CN109292442A - A kind of industrial carrying machine people - Google Patents
A kind of industrial carrying machine people Download PDFInfo
- Publication number
- CN109292442A CN109292442A CN201811419498.XA CN201811419498A CN109292442A CN 109292442 A CN109292442 A CN 109292442A CN 201811419498 A CN201811419498 A CN 201811419498A CN 109292442 A CN109292442 A CN 109292442A
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- CN
- China
- Prior art keywords
- fixedly installed
- rotary table
- stepper motor
- round end
- machine people
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial carrying machine people, carriage including mounting seat and in mounting seat, sliding table is fixedly installed on the carriage, the sliding table is equipped with rotating device, rotary table is fixedly installed on the rotating device, the rotary table is equipped with regulating device, the regulating device is equipped with grabbing device, the sliding table can be slided by carriage, the rotary table can be rotated by rotating device, the support rod two can be adjusted by regulating device, the grabbing device can grab various sizes of workpiece, the mounting seat bottom side, which is equipped with, uses electrical interface, the regulating device side is equipped with controller.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to robot field, especially a kind of industrial carrying machine people.
Background technique
Transfer robot [transfer robot] is the industrial robot that can carry out automated handling operation.Earliest
Transfer robot appears in the U.S. of nineteen sixty, Versatran and Unimate Liang Zhong robot is used for transport operation for the first time.It removes
Running industry, which refers to, holds workpiece with a kind of equipment, refers to from a Working position and moves on to another Working position.Transfer robot
Mountable different end effector is worked with the workpiece handling for completing various different shapes and state, and it is numerous to significantly reduce the mankind
The manual labor of weight.The transfer robot used in the world exceedes 100,000, and it is automatic to be widely used in lathe loading and unloading, press machine
The automatic transporting of metaplasia producing line, automatic assembly line, Palletised carry, container etc..Systems in Certain Developed Countries has been made manually
It carries to greatest extent, what is gone beyond the limit must be completed by transfer robot.
In the prior art, such as Patent No. CN201721070368.0, patent name are a kind of four joint industrial carryings
Robot, including pedestal, the pedestal upper end have been bolted to connection chassis, and the chassis upper end is equipped with turntable, institute
It states turntable upper end and is fixedly connected with principal arm body, auxiliary body is hinged on the principal arm body, auxiliary body front end is connected with
Block is connect, principal arm body side is connected with strut, and the chassis side is connected with motor, and the electric machine main shaft is connected by connecting rod
It is connected to strut, auxiliary body upper end is connected with the first cylinder, and first cylinder front end is articulated with link block, the link block
Lower end is connected with backing plate, and the backing plate lower end is evenly distributed with sucker, single machine of the present invention can be used for multi-process automatic press, forging and stamping,
Material carrying, stacking etc., have a wide range of application, and the four axis degrees of freedom of motion, robot mounting location is flexible, and it is more to be particularly suitable for carrying class
Process product produces automatically, is suitble to multi-product to share a robot, motion stability is reliable, facilitates mold changing.
Used transfer robot mostly uses handgrip to carry out grabbing workpiece greatly currently on the market, to carrying workpiece size and outside
Shape require it is larger, and carry when, workpiece is easy to happen obscission, influence using.
Summary of the invention
The purpose of the present invention is to solve the above problems, devise a kind of industrial carrying machine people.
Realize above-mentioned purpose the technical scheme is that, a kind of industrial carrying machine people, including mounting seat and be located at
Carriage in mounting seat is fixedly installed with sliding table on the carriage, and the sliding table is equipped with
Rotating device is fixedly installed with rotary table on the rotating device, and the rotary table is equipped with regulating device, described
Regulating device is equipped with grabbing device, and the sliding table can be slided by carriage, and the rotary table can
It is rotated by rotating device, the support rod two can be adjusted by regulating device, and the grabbing device can grab not
With the workpiece of size, the mounting seat bottom side, which is equipped with, uses electrical interface, and the regulating device side is equipped with controller.
The carriage includes one group of shifting sledge for being opened in mounting seat upper surface, and shifting sledge is opened in along installation bottom
On seat length direction；It is fixedly installed with rectangle rack gear on the inner wall of the shifting sledge side, rectangle rack gear is mounted on along moving cunning
On rail length direction；One group of sliding shoe one is slidably fitted on the shifting sledge, one bottom of sliding shoe is fixedly installed with stepping
Motor one；Downwards, one round end of stepper motor is fixedly installed with driving gear to one round end of stepper motor；The master
Moving gear intermeshes with rectangle rack gear；One upper end of sliding shoe is fixedly connected with sliding table.
The rotating device includes the motor base being fixedly mounted at the center of sliding table upper surface, on motor base
It is fixedly installed with rotating electric machine one；Vertically upward, one round end of rotating electric machine is fixedly installed with one round end of rotating electric machine
Rotary table connecting plate, rotary table connecting plate are fixedly connected with rotary table lower surface.
The regulating device includes the support rod one for being fixedly mounted on rotary table upper surface, and one upper end of support rod passes through
Connection pin shaft is connected with support rod two；It is fixedly installed with fixing end mounting rack one in one right lateral surface of support rod, Gu
Fixing end axis one is fitted in fixed end mounting rack one；It is fixedly installed with fixing end mounting rack two on two lower surface of support rod,
Fixing end axis two is fitted in fixing end mounting rack two；It is fixedly connected between the fixing end axis one and fixing end axis two electronic
Telescopic rod.
The grabbing device includes the rotating electric machine two for being fixedly mounted on two end of support rod, and two round end of rotating electric machine is perpendicular
Directly downward；Two round end of rotating electric machine is fixedly installed with crawl frame attachment plate, the fixed peace in crawl frame attachment plate bottom
Equipped with crawl frame；Described crawl frame lower surface one end is fixedly installed with one group of stepper motor two, two round end of stepper motor
Level is outwardly；The crawl frame lower surface is fixedly installed with two groups of bearings that are relatively fixed, and is fitted with screw thread in fixing bearing
Screw rod；Two round end of stepper motor is fixedly connected with threaded screw rod；One group of sliding is slidably fitted on the threaded screw rod
Block two, two bottom of sliding shoe are fixedly installed with crawl clamping plate；Pressure sensor is fixedly installed on the crawl clamping plate.
The stepper motor one can drive the driving gear on round end, and driving gear intermeshes with rectangle rack gear,
Sliding table moving back and forth on shifting sledge may be implemented in the positive and negative rotation of stepper motor one.
The rotating electric machine one can drive the rotary table connecting plate on round end, rotary table connecting plate and rotation
Revolving worktable lower surface is fixedly connected, to realize adjusting of the rotary table on level angle.
Described electric telescopic rod one end is fixedly connected with the other end with fixing end axis one and is fixedly connected with fixing end axis two, support
Bar two can be realized by electric telescopic rod in the adjusting in pitch angle.
The rotating electric machine two can drive the crawl frame attachment plate on round end, crawl frame attachment plate and crawl frame
Frame upper surface is fixedly connected, to realize adjusting of the crawl frame on level angle；The stepper motor two can drive rotation
Turn the threaded screw rod on end, sliding shoe two is slidably connected with threaded screw rod, and sliding shoe may be implemented in the positive and negative rotation of stepper motor two
The crawl clamping plate of two moving back and forth on threaded screw rod, two bottom of sliding shoe can be used to grab work.
The industrial carrying machine people made using technical solution of the present invention passes through the carriage being located in mounting seat
Sliding table moving back and forth on shifting sledge may be implemented, the level angle of rotary table is adjusted in rotating device,
The elevation-depression angle of regulating device adjustable support bar two, grabbing device can grab various sizes of workpiece, workpiece when preventing from carrying
Fall off, be easy to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of industrial carrying machine people of the present invention；
Fig. 2 is carriage schematic diagram of the present invention；
Fig. 3 is rotating device schematic diagram of the present invention；
Fig. 4 is regulating device schematic diagram of the present invention；
Fig. 5 is grabbing device schematic diagram of the present invention；
In figure, 1, mounting seat；2, sliding table；3, rotary table；4, electrical interface is used；5, controller；6, shifting sledge；
7, rectangle rack gear；8, sliding shoe one；9, stepper motor one；10, driving gear；11, motor base；12, rotating electric machine one；13,
Rotary table connecting plate；14, support rod one；15, pin shaft is connected；16, support rod two；17, fixing end mounting rack one；18, solid
Fixed end axis one；19, fixing end mounting rack two；20, fixing end axis two；21, electric telescopic rod；22, rotating electric machine two；23, it grabs
Frame attachment plate；24, frame is grabbed；25, stepper motor two；26, fixing bearing；27, threaded screw rod；28, sliding shoe two；29,
Grab clamping plate；30, pressure sensor.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, as shown in Figs. 1-5, a kind of industrial carrying machine people, at this
In embodiment, in use, user controls carrying by controller 5 by being electrically connected with electrical interface 4 and external power supply
Robot；
Step 1: user can adjust position of the transfer robot in mounting seat 1 by carriage, user passes through
Controller 5 assigns instruction, and carriage is started to work, and drives the driving gear 10 on round end, driving gear 10 into motor 1
It intermeshes with rectangle rack gear 7, sliding table 2 may be implemented on shifting sledge 6 back and forth in the positive and negative rotation of stepper motor 1
It is mobile, position of the transfer robot in mounting seat 1, conveying robot are adjusted by the carriage being located in mounting seat
After people adjusts good position, user assigns instruction by controller 5, and rotating device is started to work, and rotating electric machine 1 drives
Rotary table connecting plate 13 on round end, rotary table connecting plate 13 are fixedly connected with 3 lower surface of rotary table, from
And realize adjusting of the rotary table 3 on level angle, the level angle of rotary table is adjusted in rotating device；
Step 2: regulating device is started to work, electric telescopic rod 21 1 after rotary table 3 regulates on level angle
End is fixedly connected with the other end with fixing end axis 1 and is fixedly connected with fixing end axis 2 20, and support rod 2 16 can pass through electric expansion
Bar 21 is realized in the adjusting in pitch angle, the elevation-depression angle of regulating device adjustable support bar two, 2 16 elevation-depression angle of support rod
After regulating, grabbing device is started to work, and rotating electric machine 2 22 drives the crawl frame attachment plate 23 on round end, grabs frame
Frame connecting plate 23 is fixedly connected with crawl 24 upper surface of frame, to realize adjusting of the crawl frame 24 on level angle, is grabbed
After taking frame 24 to regulate on level angle, stepper motor 2 25 is started to work, and stepper motor 2 25 drives on round end
Threaded screw rod 27, sliding shoe 2 28 is slidably connected with threaded screw rod 27, and the positive and negative rotation of stepper motor 2 25 may be implemented to slide
The moving back and forth on threaded screw rod 27 of block 2 28, the crawl clamping plate 29 of 2 28 bottom of sliding shoe can be used to grab work, pressure
Sensor 30 is collected and detects crawl clamping plate 29 to the pressure of workpiece, prevents pressure from crossing greater than damaging to workpiece, passes through position
Sliding table moving back and forth on shifting sledge may be implemented in the carriage in mounting seat, rotating device is adjustable
The level angle of rotary table, the elevation-depression angle of regulating device adjustable support bar two, grabbing device can grab different sizes
Workpiece, workpiece falls off when preventing from carrying, and is easy to use.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (9)
1. a kind of industrial carrying machine people, including mounting seat (1) and the carriage being located on mounting seat (1), feature
It is, is fixedly installed on the carriage sliding table (2), the sliding table (2) is equipped with rotating device, institute
It states and is fixedly installed on rotating device rotary table (3), the rotary table (3) is equipped with regulating device, the adjusting
Device is equipped with grabbing device, and the sliding table can be slided by carriage, and the rotary table can pass through
Rotating device is rotated, and the support rod two can be adjusted by regulating device, and the grabbing device can grab different rulers
Very little workpiece, mounting seat (1) bottom side, which is equipped with, uses electrical interface (4), and the regulating device side is equipped with controller
(5).
2. a kind of industrial carrying machine people according to claim 1, which is characterized in that the carriage includes being opened in peace
One group of shifting sledge (6) of pedestal (1) upper surface is filled, shifting sledge (6) is opened in along mounting seat (1) length direction；It is described
It is fixedly installed with rectangle rack gear (7) on the inner wall of shifting sledge (6) side, rectangle rack gear (7) is mounted on along shifting sledge (6) length
On direction；One group of sliding shoe one (8) is slidably fitted on the shifting sledge (6), sliding shoe one (8) bottom is fixedly installed with step
Into motor one (9)；Downwards, stepper motor one (9) round end is fixedly installed with actively stepper motor one (9) round end
Gear (10)；The driving gear (10) is intermeshed with rectangle rack gear (7)；Sliding shoe one (8) upper end and sliding work
Platform (2) is fixedly connected.
3. a kind of industrial carrying machine people according to claim 1, which is characterized in that the rotating device includes fixed peace
Motor base (11) at sliding table (2) upper surface center, motor base are fixedly installed with rotating electric machine on (11)
One (12)；Vertically upward, rotating electric machine one (12) round end is fixedly installed with rotation work to rotating electric machine one (12) round end
Make platform connecting plate (13), rotary table connecting plate (13) is fixedly connected with rotary table (3) lower surface.
4. a kind of industrial carrying machine people according to claim 1, which is characterized in that the regulating device includes fixed peace
Support rod one (14) mounted in rotary table (3) upper surface, support rod one (14) upper end are connected by connection pin shaft (15) activity
It is connected to support rod two (16)；It is fixedly installed with fixing end mounting rack one (17) in support rod one (14) right lateral surface, it is fixed
Fixing end axis one (18) is fitted in end mounting rack one (17)；Fixing end is fixedly installed on support rod two (16) lower surface
Mounting rack two (19), fixing end mounting rack two (19) is interior to be fitted with fixing end axis two (20)；The fixing end axis one (18) and solid
Electric telescopic rod (21) are fixedly connected between fixed end axis two (20).
5. a kind of industrial carrying machine people according to claim 1, which is characterized in that the grabbing device includes fixed peace
Rotating electric machine two (22) mounted in support rod two (16) end, rotating electric machine two (22) round end is downwards；The electric rotating
Machine two (22) round end is fixedly installed with crawl frame attachment plate (23), and crawl frame attachment plate (23) bottom, which is fixedly installed with, grabs
Take frame (24)；Described crawl frame (24) lower surface one end is fixedly installed with one group of stepper motor two (25), stepper motor two
(25) round end level is outwardly；Crawl frame (24) lower surface is fixedly installed with two groups of bearings that are relatively fixed (26), Gu
Dead axle holds in (26) and is fitted with threaded screw rod (27)；Stepper motor two (25) round end and threaded screw rod (27) fixed company
It connects；One group of sliding shoe two (28) is slidably fitted on the threaded screw rod (27), sliding shoe two (28) bottom, which is fixedly installed with, grabs
Take clamping plate (29)；Pressure sensor (30) are fixedly installed on the crawl clamping plate (29).
6. a kind of industrial carrying machine people according to claim 2, which is characterized in that the stepper motor one (9) can be with
The driving gear (10) on round end is driven, driving gear (10) intermeshes with rectangle rack gear (7), stepper motor one (9)
Sliding table (2) moving back and forth on shifting sledge (6) may be implemented in positive and negative rotation.
7. a kind of industrial carrying machine people according to claim 3, which is characterized in that the rotating electric machine one (12) can be with
Drive the rotary table connecting plate (13) on round end, rotary table connecting plate (13) and rotary table (3) lower surface
It is fixedly connected, to realize adjusting of the rotary table (3) on level angle.
8. a kind of industrial carrying machine people according to claim 4, which is characterized in that described electric telescopic rod (21) one end
It is fixedly connected with the other end with fixing end axis one (18) to be fixedly connected with fixing end axis two (20), support rod two (16) can be by electronic
Telescopic rod (21) is realized in the adjusting in pitch angle.
9. a kind of industrial carrying machine people according to claim 5, which is characterized in that the rotating electric machine two (22) can be with
The crawl frame attachment plate (23) on round end is driven, crawl frame attachment plate (23) and crawl frame (24) upper surface are fixed and connected
It connects, to realize adjusting of crawl frame (24) on level angle；The stepper motor two (25) can drive on round end
Threaded screw rod (27), sliding shoe two (28) is slidably connected with threaded screw rod (27), and the positive and negative rotation of stepper motor two (25) can be with
Realize sliding shoe two (28) moving back and forth on threaded screw rod (27), the crawl clamping plate (29) of sliding shoe two (28) bottom is available
To grab work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419498.XA CN109292442A (en) | 2018-11-26 | 2018-11-26 | A kind of industrial carrying machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419498.XA CN109292442A (en) | 2018-11-26 | 2018-11-26 | A kind of industrial carrying machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109292442A true CN109292442A (en) | 2019-02-01 |
Family
ID=65144043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811419498.XA Pending CN109292442A (en) | 2018-11-26 | 2018-11-26 | A kind of industrial carrying machine people |
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|---|---|
| CN (1) | CN109292442A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911597A (en) * | 2019-02-02 | 2019-06-21 | 衢州职业技术学院 | Automatic production line based on intelligent industrial robot |
| CN112224870A (en) * | 2020-10-31 | 2021-01-15 | 孙方义 | Iron pipe haulage equipment for construction |
| CN112389954A (en) * | 2020-11-04 | 2021-02-23 | 重庆五一高级技工学校(重庆五一技师学院) | Intelligent material carrying and conveying system |
| CN112589511A (en) * | 2020-12-03 | 2021-04-02 | 太仓联科工业设计有限公司 | Workshop intelligence automatic feeding equipment |
| CN112846877A (en) * | 2021-02-05 | 2021-05-28 | 深圳市赛立鸿塑胶五金有限公司 | Workpiece clamp applied to LED lamp box processing |
| CN113561629A (en) * | 2021-07-06 | 2021-10-29 | 上海巴洛特新材料研究有限公司 | But production line is with remote control's intelligent manufacturing equipment |
| CN113844882A (en) * | 2021-09-10 | 2021-12-28 | 萍乡市城南机械有限责任公司 | Machine-building user moves formula grabbing device outward |
| CN114407049A (en) * | 2022-03-04 | 2022-04-29 | 安徽工业大学 | Industrial robot for grabbing caterpillar link and using method |
| CN115535613A (en) * | 2022-10-27 | 2022-12-30 | 陈昊 | Mechanical manufacturing grabbing system and using method |
| CN116062460A (en) * | 2023-04-06 | 2023-05-05 | 西安畅榜电子科技有限公司 | Intelligent robot with data detection function |
-
2018
- 2018-11-26 CN CN201811419498.XA patent/CN109292442A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911597A (en) * | 2019-02-02 | 2019-06-21 | 衢州职业技术学院 | Automatic production line based on intelligent industrial robot |
| CN112224870B (en) * | 2020-10-31 | 2021-12-28 | 白益凡 | Iron pipe haulage equipment for construction |
| CN112224870A (en) * | 2020-10-31 | 2021-01-15 | 孙方义 | Iron pipe haulage equipment for construction |
| CN112389954A (en) * | 2020-11-04 | 2021-02-23 | 重庆五一高级技工学校(重庆五一技师学院) | Intelligent material carrying and conveying system |
| CN112589511A (en) * | 2020-12-03 | 2021-04-02 | 太仓联科工业设计有限公司 | Workshop intelligence automatic feeding equipment |
| CN112846877A (en) * | 2021-02-05 | 2021-05-28 | 深圳市赛立鸿塑胶五金有限公司 | Workpiece clamp applied to LED lamp box processing |
| CN113561629A (en) * | 2021-07-06 | 2021-10-29 | 上海巴洛特新材料研究有限公司 | But production line is with remote control's intelligent manufacturing equipment |
| CN113844882A (en) * | 2021-09-10 | 2021-12-28 | 萍乡市城南机械有限责任公司 | Machine-building user moves formula grabbing device outward |
| CN113844882B (en) * | 2021-09-10 | 2023-09-01 | 萍乡市城南机械有限责任公司 | Outdoor movable grabbing device for machine-building |
| CN114407049A (en) * | 2022-03-04 | 2022-04-29 | 安徽工业大学 | Industrial robot for grabbing caterpillar link and using method |
| CN115535613A (en) * | 2022-10-27 | 2022-12-30 | 陈昊 | Mechanical manufacturing grabbing system and using method |
| CN115535613B (en) * | 2022-10-27 | 2023-09-15 | 深圳市赛平懋科技有限公司 | Mechanical manufacturing grabbing system and using method |
| CN116062460A (en) * | 2023-04-06 | 2023-05-05 | 西安畅榜电子科技有限公司 | Intelligent robot with data detection function |
| CN116062460B (en) * | 2023-04-06 | 2023-08-25 | 西安畅榜电子科技有限公司 | Intelligent robot with data detection function |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190201 |