WO2022056804A1 - Fully automatic intelligent loading and unloading industrial robot device - Google Patents
Fully automatic intelligent loading and unloading industrial robot device Download PDFInfo
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- WO2022056804A1 WO2022056804A1 PCT/CN2020/116059 CN2020116059W WO2022056804A1 WO 2022056804 A1 WO2022056804 A1 WO 2022056804A1 CN 2020116059 W CN2020116059 W CN 2020116059W WO 2022056804 A1 WO2022056804 A1 WO 2022056804A1
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- locking frame
- fixedly connected
- hydraulic cylinder
- industrial robot
- servo hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
Definitions
- the invention relates to the technical field of industrial robots, in particular to a fully automatic intelligent loading and unloading industrial robot device.
- Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices widely used in the industrial field. They have a certain degree of automation and can realize various industrial processing and manufacturing functions by relying on their own power energy and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Generally speaking, industrial robots are composed of three major parts and six subsystems. The three major parts are the mechanical part, the sensing part and the control part. The six subsystems can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system.
- the purpose of the present invention is to overcome the shortcomings of the prior art and provide a fully automatic intelligent loading and unloading industrial robot device.
- a fully automatic intelligent loading and unloading industrial robot device comprising an industrial robot main body, one side of the industrial robot main body is fixedly connected with a support plate, and the support plate is far from one side of the industrial robot main body.
- a first servo hydraulic cylinder is fixedly connected to the side, and a second servo hydraulic cylinder is fixedly connected to one side of the support plate close to the first servo hydraulic cylinder; wherein, one end of the first servo hydraulic cylinder is fixedly connected to a first locking One end of the first servo hydraulic cylinder away from the first locking frame is fixedly connected with a second locking frame; one side of the first locking frame is fixedly connected with a first reduction motor, the first reduction motor A first active roller is fixedly connected to one side close to the first locking frame, and a first driven roller is rotatably connected to the inside of the first locking frame through a bearing; one side of the second locking frame is fixed A second deceleration motor is connected, the side of the second deceleration motor close to the second locking frame is fixedly connected with a second driving roller, and the inside of the second locking frame is rotatably connected with a second driven roller One side of the second locking frame is fixedly connected with a sleeve rod, the inside of
- one end of the second servo hydraulic cylinder is fixedly connected to the first locking frame, and the other end of the second servo hydraulic cylinder is fixedly connected to the second locking frame.
- the first driving roller is located inside the first locking frame, the first driving roller and the first locking frame are rotatably connected through a bearing, and the outer surface of the first driving roller is provided with Raised.
- the first driven roller is located below the first driving roller
- the second driven roller is located below the second driving roller
- the second active roller is located inside the second locking frame, the second active roller and the second locking frame are rotatably connected through a bearing, and the outer surface of the second active roller is provided with Raised.
- one end of the clamping block is provided with an arc surface, the clamping block is located below the second driven roller, and the clamping block is slidably connected with the second locking frame.
- the shape of the slider is adapted to the shape of the inner chute of the clamping block, and the round rod is slidably connected to the opening of the clamping block.
- the round rod is fixedly connected to the inner wall of the sleeve rod, the spring is located between the clamping block and the sleeve rod, the spring is located inside the sleeve rod, and the round rod is located inside the sleeve rod.
- the invention has the following advantages: the fully automatic intelligent loading and unloading industrial robot device is fixedly connected with the second servo hydraulic cylinder through the side of the support plate close to the first servo hydraulic cylinder, and the first locking frame, the second locking frame, the first A geared motor, a first active roller, a second geared motor, a second active roller, a roller, a clamping block and a spring are arranged in coordination, the first servo hydraulic cylinder and the second servo hydraulic cylinder work at the same time, and the first lock
- the tight frame and the second locking frame lock lock the box, the block shrinks, the first gear motor and the second gear motor work at the same time, the first active roller and the second active roller rotate to lift the box, and the rollers are on the surface of the box Roll until it is separated from the box, and the card block pops out under the action of the spring, which can jam the bottom of the box, solves the problem that the existing card suddenly slips off, and is convenient to use.
- FIG. 1 is a schematic structural diagram of the first viewing angle of the present invention.
- FIG. 2 is a schematic structural diagram of the second time of the present invention.
- FIG. 3 is a schematic structural diagram of a card block of the present invention.
- FIG. 4 is a cross-sectional structural schematic diagram of a clamping block of the present invention.
- a fully automatic intelligent loading and unloading industrial robot device includes an industrial robot body 1, a support plate 2 is fixedly connected to one side of the industrial robot body 1, and the support plate 2 is away from the side of the industrial robot body 1.
- a first servo hydraulic cylinder 3 is fixedly connected, and a second servo hydraulic cylinder 4 is fixedly connected to the side of the support plate 2 close to the first servo hydraulic cylinder 3, wherein one end of the first servo hydraulic cylinder 3 is fixedly connected to a first locking Frame 5, one end of the first servo hydraulic cylinder 3 away from the first locking frame 5 is fixedly connected with a second locking frame 6, one side of the first locking frame 5 is fixedly connected with a first reduction motor 7, the first reduction motor 7.
- the side close to the first locking frame 5 is fixedly connected with a first active roller 8, which serves the purpose of lifting the box.
- the box is limited and lifted, one side of the second locking frame 6 is fixedly connected with the second deceleration motor 10, and the side of the second deceleration motor 10 close to the second locking frame 6 is fixedly connected with the second active roller 11.
- the inside of the second locking frame 6 is rotatably connected with the second driven roller 12 through the bearing, one side of the second locking frame 6 is fixedly connected with a sleeve rod 13, and the inside of the sleeve rod 13 is slidably connected with a clamping block 14, the clamping block One end of the 14 is rotatably connected with a roller 15, which is more smoothly when the box is lifted.
- a slider 16 is slidably connected to the inside of the blocking block 14 to prevent the blocking block 14 from falling off when it is ejected.
- One side of the sliding block 16 is fixedly connected with a round rod 17.
- the outer surface of the round rod 17 is sleeved with a spring 18, the first servo hydraulic cylinder 3 and the second servo hydraulic cylinder 4 work at the same time, the first locking frame 5 and the second locking frame 6 lock the box, and the clamping block 14
- the first deceleration motor 7 and the second deceleration motor 10 work at the same time, the first driving roller 8 and the second driving roller 11 rotate to lift the box, the roller 15 rolls on the surface of the box until it is separated from the box, and the block 14 is in It pops out under the action of the spring 18, which can jam the bottom of the box, which solves the problem of the existing jammer slipping down suddenly, and is convenient to use.
- one end of the second servo hydraulic cylinder 4 is fixedly connected to the first locking frame 5
- the other end of the second servo hydraulic cylinder 4 is fixedly connected to the second locking frame 6 .
- the first driving roller 8 is located inside the first locking frame 5, the first driving roller 8 and the first locking frame 5 are rotatably connected through a bearing, and the first driving roller 8
- the outer surface is provided with protrusions, which play a non-slip effect.
- the first driven roller 9 is located below the first driving roller 8
- the second driven roller 12 is located below the second driving roller 11 .
- the second driving roller 11 is located inside the second locking frame 6 , the second driving roller 11 and the second locking frame 6 are rotatably connected through a bearing, and the second driving roller 11
- the outer surface is provided with protrusions, which play a non-slip effect.
- one end of the clamping block 14 is provided with an arc surface, the clamping block 14 is located below the second driven roller 12 , and the clamping block 14 is slidably connected with the second locking frame 6 .
- the shape of the slider 16 is adapted to the shape of the internal chute of the clamping block 14 to prevent the clamping block 14 from falling off, and the round rod 17 is slidably connected to the opening of the clamping block 14 .
- the round rod 17 is fixedly connected to the inner wall of the sleeve rod 13, the spring 18 is located between the clamping block 14 and the sleeve rod 13, the clamping block 14 is ejected, and the spring 18 is located inside the sleeve rod 13, The round rod 17 is located inside the sleeve rod 13 .
- the working process of the present invention is as follows: the first servo hydraulic cylinder 3 and the second servo hydraulic cylinder 4 work at the same time, the first locking frame 5 and the second locking frame 6 lock the box, the clamping block 14 shrinks, the first reduction motor 7 and the second deceleration motor 10 work at the same time, the first driving roller 8 and the second driving roller 11 rotate to lift the box, the roller 15 rolls on the surface of the box until it is separated from the box, and the block 14 pops out under the action of the spring 18 .
- the fully automatic intelligent loading and unloading industrial robot device is fixedly connected with the second servo hydraulic cylinder 4, the first locking frame 5, the second locking The frame 6, the first deceleration motor 7, the first active roller 8, the second deceleration motor 10, the second active roller 11, the roller 15, the clamping block 14 and the spring 18 are arranged in coordination, and the first servo hydraulic cylinder 3 Working simultaneously with the second servo hydraulic cylinder 4, the first locking frame 5 and the second locking frame 6 lock the box, the block 14 shrinks, the first reduction motor 7 and the second reduction motor 10 work at the same time, the first active The roller 8 and the second active roller 11 rotate to lift the box, the roller 15 rolls on the surface of the box until it is separated from the box, and the blocking block 14 pops out under the action of the spring 18, which can jam the bottom of the box, which solves the problem of existing problems. The card suddenly slipped and fell, and it was convenient to use.
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Abstract
A fully automatic intelligent loading and unloading industrial robot device. The device comprises an industrial robot main body (1), wherein a supporting plate (2) is fixedly connected to one side of the industrial robot main body (1); a first servo hydraulic cylinder (3) is fixedly connected to the side of the supporting plate that is away from the industrial robot main body (1); a second servo hydraulic cylinder (4) is fixedly connected to the side of the supporting plate that is close to the first servo hydraulic cylinder (3); and a first locking frame (5) is fixedly connected to one end of the first servo hydraulic cylinder (3). The second servo hydraulic cylinder (4) is fixedly connected to the side of the supporting plate (2) that is close to the first servo hydraulic cylinder (3), and the first locking frame (5), a second locking frame (6), a first gear motor (7), a first driving roller (8), a second gear motor (10), a second driving roller (11), rolling wheels (15), clamping blocks (14) and springs (18) are arranged in a cooperative manner, such that the bottom of a container can be clamped, thereby solving the existing problem that sliding occurs during jamming, and making the device convenient to use.
Description
本发明涉及工业机器人技术领域，特别是一种全自动智能装卸工业机器人装置。The invention relates to the technical field of industrial robots, in particular to a fully automatic intelligent loading and unloading industrial robot device.
中国工业机器人起步于70年代初期，经过20多年的发展，大致经历了3个阶段：70年代的萌芽期，80年代的开发期和90年代的适用化期。Chinese industrial robots started in the early 1970s. After more than 20 years of development, they have roughly gone through three stages: the budding period in the 1970s, the development period in the 1980s, and the applicable period in the 1990s.
工业机器人是广泛用于工业领域的多关节机械手或多自由度的机器装置，具有一定的自动性，可依靠自身的动力能源和控制能力实现各种工业加工制造功能。工业机器人被广泛应用于电子、物流、化工等各个工业领域之中。一般来说，工业机器人由三大部分六个子系统组成。三大部分是机械部分、传感部分和控制部分。六个子系统可分为机械结构系统、驱动系统、感知系统、机器人-环境交互系统、人机交互系统和控制系统。Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices widely used in the industrial field. They have a certain degree of automation and can realize various industrial processing and manufacturing functions by relying on their own power energy and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Generally speaking, industrial robots are composed of three major parts and six subsystems. The three major parts are the mechanical part, the sensing part and the control part. The six subsystems can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system.
工业加工中，需依次对加工件进行重复装卸操作，以实现批量加工件依次送入加工区进行钻孔加工的效果，在装卸过程中，使用机器人控制加工件的送入和取出操作可提高加工效率，机器人的应用较为广泛。In industrial processing, it is necessary to perform repeated loading and unloading operations on the workpieces in turn to achieve the effect of sending batches of workpieces into the processing area for drilling processing. Efficiency, the application of robots is more extensive.
现有的工业机器人在装卸货箱时通常都是采用夹取的形式，由于箱子的表面光滑，在遇到卡顿时容易滑落，造成箱子内部的货物摔坏。Existing industrial robots usually use the form of gripping when loading and unloading boxes. Since the surface of the box is smooth, it is easy to slip off when it encounters a jam, causing the goods inside the box to break.
本发明的目的在于克服现有技术的缺点，提供一种全自动智能装卸工业机器人装置。The purpose of the present invention is to overcome the shortcomings of the prior art and provide a fully automatic intelligent loading and unloading industrial robot device.
本发明的目的通过以下技术方案来实现：一种全自动智能装卸工业机器人装置，包括工业机器人主体，所述工业机器人主体的一侧固定连接有支撑板，所述支撑板远离工业机器人主体的一侧固定连接有第一伺服液压缸，所述支撑板靠近第一伺服液压缸的一侧固定连接有第二伺服液压缸；其中，所述第一伺服液压缸的一端固定连接有第一锁紧架，所述第一伺服液压缸远离第一锁紧架的一端固定连接有第二锁紧架；所述第一锁紧架的一侧固定连接有第一减速电机，所述第一减速电机靠近第一锁紧架的一侧固定连接有第一主动滚柱，所述第一锁紧架的内部通过轴承转动连接有第一从动滚柱；所述第二锁紧架的一侧固定连接有第二减速电机，所述第二减速电机靠近第二锁紧架的一侧固定连接有第二主动滚柱，所述第二锁紧架的内部通过轴承转动连接有第二从动滚柱；所述第二锁紧架的一侧固定连接有套杆，所述套杆的内部滑动连接有卡块，所述卡块的一端转动连接有滚轮，所述卡块的内部滑动连接有滑块，所述滑块的一侧固定连接有圆杆，所述圆杆的外表面套接有弹簧。The object of the present invention is achieved through the following technical solutions: a fully automatic intelligent loading and unloading industrial robot device, comprising an industrial robot main body, one side of the industrial robot main body is fixedly connected with a support plate, and the support plate is far from one side of the industrial robot main body. A first servo hydraulic cylinder is fixedly connected to the side, and a second servo hydraulic cylinder is fixedly connected to one side of the support plate close to the first servo hydraulic cylinder; wherein, one end of the first servo hydraulic cylinder is fixedly connected to a first locking One end of the first servo hydraulic cylinder away from the first locking frame is fixedly connected with a second locking frame; one side of the first locking frame is fixedly connected with a first reduction motor, the first reduction motor A first active roller is fixedly connected to one side close to the first locking frame, and a first driven roller is rotatably connected to the inside of the first locking frame through a bearing; one side of the second locking frame is fixed A second deceleration motor is connected, the side of the second deceleration motor close to the second locking frame is fixedly connected with a second driving roller, and the inside of the second locking frame is rotatably connected with a second driven roller One side of the second locking frame is fixedly connected with a sleeve rod, the inside of the sleeve rod is slidably connected with a clamping block, one end of the clamping block is rotatably connected with a roller, and the interior of the clamping block is slidably connected with a A slider, one side of the slider is fixedly connected with a round rod, and the outer surface of the round rod is sleeved with a spring.
可选的，所述第二伺服液压缸的一端与第一锁紧架固定连接，所述第二伺服液压缸的另一端与第二锁紧架固定连接。Optionally, one end of the second servo hydraulic cylinder is fixedly connected to the first locking frame, and the other end of the second servo hydraulic cylinder is fixedly connected to the second locking frame.
可选的，所述第一主动滚柱位于第一锁紧架的内部，所述第一主动滚柱与第一锁紧架通过轴承转动连接，所述第一主动滚柱的外表面开设有凸起。Optionally, the first driving roller is located inside the first locking frame, the first driving roller and the first locking frame are rotatably connected through a bearing, and the outer surface of the first driving roller is provided with Raised.
可选的，所述第一从动滚柱位于第一主动滚柱的下方，所述第二从动滚柱位于第二主动滚柱的下方。Optionally, the first driven roller is located below the first driving roller, and the second driven roller is located below the second driving roller.
可选的，所述第二主动滚柱位于第二锁紧架的内部，所述第二主动滚柱与第二锁紧架通过轴承转动连接，所述第二主动滚柱的外表面开设有凸起。Optionally, the second active roller is located inside the second locking frame, the second active roller and the second locking frame are rotatably connected through a bearing, and the outer surface of the second active roller is provided with Raised.
可选的，所述卡块的一端开设有弧面，所述卡块位于第二从动滚柱的下方，所述卡块与第二锁紧架滑动连接。Optionally, one end of the clamping block is provided with an arc surface, the clamping block is located below the second driven roller, and the clamping block is slidably connected with the second locking frame.
可选的，所述滑块的形状与卡块内部滑槽形状相适配，所述圆杆与卡块的开口处滑动连接。Optionally, the shape of the slider is adapted to the shape of the inner chute of the clamping block, and the round rod is slidably connected to the opening of the clamping block.
可选的，所述圆杆与套杆的内壁固定连接，所述弹簧位于卡块与套杆之间，所述弹簧位于套杆的内部，所述圆杆位于套杆的内部。Optionally, the round rod is fixedly connected to the inner wall of the sleeve rod, the spring is located between the clamping block and the sleeve rod, the spring is located inside the sleeve rod, and the round rod is located inside the sleeve rod.
本发明具有以下优点：该全自动智能装卸工业机器人装置，通过支撑板靠近第一伺服液压缸的一侧固定连接有第二伺服液压缸，以及第一锁紧架、第二锁紧架、第一减速电机、第一主动滚柱、第二减速电机、第二主动滚柱、滚轮、卡块和弹簧之间的配合设置，第一伺服液压缸和第二伺服液压缸同时工作，第一锁紧架和第二锁紧架将箱子锁紧，卡块收缩，第一减速电机和第二减速电机同时工作，第一主动滚柱和第二主动滚柱转动将箱子提升，滚轮在箱子的表面滚动，直到脱离箱子，卡块在弹簧的作用下弹出，能够卡住箱子的底部，解决了现有的卡顿时出现滑落的问题，使用起来方便。The invention has the following advantages: the fully automatic intelligent loading and unloading industrial robot device is fixedly connected with the second servo hydraulic cylinder through the side of the support plate close to the first servo hydraulic cylinder, and the first locking frame, the second locking frame, the first A geared motor, a first active roller, a second geared motor, a second active roller, a roller, a clamping block and a spring are arranged in coordination, the first servo hydraulic cylinder and the second servo hydraulic cylinder work at the same time, and the first lock The tight frame and the second locking frame lock the box, the block shrinks, the first gear motor and the second gear motor work at the same time, the first active roller and the second active roller rotate to lift the box, and the rollers are on the surface of the box Roll until it is separated from the box, and the card block pops out under the action of the spring, which can jam the bottom of the box, solves the problem that the existing card suddenly slips off, and is convenient to use.
图1为本发明第一视角的结构示意图。FIG. 1 is a schematic structural diagram of the first viewing angle of the present invention.
图2为本发明第二时间的结构示意图。FIG. 2 is a schematic structural diagram of the second time of the present invention.
图3为本发明卡块的结构示意图。FIG. 3 is a schematic structural diagram of a card block of the present invention.
图4为本发明卡块剖视的结构示意图。FIG. 4 is a cross-sectional structural schematic diagram of a clamping block of the present invention.
图中：1-工业机器人主体，2-支撑板，3-第一伺服液压缸，4-第二伺服液压缸，5-第一锁紧架，6-第二锁紧架，7-第一减速电机，8-第一主动滚柱，9-第一从动滚柱，10-第二减速电机，11-第二主动滚柱，12-第二从动滚柱，13-套杆，14-卡块，15-滚轮，16-滑块，17-圆杆，18-弹簧。In the figure: 1- industrial robot body, 2- support plate, 3- first servo hydraulic cylinder, 4- second servo hydraulic cylinder, 5- first locking frame, 6- second locking frame, 7- first Geared Motor, 8-First Drive Roller, 9-First Driven Roller, 10-Second Gear Motor, 11-Second Drive Roller, 12-Second Driven Roller, 13-Sleeve Rod, 14 -Clamping block, 15-roller, 16-slider, 17-round rod, 18-spring.
下面结合附图对本发明做进一步的描述，但本发明的保护范围不局限于以下所述。The present invention will be further described below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the following.
如图1-4所示，一种全自动智能装卸工业机器人装置，它包括工业机器人主体1，工业机器人主体1的一侧固定连接有支撑板2，支撑板2远离工业机器人主体1的一侧固定连接有第一伺服液压缸3，支撑板2靠近第一伺服液压缸3的一侧固定连接有第二伺服液压缸4，其中，第一伺服液压缸3的一端固定连接有第一锁紧架5，第一伺服液压缸3远离第一锁紧架5的一端固定连接有第二锁紧架6，第一锁紧架5的一侧固定连接有第一减速电机7，第一减速电机7靠近第一锁紧架5的一侧固定连接有第一主动滚柱8，起到了提升箱子的目的，第一锁紧架5的内部通过轴承转动连接有第一从动滚柱9，将箱子进行限位提升，第二锁紧架6的一侧固定连接有第二减速电机10，第二减速电机10靠近第二锁紧架6的一侧固定连接有第二主动滚柱11，第二锁紧架6的内部通过轴承转动连接有第二从动滚柱12，第二锁紧架6的一侧固定连接有套杆13，套杆13的内部滑动连接有卡块14，卡块14的一端转动连接有滚轮15，在箱子提升时更加的顺利，卡块14的内部滑动连接有滑块16，防止卡块14弹出时掉落，滑块16的一侧固定连接有圆杆17，圆杆17的外表面套接有弹簧18，第一伺服液压缸3和第二伺服液压缸4同时工作，第一锁紧架5和第二锁紧架6将箱子锁紧，卡块14收缩，第一减速电机7和第二减速电机10同时工作，第一主动滚柱8和第二主动滚柱11转动将箱子提升，滚轮15在箱子的表面滚动，直到脱离箱子，卡块14在弹簧18的作用下弹出，能够卡住箱子的底部，解决了现有的卡顿时出现滑落的问题，使用起来方便。As shown in Figures 1-4, a fully automatic intelligent loading and unloading industrial robot device includes an industrial robot body 1, a support plate 2 is fixedly connected to one side of the industrial robot body 1, and the support plate 2 is away from the side of the industrial robot body 1. A first servo hydraulic cylinder 3 is fixedly connected, and a second servo hydraulic cylinder 4 is fixedly connected to the side of the support plate 2 close to the first servo hydraulic cylinder 3, wherein one end of the first servo hydraulic cylinder 3 is fixedly connected to a first locking Frame 5, one end of the first servo hydraulic cylinder 3 away from the first locking frame 5 is fixedly connected with a second locking frame 6, one side of the first locking frame 5 is fixedly connected with a first reduction motor 7, the first reduction motor 7. The side close to the first locking frame 5 is fixedly connected with a first active roller 8, which serves the purpose of lifting the box. The box is limited and lifted, one side of the second locking frame 6 is fixedly connected with the second deceleration motor 10, and the side of the second deceleration motor 10 close to the second locking frame 6 is fixedly connected with the second active roller 11. The inside of the second locking frame 6 is rotatably connected with the second driven roller 12 through the bearing, one side of the second locking frame 6 is fixedly connected with a sleeve rod 13, and the inside of the sleeve rod 13 is slidably connected with a clamping block 14, the clamping block One end of the 14 is rotatably connected with a roller 15, which is more smoothly when the box is lifted. A slider 16 is slidably connected to the inside of the blocking block 14 to prevent the blocking block 14 from falling off when it is ejected. One side of the sliding block 16 is fixedly connected with a round rod 17. , the outer surface of the round rod 17 is sleeved with a spring 18, the first servo hydraulic cylinder 3 and the second servo hydraulic cylinder 4 work at the same time, the first locking frame 5 and the second locking frame 6 lock the box, and the clamping block 14 The first deceleration motor 7 and the second deceleration motor 10 work at the same time, the first driving roller 8 and the second driving roller 11 rotate to lift the box, the roller 15 rolls on the surface of the box until it is separated from the box, and the block 14 is in It pops out under the action of the spring 18, which can jam the bottom of the box, which solves the problem of the existing jammer slipping down suddenly, and is convenient to use.
作为本发明的一种优选技术方案：第二伺服液压缸4的一端与第一锁紧架5固定连接，第二伺服液压缸4的另一端与第二锁紧架6固定连接。As a preferred technical solution of the present invention, one end of the second servo hydraulic cylinder 4 is fixedly connected to the first locking frame 5 , and the other end of the second servo hydraulic cylinder 4 is fixedly connected to the second locking frame 6 .
作为本发明的一种优选技术方案：第一主动滚柱8位于第一锁紧架5的内部，第一主动滚柱8与第一锁紧架5通过轴承转动连接，第一主动滚柱8的外表面开设有凸起，起到了防滑的作用。As a preferred technical solution of the present invention: the first driving roller 8 is located inside the first locking frame 5, the first driving roller 8 and the first locking frame 5 are rotatably connected through a bearing, and the first driving roller 8 The outer surface is provided with protrusions, which play a non-slip effect.
作为本发明的一种优选技术方案：第一从动滚柱9位于第一主动滚柱8的下方，第二从动滚柱12位于第二主动滚柱11的下方。As a preferred technical solution of the present invention, the first driven roller 9 is located below the first driving roller 8 , and the second driven roller 12 is located below the second driving roller 11 .
作为本发明的一种优选技术方案：第二主动滚柱11位于第二锁紧架6的内部，第二主动滚柱11与第二锁紧架6通过轴承转动连接，第二主动滚柱11的外表面开设有凸起，起到了防滑的作用。As a preferred technical solution of the present invention: the second driving roller 11 is located inside the second locking frame 6 , the second driving roller 11 and the second locking frame 6 are rotatably connected through a bearing, and the second driving roller 11 The outer surface is provided with protrusions, which play a non-slip effect.
作为本发明的一种优选技术方案：卡块14的一端开设有弧面，卡块14位于第二从动滚柱12的下方，卡块14与第二锁紧架6滑动连接。As a preferred technical solution of the present invention, one end of the clamping block 14 is provided with an arc surface, the clamping block 14 is located below the second driven roller 12 , and the clamping block 14 is slidably connected with the second locking frame 6 .
作为本发明的一种优选技术方案：滑块16的形状与卡块14内部滑槽形状相适配，防止卡块14弹落，圆杆17与卡块14的开口处滑动连接。As a preferred technical solution of the present invention, the shape of the slider 16 is adapted to the shape of the internal chute of the clamping block 14 to prevent the clamping block 14 from falling off, and the round rod 17 is slidably connected to the opening of the clamping block 14 .
作为本发明的一种优选技术方案：圆杆17与套杆13的内壁固定连接，弹簧18位于卡块14与套杆13之间，将卡块14弹出，弹簧18位于套杆13的内部，圆杆17位于套杆13的内部。As a preferred technical solution of the present invention: the round rod 17 is fixedly connected to the inner wall of the sleeve rod 13, the spring 18 is located between the clamping block 14 and the sleeve rod 13, the clamping block 14 is ejected, and the spring 18 is located inside the sleeve rod 13, The round rod 17 is located inside the sleeve rod 13 .
本发明的工作过程如下：第一伺服液压缸3和第二伺服液压缸4同时工作，第一锁紧架5和第二锁紧架6将箱子锁紧，卡块14收缩，第一减速电机7和第二减速电机10同时工作，第一主动滚柱8和第二主动滚柱11转动将箱子提升，滚轮15在箱子的表面滚动，直到脱离箱子，卡块14在弹簧18的作用下弹出。The working process of the present invention is as follows: the first servo hydraulic cylinder 3 and the second servo hydraulic cylinder 4 work at the same time, the first locking frame 5 and the second locking frame 6 lock the box, the clamping block 14 shrinks, the first reduction motor 7 and the second deceleration motor 10 work at the same time, the first driving roller 8 and the second driving roller 11 rotate to lift the box, the roller 15 rolls on the surface of the box until it is separated from the box, and the block 14 pops out under the action of the spring 18 .
综上所述：该全自动智能装卸工业机器人装置，通过支撑板2靠近第一伺服液压缸3的一侧固定连接有第二伺服液压缸4，以及第一锁紧架5、第二锁紧架6、第一减速电机7、第一主动滚柱8、第二减速电机10、第二主动滚柱11、滚轮15、卡块14和弹簧18之间的配合设置，第一伺服液压缸3和第二伺服液压缸4同时工作，第一锁紧架5和第二锁紧架6将箱子锁紧，卡块14收缩，第一减速电机7和第二减速电机10同时工作，第一主动滚柱8和第二主动滚柱11转动将箱子提升，滚轮15在箱子的表面滚动，直到脱离箱子，卡块14在弹簧18的作用下弹出，能够卡住箱子的底部，解决了现有的卡顿时出现滑落的问题，使用起来方便。To sum up: the fully automatic intelligent loading and unloading industrial robot device is fixedly connected with the second servo hydraulic cylinder 4, the first locking frame 5, the second locking The frame 6, the first deceleration motor 7, the first active roller 8, the second deceleration motor 10, the second active roller 11, the roller 15, the clamping block 14 and the spring 18 are arranged in coordination, and the first servo hydraulic cylinder 3 Working simultaneously with the second servo hydraulic cylinder 4, the first locking frame 5 and the second locking frame 6 lock the box, the block 14 shrinks, the first reduction motor 7 and the second reduction motor 10 work at the same time, the first active The roller 8 and the second active roller 11 rotate to lift the box, the roller 15 rolls on the surface of the box until it is separated from the box, and the blocking block 14 pops out under the action of the spring 18, which can jam the bottom of the box, which solves the problem of existing problems. The card suddenly slipped and fell, and it was convenient to use.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the invention is defined by the appended claims and their equivalents.
Claims (8)
- 一种全自动智能装卸工业机器人装置，其特征在于：包括工业机器人主体（1），所述工业机器人主体（1）的一侧固定连接有支撑板（2），所述支撑板（2）远离工业机器人主体（1）的一侧固定连接有第一伺服液压缸（3），所述支撑板（2）靠近第一伺服液压缸（3）的一侧固定连接有第二伺服液压缸（4）；其中，所述第一伺服液压缸（3）的一端固定连接有第一锁紧架（5），所述第一伺服液压缸（3）远离第一锁紧架（5）的一端固定连接有第二锁紧架（6）；所述第一锁紧架（5）的一侧固定连接有第一减速电机（7），所述第一减速电机（7）靠近第一锁紧架（5）的一侧固定连接有第一主动滚柱（8），所述第一锁紧架（5）的内部通过轴承转动连接有第一从动滚柱（9）；所述第二锁紧架（6）的一侧固定连接有第二减速电机（10），所述第二减速电机（10）靠近第二锁紧架（6）的一侧固定连接有第二主动滚柱（11），所述第二锁紧架（6）的内部通过轴承转动连接有第二从动滚柱（12）；所述第二锁紧架（6）的一侧固定连接有套杆（13），所述套杆（13）的内部滑动连接有卡块（14），所述卡块（14）的一端转动连接有滚轮（15），所述卡块（14）的内部滑动连接有滑块（16），所述滑块（16）的一侧固定连接有圆杆（17），所述圆杆（17）的外表面套接有弹簧（18）。A fully automatic intelligent loading and unloading industrial robot device, characterized in that it comprises an industrial robot body (1), a support plate (2) is fixedly connected to one side of the industrial robot body (1), and the support plate (2) is far away from A first servo hydraulic cylinder (3) is fixedly connected to one side of the main body of the industrial robot (1), and a second servo hydraulic cylinder (4) is fixedly connected to one side of the support plate (2) close to the first servo hydraulic cylinder (3). ); wherein, one end of the first servo hydraulic cylinder (3) is fixedly connected with a first locking frame (5), and one end of the first servo hydraulic cylinder (3) away from the first locking frame (5) is fixed A second locking frame (6) is connected; one side of the first locking frame (5) is fixedly connected with a first reduction motor (7), and the first reduction motor (7) is close to the first locking frame A first active roller (8) is fixedly connected to one side of (5), and a first driven roller (9) is rotatably connected to the inside of the first locking frame (5) through a bearing; the second lock A second deceleration motor (10) is fixedly connected to one side of the clamping frame (6), and a second driving roller (11) is fixedly connected to the side of the second deceleration motor (10) close to the second clamping frame (6). ), a second driven roller (12) is rotatably connected to the inside of the second locking frame (6) through a bearing; a sleeve rod (13) is fixedly connected to one side of the second locking frame (6) A clamping block (14) is slidably connected to the inside of the sleeve rod (13), a roller (15) is rotatably connected to one end of the clamping block (14), and a slider is slidably connected to the interior of the clamping block (14). (16), a round rod (17) is fixedly connected to one side of the slider (16), and a spring (18) is sleeved on the outer surface of the round rod (17).
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述第二伺服液压缸（4）的一端与第一锁紧架（5）固定连接，所述第二伺服液压缸（4）的另一端与第二锁紧架（6）固定连接。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: one end of the second servo hydraulic cylinder (4) is fixedly connected to the first locking frame (5), and the second servo hydraulic cylinder (4) is fixedly connected to the first locking frame (5). The other end of the hydraulic cylinder (4) is fixedly connected with the second locking frame (6).
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述第一主动滚柱（8）位于第一锁紧架（5）的内部，所述第一主动滚柱（8）与第一锁紧架（5）通过轴承转动连接，所述第一主动滚柱（8）的外表面开设有凸起。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: the first active roller (8) is located inside the first locking frame (5), and the first active roller (8) is rotatably connected with the first locking frame (5) through a bearing, and the outer surface of the first driving roller (8) is provided with a protrusion.
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述第一从动滚柱（9）位于第一主动滚柱（8）的下方，所述第二从动滚柱（12）位于第二主动滚柱（11）的下方。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: the first driven roller (9) is located below the first driving roller (8), and the second driven roller (8) is located below the first driven roller (8). The roller (12) is located below the second driving roller (11).
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述第二主动滚柱（11）位于第二锁紧架（6）的内部，所述第二主动滚柱（11）与第二锁紧架（6）通过轴承转动连接，所述第二主动滚柱（11）的外表面开设有凸起。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: the second driving roller (11) is located inside the second locking frame (6), and the second driving roller (11) is located inside the second locking frame (6). (11) is rotatably connected with the second locking frame (6) through a bearing, and the outer surface of the second driving roller (11) is provided with a protrusion.
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述卡块（14）的一端开设有弧面，所述卡块（14）位于第二从动滚柱（12）的下方，所述卡块（14）与第二锁紧架（6）滑动连接。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: one end of the clamping block (14) is provided with an arc surface, and the clamping block (14) is located on the second driven roller ( Below 12), the clamping block (14) is slidably connected with the second locking frame (6).
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述滑块（16）的形状与卡块（14）内部滑槽形状相适配，所述圆杆（17）与卡块（14）的开口处滑动连接。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: the shape of the slider (16) is adapted to the shape of the internal chute of the clamping block (14), and the round rod (17) ) is slidably connected to the opening of the clamping block (14).
- 根据权利要求1所述的一种全自动智能装卸工业机器人装置，其特征在于：所述圆杆（17）与套杆（13）的内壁固定连接，所述弹簧（18）位于卡块（14）与套杆（13）之间，所述弹簧（18）位于套杆（13）的内部，所述圆杆（17）位于套杆（13）的内部。The fully automatic intelligent loading and unloading industrial robot device according to claim 1, characterized in that: the round rod (17) is fixedly connected to the inner wall of the sleeve rod (13), and the spring (18) is located in the clamping block (14). ) and the sleeve rod (13), the spring (18) is located inside the sleeve rod (13), and the round rod (17) is located inside the sleeve rod (13).
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| DE212020000219.3U DE212020000219U1 (en) | 2020-09-16 | 2020-09-18 | Fully automatic intelligent loading and unloading industrial robot device |
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| CN115246576A (en) * | 2022-05-16 | 2022-10-28 | 武汉国旭天泽科技有限公司 | Full-automatic intelligent loading and unloading industrial robot device |
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