CN108621185A - A kind of conveying robot with defencive function - Google Patents
A kind of conveying robot with defencive function Download PDFInfo
- Publication number
- CN108621185A CN108621185A CN201810420328.7A CN201810420328A CN108621185A CN 108621185 A CN108621185 A CN 108621185A CN 201810420328 A CN201810420328 A CN 201810420328A CN 108621185 A CN108621185 A CN 108621185A
- Authority
- CN
- China
- Prior art keywords
- shell
- welded
- fixed block
- gear
- defencive function
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of conveying robots with defencive function,Including first shell,The first shell outer surface is welded with second shell,Second shell inner wall side is welded with bar,One end activity of bar is connected with the second conical gear,Second shell side activity is connected with head rod,Head rod end surface central axis is welded with the first conical gear,And first conical gear and the second conical gear be intermeshed,And first conical gear quantity be 2,The head rod other end is welded with the first fixed block,First fixed block side surface soldered has the second connecting rod,The second connecting rod other end is welded with third fixed block,One side surface of third fixed block is welded with protective plate,Pass through this device,Operator can change the crawl range of handgrip,To capture the cargo of different size gear,In addition this device has protective device,In cargo handling process,Can prevent cargo fall caused by property loss.
Description
Technical field
The present invention relates to automated handling equipment technical field more particularly to a kind of handling machineries with defencive function
Hand.
Background technology
Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity,
The complication system of close coupling.Because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are answered extensively
With.
Mechanical arm is a complication system, and there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Cause
And there is also uncertainties for the modeler model of mechanical arm, for different tasks, need the fortune for planning joint of mechanical arm space
Dynamic rail mark constitutes end pose to cascade.
But most of conveying robots, the protection to transporting goods is cannot achieve, if cargo is fallen, can be caused serious
Consequence, damage corporate image, reduce company income, in addition existing conveying robot can not adjust the crawl range of handgrip,
It if you need to capture the cargo of different size, needs additionally to replace, this results in waste of time, and reduces working efficiency, increases
Company operation cost.
Invention content
The purpose of the present invention is to solve disadvantage existing in the prior art, and propose a kind of with defencive function
Conveying robot.
To achieve the goals above, present invention employs following technical solutions：
A kind of conveying robot with defencive function, including first shell, the first shell outer surface are welded with
Second shell, second shell inner wall side are welded with bar, and one end activity of bar is connected with the second conical gear, the second shell
Side activity is connected with head rod, and head rod end surface central axis is welded with the first conical gear, and first
Conical gear and the second conical gear are intermeshed, and the first conical gear quantity is 2, and the head rod other end is welded with
First fixed block, the first fixed block side surface soldered have the second connecting rod, the second connecting rod other end to be welded with third and fix
Block, one side surface of third fixed block are welded with protective plate, and the second shell top surface central axis offers through-hole, the second circle
Bevel gear top surface central axis is welded with third connecting rod, and third connecting rod one end is logical across second shell top surface
Hole, the first shell both side surface offer sliding slot, in sliding slot activity be connected with sliding shoe, sliding shoe one end passes through rotation
Axis connection has handgrip, the first shell both side surface to be welded with the 4th fixed block, and the 4th fixed block top surface offers
Through-hole, movable sleeve is connected to screw rod in through-hole, and the sliding shoe top surface offers through-hole, and through-hole wall is carved with screw thread, screw rod
One end passes through sliding shoe, and screw rod is intermeshed with sliding shoe.
Preferably, the first shell bottom surface central axis is welded with the second fixed block, the second fixed block bottom table
Face central axis offers the second fixed plate, and the second fixed plate top surface offers sliding slot, in sliding slot activity be connected with handgrip,
And handgrip quantity is 2.
Preferably, the first shell inner wall is screwed chain and is connected to the second servo motor, the second servo motor one
End is welded with second gear, and described screw rod one end is welded with first gear and first gear is intermeshed with second gear.
Preferably, the first shell both side surface offers through-hole, and first gear part is stretched into first shell.
Preferably, first shell side surface soldered has the first fixed plate, the first fixed plate bottom surface to pass through spiral shell
Bolt is fixedly connected with the first servo, and first servo one end is welded with rotating disc, rotating disc bottom surface center
Third connecting rod is welded at axis.
Preferably, the first shell cross section is square, and second shell cross section is rectangle.
Preferably, the screw rod cross section is circle, and the 4th fixed link cross section is circle, and screw diameter is the 4th fixation
0.7-0.8 times of shank diameter.
Preferably, the first shell both side surface is welded with limited block, and limited block top surface activity is connected with spiral shell
Bar.
The beneficial effects of the invention are as follows：
By this device, operator can change the crawl range of handgrip, to capture the cargo of different size gear,
In addition this device has protective device, in cargo handling process, can prevent cargo fall caused by property loss.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the conveying robot with defencive function proposed by the present invention；
Fig. 2 is a kind of partial top structural schematic diagram of the conveying robot with defencive function proposed by the present invention；
Fig. 3 is a kind of another status architecture schematic diagram of the conveying robot with defencive function proposed by the present invention.
In figure：1 first shell, 2 first fixed plates, 3 screw rods, 4 protective plates, 5 first fixed blocks, 6 head rods, 7 are slided
Motion block, 8 second fixed blocks, 9 handgrips, 10 second fixed plates, 11 rotating bars, 12 first conical gears, 13 third fixed blocks, 14
Two connecting rods, 15 second conical gears, 16 third connecting rods, 17 rotating discs, 18 first gears, 19 first servos, 20
Second shell, 21 second gears, 22 second servos, 23 the 4th fixed blocks.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3, a kind of conveying robot with defencive function, including first shell 1, outside the first shell 1
Side surface is welded with second shell 20, and 20 inner wall side of second shell is welded with bar, and one end activity of bar is connected with the second circular cone
Gear 15,20 side activity of the second shell are connected with head rod 6, the weldering of 6 end surface central axis of head rod
It is connected to the first conical gear 12, and the first conical gear 12 and the second conical gear 15 are intermeshed, and the first conical gear 12
Quantity is 2, and 6 other end of head rod is welded with the first fixed block 5, and 5 side surface soldered of the first fixed block has the second company
Extension bar 14,14 other end of the second connecting rod are welded with third fixed block 13, and 13 1 side surface of third fixed block is welded with protective plate 4,
20 top surface central axis of the second shell offers through-hole, and 15 top surface central axis of the second conical gear is welded with
Third connecting rod 16,16 one end of third connecting rod pass through 20 top surface through-hole of second shell, 1 both side surface of the first shell
Offer sliding slot, in sliding slot activity be connected with sliding shoe 7,7 one end of sliding shoe is connected with handgrip 9 by rotary shaft, described
One shell, 1 both side surface is welded with the 4th fixed block 23, and 23 top surface of the 4th fixed block offers through-hole, activity in through-hole
It is socketed with screw rod 3,7 top surface of the sliding shoe offers through-hole, and through-hole wall is carved with screw thread, and 3 one end of screw rod passes through sliding
Block 7, and screw rod 3 is intermeshed with sliding shoe 7.
In the present embodiment 1, in order to reach the function of protection cargo, electric wire is plugged, remote control starts the first servo 19,
First servo 19 drives rotating disc 17 to rotate, and rotating disc 17 drives third connecting rod 16 to rotate, 16 band of third connecting rod
Dynamic second conical gear 15 rotation, the second conical gear 15 drive the rotation of the first conical gear 12,12 band of the first conical gear
Dynamic second connecting rod 14 rotation, the second connecting rod 14 drive third fixed block 13 to rotate, and third fixed block 13 drives 4 turns of protective plate
It moves to cargo, stop operating the first servo 19, and when needing to pack up protective plate 4, the first servo is opened in remote control
Engine 19 makes its reversion, drives protective plate as the vertical position of handgrip 9.
In the present embodiment 2, range is captured in order to achieve the purpose that adjust handgrip 9, the second servo 22 is opened in remote control,
Second servo 22 drives second gear 21 to rotate, and second gear 21 drives first gear 18 to rotate, 18 band of first gear
Dynamic screw rod 3 rotates, and screw rod 3 is intermeshed with sliding shoe 7, and screw rod 3 rotates, and drives sliding shoe 7 along 1 both sides table of first shell
Face sliding slot direction moves, and the movement of sliding shoe 7 drives rotating bar 11 to move, and rotating bar 11 drives handgrip 9 along the second fixed plate 10
Surface sliding slot direction moves, and changes the size that handgrip 9 captures range with this, and the second servo 22 can be changed by remote control
Rotation direction.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of conveying robot with defencive function, including first shell (1), which is characterized in that the first shell (1)
Outer surface is welded with second shell (20), and second shell (20) inner wall side is welded with bar, and one end activity of bar is connected with
Two conical gears (15), second shell (20) the side activity are connected with head rod (6), head rod (6) one end
The first conical gear (12) is welded at centre of surface axis, and the first conical gear (12) is mutually nibbled with the second conical gear (15)
It closes, and the first conical gear (12) quantity is 2, head rod (6) other end is welded with the first fixed block (5), and first is solid
Determining block (5) side surface soldered has the second connecting rod (14), the second connecting rod (14) other end to be welded with third fixed block (13),
(13) one side surface of third fixed block is welded with protective plate (4), and second shell (20) the top surface central axis offers logical
Hole, the second conical gear (15) top surface central axis are welded with third connecting rod (16), and third connecting rod (16) one end is worn
Cross second shell (20) top surface through-hole, first shell (1) both side surface offers sliding slot, activity clamping in sliding slot
There are sliding shoe (7), sliding shoe (7) one end to be connected with handgrip (9) by rotary shaft, first shell (1) both side surface is welded
It is connected to the 4th fixed block (23), the 4th fixed block (23) top surface offers through-hole, and movable sleeve is connected to screw rod (3) in through-hole,
Sliding shoe (7) top surface offers through-hole, and through-hole wall is carved with screw thread, and screw rod (3) one end passes through sliding shoe (7), and
Screw rod (3) is intermeshed with sliding shoe (7).
2. a kind of conveying robot with defencive function according to claim 1, which is characterized in that the first shell
(1) bottom surface central axis is welded with the second fixed block (8), and the second fixed block (8) bottom surface central axis offers
Two fixed plates (10), the second fixed plate (10) top surface offer sliding slot, in sliding slot activity be connected with handgrip (9), and handgrip
(9) quantity is 2.
3. a kind of conveying robot with defencive function according to claim 1, which is characterized in that the first shell
(1) inner wall is screwed chain and is connected to the second servo motor (22), and the second servo motor (22) one end is welded with second gear
(21), described screw rod (3) one end is welded with first gear (18) and first gear (18) is intermeshed with second gear (21).
4. a kind of conveying robot with defencive function according to claim 1 or 3, which is characterized in that described first
Shell (1) both side surface offers through-hole, and first gear (18) partly stretches into first shell (1).
5. a kind of conveying robot with defencive function according to claim 1, which is characterized in that the first shell
(1) side surface soldered has the first fixed plate (2), the first fixed plate (2) bottom surface to be bolted to connection first and watched
Engine (19) is taken, the first servo (19) one end is welded with rotating disc (17), rotating disc (17) bottom surface central shaft
Place is welded with third connecting rod (16).
6. a kind of conveying robot with defencive function according to claim 1, which is characterized in that the first shell
(1) cross section is square, and second shell (20) cross section is rectangle.
7. a kind of conveying robot with defencive function according to claim 1, which is characterized in that the screw rod (3)
Cross section is circle, and the 4th fixed link (23) cross section is circle, and screw rod (3) diameter is the 0.7- of the 4th fixed link (23) diameter
0.8 times.
8. a kind of conveying robot with defencive function according to claim 1, which is characterized in that the first shell
(1) both side surface is welded with limited block, and limited block top surface activity is connected with screw rod (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810420328.7A CN108621185A (en) | 2018-05-04 | 2018-05-04 | A kind of conveying robot with defencive function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810420328.7A CN108621185A (en) | 2018-05-04 | 2018-05-04 | A kind of conveying robot with defencive function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621185A true CN108621185A (en) | 2018-10-09 |
Family
ID=63695456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810420328.7A Pending CN108621185A (en) | 2018-05-04 | 2018-05-04 | A kind of conveying robot with defencive function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621185A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055272A (en) * | 2019-12-17 | 2020-04-24 | 南京昱晟机器人科技有限公司 | Machine claw with strong control performance |
| CN113134918A (en) * | 2021-04-21 | 2021-07-20 | 曲靖阳光能源硅材料有限公司 | Novel monocrystalline silicon double-rod double-station squaring machine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2851961A1 (en) * | 1977-12-06 | 1979-06-07 | Vyzk Vyvojovy Ustav Elektric | Industrial robot grab head - has screw on motor shaft working in nut actuating swing grab arms |
| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| CN204844190U (en) * | 2015-09-01 | 2015-12-09 | 周丐社 | Manipulator is got to electric spare part clamp |
| CN107186741A (en) * | 2017-07-21 | 2017-09-22 | 陕西舜洋电子科技有限公司 | A kind of robot arm clamping device |
| CN107354501A (en) * | 2017-07-08 | 2017-11-17 | 佛山市正略信息科技有限公司 | Adjustable folder bucket manipulator in a kind of electroplating device |
| CN107877534A (en) * | 2017-12-08 | 2018-04-06 | 肇庆高新区异星科技有限公司 | A kind of robot chela |
-
2018
- 2018-05-04 CN CN201810420328.7A patent/CN108621185A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2851961A1 (en) * | 1977-12-06 | 1979-06-07 | Vyzk Vyvojovy Ustav Elektric | Industrial robot grab head - has screw on motor shaft working in nut actuating swing grab arms |
| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| CN204844190U (en) * | 2015-09-01 | 2015-12-09 | 周丐社 | Manipulator is got to electric spare part clamp |
| CN107354501A (en) * | 2017-07-08 | 2017-11-17 | 佛山市正略信息科技有限公司 | Adjustable folder bucket manipulator in a kind of electroplating device |
| CN107186741A (en) * | 2017-07-21 | 2017-09-22 | 陕西舜洋电子科技有限公司 | A kind of robot arm clamping device |
| CN107877534A (en) * | 2017-12-08 | 2018-04-06 | 肇庆高新区异星科技有限公司 | A kind of robot chela |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055272A (en) * | 2019-12-17 | 2020-04-24 | 南京昱晟机器人科技有限公司 | Machine claw with strong control performance |
| CN111055272B (en) * | 2019-12-17 | 2021-05-28 | 南京昱晟机器人科技有限公司 | Machine claw with strong control performance |
| CN113134918A (en) * | 2021-04-21 | 2021-07-20 | 曲靖阳光能源硅材料有限公司 | Novel monocrystalline silicon double-rod double-station squaring machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |
|
| RJ01 | Rejection of invention patent application after publication |