CN212076316U

CN212076316U - Transfer robot

Info

Publication number: CN212076316U
Application number: CN202020575944.2U
Authority: CN
Inventors: 祁建胜; 刘伟; 刘金权
Original assignee: Nanjing Qimu Intelligent Technology Research Institute Co ltd
Current assignee: Nanjing Qimu Intelligent Technology Research Institute Co ltd
Priority date: 2020-04-17
Filing date: 2020-04-17
Publication date: 2020-12-04
Anticipated expiration: 2030-04-17

Abstract

The utility model discloses a transfer robot, which comprises a frame, the bottom fixed mounting of frame has roll wheel and directive wheel, and the top fixed mounting of frame has the casing, the inside bottom fixed mounting of casing has storage battery, the top fixed mounting of frame has elevating system, and elevating system's side fixed mounting has the link, the tip of link articulates there is the support frame, and articulates between the side top of support frame and the top of link have two with storage battery electric connection's main electric putter. The utility model discloses in, when needing to carry out the short distance transport to glass panels such as glass curtain wall or car windshield, the staff can utilize the electronic vacuum chuck in this device to adsorb glass panels and snatch, recycles main electric putter and carries out vertical fixed with it, and thrust unit removes and to accomplish snatching and removing of glass panels, and easy operation is convenient, reduces the required labour of glass panels transport.

Description

Transfer robot

Technical Field

The utility model relates to an article transport technical field especially relates to a transfer robot.

Background

The glass is an amorphous inorganic non-metallic material, is generally prepared by taking a plurality of inorganic minerals as main raw materials and adding a small amount of auxiliary raw materials, is very common in daily life, is an ancient building material, and is unique in various functions along with rapid improvement of modern technological level and change of application technology.

Large glass sheets are used in many applications. For example, when the glass plate is heavy, many people are required to exert force together when the glass plate is transported in a short distance, which takes a long time.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art, and providing a transfer robot, which can effectively solve the problem provided by the background technology.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a transfer robot comprises a frame, rolling wheels and steering wheels are fixedly arranged at the bottom of the frame, and the top of the frame is fixedly provided with a shell, the bottom end inside the shell is fixedly provided with a storage battery, the top of the frame is fixedly provided with a lifting mechanism, and the side surface of the lifting mechanism is fixedly provided with a connecting frame, the end part of the connecting frame is hinged with a supporting frame, two main electric push rods electrically connected with the storage battery are hinged between the top end of the side surface of the support frame and the top of the connecting frame, four corners of the other side of the support frame are all provided with electric vacuum chucks through ball hinges, and the rotation angle between the electric vacuum chuck and the support frame is 0-30 ︒, a vacuum machine electrically connected with a storage battery pack is fixedly installed at the top end inside the shell, and the air exhaust end of the vacuum machine is communicated with the electric vacuum chuck through an electromagnetic valve and a hose.

Preferably, the top end of the rack is fixedly provided with a driving mechanism electrically connected with the storage battery pack, and an output shaft of the driving mechanism is in transmission connection with the rolling wheel through a gear.

Preferably, the lifting mechanism comprises a rectangular frame vertically installed at the top end of the rack, a servo motor electrically connected with the storage battery pack is fixedly installed at the top end of the rectangular frame, a ball screw is fixedly installed at the bottom end of an output shaft of the servo motor, and the bottom end of the ball screw is rotatably connected with the rectangular frame through a bearing.

Preferably, the lifting mechanism further comprises a ball nut fixedly mounted at the other end of the connecting frame, two sides of the ball nut are slidably connected with the rectangular frame, and the middle of the ball nut is in threaded connection with the outer side of the ball screw.

Preferably, the connecting frame is of a Z-shaped structure, and the rotating angle between the connecting frame and the supporting frame is 0-120 ︒.

Preferably, still including set up in two mounting grooves of support frame side, and the equal fixed mounting in inside of two mounting grooves has two crisscross vice electric putter who sets up, and vice electric putter's movable rod tip fixed mounting has the damping pivot, and the side fixed mounting of damping pivot has the holder of F type structure.

Compared with the prior art, the beneficial effects of the utility model are that:

1. when glass plate members such as glass curtain wall or car windshield need carry out the short distance transport, the staff can utilize the electronic vacuum chuck in this device to adsorb the glass plate member and snatch, and it carries out vertical fixed with it by main electric putter again, and thrust unit removes and to accomplish snatching and removing of glass plate member, and easy operation is convenient, reduces the required labour of glass plate member transport.

2. When needs snatch the glass plate, can drive the link up-and-down motion through ball and ball nut through the servo motor among the elevating system, improve the efficiency of snatching, and when the glass plate was installed, can also adjust the height of glass plate through the device, offer convenience for the staff's installation.

3. When snatching glass plate, pass through the damping pivot with the holder and rotate to the back, after glass plate was snatched, the staff unscrewed the damping pivot, utilized vice electric putter to drive holder about, and then carried out the centre gripping with glass plate upper and lower edge and fix, avoided the in-process that removes the obscission, improved the stability in the handling.

Drawings

Fig. 1 is a schematic front view of a transfer robot according to the present invention;

fig. 2 is a schematic structural view of a support frame of a transfer robot according to the present invention;

fig. 3 is a schematic structural view of a connecting frame of a transfer robot according to the present invention;

fig. 4 is a schematic view of a clamping member structure of a transfer robot according to the present invention.

In the figure: the device comprises a machine frame 1, an electric vacuum chuck 2, a connecting frame 3, a supporting frame 4, an electric push rod 5, a main electric push rod 6, a clamping piece 7, a damping rotating shaft 8, a servo motor 9, a rectangular frame 10, a vacuum machine 11, a ball screw 12, a ball nut 13, a storage battery 14, a shell 15, a driving mechanism 16 and a rolling wheel 17.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments;

in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

Example 1

Referring to fig. 1-3, a carrying robot, comprising a frame 1, a rolling wheel 17 and a steering wheel are fixedly installed at the bottom of the frame 1, a housing 15 is fixedly installed at the top of the frame 1, a storage battery pack 14 is fixedly installed at the bottom end inside the housing 15, a lifting mechanism is fixedly installed at the top of the frame 1, a connecting frame 3 is fixedly installed at the side surface of the lifting mechanism, a supporting frame 4 is hinged at the end part of the connecting frame 3, two main electric push rods 6 electrically connected with the storage battery pack 14 are hinged between the top end of the side surface of the supporting frame 4 and the top of the connecting frame 3, electric vacuum chucks 2 are installed at four corners at the other side of the supporting frame 4 through ball hinges, the rotating angle between the electric vacuum chucks 2 and the supporting frame 4 is 0-30 ︒, a vacuum machine 11 electrically connected with the storage battery pack 14 is fixedly installed at the top end inside the housing 15, and the air suction end, when needing to carry out short distance transport to glass panels such as glass curtain wall or car windshield, the staff can utilize 2 with glass panels of electronic vacuum chuck in this device to adsorb and snatch, and it is vertical fixed that the main electric putter 6 of recycling carries on it, and thrust unit removes and to accomplish snatching and removing of glass panels, and easy operation is convenient, reduces the required labour of glass panels transport.

The utility model discloses in, the top fixed mounting of frame 1 has actuating mechanism 16 with 14 electric connection of storage battery, and actuating mechanism 16's output shaft passes through the gear and is connected with the transmission of roll wheel 17, and in this embodiment, preferred actuating mechanism 16 is step motor, when carrying glass plate, can advance through actuating mechanism 16 drive arrangement, further reduces staff's the amount of labour.

The lifting mechanism comprises a rectangular frame 10 vertically installed at the top end of the rack 1, a servo motor 9 electrically connected with a storage battery pack 14 is fixedly installed at the top end of the rectangular frame 10, a ball screw 12 is fixedly installed at the bottom end of an output shaft of the servo motor 9, and the bottom end of the ball screw 12 is rotatably connected with the rectangular frame 10 through a bearing.

Elevating system still includes ball nut 13 of fixed mounting in the link 3 other end, and ball nut 13's both sides and rectangular frame 10 sliding connection, ball nut 13's middle part and the 12 outside spiro union of ball, when needing to snatch glass plate, can pass through servo motor 9 among the elevating system, drive link 3 up-and-down motion through ball 12 and ball nut 13, improve the efficiency of snatching, and when glass plate installs, can also adjust glass plate's height through the device, bring the facility for the staff installation.

The connecting frame 3 is of a Z-shaped structure, the rotating angle between the connecting frame 3 and the supporting frame 4 is 0-120 ︒, when the glass plate is grabbed, the supporting frame 4 is pushed to move through the main electric push rod 6, so that the position of the supporting frame 4 is inclined, the glass plate which is flatly placed or leaned is convenient to grab, and the operation is more convenient.

The working principle is as follows: when needing to carry out short distance transport to glass panels such as glass curtain wall or car windshield, the staff can utilize 2 with glass panels of electronic vacuum chuck in this device to adsorb and snatch, and it is vertical fixed that the main electric putter 6 of recycling carries on it, and thrust unit removes and to accomplish snatching and removing of glass panels, and easy operation is convenient, reduces the required labour of glass panels transport.

Example 2

Referring to fig. 1 to 4, the transfer robot further includes two mounting grooves arranged on the side of the support frame 4, two auxiliary electric push rods 5 which are arranged in a staggered manner are fixedly mounted inside the two mounting grooves, a damping rotating shaft 8 is fixedly mounted at the end of a movable rod of each auxiliary electric push rod 5, and a clamping piece 7 of an F-shaped structure is fixedly mounted on the side of each damping rotating shaft 8.

The working principle is as follows: when snatching the glass plate, rotatory to the back through damping pivot 8 with holder 7, after the glass plate is snatched, the staff unscrews damping pivot 8, utilizes holder 7 about vice electric putter 5 drives to be close to each other, and then carries out the centre gripping with the edge about the glass plate and fixes, avoids appearing the obscission at the removal in-process, improves the stability in the handling.

The utility model discloses a control mode comes automatic control through the controller, and the control circuit of controller can realize through the simple programming of technical staff in this field, and the supply also belongs to the common general knowledge in this field, and the utility model discloses mainly used protects mechanical device, so the utility model discloses no longer explain control mode and circuit connection in detail.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A carrying robot comprises a rack (1), wherein rolling wheels (17) and steering wheels are fixedly mounted at the bottom of the rack (1), a shell (15) is fixedly mounted at the top of the rack (1), a storage battery (14) is fixedly mounted at the bottom inside the shell (15), the carrying robot is characterized in that a lifting mechanism is fixedly mounted at the top of the rack (1), a connecting frame (3) is fixedly mounted on the side surface of the lifting mechanism, a supporting frame (4) is hinged to the end part of the connecting frame (3), two main electric push rods (6) electrically connected with the storage battery (14) are hinged between the top end of the side surface of the supporting frame (4) and the top of the connecting frame (3), electric vacuum chucks (2) are mounted at four corners of the other side of the supporting frame (4) through ball hinges, and the rotating angle between each electric vacuum chuck (2) and the supporting frame (4) is 0-30 ︒, the vacuum machine (11) electrically connected with the storage battery (14) is fixedly mounted at the top end inside the shell (15), and the air suction end of the vacuum machine (11) is communicated with the electric vacuum chuck (2) through an electromagnetic valve and a hose.

2. A handling robot as claimed in claim 1, characterized in that a driving mechanism (16) electrically connected to the battery pack (14) is fixedly mounted on the top of the frame (1), and an output shaft of the driving mechanism (16) is in transmission connection with the rolling wheels (17) through gears.

3. A handling robot as claimed in claim 1, wherein the lifting mechanism comprises a rectangular frame (10) vertically mounted at the top end of the frame (1), a servo motor (9) electrically connected with the battery pack (14) is fixedly mounted at the top end of the rectangular frame (10), a ball screw (12) is fixedly mounted at the bottom end of an output shaft of the servo motor (9), and the bottom end of the ball screw (12) is rotatably connected with the rectangular frame (10) through a bearing.

4. A transfer robot as claimed in claim 3, wherein the lifting mechanism further comprises a ball nut (13) fixedly mounted at the other end of the connecting frame (3), and both sides of the ball nut (13) are slidably connected with the rectangular frame (10), and the middle part of the ball nut (13) is screwed with the outer side of the ball screw (12).

5. A transfer robot as claimed in claim 1, characterized in that the link (3) is Z-shaped and the angle of rotation between the link (3) and the support frame (4) is between 0-120 ︒.

6. The transfer robot as claimed in any one of claims 1-5, further comprising two mounting grooves disposed on the side of the support frame (4), wherein two staggered sub-electric push rods (5) are fixedly mounted inside the two mounting grooves, the end of the movable rod of the sub-electric push rod (5) is fixedly mounted with a damping rotating shaft (8), and the side of the damping rotating shaft (8) is fixedly mounted with a clamping member (7) having an F-shaped structure.