CN216037290U - Transfer robot for inclined objects - Google Patents
Transfer robot for inclined objects Download PDFInfo
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- CN216037290U CN216037290U CN202121964600.1U CN202121964600U CN216037290U CN 216037290 U CN216037290 U CN 216037290U CN 202121964600 U CN202121964600 U CN 202121964600U CN 216037290 U CN216037290 U CN 216037290U
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Abstract
The utility model relates to a transfer robot for inclined objects, which comprises a moving mechanism, a rotating mechanism, an adsorption mechanism and an adjusting mechanism, wherein the moving mechanism is arranged on the rotating mechanism; the moving mechanism is used for driving the adsorbed object to move; the rotating mechanism comprises a rotating shaft which is rotationally connected with the moving mechanism; the adsorption mechanism is provided with an adsorption end which is used for adsorbing objects; the adjusting mechanism is provided with an adjusting end, the adjusting end is fixedly arranged on the rotating shaft and connected with the adsorption end to drive the adsorption end to move along the direction vertical to the rotating shaft, and the rotation of the rotating shaft is used for driving the adsorption end to synchronously rotate so as to adjust the adsorption angle of the adsorption end; the problem of the surface of the object of treating the transport is not always plane, when meetting the face of treating the absorption and having the inclined plane, current transfer robot is difficult to carry is solved.
Description
Technical Field
The utility model relates to the technical field of transfer robots, in particular to a transfer robot for inclined objects.
Background
The transfer robot is an industrial robot capable of performing automated transfer work. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings.
In addition to the gripping method, the suction-suction method is often used to transport objects, for example, a long-section transport robot proposed in the patent application No. CN201811419125.2, in which a suction-transport mechanism is provided to transport long sections.
However, the surface of the object to be conveyed is not always flat, and when the surface to be sucked is inclined, the conventional transfer robot is difficult to transfer.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide a transfer robot for tilting an object, which solves the problem that the surface of the object to be transferred is not always flat, and the conventional transfer robot is difficult to transfer when the surface to be adsorbed has a slope.
The utility model provides a transfer robot for inclined objects, which comprises a moving mechanism, a rotating mechanism, an adsorption mechanism and an adjusting mechanism, wherein the moving mechanism is arranged on the rotating mechanism; the moving mechanism is used for driving the adsorbed object to move; the rotating mechanism comprises a rotating shaft which is rotationally connected with the moving mechanism; the adsorption mechanism is provided with an adsorption end which is used for adsorbing objects; the adjusting mechanism is provided with an adjusting end, the adjusting end is fixedly arranged on the rotating shaft, the adjusting end is connected with the adsorption end and used for driving the adsorption end to move along the direction perpendicular to the rotating shaft, the rotating shaft is used for driving the adsorption end to rotate synchronously, and therefore the adsorption angle of the adsorption end is adjusted.
Furthermore, the moving mechanism comprises a moving end and a moving frame, the moving end is connected with the moving frame and used for driving the moving frame to move, and the rotating shaft is rotatably connected with the moving frame.
Furthermore, the rotating mechanism further comprises a driving part, the driving part is fixedly arranged on the moving mechanism, and the output end of the driving part is connected with the rotating shaft and used for driving the rotating shaft to rotate to a certain angle.
Furthermore, the adsorption mechanism comprises a sucker and a vacuum device, the vacuum device is fixedly arranged on the rotating shaft, the output end of the vacuum device is communicated with the concave part of the sucker, and the sucker is connected with the adjusting end.
Further, adjustment mechanism includes a motor, screw rod and regulating block, the motor is fixed to be located in the pivot, the output of motor with the screw rod is connected, the screw rod with the screw hole threaded connection that forms on the regulating block, the regulating block does the regulation end, the regulating block with the pivot is followed the perpendicular to the direction sliding connection of pivot, the regulating block with the sucking disc is connected.
Furthermore, the spout has been seted up to the inside of regulating block, the extending direction of spout is along the perpendicular to the direction setting of pivot, the pivot with spout sliding connection, the top of regulating block forms the screw hole, the bottom of regulating block with the connection can be dismantled to the sucking disc.
Further, the adjusting block is connected with the sucking disc through a connecting screw rod.
Further, the quantity of pivot, adsorption end and regulation end all has a plurality ofly, and is a plurality of the pivot is with a plurality of adsorption end one-to-one, it is a plurality of adsorption end is with a plurality of regulation end one-to-one, it is a plurality of pivot parallel arrangement.
Furthermore, two ends of the rotating shaft are respectively connected with two bearings installed on the moving mechanism.
Furthermore, the outer wall of the sucking disc is provided with a connector communicated with the concave part of the sucking disc, and the connector is connected with the output end of the vacuum device through a hose.
Compared with the prior art, fix in the pivot through setting up the regulation end, adjust the end and be connected with the absorption end for drive absorption end removes along the direction of perpendicular to pivot, and the rotation of pivot is used for driving the synchronous rotation of absorption end, thereby adjusts the absorption angle of absorption end, even treating of object adsorbs for the inclined plane, and the absorption end also can be accurate pastes on this inclined plane, thereby accomplishes the function of transport, makes transfer robot's application scope wider.
Drawings
Fig. 1 is a schematic structural view of an entire embodiment of a transfer robot for an inclined object according to the present invention;
fig. 2 is a schematic sectional view of a plane a-a of the transfer robot for the tilted object according to the present invention in fig. 1.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the utility model and together with the description, serve to explain the principles of the utility model and not to limit the scope of the utility model.
As shown in fig. 1-2, the transfer robot for inclined objects in this embodiment includes a moving mechanism 100, a rotating mechanism 200, an adsorbing mechanism 300, and an adjusting mechanism 400, wherein the moving mechanism 100 is an executing end of the transfer robot and is configured to drive the adsorbed objects to move, the rotating mechanism 200 is disposed on the moving mechanism 100, the adsorbing mechanism 300 is disposed on the rotating mechanism 200 via the adjusting mechanism 400, and the rotating mechanism 200 rotates to drive the adsorbing mechanism 300 to rotate, so as to adapt to the adsorption of objects on surfaces with different inclination angles, and meanwhile, by providing the adjusting mechanism 400, the distance between the adsorbing mechanism 300 and the object can be adjusted, so as to facilitate the adsorption, which will be explained and illustrated in more detail below.
The moving mechanism 100 in this embodiment is used to move the adsorbed object.
The moving mechanism 100 is a structure similar to a three-axis moving platform, and is a structure for carrying an object from one place to another place, which is a structure that can realize the above functions and is conceivable by those skilled in the art, and will not be illustrated and described in detail herein.
The rotating mechanism 200 in this embodiment includes a rotating shaft 210, and the rotating shaft 210 is rotatably connected to the moving mechanism 100.
The adsorption mechanism 300 in this embodiment has an adsorption end for adsorbing an object.
The adsorption end is attached to the surface of the object, and suction is generated through negative pressure to enable the adsorption end to be adsorbed on the object, however, the surface of the object is not always a horizontal plane, and if the surface of the object has an inclined plane, the adsorption angle of the adsorption end needs to be adjusted to enable the adsorption end to be completely attached to the inclined plane.
The absorption end is fixed on the rotation shaft 210 through the adjustment end, and can rotate along with the rotation of the rotation shaft 210, and the absorption end is completely attached to the inclined surface of the object by adjusting the rotation angle of the rotation shaft 210.
Meanwhile, the adjusting end can also drive the adsorbing end to move along the direction perpendicular to the rotating shaft 210, so that the relative position from the adsorbing end to the inclined plane can be finely adjusted conveniently.
The moving mechanism 100 in this embodiment includes a moving end and a moving frame, the moving end is connected to the moving frame for driving the moving frame to move, the rotating shaft 210 is rotatably connected to the moving frame, and the moving end is an executing end of the transfer robot, which is not further described herein.
In order to adjust the rotation angle of the rotating shaft 210, the rotating mechanism 200 in this embodiment further includes a driving element 220, the driving element 220 is fixedly disposed on the moving mechanism 100, and an output end of the driving element 220 is connected to the rotating shaft 210 for driving the rotating shaft 210 to rotate to a certain angle.
The driving member 220 is a rotary cylinder, and it should be understood that other structures may be adopted instead, so as to adjust the rotation angle of the rotating shaft 210.
Wherein, two ends of the rotating shaft 210 are respectively connected with two bearings installed on the moving mechanism 100.
The suction mechanism 300 in this embodiment includes a suction cup 310 and a vacuum 320, the vacuum 320 is fixed on the rotating shaft 210, the output end of the vacuum 320 is connected to the concave portion of the suction cup 310, and the suction cup 310 is connected to the adjusting end.
The suction cup 310 and the vacuum 320 are both configured to suck an object by a negative pressure as will be understood by those skilled in the art.
Specifically, the outer wall of the suction cup 310 is provided with a connector communicated with the concave part of the suction cup 310, and the connector is connected with the output end of the vacuum 320 through a hose.
The adjusting mechanism 400 in this embodiment includes a motor 410, a screw 420 and an adjusting block 430, the motor 410 is fixedly disposed on the rotating shaft 210, an output end of the motor 410 is connected with the screw 420, the screw 420 is in threaded connection with a threaded hole formed on the adjusting block 430, the adjusting block 430 is an adjusting end, the adjusting block 430 is in sliding connection with the rotating shaft 210 along a direction perpendicular to the rotating shaft 210, and the adjusting block 430 is connected with the suction cup 310.
The adjusting block 430 is driven to slide relative to the rotating shaft 210 by the rotation of the screw rod 420, so as to finely adjust the position of the suction cup 310, it should be understood that the motor 410 and the screw rod 420 may be replaced by other structures as long as the adjusting end can slide relative to the rotating shaft 210 along the above-mentioned direction.
The inside of regulating block 430 in this embodiment has seted up the spout, and the extending direction of spout sets up along the direction of perpendicular to pivot 210, pivot 210 and spout sliding connection, and the top of regulating block 430 forms the screw hole, and the bottom of regulating block 430 can be dismantled with sucking disc 310 and be connected.
In order to facilitate replacement and maintenance of the suction cup 310, the adjusting block 430 and the suction cup 310 in this embodiment are connected via a connecting screw 420.
In order to be able to more firmly adsorb the object, can adopt the mode of multiple spot absorption, the quantity of pivot 210, absorption end and regulation end in this embodiment all has a plurality ofly, a plurality of pivots 210 and a plurality of absorption end one-to-ones, a plurality of absorption ends and a plurality of regulation end one-to-ones, a plurality of pivots 210 parallel arrangement.
The working process is as follows: the movable frame is moved to the position, close to the surface of the upper portion of an object to be conveyed, of the movable frame through the movable end, the adsorption angle of the suction cup 310 is adjusted by rotating the rotating shaft 210, the suction cup 310 can be attached to the position corresponding to the position on the surface, the vacuum device 320 is started, the cavity formed by the suction cup 310 and the surface of the object is vacuumized, the suction cup 310 is firmly attached to the position, the object is moved to the target position through the movable end, the vacuum device 320 is started, the suction cup 310 is separated from the object, and therefore the conveying process of the object is achieved.
Compared with the prior art: on fixed locating last pivot 210 through setting up the regulation end, adjust the end and be connected with the absorption end for drive absorption end removes along perpendicular to pivot 210's direction, and pivot 210's rotation is used for driving the synchronous rotation of absorption end, thereby adjusts the absorption angle of absorption end, even treating of object adsorbs for the inclined plane, and the absorption end also can be accurate pastes on this inclined plane, thereby accomplishes the function of transport, makes transfer robot's application scope wider.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A transfer robot for inclined objects is characterized by comprising a moving mechanism, a rotating mechanism, an adsorption mechanism and an adjusting mechanism;
the moving mechanism is used for driving the adsorbed object to move;
the rotating mechanism comprises a rotating shaft which is rotationally connected with the moving mechanism;
the adsorption mechanism is provided with an adsorption end which is used for adsorbing objects;
the adjusting mechanism is provided with an adjusting end, the adjusting end is fixedly arranged on the rotating shaft, the adjusting end is connected with the adsorption end and used for driving the adsorption end to move along the direction perpendicular to the rotating shaft, the rotating shaft is used for driving the adsorption end to rotate synchronously, and therefore the adsorption angle of the adsorption end is adjusted.
2. The oblique object transfer robot as claimed in claim 1, wherein the moving mechanism includes a moving end and a moving frame, the moving end is connected to the moving frame for driving the moving frame to move, and the rotating shaft is rotatably connected to the moving frame.
3. The oblique object handling robot as claimed in claim 1, wherein the rotating mechanism further comprises a driving member fixed to the moving mechanism, and an output end of the driving member is connected to the rotating shaft for driving the rotating shaft to rotate to a certain angle.
4. The oblique object transfer robot of claim 1, wherein said suction mechanism comprises a suction cup and a vacuum unit, said vacuum unit is fixed to said shaft, an output end of said vacuum unit is connected to a concave portion of said suction cup, and said suction cup is connected to said adjusting end.
5. The oblique object transfer robot of claim 4, wherein the adjusting mechanism comprises a motor, a screw and an adjusting block, the motor is fixedly disposed on the rotating shaft, an output end of the motor is connected with the screw, the screw is in threaded connection with a threaded hole formed in the adjusting block, the adjusting block is the adjusting end, the adjusting block is in sliding connection with the rotating shaft along a direction perpendicular to the rotating shaft, and the adjusting block is connected with the suction cup.
6. The transfer robot for the inclined object according to claim 5, wherein a sliding groove is formed in the adjusting block, the extending direction of the sliding groove is perpendicular to the rotating shaft, the rotating shaft is slidably connected with the sliding groove, the threaded hole is formed in the top of the adjusting block, and the bottom of the adjusting block is detachably connected with the suction cup.
7. The oblique object transfer robot as claimed in claim 5, wherein the adjustment block and the suction cup are connected to each other via a connection screw.
8. The transfer robot for the inclined object according to claim 1, wherein the number of the rotating shafts, the suction ends and the adjusting ends is plural, the plurality of rotating shafts correspond to the plurality of suction ends one to one, the plurality of suction ends correspond to the plurality of adjusting ends one to one, and the plurality of rotating shafts are arranged in parallel.
9. The transfer robot for the inclined object according to claim 1, wherein both ends of the rotation shaft are respectively connected to two bearings installed on the moving mechanism.
10. The oblique object transfer robot as claimed in claim 4, wherein the suction cup has a port on its outer wall, said port communicating with the concave portion of the suction cup, and said port is connected to the output end of the vacuum via a hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121964600.1U CN216037290U (en) | 2021-08-19 | 2021-08-19 | Transfer robot for inclined objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121964600.1U CN216037290U (en) | 2021-08-19 | 2021-08-19 | Transfer robot for inclined objects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216037290U true CN216037290U (en) | 2022-03-15 |
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ID=80620577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121964600.1U Active CN216037290U (en) | 2021-08-19 | 2021-08-19 | Transfer robot for inclined objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216037290U (en) |
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2021
- 2021-08-19 CN CN202121964600.1U patent/CN216037290U/en active Active
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