CN213445022U - Position and posture adjusting device for loading and unloading vehicle robot - Google Patents
Position and posture adjusting device for loading and unloading vehicle robot Download PDFInfo
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- CN213445022U CN213445022U CN202021746049.9U CN202021746049U CN213445022U CN 213445022 U CN213445022 U CN 213445022U CN 202021746049 U CN202021746049 U CN 202021746049U CN 213445022 U CN213445022 U CN 213445022U
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Abstract
The utility model discloses a loading and unloading car robot position appearance adjusting device belongs to position appearance adjusting device technical field, solves the problem that the position appearance adjusting device among the prior art is not applicable to narrow and small space or the scene that needs remove at any time. The utility model discloses a conveyer for conveying goods sets up on conveyer, control conveyer every single move, rotatory lifting device and set up on conveyer, be used for conveyer every single move, rotatory back, guarantee the gesture adjusting device of actuating mechanism at YZ plane work. The utility model is used for actuating mechanism's position appearance is adjusted.
Description
Technical Field
A loading and unloading robot pose adjusting device is used for adjusting the pose of an actuating mechanism and belongs to the technical field of pose adjusting devices.
Background
The pose of the robot takes a six-degree-of-freedom mechanical arm as a typical structure, the pose adjustment is realized through a serial open type connecting rod structure, and the mechanical arm has six degrees of freedom in space, namely the degree of freedom of movement along the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes. Therefore, to fully determine the position of the object, the six degrees of freedom must be known. The structure equipment has high action flexibility, large working space range, compact structure, small occupied area and easy sealing and dust prevention of relative motion parts on joints, can flexibly bypass barriers, and is widely applied to industries such as loading and unloading of machine tools, part taking, arc welding, paint spraying and the like.
The six-freedom motion platform consists of six actuating cylinders, six upper and lower universal hinges, and two upper and lower platforms, and the lower platform is fixed on the base and completes the motion of the upper platform in six spatial degrees of freedom (X, Y, Z, alpha, beta, gamma) by means of the telescopic motion of the six actuating cylinders, so as to simulate various spatial motion postures.
However, the pose adjusting device of the six-degree-of-freedom manipulator in the prior art has the following technical problems:
the large arm joint has the largest moment and large moment change, so that the large arm is in a severe stress state and has high requirement on the rigidity of the structure;
secondly, the degree of freedom is redundant, so that the problems of complex control and the like are caused;
and thirdly, the device is suitable for fixed installation in an open place, and has poor adaptability to narrow spaces or scenes needing to be moved at any time.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a loading and unloading car robot position appearance adjusting device solves the problem that the position appearance adjusting device among the prior art is not applicable to narrow and small space or needs the scene of removing at any time.
In order to realize the purpose, the utility model discloses a technical scheme be:
a position and posture adjusting device of a loading and unloading vehicle robot comprises a conveying device used for conveying goods, a rotary lifting device arranged on the conveying device and used for controlling the pitching and the rotating of the conveying device, and a posture adjusting device arranged on the conveying device and used for ensuring that an actuating mechanism works in a YZ plane after the pitching and the rotating of the conveying device.
Furthermore, the rotary lifting device comprises a rotary chassis used for rotating, a bottom plate arranged on the rotary chassis, a support arranged on the bottom plate, a connecting plate arranged on the support and connected with a support revolute pair, and a push rod respectively connected with the bottom plate and the connecting plate revolute pair and used for pushing the connecting plate to pitch.
Further, the conveying device comprises a supporting frame arranged on the connecting plate, and a synchronous belt component arranged on the supporting frame and used for conveying goods.
Further, the attitude adjusting device comprises a telescopic compensating device for compensating the distance difference of the actuating mechanism on the YZ plane caused by the pitching and rotating of the conveying device, a pitching adjusting device for compensating the head angle change of the actuating mechanism caused by the pitching and rotating of the conveying device and a heading adjusting device.
Furthermore, the telescopic compensation device comprises a rack arranged on a supporting frame of the conveying device, a guide rail which is in sliding fit with the rack and is connected with the actuating mechanism, a motor connecting plate arranged on the guide rail, and a first speed reduction motor which is arranged on the motor connecting plate and is provided with a gear and matched with the rack to drive the guide rail to move.
Furthermore, the racks are arranged on opposite side walls in the supporting frame, and each side wall is provided with at least one rack.
Furthermore, the telescopic compensation device also comprises a sliding block which is arranged on the supporting frame and forms a sliding pair with the guide rail.
Further, the pitching adjusting device comprises a supporting plate arranged on the guide rail, a pitching rotating shaft connected with a rotating pair of the supporting plate, and a second speed reducing motor arranged on the supporting plate and used for driving the pitching rotating shaft to rotate in a pitching mode.
Furthermore, the course adjusting device comprises a course rotating shaft support arranged on the pitching rotating shaft, a course rotating shaft arranged on the course rotating shaft support and connected with a course rotating shaft support revolute pair, an execution head connecting support arranged on the course rotating shaft and used for connecting an execution mechanism, and a third speed reducing motor arranged on the course rotating shaft support and used for driving the course rotating shaft to rotate in the course.
Compared with the prior art, the utility model has the advantages of:
the utility model has the advantages that the conveying device, the rotary lifting device and the posture adjusting device are matched, wherein the rotary lifting device realizes the point position adjustment, the three degrees of freedom of the posture adjusting device realize the posture adjustment, even if the loading and unloading robot with the posture adjusting device of the utility model has a compact structure, and can realize accurate positioning;
the utility model is suitable for narrow space or scene that need move at any time, namely the requirement to the space width and height of action is low, the applicable minimum space width is 1.5m, the height is 1.5 m;
the utility model adopts the modularized arrangement, thereby being convenient for installation and maintenance or replacement;
fourthly, the arrangement of the sliding block in the utility model is to play the role of limiting and stabilizing the sliding of the guide rail;
fifthly, the conveying device in the utility model adopts a synchronous belt component, can avoid slipping, adopts an embedded structure and has small width; the rotary lifting device has simple structure and high rigidity; the posture adjusting device has a compact structure and can be passively adjusted finely.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to these drawings without inventive efforts.
Fig. 1 is a schematic view of the present invention;
fig. 2 is a schematic view of a rotary lifting device according to the present invention;
fig. 3 is a schematic view of the posture adjusting device of the present invention;
fig. 4 is a schematic view of the telescopic compensation device of the present invention;
FIG. 5 is a schematic view of a pitch adjusting device and a course adjusting device according to the present invention;
fig. 6 is a schematic view of the conveying device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as a limitation of the present invention.
Furthermore, the appearances of the terms "first," "second," "third," and the like, if any, are only used to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
As shown in fig. 1, the position and posture adjusting device of the loading and unloading robot comprises a conveying device 2 for conveying goods, a rotary lifting device 1 which is arranged on the conveying device 2 and controls the conveying device 2 to pitch and rotate, and a posture adjusting device 3 which is arranged on the conveying device 2 and is used for ensuring that an actuating mechanism works in a YZ plane after the conveying device 2 pitches and rotates.
As shown in FIG. 2, the rotary lifting device 1 comprises a rotary chassis 1-1 for rotation, a base plate 1-2 arranged on the rotary chassis 1-1, a support 1-5 arranged on the base plate 1-2, a connecting plate 1-4 arranged on the support 1-5 and connected with a revolute pair of the support 1-5, and a push rod 1-3 respectively connected with the base plate 1-2 and the revolute pair of the connecting plate 1-4 and used for pushing the connecting plate 1-4 to pitch.
The rotary chassis 1-1 is conventional and comprises arc-shaped tooth staggered gears and the like; as shown in fig. 2, the holes on the bottom plate are bolt counter bores for connecting the bottom plate and the rotary chassis; the supporting columns 1-5 are fixedly arranged on the bottom plate and mainly used for fixing the connecting plates 1-4, and of course, the supporting columns 1-5 can also be arranged on the bottom plate in other movable fixing modes; the push rod 1-3 is conventional and comprises a ball screw as a core structure.
As shown in fig. 6, the transfer device includes support frames 2-18 provided on the link plates 1-4, and timing belt assemblies 2-19 provided on the support frames 2-18 for transferring the goods. The synchronous belt assembly is conventional and comprises a plurality of groups of synchronous wheels, synchronous belts arranged on the groups of synchronous wheels and a driving motor for driving the groups of synchronous wheels to act.
As shown in FIG. 3, the attitude adjusting device 3 comprises a telescopic compensation device 2-1 for compensating the distance difference of the actuating mechanism caused by the pitching and rotating of the conveying device on the YZ plane, a pitching adjustment device 2-2 for compensating the head angle change of the actuating mechanism caused by the pitching and rotating of the conveying device and a heading adjustment device 2-3.
As shown in fig. 4, the telescopic compensating device 2-1 comprises a rack 2-6 arranged on a supporting frame of the conveying device 2, a guide rail 2-7 which is in sliding fit with the rack 2-6 and is connected with an actuating mechanism, a motor connecting plate 2-10 arranged on the guide rail 2-7, and a first speed reducing motor 2-9 with a gear which is arranged on the motor connecting plate 2-10 and is matched with the rack 2-6 to drive the guide rail 2-7 to move. The first speed reduction motor 2-9 drives the gear to rotate, the gear is matched with the rack 2-6, so that the guide rail 2-7 slides on the rack 2-6, the guide rail 2-7 slides to drive the pitching adjusting device 2-2 and the course adjusting device 2-3 to move, and the guide rail 2-7 slides to drive the motor connecting plate 2-10 and the first speed reduction motor 2-9 to move.
The racks 2-6 are provided on an opposite side wall in the support frame, and one rack, two racks, three racks, etc. may be provided on the opposite side wall, and of course, only one rack may be provided on one side wall, but in consideration of stability in operation of the telescopic compensating device 2-1 and the size of the installation space, it is preferable to provide one or two racks on the opposite side wall.
The telescopic compensation device 2-1 further comprises a sliding block 2-8 which is arranged on the supporting frame and forms a moving pair with the guide rail 2-7. The sliding blocks 2-8 are arranged to limit and stabilize the sliding of the guide rails.
As shown in fig. 5, the pitch adjusting means 2-2 includes a support plate 2-12 provided on the guide rail 2-7, a pitch rotating shaft 2-11 connected to a revolute pair of the support plate 2-12, and a second reduction motor 2-13 provided on the support plate 2-12 for driving the pitch rotating shaft 2-11 to rotate in pitch. The second speed reducing motor 2-13 drives the pitching rotating shaft 2-11 to be matched with the supporting plate 2-12 in a rotating mode, and the pitching rotating shaft 2-11 rotates to drive the course adjusting device 2-3 to rotate in a pitching mode.
The course adjusting device 2-3 comprises course rotating shaft supports 2-14 arranged on the pitching rotating shaft 2-11, course rotating shafts 2-15 arranged on the course rotating shaft supports 2-14 and connected with revolute pairs of the course rotating shaft supports 2-14, executing head connecting supports 2-17 arranged on the course rotating shafts 2-15 and used for connecting executing mechanisms, and third speed reducing motors 2-16 arranged on the course rotating shaft supports 2-14 and used for driving the course rotating shafts 2-15 to rotate in courses. The third speed reducing motor 2-16 drives the course rotating shaft 2-15 to rotate, and the course rotating shaft 2-15 can drive the execution head connecting frame 2-17 to move in course.
Examples
Will install position appearance adjusting device's loading and unloading car robot, place and realize the pile up neatly and the pile up neatly of goods at van.
The pose adjusting device is specifically realized in the unstacking process as follows: after the loading and unloading robot enters the carriage and reaches a designated position, after the position posture adjusting device receives an instruction, the rotating chassis drives the position posture adjusting device to rotate, and pushes the conveying device 2 on the connecting plate 1-4 and the posture adjusting device 3 on the conveying device 2 to pitch through the push rods 1-3; after pitching and rotating, the first speed reducing motor 2-9 is matched with the rack 2-6, so that the guide rail 2-7 drives the connecting plate 2-10 and the first speed reducing motor 2-9 to be matched with the rack 2-6 and the slide block 2-8 in a sliding manner, and the pitching adjusting device 2-2 and the course adjusting device 2-3 are driven by the guide rail 2-7 to perform distance difference compensation of a YZ plane;
after distance difference compensation of a YZ plane is carried out on the pitching adjusting device 2-2 and the course adjusting device 2-3 through the telescopic compensating device 2-1, the second speed reducing motor 2-13 drives the pitching rotating shaft 2-11 to perform pitching rotation, namely the course adjusting device 2-3 is driven to perform pitching rotation, after the pitching rotation, the third speed reducing motor 2-16 drives the course rotating shaft 2-15 to perform course rotation, namely the execution head connecting frame 2-17 is driven to perform course rotation, after the course rotation, the execution mechanism on the execution head connecting frame 2-17 is ensured to work on the YZ plane, at the moment, the goods are grabbed through the execution mechanism and then are transmitted to the transmitting device, and the transmitting device transmits the goods away, namely unstacking is realized.
The pose adjusting device is specifically realized in the stacking process as follows: similar to the unstacking process, after the loading and unloading robot enters the carriage and reaches the designated position, the position and posture adjusting device receives an instruction, the actuating mechanisms on the actuating head connecting frames 2-17 are ensured to work on YZ planes, then the goods are placed on the conveying device, and the goods are conveyed to the actuating mechanisms through the conveying device to realize stacking.
Claims (9)
1. The utility model provides a loading and unloading car robot position appearance adjusting device which characterized in that: the automatic lifting device comprises a conveying device (2) for conveying goods, a rotary lifting device (1) which is arranged on the conveying device (2) and controls the conveying device (2) to pitch and rotate, and an attitude adjusting device (3) which is arranged on the conveying device (2) and is used for ensuring that an actuating mechanism works in a YZ plane after the conveying device (2) pitches and rotates.
2. The loading and unloading vehicle robot position and posture adjusting device according to claim 1, characterized in that: the rotary lifting device (1) comprises a rotary chassis (1-1) for rotation, a bottom plate (1-2) arranged on the rotary chassis (1-1), a support post (1-5) arranged on the bottom plate (1-2), a connecting plate (1-4) arranged on the support post (1-5) and connected with a rotating pair of the support post (1-5), and a push rod (1-3) which is respectively connected with the bottom plate (1-2) and the rotating pair of the connecting plate (1-4) and used for pushing the connecting plate (1-4) to pitch.
3. The loading and unloading vehicle robot position and posture adjusting device according to claim 2, characterized in that: the conveying device comprises a supporting frame (2-18) arranged on a connecting plate (1-4), and a synchronous belt assembly (2-19) arranged on the supporting frame (2-18) and used for conveying goods.
4. The loading and unloading vehicle robot position and posture adjusting device according to claim 1, characterized in that: the attitude adjusting device (3) comprises a telescopic compensation device (2-1) for compensating the distance difference of the actuating mechanism on a YZ plane caused by the pitching and rotating of the conveying device, a pitching adjusting device (2-2) for compensating the head angle change of the actuating mechanism caused by the pitching and rotating of the conveying device and a heading adjusting device (2-3).
5. The loading and unloading vehicle robot position and posture adjusting device according to claim 4, characterized in that: the telescopic compensation device (2-1) comprises a rack (2-6) arranged on a supporting frame of the conveying device (2), a guide rail (2-7) in sliding fit with the rack (2-6) and connected with an actuating mechanism, a motor connecting plate (2-10) arranged on the guide rail (2-7), and a first speed reduction motor (2-9) which is arranged on the motor connecting plate (2-10) and is matched with the rack (2-6) to drive the guide rail (2-7) to move and is provided with a gear.
6. The loading and unloading vehicle robot position and posture adjusting device according to claim 5, characterized in that: the racks (2-6) are arranged on opposite side walls in the supporting frame, and at least one rack (2-6) is arranged on each side wall.
7. The loading and unloading robot posture adjustment device according to claim 5 or 6, characterized in that: the telescopic compensation device (2-1) further comprises a sliding block (2-8) which is arranged on the supporting frame and forms a moving pair with the guide rail (2-7).
8. The loading and unloading vehicle robot position and posture adjusting device according to claim 6, characterized in that: the pitching adjusting device (2-2) comprises a supporting plate (2-12) arranged on the guide rail (2-7), a pitching rotating shaft (2-11) connected with a rotating pair of the supporting plate (2-12), and a second speed reducing motor (2-13) arranged on the supporting plate (2-12) and used for driving the pitching rotating shaft (2-11) to rotate in a pitching mode.
9. The loading and unloading vehicle robot position and posture adjusting device according to claim 8, characterized in that: the course adjusting device (2-3) comprises a course rotating shaft support (2-14) arranged on the pitching rotating shaft (2-11), a course rotating shaft (2-15) arranged on the course rotating shaft support (2-14) and connected with a rotating pair of the course rotating shaft support (2-14), an execution head connecting support (2-17) arranged on the course rotating shaft (2-15) and used for connecting an execution mechanism, and a third speed reducing motor (2-16) arranged on the course rotating shaft support (2-14) and used for driving the course rotating shaft (2-15) to rotate in a course direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021746049.9U CN213445022U (en) | 2020-08-20 | 2020-08-20 | Position and posture adjusting device for loading and unloading vehicle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021746049.9U CN213445022U (en) | 2020-08-20 | 2020-08-20 | Position and posture adjusting device for loading and unloading vehicle robot |
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| Publication Number | Publication Date |
|---|---|
| CN213445022U true CN213445022U (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021746049.9U Active CN213445022U (en) | 2020-08-20 | 2020-08-20 | Position and posture adjusting device for loading and unloading vehicle robot |
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| Country | Link |
|---|---|
| CN (1) | CN213445022U (en) |
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- 2020-08-20 CN CN202021746049.9U patent/CN213445022U/en active Active
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