CN208215318U - A kind of robot of intellectual access live working tools - Google Patents
A kind of robot of intellectual access live working tools Download PDFInfo
- Publication number
- CN208215318U CN208215318U CN201820810745.8U CN201820810745U CN208215318U CN 208215318 U CN208215318 U CN 208215318U CN 201820810745 U CN201820810745 U CN 201820810745U CN 208215318 U CN208215318 U CN 208215318U
- Authority
- CN
- China
- Prior art keywords
- plummer
- robot
- chassis
- working tools
- live working
- Prior art date
- 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.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 5
- 230000003447 ipsilateral effect Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 235000020004 porter Nutrition 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of robots of intellectual access live working tools, including chassis, fixed frame and lift platform；Fixed frame is connected on chassis, lift platform includes support frame, plummer, longitudinal driving device and horizontal mobile device, plummer is connected to the lower end of support frame, longitudinal driving device is connected between support frame and chassis, support frame is set to move up and down with plummer along fixed frame by longitudinal driving device, the horizontal mobile device for being connected with magnet is connected on plummer.Robot ambulation needs the stored drawer of Work tool at the ground location of cabinet to operator, adjust the plummer height of lift platform lower end to the height of selected drawer, keep horizontal mobile device mobile to selected drawer, make magnet absorption drawer panel and send after drawer is dragged on plummer to window, after operator takes Work tool, robot sends drawer back to original position, completes the selection work an of Work tool.
Description
Technical field
The utility model relates to a kind of robots, and in particular to a kind of robot of intellectual access live working tools.
Background technique
Currently, live working tools management is all using labor management mode, Work tool from the selection of cabinet position,
The carrying overall process for accessing Work tool is dependent on manpower, and working efficiency is low, large labor intensity, and there are Work tool access sites
Not corresponding problem in this way may hide some dangers for operation safety so making to deposit product information and actual tool mismatch.
Utility model content
It can choose and carry automatically from cabinet equipped with Work tool drawer the purpose of this utility model is to provide a kind of
Robot.
The robot of this intellectual access live working tools provided by the utility model, including chassis, fixed frame and
Lift platform；Fixed frame is connected on chassis, and lift platform includes support frame, plummer, longitudinal driving device and transverse shifting
Device, plummer are connected to the lower end of support frame, and longitudinal driving device is connected between support frame and chassis, pass through zigzag tread patterns
Device makes support frame move up and down with plummer along fixed frame, and the horizontal mobile device for being connected with magnet is connected to plummer
On, magnet is for adsorbing drawer.
The chassis is wheel undercarriage, and four traveling wheels are omni-directional wheel, be equipped on chassis electric-quantity display device, pause by
Button switch, buzzer, car body control flow, emergency stop switch, start button switch, automatic charging interface, battery, circuit board, magnetic conductance
Boat sensor and anti-collision sensor.
The fixed frame includes the crossbeam for being connected to the column of chassis four corners and being connected between ipsilateral two column, is stood
There is guide rail on the inside of column.
Support frame as described above includes support column and attachment beam, and support column has four, is respectively arranged in the inside of the column, together
It is respectively arranged with attachment beam between the upper end section of collateral dagger and lower end section, the cunning with the guide rail is connected on support column
Block；The limit sensors of corresponding different drawers are installed on support column.
The plummer includes bracket and panel, and bracket is connected between the support column, and panel is connected to the upper of bracket
Side.
The longitudinal driving device include servo motor and its driving screw component and decelerating motor and its driving it is same
Step band component；Servo motor and its screw component of driving have two groups, are symmetrically arranged in the two sides of support frame, every group of screw component
Including screw rod and nut seat, the upper end section of screw rod and lower end section are separately connected nut seat, and nut seat is individually fixed in the support
The middle position of attachment beam between column, servo motor are connected to the upper end of screw rod by shaft coupling, and servo motor passes through connection
Mounting base bearing between upper end of support column section on attachment beam；Decelerating motor and its synchronous belt component of driving have four groups, often
The screw component two sides of group servo motor and its driving are arranged symmetrically the synchronous belt component of one group of decelerating motor and its driving；It is synchronous
Band component includes synchronous belt and two synchronizing wheels, and decelerating motor is fixed on the chassis, and two synchronizing wheels are connected to and subtract
On attachment beam on the output shaft of speed motor between the upper end of support column section, one end of synchronous belt is connected to by fixing seat
On the bracket, the other end is connected in the synchronizing wheel of geared motor output shaft after bypassing the synchronizing wheel on attachment beam.
The horizontal mobile device includes driving motor, output gear, take-up housing, rack gear and sliding rail, and rack gear is connected to institute
It states on bracket, sliding rail has two, is connected in parallel to the two sides of bracket upper rack, and the two sides of take-up housing pass through its sliding block respectively and connect
In on sliding rail, servo motor is fixed on take-up housing, and output wheel in the horizontal direction, output gear are connected on output shaft directed downwardly
Wheel and rack engagement；Limit sensors are installed on the outside of sliding rail.
The panel of the plummer has two pieces, is located at the two sides of the horizontal mobile device, is embedded with inspection on panel
Survey sensor.
The magnet is connected to the end of the take-up housing along the rack gear length direction, and take-up housing installs the end of magnet
The crash sensor concordant with magnet outer end face position is installed.
The utility model realizes that operator is flexibly run between cabinet needs Work tool storage to take out by chassis
Drawer realizes that lift platform along the up and down motion of fixed frame, will be gone up and down at the ground location of cabinet, through longitudinal driving device
The height of the corresponding corresponding drawer of plummer height adjustment of rack lower end, the transverse direction by horizontal mobile device relative to plummer
It is mobile, so that the magnet of horizontal mobile device end is adsorbed drawer panel and drawer is dragged on plummer, robot passes through chassis
It runs at window, after operator takes Work tool, robot sends drawer back to original position, completes the selection work an of Work tool
Make.Referring to aforesaid operations when operator gives back Work tool.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model one embodiment.
Fig. 2 is the schematic side view of Fig. 1.
Fig. 3 is A in Fig. 1 to enlarged diagram.
Fig. 4 is the portion the B enlarged diagram in Fig. 1.
Specific embodiment
The robot of this intellectual access live working tools disclosed in the present embodiment mainly includes chassis 1, fixed frame
2 and lift platform 3.
Chassis 1 is wheel undercarriage, and four traveling wheels are omni-directional wheel, is equipped with electric-quantity display device, pause button on chassis 1
Switch, buzzer, car body control flow, emergency stop switch, start button switch, automatic charging interface, battery, circuit board, magnetic navigation
Sensor and anti-collision sensor, anti-collision sensor are set to the surrounding on chassis 1.
Can be seen that fixed frame 2 in conjunction with Fig. 1 and Fig. 2 includes being connected to the column 21 of 1 four corners of chassis and being connected to same
Crossbeam 22 between two column 21 of side, there is guide rail 211 in the inside of column 21.
Can be seen that lift platform 3 in conjunction with Fig. 1 and Fig. 2 includes support frame 31, plummer 32,33 and of longitudinal driving device
Horizontal mobile device 34.
Figure it is seen that support frame 31 includes support column 311 and attachment beam 312.Support column 311 has four, respectively cloth
It is placed in the inside of each column 21, attachment beam 312 is respectively set between the upper end section of ipsilateral support column 311 and lower end section.Support column
Sliding block 313 matched with 21 upper rail 211 of column is connected on 311.Corresponding different drawers are installed on support column 311
Limit sensors XWCGQ.
It will be seen from figure 1 that plummer 32 includes bracket 321 and panel 322.Bracket 321 is connected between support column 31,
Panel 322 is located at the upside of bracket 321.
Can be seen that panel 322 in conjunction with Fig. 1 and Fig. 3 has two pieces, is located at the two sides of horizontal mobile device 34.From Fig. 3
As can be seen that being embedded with detection sensor JCCGQ on panel 322, whether there is drawer in detection panel 322.
Figure it is seen that longitudinal driving device 33 includes the screw component of servo motor 331 and its driving and the electricity that slows down
Machine JSDJ and its synchronous belt component of driving.
Servo motor 331 and its screw component of driving have two groups, are symmetrically arranged in the two sides of support frame 31.Every group of screw rod
Component includes screw rod 332 and nut seat 333.The upper end section of screw rod 332 and lower end section are separately connected nut seat 333, nut seat 333
It is fixed on the middle position of corresponding attachment beam 312.Servo motor 331 is connected to the upper end of screw rod 332 by shaft coupling.Servo
Motor 331 is supported by the mounting base being connected on 31 upper end section attachment beam 312 of support frame.
Decelerating motor JSDJ and its synchronous belt component of driving have four groups, the screw component of every group of servo motor and its driving
Two sides are arranged symmetrically the synchronous belt component of one group of decelerating motor and its driving.Synchronous belt component includes that synchronous belt 334 and two are same
Step wheel 335.Decelerating motor JSDJ is installed on chassis 1, and two synchronizing wheels 335 are connected to the output shaft of decelerating motor JSDJ
On the upper and attachment beam 312 of 31 upper end section of support frame, one end of synchronous belt 334 is connected on bracket 321 by fixing seat, another
End exports in the synchronizing wheel 335 of axis connection around decelerating motor JSDJ is connected to after the synchronizing wheel on support frame 31.
Control servo motor 331 and decelerating motor JSDJ are worked at the same time, and go up and down lift platform 3, so that plummer
32 is corresponding with the drawer positions of access tools are needed.
As shown in figure 3, horizontal mobile device 34 includes driving motor JSDJ, output gear 341, take-up housing 342, rack gear
343 and sliding rail 344.Rack gear 343 is connected on bracket 321, and sliding rail 344 has two, is connected in parallel to 321 upper rack 343 of bracket
Two sides, the two sides of take-up housing 342 pass through its sliding block respectively and are connected on sliding rail 344, and decelerating motor JSDJ is fixed on take-up housing
On 342, output gear 341 in the horizontal direction is connected on output shaft directed downwardly, output gear 341 is engaged with rack gear 343.It is sliding
The both ends top of block 342 is connected separately with cylindrical magnet CT.
The end that take-up housing 342 installs magnet CT is equipped with crash sensor PZCGQ corresponding with magnet outer end face position,
Take drawer when, when crash sensor encounters drawer panel, make take-up housing 342 stop movement.The outside installation of sliding rail 344 is limited
Level sensor XWCGQ when sending drawer back to storage cabinet, limits the stroke of take-up housing.
Decelerating motor JSDJ work rotates output gear 341, since output gear 341 is engaged with rack gear 343, and rack gear
343 be fixed, so magnet CT of the output gear 341 with take-up housing 342 and thereon is that guide rail laterally moves with rack gear 343
It is dynamic.
Operator need to take Work tool when, operator operate host computer choose needed for Work tool, host computer send
Corresponding instruction, control robot is run to after corresponding position by chassis adjusts fuselage to parallel with cabinet.The present embodiment
Host computer pass through wifi send instruction.The servo motor and decelerating motor for controlling longitudinal driving device work at the same time, and make servo
Motor drives screw mandrel makes rotating motion, and the rotary motion of screw rod is converted into up and down fortune of the lift platform along fixed frame by nut seat
It is dynamic, while decelerating motor drives stretching for synchronous belt to guarantee that stablizing for lift platform is transported while adjusting lift platform height
It is dynamic.The height of the elevating movement adjustment plummer of lift platform, keeps the height of plummer corresponding with the height of corresponding drawer.It controls again
The driving motor of horizontal mobile device processed works, and keeps horizontal mobile device mobile to selected drawer with rack gear guide rail, when
When the crash sensor and magnet of horizontal mobile device end touch the drawer panel, horizontal mobile device stops movement.This
When be powered to the magnet in mobile device, control horizontal mobile device is mobile far from cabinet after so that magnet is adsorbed drawer panel,
Be dragged to magnet drawer on the panel of plummer.When the detection sensor on plummer panel detects drawer, control is longitudinal
Driving device work, the height of plummer is adjusted to taking object window height.Control robot ambulation is adjusted to taking at object window
Fuselage is parallel with object window is taken, and is pushed into take on the supporting plate at object window by drawer by horizontal mobile device, when touching outside sliding rail
It stops working when the limit sensors of side, when the detection sensor of plummer panel can't detect drawer, original place waits operator
The instruction that member is issued using host computer.Operator operates host computer and issues instruction after taking Work tool away from the drawer, automatic to control
Robot processed sends drawer back to it in the corresponding position of cabinet.So far robot is automatically performed once from a cabinet porter
Work of the utensil to operator.When operator gives back Work tool, operated referring to above-mentioned steps.Robot will according to instruction
Corresponding drawer, which is carried to, to be taken at object window, and after Work tool is put into drawer by operator, drawer is returned to cabinet by robot
Original position.
Claims (9)
1. a kind of robot of intellectual access live working tools, it is characterised in that: it includes chassis, fixed frame and lifting platform
Frame；Fixed frame is connected on chassis, and lift platform includes support frame, plummer, longitudinal driving device and horizontal mobile device, is held
Microscope carrier is connected to the lower end of support frame, and longitudinal driving device is connected between support frame and chassis, is made by longitudinal driving device
Support frame moves up and down with plummer along fixed frame, and the horizontal mobile device for being connected with magnet is connected on plummer, magnet
For adsorbing drawer.
2. the robot of intellectual access live working tools as described in claim 1, it is characterised in that: the chassis is wheel
Formula chassis, four traveling wheels are omni-directional wheel, are equipped with electric-quantity display device, pause button switch, buzzer, car body control on chassis
Make screen, emergency stop switch, start button switch, automatic charging interface, battery, circuit board, magnetic navigation sensor and anticollision sensing
Device.
3. the robot of intellectual access live working tools as described in claim 1, it is characterised in that: the fixed frame packet
The crossbeam for including the column for being connected to chassis four corners and being connected between ipsilateral two column has guide rail on the inside of column.
4. the robot of intellectual access live working tools as claimed in claim 3, it is characterised in that: support frame as described above packet
Support column and attachment beam are included, support column there are four, is respectively arranged in the inside of the column, the upper end section of ipsilateral support column is under
It is respectively arranged with attachment beam between the section of end, the sliding block with the guide rail is connected on support column；It is equipped on support column pair
Answer the limit sensors of different drawers.
5. the robot of intellectual access live working tools as claimed in claim 4, it is characterised in that: the plummer packet
Bracket and panel are included, bracket is connected between the support column, and panel is connected to the upside of bracket.
6. the robot of intellectual access live working tools as claimed in claim 5, it is characterised in that: the zigzag tread patterns
Device includes the screw component and decelerating motor and its synchronous belt component of driving of servo motor and its driving；
Servo motor and its screw component of driving have two groups, are symmetrically arranged in the two sides of support frame, and every group of screw component includes
Screw rod and nut seat, the upper end section of screw rod and lower end section are separately connected nut seat, nut seat be individually fixed in the support column it
Between attachment beam middle position, servo motor is connected to the upper end of screw rod by shaft coupling, and servo motor is by being connected to branch
Mounting base bearing between dagger upper end section on attachment beam；
Decelerating motor and its synchronous belt component of driving have four groups, and the screw component two sides of every group of servo motor and its driving are symmetrical
Arrange the synchronous belt component of one group of decelerating motor and its driving；
Synchronous belt component includes synchronous belt and two synchronizing wheels, and decelerating motor is fixed on the chassis, two synchronizing wheel difference
It is connected on the attachment beam on the output shaft of decelerating motor between the upper end of support column section, one end of synchronous belt passes through fixation
Seat is connected on the bracket, and the other end is around the synchronizing wheel for being connected to geared motor output shaft after the synchronizing wheel on attachment beam
On.
7. the robot of intellectual access live working tools as claimed in claim 5, it is characterised in that: the transverse shifting
Device includes driving motor, output gear, take-up housing, rack gear and sliding rail, and rack gear is connected on the bracket, and sliding rail has two,
The two sides of bracket upper rack are connected in parallel to, the two sides of take-up housing pass through its sliding block respectively and are connected on sliding rail, and servo motor is solid
Due on take-up housing, output wheel in the horizontal direction is connected on output shaft directed downwardly, output gear is engaged with rack；Sliding rail
Outside is equipped with limit sensors.
8. the robot of intellectual access live working tools as claimed in claim 7, it is characterised in that: the plummer
Panel has two pieces, is located at the two sides of the horizontal mobile device, is embedded with detection sensor on panel.
9. the robot of intellectual access live working tools as claimed in claim 7, it is characterised in that: the magnet is along institute
The end that rack gear length direction is connected to the take-up housing is stated, the end of take-up housing installation magnet is equipped with and magnet outer end face position
The neat crash sensor of horizontalization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820810745.8U CN208215318U (en) | 2018-05-29 | 2018-05-29 | A kind of robot of intellectual access live working tools |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820810745.8U CN208215318U (en) | 2018-05-29 | 2018-05-29 | A kind of robot of intellectual access live working tools |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208215318U true CN208215318U (en) | 2018-12-11 |
Family
ID=64506660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820810745.8U Active CN208215318U (en) | 2018-05-29 | 2018-05-29 | A kind of robot of intellectual access live working tools |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208215318U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108481298A (en) * | 2018-05-29 | 2018-09-04 | 国网湖南省电力有限公司 | A kind of robot and its application process of intellectual access live working tools |
| CN109650015A (en) * | 2018-12-13 | 2019-04-19 | 烽禾升医疗设备（昆山）有限公司 | A kind of carrier transplanting positioning mechanism |
| CN112669532A (en) * | 2020-11-30 | 2021-04-16 | 航天信息股份有限公司 | Tax UKey self-service issuing and receiving device and control method |
| CN115415814A (en) * | 2022-09-21 | 2022-12-02 | 上海发那科机器人有限公司 | Multi-sliding-block grouping hinged uniform-load sliding table mechanism |
-
2018
- 2018-05-29 CN CN201820810745.8U patent/CN208215318U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108481298A (en) * | 2018-05-29 | 2018-09-04 | 国网湖南省电力有限公司 | A kind of robot and its application process of intellectual access live working tools |
| CN109650015A (en) * | 2018-12-13 | 2019-04-19 | 烽禾升医疗设备（昆山）有限公司 | A kind of carrier transplanting positioning mechanism |
| CN112669532A (en) * | 2020-11-30 | 2021-04-16 | 航天信息股份有限公司 | Tax UKey self-service issuing and receiving device and control method |
| CN115415814A (en) * | 2022-09-21 | 2022-12-02 | 上海发那科机器人有限公司 | Multi-sliding-block grouping hinged uniform-load sliding table mechanism |
| CN115415814B (en) * | 2022-09-21 | 2024-05-17 | 上海发那科机器人有限公司 | Multi-slider grouping hinged uniform-load sliding table mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208215318U (en) | A kind of robot of intellectual access live working tools | |
| CN108481298A (en) | A kind of robot and its application process of intellectual access live working tools | |
| CN106530945B (en) | intelligent manufacturing technology application training platform | |
| CN108942147A (en) | Automatic charging automobile bearing pressing machine and its processing technology | |
| CN104325269B (en) | Double-group and semi-automatic cover plate assembly machine for flat plate heat collectors | |
| CN104511733B (en) | The rotation table device that can be lifted on a large scale | |
| CN110340450A (en) | A kind of numerically controlled tooth grinding machine | |
| CN205555541U (en) | Pile up neatly, machine people breaks a jam | |
| CN103143863B (en) | A kind of double-deck concertina type welding robot system | |
| CN108724803B (en) | Cloth material loading manipulator | |
| CN107673277B (en) | A kind of fork truck convenient for unloading of getting in stocks | |
| CN105600700A (en) | One-key lifting device suitable for AGV (Automatic Guided Vehicle) intelligent vehicle | |
| CN218231728U (en) | Novel RGV side fork truck | |
| CN209792926U (en) | Steel construction automatic weld work platform | |
| CN104353981B (en) | Full-automatic assembly machine with three groups of cover boards for flat plate collector | |
| CN110239869A (en) | A kind of mobile both arms handling device and its application method based on binocular vision | |
| CN109250412A (en) | A kind of scissor-type AGV trolley | |
| CN211255111U (en) | A hold in palm car for supporting engine | |
| CN212637950U (en) | Wing activity face rigging equipment | |
| CN107655661A (en) | A kind of engine bolt end surface measurement device | |
| CN111035189B (en) | Non-lost aerial three-dimensional display equipment | |
| JP2022044271A (en) | Conveyance device, control method, and program | |
| CN209940189U (en) | Automatic clamping device for multi-axial glass fiber warp knitting machine | |
| CN105460856A (en) | Novel chain wheel turnover equipment | |
| CN112455713A (en) | AGV (automatic guided vehicle) for transporting airport luggage containers and transporting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |