CN108724161A - Intelligent energy-saving emission reduction robot - Google Patents

Abstract

An intelligent energy-saving and emission-reducing robot, comprising a base frame, a power mechanism with an output cam arranged on the base frame, a mechanism disk fixed on the upper part of the base frame, a processing turntable located below the mechanism disk and rotated with the mechanism disk, a device At least one group of processing stations on the mechanism disk, and a transmission mechanism acting between the power mechanism and the processing station. The transmission mechanism includes slidingly arranged on the base frame along the up and down direction and passes through the middle hole of the mechanism disk and the processing turntable respectively. The first rod frame, the first drive plate fixed on the top of the first rod frame, the lower part of the first rod frame matches and interferes with the side part of the output cam, and the first drive plate is connected with the processing station. Through a group of power mechanisms and a group of transmission mechanisms protruding upward from the middle of the rotating disk, the processing stations are driven to operate synchronously, which greatly reduces energy consumption and plays the role of energy saving and emission reduction; and the processing stations can be freely combined, and the operation is flexible It is very flexible; the processing stations are concentrated around the transmission mechanism, and the volume is small.

Description

Intelligent energy saving and emission reduction robot

technical field

The invention relates to an intelligent energy-saving and emission-reducing robot.

Background technique

The use of robots is an important symbol of industrialization in developed countries. Against the backdrop of soaring labor costs and declining robot costs, the development of robots and intelligent equipment industries has attracted more and more attention from all walks of life. Now in industrial production, all kinds of intelligent assembly robots need to be able to automatically realize various transfers such as up and down movement and horizontal movement. For these types of transfer and other processing mechanisms, each step of each part uses a cylinder to achieve. However, for the processing of a product, some parts need to be combined together, so multiple similar transfer processing mechanisms are needed to complete the combination of multiple parts. And each cylinder all needs to use independent gas control, electric control facility, thereby causes the consumption of energy bigger.

Contents of the invention

The technical problem to be solved by the present invention is to provide an intelligent energy-saving and emission-reducing robot.

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an intelligent energy-saving and emission-reducing robot, including a base frame, a power mechanism with an output cam arranged on the base frame, and a power mechanism fixed on the upper part of the base frame The mechanism disk, the processing turntable located below the mechanism disk and rotated with the mechanism disk, at least one group of processing stations arranged on the mechanism disk, acting between the power mechanism and the processing station The transmission mechanism, the transmission mechanism includes a first transmission rod frame that is slidably arranged on the base frame along the up and down direction and passes through the middle hole of the mechanism disk and the processing turntable respectively, and is fixed on the first rod transmission frame The upper part of the first driving disc, the lower part of the first transmission rod frame cooperates with the side part of the output cam, and the first driving disc is connected with the processing station.

In some embodiments, the processing station includes a transport mechanism for transporting materials to the processing turntable, the transport mechanism includes a fixed seat fixed on the mechanism plate, The radial sliding of the center of rotation is provided on the sliding frame on the fixed seat, the L-shaped swing arm whose middle part and the fixed seat are rotatably connected around the first axis, and one end and the upper end of the L-shaped swing arm rotate around the first axis. The push frame connected by two shaft rotations, the push frame is connected with the sliding frame around the fourth axis, and the other end of the L-shaped swing arm and the first drive plate can rotate around the third axis and can rotate around the third axis. Slidingly arranged on the first driving disk, the sliding frame is provided with a grabbing portion for grabbing objects.

In some further embodiments, the transmission mechanism also includes a second rod transmission frame that is slidably arranged on the base frame along the up and down direction and passes through the middle holes of the mechanism disk and the processing turntable respectively. The second driving disc above the driving disc and fixed on the upper part of the second rod transmission frame, the lower part of the second rod transmission frame is matched with the other side of the output cam, and the second rod transmission frame The upper part is fixedly connected with the second drive plate, and the second drive plate is connected with the processing station.

In some further embodiments, the transport mechanism also includes a non-circular transmission rod whose front part can only rotate around the center line and is connected to the sliding frame, and a first pendulum with one end fixed on the non-circular transmission rod. Rod, one end can only be slid along the length of the non-circular transmission rod, the second swing rod which is arranged on the non-circular transmission rod, the first swing rod whose upper end is rotatably connected with the other end of the first swing rod vertical rod frame, the second vertical rod frame whose lower end is rotatably connected to the other end of the second swing rod, the grasping part can be slidably arranged on the sliding frame along the up and down direction, and the first vertical rod The lower part of the frame is rotatably connected with the grasping part, and the upper part of the second vertical rod frame is connected with the second driving disc.

In some further embodiments, the first vertical rod frame includes a first vertical rod body whose upper end is rotatably arranged with the other end of the first swing rod, and protrudes downward from the first vertical rod body. The first screw rod, the first adjustment end slidingly arranged on the first screw rod, the first adjustment end is rotatably connected with the grasping part, and two first nuts are helically arranged on the first screw rod , the two first nuts are pressed against both sides of the first adjusting end respectively.

In some further embodiments, the second vertical rod frame includes a second vertical rod body whose lower end is rotatably connected to the other end of the second swing rod, protruding upward from the second vertical rod body and The second screw that is slidably set with the second drive plate, the buffer elastic member that is set between the second drive plate and the second vertical bar body, and the upper end of the second screw is provided to prevent contact with The second drive plate is disengaged from the second nut.

In some further embodiments, the push frame includes a push frame body whose end is rotatably connected to the upper end of the L-shaped swing arm around a second axis, and a pusher protruding forward from the end of the push frame body. The screw rod and the push adjustment end slidably arranged on the push screw rod, the push adjustment end and the sliding frame are connected in rotation around the fourth axis, two push nuts are spirally connected on the push screw rod, and the two push nuts are connected to each other. The nuts are pressed against both sides of the pushing adjustment end respectively.

In some further embodiments, a first cam groove is formed on one side of the output cam, and a first roller is provided on the lower end of the first rod holder, and the first roller is inserted in the first In a cam groove; the other side of the output cam has a circle of second cam grooves, and the lower part of the second rod frame is provided with a second roller, and the second roller is inserted in the second cam groove Inside, the first cam groove is asymmetrical to the second cam groove.

In some further embodiments, there are multiple processing stations, which are distributed on the mechanism disk along the circumferential direction with the rotation axis of the processing turntable as the center of the circle.

In some further embodiments, the middle part of the mechanism disc is fixed with a plurality of guide posts protruding upwards, and the first drive disc and the second drive disc are respectively slidably arranged on the guide posts through linear bearings. .

The scope of the present invention is not limited to technical solutions formed by a specific combination of the above technical features, but also covers other technical solutions formed by any combination of the above technical features or equivalent features. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Due to the application of the above-mentioned technical solutions, the present invention has the following advantages compared with the prior art: the output cam of the power mechanism is continuously rotated, the first transmission rod frame is controlled to move up and down regularly, and the first drive plate is driven to move up and down regularly move, so that each group of processing stations is controlled by the first drive disc and operates regularly. The present invention only drives one or more processing stations to operate synchronously through a group of power mechanisms and a group of transmission mechanisms protruding upward from the middle of the rotating disk, which greatly reduces energy consumption and plays the role of energy saving and emission reduction; and according to According to the assembly requirements of the product, the processing stations can be combined freely, and the operation flexibility is great; and the processing stations are concentrated around the transmission mechanism, with a simple structure and a small size.

Description of drawings

Accompanying drawing 1 is the perspective view of the present invention;

Accompanying drawing 2 is the three-dimensional schematic diagram that omits feeding mechanism;

Accompanying drawing 3 is the three-dimensional schematic diagram after omitting parts such as feeding mechanism, pedestal;

Accompanying drawing 4 is the three-dimensional schematic diagram of power mechanism;

Accompanying drawing 5 is the schematic diagram after power mechanism, transmission mechanism and handling mechanism are combined;

Accompanying drawing 6 is a schematic diagram 1 of the handling mechanism;

Accompanying drawing 7 is the schematic diagram 2 of the handling mechanism;

Accompanying drawing 8 is the distribution schematic diagram that conveying mechanism is installed on the mechanism plate;

Among them: 1. Base frame; 2. Mechanism disk; 3. Processing turntable; 4. Power mechanism; 41. Output cam; 42. Second cam groove; 5. Transmission mechanism; 1 drive plate; 53, the second transmission rod frame; 54, the second drive plate; 55, guide post; 56, pressure bar; 6, transport mechanism; 60, fixed seat; 63, push frame; 631, push frame body; 632, push screw rod; 633, push adjustment end; 634, push nut; The second swing rod; 68, the first vertical rod frame; 681, the first vertical rod body; 682, the first screw rod; 683, the first adjustment end; 684, the first nut; 69, the second vertical rod frame; 691, The second vertical bar body; 692, the second screw rod; 693, the buffer elastic member; 694, the second nut.

Detailed ways

As shown in the accompanying drawings, the concept of the present invention is to control the transmission rod frame matched with the output cam to move up and down regularly through the output cam of a group of power mechanisms to drive the driving rod fixedly arranged with the transmission rod frame. The disk moves up and down regularly, so as to control one or more processing stations around the drive disk to operate synchronously and regularly, greatly reducing energy consumption, and playing the role of energy saving and emission reduction.

Specifically, the intelligent energy-saving and emission-reducing robot in the present invention includes:

pedestal 1;

The power mechanism 4 includes a motor, a reducer, and an output cam 41 arranged on the base frame 1;

The mechanism plate 2 is fixed on the upper part of the base frame 1;

The processing turntable 3 is located below the mechanism disk 2 and rotates with the mechanism disk 2, and processing stations are evenly distributed on the periphery of the processing turntable 3;

The processing stations, at least one group, are arranged on the mechanism plate 2, and the processing stations are placed, transported and placed according to the procedures on the processing stations, and then pressed and assembled;

The transmission mechanism 5 is used for power transmission and is arranged between the power mechanism 4 and the processing station.

The processing station is a mechanism with various functions, such as incoming material handling, pressing assembly, qualification testing, and finished product handling. Therefore, there are multiple processing stations, which are distributed on the mechanism disk 2 along the circumferential direction with the rotation axis of the processing turntable 3 as the center of the circle.

The present invention mainly introduces the transport mechanism 6, which is used for transporting materials to the processing turntable 3, or transporting processed products on the processing turntable 3 away. The transport mechanism 6 is used in cooperation with the power mechanism 4 and the transmission mechanism 5 of the present invention.

The transport mechanism 6 includes a fixed seat 60 fixed on the mechanism disk 2, a sliding frame 61 arranged on the fixed seat 60 along the radial direction of the rotation center of the processing turntable 3, a middle part and a fixed seat 60 which are connected in rotation around the first axis. L-shaped swing arm 62, one end portion and the push frame 63 that the upper end portion of L-shaped swing arm 62 is rotatably connected around the second axis; Take the grasping part 64 of object. The fixed seat, the sliding frame, and the L-shaped swing arm form a link mechanism, and when the first drive plate moves up and down, the L-shaped swing arm can be controlled to rotate, thereby controlling the sliding frame to extend and retract regularly. Therefore, the link mechanism is used to control the horizontal movement of the grasping part.

In order to make the material product handling safer, as a preference, the handling mechanism 6 also includes a non-circular transmission rod 65 connected to the sliding frame 61 at the front which can only rotate around the center line, and a non-circular transmission rod 65 with one end fixed on the non-circular transmission rod 65. The first fork 66, one end can only slide the second fork 67 that is arranged on the noncircular transmission link 65 along the length of the noncircular transmission link 65, and the other end that the upper end is rotatably connected with the first fork 66 The first vertical rod frame 68, the second vertical rod frame 69 whose lower end is rotatably connected to the other end of the second swing rod 67, the grasping portion 64 can be slid on the sliding frame 61 along the up and down direction, the first vertical rod frame The lower part of 68 is rotatably connected with grabbing part 64 . The first vertical bar frame, the first fork, the non-circular transmission rod 65, the second fork, and the second vertical bar frame form a link mechanism, which is controlled by the second drive plate, and when the second drive plate moves downward, The second vertical rod frame moves downwards, controls the second fork to swing downwards, controls the non-circular transmission rod 65 to rotate around its center, drives the first fork to swing downwards, and controls the first vertical rod to move downward. Thus the link mechanism controls the gripper to move up and down. Wherein, the non-circular transmission rod 65 refers to a rod whose cross-section is not round, such as a triangular, square, pentagonal, hexagonal, etc. cross-section.

In order to realize the control of the up and down, horizontal and orderly movement of the grasping part. The above two sets of link mechanisms need to have independently controlled power sources, and the transmission mechanism 5 of the present invention is to control the two sets of link mechanisms respectively through the output cams of one group of power mechanisms to continuously rotate.

Specifically, the transmission mechanism 5 includes a first transmission rod frame 51 which is slidably arranged on the base frame 1 along the up-down direction and passes through the middle holes of the mechanism disk 2 and the processing turntable 3 respectively, and is slidably arranged on the base frame 1 along the up-down direction. And pass through the second transmission rod holder 53 of the middle hole of the mechanism disk 2 and the processing turntable 3 respectively, the first driving disk 52 fixed on the first transmission rod holder 51 top, be positioned at the top of the first driving disk 52 and be fixed on the second The second drive plate 54 on the top of the rod frame 53, the top of the second rod frame 53 is fixedly connected with the second drive plate 54, the first drive plate 52 is connected with the processing station, and the second drive plate 54 is connected with the processing station. connect. The other end of the L-shaped swing arm 62 and the first driving disk 52 are arranged on the first driving disk 52 so as to be able to rotate around the third axis and slide. The top of the second vertical bar frame 69 is connected with the second drive plate 54. In this embodiment, because the second drive plate 54 is fixed with an outwardly protruding pressure rod 56, the pressure rod 56 is used to connect with the second vertical rod 54. The upper part of the rod frame 69 is connected. The middle part of the mechanism disk 2 is fixed with a plurality of guide pillars 55 protruding upwards, and the first driving disk 52 and the second driving disk 54 are respectively slidably arranged on the guide pillars 55 through linear bearings.

The lower part of the first rod transmission frame 51 is in contact with one side of the output cam 41, and the lower part of the second rod transmission frame 53 is in contact with the other side of the output cam 41. , respectively controlling the first rod transfer frame 51 and the second rod transfer frame 53 to move up and down, thereby respectively controlling the corresponding actions of the processing stations. In this embodiment, a first cam groove is formed on one side of the output cam 41, and a first roller is arranged on the lower end of the first rod holder 51, and the first roller is inserted in the first cam groove; the output cam 41 The other side of the second cam groove 42 is provided with a second cam groove 42, and the second roller is arranged on the bottom of the second rod holder 53. The second roller is inserted in the second cam groove 42, and the first cam groove and the second cam groove 42 The asymmetry makes the first rod transmission frame 51 and the second rod transmission frame 53 move differently. Stable operation, small friction coefficient.

When the power mechanism rotates, the output cam 41 keeps rotating to control the first rod holder 51 and the second rod holder 53 to move up and down in different widths, that is, the first drive disc 52 and the second drive disc 54 to move up and down in different widths, thereby controlling The two sets of link mechanisms of the conveying mechanism 6 operate separately to control the spatial movement of the grasping part 64, such as controlling the grasping part 64 to extend and descend to grab materials from the feeding mechanism, lift up after grasping, retreat, and then descend Put it into the processing station of the processing turntable 3, then lift up and reset. The processing turntable 3 rotates one grid according to the operation of the program, and the next processing station is transferred to the bottom of the transfer mechanism 6, and the next material is carried, and this is repeated.

As a preferred solution, the first vertical rod frame is a fine-tuning rod, and the first vertical rod frame is connected between the first swing rod and the grasping part, and the position of the first adjusting end on the first screw rod can be moved, so that the length can be fine-tuned , so as to make up for the defect that the size of the cam cannot be adjusted. Specifically, the first vertical rod frame includes a first vertical rod body 681 whose upper end is rotated with the other end of the first swing rod 66, a first screw rod 682 protruding downward from the first vertical rod body 681, and a first vertical rod body 682 that is slidably arranged. The first adjusting end 683 on the first screw rod 682 is rotatably connected with the grasping part 64, and the first screw rod 682 is screwed with two first nuts 684, and the two first nuts 684 respectively resist Close to both sides of the first adjustment end 683 .

As a preferred solution, the second vertical rod frame is an elastic rod with a buffer function. When the second vertical rod frame is pressed downward, the grabbing part moves downward to grab the material. If the stroke design is not good, the grabbing part may It collides with the working surface, so that the output cam or the grasping part is damaged, or the second drive plate is pressed down to act on the buffer elastic member, and the buffer elastic member acts on the second vertical bar body, so that the second vertical bar body It has a buffer force to protect the output cam or the grabbing part. Specifically, the second vertical rod frame 69 includes a second vertical rod body 691 whose lower end is rotatably connected to the other end of the second swing rod 67 , protrudes upward from the second vertical rod body 691 and slides with the second drive plate 54 The second screw 692 provided, the buffer elastic member 693 arranged between the second driving disc 54 and the second vertical bar body 691, the upper end of the second screw 692 is provided with a first Two nuts 694.

As an optimal solution, the push frame is a fine-tuning rod, and the push frame is connected between the L-shaped swing arm and the sliding frame, and the position of the push adjustment end on the push screw rod can be moved, so that the length can be fine-tuned, thereby making up for the defect that the size of the cam cannot be adjusted . Specifically, the push frame 63 includes a push frame body 631 whose end is rotatably connected to the upper end of the L-shaped swing arm 62 around the second axis, a push screw 632 protruding forward from the end of the push frame body 631, and a push screw 632 that is slidably arranged on the push frame. The push adjustment end 633 on the screw rod 632, the push adjustment end 633 is connected with the sliding frame 61 to rotate around the fourth axis, the push screw rod 632 is screw connected with two push nuts 634, and the two push nuts 634 are pressed against the push adjustment end 633 respectively on both sides.

The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. a kind of Intelligent energy-saving emission reduction robot, it is characterised in that：Including pedestal（1）, be set to the pedestal（1）On tool There is output cam（41）Actuating unit（4）, be fixed on the pedestal（1）The mechanism disk on top（2）, be located at the mechanism disk （2）Lower section and with the mechanism disk（2）Rotate the processing turntable of setting（3）, be set to the mechanism disk（2）On at least one set Processing station acts on the actuating unit（4）With the conduction mechanism between the processing station（5）, the conduction mechanism（5） Including being slideably positioned in the pedestal along upper and lower directions（1）It goes up and is each passed through the mechanism disk（2）With processing turntable（3）In Between hole first pass bridge（51）, be fixed on it is described first pass bridge（51）First drive disk on top（52）, described first passes Bridge（51）Lower part and the output cam（41）A side match conflict, first drive disk（52）Add with described Work station connects.

2. Intelligent energy-saving emission reduction according to claim 1 robot, it is characterised in that：The processing station includes being used for Material is carried to the processing turntable（3）On carrying mechanism（6）, the carrying mechanism（6）Including being fixed on the mechanism Disk（2）On fixed seat（60）, along the processing turntable（3）Radially sliding for center of rotation is set to the fixed seat（60） On sliding rack（61）, middle part and the fixed seat（60）Around the L-shaped swing arm of first axle rotation connection（62）, one end and institute State L-shaped swing arm（62）The pushing frame that is rotatablely connected around the second axis of upper end（63）, the pushing frame（63）With the sliding rack （61）Around the 4th shaft rotation axis connection, the L-shaped swing arm（62）The other end and first drive disk（52）It can be around third Shaft rotation is dynamic to be slidably disposed at first drive disk again（52）On, the sliding rack（61）On be provided with for capturing object Crawl section（64）.

3. Intelligent energy-saving emission reduction according to claim 2 robot, it is characterised in that：The conduction mechanism（5）Also wrap It includes and is slideably positioned in the pedestal along upper and lower directions（1）It goes up and is each passed through the mechanism disk（2）With processing turntable（3）It is intermediate The second of hole passes bridge（53）, be located at the first drive disk（52）The second biography bridge is simultaneously fixed in top（53）The of top Two drive disks（54）, described second passes bridge（53）Lower part and the output cam（41）The other side match conflict, Described second passes bridge（53）Top and second drive disk（54）It is mutually fixedly connected, second drive disk（54）With institute State processing station connection.

4. Intelligent energy-saving emission reduction according to claim 3 robot, it is characterised in that：The carrying mechanism（6）Also wrap Front is included to be only capable of being rotatably connected on the sliding rack around center line（61）On not rounded drive link（65）, one end be fixed on it is described Not rounded drive link（65）On the first swing rod（66）, one end is only capable of along the not rounded drive link（65）Running lengthwise setting In the not rounded drive link（65）On the second swing rod（67）, upper end and first swing rod（66）The other end rotation connect The the first montant frame connect（68）, lower end and second swing rod（67）Second montant frame of the other end rotation connection（69）, The crawl section（64）The sliding rack can be slideably positioned in along upper and lower directions（61）On, the first montant frame（68）'s Lower part and the crawl section（64）Rotate connection, the second montant frame（69）Top and second drive disk（54）Phase Connection.

5. Intelligent energy-saving emission reduction according to claim 4 robot, it is characterised in that：The first montant frame includes upper End and first swing rod（66）The other end rotation setting the first montant ontology（681）, by the first montant sheet Body（681）The first screw rod extended downwardly（682）, be slideably positioned in first screw rod（682）On the first adjustable side （683）, first adjustable side（683）With the crawl section（64）Rotate connection, first screw rod（682）Upper spiral is set First nut there are two setting（684）, two the first nuts（684）It is pushed against first adjustable side respectively（683）Both sides.

6. Intelligent energy-saving emission reduction according to claim 4 robot, it is characterised in that：The second montant frame（69）Packet Include lower end and second swing rod（67）The other end rotation connection the second montant ontology（691）, erected by described second Bar body（691）Upwards stretch out and with second drive disk（54）Slide the second screw rod of setting（692）, be set to described Two drive disks（54）With the second montant ontology（691）Between snubber elastomeric part（693）, second screw rod（692）'s Upper end is provided with for preventing and second drive disk（54）The second nut being separated（694）.

7. Intelligent energy-saving emission reduction according to claim 4 robot, it is characterised in that：The pushing frame（63）Including one End and the L-shaped swing arm（62）The pushing frame ontology that upper end is rotatablely connected around the second axis（631）, by the pushing frame ontology （631）The lead-screw that forward extends out of end（632）, be slideably positioned in the lead-screw（632）On promotion adjustable side （633）, the promotion adjustable side（633）With the sliding rack（61）It is rotatablely connected around the 4th axis, the lead-screw （632）There are two push nut for upper spiral connection（634）, two promotion nuts（634）It is pushed against the promotion adjustable side respectively （633）Both sides.

8. Intelligent energy-saving emission reduction according to claim 3 robot, it is characterised in that：The output cam（41）One Side is provided with first cam path of circle, and described first passes bridge（51）Lower end be provided with the first idler wheel, first idler wheel It is inserted in first cam path；The output cam（41）The other side be provided with second cam path of circle（42）, described Two pass bridge（53）Lower part be provided with the second idler wheel, second idler wheel is inserted in second cam path（42）It is interior, described One cam path and second cam path（42）It is not symmetrical.

9. Intelligent energy-saving emission reduction according to claim 1 robot, it is characterised in that：The processing station has more It is a, along the processing turntable（3）Center of rotation be the center of circle circumferencial direction be distributed in the mechanism disk（2）On.

10. Intelligent energy-saving emission reduction according to claim 1 robot, it is characterised in that：The mechanism disk（2）Middle part It is fixed with the more guide posts stretched out upwards（55）, first drive disk（52）With second drive disk（54）Respectively by straight Spool, which is held, is slideably positioned in the guide post（55）On.