CN108622653B

CN108622653B - Snatch pay-off robot

Info

Publication number: CN108622653B
Application number: CN201810836900.8A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shaanxi Jietai Intelligent Transmission Co ltd
Current assignee: Shaanxi Jietai intelligent transmission Co.,Ltd.
Priority date: 2018-07-26
Filing date: 2018-07-26
Publication date: 2020-08-07
Anticipated expiration: 2038-07-26
Also published as: CN108622653A

Abstract

The invention provides a grabbing and feeding robot which comprises a moving unit, a bottom plate, a rotary lifting unit, a supporting plate, a sliding block A, a sliding rail A, a rack bar plate, a first motor mounting seat, a grabbing unit, a first motor, a gear, a second motor and a flange adapter plate, and is characterized in that: the two moving units are respectively arranged on two sides of the bottom plate, the rotary lifting unit is arranged on the bottom plate, a telescopic mechanism is arranged on the rotary lifting unit, and the grabbing unit is connected with the head end of the telescopic mechanism; according to the invention, the robot is moved to the position near the grabbing position through the moving unit, the grabbing unit grabs the materials, and the rotary lifting unit conveys the materials to the specified position, so that the whole mechanism has multiple degrees of freedom, is beneficial to grabbing the materials at various irregular positions, and improves the convenience and grabbing and conveying efficiency.

Description

Snatch pay-off robot

Technical Field

The invention relates to the technical field of automatic handling of production materials, in particular to a grabbing and feeding robot.

Background

Along with the development of industrial and agricultural science and technology, in the field of industrial and agricultural production, the production and processing of products need a plurality of working procedures, and various conveying devices are needed for conveying in the process from one working procedure to the next working procedure, how to quickly and accurately convey workpieces to stations is the key for improving the working efficiency, ensuring the processing quality and safe production, and until now, some enterprises adopt a production and manufacturing mode of manual feeding, the efficiency of manual feeding is low, the product quality is unreliable, the cost is high, there is therefore a need for a relative feeding machine, which solves the above-mentioned problems, the conventional feeding machines being of the circumferentially fixed type, if application number 201510042718.1 discloses a "multi-functional feeding robot", mainly includes motor, connecting seat, big arm, forearm, manipulator, and this type of mechanism does not possess the removal function, gets the working range of material and pay-off and is little, consequently needs a novel full autoloading robot.

Disclosure of Invention

In order to solve the problems, the invention provides a grabbing and feeding robot which is moved to the position near a grabbing position through a moving unit, grabs materials through the grabbing unit, conveys the materials to a specified position through a rotary lifting unit, has multiple degrees of freedom in the whole mechanism, is beneficial to grabbing the materials at various irregular positions, and improves the convenience and the grabbing and conveying efficiency.

The technical scheme adopted by the invention is as follows: the utility model provides a snatch pay-off robot, includes mobile unit, bottom plate, rotatory lift unit, layer board, slider A, slide rail A, rack bar board, first motor mount pad, snatchs unit, first motor, gear, second motor, ring flange keysets, its characterized in that: the two moving units are respectively arranged on two sides of the bottom plate, the rotary lifting unit is arranged on the bottom plate, the supporting plate is fixed above the rotary lifting unit, a sliding rail A is arranged on the supporting plate, the sliding block A is sleeved in the sliding rail A, the rack bar plate is fixed on the sliding block A, the first motor mounting seat is arranged on the supporting plate, the first motor is arranged on the first motor mounting seat, the gear is sleeved in an extension shaft of the first motor and meshed with the rack bar plate, the second motor is arranged at the outer end of the rack bar plate, and the flange adapter plate is sleeved in an extension shaft of the second motor and connected with the grabbing unit.

Further, snatch pay-off robot, its characterized in that: the moving unit comprises a connecting buckle plate, a crawler belt, side plates, an end cover, a third motor, a bevel gear A, a bevel gear B, a cylindrical gear A, a transmission shaft, a bearing A, a driving shaft, a driving wheel, a cylindrical gear B, a driven shaft and a driven wheel, wherein the third motor is arranged on the side plates, an extending shaft of the third motor is sleeved with the bevel gear A, the bevel gear B is sleeved in the transmission shaft and is meshed with the bevel gear A, the cylindrical gear A is arranged at one end of the transmission shaft, the cylindrical gear B is sleeved in one end of the driving shaft and is meshed with the cylindrical gear A, the driving wheel is sleeved on the driving shaft, the driven wheel is sleeved on the driven shaft, the crawler belt; the two ends of the transmission shaft, the driving shaft and the driven shaft are respectively sleeved in a bearing A, an end cover is arranged outside the bearing A, and the three connecting buckle plates connect the side plates on the two sides.

Further, snatch pay-off robot, its characterized in that: the rotary lifting unit comprises a fourth motor, a fourth motor mounting seat, a lifting screw nut, a lifting screw, a speed reducer mounting seat, a rotary fixing frame, a sleeve seat, a rotary shaft, a speed reducer, a coupler, a big nut and a bearing B, wherein the fourth motor mounting seat is mounted on a bottom plate, the fourth motor is mounted on the fourth motor mounting seat, the lifting screw nut is embedded on the speed reducer mounting seat, the lifting screw penetrates through the lifting screw nut to be connected with a motor shaft of the fourth motor, the speed reducer is mounted below the speed reducer mounting seat, the rotary fixing frame is mounted above the speed reducer mounting seat, and the rotary shaft is connected with the motor shaft of the speed reducer through the coupler; two bearings B are fixed in the sleeve seat and sleeved on the rotating shaft, two large nuts are sleeved on the rotating shaft, and the sleeve seat is fixed above the rotary fixing frame.

Further, snatch pay-off robot, its characterized in that: the grabbing unit comprises a mounting plate, aluminum profiles, a fifth motor mounting seat, a fifth motor, a bearing seat, a telescopic screw nut mounting plate, a telescopic screw, a sliding rail B, a sliding block B, a cylinder connecting plate, a cylinder mounting plate, a connecting shaft, a bearing C, a bearing plate, a locking wheel, a swing arm, a grapple mounting plate and a grapple, wherein the two aluminum profiles are fixed below the mounting plate; one end of a telescopic lead screw is connected with a motor shaft of a fifth motor through a coupler, the other end of the telescopic lead screw is inserted into a small bearing of a bearing seat, two telescopic lead screw nuts are sleeved in the telescopic lead screw and fixed with a telescopic lead screw nut mounting plate, the telescopic lead screw nut mounting plate is mounted on an air cylinder mounting plate, four slide rails B are respectively mounted below two aluminum profiles, each slide rail B is sleeved in a slide block B, the slide blocks B are fixed above the air cylinder mounting plate, and an air cylinder is mounted on the air cylinder mounting plate; one end of the cylinder connecting plate is fixed with the top end of the cylinder telescopic rod, and the other end of the cylinder connecting plate is sleeved into the connecting shaft and fixed; the bearing C is embedded into the bearing plates, and the two bearing plates are respectively fixed on two sides below the cylinder mounting plate; one end of the swing arm is embedded into the locking wheel and is fixed with the end of the connecting shaft, and the other end of the swing arm is fixed on the grapple mounting plate; the grapple is installed on the grapple installation plate.

The invention has the beneficial effects that:

1. the invention adopts a track transmission mode, so that the robot can move on uneven road surfaces, and the adaptability to external environment is enhanced.

2. The whole mechanism of the invention is provided with a plurality of mechanisms of lifting, rotating, stretching and the like, so that the robot has more degrees of freedom, and the grabbing and feeding are more convenient and efficient.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of a mobile unit according to the present invention.

Fig. 3 is a schematic structural diagram of the rotary lifting unit of the present invention.

Fig. 4 is a schematic structural diagram of a grabbing unit according to the present invention.

Reference numerals: 1-a mobile unit; 2-a bottom plate; 3-rotating the lifting unit; 4-a supporting plate; 5-a slide block A; 6-a slide rail A; 7-rack bar plate; 8-a first motor mount; 9-a grabbing unit; 10-a first electric machine; 11-a gear; 12-a second electric machine; 13-flange adapter plate; 101-connecting buckle plate; 102-a track; 103-side plate; 104-an end cap; 105-a third motor; 106-bevel gear A; 107-bevel gear B; 108-cylindrical gear A; 109-a drive shaft; 110-bearing A; 111-drive shaft; 112-driving wheel; 113-cylindrical gear B; 114-a driven shaft; 115-a driven wheel; 301-a fourth motor; 302-a fourth motor mount; 303-lifting screw nut; 304-a lifting screw; 305-reducer mounting seat; 306-a rotating mount; 307-sleeve seat; 308-a rotation axis; 309-a speed reducer; 310-a coupling; 311-big nut; 312-bearing B; 901-mounting a plate; 902-aluminum profile; 903-a fifth motor mount; 904-a fifth motor; 905-a bearing seat; 906-telescopic screw nut mounting plate; 907-telescopic screw nut; 908-telescopic lead screw; 909-slide B; 910-slider B; 911-cylinder; 912-cylinder connecting plate; 913-a cylinder mounting plate; 914-connecting shaft; 915-bearing C; 916-bearing plate; 917-a locking wheel; 918-swing arm; 919-grapple mounting plate; 920-grappling hook.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Embodiment is shown in fig. 1, fig. 2, fig. 3, and fig. 4, a grabbing and feeding robot, which includes a moving unit 1, a bottom plate 2, a rotary lifting unit 3, a supporting plate 4, a sliding block A5, a sliding rail A6, a rack bar plate 7, a first motor mounting seat 8, a grabbing unit 9, a first motor 10, a gear 11, a second motor 12, and a flange adapter plate 13, and is characterized in that: the two moving units 1 are respectively installed on two sides of the bottom plate 2, the rotary lifting unit 3 is installed on the bottom plate 2, the supporting plate 4 is fixed above the rotary lifting unit 3, a sliding rail A6 is installed on the supporting plate 4, the sliding block A5 is sleeved in the sliding rail A6, the rack rod plate 7 is fixed on the sliding block A5, the first motor installation seat 8 is installed on the supporting plate 4, the first motor 10 is installed on the first motor installation seat 8, the gear 11 is sleeved in an extending shaft of the first motor 10 and meshed with the rack rod plate 7, the second motor 12 is installed at the outer end of the rack rod plate 7, and the flange adapter plate 13 is sleeved in an extending shaft of the second motor 12 and connected with the grabbing unit 9.

Further, snatch pay-off robot, its characterized in that: the moving unit 1 comprises a connecting buckle plate 101, a crawler 102, a side plate 103, an end cover 104, a third motor 105, a bevel gear A106, a bevel gear B107, a cylindrical gear A108, a transmission shaft 109, a bearing A110, a driving shaft 111, a driving wheel 112, a cylindrical gear B113, a driven shaft 114 and a driven wheel 115, wherein the third motor 105 is installed on the side plate 103, an extending shaft of the third motor is sleeved with the bevel gear A106, the bevel gear B107 is sleeved in the transmission shaft 109 and is meshed with the bevel gear A106, the cylindrical gear A108 is installed at one end of the transmission shaft 109, the cylindrical gear B113 is sleeved in one end of the driving shaft 111 and is meshed with the cylindrical gear A108, the driving wheel 112 is sleeved on the driving shaft 111, the driven wheel 115 is sleeved on the driven shaft 114, the crawler 102 connects the driving wheel 112; two ends of the transmission shaft 109, the driving shaft 111 and the driven shaft 114 are respectively sleeved in a bearing A110, an end cover 104 is arranged outside the bearing A110, and the three connecting buckle plates 101 connect the side plates 103 on two sides.

Further, snatch pay-off robot, its characterized in that: the rotary lifting unit 3 comprises a fourth motor 301, a fourth motor mounting seat 302, a lifting screw nut 303, a lifting screw 304, a speed reducer mounting seat 305, a rotary fixing frame 306, a sleeve seat 307, a rotating shaft 308, a speed reducer 309, a coupler 310, a big nut 311 and a bearing B312, wherein the fourth motor mounting seat 302 is mounted on the bottom plate 2, the fourth motor 301 is mounted on the fourth motor mounting seat 302, the lifting screw nut 303 is embedded on the speed reducer mounting seat 305, the lifting screw 304 penetrates through the lifting screw nut 303 to be connected with a motor shaft of the fourth motor 301, the speed reducer 309 is mounted below the speed reducer mounting seat 305, the rotary fixing frame 306 is mounted above the speed reducer mounting seat, and the rotating shaft 308 is connected with the motor shaft of the speed reducer 309 through the coupler 310; two bearings B312 are fixed in the sleeve seat 307 and sleeved on the rotating shaft 308, two large nuts 311 are sleeved on the rotating shaft 308, and the sleeve seat 307 is fixed above the rotary fixed frame 306.

Further, snatch pay-off robot, its characterized in that: the grabbing unit 9 comprises a mounting plate 901, aluminum profiles 902, a fifth motor mounting seat 903, a fifth motor 904, a bearing seat 905, a telescopic screw nut mounting plate 906, a telescopic screw nut 907, a telescopic screw 908, a sliding rail B909, a sliding block B910, a cylinder 911, a cylinder connecting plate 912, a cylinder mounting plate 913, a connecting shaft 914, a bearing C915, a bearing plate 916, a locking wheel 917, a swinging arm 918, a grapple mounting plate 919 and a grapple 920, wherein the two aluminum profiles 902 are fixed below the mounting plate 901, the fifth motor mounting seat 903 and the bearing seat 905 are respectively fixed at two ends of one of the aluminum profiles 902, a small bearing is embedded into the bearing seat 905, and the fifth motor 904 is mounted on the fifth motor mounting seat 903; one end of a telescopic lead screw 908 is connected with a motor shaft of a fifth motor 904 through a coupler, the other end of the telescopic lead screw is inserted into a small bearing of a bearing seat 905, two telescopic lead screw nuts 907 are sleeved on the telescopic lead screw 908 and fixed with a telescopic lead screw nut mounting plate 906, the telescopic lead screw nut mounting plate 906 is mounted on an air cylinder mounting plate 913, four sliding rails B909 are respectively mounted below two aluminum profiles 902, each sliding rail B909 is sleeved on a sliding block B910, the sliding blocks B910 are fixed above the air cylinder mounting plate 913, and an air cylinder 911 is mounted on the air cylinder mounting plate 913; one end of the cylinder connecting plate 912 is fixed with the top end of the telescopic rod of the cylinder 911, and the other end is sleeved into the connecting shaft 914 and fixed; the bearing C915 is embedded in the bearing plate 916, and the two bearing plates 916 are respectively fixed at two sides below the cylinder mounting plate 913; one end of a swing arm 918 is embedded into a locking wheel 917 and is fixed with the end of the connecting shaft 914, and the other end of the swing arm 918 is fixed on a grapple mounting plate 919; the grapple 920 is mounted on a grapple mounting plate 919.

The working principle of the invention is as follows: the third motor 105 works to drive the bevel gear A106 to rotate so as to drive the bevel gear B107 meshed with the bevel gear A to rotate, the bevel gear B107 rotates to drive the transmission shaft 109 to rotate so as to drive the cylindrical gear A108 to rotate, the cylindrical gear A108 rotates to drive the cylindrical gear B113 meshed with the cylindrical gear A to rotate so as to drive the driving shaft 111 to rotate, the driving shaft 111 rotates to drive the driving wheel 112 to rotate, the driving wheel 112 rotates to drive the crawler belt 102 to rotate, the crawler belt 102 drives the driven wheel 115 to rotate, the whole process realizes the walking of the mobile unit 1, the robot moves to a grabbing position, the fourth motor 301 works to drive the lifting screw 304 to rotate, the lifting function of the mechanism is realized through the lifting screw nut 303, the speed reducer 309 works to drive the rotating shaft 308 to rotate through the coupler 310, the rotation of the whole telescopic and grabbing, the fifth motor 904 works to drive the telescopic screw 908 to rotate, so that the grabbing hook 920 can move transversely through the telescopic screw nut 907 to adapt to grabbed objects with different sizes, when the air cylinder 911 is telescopic, the air cylinder connecting plate 912 drives the connecting shaft 914 to rotate so as to drive the swing arm 918 to swing, and the swing arm 918 swings to drive the grabbing hook mounting plates 919 and the grabbing hook 920 on the two sides to fold and separate from each other so as to achieve grabbing action.

Claims

1. The utility model provides a snatch pay-off robot, includes mobile unit (1), bottom plate (2), rotatory lift unit (3), layer board (4), slider A (5), slide rail A (6), rack bar board (7), first motor mount pad (8), snatchs unit (9), first motor (10), gear (11), second motor (12), ring flange keysets (13), its characterized in that: the two moving units (1) are respectively arranged on two sides of the bottom plate (2), the rotary lifting unit (3) is arranged on the bottom plate (2), the supporting plate (4) is fixed above the rotary lifting unit (3), a sliding rail A (6) is arranged on the supporting plate (4), the sliding block A (5) is sleeved in the sliding rail A (6), a rack bar plate (7) is fixed on the sliding block A (5), a first motor mounting seat (8) is arranged on the supporting plate (4), a first motor (10) is arranged on a first motor mounting seat (8), a gear (11) is sleeved in an extending shaft of the first motor (10) and meshed with the rack bar plate (7), a second motor (12) is arranged at the outer end of the rack bar plate (7), and a flange adapter plate (13) is sleeved in an extending shaft of the second motor (12) and connected with the grabbing unit (9);

the moving unit (1) comprises a connecting buckle plate (101), a crawler belt (102), a side plate (103), an end cover (104), a third motor (105), a bevel gear A (106), a bevel gear B (107), a cylindrical gear A (108), a transmission shaft (109), a bearing A (110), a driving shaft (111), a driving wheel (112), a cylindrical gear B (113), a driven shaft (114) and a driven wheel (115), wherein the third motor (105) is installed on the side plate (103), the bevel gear A (106) is sleeved outside the third motor, the bevel gear B (107) is sleeved in the transmission shaft (109) and meshed with the bevel gear A (106), the cylindrical gear A (108) is installed at one end of the transmission shaft (109), the cylindrical gear B (113) is sleeved at one end of the driving shaft (111) and meshed with the cylindrical gear A (108), the driving wheel (112) is sleeved on the driving shaft (111, the driven wheel (115) is sleeved on the driven shaft (114), the driving wheel (112) is connected with the driven wheel (115) through the crawler belt (102), and six bearings A (110) are respectively embedded on the side plates (103) on the two sides; two ends of a transmission shaft (109), a driving shaft (111) and a driven shaft (114) are respectively sleeved in a bearing A (110), an end cover (104) is arranged outside the bearing A (110), and the side plates (103) on two sides are connected by three connecting buckle plates (101);

the rotary lifting unit (3) comprises a fourth motor (301), a fourth motor mounting seat (302), a lifting screw nut (303), a lifting screw (304), a speed reducer mounting seat (305), a rotary fixing frame (306), a sleeve seat (307), a rotating shaft (308), a speed reducer (309), a coupling (310), a large nut (311) and a bearing B (312), the fourth motor mounting seat (302) is mounted on the bottom plate (2), the fourth motor (301) is mounted on the fourth motor mounting seat (302), the lifting lead screw nut (303) is embedded on the speed reducer mounting seat (305), the lifting lead screw (304) penetrates through the lifting lead screw nut (303) to be connected with a motor shaft of the fourth motor (301), the speed reducer (309) is mounted below the speed reducer mounting seat (305), the rotary fixing frame (306) is mounted above the speed reducer mounting seat (305), and the rotary shaft (308) is connected with the motor shaft of the speed reducer (309) through the coupling (310); two bearings B (312) are fixed in a sleeve seat (307) and sleeved on the rotating shaft (308), two large nuts (311) are sleeved on the rotating shaft (308), and the sleeve seat (307) is fixed above the rotating fixed frame (306);

the grabbing unit (9) comprises a mounting plate (901), an aluminum section (902), a fifth motor mounting seat (903), a fifth motor (904), a bearing seat (905), a telescopic lead screw nut mounting plate (906), a telescopic lead screw nut (907), a telescopic lead screw (908), a sliding rail B (909), a sliding block B (910), an air cylinder (911), an air cylinder connecting plate (912), an air cylinder mounting plate (913), a connecting shaft (914) and a bearing C (915), the locking mechanism comprises a bearing plate (916), a locking wheel (917), a swing arm (918), a grab hook mounting plate (919) and a grab hook (920), wherein two aluminum profiles (902) are fixed below the mounting plate (901), a fifth motor mounting seat (903) and a bearing seat (905) are respectively fixed at two ends of one of the aluminum profiles (902), a small bearing is embedded into the bearing seat (905), and a fifth motor (904) is mounted on the fifth motor mounting seat (903); one end of a telescopic lead screw (908) is connected with a motor shaft of a fifth motor (904) through a coupler, the other end of the telescopic lead screw is inserted into a small bearing of a bearing seat (905), two telescopic lead screw nuts (907) are sleeved into the telescopic lead screw (908) and fixed with a telescopic lead screw nut mounting plate (906), the telescopic lead screw nut mounting plate (906) is mounted on an air cylinder mounting plate (913), four sliding rails B (909) are respectively mounted below two aluminum profiles (902), each sliding rail B (909) is sleeved with a sliding block B (910), the sliding blocks B (910) are fixed above the air cylinder mounting plate (913), and an air cylinder (911) is mounted on the air cylinder mounting plate (913); one end of the cylinder connecting plate (912) is fixed with the top end of a telescopic rod of the cylinder (911), and the other end of the cylinder connecting plate is sleeved into the connecting shaft (914) and fixed; the bearing C (915) is embedded into the bearing plates (916), and the two bearing plates (916) are respectively fixed on two sides below the cylinder mounting plate (913); one end of a swing arm (918) is embedded into a locking wheel (917) and is fixed with the end of the connecting shaft (914), and the other end of the swing arm is fixed on a grapple mounting plate (919); the grab hook (920) is arranged on the grab hook mounting plate (919);

the third motor (105) works to drive the bevel gear A (106) to rotate so as to drive the bevel gear B (107) meshed with the bevel gear A to rotate, the bevel gear B (107) rotates to drive the transmission shaft (109) to rotate so as to drive the cylindrical gear A (108) to rotate, the cylindrical gear A (108) rotates to drive the cylindrical gear B (113) meshed with the cylindrical gear A to rotate so as to drive the driving shaft (111) to rotate, the driving shaft (111) rotates to drive the driving wheel (112) to rotate, the driving wheel (112) rotates to drive the crawler belt (102) to rotate, the crawler belt (102) drives the driven wheel (115) to rotate, the whole process realizes the walking of the mobile unit (1), the robot moves to a grabbing position, the fourth motor (301) works to drive the lifting screw rod (304) to rotate, the lifting function of the mechanism is realized through the lifting screw rod nut (303), the speed reducer (309) works to drive the rotating, thereby realized flexible and snatch the rotation of whole mechanism, the rotation of unit (9) is snatched in second motor (12) control, fifth motor (904) work drives flexible lead screw (908) and rotates and realize the lateral shifting of grapple (920) through flexible lead screw nut (907), in order to adapt to the not equidimension object of being snatched, when cylinder (911) is flexible, drive even axle (914) through cylinder even board (912) and rotate and thereby drive swing arm (918) swing, swing arm (918) swing drives grapple mounting panel (919) and grapple (920) on both sides and folds each other and part in order to realize snatching the action.