CN109516196A - A kind of indoor transfer robot - Google Patents
A kind of indoor transfer robot Download PDFInfo
- Publication number
- CN109516196A CN109516196A CN201811534762.4A CN201811534762A CN109516196A CN 109516196 A CN109516196 A CN 109516196A CN 201811534762 A CN201811534762 A CN 201811534762A CN 109516196 A CN109516196 A CN 109516196A
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- China
- Prior art keywords
- motor
- hinge bar
- transfer robot
- bar
- sliding seat
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to Industrial Robot Technology fields, specifically disclose a kind of indoor transfer robot, including track and grabbing claw, sliding groove is offered in track, sliding groove is embedded to be cased with pulley, pulley rotation is connected to the top of vertical bar, the lower end of vertical bar is fixedly connected with sliding seat, 4th motor is installed on the side wall of sliding seat, the output shaft of 4th motor is connected with runner, sliding seat connects the first hinge bar by turntable, and the first hinge bar, the second hinge bar, third hinge bar, the 4th hinge bar are connected by rotating device.The bottom of 4th hinge bar is equipped with first motor, and first motor connects turning set, and the bottom of turning set is fixed with fixed block.Fixed block offers mounting groove, and the second motor is equipped in mounting groove, and the second motor is connected with rotation axis, is nested in rotation axis both ends at the top of grabbing claw.The invention has the advantages that structure is simple, space is saved, scope of activities is wide, grabs convenient and efficient, energy utilization rate height, long service life.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specifically a kind of indoor transfer robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability, it can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action, industrial robot can replace people to do certain dull, frequent and duplicate long workings, or danger in the industrial production
Operation under danger, adverse circumstances.These industrial robots widely in automobile manufacture, cutting, deburring, mold be spraying, grinding
The fields applications such as polishing, material carrying, packaging and pallets.Especially for the work of some repetitives, robot
Use greatly reduce the labor intensity of worker, improve work efficiency and product quality, while avoiding a large amount of work
Hurt accident.
Chinese patent (notification number: 106113075 B of CN, the day for announcing: 2018.03.09) discloses a kind of industrial machine
People, including support base, sliding rail, data line, fixed block, the first grabbing claw, rubber pad, inductor, strut, sucker and jet dress
It sets, control panel is provided on support base, the upper end of sliding rail is equipped with hydraulic power unit, and the lower end of sliding rail is connected with sliding
Block, the lower end of sliding shoe are connected with fixed block, and data line is connected between sliding rail and hydraulic power unit, and the lower end of fixed block is set
It is equipped with telescopic shaft, the lower end of telescopic shaft is equipped with the first grabbing claw, and the right end of the first grabbing claw is provided with the second grabbing claw.The machine
Device people can realize a variety of cargo crawls, but robot movable is limited in scope, and mode of transport is excessively single, and unsuitable producing line makes
With.
Summary of the invention
The purpose of the present invention is to provide a kind of indoor transfer robots, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the invention provides the following technical scheme:
A kind of indoor transfer robot, including track, sliding seat and grabbing claw.There are two the track settings and parallel
It is fixed on roof, sliding groove is offered in track, sliding groove is embedded to be cased with pulley, and pulley can be horizontal sliding in sliding groove
It is dynamic.Pulley rotation is connected to the top of vertical bar, and the lower end of vertical bar is fixedly connected on the upper surface of sliding seat.On the side wall of sliding seat
It is fixedly installed with the 4th motor, the output shaft of the 4th motor is vertically connected with runner, under the driving of the 4th motor, runner and
The output shaft of four motors rotates coaxially.Runner is stuck in the side of track, and runner rotation makes sliding seat relative track movement, thus complete
At the movement of sliding seat.
The lower surface middle position of the sliding seat is fixedly connected on inclined first hinge bar top by turntable, turns
Disk connects driving device, drives the rotation of the first hinge bar in driving device effect lower rotary table.The bottom end of first hinge bar is by turning
Dynamic device is connected to the top of the second hinge bar, and the second hinge bar can be rotated relative to the first hinge bar.The rotating device
Including driving disc spacing pressing, articulated shaft, third motor and driven disc.The articulated shaft is fixedly connected with the second hinge bar, articulated shaft with
The rotation of the second hinge bar and rotate, one end of articulated shaft is vertically connected with driven disc, and driven disc is rotated coaxially with articulated shaft.
Third motor is fixedly installed on the side wall of first hinge bar, the output shaft of third motor is vertically connected with driving disc spacing pressing.In third
Under the driving of motor, the output shaft of driving disc spacing pressing and third motor is rotated coaxially, and driving disc spacing pressing is connect by belt with driven disc, actively
Disk drives driven disc rotation, thus the rotation of the second hinge bar of control.The bottom of second hinge bar is connected to by rotating device
The top of third hinge bar, the bottom of third hinge bar are connected to the top of the 4th hinge bar by rotating device, and first is hinged
Bar, the second hinge bar, third hinge bar, the cooperation of the 4th hinge bar, can make elongation and horizontal direction on robot vertical direction
Activity.
The bottom of 4th hinge bar opens up fluted, and first motor is fixedly installed in groove, first motor
Output shaft is fixedly connected on the center of turning set, and turning set is nested in the bottom of the 4th hinge bar, in the drive of first motor
Under dynamic, the output shaft of turning set and first motor is rotated coaxially, so that turning set be made to rotate.The bottom of turning set is fixed on fixation
The upper surface center of block, the lower surface of fixed block offer mounting groove, and the left end of mounting groove is fixedly installed with the second motor,
The output shaft of second motor is connected with rotation axis, and rotation axis is rotatably connected in mounting groove, and the both ends of rotation axis are provided with direction
Opposite screw thread.Lateral perforation is offered at the top of the grabbing claw, internal screw thread is provided in perforation and is symmetrically nested in
The both ends of rotation axis, grabbing claw can horizontally slip in mounting groove.Under the action of the second motor, rotation axis and the second motor
Output shaft rotate coaxially, thus make the distance between grabbing claw increase or reduce, to complete the release or crawl of cargo.
As a further solution of the present invention: the end of the track is fixedly installed limited block, and limited block is restricted
The effect of sliding seat sliding avoids the sliding of sliding seat over range from causing to derail.
As a further solution of the present invention: the section of the sliding groove is to be inverted convex structure.
As a further solution of the present invention: the medial surface of the grabbing claw is provided with rubber pad, the setting of rubber pad
The frictional force between cargo and grabbing claw is increased, keeps the crawl of cargo more stable, while avoiding cargo to be crawled claw clip bad.
As a further solution of the present invention: being vertically and fixedly provided with transverse slat at the top of the grabbing claw, the setting of transverse slat avoids
Lower end is opened when grabbing claw crawl cargo, causes the generation of crawl loosely phenomenon.
As a further solution of the present invention: second motor is internally provided with torsion sensor, torsion sensing
Device and the second electrical connection of motor, it is bad that the setting of torsion sensor avoids cargo from being crawled claw clip, while reducing the second motor
Load, saved the energy, extended the service life of robot.
Compared with prior art, the beneficial effects of the present invention are: being arranged robot on roof, it can greatly reduce and set
Standby occupied space facilitates the carrying of cargo.Matched using the first hinge bar, the second hinge bar, third hinge bar, the 4th hinge bar
It closes, makes elongation and horizontal direction activity on robot vertical direction.Make revolute using turntable, increases robot movable
Range improves robot and is applicable in ability.Cooperated using first motor and turning set, thus it is possible to vary the direction of grabbing claw, it is convenient
The crawl of cargo with put.It grabs and loosens using the second motor control grabbing claw, it is easy to control quick.Torsion sensor is set
Set avoid cargo from being crawled claw clip is bad, while reducing the load of the second motor, saved the energy, extended the use of robot
Service life.The invention has the advantages that structure is simple, space is saved, scope of activities is wide, and crawl is convenient and efficient, and energy utilization rate is high, uses the longevity
Life length.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of indoor transfer robot.
Fig. 2 is a kind of partial structural diagram of indoor transfer robot.
Fig. 3 is a kind of structural schematic diagram of rotating device in indoor transfer robot.
Fig. 4 is a kind of structural schematic diagram of indoor transfer robot middle orbit.
In figure, sliding seat 1, track 2, limited block 3, the first hinge bar 4, the second hinge bar 5, third hinge bar 6, the 4th hinge
Extension bar 7, turning set 8, grabbing claw 9, first motor 10, groove 11, fixed block 12, mounting groove 13, rotation axis 14, rubber pad 15,
Transverse slat 16, the second motor 17, driving disc spacing pressing 18, third motor 19, articulated shaft 20, driven disc 21, sliding groove 22, vertical bar 23, pulley
24, runner 25, the 4th motor 26.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, this hair of Detailed description of the invention is now compareed
It is bright.
Embodiment 1
Please refer to Fig. 1-4, a kind of indoor transfer robot, including track 2, sliding seat 1 and grabbing claw 9.The track 2 is set
Being fixed on roof there are two setting and in parallel, offers sliding groove 22 in track 2, the section of sliding groove 22 is to be inverted convex
Structure, sliding groove 22 is embedded to be cased with pulley 24, and pulley 24 can the horizontal sliding in sliding groove 22.Pulley 24 is rotatably connected on perpendicular
The top of bar 23, the lower end of vertical bar 23 are fixedly connected on the upper surface of sliding seat 1.Is fixedly installed on the side wall of sliding seat 1
Four motors 26, the output shaft of the 4th motor 26 are vertically connected with runner 25, under the driving of the 4th motor 26, runner 25 and the 4th
The output shaft of motor 26 rotates coaxially.Runner 25 is stuck in the side of track 2, and the rotation of runner 25 transports 1 relative orbit 2 of sliding seat
It is dynamic, to complete the movement of sliding seat 1.The end of track 2 is fixedly installed limited block 3, and the restricted sliding seat 1 of limited block 3 is sliding
Dynamic effect avoids the sliding of 1 over range of sliding seat from causing to derail.
The lower surface middle position of the sliding seat 1 is fixedly connected on inclined first hinge bar, 4 top by turntable,
Turntable connects driving device, and under driving device effect, the first hinge bar of driven by rotary disc 4 is rotated.The bottom end of first hinge bar 4 is logical
The top that rotating device is connected to the second hinge bar 5 is crossed, the second hinge bar 5 can be rotated relative to the first hinge bar 4.Described turns
Dynamic device includes driving disc spacing pressing 18, articulated shaft 20, third motor 19 and driven disc 21.The articulated shaft 20 and the second hinge bar 5
It is fixedly connected, articulated shaft 20 is rotated with the rotation of the second hinge bar 5, and one end of articulated shaft 20 is vertically connected with driven disc
21, driven disc 21 is rotated coaxially with articulated shaft 20.Third motor 19, third electricity are fixedly installed on the side wall of first hinge bar 4
The output shaft of machine 19 is vertically connected with driving disc spacing pressing 18.Under the driving of third motor 19, driving disc spacing pressing 18 is defeated with third motor 19
Shaft rotates coaxially, and driving disc spacing pressing 18 is connect by belt with driven disc 21, and driving disc spacing pressing 18 drives driven disc 21 to rotate, to control
The rotation of second hinge bar 5.The bottom of second hinge bar 5 is connected to the top of third hinge bar 6, third hinge by rotating device
The bottom of extension bar 6 is connected to the top of the 4th hinge bar 7, the first hinge bar 4, the second hinge bar 5, third hinge by rotating device
Extension bar 6, the cooperation of the 4th hinge bar 7, can make elongation and horizontal direction activity on robot vertical direction.
The bottom of 4th hinge bar 7 opens up fluted 11, is fixedly installed with first motor 10 in groove 11, and first
The output shaft of motor 10 is fixedly connected on the center of turning set 8, and turning set 8 is nested in the bottom of the 4th hinge bar 7,
Under the driving of one motor 10, turning set 8 and the output shaft of first motor 10 are rotated coaxially, so that turning set 8 be made to rotate.Turning set
8 bottom is fixed on the upper surface center of fixed block 12, and the lower surface of fixed block 12 offers mounting groove 13, mounting groove 13
Left end be fixedly installed with the second motor 17, the output shaft of the second motor 17 is connected with rotation axis 14, and rotation axis 14 is rotatablely connected
In mounting groove 13, the both ends of rotation axis 14 are provided with contrary screw thread.It is offered at the top of the grabbing claw 9 lateral
It perforates, be provided with internal screw thread in perforation and be symmetrically nested in the both ends of rotation axis 14, grabbing claw 9 can be left in mounting groove 13
Right sliding.Under the action of the second motor 17, rotation axis 14 and the output shaft of the second motor 17 are rotated coaxially, to make grabbing claw
The distance between 9 increase or reduce, to complete the release or crawl of cargo.The medial surface of grabbing claw 9 is provided with rubber pad
15, the setting of rubber pad 15 increases the frictional force between cargo and grabbing claw 9, keeps the crawl of cargo more stable, avoids simultaneously
Cargo be crawled pawl 9 press from both sides it is bad.Transverse slat 16 is vertically and fixedly provided at the top of the grabbing claw 9, the setting of transverse slat 16 avoids crawl
Lower end is opened when pawl 9 grabs cargo, causes the generation for grabbing loosely phenomenon.
The working principle of the invention is: equipment being connected power supply, the second motor 17 of starting rotates rotation axis 14, to make
Grabbing claw 9 opens.The height for adjusting rotating device control grabbing claw 9, rotates turntable by driving device, adjusts robot and turns
Dynamic direction, is moved to cargo location for grabbing claw 9, rotates backward rotation axis 14, and grabbing claw 9 moves inward goods clamping, leads to
Crossing the 4th motor 26 drives runner 25 to rotate, and slides 1 relative orbit 2 of sliding seat, by goods movement to designated position, starts the
Two motors 17, the rotation of rotation axis 14 separate grabbing claw 9, cargo are unclamped.
Embodiment 2
On the basis of embodiment 1, the second motor 17 is internally provided with torsion sensor, torsion sensor and the second motor 17
It is electrically connected, the setting of torsion sensor avoids cargo from being crawled pawl 9 and presss from both sides load that is bad, while reducing the second motor 17, saves
The about energy, extends the service life of robot.
The preferred embodiment of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, several deformations can also be made, improves and substitutes, these belong to this hair
Bright protection scope.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (7)
1. a kind of indoor transfer robot, including track (2), sliding seat (1) and grabbing claw (9), the track (2) setting
There are two and it is parallel be fixed on roof, offers sliding groove (22) in track (2), sliding groove (22) is embedded to be cased with pulley
(24), pulley (24) is rotatably connected on the top of vertical bar (23), and the lower end of vertical bar (23) is fixedly connected on the upper table of sliding seat (1)
Face is fixedly installed with the 4th motor (26) on the side wall of sliding seat (1), and the output shaft of the 4th motor (26) is vertically connected with runner
(25), runner (25) is stuck in the side of track (2), which is characterized in that the lower surface middle position of the sliding seat (1) passes through
Turntable is connected to inclined first hinge bar (4) top, and turntable connects driving device, and the bottom end of the first hinge bar (4) is by turning
Dynamic device is connected to the top of the second hinge bar (5), and it is hinged that the bottom of the second hinge bar (5) by rotating device is connected to third
The top of bar (6), the bottom of third hinge bar (6) are connected to the top of the 4th hinge bar (7) by rotating device；
The bottom of 4th hinge bar (7) opens up fluted (11), is fixedly installed with first motor (10) in groove (11),
The output shaft of first motor (10) is fixedly connected on the center of turning set (8), and turning set (8) is nested in the 4th hinge bar
(7) bottom, the bottom of turning set (8) are fixed on the upper surface center of fixed block (12)；
The lower surface of fixed block (12) offers mounting groove (13), and the left end of mounting groove (13) is fixedly installed with the second motor
(17), the output shaft of the second motor (17) is connected with rotation axis (14), and rotation axis (14) is rotatably connected in mounting groove (13), is turned
The both ends of moving axis (14) are provided with contrary screw thread, offer lateral perforation at the top of the grabbing claw (9), in perforation
It is provided with internal screw thread and is symmetrically nested in the both ends of rotation axis (14).
2. a kind of indoor transfer robot according to claim 1, which is characterized in that the rotating device includes master
Moving plate (18), third motor (19) and driven disc (21), the articulated shaft (20) are fixedly connected with the second hinge bar (5), hinge
One end of spindle (20) is vertically connected with driven disc (21), is fixedly installed with third motor on the side wall of the first hinge bar (4)
(19), the output shaft of third motor (19) is vertically connected with driving disc spacing pressing (18), and driving disc spacing pressing (18) passes through belt and driven disc (21)
Connection.
3. a kind of indoor transfer robot according to claim 1 or 2, which is characterized in that the end of the track (2)
Portion is fixedly installed limited block (3).
4. a kind of indoor transfer robot according to claim 3, which is characterized in that the sliding groove (22) is cut
Face is to be inverted convex structure.
5. a kind of indoor transfer robot according to claim 4, which is characterized in that the grabbing claw (9) it is interior
Side is provided with rubber pad (15).
6. a kind of indoor transfer robot according to claim 5, which is characterized in that at the top of the grabbing claw (9)
It is vertically and fixedly provided with transverse slat (16).
7. a kind of indoor transfer robot according to claim 6, which is characterized in that second motor (17)
It is internally provided with torsion sensor, torsion sensor and the second motor (17) are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811534762.4A CN109516196A (en) | 2018-12-14 | 2018-12-14 | A kind of indoor transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811534762.4A CN109516196A (en) | 2018-12-14 | 2018-12-14 | A kind of indoor transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109516196A true CN109516196A (en) | 2019-03-26 |
Family
ID=65796748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811534762.4A Pending CN109516196A (en) | 2018-12-14 | 2018-12-14 | A kind of indoor transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109516196A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4904153A (en) * | 1986-11-20 | 1990-02-27 | Shimizu Construction Co., Ltd. | Transporting robot for semiconductor wafers |
| CN206066438U (en) * | 2016-09-14 | 2017-04-05 | 深圳市美卡达科技有限公司 | A kind of six axle furred ceiling type mechanical hand mobile devices |
| CN106736125A (en) * | 2017-03-17 | 2017-05-31 | 盐城市高跃机械有限公司 | Suspension type for vehicle seat solid welding robot |
| CN207578433U (en) * | 2017-08-29 | 2018-07-06 | 佛山捷蓝机器人有限公司 | A kind of robot arm for turnover box grasp handling |
| CN108706331A (en) * | 2016-08-09 | 2018-10-26 | 李从宾 | A kind of instrument board automatic mobile device |
-
2018
- 2018-12-14 CN CN201811534762.4A patent/CN109516196A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4904153A (en) * | 1986-11-20 | 1990-02-27 | Shimizu Construction Co., Ltd. | Transporting robot for semiconductor wafers |
| CN108706331A (en) * | 2016-08-09 | 2018-10-26 | 李从宾 | A kind of instrument board automatic mobile device |
| CN206066438U (en) * | 2016-09-14 | 2017-04-05 | 深圳市美卡达科技有限公司 | A kind of six axle furred ceiling type mechanical hand mobile devices |
| CN106736125A (en) * | 2017-03-17 | 2017-05-31 | 盐城市高跃机械有限公司 | Suspension type for vehicle seat solid welding robot |
| CN207578433U (en) * | 2017-08-29 | 2018-07-06 | 佛山捷蓝机器人有限公司 | A kind of robot arm for turnover box grasp handling |
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Application publication date: 20190326 |