阅读说明：本技术 一种智能搬运机器人用的负载过载保护机构 (Load overload protection mechanism that intelligence transfer robot used ) 是由 陈新疆 穆欣 彭宁 于 2019-08-30 设计创作，主要内容包括：本发明涉及机器人技术领域,且公开了一种智能搬运机器人用的负载过载保护机构,包括主体,所述主体包括：固定件,所述固定件包括一第一侧瓣弧形板、一第二侧瓣弧形板以及若干固定螺栓,所述固定件固定于搬运机器人的旋转臂上；一号机构,所述一号机构包括一基座。本发明提供的智能搬运机器人用的负载过载保护机构,分散当机械手将抓取工件进行翻转,保持水平方向作业时所受的垂直向下的作用力,避免了机械手可以活动部分的连接结构会因为承受工件的重力而发生断裂或是损坏问题的发生,同时,也可以对机械手翻转之后进行水平作业时,进行水平方位的矫正,保证了水平方向作业的质量。(the invention relates to the technical field of robots, and discloses a load overload protection mechanism for an intelligent transfer robot, which comprises a main body, wherein the main body comprises: the fixing piece comprises a first side petal arc-shaped plate, a second side petal arc-shaped plate and a plurality of fixing bolts, and the fixing piece is fixed on a rotating arm of the transfer robot; the first mechanism comprises a base. The load overload protection mechanism for the intelligent transfer robot provided by the invention disperses the vertically downward acting force applied when the manipulator overturns to grab the workpiece and keep the workpiece in horizontal operation, avoids the problem that the connecting structure of the movable part of the manipulator can be broken or damaged due to the gravity of the workpiece, and can correct the horizontal direction when the manipulator is overturned to perform horizontal operation, thereby ensuring the quality of the horizontal operation.)

1. A load overload protection mechanism for an intelligent transfer robot, comprising a main body (1), characterized in that the main body (1) comprises:

The fixing part (2) comprises a first side petal arc-shaped plate (10), a second side petal arc-shaped plate (11) and a plurality of fixing bolts (12), and the fixing part (2) is fixed on a rotating arm of the transfer robot;

the first mechanism (3) comprises a base (20), a stepping motor (21) arranged at the top of the base (20) and a rotating ring (22) movably arranged on the outer wall of the base (20), a gear (23) is fixedly arranged on an output shaft of the stepping motor (21), the inner wall of the rotating ring (22) is meshed with the gear (23), and the rotating ring (22) rotates 180 degrees along the circular outer wall of the base (20);

The second mechanism (4) comprises a cylinder seat (30), a gas-liquid pressure booster (31) which is positioned at the output end of the top of the cylinder seat (30) and communicated with the output end of the top of the cylinder seat (30), a connecting seat (32) which is arranged at the output end of the bottom of the cylinder seat (30) and a hanging arm (33) which is spliced with the connecting seat (32);

The outer wall of one side of the base (20) is welded with the outer wall of one side of the second side flap arc-shaped plate (11), and the outer wall of one side of the cylinder seat (30) is welded with the outer wall of the rotating ring (22).

2. the load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the outer wall of one side of the hanging arm (33) is inserted with a hexagonal adjusting screw (34), the bottom of one end, located inside the hanging arm (33), of the connecting seat (32) is symmetrically provided with tooth mouth plates (35), a transmission rod (36) is arranged inside the hanging arm (33), two sides of the transmission rod (36) are respectively meshed with the two tooth mouth plates (35), and one end, located inside the hanging arm (33), of the hexagonal adjusting screw (34) is meshed with the middle shaft of the transmission rod (36).

3. The load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: hang the top welding of arm (33) and have U template (40), on the outer wall at the adjacent top of U template (40) "U" type structure respectively fixed mounting have joint arm (41).

4. the load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the length of the connecting seat (32) is 18cm, and the length of the hanging arm (33) is 18 cm.

5. the load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the inner wall of the first side flap arc-shaped plate (10) is provided with a layer of rubber cushion layer.

6. The load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the inner wall of the second side flap arc-shaped plate (11) is provided with a layer of rubber cushion layer.

7. The load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the first side flap arc-shaped plate (10) is connected with the second side flap arc-shaped plate (11) through the fixing bolt (12).

8. The load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the surface of base (20) has been seted up joint groove (24), the outer wall of rotatory ring (22) both sides all joint in on the guide rail of joint groove (24) both sides inner wall.

9. The load overload protection mechanism for the intelligent transfer robot according to claim 1, wherein: the inner wall of the base (20) is provided with a rectangular groove (25), the rectangular groove (25) is communicated with the clamping groove (24), and the outer wall of one side of the gear (23) sequentially penetrates through the rectangular groove (25) and the clamping groove (24) and is meshed with the inner wall of the rotating ring (22).

Technical Field

the invention relates to the technical field of robots, in particular to a load overload protection mechanism for an intelligent transfer robot.

background

The earliest transfer robot appeared in the united states in 1960, which is the prototype of the transfer robot, and the definition of the transfer robot is an industrial robot that uses a device to hold a workpiece and performs automatic transfer operation.

When the robot is carrying goods, the following actions occur: the manipulator keeps 90 degrees vertical angle to snatch the work piece, will overturn after the manipulator snatchs the work piece, keep the parallel state in horizontal plane, but when the weight of the work piece that the manipulator snatched is great, and keep the parallel state in horizontal plane, when continuing to carry out the operation, the connection structure that can the movable part as the manipulator can break or damage because of bearing the gravity of work piece, and when manipulator operating life was too long, its adapting unit all can appear ageing problem, can't ensure at the during operation that the manipulator snatchs the work piece and overturns the back, the parallel state in horizontal plane.

Disclosure of Invention

Technical problem to be solved

The invention provides a load overload protection mechanism for an intelligent transfer robot, which is used for protecting the problems that when a manipulator grabs a workpiece with larger weight, a connecting structure of a movable part of the manipulator is broken or damaged due to the gravity of the workpiece, and a connecting part is aged, and the manipulator cannot be ensured to be in a parallel state after grabbing the workpiece to turn over when working.

Technical scheme

In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme: a load overload protection mechanism for an intelligent transfer robot, comprising a main body, the main body comprising:

the fixing piece comprises a first side petal arc-shaped plate, a second side petal arc-shaped plate and a plurality of fixing bolts, and the fixing piece is fixed on a rotating arm of the transfer robot;

The first mechanism comprises a base, a stepping motor and a rotating ring, wherein the stepping motor is arranged at the top of the base, the rotating ring is movably arranged on the outer wall of the base, a gear is fixedly arranged on an output shaft of the stepping motor, the inner wall of the rotating ring is meshed with the gear, and the rotating ring rotates 180 degrees along the circular outer wall of the base;

The second mechanism comprises a cylinder seat, a pneumatic and hydraulic supercharger, a connecting seat and a hanging arm, wherein the pneumatic and hydraulic supercharger is positioned at the output end of the top of the cylinder seat and communicated with the output end of the top of the cylinder seat;

the outer wall of one side of the base is welded with the outer wall of one side of the second side flap arc-shaped plate, and the outer wall of one side of the air cylinder seat is welded with the outer wall of the rotating ring.

preferably, the outer wall of one side of the hanging arm is inserted with a hexagonal adjusting screw, the bottom of one end of the connecting seat, which is positioned inside the hanging arm, is symmetrically provided with tooth mouth plates, a transmission rod is arranged inside the hanging arm, two sides of the transmission rod are respectively meshed with the two tooth mouth plates, and one end of the hexagonal adjusting screw, which is positioned inside the hanging arm, is meshed with the middle shaft of the transmission rod.

Preferably, the top of the hanging arm is welded with a U-shaped plate, and the outer walls of the adjacent tops of the U-shaped plate U-shaped structures are respectively and fixedly provided with a clamping arm.

Preferably, the length of the connecting seat is 18cm, and the length of the hanging arm is 18 cm.

preferably, a layer of rubber cushion layer is arranged on the inner wall of the first side flap arc-shaped plate.

Preferably, a layer of rubber cushion layer is arranged on the inner wall of the second side flap arc-shaped plate.

Preferably, the first side flap arc-shaped plate and the second side flap arc-shaped plate are connected through the fixing bolt.

Preferably, the surface of the base is provided with a clamping groove, and the outer walls of the two sides of the rotating ring are clamped on the guide rails on the inner walls of the two sides of the clamping groove.

Preferably, the inner wall of the base is provided with a rectangular groove, the rectangular groove is communicated with the clamping groove, and the outer wall of one side of the gear sequentially penetrates through the rectangular groove and the clamping groove and is meshed with the inner wall of the rotating ring.

preferably, the model of the stepping motor is DMS-055A.

Preferably, the model of the pneumatic-hydraulic pressure booster is JLWE-100-L44-Q200-LH-F2.

Preferably, the main body is operated as follows:

the first step is as follows: when the manipulator vertically grabs a workpiece, the stepping motor on the first mechanism drives the rotating ring to rotate 180 degrees clockwise, so that the hanging arm on the second mechanism is transferred to the back of the manipulator, and the operation of vertically grabbing the workpiece by the manipulator is prevented from being influenced;

The second step is that: when the manipulator will snatch the work piece and overturn, when keeping the operation of horizontal direction, the pneumatic-hydraulic pressure booster on No. two mechanisms is with in external (gas) hydraulic pressure input cylinder block, the atmospheric pressure seat descends, the connecting seat also descends in step, then rotatory ring anticlockwise rotation 180 of step motor drive on the mechanism, make the front that the arm of hanging on No. two mechanisms shifts the manipulator, pneumatic-hydraulic pressure booster on No. two mechanisms at last takes external (gas) hydraulic pressure out from the cylinder block, the atmospheric pressure seat is gone up and is stretched, the connecting seat is also stretched in step simultaneously, make the joint arm hang the manipulator, the vertical decurrent effort that the dispersion manipulator received this moment, and guarantee the parallel of manipulator horizontal direction.

Advantageous effects

Compared with the prior art, the load overload protection mechanism for the intelligent transfer robot provided by the embodiment of the invention has the following beneficial effects:

1. According to the invention, the main body is arranged at the manipulator overturning structure through the fixing part, and the first mechanism and the second mechanism are matched for use, so that the vertical downward acting force applied when the manipulator is used for grabbing the workpiece to overturn and keeping the operation in the horizontal direction is dispersed, and the problem that the connecting structure of the movable part of the manipulator can be broken or damaged due to the gravity of the workpiece is avoided.

2. According to the invention, when the manipulator overturns the grabbed workpiece and keeps horizontal operation, the horizontal direction can be corrected through the action of the main body when the manipulator overturns and then performs horizontal operation, so that the quality of the horizontal operation is ensured.

3. The device provided by the invention has a simple structure, and the daily maintenance cost after purchase is lower, so that the device is convenient to be popularized and used in a large area in a factory.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

This document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all features of the disclosed technology.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the backside structure of the present invention;

FIG. 3 is a schematic structural diagram of a first mechanism of the present invention;

FIG. 4 is a schematic cross-sectional view of a first mechanism of the present invention;

FIG. 5 is a schematic cross-sectional view of the connecting base and the hanging arm of the present invention;

FIG. 6 is a schematic view of an arc-shaped plate structure of a first side flap according to the present invention;

FIG. 7 is a schematic view of a second side lobe arc plate structure according to the present invention.

In the figure: 1. a main body; 2. a fixing member; 3. a first mechanism; 4. a second mechanism; 10. a first side flap arc; 11. a second side flap arc; 12. fixing the bolt; 20. a base; 21. a stepping motor; 22. a rotating ring; 23. a gear; 24. a clamping groove; 25. a rectangular groove; 30. a cylinder block; 31. a gas-hydraulic pressure booster; 32. a connecting seat; 33. hanging the arm; 34. a hexagonal adjusting screw; 35. a tooth mouth plate; 36. a transmission rod; 40. a U-shaped plate; 41. a clamping arm.

Detailed Description

so that the objects, technical solutions and advantages of the embodiments of the present disclosure will be more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.

unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of the word "comprising" or "comprises", and the like, in this disclosure is intended to mean that the elements or items listed before that word, include the elements or items listed after that word, and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may also include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1 to 7, the overload protection mechanism for a smart transfer robot provided by the present invention includes a main body 1 composed of a fixing member 2, a first mechanism 3 and a second mechanism 4, and is used for solving the problems that when the weight of a workpiece gripped by a manipulator is large and the workpiece is kept in a state of being parallel to a horizontal plane, and when the work is continued, a connection structure as a movable part of the manipulator is broken or damaged due to the gravity of the workpiece, and when the working life of the manipulator is too long, connection parts of the manipulator are aged, and when the manipulator is working, the workpiece gripped by the manipulator cannot be ensured to be turned over, the horizontal plane is parallel to the horizontal plane.

In a further technical scheme provided by the invention, the following is specifically described by combining the accompanying drawings:

as shown in fig. 1, 6 and 7, the fixing member 2 includes a first side flap arc 10, a second side flap arc 11 and a plurality of fixing bolts 12, and the first side flap arc 10 is connected to the second side flap arc 11 through the fixing bolts 12, so that the fixing member 2 is fixed on the rotating arm of the transfer robot, that is, near the structure of the part where the manipulator turns.

Wherein, the inner wall of first side lamella arc 10 is provided with a layer of rubber bed course for increase frictional force uses.

wherein, the inner wall of second side lamella arc 11 is provided with a layer of rubber bed course for increase frictional force uses.

As shown in fig. 2, 3 and 4, the first mechanism 3 includes a base 20, a stepping motor 21 mounted on the top of the base 20, and a rotating ring 22 movably mounted on the outer wall of the base 20, a gear 23 is fixedly mounted on the output shaft of the stepping motor 21, the inner wall of the rotating ring 22 is engaged with the gear 23, and the rotating ring 22 is rotated 180 ° along the circular outer wall of the base 20, so that the hanging arm 33 on the second mechanism 4 is transferred to the back of the manipulator, and the operation of the manipulator for vertically grabbing the workpiece is not affected.

Wherein, how to realize that rotatory ring 22 carries out 180 rotation function's realization along the circular shape outer wall of base 20, through following structure, joint groove 24 has been seted up on the surface of base 20, the equal joint of outer wall of rotatory ring 22 both sides is on the guide rail of joint groove 24 both sides inner wall, and rectangular channel 25 has been seted up to the inner wall of base 20, rectangular channel 25 is linked together with joint groove 24, the outer wall of gear 23 one side runs through rectangular channel 25 and joint groove 24 in proper order, and mesh mutually with the inner wall of rotatory ring 22.

As shown in fig. 2 and 5, the second mechanism 4 includes a cylinder block 30, a pneumatic-hydraulic pressure booster 31 connected to the top output end of the cylinder block 30, a connecting seat 32 installed at the bottom output end of the cylinder block 30, and a hanging arm 33 connected to the connecting seat 32, so as to achieve the purpose of correcting the horizontal direction when the manipulator rotates the grabbed workpiece, maintaining the vertical downward force applied to the manipulator in the horizontal direction and performing the horizontal operation after the manipulator rotates

Wherein, the outer wall of one side of the hanging arm 33 is inserted with a hexagonal adjusting screw 34, the bottom of one end of the connecting seat 32 positioned inside the hanging arm 33 is symmetrically provided with a tooth mouth plate 35, the inside of the hanging arm 33 is provided with a transmission rod 36, two sides of the transmission rod 36 are respectively meshed with the two tooth mouth plates 35, one end of the hexagonal adjusting screw 34 positioned inside the hanging arm 33 is meshed with the middle shaft of the transmission rod 36, the top of the hanging arm 33 is welded with a U-shaped plate 40, the outer walls of the adjacent tops of the U-shaped plate 40 in a U-shaped structure are respectively and fixedly provided with a clamping arm 41, the length between the connecting base 32 and the hanging arm 33 is adjusted by the hexagonal adjusting screw 34, so that the device can be required to be in the optimal position, so that the device can be smoothly used for dispersing the vertical downward acting force applied when the mechanical arm turns over the grabbed workpiece, and the horizontal direction operation is kept, and the horizontal direction correction is carried out.

Wherein, the length of connecting seat 32 is 18cm, and the length of hanging arm 33 is 18 cm.

As shown in fig. 2, it can be seen that the outer wall of the base 20 is welded to the outer wall of the second side flap arc 11, and the outer wall of the cylinder block 30 is welded to the outer wall of the rotating ring 22, so that the first mechanism 3 and the second mechanism 4 are used in cooperation with each other.

Further, in the specific embodiment of the present invention, the clamping arm 41 on the hanging arm 33 is replaced according to the actual situation of the manipulator device, so that the shape structure of the clamping arm 41 can better implement the implementation of the present invention for dispersing the vertical downward force applied when the manipulator is to grab the workpiece to turn over, and maintain the horizontal operation, and for performing the purpose of horizontal orientation correction.

It should be noted that, in the present invention, how to ensure that the device can achieve the purpose of correcting the horizontal position of the manipulator when the pneumatic and hydraulic supercharger 31 supercharges or decompresses the cylinder block 30, it is necessary for the operator to set the first-closing value after repeated debugging, so that the device can be normally used in the later stage.

the device provided by the invention works;

when the manipulator vertically grabs a workpiece, the stepping motor 21 on the first mechanism 3 drives the rotating ring 22 to rotate 180 degrees clockwise, so that the hanging arm 33 on the second mechanism 4 is transferred to the back of the manipulator, and the vertical grabbing operation of the manipulator is prevented from being influenced;

When the manipulator is to grab the workpiece and turn over, when the operation in the horizontal direction is kept, the gas-liquid pressure booster 31 on the second mechanism 4 inputs the external (gas) hydraulic pressure into the cylinder seat 30, the gas-liquid pressure booster 30 descends, the connecting seat 32 also descends synchronously, then the stepping motor 21 on the first mechanism 3 drives the rotating ring 22 to rotate 180 degrees anticlockwise, so that the hanging arm 33 on the second mechanism 4 is transferred to the front of the manipulator, finally the gas-liquid pressure booster 31 on the second mechanism 4 extracts the external (gas) hydraulic pressure from the cylinder seat 30, the gas-liquid pressure booster 30 extends upwards, the connecting seat 32 also extends upwards synchronously, so that the clamping arm 41 hangs the manipulator, the vertical downward acting force applied to the manipulator at the moment is dispersed, and the horizontal direction of the manipulator is ensured to be parallel.

The electrical components in the paper are all electrically connected with an external main controller and 220V mains supply, and the main controller can be a conventional known device controlled by a computer and the like

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.