JP2019181677A - Automation work robot - Google Patents

Automation work robot Download PDF

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Publication number
JP2019181677A
JP2019181677A JP2018091918A JP2018091918A JP2019181677A JP 2019181677 A JP2019181677 A JP 2019181677A JP 2018091918 A JP2018091918 A JP 2018091918A JP 2018091918 A JP2018091918 A JP 2018091918A JP 2019181677 A JP2019181677 A JP 2019181677A
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Prior art keywords
electric rotating
rotating machine
pin shaft
box
fixedly connected
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Japanese (ja)
Inventor
孟玲
Ling Meng
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LEI WANG
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LEI WANG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0007—Movable machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/18—Casings or enclosures characterised by the shape, form or construction thereof with ribs or fins for improving heat transfer
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Packaging Of Machine Parts And Wound Products (AREA)

Abstract

To disclose an automation work robot.SOLUTION: An automation work robot includes a chassis and a first storage housing which is installed in the chassis and in which a notch is formed toward the right side. A first box body is installed at the first storage housing, and a second storage housing in which a notch is formed toward the lower side is installed at the first box body. A second box body, in which a notch passes in an anteroposterior direction to the lower side, slides to engage and connect with the second storage housing, and a third storage housing is installed at the second box body.SELECTED DRAWING: Figure 4

Description

本発明はロボット技術分野に関し、具体的には自動化作業ロボットに関する。 The present invention relates to the field of robot technology, and more particularly to an automated work robot.

科学技術の発展、社会の進歩につれて、国家は高度先端技術の発展を促進し、いくつかの研磨ロボットが工業生産にどんどん広く使われ、しかし伝統的な研磨ロボットが加工品を磨く時に、効率が低く研磨効果が悪く、同時に伝統的な研磨ロボットの研磨アームが一般的に外部に設置され、使用しない時に高速の収納を実現しにくく、耐用年数を減らす。 With the development of science and technology and the progress of society, the state promotes the development of advanced advanced technology, and some polishing robots are used more and more widely in industrial production, but when traditional polishing robots polish workpieces, the efficiency The polishing effect is low, and at the same time, the polishing arm of a traditional polishing robot is generally installed outside, making it difficult to realize high-speed storage when not in use and reducing the service life.

中国特許出願公開第104175332号明細書Chinese Patent Application No. 104175332 Specification

本発明は解決する必要な技術問題に対して自動化作業ロボットを提供し、それは上記の現在の技術問題を解決できる。 The present invention provides an automated work robot for the necessary technical problems to be solved, which can solve the above-mentioned current technical problems.

本発明は以下の技術方案を採用して実現する。本発明の自動化作業ロボットは車台と前記車台の内部に設置されノッチが右に向かう第一収容筐体を含み、前記第一収容筐体に第一箱体が設置され、前記第一箱体にノッチが下に向かう第二収容筐体が設置され、前記第二収容筐体にノッチが下に向かって前後に通り抜ける第二箱体が滑り移動し係合し接続し、前記第二箱体に第三収容筐体が設置され、前記第一収容筐体の左端内壁に前後に凸板が設置され、前記凸板に前後に延びる第一回転ピン軸が回転可能なように係合し接続され、前記第一回転ピン軸に前記凸板の間に位置する第一円錐形プーリーが固定的に接続し、前記第一収容筐体の左端内壁に第一電気回転機械が設置され、前記第一電気回転機械に前記第一円錐形プーリーと係合し接続する第二円錐形プーリーが動力が伝達可能なように接続され、前記第一回転ピン軸の前後末尾に第三円錐形プーリーが固定的に接続し、前記第一収容筐体に左右に延びて前後対称に第二回転ピン軸が設置され、前記第二回転ピン軸の左右両端がベアリングを通じて前記車台と回転可能なように係合し接続し、前記第二回転ピン軸の左端に前記第三円錐形プーリーと係合し接続する第四円錐形プーリーが固定的に接続し、前記第二回転ピン軸に前後対称に第一箱体と固定的に接続する第一固連板と第二固連板が係合し接続され、前記第二収容筐体の頂部内壁に第二電気回転機械が設置され、前記第二電気回転機械の外側に過負荷保護部品が設置され、前記過負荷保護部品が衝撃吸収ブロックと冷却片を含み、前記第二電気回転機械の底端に下に延びて前記第二箱体を通り抜けるねじレバーが動力が伝達可能なように接続され、前記第三収容筐体に左右対称にタービンが設置され、前記タービンに上下に延びる第三回転ピン軸が固定的に接続し、前記第三回転ピン軸の上端がベアリングを通じて前記第二箱体に回転することができるように取り付けられ、前記第三回転ピン軸の下端末尾に研磨輪が固定的に接続され、前記第三収容筐体に左右に延びて前記タービンの後端に位置するウォームが設置され、前記ウォームの左右両端がベアリングを通じて前記第二箱体に回転に取り付けられ、前記ウォームに二つの前記タービンの間に位置する第五円錐形プーリーが固定的に接続され、前記第二収容筐体の後端内壁に第三電気回転機械が設置され、前記第三電気回転機械の前端に前記第五円錐形プーリーと係合し接続する第六円錐形プーリーが動力が伝達可能なように接続される。 The present invention is realized by employing the following technical scheme. An automated work robot of the present invention includes a chassis and a first housing case that is installed inside the chassis and has a notch facing rightward. The first housing body is installed in the first housing body. A second housing case is provided in which the notch is directed downward, and a second box body in which the notch passes through the second housing body in the front-rear direction is slidably moved and connected to the second box body. A third housing case is installed, a convex plate is installed on the left inner wall of the first housing case on the front and back, and a first rotating pin shaft extending front and rear is engaged and connected to the convex plate so as to be rotatable. A first conical pulley positioned between the convex plates is fixedly connected to the first rotating pin shaft, and a first electric rotating machine is installed on a left end inner wall of the first housing, and the first electric rotating A second conical pulley that engages and connects with the first conical pulley to the machine can transmit power A third conical pulley is fixedly connected to the front and rear ends of the first rotating pin shaft, and the second rotating pin shaft is installed symmetrically in the front-rear direction extending to the left and right of the first housing. A fourth conical shape in which the left and right ends of the second rotating pin shaft are engaged with and connected to the chassis through bearings, and the left end of the second rotating pin shaft is engaged with and connected to the third conical pulley. A pulley is fixedly connected, and a first fixed plate and a second fixed plate that are fixedly connected to the first box body in a longitudinally symmetrical manner with respect to the second rotation pin shaft are engaged and connected, and the second housing A second electric rotating machine is installed on the top inner wall of the housing, an overload protection component is installed outside the second electric rotating machine, the overload protection component includes an impact absorbing block and a cooling piece, Screw lever that extends down to the bottom end of the electric rotating machine and passes through the second box Power is transmitted so that power can be transmitted, a turbine is installed symmetrically in the third housing case, a third rotating pin shaft extending vertically is fixedly connected to the turbine, and the third rotating pin shaft The upper end is attached to the second box through a bearing so that it can rotate, and a grinding wheel is fixedly connected to the lower end of the third rotating pin shaft, and extends to the left and right in the third housing case. A worm located at the rear end of the turbine is installed, and both left and right ends of the worm are rotatably attached to the second box through bearings, and a fifth conical pulley located between the two turbines is attached to the worm. A sixth cone that is fixedly connected, has a third electric rotating machine installed on the inner wall of the rear end of the second housing case, and engages and connects with the fifth conical pulley at the front end of the third electric rotating machine Shape pooh Lee is connected so that power can be transmitted.

好ましい技術方案として前記車台の底端に第四収容筐体が設置され、前記第四収容筐体に左右対称的に前後に延びる第四回転ピン軸が設置され、前記第四回転ピン軸に前後対称にローラーが固定的に接続し、左右対称の二つの前記ローラーの間にキャタピラーが接続される。 As a preferred technical solution, a fourth housing case is installed at the bottom end of the chassis, and a fourth rotating pin shaft extending symmetrically back and forth is installed in the fourth housing case. A roller is fixedly connected symmetrically, and a caterpillar is connected between the two symmetrical rollers.

好ましい技術方案として前記タービンが前記ウォームと噛み合う。 As a preferred technical solution, the turbine meshes with the worm.

好ましい技術方案として前記ねじレバーが前記第二箱体と係合し接続する。 As a preferred technical solution, the screw lever engages and connects with the second box.

好ましい技術方案として前記衝撃吸収ブロックが前記第二電気回転機械の上端と下端に設置され前記第二電気回転機械と固定的に接続し、前記冷却片が前記第二電気回転機械の前端と後端に設置され前記第二電気回転機械の殻と固定的に接続し、前記冷却片の上端と下端が前記衝撃吸収ブロックと固定的に接続し、前記第二電気回転機械の前端と後端にそれぞれ一枚以上の前記冷却片が設置される。 As a preferred technical solution, the shock absorbing blocks are installed at the upper and lower ends of the second electric rotating machine and fixedly connected to the second electric rotating machine, and the cooling pieces are the front and rear ends of the second electric rotating machine. Fixedly connected to the shell of the second electric rotating machine, the upper end and the lower end of the cooling piece are fixedly connected to the shock absorbing block, and the front end and the rear end of the second electric rotating machine, respectively. One or more cooling pieces are installed.

本発明の有益な効果は、本発明の設備が初期状態にある時、前記第一箱体が前記第一収容筐体の左端に位置し左端表面が前記凸板と接触し、前記第二箱体が前記第二収容筐体の頂部に位置し頂部端面が前記第一箱体と接触する。 The beneficial effect of the present invention is that when the equipment of the present invention is in an initial state, the first box is located at the left end of the first housing case, the left end surface is in contact with the convex plate, and the second box The body is located at the top of the second housing case, and the top end surface is in contact with the first box.

使用する時に、前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が右に移動し、前記第二固連板が前記車台と接触する時に、前記第一電気回転機械を制御し動作を停止し、この時に第二電気回転機械を起動しねじレバーと連動して回転し、前記第二箱体が下にスライドし、前記第二箱体の底部が前記第一箱体と接触する時に、前記第五円錐形プーリーが前記第六円錐形プーリーと完全に噛み合って、前記第二電気回転機械を制御し回転を停止し、この時に前記第三電気回転機械を起動し前記研磨輪と連動して回転し、これにより加工品の表面を速く磨くことを実現する。 When using, when the first electric rotating machine is activated and rotated in conjunction with the second rotating pin shaft, the first box moves to the right, and the second fixed plate comes into contact with the chassis The first electric rotating machine is controlled to stop the operation, and at this time, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box slides downward, and the second box rotates When the bottom part of the first contact with the first box body, the fifth conical pulley is completely engaged with the sixth conical pulley to control the second electric rotating machine and stop the rotation. Three electric rotating machines are started and rotated in conjunction with the grinding wheel, thereby realizing a fast polishing of the surface of the workpiece.

使用が終わった後、前記第三電気回転機械を制御し回転を停止し、前記第二電気回転機械を起動し前記ねじレバーと連動して回転し、前記第二箱体が上にスライドし、前記第二箱体の頂部端面が前記第一箱体と接触する時に、前記第二電気回転機械を制御し回転を停止し、この時に前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が左に移動し、前記第一箱体の左部端面が前記凸板と接触する時に、前記第三電気回転機械を制御し回転を停止し、これにより前記第一箱体の迅速な収納を実現する。 After the use is finished, the third electric rotating machine is controlled to stop the rotation, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box body slides up, When the top end surface of the second box body contacts the first box body, the second electric rotating machine is controlled to stop the rotation, and at this time, the first electric rotating machine is activated to start the second rotating pin shaft. When the first box moves to the left and the left end surface of the first box contacts the convex plate, the third electric rotating machine is controlled to stop the rotation, This realizes quick storage of the first box.

本発明に係る設備の構造が簡単で、操作が便利で、起動と収納を一体化することを使って、加工品の研磨効率を大きく高めて、同時に耐用年数を大きく増加する。 The structure of the equipment according to the present invention is simple, convenient to operate, and the integration of start-up and storage greatly increases the polishing efficiency of the workpiece, and at the same time greatly increases the service life.

本発明の有益な効果は、本発明の設備が初期状態にある時、前記第一箱体が前記第一収容筐体の左端に位置し左端表面が前記凸板と接触し、前記第二箱体が前記第二収容筐体の頂部に位置し頂部端面が前記第一箱体と接触する。 The beneficial effect of the present invention is that when the equipment of the present invention is in an initial state, the first box is located at the left end of the first housing case, the left end surface is in contact with the convex plate, and the second box The body is located at the top of the second housing case, and the top end surface is in contact with the first box.

使用する時に、前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が右に移動し、前記第二固連板が前記車台と接触する時に、前記第一電気回転機械を制御し動作を停止し、この時に第二電気回転機械を起動しねじレバーと連動して回転し、前記第二箱体が下にスライドし、前記第二箱体の底部が前記第一箱体と接触する時に、前記第五円錐形プーリーが前記第六円錐形プーリーと完全に噛み合って、前記第二電気回転機械を制御し回転を停止し、この時に前記第三電気回転機械を起動し前記研磨輪と連動して回転し、これにより加工品の表面を速く磨くことを実現する。 When using, when the first electric rotating machine is activated and rotated in conjunction with the second rotating pin shaft, the first box moves to the right, and the second fixed plate comes into contact with the chassis The first electric rotating machine is controlled to stop the operation, and at this time, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box slides downward, and the second box rotates When the bottom part of the first contact with the first box body, the fifth conical pulley is completely engaged with the sixth conical pulley to control the second electric rotating machine and stop the rotation. Three electric rotating machines are started and rotated in conjunction with the grinding wheel, thereby realizing a fast polishing of the surface of the workpiece.

使用が終わった後、前記第三電気回転機械を制御し回転を停止し、前記第二電気回転機械を起動し前記ねじレバーと連動して回転し、前記第二箱体が上にスライドし、前記第二箱体の頂部端面が前記第一箱体と接触する時に、前記第二電気回転機械を制御し回転を停止し、この時に前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が左に移動し、前記第一箱体の左部端面が前記凸板と接触する時に、前記第三電気回転機械を制御し回転を停止し、これにより前記第一箱体の迅速な収納を実現する。 After the use is finished, the third electric rotating machine is controlled to stop the rotation, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box body slides up, When the top end surface of the second box body contacts the first box body, the second electric rotating machine is controlled to stop the rotation, and at this time, the first electric rotating machine is activated to start the second rotating pin shaft. When the first box moves to the left and the left end surface of the first box contacts the convex plate, the third electric rotating machine is controlled to stop the rotation, This realizes quick storage of the first box.

本発明に係る設備の構造が簡単で、操作が便利で、起動と収納を一体化することを使って、加工品の研磨効率を大きく高めて、同時に耐用年数を大きく増加する。 The structure of the equipment according to the present invention is simple, convenient to operate, and the integration of start-up and storage greatly increases the polishing efficiency of the workpiece, and at the same time greatly increases the service life.

図１は本発明の自動化作業ロボットが停止する時の全体構造概略図である。FIG. 1 is a schematic diagram of the entire structure when the automated robot of the present invention stops. 図２は図１の中のA-A方向の断面図である。FIG. 2 is a cross-sectional view in the AA direction in FIG. 図３は本発明の自動化作業ロボットが作業する時の全体構造概略図である。FIG. 3 is a schematic diagram of the overall structure when the automated robot of the present invention works. 図４は図１のB-B方向の断面図である。FIG. 4 is a cross-sectional view in the BB direction of FIG. 図５は本発明の第二電気回転機械の外部構造概略図である。FIG. 5 is a schematic diagram of the external structure of the second electric rotating machine of the present invention.

説明しやすいため、本発明は以下の具体的な実施例と図面を交え詳しく説明する。 For ease of explanation, the present invention will be described in detail with reference to the following specific embodiments and drawings.

図1〜5が示すように、本発明の自動化作業ロボットは車台100と前記車台100の内部に設置されノッチが右に向かう第一収容筐体111を含み、前記第一収容筐体111に第一箱体101が設置され、前記第一箱体101にノッチが下に向かう第二収容筐体112が設置され、前記第二収容筐体112にノッチが下に向かって前後に通り抜ける第二箱体102が滑り移動し係合し接続し、前記第二箱体102に第三収容筐体113が設置され、前記第一収容筐体111の左端内壁に前後に凸板103が設置され、前記凸板103に前後に延びる第一回転ピン軸155が回転可能なように係合し接続され、前記第一回転ピン軸155に前記凸板103の間に位置する第一円錐形プーリー145が固定的に接続し、前記第一収容筐体111の左端内壁に第一電気回転機械123が設置され、前記第一電気回転機械123に前記第一円錐形プーリー145と係合し接続する第二円錐形プーリー144が動力が伝達可能なように接続され、前記第一回転ピン軸155の前後末尾に第三円錐形プーリー143が固定的に接続し、前記第一収容筐体111に左右に延びて前後対称に第二回転ピン軸156が設置され、前記第二回転ピン軸156の左右両端がベアリングを通じて前記車台100と回転可能なように係合し接続し、前記第二回転ピン軸の左端に前記第三円錐形プーリー143と係合し接続する第四円錐形プーリー142が固定的に接続し、前記第二回転ピン軸156に前後対称に第一箱体101と固定的に接続する第一固連板211と第二固連板212が係合し接続され、前記第二収容筐体112の頂部内壁に第二電気回転機械121が設置され、前記第二電気回転機械121の外側に過負荷保護部品が設置され、前記過負荷保護部品が衝撃吸収ブロック1214と冷却片1215を含み、前記第二電気回転機械121の底端に下に延びて前記第二箱体102を通り抜けるねじレバー153が動力が伝達可能なように接続され、前記第三収容筐体113に左右対称にタービン131が設置され、前記タービン131に上下に延びる第三回転ピン軸151が固定的に接続し、前記第三回転ピン軸151の上端がベアリングを通じて前記第二箱体102に回転することができるように取り付けられ、前記第三回転ピン軸151の下端末尾に研磨輪161が固定的に接続され、前記第三収容筐体に左右に延びて前記タービンの後端に位置するウォーム152が設置され、前記ウォーム152の左右両端がベアリングを通じて前記第二箱体102に回転に取り付けられ、前記ウォーム152に二つの前記タービン131の間に位置する第五円錐形プーリー141が固定的に接続され、前記第二収容筐体112の後端内壁に第三電気回転機械122が設置され、前記第三電気回転機械122の前端に前記第五円錐形プーリー141と係合し接続する第六円錐形プーリー146が動力が伝達可能なように接続される。 As shown in FIGS. 1 to 5, the automated robot of the present invention includes a chassis 100 and a first storage casing 111 installed in the chassis 100 and having a notch facing rightward. A second box in which a single box 101 is installed, a second housing case 112 with a notch down is installed in the first box 101, and a notch passes through the second housing case 112 in the front-rear direction. The body 102 slides, engages and connects, the third housing case 113 is installed in the second box 102, and the convex plate 103 is installed on the left inner wall of the first housing case 111 in the front and rear, A first rotary pin shaft 155 extending in the front-rear direction is engaged with and connected to the convex plate 103, and a first conical pulley 145 located between the convex plates 103 is fixed to the first rotary pin shaft 155. A first electric rotating machine 123 is installed on the left inner wall of the first housing case 111, and the first electric rotating machine 123 is connected to the first cone. A second conical pulley 144 engaged with and connected to the pulley 145 is connected so that power can be transmitted, and a third conical pulley 143 is fixedly connected to the front and rear ends of the first rotating pin shaft 155, and A second rotating pin shaft 156 is installed in the first housing case 111 so as to extend left and right symmetrically, and the left and right ends of the second rotating pin shaft 156 are engaged with and connected to the chassis 100 through bearings so as to be rotatable. A fourth conical pulley 142 that is engaged with and connected to the third conical pulley 143 is fixedly connected to the left end of the second rotating pin shaft, and the first rotationally symmetrical first to the second rotating pin shaft 156. The first fixed plate 211 and the second fixed plate 212 fixedly connected to the box 101 are engaged and connected, and the second electric rotating machine 121 is installed on the top inner wall of the second housing case 112, An overload protection component is installed outside the second electric rotating machine 121, and the overload protection component is A screw lever 153 including a lock 1214 and a cooling piece 1215 and extending downward to the bottom end of the second electric rotating machine 121 and passing through the second box 102 is connected so that power can be transmitted, and the third housing A turbine 131 is installed symmetrically on the casing 113, a third rotating pin shaft 151 extending vertically is fixedly connected to the turbine 131, and an upper end of the third rotating pin shaft 151 is connected to the second box through a bearing. The grinding wheel 161 is fixedly connected to the lower end of the lower end of the third rotating pin shaft 151, and extends to the left and right of the third housing case to the rear end of the turbine. The worm 152 is located, the left and right ends of the worm 152 are rotatably attached to the second box 102 through bearings, and the worm 152 has a fifth conical pulley 141 located between the two turbines 131. Fixedly connected, A sixth electric rotating machine 122 is installed on the inner wall of the rear end of the second housing case 112, and is engaged with and connected to the fifth conical pulley 141 at the front end of the third electric rotating machine 122. 146 is connected so that power can be transmitted.

好ましくは、前記車台100の底端に第四収容筐体114が設置され、前記第四収容筐体114に左右対称的に前後に延びる第四回転ピン軸154が設置され、前記第四回転ピン軸154に前後対称にローラー104が固定的に接続し、左右対称の二つの前記ローラー104の間にキャタピラー162が接続される。 Preferably, a fourth housing case 114 is installed at the bottom end of the chassis 100, and a fourth rotating pin shaft 154 that extends symmetrically back and forth is installed in the fourth housing case 114, and the fourth rotating pin A roller 104 is fixedly connected to the shaft 154 in a longitudinally symmetrical manner, and a caterpillar 162 is connected between the two rollers 104 that are symmetrical in the lateral direction.

好ましくは、前記タービン131が前記ウォーム152と噛み合う。 Preferably, the turbine 131 meshes with the worm 152.

好ましくは、前記ねじレバー153が前記第二箱体102と係合し接続する。 Preferably, the screw lever 153 is engaged with and connected to the second box 102.

好ましくは、前記衝撃吸収ブロック1214が前記第二電気回転機械121の上端と下端に設置され前記第二電気回転機械121と固定的に接続し、前記冷却片1215が前記第二電気回転機械121の前端と後端に設置され前記第二電気回転機械121の殻と固定的に接続し、前記冷却片1215の上端と下端が前記衝撃吸収ブロック1214と固定的に接続し、前記第二電気回転機械121の前端と後端にそれぞれ一枚以上の前記冷却片1215が設置され、前記冷却片1215が前記第二電気回転機械121が動作する時に発生する熱量を吸収し発散し、前記衝撃吸収ブロック1214が前記第二電気回転機械121が動作する時に発生する振動力を減らして、振動力が大きすぎて本装置の正常な運行を影響することを防ぐ。 Preferably, the shock absorbing block 1214 is installed at the upper and lower ends of the second electric rotating machine 121 and fixedly connected to the second electric rotating machine 121, and the cooling piece 1215 is connected to the second electric rotating machine 121. The second electric rotating machine is installed at the front end and the rear end and fixedly connected to the shell of the second electric rotating machine 121, and the upper and lower ends of the cooling piece 1215 are fixedly connected to the shock absorbing block 1214. One or more cooling pieces 1215 are installed at the front end and the rear end of 121, respectively, and the cooling pieces 1215 absorb and radiate heat generated when the second electric rotating machine 121 operates, and the shock absorbing block 1214 However, the vibration force generated when the second electric rotating machine 121 operates is reduced to prevent the vibration force from being too large and affecting the normal operation of the apparatus.

本発明の設備が初期状態にある時、前記第一箱体101が前記第一収容筐体111の左端に位置し左端表面が前記凸板103と接触し、前記第二箱体102が前記第二収容筐体112の頂部に位置し頂部端面が前記第一箱体101と接触する。 When the facility of the present invention is in the initial state, the first box body 101 is located at the left end of the first housing case 111, the left end surface is in contact with the convex plate 103, and the second box body 102 is The top end surface of the two housing cases 112 is in contact with the first box 101.

使用する時に、前記第一電気回転機械123を起動し前記第二回転ピン軸156と連動して回転し、前記第一箱体101が右に移動し、前記第二固連板212が前記車台100と接触する時に、前記第一電気回転機械123を制御し動作を停止し、この時に第二電気回転機械121を起動しねじレバー153と連動して回転し、前記第二箱体102が下にスライドし、前記第二箱体102の底部が前記第一箱体101と接触する時に、前記第五円錐形プーリー141が前記第六円錐形プーリー146と完全に噛み合って、前記第二電気回転機械121を制御し回転を停止し、この時に前記第三電気回転機械122を起動し前記研磨輪161と連動して回転し、これにより加工品の表面を速く磨くことを実現する。 When used, the first electric rotating machine 123 is started and rotated in conjunction with the second rotating pin shaft 156, the first box body 101 is moved to the right, and the second fixed plate 212 is moved to the chassis. When contacted with 100, the first electric rotating machine 123 is controlled to stop the operation, and at this time, the second electric rotating machine 121 is started and rotated in conjunction with the screw lever 153 so that the second box 102 is lowered. When the bottom of the second box 102 comes into contact with the first box 101, the fifth conical pulley 141 is completely engaged with the sixth conical pulley 146, and the second electric rotation The machine 121 is controlled to stop the rotation, and at this time, the third electric rotating machine 122 is started and rotated in conjunction with the grinding wheel 161, thereby realizing the rapid polishing of the surface of the workpiece.

使用が終わった後、前記第三電気回転機械122を制御し回転を停止し、前記第二電気回転機械121を起動し前記ねじレバー153と連動して回転し、前記第二箱体102が上にスライドし、前記第二箱体102の頂部端面が前記第一箱体101と接触する時に、前記第二電気回転機械12１を制御し回転を停止し、この時に前記第一電気回転機械123を起動し前記第二回転ピン軸156と連動して回転し、前記第一箱体101が左に移動し、前記第一箱体101の左部端面が前記凸板103と接触する時に、前記第三電気回転機械122を制御し回転を停止し、これにより前記第一箱体の迅速な収納を実現する。 After the use is finished, the third electric rotating machine 122 is controlled to stop the rotation, the second electric rotating machine 121 is started and rotated in conjunction with the screw lever 153, and the second box 102 is moved upward. When the top end surface of the second box 102 comes into contact with the first box 101, the second electric rotating machine 121 is controlled to stop the rotation. At this time, the first electric rotating machine 123 is When the first box 101 is moved to the left and the left end surface of the first box 101 is in contact with the convex plate 103, the second rotation pin shaft 156 is activated and rotated. The three electric rotating machines 122 are controlled to stop the rotation, thereby realizing quick storage of the first box.

以上に述べたのはただ本発明の具体的な実施方式で、しかし本発明の保護範囲はこれに限らない。全部の創造的な労働を通じなく思いついた変化と取替は本発明の保護範囲にカバーされる。それゆえ本発明の保護範囲は特許請求の範囲が限定する保護範囲を基準とする。 What has been described above is merely a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Changes and replacements that have been conceived not through all creative labor are covered by the protection scope of the present invention. Therefore, the protection scope of the present invention is based on the protection scope defined by the claims.

本発明はロボット技術分野に関し、具体的には自動化作業ロボットに関する。 The present invention relates to the field of robot technology, and more particularly to an automated work robot.

科学技術の発展、社会の進歩につれて、国家は高度先端技術の発展を促進し、いくつかの研磨ロボットが工業生産にどんどん広く使われ、しかし伝統的な研磨ロボットが加工品を磨く時に、効率が低く研磨効果が悪く、同時に伝統的な研磨ロボットの研磨アームが一般的に外部に設置され、使用しない時に高速の収納を実現しにくく、耐用年数を減らす。 With the development of science and technology and the progress of society, the nation promotes the development of advanced advanced technology, and some polishing robots are used more and more widely in industrial production, but the efficiency is high when traditional polishing robots polish workpieces. The polishing effect is low, and at the same time, the polishing arm of a traditional polishing robot is generally installed outside, making it difficult to realize high-speed storage when not in use and reducing the service life.

中国特許出願公開第104175332号明細書Chinese Patent Application No. 104175332 Specification

本発明は解決する必要な技術問題に対して自動化作業ロボットを提供し、それは上記の現在の技術問題を解決できる。 The present invention provides an automated work robot for the necessary technical problems to be solved, which can solve the above-mentioned current technical problems.

本発明は以下の技術方案を採用して実現する。本発明の自動化作業ロボットは車台と前記車台の内部に設置され開口が右に向かう第一収容筐体を含み、前記第一収容筐体に第一箱体が設置され、前記第一箱体に開口が下に向かう第二収容筐体が設置され、前記第二収容筐体に開口が下に向かって前後に通り抜ける第二箱体が滑り移動し係合し接続し、前記第二箱体に第三収容筐体が設置され、前記第一収容筐体の左端内壁に前後に凸板が設置され、前記凸板に前後に延びる第一回転ピン軸が回転可能なように係合し接続され、前記第一回転ピン軸に前記凸板の間に位置する第一円錐形プーリーが固定的に接続し、前記第一収容筐体の左端内壁に第一電気回転機械が設置され、前記第一電気回転機械に前記第一円錐形プーリーと係合し接続する第二円錐形プーリーが動力が伝達可能なように接続され、前記第一回転ピン軸の前後末尾に第三円錐形プーリーが固定的に接続し、前記第一収容筐体に左右に延びて前後対称に第二回転ピン軸が設置され、前記第二回転ピン軸の左右両端がベアリングを通じて前記車台と回転可能なように係合し接続し、前記第二回転ピン軸の左端に前記第三円錐形プーリーと係合し接続する第四円錐形プーリーが固定的に接続し、前記第二回転ピン軸に前後対称に第一箱体と固定的に接続する第一固連板と第二固連板が係合し接続され、前記第二収容筐体の頂部内壁に第二電気回転機械が設置され、前記第二電気回転機械の外側に過負荷保護部品が設置され、前記過負荷保護部品が衝撃吸収ブロックと冷却片を含み、前記第二電気回転機械の底端に下に延びて前記第二箱体を通り抜けるねじレバーが動力が伝達可能なように接続され、前記第三収容筐体に左右対称にウォームホイールが設置され、前記ウォームホイールに上下に延びる第三回転ピン軸が固定的に接続し、前記第三回転ピン軸の上端がベアリングを通じて前記第二箱体に回転することができるように取り付けられ、前記第三回転ピン軸の下端末尾に研磨輪が固定的に接続され、前記第三収容筐体に左右に延びて前記ウォームホイールの後端に位置するウォームが設置され、前記ウォームの左右両端がベアリングを通じて前記第二箱体に回転に取り付けられ、前記ウォームに二つの前記ウォームホイールの間に位置する第五円錐形プーリーが固定的に接続され、前記第二収容筐体の後端内壁に第三電気回転機械が設置され、前記第三電気回転機械の前端に前記第五円錐形プーリーと係合し接続する第六円錐形プーリーが動力が伝達可能なように接続される。 The present invention is realized by employing the following technical scheme. The automated work robot of the present invention includes a chassis and a first housing case that is installed inside the chassis and the opening is directed to the right. The first box body is installed in the first housing body. A second housing case having an opening facing downward is installed, and a second box through which the opening passes back and forth is connected to the second housing body by slidingly moving and engaging with the second housing case. A third housing case is installed, a convex plate is installed on the left inner wall of the first housing case on the front and back, and a first rotating pin shaft extending front and rear is engaged and connected to the convex plate so as to be rotatable. A first conical pulley positioned between the convex plates is fixedly connected to the first rotating pin shaft, and a first electric rotating machine is installed on a left end inner wall of the first housing, and the first electric rotating A second conical pulley that engages and connects with the first conical pulley to the machine so that power can be transmitted A third conical pulley is fixedly connected to the front and rear ends of the first rotation pin shaft, the second rotation pin shaft is installed symmetrically in the front-rear direction and extends to the left and right of the first housing. A fourth conical pulley in which left and right ends of a two-rotating pin shaft are engaged with and connected to the chassis through bearings, and a left conical end of the second rotating pin shaft is engaged with and connected to the third conical pulley. Are fixedly connected to each other, and a first fixed plate and a second fixed plate that are fixedly connected to the first box body in a longitudinally symmetrical manner with respect to the second rotation pin shaft are engaged and connected, and the second housing case is connected. A second electric rotating machine is installed on the top inner wall of the body, an overload protection component is installed outside the second electric rotating machine, the overload protection component includes an impact absorbing block and a cooling piece, A screw lever that extends down to the bottom end of the rotating machine and passes through the second box is powered. Are connected so as to be transmitted, the worm wheel symmetrically to the third containment enclosure is installed, the third rotation pin axis extending vertically to the worm wheel is connected fixedly, in the third rotation pin shaft The upper end is attached to the second box through a bearing so that it can rotate, and a grinding wheel is fixedly connected to the lower end of the third rotating pin shaft, and extends to the left and right in the third housing case. A worm located at the rear end of the worm wheel is installed, and left and right ends of the worm are rotatably attached to the second box through bearings, and the worm has a fifth conical shape located between the two worm wheels. A pulley is fixedly connected, a third electric rotating machine is installed on the inner wall of the rear end of the second housing case, and the fifth conical pulley is engaged with the front end of the third electric rotating machine. The connected sixth conical pulleys are connected so that power can be transmitted.

好ましい技術方案として前記車台の底端に第四収容筐体が設置され、前記第四収容筐体に左右対称的に前後に延びる第四回転ピン軸が設置され、前記第四回転ピン軸に前後対称にローラーが固定的に接続し、左右対称の二つの前記ローラーの間にキャタピラー（登録商標）が接続される。 As a preferred technical solution, a fourth housing case is installed at the bottom end of the chassis, and a fourth rotating pin shaft extending symmetrically back and forth is installed in the fourth housing case. A roller is fixedly connected symmetrically, and Caterpillar (registered trademark) is connected between the two symmetrical rollers.

好ましい技術方案として前記ウォームホイールが前記ウォームと噛み合う。 As a preferred technical solution, the worm wheel meshes with the worm.

好ましい技術方案として前記ねじレバーが前記第二箱体と係合し接続する。 As a preferred technical solution, the screw lever engages and connects with the second box.

好ましい技術方案として前記衝撃吸収ブロックが前記第二電気回転機械の上端と下端に設置され前記第二電気回転機械と固定的に接続し、前記冷却片が前記第二電気回転機械の前端と後端に設置され前記第二電気回転機械の殻と固定的に接続し、前記冷却片の上端と下端が前記衝撃吸収ブロックと固定的に接続し、前記第二電気回転機械の前端と後端にそれぞれ一枚以上の前記冷却片が設置される。 As a preferred technical solution, the shock absorbing blocks are installed at the upper and lower ends of the second electric rotating machine and fixedly connected to the second electric rotating machine, and the cooling pieces are the front and rear ends of the second electric rotating machine. Fixedly connected to the shell of the second electric rotating machine, the upper end and the lower end of the cooling piece are fixedly connected to the shock absorbing block, and the front end and the rear end of the second electric rotating machine, respectively. One or more cooling pieces are installed.

本発明の有益な効果は、本発明の設備が初期状態にある時、前記第一箱体が前記第一収容筐体の左端に位置し左端表面が前記凸板と接触し、前記第二箱体が前記第二収容筐体の頂部に位置し頂部端面が前記第一箱体と接触する。 The beneficial effect of the present invention is that when the equipment of the present invention is in an initial state, the first box is located at the left end of the first housing case, the left end surface is in contact with the convex plate, and the second box The body is located at the top of the second housing case, and the top end surface is in contact with the first box.

使用する時に、前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が右に移動し、前記第二固連板が前記車台と接触する時に、前記第一電気回転機械を制御し動作を停止し、この時に第二電気回転機械を起動しねじレバーと連動して回転し、前記第二箱体が下にスライドし、前記第二箱体の底部が前記第一箱体と接触する時に、前記第五円錐形プーリーが前記第六円錐形プーリーと完全に噛み合って、前記第二電気回転機械を制御し回転を停止し、この時に前記第三電気回転機械を起動し前記研磨輪と連動して回転し、これにより加工品の表面を速く磨くことを実現する。 When using, when the first electric rotating machine is activated and rotated in conjunction with the second rotating pin shaft, the first box moves to the right, and the second fixed plate comes into contact with the chassis The first electric rotating machine is controlled to stop the operation, and at this time, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box slides downward, and the second box rotates When the bottom part of the first contact with the first box body, the fifth conical pulley is completely engaged with the sixth conical pulley to control the second electric rotating machine and stop the rotation. Three electric rotating machines are started and rotated in conjunction with the grinding wheel, thereby realizing a fast polishing of the surface of the workpiece.

使用が終わった後、前記第三電気回転機械を制御し回転を停止し、前記第二電気回転機械を起動し前記ねじレバーと連動して回転し、前記第二箱体が上にスライドし、前記第二箱体の頂部端面が前記第一箱体と接触する時に、前記第二電気回転機械を制御し回転を停止し、この時に前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が左に移動し、前記第一箱体の左部端面が前記凸板と接触する時に、前記第三電気回転機械を制御し回転を停止し、これにより前記第一箱体の迅速な収納を実現する。 After the use is finished, the third electric rotating machine is controlled to stop the rotation, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box body slides up, When the top end surface of the second box body contacts the first box body, the second electric rotating machine is controlled to stop the rotation, and at this time, the first electric rotating machine is activated to start the second rotating pin shaft. When the first box moves to the left and the left end surface of the first box contacts the convex plate, the third electric rotating machine is controlled to stop the rotation, This realizes quick storage of the first box.

本発明に係る設備の構造が簡単で、操作が便利で、起動と収納を一体化することを使って、加工品の研磨効率を大きく高めて、同時に耐用年数を大きく増加する。 The structure of the equipment according to the present invention is simple, convenient to operate, and the integration of start-up and storage greatly increases the polishing efficiency of the workpiece, and at the same time greatly increases the service life.

本発明の有益な効果は、本発明の設備が初期状態にある時、前記第一箱体が前記第一収容筐体の左端に位置し左端表面が前記凸板と接触し、前記第二箱体が前記第二収容筐体の頂部に位置し頂部端面が前記第一箱体と接触する。 The beneficial effect of the present invention is that when the equipment of the present invention is in an initial state, the first box is located at the left end of the first housing case, the left end surface is in contact with the convex plate, and the second box The body is located at the top of the second housing case, and the top end surface is in contact with the first box.

使用する時に、前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が右に移動し、前記第二固連板が前記車台と接触する時に、前記第一電気回転機械を制御し動作を停止し、この時に第二電気回転機械を起動しねじレバーと連動して回転し、前記第二箱体が下にスライドし、前記第二箱体の底部が前記第一箱体と接触する時に、前記第五円錐形プーリーが前記第六円錐形プーリーと完全に噛み合って、前記第二電気回転機械を制御し回転を停止し、この時に前記第三電気回転機械を起動し前記研磨輪と連動して回転し、これにより加工品の表面を速く磨くことを実現する。 When using, when the first electric rotating machine is activated and rotated in conjunction with the second rotating pin shaft, the first box moves to the right, and the second fixed plate comes into contact with the chassis The first electric rotating machine is controlled to stop the operation, and at this time, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box slides downward, and the second box rotates When the bottom part of the first contact with the first box body, the fifth conical pulley is completely engaged with the sixth conical pulley to control the second electric rotating machine and stop the rotation. Three electric rotating machines are started and rotated in conjunction with the grinding wheel, thereby realizing a fast polishing of the surface of the workpiece.

使用が終わった後、前記第三電気回転機械を制御し回転を停止し、前記第二電気回転機械を起動し前記ねじレバーと連動して回転し、前記第二箱体が上にスライドし、前記第二箱体の頂部端面が前記第一箱体と接触する時に、前記第二電気回転機械を制御し回転を停止し、この時に前記第一電気回転機械を起動し前記第二回転ピン軸と連動して回転し、前記第一箱体が左に移動し、前記第一箱体の左部端面が前記凸板と接触する時に、前記第三電気回転機械を制御し回転を停止し、これにより前記第一箱体の迅速な収納を実現する。 After the use is finished, the third electric rotating machine is controlled to stop the rotation, the second electric rotating machine is started and rotated in conjunction with the screw lever, and the second box body slides up, When the top end surface of the second box body contacts the first box body, the second electric rotating machine is controlled to stop the rotation, and at this time, the first electric rotating machine is activated to start the second rotating pin shaft. When the first box moves to the left and the left end surface of the first box contacts the convex plate, the third electric rotating machine is controlled to stop the rotation, This realizes quick storage of the first box.

本発明に係る設備の構造が簡単で、操作が便利で、起動と収納を一体化することを使って、加工品の研磨効率を大きく高めて、同時に耐用年数を大きく増加する。 The structure of the equipment according to the present invention is simple, convenient to operate, and the integration of start-up and storage greatly increases the polishing efficiency of the workpiece, and at the same time greatly increases the service life.

下記に図１〜５をあわせて本発明について詳しく説明し、便利に説明するために、下記の方向を以下のように規定する：図１は本発明装置の正面図であり、以下に述べる上下左右前後の方向と図1の自身投影関係の上下左右前後の方向とが一致である。In order to explain the present invention in detail with reference to FIGS. 1 to 5 and to provide a convenient explanation, the following directions are defined as follows: FIG. 1 is a front view of the apparatus of the present invention. The left / right / front / rear direction matches the vertical / left / right front / rear direction in FIG.

図１は本発明の自動化作業ロボットが停止する時の全体構造概略図である。FIG. 1 is a schematic diagram of the entire structure when the automated robot of the present invention stops. 図２は図１の中のA-A方向の断面図である。FIG. 2 is a cross-sectional view in the AA direction in FIG. 図３は本発明の自動化作業ロボットが作業する時の全体構造概略図である。FIG. 3 is a schematic diagram of the overall structure when the automated robot of the present invention works. 図４は図１のB-B方向の断面図である。FIG. 4 is a cross-sectional view in the BB direction of FIG. 図５は本発明の第二電気回転機械の外部構造概略図である。FIG. 5 is a schematic diagram of the external structure of the second electric rotating machine of the present invention.

図1〜5が示すように、本発明の自動化作業ロボットは車台100と前記車台100の内部に設置され開口が右に向かう第一収容筐体111を含み、前記第一収容筐体111に第一箱体101が設置され、前記第一箱体101に開口が下に向かう第二収容筐体112が設置され、前記第二収容筐体112に開口が下に向かって前後に通り抜ける第二箱体102が滑り移動し係合し接続し、前記第二箱体102に第三収容筐体113が設置され、前記第一収容筐体111の左端内壁に前後に凸板103が設置され、前記凸板103に前後に延びる第一回転ピン軸155が回転可能なように係合し接続され、前記第一回転ピン軸155に前記凸板103の間に位置する第一円錐形プーリー145が固定的に接続し、前記第一収容筐体111の左端内壁に第一電気回転機械123が設置され、前記第一電気回転機械123に前記第一円錐形プーリー145と係合し接続する第二円錐形プーリー144が動力が伝達可能なように接続され、前記第一回転ピン軸155の前後末尾に第三円錐形プーリー143が固定的に接続し、前記第一収容筐体111に左右に延びて前後対称に第二回転ピン軸156が設置され、前記第二回転ピン軸156の左右両端がベアリングを通じて前記車台100と回転可能なように係合し接続し、前記第二回転ピン軸の左端に前記第三円錐形プーリー143と係合し接続する第四円錐形プーリー142が固定的に接続し、前記第二回転ピン軸156に前後対称に第一箱体101と固定的に接続する第一固連板211と第二固連板212が係合し接続され、前記第二収容筐体112の頂部内壁に第二電気回転機械121が設置され、前記第二電気回転機械121の外側に過負荷保護部品が設置され、前記過負荷保護部品が衝撃吸収ブロック1214と冷却片1215を含み、前記第二電気回転機械121の底端に下に延びて前記第二箱体102を通り抜けるねじレバー153が動力が伝達可能なように接続され、前記第三収容筐体113に左右対称にウォームホイール131が設置され、前記ウォームホイール131に上下に延びる第三回転ピン軸151が固定的に接続し、前記第三回転ピン軸151の上端がベアリングを通じて前記第二箱体102に回転することができるように取り付けられ、前記第三回転ピン軸151の下端末尾に研磨輪161が固定的に接続され、前記第三収容筐体に左右に延びて前記ウォームホイールの後端に位置するウォーム152が設置され、前記ウォーム152の左右両端がベアリングを通じて前記第二箱体102に回転に取り付けられ、前記ウォーム152に二つの前記ウォームホイール131の間に位置する第五円錐形プーリー141が固定的に接続され、前記第二収容筐体112の後端内壁に第三電気回転機械122が設置され、前記第三電気回転機械122の前端に前記第五円錐形プーリー141と係合し接続する第六円錐形プーリー146が動力が伝達可能なように接続される。 As shown in FIGS. 1 to 5, the automated robot of the present invention includes a chassis 100 and a first housing casing 111 that is installed inside the chassis 100 and the opening faces to the right. A second box in which one box body 101 is installed, a second housing case 112 with an opening downward is installed in the first box body 101, and an opening passes through the second housing case 112 downward and forward and backward. The body 102 slides, engages and connects, the third housing case 113 is installed in the second box 102, and the convex plate 103 is installed on the left inner wall of the first housing case 111 in the front and rear, A first rotary pin shaft 155 extending in the front-rear direction is engaged with and connected to the convex plate 103, and a first conical pulley 145 located between the convex plates 103 is fixed to the first rotary pin shaft 155. A first electric rotating machine 123 is installed on the left inner wall of the first housing case 111, and the first electric rotating machine 123 is connected to the first conical -A second conical pulley 144 engaged and connected to 145 is connected so that power can be transmitted, and a third conical pulley 143 is fixedly connected to the front and rear ends of the first rotating pin shaft 155, A second rotating pin shaft 156 is installed in the first housing case 111 so as to extend left and right symmetrically, and the left and right ends of the second rotating pin shaft 156 are engaged with and connected to the chassis 100 through bearings so as to be rotatable. A fourth conical pulley 142 that is engaged with and connected to the third conical pulley 143 is fixedly connected to the left end of the second rotating pin shaft, and the first rotationally symmetrical first to the second rotating pin shaft 156. The first fixed plate 211 and the second fixed plate 212 fixedly connected to the box 101 are engaged and connected, and the second electric rotating machine 121 is installed on the top inner wall of the second housing case 112, An overload protection component is installed outside the second electric rotating machine 121, and the overload protection component is an impact absorbing block. A screw lever 153 including a cooling element 1214 and a cooling piece 1215 extending downward to the bottom end of the second electric rotating machine 121 and passing through the second box 102 so that power can be transmitted; A worm wheel 131 is installed symmetrically on the body 113, a third rotating pin shaft 151 extending vertically is fixedly connected to the worm wheel 131, and an upper end of the third rotating pin shaft 151 is connected to the second box through a bearing. mounted such that it can rotate on the body 102, the third polishing wheel 161 at the lower end end of the rotating pin shaft 151 is fixedly connected, after said worm wheel extends horizontally in the third containment enclosure A worm 152 located at the end is installed, and the left and right ends of the worm 152 are rotatably attached to the second box 102 through bearings, and the worm 152 has a fifth conical shape located between the two worm wheels 131. Pooh -141 is fixedly connected, a third electric rotating machine 122 is installed on the inner wall of the rear end of the second housing case 112, and the fifth conical pulley 141 is engaged with the front end of the third electric rotating machine 122. The sixth conical pulley 146 to be connected is connected so that power can be transmitted.

好ましくは、前記車台100の底端に第四収容筐体114が設置され、前記第四収容筐体114に左右対称的に前後に延びる第四回転ピン軸154が設置され、前記第四回転ピン軸154に前後対称にローラー104が固定的に接続し、左右対称の二つの前記ローラー104の間にキャタピラー（登録商標）162が接続される。 Preferably, a fourth housing case 114 is installed at the bottom end of the chassis 100, and a fourth rotating pin shaft 154 that extends symmetrically back and forth is installed in the fourth housing case 114, and the fourth rotating pin A roller 104 is fixedly connected to the shaft 154 in a longitudinally symmetrical manner, and a Caterpillar (registered trademark) 162 is connected between the two rollers 104 that are symmetrical in the left-right direction.

好ましくは、前記ウォームホイール131が前記ウォーム152と噛み合う。 Preferably, the worm wheel 131 meshes with the worm 152.

好ましくは、前記ねじレバー153が前記第二箱体102と係合し接続する。 Preferably, the screw lever 153 is engaged with and connected to the second box 102.

好ましくは、前記衝撃吸収ブロック1214が前記第二電気回転機械121の上端と下端に設置され前記第二電気回転機械121と固定的に接続し、前記冷却片1215が前記第二電気回転機械121の前端と後端に設置され前記第二電気回転機械121の殻と固定的に接続し、前記冷却片1215の上端と下端が前記衝撃吸収ブロック1214と固定的に接続し、前記第二電気回転機械121の前端と後端にそれぞれ一枚以上の前記冷却片1215が設置され、前記冷却片1215が前記第二電気回転機械121が動作する時に発生する熱量を吸収し発散し、前記衝撃吸収ブロック1214が前記第二電気回転機械121が動作する時に発生する振動力を減らして、振動力が大きすぎて本装置の正常な運行を影響することを防ぐ。 Preferably, the shock absorbing block 1214 is installed at the upper and lower ends of the second electric rotating machine 121 and fixedly connected to the second electric rotating machine 121, and the cooling piece 1215 is connected to the second electric rotating machine 121. The second electric rotating machine is installed at the front end and the rear end and fixedly connected to the shell of the second electric rotating machine 121, and the upper and lower ends of the cooling piece 1215 are fixedly connected to the shock absorbing block 1214. One or more cooling pieces 1215 are installed at the front end and the rear end of 121, respectively, and the cooling pieces 1215 absorb and radiate heat generated when the second electric rotating machine 121 operates, and the shock absorbing block 1214 However, the vibration force generated when the second electric rotating machine 121 operates is reduced to prevent the vibration force from being too large and affecting the normal operation of the apparatus.

本発明の設備が初期状態にある時、前記第一箱体101が前記第一収容筐体111の左端に位置し左端表面が前記凸板103と接触し、前記第二箱体102が前記第二収容筐体112の頂部に位置し頂部端面が前記第一箱体101と接触する。 When the facility of the present invention is in the initial state, the first box body 101 is located at the left end of the first housing case 111, the left end surface is in contact with the convex plate 103, and the second box body 102 is The top end surface of the two housing cases 112 is in contact with the first box 101.

使用する時に、前記第一電気回転機械123を起動し前記第二回転ピン軸156と連動して回転し、前記第一箱体101が右に移動し、前記第二固連板212が前記車台100と接触する時に、前記第一電気回転機械123を制御し動作を停止し、この時に第二電気回転機械121を起動しねじレバー153と連動して回転し、前記第二箱体102が下にスライドし、前記第二箱体102の底部が前記第一箱体101と接触する時に、前記第五円錐形プーリー141が前記第六円錐形プーリー146と完全に噛み合って、前記第二電気回転機械121を制御し回転を停止し、この時に前記第三電気回転機械122を起動し前記研磨輪161と連動して回転し、これにより加工品の表面を速く磨くことを実現する。 When used, the first electric rotating machine 123 is started and rotated in conjunction with the second rotating pin shaft 156, the first box body 101 is moved to the right, and the second fixed plate 212 is moved to the chassis. When contacted with 100, the first electric rotating machine 123 is controlled to stop the operation, and at this time, the second electric rotating machine 121 is started and rotated in conjunction with the screw lever 153 so that the second box 102 is lowered. When the bottom of the second box 102 comes into contact with the first box 101, the fifth conical pulley 141 is completely engaged with the sixth conical pulley 146, and the second electric rotation The machine 121 is controlled to stop the rotation, and at this time, the third electric rotating machine 122 is started and rotated in conjunction with the grinding wheel 161, thereby realizing the rapid polishing of the surface of the workpiece.

使用が終わった後、前記第三電気回転機械122を制御し回転を停止し、前記第二電気回転機械121を起動し前記ねじレバー153と連動して回転し、前記第二箱体102が上にスライドし、前記第二箱体102の頂部端面が前記第一箱体101と接触する時に、前記第二電気回転機械12１を制御し回転を停止し、この時に前記第一電気回転機械123を起動し前記第二回転ピン軸156と連動して回転し、前記第一箱体101が左に移動し、前記第一箱体101の左部端面が前記凸板103と接触する時に、前記第三電気回転機械122を制御し回転を停止し、これにより前記第一箱体の迅速な収納を実現する。 After the use is finished, the third electric rotating machine 122 is controlled to stop the rotation, the second electric rotating machine 121 is started and rotated in conjunction with the screw lever 153, and the second box 102 is moved upward. When the top end surface of the second box 102 comes into contact with the first box 101, the second electric rotating machine 121 is controlled to stop the rotation. At this time, the first electric rotating machine 123 is When the first box 101 is moved to the left and the left end surface of the first box 101 is in contact with the convex plate 103, the second rotation pin shaft 156 is activated and rotated. The three electric rotating machines 122 are controlled to stop the rotation, thereby realizing quick storage of the first box.

以上に述べたのはただ本発明の具体的な実施方式で、しかし本発明の保護範囲はこれに限らない。全部の創造的な労働を通じなく思いついた変化と取替は本発明の保護範囲にカバーされる。それゆえ本発明の保護範囲は特許請求の範囲が限定する保護範囲を基準とする。 What has been described above is merely a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Changes and replacements that have been conceived not through all creative labor are covered by the protection scope of the present invention. Therefore, the protection scope of the present invention is based on the protection scope defined by the claims.

Claims (1)

自動化作業ロボットであって、車台と前記車台の内部に設置されノッチが右に向かう第一収容筐体を含み、前記第一収容筐体に第一箱体が設置され、前記第一箱体にノッチが下に向かう第二収容筐体が設置され、前記第二収容筐体にノッチが下に向かって前後に通り抜ける第二箱体が滑り移動し係合し接続し、前記第二箱体に第三収容筐体が設置され、前記第一収容筐体の左端内壁に前後に凸板が設置され、前記凸板に前後に延びる第一回転ピン軸が回転可能なように係合し接続され、前記第一回転ピン軸に前記凸板の間に位置する第一円錐形プーリーが固定的に接続し、前記第一収容筐体の左端内壁に第一電気回転機械が設置され、前記第一電気回転機械に前記第一円錐形プーリーと係合し接続する第二円錐形プーリーが動力が伝達可能なように接続され、前記第一回転ピン軸の前後末尾に第三円錐形プーリーが固定的に接続し、前記第一収容筐体に左右に延びて前後対称に第二回転ピン軸が設置され、前記第二回転ピン軸の左右両端がベアリングを通じて前記車台と回転可能なように係合し接続し、前記第二回転ピン軸の左端に前記第三円錐形プーリーと係合し接続する第四円錐形プーリーが固定的に接続し、前記第二回転ピン軸に前後対称に第一箱体と固定的に接続する第一固連板と第二固連板が係合し接続され、前記第二収容筐体の頂部内壁に第二電気回転機械が設置され、前記第二電気回転機械の外側に過負荷保護部品が設置され、前記過負荷保護部品が衝撃吸収ブロックと冷却片を含み、前記第二電気回転機械の底端に下に延びて前記第二箱体を通り抜けるねじレバーが動力が伝達可能なように接続され、前記第三収容筐体に左右対称にタービンが設置され、前記タービンに上下に延びる第三回転ピン軸が固定的に接続し、前記第三回転ピン軸の上端がベアリングを通じて前記第二箱体に回転することができるように取り付けられ、前記第三回転ピン軸の下端末尾に研磨輪が固定的に接続され、前記第三収容筐体に左右に延びて前記タービンの後端に位置するウォームが設置され、前記ウォームの左右両端がベアリングを通じて前記第二箱体に回転に取り付けられ、前記ウォームに二つの前記タービンの間に位置する第五円錐形プーリーが固定的に接続され、前記第二収容筐体の後端内壁に第三電気回転機械が設置され、前記第三電気回転機械の前端に前記第五円錐形プーリーと係合し接続する第六円錐形プーリーが動力が伝達可能なように接続され、前記車台の底端に第四収容筐体が設置され、前記第四収容筐体に左右対称的に前後に延びる第四回転ピン軸が設置され、前記第四回転ピン軸に前後対称にローラーが固定的に接続し、左右対称の二つの前記ローラーの間にキャタピラーが接続され、前記タービンが前記ウォームと噛み合い、前記ねじレバーが前記第二箱体と係合し接続し、前記衝撃吸収ブロックが前記第二電気回転機械の上端と下端に設置され前記第二電気回転機械と固定的に接続し、前記冷却片が前記第二電気回転機械の前端と後端に設置され前記第二電気回転機械の殻と固定的に接続し、前記冷却片の上端と下端が前記衝撃吸収ブロックと固定的に接続し、前記第二電気回転機械の前端と後端にそれぞれ一枚以上の前記冷却片が設置されることを特徴とする自動化作業ロボット。 An automated work robot, comprising a chassis and a first housing case installed inside the chassis and having a notch facing right, wherein a first box body is installed in the first housing body, A second housing case is provided in which the notch is directed downward, and a second box body in which the notch passes through the second housing body in the front-rear direction is slidably moved and connected to the second box body. A third housing case is installed, a convex plate is installed on the left inner wall of the first housing case on the front and back, and a first rotating pin shaft extending front and rear is engaged and connected to the convex plate so as to be rotatable. A first conical pulley positioned between the convex plates is fixedly connected to the first rotating pin shaft, and a first electric rotating machine is installed on a left end inner wall of the first housing, and the first electric rotating A second conical pulley that engages and connects with the first conical pulley to the machine can transmit power A third conical pulley is fixedly connected to the front and rear ends of the first rotating pin shaft, and the second rotating pin shaft is installed symmetrically in the front-rear direction extending to the left and right of the first housing. A fourth conical shape in which the left and right ends of the second rotating pin shaft are engaged with and connected to the chassis through bearings, and the left end of the second rotating pin shaft is engaged with and connected to the third conical pulley. A pulley is fixedly connected, and a first fixed plate and a second fixed plate that are fixedly connected to the first box body in a longitudinally symmetrical manner with respect to the second rotation pin shaft are engaged and connected, and the second housing A second electric rotating machine is installed on the top inner wall of the housing, an overload protection component is installed outside the second electric rotating machine, the overload protection component includes an impact absorbing block and a cooling piece, Screw lever that extends down to the bottom end of the electric rotating machine and passes through the second box Power is transmitted so that power can be transmitted, a turbine is installed symmetrically in the third housing case, a third rotating pin shaft extending vertically is fixedly connected to the turbine, and the third rotating pin shaft The upper end is attached to the second box through a bearing so that it can rotate, and a grinding wheel is fixedly connected to the lower end of the third rotating pin shaft, and extends to the left and right in the third housing case. A worm located at the rear end of the turbine is installed, and both left and right ends of the worm are rotatably attached to the second box through bearings, and a fifth conical pulley located between the two turbines is attached to the worm. A sixth cone that is fixedly connected, has a third electric rotating machine installed on the inner wall of the rear end of the second housing case, and engages and connects with the fifth conical pulley at the front end of the third electric rotating machine Shape pooh Lee is connected so that power can be transmitted, a fourth housing case is installed at the bottom end of the chassis, and a fourth rotating pin shaft that extends symmetrically back and forth is installed in the fourth housing case, A roller is fixedly connected to the fourth rotation pin shaft symmetrically in the longitudinal direction, a caterpillar is connected between the two symmetrical rollers, the turbine meshes with the worm, and the screw lever is the second box body The shock absorbing blocks are installed at the upper and lower ends of the second electric rotating machine and fixedly connected to the second electric rotating machine, and the cooling piece is the front end of the second electric rotating machine. Installed at the rear end and fixedly connected to the shell of the second electric rotating machine, the upper and lower ends of the cooling piece are fixedly connected to the shock absorbing block, and the front and rear ends of the second electric rotating machine One or more pieces of the cooling piece at each end Automated working robot, characterized in that the location.
JP2018091918A 2018-04-10 2018-05-11 Automation work robot Pending JP2019181677A (en)

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CN201810313422.2A CN108527100A (en) 2018-04-10 2018-04-10 A kind of automated job robot

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112490859A (en) * 2020-12-01 2021-03-12 国网内蒙古东部电力有限公司兴安供电公司 Inspection device for electric power overhaul
CN112720600A (en) * 2020-12-15 2021-04-30 安徽艾米伦特建材科技有限公司 Processing tool for inorganic composite polyphenyl non-combustible heat insulation material
CN113235925A (en) * 2021-04-14 2021-08-10 江苏富鑫机械制造有限公司 High-pressure wool punching machine with roller storage function and storage method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112490859A (en) * 2020-12-01 2021-03-12 国网内蒙古东部电力有限公司兴安供电公司 Inspection device for electric power overhaul
CN112720600A (en) * 2020-12-15 2021-04-30 安徽艾米伦特建材科技有限公司 Processing tool for inorganic composite polyphenyl non-combustible heat insulation material
CN113235925A (en) * 2021-04-14 2021-08-10 江苏富鑫机械制造有限公司 High-pressure wool punching machine with roller storage function and storage method

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