CN108724161B - Intelligent energy-saving emission-reducing robot - Google Patents
Intelligent energy-saving emission-reducing robot Download PDFInfo
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- CN108724161B CN108724161B CN201710277740.3A CN201710277740A CN108724161B CN 108724161 B CN108724161 B CN 108724161B CN 201710277740 A CN201710277740 A CN 201710277740A CN 108724161 B CN108724161 B CN 108724161B
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- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 238000012545 processing Methods 0.000 claims abstract description 56
- 230000009467 reduction Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 46
- 239000000463 material Substances 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000007723 transport mechanism Effects 0.000 claims 2
- 238000012546 transfer Methods 0.000 abstract description 6
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004134 energy conservation Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 description 9
- 230000003139 buffering effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000000926 separation method 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an intelligent energy saving and emission reduction robot, including the bed frame, the power unit who has the output cam that sets up on the bed frame, be fixed in the mechanism dish on bed frame upper portion, be located the mechanism dish below and with the processing carousel that the mechanism dish rotated the setting, set up at least a set of processing workstation on the mechanism dish, act on the conduction mechanism between power unit and the processing workstation, the conduction mechanism is including sliding the first transfer rod frame that sets up on the bed frame and pass mechanism dish and processing carousel centre bore respectively along upper and lower direction, be fixed in the first driving disk on first transfer rod frame upper portion, the lower part of first transfer rod frame is inconsistent with one side cooperation of output cam, first driving disk is connected with processing workstation. The processing stations are dragged to synchronously operate by a group of power mechanisms and a group of conduction mechanisms extending upwards from the middle of the rotating disc, so that the energy consumption is greatly reduced, and the effects of energy conservation and emission reduction are achieved; the processing stations can be freely combined, and the operation flexibility is high; the processing stations are concentrated around the conducting mechanism, and the volume is small.
Description
Technical Field
The invention relates to an intelligent energy-saving and emission-reducing robot.
Background
The use of robots is an important industrial sign in developed countries, and the development of robots and intelligent equipment industries has been receiving more and more attention from the society under the large background of continuous rising labor costs and gradual decline of robot costs. In the current industrial production, various intelligent assembly robots are required to automatically realize various transfer such as up-and-down movement, horizontal movement and the like, and each part is realized by using a cylinder every step aiming at various transfer processing mechanisms. For processing of one product, it is sometimes necessary to combine multiple components together, and thus multiple similar transfer processing mechanisms are required to complete the combination of multiple components. Each cylinder needs independent pneumatic control and electric control facilities, so that the energy consumption is high.
Disclosure of Invention
The invention aims to provide an intelligent energy-saving and emission-reducing robot.
In order to solve the technical problems, the invention adopts the following technical scheme: an intelligent energy-saving and emission-reducing robot comprises a base frame, a power mechanism with an output cam, a mechanism disk fixed on the upper part of the base frame, a processing turntable arranged below the mechanism disk and rotationally arranged with the mechanism disk, a plurality of processing stations arranged on the mechanism disk, and a conduction mechanism acting between the power mechanism and the processing stations, wherein the conduction mechanism comprises a first transmission rod rack arranged on the base frame in a sliding way along the up-down direction and respectively penetrating through middle holes of the mechanism disk and the processing turntable, a first driving disk fixed on the upper part of the first transmission rod rack, the lower part of the first transmission rod rack is matched and abutted with one side part of the output cam, the first driving disk is connected with the processing stations,
Processing stations are uniformly distributed on the periphery of the processing turntable,
The machining stations are distributed on the mechanism disc along the circumferential direction with the rotation axis of the machining turntable as the center of a circle, the transmission mechanism further comprises a second transmission rod frame which is arranged on the base frame in a sliding mode along the up-down direction and penetrates through middle holes of the mechanism disc and the machining turntable respectively, and a second driving disc which is arranged above the first driving disc and is fixed on the upper portion of the second transmission rod frame, the lower portion of the second transmission rod frame is in matched and abutting contact with the other side portion of the output cam, the upper portion of the second transmission rod frame is fixedly connected with the second driving disc, and the second driving disc is connected with the machining stations.
In some embodiments, the processing station includes a carrying mechanism for carrying a material onto the processing turntable, the carrying mechanism includes a fixing seat fixed on the mechanism disc, a sliding frame slidably disposed on the fixing seat along a radial direction of a rotation center of the processing turntable, an L-shaped swing arm rotatably connected to the fixing seat around a first axis, a pushing frame rotatably connected to an upper end of the L-shaped swing arm around a second axis, the pushing frame and the sliding frame around a fourth axis, and the other end of the L-shaped swing arm and the first driving disc are rotatably and slidably disposed on the first driving disc around a third axis, and a gripping portion for gripping an object is disposed on the sliding frame.
In some further embodiments, the handling mechanism further includes a non-circular transmission rod whose front part is rotatably connected to the sliding frame only around a center line, a first swing rod whose one end is fixed to the non-circular transmission rod, a second swing rod whose one end is slidably arranged on the non-circular transmission rod only along the length of the non-circular transmission rod, a first vertical rod frame whose upper end is rotatably connected to the other end of the first swing rod, and a second vertical rod frame whose lower end is rotatably connected to the other end of the second swing rod, wherein the gripping part is slidably arranged on the sliding frame in an up-down direction, the lower part of the first vertical rod frame is rotatably connected to the gripping part, and the upper part of the second vertical rod frame is connected to the second driving disc.
In some further embodiments, the first vertical rod frame includes a first vertical rod body, a first screw rod, a first adjusting end, a first nut, and a second nut, wherein the upper end of the first vertical rod body is rotatably arranged with the other end of the first swing rod, the first screw rod is downwards extended from the first vertical rod body, the first adjusting end is slidably arranged on the first screw rod, the first adjusting end is rotatably connected with the grabbing part, two first nuts are spirally arranged on the first screw rod, and the two first nuts are respectively abutted against two sides of the first adjusting end.
In some further embodiments, the second vertical rod frame includes a second vertical rod body with a lower end portion rotatably connected to the other end portion of the second swing rod, a second screw rod extending upward from the second vertical rod body and slidably disposed on the second driving disc, and a buffering elastic member disposed between the second driving disc and the second vertical rod body, wherein a second nut for preventing separation from the second driving disc is disposed on an upper end portion of the second screw rod.
In some further embodiments, the pushing frame comprises a pushing frame body with one end rotatably connected with the upper end of the L-shaped swing arm around the second shaft, a pushing screw rod extending forward from the end of the pushing frame body, and a pushing adjusting end slidably arranged on the pushing screw rod, wherein the pushing adjusting end is rotatably connected with the sliding frame around the fourth shaft, two pushing nuts are spirally connected on the pushing screw rod, and the two pushing nuts are respectively abutted to two sides of the pushing adjusting end.
In some further embodiments, a side of the output cam is provided with a circle of first cam groove, and a lower end of the first lever bracket is provided with a first roller, and the first roller is inserted in the first cam groove; the other side part of the output cam is provided with a circle of second cam groove, the lower part of the second transmission rod frame is provided with a second roller, the second roller is inserted in the second cam groove, and the first cam groove is asymmetric with the second cam groove.
In some further embodiments, a plurality of guide posts extending upwards are fixed at the middle part of the mechanism disc, and the first driving disc and the second driving disc are respectively arranged on the guide posts in a sliding manner through linear bearings.
The scope of the present application is not limited to the specific combination of the above technical features, but also covers other technical features formed by any combination of the above technical features or their equivalents. Such as those described above, and those disclosed in the present application (but not limited to) having similar functions, are replaced with each other.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the output cam of the power mechanism continuously rotates to control the first transmission rod frame to regularly move up and down and drive the first driving disc to regularly move up and down, so that each group of processing stations is controlled by the first driving disc to regularly operate. According to the invention, one or more processing stations are dragged to synchronously operate only through a group of power mechanisms and a group of conduction mechanisms extending upwards from the middle of the rotating disc, so that the energy consumption is greatly reduced, and the effects of energy conservation and emission reduction are achieved; according to the assembly requirement of the product, the processing stations can be freely combined, and the operation flexibility is high; and the processing stations are concentrated around the conducting mechanism, so that the structure is simple and the volume is small.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic perspective view with the feed mechanism omitted;
FIG. 3 is a schematic perspective view of the material feeding mechanism, the base frame and other parts are omitted;
FIG. 4 is a schematic perspective view of a power mechanism;
FIG. 5 is a schematic view of the power mechanism, the conduction mechanism and the carrying mechanism combined;
FIG. 6 is a schematic diagram of a handling mechanism;
FIG. 7 is a second schematic diagram of a handling mechanism;
FIG. 8 is a schematic diagram of the distribution of the handling mechanism mounted on the mechanism tray;
Wherein, 1, a base frame; 2. a mechanism disc; 3. a processing turntable; 4. a power mechanism; 41. an output cam; 42. a second cam groove; 5. a conduction mechanism; 51. a first rod carrier; 52. a first drive plate; 53. a second rod carrier; 54. a second drive plate; 55. a guide post; 56. a compression bar; 6. a carrying mechanism; 60. a fixing seat; 61. a carriage; 62. l-shaped swing arms; 63. a pushing frame; 631. pushing the frame body; 632. pushing the screw; 633. pushing the adjusting end; 634. pushing the nut; 64. a gripping part; 65. a transmission non-circular tube; 66. a first swing rod; 67. the second swing rod; 68. a first vertical bar frame; 681. a first vertical rod body; 682. a first screw; 683. a first adjustment end; 684. a first nut; 69. a second vertical bar frame; 691. a second vertical rod body; 692. a second screw; 693. a buffer elastic member; 694. and a second nut.
Detailed Description
As shown in the drawings, the invention is characterized in that the output cams of a group of power mechanisms continuously rotate to control the transmission rod frames matched with the output cams to regularly move up and down and drive the driving discs fixedly arranged on the transmission rod frames to regularly move up and down, so that one or more processing stations surrounding the driving discs are controlled to synchronously and regularly operate, the energy consumption is greatly reduced, and the effects of energy conservation and emission reduction are achieved.
Specifically, the intelligent energy-saving and emission-reducing robot comprises:
A base frame 1;
A power mechanism 4 including a motor, a speed reducer, an output cam 41 provided on the base frame 1, and the like;
A mechanism disk 2 fixed on the upper part of the base frame 1;
the machining turntable 3 is positioned below the mechanism disc 2 and is rotatably arranged with the mechanism disc 2, and machining stations are uniformly distributed on the periphery of the machining turntable 3;
The processing stations are arranged on the mechanism disc 2, and are used for sequentially placing, transporting and placing materials and then compressing and assembling according to a program;
and a transmission mechanism 5 for transmitting power and arranged between the power mechanism 4 and the processing station.
The processing station is a mechanism with various functions, such as material feeding and carrying, pressing and assembling, qualification detection and finished product carrying. The machining stations are distributed on the mechanism disk 2 along the circumferential direction with the rotation axis of the machining turntable 3 as the center of a circle.
The present invention mainly describes a conveying mechanism 6 for conveying materials to the processing turntable 3 or conveying processed products from the processing turntable 3. The carrying mechanism 6 is used in cooperation with the power mechanism 4 and the conduction mechanism 5 of the present invention.
The carrying mechanism 6 comprises a fixed seat 60 fixed on the mechanism disc 2, a sliding frame 61 arranged on the fixed seat 60 in a sliding manner along the radial direction of the rotation center of the processing turntable 3, an L-shaped swing arm 62 with the middle part rotatably connected with the fixed seat 60 around a first shaft, a pushing frame 63 with one end rotatably connected with the upper end part of the L-shaped swing arm 62 around a second shaft, the pushing frame 63 is rotatably connected with the sliding frame 61 around a fourth shaft, and a grabbing part 64 for grabbing objects is arranged on the sliding frame 61. The fixed seat, the sliding frame and the L-shaped swing arm form a connecting rod mechanism, and when the first driving disk moves up and down, the L-shaped swing arm can be controlled to rotate, so that the sliding frame is controlled to regularly extend and retract. The linkage is thus used to control the horizontal movement of the gripping portion.
In order to make the handling of the material products safer, it is preferable that the handling mechanism 6 further includes a noncircular transmission rod 65 whose front part is rotatably connected to the carriage 61 only around the center line, a first swing rod 66 whose one end is fixed to the noncircular transmission rod 65, a second swing rod 67 whose one end is slidably provided to the noncircular transmission rod 65 only along the length of the noncircular transmission rod 65, a first vertical rod frame 68 whose upper end is rotatably connected to the other end of the first swing rod 66, a second vertical rod frame 69 whose lower end is rotatably connected to the other end of the second swing rod 67, and a grasping portion 64 which is slidably provided to the carriage 61 in the up-down direction, the lower part of the first vertical rod frame 68 being rotatably connected to the grasping portion 64. The first vertical rod frame, the first swing rod, the non-circular transmission rod 65, the second swing rod and the second vertical rod frame form a connecting rod mechanism, and the connecting rod mechanism is controlled by the second driving disc. The link mechanism thus controls the gripping portion to move up and down. The non-circular transmission rod 65 refers to a rod member with a cross section other than a circle, such as a triangle, square, pentagon, hexagon, etc. in cross section.
In order to realize the control of the grabbing part to move up and down and horizontally and orderly. The two sets of connecting rod mechanisms need to have independently controlled power sources, and the transmission mechanism 5 of the invention controls the two sets of connecting rod mechanisms respectively by continuously rotating the output cams of one set of power mechanism.
Specifically, the conducting mechanism 5 includes a first rod frame 51 slidably disposed on the base frame 1 along the up-down direction and penetrating through the middle holes of the mechanism disc 2 and the processing turntable 3, a second rod frame 53 slidably disposed on the base frame 1 along the up-down direction and penetrating through the middle holes of the mechanism disc 2 and the processing turntable 3, a first driving disc 52 fixed on the upper portion of the first rod frame 51, and a second driving disc 54 located above the first driving disc 52 and fixed on the upper portion of the second rod frame 53, wherein the upper portion of the second rod frame 53 is fixedly connected with the second driving disc 54, the first driving disc 52 is connected with the processing station, and the second driving disc 54 is connected with the processing station. The other end portion of the L-shaped swing arm 62 and the first drive disk 52 are both rotatably provided around the third axis and slidably provided on the first drive disk 52. The upper portion of the second vertical rod frame 69 is connected to the second driving plate 54, and in this embodiment, since the pressing rod 56 extending outward is fixed to the second driving plate 54, the pressing rod 56 is used to connect with the upper portion of the second vertical rod frame 69. A plurality of guide posts 55 extending upwards are fixed in the middle of the mechanism disc 2, and the first driving disc 52 and the second driving disc 54 are respectively arranged on the guide posts 55 in a sliding manner through linear bearings.
The lower part of the first transmission rod frame 51 is matched and abutted with one side part of the output cam 41, the lower part of the second transmission rod frame 53 is matched and abutted with the other side part of the output cam 41, and the first transmission rod frame 51 and the second transmission rod frame 53 are respectively controlled to move up and down through the two side parts of the same output cam, so that the corresponding actions of the processing station are respectively controlled. In this embodiment, a circle of first cam groove is formed at one side of the output cam 41, a first roller is arranged at the lower end of the first transmission rod frame 51, and the first roller is inserted in the first cam groove; the other side of the output cam 41 is provided with a circle of second cam groove 42, the lower part of the second lever bracket 53 is provided with a second roller, the second roller is inserted in the second cam groove 42, and the first cam groove is asymmetric with the second cam groove 42, so that the first lever bracket 51 and the second lever bracket 53 move in different widths. Stable operation and small friction coefficient.
When the power mechanism rotates, the output cam 41 continuously rotates, and controls the first transmission rod frame 51 and the second transmission rod frame 53 to move up and down in different widths, namely the first driving disc 52 and the second driving disc 54 to move up and down in different widths, so that two sets of link mechanisms of the carrying mechanism 6 are controlled to operate respectively, the grabbing part 64 is controlled to move spatially, for example, the grabbing part 64 is controlled to stretch out and descend to grab materials from the feeding mechanism, and the materials are lifted upwards, retreated and then lowered into a processing station of the processing turntable 3 after being grabbed, and lifted upwards again for resetting. The processing turntable 3 rotates one lattice according to the program operation, the next processing station rotates to the lower part of the carrying mechanism 6, and the next material is carried, so that the process is repeated.
As the preferable scheme, the first vertical rod frame is a fine-tuning rod, the first vertical rod frame is connected between the first swing rod and the grabbing part, the position of the first adjusting end of the first vertical rod frame on the first screw rod is movable, and the fine tuning of the length is realized, so that the defect that the cam size is not adjustable is overcome. Specifically, the first vertical rod frame includes a first vertical rod body 681, a first screw rod 682, a first adjusting end 683, and a first nut 684, wherein the upper end of the first vertical rod body 681 is rotatably disposed at the other end of the first swing rod 66, the first screw rod 682 is extended downward from the first vertical rod body 681, the first adjusting end 683 is slidably disposed on the first screw rod 682, the first adjusting end 683 is rotatably connected with the grabbing portion 64, two first nuts 684 are spirally disposed on the first screw rod 682, and the two first nuts 684 are respectively abutted against two sides of the first adjusting end 683.
As a preferred scheme, the second vertical rod frame is the elastic rod that has the buffer function, and when the second vertical rod frame was pushed down, the grabbing portion moved down and snatched the material, if the stroke design is bad, the grabbing portion probably collides with the working face for output cam or grabbing portion damage, or the second driving plate is pushed down the action and is used on the buffering elastic component, and the buffering elastic component is used on the second montant body, thereby the second montant body has the buffer force, thereby protection output cam or grabbing portion. Specifically, the second vertical rod rack 69 includes a second vertical rod body 691 having a lower end portion rotatably connected to the other end portion of the second swing rod 67, a second screw rod 692 extending upward from the second vertical rod body 691 and slidably disposed with the second driving disk 54, and a buffer elastic member 693 disposed between the second driving disk 54 and the second vertical rod body 691, and a second nut 694 for preventing detachment from the second driving disk 54 is disposed at an upper end portion of the second screw rod 692.
As the preferable scheme, the pushing frame is a fine-tuning rod, the pushing frame is connected between the L-shaped swing arm and the sliding frame, the pushing adjusting end of the pushing frame is movable on the pushing screw rod, and the fine tuning of the length is realized, so that the defect that the cam size is not adjustable is overcome. Specifically, the pushing frame 63 includes a pushing frame body 631 with one end rotatably connected to the upper end of the L-shaped swing arm 62 about a second axis, a pushing screw 632 extending forward from the end of the pushing frame body 631, and a pushing adjustment end 633 slidably disposed on the pushing screw 632, where the pushing adjustment end 633 is rotatably connected to the sliding frame 61 about a fourth axis, the pushing screw 632 is spirally connected to two pushing nuts 634, and the two pushing nuts 634 are respectively abutted to two sides of the pushing adjustment end 633.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (8)
1. An intelligent energy-conserving emission reduction robot, its characterized in that: comprises a base frame (1), a power mechanism (4) with an output cam (41) arranged on the base frame (1), a mechanism disc (2) fixed on the upper part of the base frame (1), a processing rotary disc (3) arranged below the mechanism disc (2) and rotatably arranged with the mechanism disc (2), a plurality of processing work stations arranged on the mechanism disc (2), and a conducting mechanism (5) acting between the power mechanism (4) and the processing work stations, wherein the conducting mechanism (5) comprises a first transmission rod frame (51) arranged on the base frame (1) in a sliding way along the up-down direction and respectively penetrating through the mechanism disc (2) and a middle hole of the processing rotary disc (3), a first driving disc (52) fixed on the upper part of the first transmission rod frame (51), the lower part of the first transmission rod frame (51) is matched with one side part of the output cam (41) in a supporting way, the first driving disc (52) is connected with the processing work stations,
Processing stations are uniformly distributed on the periphery of the processing turntable (3),
A plurality of processing stations are distributed on the mechanism disc (2) along the circumferential direction taking the rotation axis of the processing rotary disc (3) as the circle center,
The transmission mechanism (5) further comprises a second transmission rod frame (53) which is arranged on the base frame (1) in a sliding manner along the up-down direction and penetrates through the middle holes of the mechanism disc (2) and the processing turntable (3) respectively, and a second driving disc (54) which is arranged above the first driving disc (52) and is fixed on the upper portion of the second transmission rod frame (53), the lower portion of the second transmission rod frame (53) is in matched and abutted against the other side portion of the output cam (41), the upper portion of the second transmission rod frame (53) is fixedly connected with the second driving disc (54), and the second driving disc (54) is connected with the processing station.
2. The intelligent energy-saving and emission-reducing robot of claim 1, wherein: the processing workstation is including being used for carrying the material to transport mechanism (6) on processing carousel (3), transport mechanism (6) are including fixing base (60) on mechanism dish (2), along processing carousel (3) center of rotation radial slip set up in carriage (61) on fixing base (60), middle part with L shape swing arm (62) that fixing base (60) are rotated around first axle and are connected, one end with the upper end of L shape swing arm (62) is rotated promotion frame (63) that are connected around the second axle, promotion frame (63) with carriage (61) are connected around fourth axle pivot, the other end of L shape swing arm (62) with first driving disk (52) can rotate around the third axle and can set up with sliding on first driving disk (52), be provided with on carriage (61) and be used for grabbing snatching portion (64) of article.
3. The intelligent energy-saving and emission-reducing robot of claim 2, wherein: the carrying mechanism (6) further comprises a non-circular transmission rod (65) with the front part only capable of being rotatably connected to the sliding frame (61) around a central line, a first swing rod (66) with one end fixed to the non-circular transmission rod (65), a second swing rod (67) with one end capable of being slidably arranged on the non-circular transmission rod (65) only along the length of the non-circular transmission rod (65), a first vertical rod frame (68) with the upper end rotatably connected with the other end of the first swing rod (66), and a second vertical rod frame (69) with the lower end rotatably connected with the other end of the second swing rod (67), wherein the grabbing part (64) can be slidably arranged on the sliding frame (61) along the up-down direction, the lower part of the first vertical rod frame (68) is rotatably connected with the grabbing part (64), and the upper part of the second vertical rod frame (69) is connected with the second driving disc (54).
4. The intelligent energy-saving and emission-reducing robot according to claim 3, wherein: the first vertical rod frame comprises a first vertical rod body (681) with the upper end part of the first vertical rod body (681) is rotatably arranged at the other end part of the first swing rod (66), a first screw rod (682) downwards extending from the first vertical rod body (681), and a first adjusting end (683) arranged on the first screw rod (682) in a sliding mode, wherein the first adjusting end (683) is rotatably connected with the grabbing part (64), two first nuts (684) are spirally arranged on the first screw rod (682), and the two first nuts (684) are respectively abutted to two sides of the first adjusting end (683).
5. The intelligent energy-saving and emission-reducing robot according to claim 3, wherein: the second vertical rod frame (69) comprises a second vertical rod body (691) with the lower end part rotatably connected with the other end part of the second swing rod (67), a second screw rod (692) which is upwards extended out of the second vertical rod body (691) and is slidably arranged with the second driving disc (54), and a buffer elastic piece (693) which is arranged between the second driving disc (54) and the second vertical rod body (691), wherein the upper end part of the second screw rod (692) is provided with a second nut (694) which is used for preventing the second screw rod from being separated from the second driving disc (54).
6. The intelligent energy-saving and emission-reducing robot according to claim 3, wherein: the pushing frame (63) comprises a pushing frame body (631) with the upper end of the L-shaped swing arm (62) is rotationally connected around a second shaft, a pushing screw rod (632) extending forwards from the end of the pushing frame body (631), and a pushing adjusting end (633) arranged on the pushing screw rod (632) in a sliding manner, wherein the pushing adjusting end (633) and the sliding frame (61) are rotationally connected around a fourth shaft, two pushing nuts (634) are spirally connected on the pushing screw rod (632), and the two pushing nuts (634) are respectively abutted against two sides of the pushing adjusting end (633).
7. The intelligent energy-saving and emission-reducing robot of claim 2, wherein: a circle of first cam grooves are formed in one side part of the output cam (41), a first roller is arranged at the lower end part of the first transmission rod frame (51), and the first roller is inserted into the first cam grooves; the other side part of the output cam (41) is provided with a circle of second cam groove (42), the lower part of the second transmission rod frame (53) is provided with a second roller, the second roller is inserted into the second cam groove (42), and the first cam groove is asymmetric with the second cam groove (42).
8. The intelligent energy-saving and emission-reducing robot of claim 1, wherein: the middle part of mechanism dish (2) is fixed with a plurality of guide posts (55) that upwards stretch out, first driving dish (52) with second driving dish (54) respectively through linear bearing slide set up in on guide post (55).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710277740.3A CN108724161B (en) | 2017-04-25 | 2017-04-25 | Intelligent energy-saving emission-reducing robot |
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| CN201710277740.3A CN108724161B (en) | 2017-04-25 | 2017-04-25 | Intelligent energy-saving emission-reducing robot |
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| CN108724161B true CN108724161B (en) | 2024-06-04 |
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| CN109835525A (en) * | 2019-03-22 | 2019-06-04 | 浙江快利电子有限公司 | A kind of shifting material device of connector package machine |
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| US6098478A (en) * | 1998-11-06 | 2000-08-08 | Emerson Electric Co. | Linear pick and place drive with adjustable stroke ranges |
| CN101219539A (en) * | 2008-01-24 | 2008-07-16 | 上海微电子装备有限公司 | Clamp device with adjustable manipulator angle |
| CN201913643U (en) * | 2010-04-27 | 2011-08-03 | 庄建兵 | Cam mechanical arm with adjustable inclined angle of input shaft axis and straight motion plane |
| CN106426131A (en) * | 2015-08-12 | 2017-02-22 | 襄阳冈多力智能科技有限公司 | Robot for taking out springs |
| CN206855444U (en) * | 2017-04-25 | 2018-01-09 | 苏州中悦行自动化机械科技有限公司 | Intelligent energy-saving emission reduction robot |
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2017
- 2017-04-25 CN CN201710277740.3A patent/CN108724161B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6098478A (en) * | 1998-11-06 | 2000-08-08 | Emerson Electric Co. | Linear pick and place drive with adjustable stroke ranges |
| CN101219539A (en) * | 2008-01-24 | 2008-07-16 | 上海微电子装备有限公司 | Clamp device with adjustable manipulator angle |
| CN201913643U (en) * | 2010-04-27 | 2011-08-03 | 庄建兵 | Cam mechanical arm with adjustable inclined angle of input shaft axis and straight motion plane |
| CN106426131A (en) * | 2015-08-12 | 2017-02-22 | 襄阳冈多力智能科技有限公司 | Robot for taking out springs |
| CN206855444U (en) * | 2017-04-25 | 2018-01-09 | 苏州中悦行自动化机械科技有限公司 | Intelligent energy-saving emission reduction robot |
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