CN207643141U - A kind of autonomous transfer robot - Google Patents
A kind of autonomous transfer robot Download PDFInfo
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- CN207643141U CN207643141U CN201721729210.XU CN201721729210U CN207643141U CN 207643141 U CN207643141 U CN 207643141U CN 201721729210 U CN201721729210 U CN 201721729210U CN 207643141 U CN207643141 U CN 207643141U
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- joint
- stepper motor
- transfer robot
- ball bearing
- scale
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Abstract
The utility model discloses a kind of autonomous transfer robot, structure includes：Floating bearing cylinder, ball bearing joint, U-shaped bracket forearm, large-scale ball axis joint, joint stepper motor, lift big armed lever, shaft rotation toothed disc, pedestal stepper motor, fixed underpan wheel, manipulator clamping jaw, shaft rotation toothed disc is inserted on the left of the big armed lever of lifting and is mechanically connected with pedestal stepper motor vertically, pedestal stepper motor is fixed on vertically on fixed underpan wheel, joint stepper motor is electrically connected with pedestal stepper motor, the utility model floating bearing cylinder is equipped with L-type and positions fixture block, rotating shaft carrier ring, scale buckles block, ball bearing inner support, the correction that the bearing fit for realizing autonomous transfer robot turns round and turning course has scale card slot that can carry out orientation angle, coordinate the more accurate grasp handling object of programming coordinates, autonomic function improves, rectifying effect can be avoided to the greatest extent the case where carrying paralysis.
Description
Technical field
The utility model is a kind of autonomous transfer robot, belongs to transfer robot field.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
But the hand of the autonomous transfer robot of the prior art grabs adjustment degree and realizes angle positioning without targetedly scale index,
Accurate gripping when revolution is not achieved, be easy to cause the deviations of robotic programming coordinate, assembly line is caused to carry paralysis.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of autonomous transfer robot, to solve
The hand of autonomous transfer robot grabs adjustment degree and realizes angle positioning without targetedly scale index, accurate when being not achieved revolution
Gripping, be easy to cause the deviations of robotic programming coordinate, and assembly line is caused to carry the problem of paralysing.
To achieve the goals above, the utility model is to realize by the following technical solutions：A kind of autonomous carrying implement
Device people, structure include：Floating bearing cylinder, ball bearing joint, U-shaped bracket forearm, large-scale ball axis joint, joint stepper motor,
Big armed lever, shaft rotation toothed disc, pedestal stepper motor, fixed underpan wheel, manipulator clamping jaw are lifted, the shaft rotation toothed disc is inserted vertically
Embedded in lifting on the left of big armed lever and being mechanically connected with pedestal stepper motor, the pedestal stepper motor is fixed on fixed bottom vertically
On plate wheel, the joint stepper motor is electrically connected with pedestal stepper motor, and the floating bearing cylinder is tilted to insert and be closed embedded in ball bearing
Section is internal and is mechanically connected with U-shaped bracket forearm, the U-shaped bracket forearm oblique weld in the large-scale ball axis joint upper left corner,
The manipulator clamping jaw inclination is installed on the floating bearing cylinder lower left corner, and the large size ball axis joint connects with joint stepper motor machinery
It connects, the large size ball axis joint is interference fitted with big armed lever is lifted, and the floating bearing cylinder is equipped with L-type positioning fixture block, rotating shaft
Carrier ring, scale buckle block, ball bearing inner support, the L-type positioning fixture block, which is equipped with two and tilts respectively, is installed on rotating shaft
Carrier ring or so inferior horn, the ball bearing inner support, which tilts, runs through rotating shaft carrier ring, and the scale buckle block sets there are two and divides
Qing Xie not be fixed at left and right sides of ball bearing inner support, the ball bearing inner support tilt insert embedded in ball bearing intra articular and
It is mechanically connected with U-shaped bracket forearm.
Further, the large-scale ball axis joint outer surface is interference fitted with inside groove on the right side of big armed lever is lifted.
Further, the shaft rotation toothed disc is mutually perpendicular to fixed underpan wheel.
Further, the U-shaped bracket forearm is structure as a whole with large-scale ball axis joint.
Further, the big armed lever of lifting is meshed with the internal gear of shaft rotation toothed disc.
Further, the floating bearing cylinder be mechanical part, revolution degree of freedom by scale block fastening after cooperation grip
Carry work.
Further, the joint stepper motor is servo motor, and angle is into away from efficient cooperation shaft rotation transmission.
Advantageous effect
The utility model floating bearing cylinder is equipped with L-type positioning fixture block, rotating shaft carrier ring, scale buckle block, props up in ball bearing
Frame, the bearing fit revolution and turning course for realizing autonomous transfer robot have scale card slot that can carry out orientation angle
Correction coordinates the more accurate grasp handling object of programming coordinates, autonomic function to improve, and rectifying effect can be avoided remove to the greatest extent
The case where fortune paralysis.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram of autonomous transfer robot of the utility model.
Fig. 2 is a kind of cross-sectional view of autonomous transfer robot of the utility model.
Fig. 3 is a kind of cross-sectional view of autonomous transfer robot floating bearing cylinder of the utility model.
In figure：Floating bearing cylinder -1, ball bearing joint -2, U-shaped bracket forearm -3, large-scale ball axis joint -4, joint stepping
Motor -5, the big armed lever -6 of lifting, shaft rotation toothed disc -7, pedestal stepper motor -8, fixed underpan wheel -9, manipulator clamping jaw -10, L
Type positions fixture block -100, rotating shaft carrier ring -101, scale buckle block -102, ball bearing inner support -103.
Specific implementation mode
To make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, below
In conjunction with specific implementation mode, the utility model is expanded on further.
- Fig. 3 is please referred to Fig.1, the utility model provides a kind of autonomous transfer robot：Its structure includes：Floating bearing cylinder
1, ball bearing joint 2, U-shaped bracket forearm 3, large-scale ball axis joint 4, joint stepper motor 5, the big armed lever 6 of lifting, shaft rotation toothed disc
7, pedestal stepper motor 8, fixed underpan wheel 9, manipulator clamping jaw 10, the shaft rotation toothed disc 7, which is inserted to be embedded in vertically, lifts big armed lever 6
Left side and with pedestal stepper motor 8 be mechanically connected, the pedestal stepper motor 8 is fixed on vertically on fixed underpan wheel 9, described
Joint stepper motor 5 is electrically connected with pedestal stepper motor 8, and the floating bearing cylinder 1, which tilts, to be inserted embedded in 2 inside of ball bearing joint simultaneously
And be mechanically connected with U-shaped bracket forearm 3, U-shaped 3 oblique weld of bracket forearm is in large-scale 4 upper left corner of ball axis joint, the machine
The inclination of tool hand clamping jaw 10 is installed on 1 lower left corner of floating bearing cylinder, and the large size ball axis joint 4 connects with 5 machinery of joint stepper motor
Connect, the large size ball axis joint 4 is interference fitted with big armed lever 6 is lifted, the floating bearing cylinder 1 be equipped with L-type positioning fixture block 100,
Rotating shaft carrier ring 101, scale buckle block 102, ball bearing inner support 103, the L-type positioning fixture block 100 set there are two and divide
It Qing Xie be installed on 101 or so inferior horn of rotating shaft carrier ring, the ball bearing inner support 103, which tilts, runs through rotating shaft carrier ring 101, institute
It states scale buckle block 102 and sets there are two and tilt respectively and be fixed on the left and right sides of ball bearing inner support 103, in the ball bearing
Holder 103, which tilts, to be inserted embedded in 2 inside of ball bearing joint and is mechanically connected with U-shaped bracket forearm 3, the large size ball axis joint 4
Outer surface is interference fitted with 6 right side inside groove of big armed lever is lifted, and the shaft rotation toothed disc 7 is mutually perpendicular to fixed underpan wheel 9, described
U-shaped bracket forearm 3 is structure as a whole with large-scale ball axis joint 4, the internal gear of the lifting big armed lever 6 and shaft rotation toothed disc 7
Be meshed, the floating bearing cylinder 1 be mechanical part, revolution degree of freedom by scale block fastening after cooperation gripping carrying work,
The joint stepper motor 5 is servo motor, and angle is into away from efficient cooperation shaft rotation transmission.
During the use of autonomous transfer robot, fixture block 100, floating bearing are positioned by the L-type of floating bearing cylinder 1
Ring 101, scale buckle block 102, ball bearing inner support 103 coordinate ball bearing joint 2, large-scale ball axis joint 4, joint stepper motor
5, shaft rotation toothed disc 7, pedestal stepper motor 8 lifting rotation, six angles are transported goods efficiently, are reached certainly by floating bearing cylinder 1
The bearing fit of main transfer robot turns round and turning course has the correction that scale card slot can carry out orientation angle, with compiling in collaboration with
The more accurate grasp handling object of journey coordinate, autonomic function improve, and rectifying effect can be avoided to the greatest extent the feelings for carrying paralysis
Condition.
Floating bearing cylinder 1 described in the utility model is a kind of important spare part in contemporary mechanical equipment.Its main work(
It can be the mechanical rotary body of support, reduce the friction coefficient in its motion process, and ensure its rotating accuracy.
Its structure and principle, which are all this technology personnel, can be learnt by technical manual or be known by routine experiment method,
The utility model solves the problems, such as it is that the hand of autonomous transfer robot grabs adjustment degree and realizes angle without targetedly scale index
Positioning, is not achieved accurate gripping when revolution, be easy to cause the deviations of robotic programming coordinate, and assembly line is caused to carry paralysis
Paralysis, the utility model are combined with each other by above-mentioned component, can reach autonomous transfer robot bearing fit revolution and
Turning course has the correction that scale card slot can carry out orientation angle, coordinates the more accurate grasp handling object of programming coordinates,
The case where autonomic function improves, and rectifying effect can be avoided to the greatest extent carrying paralysis, it is described in detail below：
The L-type positioning fixture block 100, which sets there are two and tilts respectively, is installed on 101 or so inferior horn of rotating shaft carrier ring, institute
It states ball bearing inner support 103 and tilts and run through rotating shaft carrier ring 101, the scale buckle block 102 sets there are two and tilts respectively
It is fixed on 103 left and right sides of ball bearing inner support, the ball bearing inner support 103, which tilts, to be inserted embedded in 2 inside of ball bearing joint simultaneously
And it is mechanically connected with U-shaped bracket forearm 3.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above, for
For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this
In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent requirements of the claims
All changes are embraced therein.Any reference numeral in claim should not be considered as to the involved right of limitation
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of autonomous transfer robot, structure include：Floating bearing cylinder (1), ball bearing joint (2), U-shaped bracket forearm
(3), large-scale ball axis joint (4), joint stepper motor (5), the big armed lever (6) of lifting, shaft rotation toothed disc (7), pedestal stepper motor
(8), fixed underpan wheel (9), manipulator clamping jaw (10), the shaft rotation toothed disc (7) are inserted vertically on the left of the big armed lever (6) of lifting
And it is mechanically connected with pedestal stepper motor (8), the pedestal stepper motor (8) is fixed on fixed underpan wheel (9) vertically, institute
Joint stepper motor (5) is stated to be electrically connected with pedestal stepper motor (8), it is characterised in that：
The floating bearing cylinder (1), which tilts, inserts internal embedded in ball bearing joint (2) and is mechanically connected with U-shaped bracket forearm (3),
U-shaped bracket forearm (3) oblique weld tilts installation in large-scale ball axis joint (4) upper left corner, the manipulator clamping jaw (10)
In floating bearing cylinder (1) lower left corner, the large size ball axis joint (4) is mechanically connected with joint stepper motor (5), the large size ball
Axis joint (4) is interference fitted with big armed lever (6) is lifted；
The floating bearing cylinder (1) is equipped with L-type positioning fixture block (100), rotating shaft carrier ring (101), scale buckle block (102), ball
Bearing inner support (103), the L-type positioning fixture block (100), which sets there are two and tilts respectively, is installed on rotating shaft carrier ring (101)
Left and right inferior horn, the ball bearing inner support (103), which tilts, runs through rotating shaft carrier ring (101), and the scale buckle block (102) is equipped with
Two and tilt be fixed at left and right sides of ball bearing inner support (103) respectively, the ball bearing inner support (103) tilt insert it is embedding
It is mechanically connected in ball bearing joint (2) inside and with U-shaped bracket forearm (3).
2. a kind of autonomous transfer robot according to claim 1, it is characterised in that：The large size ball axis joint (4) is outside
Surface is interference fitted with inside groove on the right side of big armed lever (6) is lifted.
3. a kind of autonomous transfer robot according to claim 1, it is characterised in that：The shaft rotation toothed disc (7) with it is solid
Determine chassis wheel (9) to be mutually perpendicular to.
4. a kind of autonomous transfer robot according to claim 1, it is characterised in that：The U-shaped bracket forearm (3) with it is big
Type ball axis joint (4) is structure as a whole.
5. a kind of autonomous transfer robot according to claim 1, it is characterised in that：It is described to lift big armed lever (6) and axis
The internal gear of rotating disk disk (7) is meshed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721729210.XU CN207643141U (en) | 2017-12-13 | 2017-12-13 | A kind of autonomous transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721729210.XU CN207643141U (en) | 2017-12-13 | 2017-12-13 | A kind of autonomous transfer robot |
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| Publication Number | Publication Date |
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| CN207643141U true CN207643141U (en) | 2018-07-24 |
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| CN201721729210.XU Active CN207643141U (en) | 2017-12-13 | 2017-12-13 | A kind of autonomous transfer robot |
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| CN (1) | CN207643141U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015630A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Electric joint positioning and supporting device |
-
2017
- 2017-12-13 CN CN201721729210.XU patent/CN207643141U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015630A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Electric joint positioning and supporting device |
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