Movable feeding and discharging robot
By introducing rotating platform, movable seat and fitting shaft system into the loading and unloading robot, the horizontal and vertical movement of the clamp head is achieved, which solves the problem that the existing loading and unloading robot cannot move horizontally, and improves the flexibility and efficiency of the production line , reducing costs and operational complexity.
Patent Information
- Application Number
- CN202420657402.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-29
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-03-29
AI Technical Summary
The existing loading and unloading robots cannot move horizontally, resulting in reduced production efficiency, limited flexibility, increased costs and high operating complexity, affecting production safety.
A mobile loading and unloading robot is designed, using a rotating platform, movable seat, seating and limiting rail system. The rotating platform drives the motor and the upper end mechanism of the motor to rotate horizontally, and the fitting shaft controls the up and down and vertical flip of the clamp head. , the flat motor adjusts the horizontal flip angle of the clamp head to achieve flexible position adjustment of the clamp head.
It improves the flexibility and production efficiency of loading and unloading robots, reduces the need for replacement and adjustment, reduces production and maintenance costs, and enhances operational stability and safety.
Smart Images
Figure CN222290213U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of loading and unloading robots and relates to a mobile loading and unloading robot. Background Art
[0002] A loading and unloading robot is an industrial robot mainly used for material handling and loading and unloading operations on automated production lines. It can replace manual labor to complete heavy, repetitive, and monotonous loading and unloading work, improve production efficiency and product quality, and reduce labor intensity and labor costs. Loading and unloading robots are usually composed of mechanical arms, control systems, and actuators. The mechanical arm is the main part of the robot. It can achieve precise movement and positioning through programming and trajectory planning, and complete various complex loading and unloading actions. Loading and unloading robots are an important part of automated production lines, mainly responsible for the automatic grasping, handling, and placement of workpieces. In actual applications, if the loading and unloading robot cannot move laterally to adjust its loading and unloading position, a series of problems may arise.
[0003] Loading and unloading robots that cannot move laterally can only perform loading and unloading operations within a fixed working area, which means that every time the production batch is changed or the production line layout is adjusted, it may be necessary to stop and adjust the robot's position or reprogram it, which will directly lead to a decrease in production efficiency.
[0004] During the production process, it is often necessary to adjust the loading and unloading positions of the robot according to the different sizes, shapes and weights of the products. If the robot cannot move laterally, then for products of different specifications, it may be necessary to replace different robots or manually adjust the production line, which will greatly limit the flexibility of the production line.
[0005] Since it is impossible to move horizontally, more robots or production lines may need to be added to meet production needs, which will increase production costs. At the same time, frequent shutdown adjustments and maintenance will also increase maintenance costs and downtime.
[0006] In summary, the inability of the loading and unloading robot to move laterally to adjust its loading and unloading position will have a negative impact on production efficiency, flexibility, cost, operation complexity and production safety. Therefore, there is an urgent need for a mobile loading and unloading robot to solve the above problems. Utility Model Content
[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a mobile loading and unloading robot to solve the problems raised in the above-mentioned background technology.
[0008] The utility model is realized by the following technical scheme: a mobile loading and unloading robot, comprising: a clamping head and a swivel, wherein an electric cylinder for controlling the clamping head to move up and down is provided at the upper end of the clamping head;
[0009] A movable head for driving the electric cylinder to rotate is provided on the left side, a rotating arm for adjusting the rotation angle is provided on the left side of the movable head, a group of rotating heads for power transmission is provided on the left side of the rotating arm, and a motor 1 for releasing power is provided on the left side of the rotating head;
[0010] A rotating shaft is provided on the front side of a lower end of the motor, an adjusting arm for adjusting the height and its flip angle is provided on the outer side of the rotating shaft, a second motor for driving the adjusting arm to move is provided on the left side of the lower end of the adjusting arm, and a rotating platform for horizontal rotation is provided at the lower end of the second motor, which can drive the second motor and the upper end mechanism of the second motor to rotate horizontally by using the rotating platform.
[0011] As a preferred embodiment, a power socket for connecting a power wire is provided on the left side of the rotating platform, a movable seat for bearing is provided at the lower end of the rotating platform, and embedded seats on both sides for limiting movement are provided at the lower end of the movable seat. By using two sets of embedded seats, the movable seat can be moved along the path of the two sets of limiting rails.
[0012] As a preferred embodiment, a group of limit rails for limiting guidance are provided on the inner side of each group of the embedded seats, and ground rails for connecting the limit rails are provided on the inner sides of the two groups of the limit rails. A wire rail is provided on the left side of the ground rail, and a winding wire harness connected to the power socket is provided inside the wire rail.
[0013] As a preferred embodiment, the clamping head and the electric cylinder are an integrated structure, the material to be moved is provided on the inner side of the lower end of the clamping head, and a mating shaft is provided on the left side of the electric cylinder. The mating shaft is movably matingly connected to the inner side of the movable head. The electric cylinder can be used to control the up and down movement of the clamping head, and the mating shaft can be used to adjust the vertical flipping of the clamping head.
[0014] As a preferred embodiment, a group of flat motors are provided on the inner side of the movable head, and each group of flat motors corresponds to a group of interlocking shaft connections. The movable head is connected and fixed to a rotating arm. The rotating arm uses motor 1 as a power source and can adjust the horizontal flip angle of the clamping head by using the rotating arm.
[0015] As a preferred embodiment, a connecting bracket for movable connection is provided on the outer side of the motor, and a group of flat motors are provided on the front side of the rear end of the connecting bracket. The flat motor is dynamically connected to the rotating shaft at the upper end of the adjusting arm, and the adjusting arm can be driven to perform movable adjustment by using the flat motor.
[0016] As a preferred embodiment, a set of rotating shafts are provided at both upper and lower ends of the adjusting arm, and the rotating shaft at the lower end is connected to the power of motor 2. A movable seat is provided at the lower end of motor 2, and the lower end of the movable seat is connected to the power of the rotating platform.
[0017] As a preferred embodiment, the rotating platform and the movable seat are connected and fixed to each other, the movable seat and the two groups of embedded seats are an integrated structure, the two groups of embedded seats are respectively engaged with a group of limiting rails, and the inside of the power socket is sealed and plugged with a group of winding harnesses.
[0018] After adopting the above technical scheme, the beneficial effects of the utility model are: by using a rotating platform to drive motor 2 and the upper end mechanism of motor 2 to perform horizontal rotation adjustment, by using two sets of embedded seats to enable the movable seat to move along the paths of two sets of limit rails, by using an interlocking shaft to enable the clamping head to perform vertical flip adjustment, by using a rotating arm to adjust the horizontal flip angle of the clamping head, and by using a flat motor to drive the adjustment arm to perform movable adjustment. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0020] Figure 1 This is a schematic diagram of the structure of a mobile loading and unloading robot in the utility model, viewed from the right side;
[0021] Figure 2 This is a schematic diagram of the structure of a ground rail and a limit rail in a mobile loading and unloading robot of the utility model, viewed from the right side;
[0022] Figure 3 This is a right oblique top view of the structure of the upper end mechanism of the movable seat of a mobile loading and unloading robot of the utility model;
[0023] Figure 4 This is an enlarged view of the structure at point A in a mobile loading and unloading robot of the utility model;
[0024] In the figure: 100-clamping head, 110-electric cylinder, 120-movable head, 130-rotating arm, 140-rotating head, 150-motor one, 160-adjusting arm, 170-motor two, 180-rotating platform, 190-power socket, 200-movable seat, 210-embedded seat, 220-winding harness, 230-linear rail, 240-ground rail, 250-limiting rail, 260-rotating axis. DETAILED DESCRIPTION
[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0026] See also Figure 1-Figure 4 A mobile loading and unloading robot comprises: a clamping head 100 and a rotary shaft 260, wherein an electric cylinder 110 for controlling the clamping head 100 to move up and down is provided at the upper end of the clamping head 100;
[0027] A movable head 120 for driving the electric cylinder 110 to rotate is provided on the left side thereof, a rotating arm 130 for adjusting the rotation angle is provided on the left side of the movable head 120, a set of rotating heads 140 for power transmission is provided on the left side of the rotating arm 130, and a motor 150 for releasing power is provided on the left side of the rotating head 140;
[0028] A rotating shaft 260 is provided on the front side of the lower end of motor 150, and an adjusting arm 160 for adjusting the height and its flip angle is provided on the outer side of the rotating shaft 260. A motor 2 170 for driving the adjusting arm 160 to move is provided on the left side of the lower end of the adjusting arm 160. A rotating platform 180 for horizontal rotation is provided at the lower end of motor 2 170. The rotating platform 180 can be used to drive motor 2 170 and the upper end mechanism of motor 2 170 to rotate horizontally.
[0029] A power socket 190 for connecting a power wire is provided on the left side of the rotating platform 180, and a movable seat 200 for bearing is provided at the lower end of the rotating platform 180. The lower end of the movable seat 200 is provided with embedded seats 210 on both sides for limiting movement. By using two sets of embedded seats 210, the movable seat 200 can be moved along the path of two sets of limiting rails 250.
[0030] A set of limiting rails 250 for limiting guidance is provided on the inner side of each set of embedded seats 210, and a ground rail 240 for connecting the limiting rails 250 is provided on the inner side of the two sets of limiting rails 250. A wire rail 230 is provided on the left side of the ground rail 240, and a winding wire harness 220 connected to the power socket 190 is provided inside the wire rail 230.
[0031] The clamping head 100 and the electric cylinder 110 are an integrated structure. The material to be moved is provided on the inner side of the lower end of the clamping head 100. A mating shaft is provided on the left side of the electric cylinder 110. The mating shaft is movably matingly connected to the inner side of the movable head 120. The electric cylinder 110 can be used to control the up and down movement of the clamping head 100, and the mating shaft can be used to adjust the vertical flipping of the clamping head 100.
[0032] See also Figure 1-Figure 4, as the first embodiment of the utility model: in order to solve the problem that in the production process, it is often necessary to adjust the loading and unloading positions of the robot according to the different sizes, shapes and weights of the products, if the robot cannot move laterally, then for products of different specifications, it may be necessary to replace different robots or manually adjust the production line, which will greatly limit the flexibility of the production line. When the staff needs to use the utility model to perform mobile operations, since the rotating platform 180 and the movable seat 200 are connected and fixed to each other, the movable seat 200 and the two groups of embedded seats 210 are an integrated mechanism. When the movable seat 200 moves along the path of the ground rail 240, its two groups of limit rails 250 can limit the moving position of the two groups of embedded seats 210, thereby maintaining the stable movement of the movable seat 200 while enhancing the movement stability effect.
[0033] A group of flat motors are provided on the inner side of the movable head 120, and each group of flat motors corresponds to a group of interlocking shaft connections. The movable head 120 is fixedly connected to the rotating arm 130. The rotating arm 130 uses the motor 150 as a power source. The horizontal flip angle of the clamping head 100 can be adjusted by using the rotating arm 130.
[0034] A connecting bracket for movable connection is provided on the outside of motor 150, and a group of flat motors are provided on the front side of the rear end of the connecting bracket. The flat motor is power-connected to the rotating shaft 260 at the upper end of the adjusting arm 160, and the adjusting arm 160 can be driven to perform movable adjustment by using the flat motor.
[0035] A set of rotating shafts 260 are provided at both upper and lower ends of the adjusting arm 160 , and the lower rotating shaft 260 is connected to the motor 2 170 . A movable seat 200 is provided at the lower end of the motor 170 , and the lower end of the movable seat 200 is connected to the rotating platform 180 .
[0036] The rotating platform 180 and the movable seat 200 are connected and fixed to each other. The movable seat 200 and the two sets of embedded seats 210 are an integrated structure. The two sets of embedded seats 210 are respectively engaged with a set of limiting rails 250 for limited movement. The inside of the power socket 190 is sealed and plugged with a set of winding harnesses 220.
[0037] See also Figure 1-Figure 4, as the second embodiment of the utility model: based on the elaboration in the above embodiments, further, when the staff uses the utility model to load and unload materials, the material to be loaded and unloaded is clamped by using the clamping head 100, and then the upper and lower positions of the materials and the flipping angle within the horizontal range are adjusted by the electric cylinder 110 and the movable head 120. Since a group of flat motors are provided on the inner side of the movable head 120, and each group of flat motors corresponds to a group of interlocking shaft connections, the flat motors can drive the movable head 120, the electric cylinder 110 and the clamping head 100 to flip the horizontal structure, thereby facilitating the adjustment of the inclination angle of the clamping head 100. At the same time, by using the motor 2 170 to drive the lower end rotating shaft 260 to rotate, the position of the adjusting arm 160 is adjusted, and the clamping range of the clamping head 100 is expanded.
[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A mobile loading and unloading robot, comprising: A material clamping head (100), a rotating platform (180), a ground rail (240) and a rotating shaft (260), characterized in that: an electric cylinder (110) for controlling the upward and downward movement of the material clamping head (100) is provided at the upper end of the material clamping head (100); A movable head (120) for driving the electric cylinder (110) to rotate is disposed on the left side thereof, a rotating arm (130) for adjusting the rotation angle is disposed on the left side of the movable head (120), a group of rotating heads (140) for power transmission is disposed on the left side of the rotating arm (130), and a motor (150) for releasing power is disposed on the left side of the rotating head (140); A rotating shaft (260) is provided at the front side of the lower end of the motor 1 (150), an adjusting arm (160) for adjusting the height and its flip angle is provided on the outer side of the rotating shaft (260), a motor 2 (170) for driving the adjusting arm (160) to move is provided on the left side of the lower end of the adjusting arm (160), and a rotating platform (180) for horizontal rotation is provided at the lower end of the motor 2 (170).
2. A mobile loading and unloading robot according to claim 1, characterized in that: A power socket (190) for connecting a power lead is provided on the left side of the rotating platform (180), a movable seat (200) for bearing is provided at the lower end of the rotating platform (180), and embedded seats (210) for limiting movement are provided at both sides of the lower end of the movable seat (200).
3. A mobile loading and unloading robot according to claim 2, characterized in that: A group of limiting rails (250) for limiting and guiding are arranged on the inner side of each group of the embedded seats (210); a ground rail (240) for connecting the limiting rails (250) is arranged on the inner side of the two groups of the limiting rails (250); a wire rail (230) is arranged on the left side of the ground rail (240); and a reeling wire harness (220) connected to the power socket (190) is arranged inside the wire rail (230).
4. The mobile loading and unloading robot according to claim 1, characterized in that: The material clamping head (100) and the electric cylinder (110) are an integrated structure. The material to be moved is provided on the inner side of the lower end of the material clamping head (100). An engaging shaft is provided on the left side of the electric cylinder (110). The engaging shaft is movably engaged with the inner side of the movable head (120).
5. The mobile loading and unloading robot according to claim 4, characterized in that: A group of flat motors are arranged inside the movable head (120), and each group of flat motors is connected to a corresponding group of interlocking shafts. The movable head (120) is connected and fixed to a rotating arm (130), and the rotating arm (130) uses motor 1 (150) as a power source.
6. The mobile loading and unloading robot according to claim 5, characterized in that: A connecting bracket for movable connection is provided on the outer side of the motor 1 (150), and a group of flat motors are provided on the front side of the rear end of the connecting bracket. The flat motors are dynamically connected to the rotating shaft (260) at the upper end of the adjusting arm (160).
7. The mobile loading and unloading robot according to claim 6, characterized in that: The upper and lower ends of the adjusting arm (160) are each provided with a set of rotating shafts (260), and the rotating shaft (260) at the lower end is dynamically connected to the second motor (170), and a movable seat is provided at the lower end of the second motor (170), and the lower end of the movable seat is dynamically connected to the rotating platform (180).
8. The mobile loading and unloading robot according to claim 7, characterized in that: The rotating platform (180) and the movable seat (200) are connected and fixed to each other. The movable seat (200) and the two groups of embedded seats (210) are an integrated structure. The two groups of embedded seats (210) are respectively limited and movablely engaged with a group of limiting rails (250). The inside of the power socket (190) is sealed and plugged with a group of winding harnesses (220).