CN114310807A - Work platform for quickly replacing robot upper part - Google Patents
Work platform for quickly replacing robot upper part Download PDFInfo
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- CN114310807A CN114310807A CN202111576242.1A CN202111576242A CN114310807A CN 114310807 A CN114310807 A CN 114310807A CN 202111576242 A CN202111576242 A CN 202111576242A CN 114310807 A CN114310807 A CN 114310807A
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- 210000001503 joint Anatomy 0.000 abstract description 3
- 230000001815 facial effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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Abstract
A working platform for quickly replacing an upper part of a robot comprises two replacing stations, wherein guide plates are arranged on two sides of each replacing station, guide strips for guiding the robot and triggering a quick replacing structure of the robot are arranged on the inner sides of the guide plates, an inclined plane is arranged at the inlet of each guide strip, positioning holes for positioning the robot are formed in the guide plates, a channel, a lifting movable base and a robot stop block are sequentially arranged below the replacing stations from the inlet, the channel is arranged on a base, the lifting movable base is provided with a driving device capable of linearly moving left and right on a rail arranged on the base, and the base stop block is fixedly arranged at the left end and the right end of the rail; the working platform is matched with a robot quick-change structure for use. The working platform can realize the quick replacement of the robot upper part, and the seamless butt joint of the robot upper part is realized by arranging two replacing stations.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a working platform for quickly replacing an upper part of a robot.
Background
In the industries of logistics distribution, catering and the like, along with the continuous development of robot technology, robots are used for replacing manual or other non-intelligent equipment in more and more fields. In the prior art, most of the structures of a logistics distribution robot or a catering distribution robot are composed of a chassis and an upper garment, the chassis is used for providing a moving function for the robot, the upper garment is used for placing articles to be conveyed and is fixed above the chassis, in order to improve the distribution efficiency, the upper garment is directly connected with the chassis after the articles are placed on the upper garment, the chassis is used for driving the whole robot to move, the chassis serves as a power device, the upper garment on which the distributed articles are placed is continuously replaced, the distribution efficiency can be greatly improved, and therefore the chassis and the upper garment need to be frequently separated and combined; in the prior art, some quick disassembling and assembling mechanisms for upper assembling and chassis, such as chinese utility model patent CN207902585U, provide a quick disassembling and assembling mechanism for containers of autonomous delivery robots, which includes a fixing device, a clamping device and a switch device, wherein the fixing device is in a hollow cylinder shape, the clamping device is in a cylinder shape and is nested in the fixing device, the switch device is disposed above the clamping device, the cabinet body and the vehicle body are assembled or disassembled by using a buckle, and the assembly is stable and the disassembly is quick; the single mode that can solve the delivery robot cabinet body and automobile body effectively for the fixed condition to effectively utilize on-vehicle space, with the transportation article that is suitable for different specifications, be suitable for more scenes. Although the detachable robot cabinet body and the detachable vehicle body are realized, the robot cabinet body still needs to be manually operated in a complex way, and the rapid insertion can not be realized. The application aims to provide a working platform for assisting quick replacement of robot upper parts.
Disclosure of Invention
In order to solve the problems, the invention provides a working platform for quickly replacing an upper part of a robot, the working platform can realize quick replacement of the upper part of the robot, and seamless butt joint of the upper part of the robot is realized by arranging two replacing stations.
The purpose of the invention is realized by the following technical scheme.
A working platform for quickly replacing an upper part of a robot comprises two replacing stations, wherein guide plates are arranged on two sides of each replacing station, guide strips for guiding the robot and triggering a quick replacing structure of the robot are arranged on the inner sides of the guide plates, an inclined plane is arranged at the inlet of each guide strip, positioning holes for positioning the robot are formed in the guide plates, a channel, a lifting movable base and a robot stop block are sequentially arranged below the replacing stations from the inlet, the channel is arranged on a base, the lifting movable base is provided with a driving device capable of linearly moving left and right on a rail arranged on the base, and the base stop block is fixedly arranged at the left end and the right end of the rail; the working platform is matched with a robot quick-change structure for use.
The work platform for quickly replacing the robot upper part comprises a first replacing station and a second replacing station.
According to the working platform installed on the quick-change robot, the channel can move left and right on the basis.
As above a work platform of quick replacement robot facial make-up, robot quick change structure sets up between the facial make-up and the chassis of robot, including locking post, patchhole and locking lever, the fixed upper portion that sets up on the chassis of locking post, and the patchhole sets up the lower part at the facial make-up, and the locking post can insert in the patchhole, the locking lever can control the direction straight line and slide in the facial make-up, the inboard end of locking lever for with set up the cylindricality head in the locking hole on the locking post, be provided with the gyro wheel at the outside end of locking lever, be provided with in the facial make-up and apply the elastic element of outside elastic force for the locking lever, the gyro wheel with the gib block cooperation is used.
The work platform installed on the quick-change robot comprises a left locking rod and a right locking rod.
The working platform is matched with a robot provided with a robot quick-change positioning structure for use.
The quick-change positioning structure of the robot comprises a positioning column and a driven rod, wherein the driven rod is installed in the upper garment and can linearly slide up and down in the upper garment, the lower end of the driven rod extends into the insertion hole, the middle of the driven rod is in a shape of an inclined plane which is narrow at the bottom and wide at the top, the positioning column is matched with the inclined plane in the middle of the driven rod, the positioning column is arranged in the upper garment and can linearly slide left and right in the upper garment, an elastic element which applies inward elastic force to the positioning column is arranged in the upper garment, the outer end of the positioning column is matched with the positioning hole, the outer end of the positioning column can be inserted into the positioning hole, and an elastic element which applies downward elastic force to the driven rod is arranged in the upper garment.
The invention has the beneficial effects that:
the working platform for quickly replacing the robot upper part can realize quick replacement of the robot upper part, seamless butt joint of the robot upper part replacement is realized by arranging two replacing stations, and automatic centering of the robot is realized by moving the channel left and right on the basis.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a working platform mounted on a quick-change robot according to an embodiment of the present invention.
Fig. 2 is a sectional view taken along line a-a of fig. 1.
Fig. 3 is a schematic structural diagram of a working platform mounted on a quick-change robot and the robot in cooperation.
Fig. 4 is a sectional view taken along line B-B in fig. 3.
The components represented by the reference numerals in the figures are:
the robot comprises a first reloading station 1, a second reloading station 2, a robot 3, an upper loader 31, an insertion hole 311, a chassis 32, a locking column 321, a locking hole 3211, a guide plate 4, a guide strip 41, a positioning hole 42, a robot stop 5, a liftable mobile base 6, a channel 7, a foundation 8, a base stop 9, a locking rod 10, a left locking rod 101, a right locking rod 102, a roller 103, a positioning column 11 and a driven rod 12.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1 and 2, fig. 1 and 2 are schematic structural views of a working platform mounted on a quick-change robot according to an embodiment of the present invention. The working platform for quickly replacing the upper garment of the robot comprises a first reloading station 1 and a second reloading station 2 which are two reloading stations, and the upper garment 31 can be replaced back and forth by arranging the two reloading stations, so that the quick replacement operation is realized; guide plates 4 are arranged on two sides of the reloading station, guide strips 41 for guiding the robot 3 and triggering a quick-change structure of the robot are arranged on the inner sides of the guide plates 4, an inclined plane is arranged at an inlet of each guide strip 41, a positioning hole 42 for positioning the robot 3 is arranged on each guide plate 4, a channel 7, a lifting movable base 6 and a robot stop block 5 are sequentially arranged below the reloading station from the inlet, the channel 7 is arranged on a foundation 8, the lifting movable base 6 is provided with a driving device capable of linearly moving left and right on a rail arranged on the foundation 8, the lifting movable base 6 can be driven by an electric push rod to move up and down at the upper part of the lifting movable base to realize lifting, the driving device of the lifting movable base 6 can adopt a motor-driven wheel mode and a wheel walking mode on the rail, and base stop blocks 9 are fixedly arranged at the left and right ends of the rail; the working platform is matched with a robot 3 with a robot quick-change structure for use.
Preferably, the channel 7 can move left and right on the foundation 8, a plurality of inner holes in the left and right directions are arranged at the bottom of the channel 7, corresponding rods in the left and right directions are fixedly arranged on the foundation 8, and the inner holes are sleeved on the rods, so that the channel 7 can integrally move left and right on the foundation 8.
As shown in fig. 3 and 4, the robot quick-change structure is arranged between an upper mount 31 and a chassis 32 of a robot 3, and comprises a locking post 321, an insertion hole 311 and a locking rod 10, wherein the locking post 321 is fixedly arranged at the upper part of the chassis 32, the insertion hole 311 is arranged at the lower part of the upper mount 31, the locking post 321 can be inserted into the insertion hole 311, the locking rod 10 can linearly slide in the left-right direction in the upper mount 31, a sleeve is fixedly arranged in the upper assembly 31, a hole in the left-right direction is arranged in the center of the sleeve, the lock rod 10 is sleeved in the hole, the lock rod 10 can only slide linearly along the hole, the end head of the inner side of the lock rod 10 is a cylindrical head of a locking hole 3211 arranged on the locking column 321, a roller 103 is disposed at an outer end of the lock lever 10, the roller 103 is rotatable, an elastic member for applying an outward elastic force to the lock lever 10 is disposed in the upper shell 31, the elastic member is generally a spring, and the roller 103 is used in cooperation with the guide bar 41.
Further, the lock lever 10 includes a left lock lever 101 and a right lock lever 102.
Further, the working platform is used with a robot 3 equipped with a robot quick-change positioning structure, the robot quick-change positioning structure includes a positioning column 11 and a driven rod 12, the driven rod 12 is installed in an upper mount 31, the driven rod 12 can slide linearly up and down in the upper mount 31, the lower end of the driven rod 12 extends into the insertion hole 311, the middle of the driven rod 12 is in an inclined plane shape with a narrow lower part and a wide upper part, the positioning column 11 is matched with the inclined plane in the middle of the driven rod 12, the positioning column 11 is arranged in the upper mount 31, the positioning column 11 can slide linearly left and right in the upper mount 31, an elastic element for applying an inward elastic force to the positioning column 11 is arranged in the upper mount 31, the outer end of the positioning column 11 is matched with the positioning hole 42, the outer end of the positioning column 11 can be inserted into the positioning hole 42, and an elastic element for applying a downward elastic force to the driven rod 12 is arranged in the upper mount 31.
A use method of a working platform for quickly replacing an upper part of a robot comprises the steps that when in replacement, the robot 3 firstly moves to a channel 7 of a first replacement station 1 and then continuously moves between guide plates 4 on two sides, a roller 103 firstly contacts with an inclined surface of a guide strip 41 and then contacts with a straight surface of the guide strip 41, a lock rod 10 is extruded by the guide strip 41 to move inwards, a column head on the inner side of the lock rod 10 falls out of a locking hole 3211, the upper part 31 and a chassis 32 of the robot 3 are unlocked, the robot 3 continuously moves to a lifting movable base 6 until the robot 3 touches a robot stop block 5, the robot 3 stops moving, the lifting movable base 6 drives the chassis 32 to descend until a locking column 321 on the chassis 32 falls out of an insertion hole 311, a driven rod 12 moves downwards under the action of an elastic element, the inclined surface in the middle of the driven rod 12 presses a positioning column 11, so that the positioning column 11 is inserted into a positioning hole 42, the upper garment 31 is fixed between the guide plates 4, the lifting movable base 6 drives the chassis 32 to move towards the right side, the chassis 32 is taken below the upper garment 31 of the second reloading station 2, the lifting movable base 6 stops moving after encountering the base stop block 9 on the right side, the lifting movable base 6 ascends, the locking column 321 on the chassis 32 is inserted into the insertion hole 311, the locking column 321 jacks the driven rod 12 upwards, the positioning column 11 is inwards separated from the positioning hole 42 under the action of the elastic element, the chassis 32 of the robot 3 is started, the chassis 32 drives the upper garment 31 to move outwards, when the robot 3 is not contacted with the guide strip 41 any more, the locking rod 10 moves outwards under the action of the elastic force, and the column head on the inner side of the locking rod 10 is inserted into the locking hole 3211, so that the upper garment 31 is locked with the chassis 32.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A working platform for quickly replacing an upper part of a robot is characterized by comprising two replacing stations, guide plates (4) are arranged on two sides of each replacing station, guide strips (41) used for guiding the robot (3) and triggering a quick-replacing structure of the robot are arranged on the inner sides of the guide plates (4), inclined planes are arranged at inlets of the guide strips (41), positioning holes (42) used for positioning the robot (3) are formed in the guide plates (4), a channel (7), a lifting movable base (6) and a robot stop block (5) are sequentially arranged below the replacing stations from the inlets, the channel (7) is arranged on a foundation (8), the lifting movable base (6) is provided with a driving device capable of linearly moving left and right on a rail arranged on the foundation (8), and the stop blocks (9) are fixedly arranged at the left and right ends of the rail; the working platform is matched with a robot (3) with a robot quick-change structure for use.
2. A working platform for quick-change robot upper garment according to claim 1, characterized in that the channel (7) can be moved to the left and right on the foundation (8).
3. The quick-change robot upper working platform according to claim 1, the robot quick-change structure is arranged between an upper assembly (31) and a chassis (32) of a robot (3) and comprises a locking column (321), an insertion hole (311) and a locking rod (10), wherein the locking column (321) is fixedly arranged on the upper part of the chassis (32), the insertion hole (311) is arranged on the lower part of the upper assembly (31), the locking column (321) can be inserted into the insertion hole (311), the locking rod (10) can linearly slide in the upper assembly (31) in the left-right direction, the end head of the inner side of the locking rod (10) is a column head of a locking hole (3211) arranged on the locking column (321), the outer side end of the lock rod (10) is provided with a roller (103), the upper assembly (31) is internally provided with an elastic element which applies outward elastic force to the lock rod (10), and the roller (103) is matched with the guide strip (41) for use.
4. A quick-change robot-top work platform according to claim 3, characterized in that the locking bar (10) comprises a left locking bar (101) and a right locking bar (102).
5. The work platform for quick-change robot upper garment according to claim 4, characterized in that the work platform is used in conjunction with a robot (3) equipped with a robot quick-change positioning structure.
6. The working platform of the quick-change robot upper garment is characterized in that the robot quick-change positioning structure comprises a positioning column (11) and a driven rod (12), the driven rod (12) is installed in the upper garment (31), the driven rod (12) can slide linearly up and down in the upper garment (31), the lower end of the driven rod (12) extends into an insertion hole (311), the middle part of the driven rod (12) is in an inclined plane shape with a narrow lower part and a wide upper part, the positioning column (11) is matched with the inclined plane in the middle part of the driven rod (12), the positioning column (11) is arranged in the upper garment (31), the positioning column (11) can slide linearly left and right in the upper garment (31), an elastic element which applies elastic force to the positioning column (11) to the inner side is arranged in the upper garment (31), the outer end part of the positioning column (11) is matched with the positioning hole (42), and the outer end part of the positioning column (11) can be inserted into the positioning hole (42), an elastic element for applying downward elastic force to the driven rod (12) is arranged in the upper assembly (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111576242.1A CN114310807B (en) | 2021-12-21 | 2021-12-21 | Work platform for quickly replacing robot upper garment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111576242.1A CN114310807B (en) | 2021-12-21 | 2021-12-21 | Work platform for quickly replacing robot upper garment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114310807A true CN114310807A (en) | 2022-04-12 |
| CN114310807B CN114310807B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111576242.1A Active CN114310807B (en) | 2021-12-21 | 2021-12-21 | Work platform for quickly replacing robot upper garment |
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| CN (1) | CN114310807B (en) |
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| CN109249159A (en) * | 2018-12-06 | 2019-01-22 | 华域汽车车身零件（武汉）有限公司 | A kind of welding robot Quick fixture replacing device |
| WO2019101028A1 (en) * | 2017-11-22 | 2019-05-31 | 蔚来汽车有限公司 | Drifting abutting connection device, battery replacing robot, and locking, unlocking and locking-unlocking methods |
| CN209240052U (en) * | 2018-12-13 | 2019-08-13 | 杭州贵正科技有限公司 | A kind of automatic change agency of industrial robot |
| CN111604870A (en) * | 2020-05-29 | 2020-09-01 | 安徽江淮汽车集团股份有限公司 | Lifting and rotating device for appearance inspection |
| US20210280940A1 (en) * | 2017-12-29 | 2021-09-09 | Shanghai Dianba New Energy Technology Co., Ltd. | Battery Case Unlocking Apparatus, Battery Case, and Quick Battery Case Replacement System |
| CN113478517A (en) * | 2021-07-12 | 2021-10-08 | 广东电网有限责任公司广州供电局 | Quick change device |
| CN114311028A (en) * | 2021-12-21 | 2022-04-12 | 重庆特斯联智慧科技股份有限公司 | Quick grafting structure, robot chassis and robot |
-
2021
- 2021-12-21 CN CN202111576242.1A patent/CN114310807B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1792659A (en) * | 2005-12-29 | 2006-06-28 | 中国南车集团株洲电力机车研究所 | Method and apparatus for fast changing battery of electric vehicle |
| CN105059270A (en) * | 2015-05-29 | 2015-11-18 | 谢子聪 | Control method for power battery replacement of electric passenger car |
| WO2019101028A1 (en) * | 2017-11-22 | 2019-05-31 | 蔚来汽车有限公司 | Drifting abutting connection device, battery replacing robot, and locking, unlocking and locking-unlocking methods |
| US20210280940A1 (en) * | 2017-12-29 | 2021-09-09 | Shanghai Dianba New Energy Technology Co., Ltd. | Battery Case Unlocking Apparatus, Battery Case, and Quick Battery Case Replacement System |
| CN109249159A (en) * | 2018-12-06 | 2019-01-22 | 华域汽车车身零件（武汉）有限公司 | A kind of welding robot Quick fixture replacing device |
| CN209240052U (en) * | 2018-12-13 | 2019-08-13 | 杭州贵正科技有限公司 | A kind of automatic change agency of industrial robot |
| CN111604870A (en) * | 2020-05-29 | 2020-09-01 | 安徽江淮汽车集团股份有限公司 | Lifting and rotating device for appearance inspection |
| CN113478517A (en) * | 2021-07-12 | 2021-10-08 | 广东电网有限责任公司广州供电局 | Quick change device |
| CN114311028A (en) * | 2021-12-21 | 2022-04-12 | 重庆特斯联智慧科技股份有限公司 | Quick grafting structure, robot chassis and robot |
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| CN114310807B (en) | 2024-04-02 |
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