CN107902400A - A kind of rotatable conveying robot of manipulator - Google Patents
A kind of rotatable conveying robot of manipulator Download PDFInfo
- Publication number
- CN107902400A CN107902400A CN201711123152.0A CN201711123152A CN107902400A CN 107902400 A CN107902400 A CN 107902400A CN 201711123152 A CN201711123152 A CN 201711123152A CN 107902400 A CN107902400 A CN 107902400A
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- CN
- China
- Prior art keywords
- base plate
- box
- type
- beam barrel
- limit skateboard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rotatable conveying robot of manipulator, including carrying base plate, carry base plate bottom and be provided with driving roller, limit skateboard has been movably fastened in position-limited box, front and back end is installed with column on the right side of limit skateboard upper surface, column upper surface middle part is fixedly welded with shank, the equal movable sleeve in shank surface is equipped with beam barrel, beam barrel outer surface upper end is installed with the lantern ring, lantern ring right-hand end is installed with connecting rod, and connecting rod lower surface is installed with L-type plate.Two groups of L-type plates of the invention can be plugged into cargo bottom face, when two groups of L-type plate side plates and cargo compartment side surface are bonded to each other, control hydraulic stem moves up limit skateboard, then servomotor is controlled, two groups of L-type plates are made to leave cargo compartment basal surface, cargo compartment, which can be stablized, at this time is placed in square type box, and the present invention improves the handling efficiency of the cargo compartment in warehouse, greatly reduces the labor intensity manually carried.
Description
Technical field
The present invention relates to conveying robot technical field, is specially a kind of rotatable conveying robot of manipulator.
Background technology
The concept of manipulator is well known to people, and having can some dynamic work of apish paw and arm completion
Can, it is the automatic pilot of object or operation instrument is captured, carried by fixed routine, it can replace the heavy labor of people
Dynamic mechanization and automation with realization production.Particularly：The protection person is used due to that can work under harmful operating environment
Safety, thus it is widely used in the fields such as machine-building, metallurgy, electronics, light industry or even atomic energy.Chinese national economy,
Process of Urbanization Construction and science and technology are built under the historical background of high speed development, and what automated production was getting faster comes into life
In, the management for articles from the storeroom is even more to need.Storehouse, transport transmission of facility of the warehouse by storing products（As crane, elevator,
Slide etc.）, come in and go out storehouse conveyance conduit and equipment and fire fighting device, Service center etc. composition, modern warehouse is more examined
Consider managerial income and not only to storage.This is the difference place with old-fashioned warehouse.Therefore, modern warehouse is all from transport
Turn, all pay attention to the reasonable Arrangement of passage, the distribution mode of cargo and the maximum height of accumulation in banking system and building facilities, and
Cost-effective mechanization, automation access facility are configured, to improve storage capability and work efficiency, cargo is most of in warehouse
It is that volume is big, weight is big, surface is dirty, the working environment in warehouse is poor, is unfavorable for people's work, such as in the workshop of factory
Greasy dirt has been stained with above many parts, some burrs has also been retained above some parts, is unfavorable for manually carrying.Meanwhile warehouse
Middle cargo, which is put, is also required to the suitable a part of manpower of consumption.Therefore, people's urgent need one kind can replace manually having come
The new transfer robot of work is carried into warehouse.Warehouse transfer robot, as one kind of transfer robot, can pass through machine
The opening of tool paw and tighten to catch different size and cargo of different shapes.Warehouse transfer robot be used as in warehouse into
A kind of robot apparatus of row transport operation, has been to be concerned by more and more people, and robot is the machine of automated execution work
Device.It can not only receive mankind commander, but also can run the program of advance layout, can also be according to artificial intelligence technology
The principle guiding principle action of formulation.Its task is assistance or the work for substituting human work, such as production industry, construction industry, or
Dangerous work, the transfer robot in warehouse is the indispensable part in warehouse, and there are complicated, behaviour for current robot
Make the shortcomings that cumbersome, therefore there is an urgent need for researching and developing a kind of warehouse chest transfer robot simple in structure, easy to operate, we carry for this
Go out a kind of rotatable conveying robot of manipulator to be used to solve the above problems.
The content of the invention
It is an object of the invention to provide a kind of rotatable conveying robot of manipulator, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical solution：A kind of rotatable conveying robot of manipulator, including
Base plate is carried, the carrying base plate bottom is provided with driving roller, and carries base plate upper surface right-hand end and be fixedly mounted
There is position-limited box, the position-limited box upper surface is open state, and limit skateboard has been movably fastened in position-limited box, the limit skateboard
Front and back end is installed with column on the right side of upper surface, and the column upper surface middle part is fixedly welded with shank, described to insert
The equal movable sleeve in extension bar surface is equipped with beam barrel, and the beam barrel upper end face is installed with head cover, and beam barrel outer surface lower end
Offer thread groove, limit skateboard upper surface left-hand end is installed with servomotor, the servomotor it is defeated
The equal fixing sleeve in shaft upper end is equipped with gear, and the gear is intermeshed with thread groove, and the beam barrel outer surface upper end is solid
Dingan County is equipped with the lantern ring, and the lantern ring right-hand end is installed with connecting rod, and the connecting rod lower surface is installed with L-type
Plate, the carrying base plate lower surface position-limited box underface are installed with device box, liquid are installed with described device box
Compression bar, the piston rod perforation activity of the hydraulic stem is plugged to position-limited box, and the piston rod upper end of hydraulic stem and limit skateboard
Lower surface is fixedly connected, and the carrying base plate upper surface eaves side is installed with eaves baffle, and the eaves baffle is carrying pedestal
Plate upper surface forms square type box.
Preferably, the limit skateboard lower surface is installed with adjustable spring in the piston rod two side ends of hydraulic stem,
The adjustable spring lower end is fixedly connected with position-limited box basal surface.
Preferably, the transverse slat of L-type limiting plate lower end is oppositely arranged described in two groups, and the horizontal stroke of L-type limiting plate described in two groups
Version upper surface longitudinal direction is uniformly installed with multigroup template, and the bar template upper surface offers multigroup anti-slip tank.
Preferably, the length of the eaves baffle is more than the length of L-type plate.
Preferably, the column upper surface offers ring shaped slot on the outside of column, is evenly arranged with ring shaped slot multigroup
Ball, the beam barrel rear surface are bonded to each other with ball upper surface.
Preferably, the fixed engaging of the beam barrel upper end face has horizontal bearing, and the shank upper end is fixed and plugged
The in the interior axle of horizontal bearing
Compared with prior art, the beneficial effects of the invention are as follows：
1st, when some cargo compartments are placed in warehouse support plate, base plate is carried by driving roller to be moved at cargo compartment, it is first
First passing through control and start servomotor, gear band moving axis cylinder rotates laterally, so that two groups of L-type plates are into open configuration, it is spacing
Slide plate lower surface is installed with adjustable spring in the piston rod two side ends of hydraulic stem, adjustable spring lower end with position-limited box bottom
Surface is fixedly connected, and by controlling hydraulic stem limit skateboard is moved down in position-limited box, adjustable spring can ensure limit skateboard
Movement is moved down on stable, when L-type plate basal surface is bonded to each other with ground, controls servomotor, gear band moving axis cylinder is inside
Side rotates, and two groups of L-type plates can plug uniformly fixed into cargo bottom face, the horizontal version upper surface longitudinal direction of L-type limiting plate at this time
Multigroup template is installed, bar template upper surface offers multigroup anti-slip tank so that what cargo compartment can be stablized is placed on L-type
Plate surface, will not there is a phenomenon where break away；
2nd, carry base plate upper surface eaves side and be installed with eaves baffle, eaves baffle is carrying base plate upper surface formation square type
Box, when two groups of L-type plate side plates are bonded to each other with cargo compartment side surface, stops the work of servomotor, control hydraulic stem makes limit
Position slide plate moves up, and until L-type plate basal surface is higher than the height of eaves baffle, then starting servomotor makes two groups of L-type plates equal in the same direction
Even movement, makes cargo compartment rest on directly over the square type box of eaves baffle formation, and control hydraulic stem moves down limit skateboard, then controls
Servomotor processed, makes two groups of L-type plates leave cargo compartment basal surface, and cargo compartment, which can be stablized, at this time is placed in square type box, carries
Base plate is by driving roller to be carried to cargo compartment, and the present invention improves the handling efficiency of the cargo compartment in warehouse, greatly
Reduce the labor intensity manually carried greatly.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is side view of the present invention；
Fig. 3 is sectional view of the present invention；
Fig. 4 is L-type plate stereogram of the present invention.
In figure：1 carry base plate, 2 driving rollers, 3 eaves baffles, 4 position-limited box, 5 columns, 6 thread grooves, 7 beam barrels, 8 head covers,
9 servomotors, 10 gears, 11 lantern rings, 12 connecting rods, 13 L-type plates, 14 horizontal bearings, 15 ring shaped slots, 16 balls, 17 grafting
Bar, 18 limit skateboards, 19 device boxes, 20 hydraulic stems, 21 adjustable springs, 22 templates, 23 anti-slip tanks.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
The present invention provides a kind of technical solution：Please refer to Fig.1-2, a kind of rotatable conveying robot of manipulator, including remove
Base plate 1 is transported, 1 bottom of base plate is carried and is provided with driving roller, 1 upper surface eaves side of base plate is carried and is installed with eaves baffle
3, eaves baffle 3 forms square type box in 1 upper surface of carrying base plate, and carrying 1 upper surface right-hand end of base plate is installed with spacing
Box 4,4 upper surface of position-limited box is open state, and limit skateboard 18 has been movably fastened in position-limited box 4,18 upper surface of limit skateboard
Right side front and back end is installed with column 5, and 5 upper surface middle part of column is fixedly welded with shank 17,17 surface of shank
Equal movable sleeve is equipped with beam barrel 7, and 5 upper surface of column offers ring shaped slot 15 in the outside of column 5；
Refer to Fig. 2-4, be evenly arranged with multigroup ball 16 in ring shaped slot 15,7 rear surface of beam barrel with 16 upper surface of ball
It is bonded to each other, 7 upper end face of beam barrel is installed with head cover 8, and 7 outer surface lower end of beam barrel offers thread groove 6, axis
The fixed engaging of 7 upper end faces of cylinder has horizontal bearing 14, by the effect of ball 16 and horizontal bearing 14, can ensure that beam barrel
7 flexible rotation degree, 17 upper end of shank are fixed and are plugged in the interior axle of horizontal bearing 14, on the left of 18 upper surface of limit skateboard
End is installed with servomotor 9, and the equal fixing sleeve in output shaft upper end of servomotor 9 is equipped with gear 10, and gear 10 is and spiral shell
Groove 6 is intermeshed, and by controlling servomotor 9, gear 10 drives beam barrel 7 to rotate, the fixed peace in 7 outer surface upper end of beam barrel
Equipped with the lantern ring 11,11 right-hand end of the lantern ring is installed with connecting rod 12, and 12 lower surface of connecting rod is installed with L-type plate
13, the transverse slat of two groups of 13 lower ends of L-type limiting plate is oppositely arranged, and the horizontal version upper surface of two groups of L-type limiting plates 13 longitudinal direction is
Even to be installed with multigroup template 22,22 upper surface of bar template offers multigroup anti-slip tank 23, it is anti-skidding on bar template 22
Groove 23 so that what cargo compartment can be stablized is placed on 13 surface of L-type plate, will not carry 1 following table of base plate there is a phenomenon where breakking away
Device box 19 is installed with immediately below face position-limited box 4, hydraulic stem 20, the piston of hydraulic stem 20 are installed with device box 19
Bar perforation activity is plugged to position-limited box 4, and the piston rod upper end of hydraulic stem 20 is fixedly connected with 18 lower surface of limit skateboard, limit
Position 18 lower surface of slide plate is installed with adjustable spring 21 in the piston rod two side ends of hydraulic stem 20, and 21 lower end of adjustable spring is equal
Be fixedly connected with 4 basal surface of position-limited box, adjustable spring 21 can ensure the stabilization of limit skateboard 18 on move down movement, eaves baffle
3 length is more than the length of L-type plate 13.
Operation principle：When some cargo compartments are placed in warehouse support plate, base plate 1 is carried by driving roller 2 to move
To cargo compartment, start servomotor 9 by controlling first, gear 10 drives beam barrel 7 to rotate laterally, so that two groups of L-types
Then plate 13 controls hydraulic stem 20 limit skateboard 18 is moved down in position-limited box 4, when 13 basal surface of L-type plate and ground into open configuration
When face is bonded to each other, servomotor 9 is controlled, gear 10 drives beam barrel 7 to rotate inwardly, and two groups of L-type plates 13 can plug at this time
Into cargo bottom face, when two groups of 13 side plates of L-type plate are bonded to each other with cargo compartment side surface, stop the work of servomotor 9, control
Hydraulic stem 20 processed moves up limit skateboard 18, and until 13 basal surface of L-type plate is higher than the height of eaves baffle 3, then startup servo is electric
Machine 9 makes two groups of L-type plates 13 uniformly mobile in the same direction, cargo compartment is rested on directly over the square type box of eaves baffle formation, controls hydraulic pressure
Bar 20 moves down limit skateboard 18, then controls servomotor 9, two groups of L-type plates is left cargo compartment basal surface, at this time cargo compartment
It can stablize and be placed in square type box, carry base plate 1 by driving roller 2 to be carried to cargo compartment.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of rotatable conveying robot of manipulator, including carry base plate（1）, the carrying base plate（1）Bottom is set
There is driving roller, and carry base plate（1）Upper surface right-hand end is installed with position-limited box（4）, it is characterised in that：It is described spacing
Box（4）Upper surface is open state, and position-limited box（4）Inside it has been movably fastened limit skateboard（18）, the limit skateboard（18）On
Front and back end is installed with column on the right side of surface（5）, the column（5）Upper surface middle part is fixedly welded with shank
（17）, the shank（17）The equal movable sleeve in surface is equipped with beam barrel（7）, the beam barrel（7）Upper end face is installed with top
Lid（8）, and beam barrel（7）Outer surface lower end offers thread groove（6）, the limit skateboard（18）Upper surface left-hand end is solid
Dingan County is equipped with servomotor（9）, the servomotor（9）The equal fixing sleeve in output shaft upper end be equipped with gear（10）, the gear
（10）And thread groove（6）Intermeshing, the beam barrel（7）Outer surface upper end is installed with the lantern ring（11）, the set
Ring（11）Right-hand end is installed with connecting rod（12）, the connecting rod（12）Lower surface is installed with L-type plate（13）,
The carrying base plate（1）Lower surface position-limited box（4）Underface is installed with device box（19）, described device box（19）It is interior solid
Dingan County is equipped with hydraulic stem（20）, the hydraulic stem（20）Piston rod perforation activity plug to position-limited box（4）It is interior, and hydraulic stem
（20）Piston rod upper end and limit skateboard（18）Lower surface is fixedly connected, the carrying base plate（1）Upper surface eaves side is fixed
Eaves baffle is installed（3）, the eaves baffle（3）Carrying base plate（1）Upper surface forms square type box.
A kind of 2. rotatable conveying robot of manipulator according to claim 1, it is characterised in that：The limit skateboard
（18）Lower surface is in hydraulic stem（20）Piston rod two side ends be installed with adjustable spring（21）, the adjustable spring（21）
Lower end is and position-limited box（4）Basal surface is fixedly connected.
A kind of 3. rotatable conveying robot of manipulator according to claim 1, it is characterised in that：L-type described in two groups limits
Position plate（13）The transverse slat of lower end is oppositely arranged, and L-type limiting plate described in two groups（13）Horizontal version upper surface longitudinal direction it is uniformly solid
Dingan County is equipped with multigroup template（22）, the bar template（22）Upper surface offers multigroup anti-slip tank（23）.
A kind of 4. rotatable conveying robot of manipulator according to claim 1, it is characterised in that：The eaves baffle（3）
Length be more than L-type plate（13）Length.
A kind of 5. rotatable conveying robot of manipulator according to claim 1, it is characterised in that：The column（5）On
Surface is in column（5）Outside offers ring shaped slot（15）, ring shaped slot（15）Inside it is evenly arranged with multigroup ball（16）, the axis
Cylinder（7）Rear surface is and ball（16）Upper surface is bonded to each other.
A kind of 6. rotatable conveying robot of manipulator according to claim 1, it is characterised in that：The beam barrel（7）On
The fixed engaging of end surfaces has horizontal bearing（14）, the shank（17）Upper end is fixed and is plugged in horizontal bearing（14）It is interior
In axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711123152.0A CN107902400B (en) | 2017-11-14 | 2017-11-14 | A kind of rotatable conveying robot of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711123152.0A CN107902400B (en) | 2017-11-14 | 2017-11-14 | A kind of rotatable conveying robot of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902400A true CN107902400A (en) | 2018-04-13 |
| CN107902400B CN107902400B (en) | 2019-11-22 |
Family
ID=61844061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711123152.0A Active CN107902400B (en) | 2017-11-14 | 2017-11-14 | A kind of rotatable conveying robot of manipulator |
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| Country | Link |
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| CN (1) | CN107902400B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050119096A1 (en) * | 2003-11-12 | 2005-06-02 | Snecma Moteurs | Device for automatically mounting and dismantling tools on a robot |
| CN203418638U (en) * | 2013-07-26 | 2014-02-05 | 唐山学院 | Automatic blank feeding machine for domestic ceramics |
| CN105415345A (en) * | 2015-11-26 | 2016-03-23 | 荣昌精密机械(苏州)有限公司 | Movable type mechanical hand mechanism for grabbing PCBs |
| CN205521470U (en) * | 2016-04-06 | 2016-08-31 | 江苏金铁人自动化科技有限公司 | Snatch manipulator mechanism of PCB board |
| CN105945933A (en) * | 2016-07-14 | 2016-09-21 | 广东技术师范学院 | Factory goods carrying robot |
| CN205660720U (en) * | 2016-06-02 | 2016-10-26 | 衢州职业技术学院 | Portable transfer robot |
-
2017
- 2017-11-14 CN CN201711123152.0A patent/CN107902400B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050119096A1 (en) * | 2003-11-12 | 2005-06-02 | Snecma Moteurs | Device for automatically mounting and dismantling tools on a robot |
| CN203418638U (en) * | 2013-07-26 | 2014-02-05 | 唐山学院 | Automatic blank feeding machine for domestic ceramics |
| CN105415345A (en) * | 2015-11-26 | 2016-03-23 | 荣昌精密机械(苏州)有限公司 | Movable type mechanical hand mechanism for grabbing PCBs |
| CN205521470U (en) * | 2016-04-06 | 2016-08-31 | 江苏金铁人自动化科技有限公司 | Snatch manipulator mechanism of PCB board |
| CN205660720U (en) * | 2016-06-02 | 2016-10-26 | 衢州职业技术学院 | Portable transfer robot |
| CN105945933A (en) * | 2016-07-14 | 2016-09-21 | 广东技术师范学院 | Factory goods carrying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107902400B (en) | 2019-11-22 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20191016 Address after: Taizhou City, Zhejiang province 318050 Luqiao Jinqing beam Village No. 35 Jiang Backstreet Applicant after: Wu Hong Yan Address before: 211100 Zijin (Jiangning) Science and Technology Entrepreneurship Community, No. 12, Jizhou East Road, Jiling Street, Jiangning District, Nanjing City, Jiangsu Province Applicant before: Kang Gui Wen |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20191028 Address after: 410000 floor 1, building C2, Newman Industrial Park, 128 Lixiang East Road, quantang street, Changsha Economic and Technological Development Zone, Hunan Province Applicant after: Hunan imisen Machinery Technology Co., Ltd Address before: Taizhou City, Zhejiang province 318050 Luqiao Jinqing beam Village No. 35 Jiang Backstreet Applicant before: Wu Hongyan |
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