CN113400344A

CN113400344A - Center post structure with rotation function and high extending structure

Info

Publication number: CN113400344A
Application number: CN202110837905.4A
Authority: CN
Inventors: 杜从云
Original assignee: Lixing Affinity Robot Technology Xi'an Co ltd
Current assignee: Lixing Affinity Robot Technology Xi'an Co ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2021-09-17

Abstract

The invention discloses a center post structure with a rotating function and a highly telescopic structure, wherein the bottom of a center post is fixedly connected with a guide rail sliding table, the side surface of the center post is sequentially and concentrically connected with a cargo transfer platform, a cargo taking mechanical arm and a cargo unloading mechanical arm from bottom to top, the center post is divided into four parts, and a center post telescopic mechanism, a first center rotating mechanism, a second center rotating mechanism and a third center rotating mechanism are sequentially arranged from bottom to top. Because three center slewing mechanism is in the same place by the perpendicular concentric assembly of center lasso, three center slewing mechanism installs the goods transfer platform simultaneously, get the goods arm, the unloading arm, consequently, can accomplish the multiple operation to the goods in a flexible way in narrow and small space, simultaneously, center post bottom fixed connection telescopic machanism makes it can stretch out and draw back the adjustment height, can adapt to different working spaces, to the goods accurate positioning, center post bottom fixed connection guide rail slip table in addition, can shift the goods on a large scale, improve mill production efficiency.

Description

Center post structure with rotation function and high extending structure

Technical Field

The invention belongs to the technical field of robots, and relates to a central column structure with a rotating function and a height telescopic structure.

Background

The most widespread use of industrial robots today is for individual robot independent work, only for specific products and work environments, and depending on specific auxiliary equipment and tooling fixtures. For complex work tasks and variable work environments, the capacity of a single robot is obviously insufficient. In order to solve the problems, the multi-robot cooperative operation system has good application prospect in the fields of industrial production, military and national defense, social service and the like. However, the existing multi-robot cooperation still stays at a plurality of independent working positions of the robots, and mutual cooperation among real robots is not realized. The invention is suitable for the mutual cooperative matching of a plurality of robots, in particular to the cooperative control of the mechanical arms in a narrow space.

Disclosure of Invention

The invention aims to provide a central column structure with a rotating function and a highly telescopic structure, which can reduce the working stations of a robot, effectively save space and improve efficiency.

In order to solve the problems, the invention designs a center post structure with a rotating function and a highly telescopic structure, the bottom of a center post is fixedly connected with a guide rail sliding table, the side surface of the center post is sequentially and concentrically connected with a cargo transfer platform, a cargo taking mechanical arm and an unloading mechanical arm from bottom to top, the center post is divided into four parts, and the center post telescopic mechanism, a first center rotating mechanism, a second center rotating mechanism and a third center rotating mechanism are sequentially arranged from bottom to top.

The three center rotating mechanisms respectively comprise a motor, vertically arranged bevel gears, horizontally arranged bevel gears, center spur gears, planet spur gears, external large gears, a center post inner shell, a center post outer shell and a center post ferrule.

Furthermore, the bottom central column telescoping mechanism of the central column adopts a hydraulic driving mode, when the bottom motor of the central column telescoping mechanism works, the telescoping mechanism can be stretched and adjusted in height, the bottom of the telescoping mechanism is connected with the guide rail sliding table, the upper part of the telescoping mechanism is connected with three same central rotating mechanisms, and a central column ferrule is arranged between every two layers of central rotating mechanisms and is assembled together in a concentric mode.

The side face of the center column outer shell of the first center rotating mechanism located at the lowermost part is fixedly connected with a transferring platform for placing goods, the side face of the center column outer shell of the second center rotating mechanism is connected with an unloading mechanical arm through screw threads, the side face of the center column outer shell of the third center rotating mechanism is connected with a goods taking mechanical arm through screw threads, and each layer of center rotating mechanism can independently rotate under the driving of an internal motor.

Furthermore, inside each layer of center rotating mechanism, the motor is transversely fixed in the center post inner shell, the bevel gears which are vertically placed are axially fixed in the center post inner shell and are connected with the output shaft of the motor, the bevel gears which are horizontally placed are arranged below the motor and are meshed with the bevel gears which are vertically placed, the axes of the bevel gears are perpendicular to each other, the center spur gear is arranged below the bevel gears which are horizontally placed and is concentrically assembled in the center of the center rotating mechanism, the center spur gear and the planet spur gear form a conversion wheel train of a planetary gear train, the planet spur gear is externally meshed with the center spur gear and is internally meshed with the external gearwheel, the external gearwheel is sleeved in the center post outer shell.

The invention has the following beneficial effects: the three central rotating mechanisms are vertically and concentrically assembled together through the central ferrules, and are provided with the goods transfer platform, the goods taking mechanical arm and the goods discharging mechanical arm, so that various operations on goods can be flexibly completed in a narrow space. The invention has compact integral structure, good stability and strong functionality, can be suitable for different heights and is beneficial to wide popularization and application.

Drawings

FIG. 1 is a schematic view of the position of the center post in the robot

FIG. 2 shows the center post telescoping mechanism

FIG. 3 is an enlarged view of the inside of the center rotating mechanism

FIG. 4 is a top view of the interior of the center rotating mechanism

FIG. 5 is a view showing an assembly relationship of the center rotating mechanism

Wherein: 1-a central column; 2-a goods transfer platform; 3-a goods-taking mechanical arm; 4-unloading mechanical arm; 5-a guide rail sliding table; 1-1-a first central rotation mechanism; 1-2-a second central rotation mechanism; 1-3-a third central rotation mechanism; 1-4-a central column telescoping mechanism; 1-5-bevel gear vertically placed; 1-6-bevel gear horizontally placed; 1-7-center spur gear; 1-8-planetary spur gears; 1-9-outer bull gear; 1-10-a center post inner shell; 1-11-center post enclosure; 1-12-center post ferrule; 1-13-electric machine

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It is noted that the terms "vertical," "horizontal," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 and 2, a central column 1 is connected with a guide rail sliding table 5 through central column telescoping mechanisms 1-4, a cargo transfer platform 2, an unloading mechanical arm 4 and a goods taking mechanical arm 3 are respectively connected with three central rotating mechanisms of the central column 1, the unloading mechanical arm 4 and the goods taking mechanical arm 3 control the movement in the horizontal direction through the respective connected central rotating mechanisms, the vertical direction movement is controlled through controlling the central column telescoping mechanisms 1-4, and the vertical direction movement is controlled through controlling the unloading mechanical arm 4 and the goods taking mechanical arm 3. Meanwhile, the goods taking mechanical arm 3 can also complete rotation in space, and has one more degree of freedom than the goods unloading mechanical arm 4.

Referring to FIGS. 3 and 4 and 5, each of the center rotating mechanisms is provided with a motor so that each of the rotating mechanisms can rotate independently, the motors 1 to 13 are transversely fixed to the inner housings 1 to 10 of the center post, the vertically disposed bevel gears 1 to 5 are axially fixed to the inner housings 1 to 10 of the center post and connected to the output shafts of the motors 1 to 13, the horizontally disposed bevel gears 1 to 6 are disposed below the motors 1 to 13 to be engaged with the vertically disposed bevel gears 1 to 5 such that the axes of the gears are perpendicular to each other, the center spur gears 1 to 7 are disposed below the horizontally disposed bevel gears 1 to 6 and concentrically assembled at the center of the center rotating mechanism, the center spur gears 1 to 7 and the planetary spur gears 1 to 8 constitute a conversion train of a planetary gear train, the planetary spur gears 1 to 8 are externally engaged with the center spur gears 1 to 7, the outer gear wheel 1-9 is meshed with the inner part of the outer gear wheel 1-9, the outer gear wheel 1-9 is sleeved in the outer shell 1-11 of the central column, and the outer shell 1-11 of the central column rotates along with the outer gear wheel 1-9.

The working principle of the central column of the invention is as follows: when a plurality of mechanical arms are required to work cooperatively, the central column is driven by a motor 1-13 fixed on an inner shell 1-10 of the central column to drive a bevel gear 1-5 which is vertically arranged to transmit, then the motion is transmitted to a bevel gear 1-6 which is horizontally arranged, a central spur gear 1-7 and the bevel gear 1-6 which is horizontally arranged rotate synchronously, the motion is transmitted to a planetary spur gear 1-8 through the mutual meshing of the central spur gear 1-7 and the planetary spur gear 1-8, and finally an external big gear 1-9 which is meshed with the central spur gear is driven to rotate, thereby driving a corresponding central rotating mechanism to rotate independently.

The invention has novel and reasonable structural design, skillfully and fixedly and concentrically installs three mechanical arms on the central column 1 vertically, and integrates the functions of screening goods, fetching goods and unloading goods; the installation can adjust the height central post telescopic machanism 1-4 can adapt to different working heights, improves the practicality. Compared with the robot which can not automatically screen goods, has long goods selecting time and can complete the work only by occupying a plurality of stations at present, the operation robot can realize high-integration and multi-degree-of-freedom operation. The invention has compact integral structure, good stability and strong functionality, can be skillfully applied to different working environments and is beneficial to wide popularization and application.

The above examples are merely illustrative of preferred embodiments of the present invention, which are described in more detail and detail, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The central column structure with the rotating function and the highly telescopic structure is characterized in that the bottom of a central column (1) is fixedly connected with a guide rail sliding table (5), the side surface of the central column is sequentially and concentrically connected with a goods transfer platform (2), a goods taking mechanical arm (3) and a goods unloading mechanical arm (4) from bottom to top, the central column is divided into four parts, and a central column telescopic mechanism (1-4), a first central rotating mechanism (1-1), a second central rotating mechanism (1-2) and a third central rotating mechanism (1-3) are sequentially arranged from bottom to top, a motor (1-13), vertically arranged bevel gears (1-5), horizontally arranged bevel gears (1-6), a central spur gear (1-7), a planetary spur gear (1-8), an external gear (1-9) and a gear rack, A central column inner shell (1-10), a central column outer shell (1-11) and a central column ferrule (1-12).

2. The central column structure with the rotating function and the height telescopic structure as claimed in claim 1, wherein the central column telescopic mechanism (1-4) at the bottom of the central column is driven by hydraulic pressure, when the bottom motor of the central column telescopic mechanism (1-4) works, the telescopic mechanism can be telescopic to adjust the height, the bottom of the telescopic mechanism (1-4) is connected with the guide rail sliding table (5), the upper part of the telescopic mechanism (1-4) is connected with three identical central rotating mechanisms, and a central column ferrule (1-12) is arranged between each layer of the central rotating mechanisms and assembled together concentrically.

3. The structure of a center column with rotation function and high telescopic structure as claimed in claim 1, wherein the side of the center column housing (1-11) of the first center rotating mechanism (1-1) located at the lowest part is fixedly connected with the transfer platform (2) for placing the goods, the side of the center column housing (1-11) of the second center rotating mechanism (1-2) is connected with the unloading mechanical arm (4) through screw threads, the side of the center column housing (1-11) of the third center rotating mechanism (1-3) is connected with the picking mechanical arm (3) through screw threads, and each layer of center rotating mechanism can be driven by the internal motor (1-13) to rotate independently.

4. The center post structure having a rotating function and a highly telescopic structure as claimed in claim 1, wherein in each layer of the center rotating mechanism, the motor (1-13) is transversely fixed to the inner housing (1-10) of the center post, the vertically disposed bevel gear (1-5) is axially fixed to the inner housing (1-10) of the center post and connected to the output shaft of the motor (1-13), the horizontally disposed bevel gear (1-6) is disposed under the motor (1-13) and engaged with the vertically disposed bevel gear (1-5) such that the axes of the gears are perpendicular to each other, the center spur gear (1-7) is disposed under the horizontally disposed bevel gear (1-6) and concentrically assembled at the center of the center rotating mechanism, and the center spur gear (1-7) and the planetary spur gear (1-8) constitute a conversion train of a planetary gear train, the planetary spur gears (1-8) are meshed with the outer parts of the central spur gears (1-7) and meshed with the inner parts of the outer large gears (1-9), the outer large gears (1-9) are sleeved in the outer shells (1-11) of the central column, and the outer shells (1-11) of the central column rotate together with the outer large gears (1-9).