CN108673482A - Telescopic multiaxis mobile robot - Google Patents
Telescopic multiaxis mobile robot Download PDFInfo
- Publication number
- CN108673482A CN108673482A CN201810763950.8A CN201810763950A CN108673482A CN 108673482 A CN108673482 A CN 108673482A CN 201810763950 A CN201810763950 A CN 201810763950A CN 108673482 A CN108673482 A CN 108673482A
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- robot
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- material platform
- gear
- pedestal
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- 239000000463 material Substances 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 56
- 239000010959 steel Substances 0.000 description 56
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 238000007790 scraping Methods 0.000 description 3
- 238000004080 punching Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robot device's technical fields, specifically disclose a kind of telescopic multiaxis mobile robot, including one axis of robot being arranged in a mutually vertical manner, two axis and three axis, three axis lower end of robot is connected with mechanism for picking, the first stacking mechanism and the second stacking mechanism are equipped with below two axis of robot, second stacking mechanism includes pedestal, second material platform and two block baffles on pedestal, it is equipped with supporting rod on the downside of second material platform, supporting rod side is equipped with rack, pedestal is equipped with gear, pedestal and gear are equipped with a pair of of ratchet, it is connected with one-way mechanism between gear and the second power source, sliding sleeve is slidably connected below pedestal, supporting rod is slidably connected in sliding sleeve, the upper end of two baffles slidably connects push plate, the transmission mechanism for pushing push plate to move back and forth is equipped between push plate and one-way mechanism.This programme can realize the automatic lifting of the second material platform, make to be all located in same level height when each feeding of mechanism for picking, control is simple, and work efficiency is high.
Description
Technical field
The invention belongs to robot device's technical field more particularly to a kind of telescopic multiaxis mobile robots.
Background technology
Steel plate is most common material during industry makes, its advantage is that there is very strong rigidity and hardness, and the disadvantage is that
Density is larger, and volume is also larger, causes the quality of steel plate larger, is not easy to feeding feeding.Automobile manufacturing enterprise is in stamped steel
During plate, needing to carry steel plate progress punching press constantly into punching machine, traditional steel plate punched production line is mostly manipulator feeding,
In order to keep being carried out continuously for production line, two or more hoppers are typically now set, when the steel plate in a hopper takes
And then it is reciprocal between another hopper and press machine by control system control machinery hand, thus so that control system
The program of system is more complicated, and needs repeatedly the program of handover control system at work, wastes time, low production efficiency；
And steel plate is stacked above and is placed in hopper together, and adjacent two blocks of steel plates may be fully bonded to together, when manipulator picks up
Two blocks of steel plates can be promoted together when steel plate, need manually to go to detach, lead to low production efficiency.
Invention content
High, the simple telescopic multiaxis mobile robot of control that the purpose of the present invention is to provide a kind of production efficiencys.
In order to achieve the above object, base case of the invention is：Telescopic multiaxis mobile robot, including be vertically arranged
One axis of robot, two axis of robot, two axis of robot and robot one are vertically slidably connected on one axis of robot
Axis is vertical, slidably connects three axis of robot on two axis of robot in the horizontal direction, and three axis lower end of robot is connected with for picking up
Take the mechanism for picking of workpiece, one axis of robot be equipped with the two axis lifting of driving robot the first power source and horizontal movement the
Two power sources, three axis of robot are equipped with the third power source of driving mechanism for picking lifting, first are equipped with below two axis of robot
Stacking mechanism and the second stacking mechanism, the second stacking mechanism include the first material platform and the pusher for pushing workpiece, and second
Stacking mechanism includes pedestal, the second material platform and two block baffles on pedestal, and two block baffles are located at the two of the second material platform
Side, the second material platform downside are fixedly connected with supporting rod, and supporting rod side is equipped with rack, and pedestal is equipped with the tooth that can be engaged with rack
Wheel, pedestal and gear are equipped with a pair of mutually matched ratchet, and being connected between gear and the second power source can be with moving gear
The one-way mechanism of interval one-directional rotation, pedestal lower section slidably connect sliding sleeve in the horizontal direction, and the supporting rod is vertically
Be slidably connected in sliding sleeve, the baffle upper end far from gear slidably connects push plate in the horizontal direction, push plate and one-way mechanism it
Between be equipped with push push plate move back and forth transmission mechanism.
The operation principle of this base case is：Two axis of robot is promoted to predeterminated position by the first power source, is made
Three axle position of robot in the top of the second stacking mechanism, by three axis of the second power source drive robot in the second stacking mechanism and
It is moved back and forth between press machine station.The steel plate on the first material platform is pushed on the second material platform by pusher, and most
The steel plate of top is placed exactly between two baffles.The direction of second power source drive robot, two axial punch machine is transmitted, together
When the second power source rotated by one-way mechanism band moving gear, gear rotation is risen by rack drives the second material platform, and second
Expect that the height of platform rising is equal to the thickness of steel plate, the steel plate of the top is made to be located at push plate side.Second power source drive robot
One-way mechanism counter motion can be driven when the direction movement of two axial second stacking mechanisms, due between one-way mechanism only band moving gear
It has a rest one-directional rotation, so gear will not rotate at this time, and since transmission mechanism is connect with one-way mechanism, so transmission mechanism at this time
It can drive push plate campaign, the steel plate movement of push plate movement progress the top that the top steel plate and steel plate adjacent thereto is made to generate
Relative motion avoids two blocks of steel plates from being bonded together.After the steel plate on the second material platform is all removed, the second material platform rises to
At the position of the steel plate of the top, the second material platform can be pushed to move to the direction far from gear when push plate campaign at this time, make tooth
Item is no longer engaged with gear, and the second material platform and supporting rod lose support force and make supporting rod slide downward in sliding sleeve, Zhi Dao
Two material platforms return to initial position, then rack and pinion is made to engage, after the second material platform returns to initial position, by pusher by
Steel plate on one material platform is transferred again on the second material platform.
The advantageous effect of this base case is：This programme is made by the way that the one-way mechanism being connect with the second power source is arranged
It can be rotated by one-way mechanism band moving gear when obtaining mechanism for picking feeding, to realize the rising of the second material platform, make to pick up every time
The steel plate of the top is respectively positioned on same level height when mechanism being taken to capture steel plate, and the operation for keeping third power source each is all identical,
The operation stability of ensuring equipment.It is pushed away when each mechanism for picking being made to be moved to the direction of the second stacking mechanism by the way that push plate is arranged
Plate can push the steel plate of the top, so that the top steel plate and steel plate adjacent thereto is generated relative motion, avoid two blocks of steel
Plate is bonded together so that the steel plate of each mechanism for picking pickup is all individual, avoids the occurrence of the case where picking up multiple steel plates.
Further, two axis of the robot is equipped with guide rail, and three axis of robot is slidably connected on guide rail, the second power source
For horizontal motor, ball screw assembly, is equipped between three axis of two axis of robot and robot, horizontal motor drives leading screw rotation.So
Setting realizes the horizontal movement of three axis of robot by the cooperation of ball screw assembly, and horizontal motor, easy to control, and controls
Precision is high.
Further, the one-way mechanism includes two belt wheels, and two belt wheels are connected at the center of gear and level
On the output shaft of motor, two belt wheels are equipped with unilateral bearing by belt transmission between belt wheel and gear.So set, horizontal
Motor drives and can be rotated by belt wheel and belt band moving gear when ball screw assembly, action, keeps gear single by unilateral bearing
To intermittent rotary.
Further, the transmission mechanism includes the line wheel being rotatably connected on pedestal, and line wheel is fixedly connected with belt wheel, line wheel
On be wound with bracing wire, spring is equipped between push plate one end and baffle far from the second material platform, spring makes push plate close to the second material platform,
The end of bracing wire is connect with the one end of push plate far from the second material platform.Under original state, bracing wire is by push plate to far from the second material platform
Direction pulls, and spring is in compressive state at this time.Line wheel rotation, line wheel rotation is driven to carry out unwrapping wire to bracing wire when belt wheel rotates,
To make spring push push plate to close to the direction of the second material platform, to which push plate pushes steel plate or the second material platform to far from tooth
The direction of wheel moves.
Further, first power source is hydraulic cylinder, and two axis of robot is fixedly connected on the piston rod of hydraulic cylinder.It is logical
Hydraulic cylinder is crossed to realize the lifting of two axis of robot, easily controllable, support performance is high.
Further, third power source is vertical motor, and mechanism for picking is fixedly connected on vertical motor.Pass through vertical motor
The lifting of mechanism for picking is controlled, it is easily controllable.
Further, the mechanism for picking includes the support plate being fixed on vertical motor, if being evenly equipped on the lower surface of support plate
Dry vacuum sucker.So set, capturing steel plate by vacuum cup, crawl is quickly and stable.
Description of the drawings
Fig. 1 is the structural schematic diagram of the telescopic multiaxis mobile robot embodiment of the present invention；
Fig. 2 is the enlarged drawing at A in Fig. 1；
Fig. 3 is the enlarged drawing at B in Fig. 1；
Fig. 4 is the sectional view at C in Fig. 1.
Specific implementation mode
Below by specific implementation mode, the present invention is described in further detail：
Reference sign：Hydraulic cylinder 1, one axis 2 of robot, two axis 3 of robot, sliding rail 4, retarder 5, nut seat 6, silk
Thick stick 7, three axis 8 of robot, vacuum cup 9, guide rail 10, tensioning wheel 11, line wheel 12, belt wheel 13, gear 14, compression spring 15, sliding sleeve 16,
Supporting rod 17, rack 18, baffle 19, bearing 20, the second material platform 21, fixed block 22, spring 23, push plate 24, fixed pulley 25, string holes
26, scraping wings 27, the first material platform 28.
As shown in Figures 1 to 4, a kind of telescopic multiaxis mobile robot, including one axis 2 of robot, two axis of robot, 3 and
Three axis 8 of robot.One axis 2 of robot is two support columns being vertically arranged on the ground, is fixed on one axis 2 of Liang Ge robots
It is connected with vertical sliding rail 4, two axis of robot 3 is horizontal to be set between two sliding rails 4, and two axis of robot, 3 left and right ends are fixed
It is connected with the sliding block coordinated with sliding rail 4, sliding block is slidably connected on sliding rail 4.It is fixed on the ground in the left side of one axis 2 of robot to connect
It is connected to hydraulic cylinder 1, straight up, and the left end of two axis 3 of robot is fixedly connected on the upper of piston rod to the piston rod of hydraulic cylinder 1
End.It is fixedly connected with fixed station on the downside of two axis of robot, 3 left part, horizontal motor and retarder 5 are fixedly connected on fixed station,
The output shaft of horizontal motor is fixedly connected with the input shaft of retarder 5, and the output shaft and two axis 3 of robot of horizontal motor mutually hang down
Directly.Two axis 3 of robot is equipped with ball screw assembly, and ball screw assembly, includes leading screw 7 and the nut seat 6 that coordinates with leading screw 7, leading screw
7 are rotatably connected on two axis 3 of robot, and leading screw 7 is horizontally disposed, is fixedly connected with level on the lower surface of two axis 3 of robot and sets
The guide rail 10 set, nut seat 6 are slidably connected on guide rail 10.Three axis 8 of robot is fixedly connected on nut seat 6, robot three
Axis 8 is vertically arranged, and vertical motor is fixedly connected on three axis 8 of robot, and be slidably connected elevating lever on three axis 8 of robot, lifting
It is connected by rack-and-pinion between bar and vertical motor, vertical motor is transported by the lifting of rack-and-pinion sub-control elevating lever
Dynamic, horizontal motor and vertical motor are servo motor, and horizontal motor and vertical motor are controlled by programmable controller.It rises
The lower end of drop bar is provided with the mechanism for picking for grabbing workpiece.Mechanism for picking includes the level for being fixedly connected on elevating lever lower end
Support plate, be evenly equipped with multiple vacuum cups 9 on the lower surface of support plate, the upper surface of support plate be equipped with connect with vacuum cup 9 it is true
Sky pump.
Ground is equipped with the first stacking mechanism and the second stacking mechanism, and the second stacking mechanism is being located at two axis 3 of robot just
Lower section, the second stacking mechanism are located at the rear side of the first stacking mechanism.First stacking mechanism includes be fixedly connected on the ground
One material platform 28,28 upper surface of the first material platform are rotatably connected to multiple idler wheels, the first side of the material platform 28 far from the second stacking mechanism
Equipped with pusher, pusher includes the charging cylinder for being horizontally placed on ground, and charging cylinder is cylinder, is consolidated on the piston rod of cylinder
Surely it is connected with vertical scraping wings 27.
Second stacking mechanism includes pedestal, the second material platform 21 and two block baffles 19, and pedestal is fixedly installed on ground, pedestal
The cavity of the both sides above and below pedestal is inside offered, sliding sleeve 16 is slidably connected in cavity in the horizontal direction, is slided in sliding sleeve 16
It is connected with supporting rod 17, the upper end of supporting rod 17 is fixedly connected on the lower surface of the second material platform 21, and the second material platform 21 is located at bottom
The top of seat is set on pedestal there are two the bearing 20 for being used to support the second material platform 21, and two bearings 20 are located at supporting rod 17
The left and right sides, when the second material platform 21 is located on bearing 20, the upper surface of the second material platform 21 is slightly below the upper table of the first material platform 28
Face.The left side of sliding sleeve 16 offers vertical strip gab, and the left side of supporting rod 17 is fixedly connected with vertical rack 18, rack
18 are located in strip gab, and the side with teeth of rack 18 is rotatably connected to the tooth that can be engaged with rack 18 towards left in cavity
Wheel 14, gear 14 is located at the left side of rack 18, compression spring 15 is connected between the right side and pedestal of sliding sleeve 16, compression spring 15 is to sliding sleeve 16
It is applied with power to the left.It is fixedly connected with belt wheel 13, two belt wheels 13 at the output shaft of horizontal motor and the center of gear 14
Between be connected with belt, there are two the tensioning wheels 11 for being used for restraint belt for the left pivot movement connection of pedestal.Belt wheel 13 and gear 14
Between be equipped with unilateral bearing, a pair of mutually matched ratchet, energy when belt wheel 13 rotates counterclockwise are equipped between gear 14 and pedestal
Enough band moving gears 14 rotate counterclockwise, and gear 14 does not rotate when belt wheel 13 rotates clockwise.Two baffles 19 are vertically arranged in
The left and right sides of base upper surface, between two block baffles 19, the upper end of the baffle 19 in left side is fixedly connected the second material platform 21
There is fixed block 22, slidably connects push plate 24 in fixed block 22 in the horizontal direction, connected between 24 left end of push plate and fixed block 22
There are spring 23, spring 23 to be applied with power to the right to push plate 24.Line wheel 12 is fixedly connected on belt wheel 13, in the baffle 19 in left side
Portion offers the string holes 26 through about 19 both sides of baffle, is equipped with bracing wire in string holes 26, bracing wire upper end is connected to the right side of push plate 24
The lower end of side, bracing wire is wrapped in line wheel 12, and line wheel 12 is winding bracing wire clockwise, is turned in pedestal and fixed block 22
The dynamic fixed pulley 25 being connected with for being tensioned bracing wire.
When it is implemented, starting hydraulic cylinder 1, hydraulic cylinder 1 drives two axis 3 of robot to rise to predeterminated position, makes pickup machine
Structure is located at the surface of the second stacking mechanism.Then start cylinder, the steel plate that will be stacked on first material platform 28 by scraping wings 27
It shifts onto on the second material platform 21, then adds steel plate to the second material platform 21 again, and the steel plate of the top is located at 19 upper table of right-hand apron
The top in face, steel plate adjacent thereto are located at the lower section of 19 upper surface of right-hand apron.Start vertical motor, vertical motor passes through tooth
Rack-and-pinion drives vacuum cup 9 to move downward, until vacuum cup 9 touches steel plate and captures steel plate, then by vertical
Motor promotes vacuum cup 9.Then restart horizontal motor, horizontal motor by ball screw assembly, band two axis 3 of mobile robot to
Right movement, makes steel plate move on the station of press machine, inverse by belt wheel 13 and belt band moving gear 14 when horizontal motor starts
Hour hands rotate, and gear 14 is rotated counterclockwise drives supporting rod 17 and the second material platform 21 to rise by rack 18, and the second material platform 21
The distance of rising is equal to the thickness of steel plate, and the steel plate of the top is made to be always positioned in same level.
After steel plate is placed on the station of press machine, the output shaft of horizontal motor, which rotates backward, makes two axis 3 of robot transport to the left
It moves to the surface of the second material platform 21.In motion process, horizontal motor band movable belt pulley 13 rotates clockwise, due to belt wheel 13 and tooth
It is equipped with unilateral bearing between wheel 14, and is equipped with a pair of of ratchet between gear 14 and pedestal, so when belt wheel 13 rotates clockwise
Gear 14 will not rotate.Simultaneously because line wheel 12 is fixedly connected on belt wheel 13, so line wheel 12 can be suitable together with belt wheel 13
Hour hands rotate, and to which line wheel 12 loosens bracing wire, spring 23 pushes to the right push plate 24, push plate 24 to push the steel plate of the top to the right,
The steel plate and steel plate adjacent thereto for making the top are staggered, and so that two blocks of steel plates is generated relative motion, two blocks of steel plates is avoided to be bonded in
Together, the layering of two blocks of steel plates is realized, while following steel plate is blocked in push plate 24.When vacuum cup 9 captures steel plate, due to
Two blocks of steel plates have been carried out layering, so 9 crawl monolithic steel plates of vacuum cup, even if there is also actuations between two blocks of steel plates
Power, the steel plate that downside can also be limited by push plate 24 move upwards, and are further ensured that the layering of two blocks of steel plates.
After steel plate is all taken away, the second material platform 21 has risen to the right side of push plate 24, can be to when push plate 24 moves again
The second material platform 21 of right promotion, makes the second material platform 21 be slided to the right in cavity with sliding sleeve 16, gear 14 is no longer nibbled with rack 18
It closes, to which supporting rod 17 loses gear 14 to its support force, supporting rod 17 and the second material platform 21 is made to move downward until the
Two material platforms 21 are supported by bearing 20, while compression spring 15 makes rack 18 be engaged again with gear 14, and the second material platform 21 and support
The speed that bar 17 declines under the effect of gravity pushes the speed of sliding sleeve 16 fast than compression spring 15, i.e., when the second material platform 21 resets
Afterwards, compression spring 15 makes rack 18 be engaged with gear 14.After second material platform 21 resets, the steel plate on the first material platform 28 is pushed to again
Come on second material platform 21, production line is enable continuously to run.
Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme
Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these should also be considered as protection scope of the present invention, these all do not interfere with what the present invention was implemented
Effect and patent practicability.The scope of protection required by this application should be based on the content of the claims, in specification
The records such as specific implementation mode can be used for explaining the content of claim.
Claims (7)
1. telescopic multiaxis mobile robot, it is characterised in that：Including one axis of robot being vertically arranged, one axis upper edge of robot
Vertical direction slidably connects two axis of robot, and two axis of robot is vertical with one axis of robot, two axis upper edge level side of robot
To three axis of robot is slidably connected, three axis lower end of robot is connected with the mechanism for picking for picking up work piece, one axis of robot
It is equipped with the second power source of the three axis horizontal movement of the first power source and driving robot of driving robot two axis lifting, machine
Three axis of people is equipped with the third power source of driving mechanism for picking lifting, and the first stacking mechanism and second are equipped with below two axis of robot
Stacking mechanism, the second stacking mechanism include the first material platform and the pusher for pushing workpiece, and the second stacking mechanism includes bottom
Seat, the second material platform and two block baffles on pedestal, two block baffles are located at the both sides of the second material platform, the second material platform downside
Be fixedly connected with supporting rod, supporting rod side is equipped with rack, pedestal be equipped with can with rack meshed gears, on pedestal and gear
Equipped with a pair of mutually matched ratchet, being connected between gear and the second power source can be with the list of moving gear interval one-directional rotation
To mechanism, sliding sleeve is slidably connected in the horizontal direction below pedestal, the supporting rod is vertically slidably connected in sliding sleeve,
Baffle upper end far from gear slidably connects push plate in the horizontal direction, is equipped between push plate and one-way mechanism and pushes push plate reciprocal
The transmission mechanism of movement.
2. telescopic multiaxis mobile robot according to claim 1, it is characterised in that：Two axis of the robot is equipped with
Guide rail, three axis of robot are slidably connected on guide rail, and the second power source is horizontal motor, two axis of robot and three axis of robot it
Between be equipped with ball screw assembly, horizontal motor drive leading screw rotation.
3. telescopic multiaxis mobile robot according to claim 2, it is characterised in that：The one-way mechanism includes two
Belt wheel, two belt wheels are connected at the center of gear and on the output shaft of horizontal motor, two belt wheels by belt transmission,
Unilateral bearing is equipped between belt wheel and gear.
4. telescopic multiaxis mobile robot according to claim 3, it is characterised in that：The transmission mechanism includes rotation
The line wheel being connected on pedestal, line wheel are fixedly connected with belt wheel, and bracing wire, the one end of push plate far from the second material platform are wound in line wheel
Spring is equipped between baffle, spring makes push plate close to the second material platform, end and the one end of push plate far from the second material platform of bracing wire
Connection.
5. telescopic multiaxis mobile robot according to claim 4, it is characterised in that：First power source is hydraulic pressure
Cylinder, two axis of robot are fixedly connected on the piston rod of hydraulic cylinder.
6. telescopic multiaxis mobile robot according to claim 5, it is characterised in that：Third power source is vertical electricity
Machine, mechanism for picking are fixedly connected on vertical motor.
7. telescopic multiaxis mobile robot according to claim 6, it is characterised in that：The mechanism for picking includes fixing
Support plate on vertical motor is evenly equipped with several vacuum cups on the lower surface of support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810763950.8A CN108673482B (en) | 2018-07-12 | 2018-07-12 | Telescopic multi-axis mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810763950.8A CN108673482B (en) | 2018-07-12 | 2018-07-12 | Telescopic multi-axis mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108673482A true CN108673482A (en) | 2018-10-19 |
| CN108673482B CN108673482B (en) | 2020-04-10 |
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ID=63813716
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810763950.8A Expired - Fee Related CN108673482B (en) | 2018-07-12 | 2018-07-12 | Telescopic multi-axis mobile robot |
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| Country | Link |
|---|---|
| CN (1) | CN108673482B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328155A (en) * | 2019-07-11 | 2019-10-15 | 湖州振硕自动化科技有限公司 | A kind of material sorter of corrugated board |
| CN111979934A (en) * | 2020-09-17 | 2020-11-24 | 广州北环高速公路有限公司 | Vehicle-mounted high-pressure water jet expansion joint breaking device |
| CN112247513A (en) * | 2020-10-15 | 2021-01-22 | 潘纯 | Engineering mechanical arm convenient for mounting color steel plate |
| CN113148613A (en) * | 2021-04-14 | 2021-07-23 | 五河宏盛轴承有限公司 | Collecting device for bearing machining |
| CN114713898A (en) * | 2022-05-17 | 2022-07-08 | 浙江益凯机械有限公司 | Cutting discharging structure of rolling forming machine |
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| CN103183236B (en) * | 2011-12-31 | 2015-01-14 | 上海冀晟工贸发展有限公司 | Unstacking and separating machine for sheets |
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