CN219543172U - Industrial transfer robot capable of loading and unloading - Google Patents

Abstract

The utility model relates to the technical field of robots and discloses an industrial transfer robot capable of loading and unloading, wherein an up-and-down transfer mechanism is arranged above a pushing frame of a driving vehicle, a first transmission shaft is rotatably connected to the top of a support of a supporting vertical frame, a rotary swing arm is sleeved at the end of a shaft lever of the first transmission shaft, a second transmission shaft is rotatably connected to the bottom of a support of the rotary swing arm, and an output end of the second transmission shaft in the up-and-down transfer mechanism is connected with a clamping arm mechanism. According to the utility model, the mechanical clamping of the goods is realized through the clamping arm mechanism, so that the mechanical clamping device has higher clamping stability, can clamp the goods with different weights, and can adapt to the goods with different weights through the driving displacement of the driving vehicle and the arm rod type and up-and-down lifting of the up-and-down conveying mechanism when the goods are clamped, so that the mechanical clamping device has flexible loading and unloading conveying performance, and has stronger arm rod type pressure bearing and compression resistance.

Description

Industrial transfer robot capable of loading and unloading

Technical Field

The utility model relates to the technical field of robots, in particular to an industrial transfer robot capable of loading and unloading.

Background

The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, is a machine for realizing various functions by self power and control capability, can accept human command, can also operate according to a pre-programmed program, and is widely used for carrying, turnover and other works of industrial production, for example, the prior patent technology shows that: through searching, the Chinese patent network discloses an industrial transfer robot (publication No. CN 217046394U), and the device pushes the sucking disc to the corresponding position through the connecting rod to adsorb goods, simultaneously pushes the second electric push rod to enable the grabbing rod to move towards the direction of the goods, and the two are matched for simultaneous use, so that different goods can be transferred.

However, there are some disadvantages to the industrial transfer robots adopted in the above-mentioned published patent and the existing market: the mode that this kind of utilizes arm and sucking disc combination to snatch the transport to the goods, and it can only carry out lighter weight goods and snatch transport work, when the goods is heavier, very easily because the heavy pressure leads to the goods to appear droing, perhaps the condition of breaking appears in the arm turn over a roll over the in-process from top to bottom. Therefore, a person skilled in the art provides an industrial handling robot capable of loading and unloading materials to solve the problems set forth in the background art.

Disclosure of Invention

The utility model aims to provide an industrial transfer robot capable of loading and unloading, which solves the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: an industrial transfer robot capable of loading and unloading comprises a driving vehicle, wherein an upper and lower transfer mechanism is arranged above a pushing frame of the driving vehicle, and the output end of a second transmission shaft in the upper and lower transfer mechanism is connected with a clamping arm mechanism;

the upper and lower transport mechanism is including installing the support grudging post in the drive train pushing away the frame top, the support top of support grudging post rotates and is connected with first transmission shaft, and the support top of support grudging post just is provided with two sets of first driving motors to the both ends output symmetry of first transmission shaft, the axostylus axostyle pot head of first transmission shaft is equipped with rotatory swing arm, the support bottom rotation of rotatory swing arm is connected with the second transmission shaft, and the support bottom of rotatory swing arm just is provided with two sets of second driving motors to the both ends output symmetry of second transmission shaft.

As still further aspects of the utility model: the arm clamping mechanism comprises a rotating seat arranged at the output end of the second transmission shaft, a guide rail frame is arranged at the front side of a support of the rotating seat, a driving screw rod is connected inside a track of the guide rail frame in a rotating mode, one end output end of the guide rail frame penetrates through the guide rail frame to be provided with a driving motor, two groups of transmission sliding tables are symmetrically sleeved on the outer side of the screw rod of the guide rail frame, and two groups of clamping arms are symmetrically arranged on the support surface of the two groups of transmission sliding tables.

As still further aspects of the utility model: the driving screw rod is bounded by a central line, the two sides of the central line are respectively provided with a positive screw tooth and a negative screw tooth which are symmetrically arranged, and the driving screw rod is symmetrically sleeved with the two groups of transmission sliding tables through the positive screw tooth and the negative screw tooth.

As still further aspects of the utility model: the output ends of the two groups of first transmission motors are respectively provided with a synchronous belt pulley A, the output ends of the two ends of the first transmission shafts are respectively provided with a synchronous belt pulley B, and the synchronous belt pulleys A and the synchronous belt pulleys B are connected through synchronous belts.

As still further aspects of the utility model: the output ends of the two groups of second transmission motors are respectively provided with a transmission gear A, and the shaft lever ends of the second transmission shafts are symmetrically sleeved with two groups of transmission gears B which are meshed with the two groups of transmission gears A for transmission.

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

according to the utility model, the mechanical clamping of the goods is realized through the clamping arm mechanism, so that the mechanical clamping device has higher clamping stability, can clamp the goods with different weights, and can adapt to the goods with different weights and improve the carrying capacity through the driving displacement of the driving vehicle and the arm rod type and the up-and-down lifting of the up-and-down carrying mechanism when the goods are clamped.

Drawings

FIG. 1 is a schematic diagram of an industrial handling robot capable of loading and unloading materials;

FIG. 2 is an enlarged schematic view of the industrial robot A in FIG. 1 capable of loading and unloading materials;

FIG. 3 is an enlarged schematic view of the industrial robot B in FIG. 1 capable of loading and unloading materials;

fig. 4 is a schematic structural view of a clamping arm mechanism in an industrial handling robot capable of loading and unloading materials.

In the figure: 1. a drive vehicle; 2. a supporting stand; 3. rotating the swing arm; 4. a first drive shaft; 5. a second drive shaft; 6. a clamp arm mechanism; 61. a rotating seat; 62. a guide rail frame; 63. a driving motor; 64. driving a screw rod; 65. a transmission sliding table; 66. a clamp arm; 7. a first drive motor; 8. a synchronous belt wheel A; 9. a synchronous belt; 10. a synchronous belt wheel B; 11. a second drive motor; 12. a transmission gear A; 13. and a transmission gear B.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 4, in the embodiment of the utility model, an industrial transfer robot capable of loading and unloading materials comprises a driving vehicle 1, an up-down transfer mechanism is arranged above a pushing frame of the driving vehicle 1, the up-down transfer mechanism comprises a support stand 2 arranged above the pushing frame of the driving vehicle 1, a first transmission shaft 4 is rotatably connected to the top of a support of the support stand 2, two groups of first transmission motors 7 are symmetrically arranged at the top of the support stand 2 relative to the output ends of the two ends of the first transmission shaft 4, a rotary swing arm 3 is sleeved at the shaft end of the first transmission shaft 4, synchronous pulleys A8 are arranged at the output ends of the two groups of first transmission motors 7, synchronous pulleys B10 are arranged at the output ends of the two ends of the first transmission shaft 4, and are connected with the synchronous pulleys A8 and B10 through synchronous belts 9.

The bottom of the bracket of the rotary swing arm 3 is rotationally connected with a second transmission shaft 5, two groups of second transmission motors 11 are symmetrically arranged at the bottom of the bracket of the rotary swing arm 3 relative to the output ends of the two ends of the second transmission shaft 5, transmission gears A12 are respectively arranged at the output ends of the two groups of second transmission motors 11, two groups of transmission gears B13 meshed with the two groups of transmission gears A12 are symmetrically sleeved at the shaft ends of the second transmission shaft 5, after the arm clamping mechanism 6 moves to the side of goods, the second transmission motor 11 starts to work, the transmission gears A12 are driven to rotate, the meshing transmission of the second transmission shaft with the transmission gears B13 is utilized to drive the second transmission shaft 5 to rotate, the angle of the arm clamping mechanism 6 is turned over and adjusted, so that goods are clamped and carried, and then after the adjustment is finished, the goods are loaded and unloaded and grabbed by utilizing the arm lever bearing of the whole structure of the arm clamping mechanism 6.

The output end of the second transmission shaft 5 in the upper and lower conveying mechanism is connected with a clamping arm mechanism 6, the clamping arm mechanism 6 comprises a rotating seat 61 arranged at the output end of the second transmission shaft 5, a guide rail frame 62 is arranged at the front side of a support of the rotating seat 61, a driving screw 64 is rotatably connected in a track of the guide rail frame 62, one end output end of the guide rail frame 62 penetrates through the guide rail frame 62 and is provided with a driving motor 63, two groups of transmission sliding tables 65 are symmetrically sleeved outside a screw rod of the guide rail frame 62, two groups of clamping arms 66 are symmetrically arranged on the support surface of the two groups of transmission sliding tables 65, the driving screw 64 takes a central line as a boundary, two sides of the central line are respectively provided with a positive wire tooth and a negative wire tooth which are symmetrically arranged, the driving screw 64 is symmetrically sleeved with the two groups of transmission sliding tables 65 through the positive wire tooth and the negative wire tooth, after the clamping arm mechanism 6 is displaced to two sides of a cargo, the driving motor 63 starts to work, the driving screw 64 is driven to rotate, the two groups of transmission sliding tables 65 are driven to symmetrically slide in the guide rail frame 62, the transmission sliding tables 65 are symmetrically slide, simultaneously, the two groups of clamping arms 66 are driven to clamp the cargo mechanically, the cargo is clamped, the cargo is fixed, the cargo is clamped by the carrier is clamped mechanically, and the cargo is clamped by the carrier, and the weight is clamped by the carrier, and the carrier is capable of moving stably, and the cargo is stably and the carrier is moving under the carrier, on the upper and lower carrier, and the carrier is high.

The working principle of the utility model is as follows: when carrying out goods carrying operation by utilizing an industrial carrying robot, the clamping arm mechanism 6 is pushed to be displaced to the side of goods by utilizing the displacement pushing of the driving vehicle 1, then, the first transmission motor 7 starts to work, drives the synchronous pulley A8 to rotate, drives the synchronous pulley B10 to rotate through the transit transmission of the synchronous belt 9, synchronously drives the first transmission shaft 4 to rotate, drives the rotary swing arm 3 to swing up and down in the rotating process, carries out up and down adjustment on the clamping arm mechanism 6, displaces the clamping arm mechanism 6 to the side of goods, then after the clamping arm mechanism 6 is displaced to the side of goods, the second transmission motor 11 starts to work, drives the transmission gear A12 to rotate, drives the second transmission shaft 5 to rotate by utilizing the meshing transmission of the transmission gear A13, carries out overturning adjustment on the clamping arm angle of the clamping arm mechanism 6 in a proper direction, carries out clamping carrying operation on goods, and further drives the driving motor 63 to start to work, drives the driving screw 64 to rotate, and through the positive and negative screw teeth arranged in the mutual symmetry, pushes two groups of transmission sliding tables 65 to slide up and down symmetrically in the guide rail frame 62, and simultaneously drives the symmetrical sliding table 65 to move to the clamping arm mechanism to move up and down, and carry out clamping operation on goods carrying mechanism 1 by utilizing the meshing transmission gear B13 to carry out clamping operation.

Claims (5)

1. The industrial transfer robot capable of loading and unloading comprises a driving vehicle (1), and is characterized in that an upper transfer mechanism and a lower transfer mechanism are arranged above a pushing frame of the driving vehicle (1), and the output end of a second transmission shaft (5) in the upper transfer mechanism and the lower transfer mechanism is connected with a clamping arm mechanism (6);

the upper and lower transport mechanism is including installing support grudging post (2) in driving car (1) pushing away the frame top, the support top of support grudging post (2) rotates and is connected with first transmission shaft (4), and the support top of support grudging post (2) just is provided with two sets of first driving motor (7) to the both ends output symmetry of first transmission shaft (4), the axostylus axostyle pot head of first transmission shaft (4) is equipped with rotatory swing arm (3), the support bottom rotation of rotatory swing arm (3) is connected with second transmission shaft (5), and the support bottom of rotatory swing arm (3) just is provided with two sets of second driving motor (11) to the both ends output symmetry of second transmission shaft (5).

2. The industrial transfer robot capable of loading and unloading according to claim 1, wherein the clamping arm mechanism (6) comprises a rotating seat (61) arranged at the output end of the second transmission shaft (5), a guide rail frame (62) is arranged at the front side of a support seat of the rotating seat (61), a driving screw (64) is rotatably connected in a track of the guide rail frame (62), one end output end of the guide rail frame (62) penetrates through the guide rail frame (62) and is provided with a driving motor (63), two groups of transmission sliding tables (65) are symmetrically sleeved on the outer side of the screw of the guide rail frame (62), and two groups of clamping arms (66) are symmetrically arranged on the support seat surface of the two groups of transmission sliding tables (65).

3. The industrial transfer robot capable of loading and unloading according to claim 2, wherein the driving screw rod (64) is bounded by a central line, two sides of the central line are respectively provided with a positive screw tooth and a negative screw tooth which are symmetrically arranged with each other, and the driving screw rod (64) is symmetrically sleeved with two groups of transmission sliding tables (65) through the positive screw tooth and the negative screw tooth.

4. The industrial transfer robot capable of loading and unloading according to claim 1, wherein the output ends of the two groups of the first transmission motors (7) are respectively provided with a synchronous pulley a (8), the output ends of the two ends of the first transmission shaft (4) are respectively provided with a synchronous pulley B (10), and the synchronous pulleys a (8) and B (10) are connected through a synchronous belt (9).

5. The industrial transfer robot capable of loading and unloading according to claim 1, wherein the output ends of the two groups of second transmission motors (11) are respectively provided with a transmission gear a (12), and the shaft lever end of the second transmission shaft (5) is symmetrically sleeved with two groups of transmission gears B (13) which are meshed with the two groups of transmission gears a (12).