting effect on the bottom of the plate-shaped goods is achieved, the phenomenon that the plate-shaped goods fall off when the vacuum adsorption component 14 breaks down is avoided, the carrying operation safety of the plate-shaped goods is improved, and meanwhile, when the plate-shaped goods are picked and placed, the lifting component 16 is reset again to enable the plate-shaped goods to be staggered with the lifting component 16, and the influence on the picking and placing of the plate-shaped goods is avoided.
The vacuum adsorption component 14 comprises a vacuum suction pump 141 arranged on the conveying frame 13, a suction pipe 142 is arranged on the vacuum suction pump 141, an installation plate 143 is arranged at the end of the suction pipe 142, a hollow adsorption plate 144 is arranged in the installation plate 143, and a damping spring shock absorber 15 connected with the installation plate 143 is arranged on the conveying frame 13, when the conveying frame 13 moves above the plate-shaped goods, the conveying frame 13 is driven to move downwards under the combined action of the second motor 7 and the second hydraulic cylinder 12, so that the adsorption plate 144 is in contact with the upper surface of the plate-shaped goods, at this time, the vacuum suction pump 141 is started, negative pressure suction force is generated between the adsorption plate 144 and the plate-shaped goods through the suction pipe 142, the plate-shaped goods can be adsorbed, and the plate-shaped goods can be conveyed by combining the combined action of the rotating base 2, the vertical frame 6 and the transverse frame 10.
The lifting assembly 16 comprises a side plate 161 arranged on the side wall of the mounting plate 143, a third motor 162 is arranged on the side plate 161, the output end of the third motor 162 is connected with a shaft lever 163, and an arc-shaped lifting plate 164 is arranged on the shaft lever 163, when the adsorption plate 144 adsorbs the plate-shaped goods for carrying, the third motor 162 is started to drive the shaft lever 163 to rotate, so that the lifting plate 164 is driven to rotate and rotate to the lower part of the plate-shaped goods, the lifting plate 164 is contacted and tightly propped against the lower surface of the plate-shaped goods, so that the plate-shaped goods adsorbed on the adsorption plate 144 can be lifted and supported, the phenomenon that the plate-shaped goods fall off during carrying due to vacuum equipment failure or vacuum pipeline air leakage is prevented, and the carrying safety of the plate-shaped goods is improved.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (8)
1. An industrial goods handling robot, comprising a base (1), characterized in that:
the base (1) is rotatably connected with a rotating seat (2), a vertical frame (6) is arranged on the rotating seat (2), a transverse frame (10) is movably connected to the vertical frame (6), and the end part of the transverse frame (10) is movably connected with a conveying frame (13);
the conveying frame (13) is provided with a vacuum adsorption component (14) contacted with the plate-shaped goods;
the vacuum adsorption component (14) is provided with a rotatable lifting component (16), and the lifting component (16) is provided with a lifting position which is tightly contacted with the plate-shaped goods and a pick-and-place position which is separated from the plate-shaped goods and dislocated on the stroke.
2. An industrial goods handling robot as claimed in claim 1, wherein: the vacuum adsorption component (14) comprises a vacuum air pump (141) arranged on the conveying frame (13), an air pumping pipe (142) is arranged on the vacuum air pump (141), a mounting plate (143) is arranged at the end part of the air pumping pipe (142), and a hollow adsorption plate (144) is arranged in the mounting plate (143).
3. An industrial goods handling robot as claimed in claim 2, wherein: the carrying frame (13) is provided with a damping spring shock absorber (15) connected with the mounting plate (143).
4. An industrial goods handling robot as claimed in claim 1, wherein: lift subassembly (16) is provided with third motor (162) including setting up curb plate (161) at mounting panel (143) lateral wall on curb plate (161), and the output of third motor (162) is connected with axostylus axostyle (163), and is provided with curved lifting plate (164) on axostylus axostyle (163).
5. An industrial goods handling robot as claimed in claim 1, wherein: the base (1) is provided with a first motor (3), the output end of the first motor (3) is connected with a gear (4), and the gear (4) is meshed with a gear ring (5) on the rotating seat (2).
6. An industrial goods handling robot as claimed in claim 1, wherein: the top of the vertical frame (6) is provided with a second motor (7), the output end of the second motor (7) is connected with a ball screw (8), and a lifting frame (9) is arranged on the ball screw (8).
7. An industrial goods handling robot as claimed in claim 1, wherein: and a first hydraulic cylinder (11) connected with the lifting frame (9) is arranged on the transverse frame (10).
8. An industrial goods handling robot as claimed in claim 1, wherein: and a second hydraulic cylinder (12) connected with the carrying frame (13) is arranged at the top of the transverse frame (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222322912.3U CN218641905U (en) | 2022-09-01 | 2022-09-01 | Industrial goods carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222322912.3U CN218641905U (en) | 2022-09-01 | 2022-09-01 | Industrial goods carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218641905U true CN218641905U (en) | 2023-03-17 |
Family
ID=85491298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222322912.3U Expired - Fee Related CN218641905U (en) | 2022-09-01 | 2022-09-01 | Industrial goods carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218641905U (en) |
-
2022
- 2022-09-01 CN CN202222322912.3U patent/CN218641905U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20230317 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |