CN115339539B - Intelligent transfer robot - Google Patents
Intelligent transfer robot Download PDFInfo
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- CN115339539B CN115339539B CN202211163504.6A CN202211163504A CN115339539B CN 115339539 B CN115339539 B CN 115339539B CN 202211163504 A CN202211163504 A CN 202211163504A CN 115339539 B CN115339539 B CN 115339539B
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- fixedly connected
- shell
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- rod
- groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/08—Securing to the vehicle floor or sides
- B60P7/10—Securing to the vehicle floor or sides the load being plates, cases, or boxes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent transfer robot, which effectively solves the problems that the hydraulic lifting and changing wheel is slow in steering process and large in load, and a supported container cannot be positioned and fixed; the anti-collision device comprises an anti-collision shell, wherein two left and right opposite connecting frames are fixedly connected to the front side and the rear side of the anti-collision shell, the lower end of each connecting frame is rotatably connected with a rotating shell, an I-shaped rod capable of moving left and right is arranged in the anti-collision shell, and two left and right opposite abdicating grooves are respectively formed in the front side and the rear side of the lower end of each I-shaped rod; according to the invention, the direction of the driving wheel and the driven wheel can be changed by using the I-shaped rod to move left and right to drive the rotating shell to rotate, so that the purpose of fast and stable steering of the robot can be achieved, the container can be positioned to the position right above the container and can be propped against the bottom frame of the container at the same time by using the bearing plate, the contact plate and the bearing plate to lift the container after the contact plate is contacted with the container through lifting of the bearing plate, the skew is avoided when the robot drives the movement, and the purpose of fixing the container is achieved.
Description
Technical Field
The invention relates to the technical field of warehouse transportation, in particular to an intelligent transportation robot.
Background
The transfer robot is an industrial robot which can be used for realizing automatic products instead of manual transfer by using a robot motion track and carrying out automatic transfer operation, and in a traditional warehouse, for better storage and record of goods in the warehouse, a transfer container is required to be transferred and tidied by manpower or a forklift, which is time-consuming and labor-consuming.
In the existing intelligent storage, the transfer robot is put into use on a large scale to replace manual work to carry out container arrangement and goods stacking, so that an intelligent storage system is perfected, and the automation degree and the intelligent level of storage are improved.
But current intelligent transfer robot turns to eight commonly used round hydraulic pressure on the track to the robot and turns to in-process, need descend or promote the automobile body in the steering process, can produce the goods and rock, hydraulic pressure lift is slow simultaneously, when loading the goods heavier, it is great to hydraulic load, the life of robot has been reduced, and can't fix a position the robot when the robot supports the goods, simultaneously in transporting the in-process, the robot only plays the supporting role to the packing box, can't fix the packing box, lead to the packing box to appear the displacement in transporting the in-process easily, cause when the robot places the packing box on the goods shelves to appear crookedly, the dangerous that drops appears, wait to solve.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention aims to provide the intelligent transfer robot, which effectively solves the problems that the hydraulic lifting transfer wheel is slow in the process of transferring the wheel and is large in load, and the supported container cannot be positioned and fixed.
The anti-collision device comprises an anti-collision shell, wherein two left and right opposite connecting frames are fixedly connected to the front side and the rear side of the anti-collision shell, the lower end of each connecting frame is rotatably connected with a rotating shell, two left and right opposite yielding grooves are respectively formed in the front side and the rear side of the lower end of each I-shaped rod, the rotating shell is fixedly connected with a driving rod, the upper end of the driving rod can be inserted into the corresponding yielding groove, a rotatable driving wheel is arranged in the rotating shell at the front end, rotatable driven wheels are arranged in the rotating shell at the rear side, two left and right symmetrical L-shaped swinging rods are respectively rotatably connected to the front side and the rear side of the anti-collision shell, the opposite back ends of the left and right opposite swinging rods can swing up and down, a bearing plate is arranged above the anti-collision shell, the front side and the rear side of the lower end of each bearing plate are respectively provided with an I-shaped sliding groove, the sliding blocks are connected with the upper ends of the bearing plate in a sliding mode, the bearing plate is connected with a plurality of plates in a sliding mode along the four circumferences of the sliding plates in a sliding mode, and the upper ends of the bearing plate are in a sliding mode and the bearing plate are connected with the corresponding abutting plate side of the bearing plate in a sliding mode.
The inside of the connecting frame is provided with a rotatable first gear, the inside of the rotating shell is fixedly connected with a supporting ring, the inside of the supporting ring is rotationally connected with a rotating rod with the upper side meshed with the first gear, the inside of the rotating shell at the front side is rotationally connected with a first worm with the upper side meshed with the lower side of the transmission rod, the driving wheel is coaxially and fixedly connected with a first worm wheel meshed with the first worm, the inside of the rotating shell at the rear side is rotationally connected with a second gear meshed with the lower side of the corresponding side transmission rod, the lower end of the second gear is provided with a cross groove, the inside of the cross groove is slidingly connected with a connecting rod capable of moving up and down, the inside of the rotating shell at the rear side is rotationally connected with a second worm, the upper end of the second worm is provided with a cross connecting groove, the lower end of the connecting rod can be inserted into the connecting groove, and the driven wheel is coaxially and fixedly connected with a second worm wheel meshed with the second worm wheel.
The anti-collision shell is internally and fixedly connected with a double-headed motor, two output ends of the double-headed motor are respectively and fixedly connected with transmission rods, opposite ends of the two transmission rods are respectively and fixedly connected with a first bevel gear, and the upper end of the first gear on the front side is fixedly connected with a second bevel gear meshed with the first bevel gear on the corresponding side.
The rotary shell at the rear side is fixedly connected with a hydraulic cylinder, the output end of the hydraulic cylinder is fixedly connected with a U-shaped rod, the right end of the U-shaped rod is rotationally connected with the connecting rod at the corresponding side of the U-shaped rod, and the connecting rod is sleeved with a reset spring positioned between the connecting rod and the second gear.
The upper end of the second helical gear is fixedly connected with a third gear, the upper end of the first gear at the rear side is fixedly connected with a fourth gear, a toothed chain is meshed on the third gear, and the toothed chain is meshed with the fourth gear.
The hydraulic device is arranged on the I-shaped rod, the output end of the hydraulic device is fixedly connected with a push rod, and the left end of the push rod is fixedly connected with the left side wall of the anti-collision shell.
The anti-collision device is characterized in that a hollow motor is fixedly connected in the anti-collision shell, the output end of the hollow motor is fixedly connected with a screw rod, the left side and the right side of the screw rod are respectively connected with a moving block in a threaded mode, waist-shaped grooves are respectively formed in the opposite ends of the front swing rod and the rear swing rod, and the front swing rod and the rear swing rod are fixedly connected with supporting rods, the front side and the rear side of each supporting rod are respectively inserted into the corresponding side waist-shaped grooves.
And the contact plate is provided with a limit groove, the retaining plate is fixedly connected with a limit block inserted into the limit groove, the retaining plate is fixedly connected with a tension spring positioned between the retaining plate and the contact plate, and the tension spring is fixedly connected with the contact plate.
The anti-collision shell is characterized in that a placing groove is formed in the middle of the upper side wall in the anti-collision shell, a blocking block is arranged in the placing groove, two sides of the lower end of the blocking block are fixedly connected with magnetic blocks respectively, two mutually symmetrical grooves are formed in the left side and the right side of the upper end of the I-shaped rod respectively, iron blocks which can be in contact with the magnetic blocks are fixedly connected in the grooves, and the blocking block can be inserted into the two grooves respectively.
The invention has smart structure and convenient use, the direction of the driving wheel and the driven wheel can be changed by using the I-shaped rod to move left and right to drive the rotating shell to rotate, so that the purpose of quickly and stably steering the robot is achieved, the container can be positioned to the right above the container and can be propped against the bottom frame of the container at the same time by using the bearing plate, the contact plate and the bearing plate to lift the container after the contact plate is contacted with the container through the lifting of the bearing plate, and the purpose of fixing the container is achieved.
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a front isometric view in full section of the present invention.
Fig. 3 is a cut-away isometric view of the present invention.
Fig. 4 is a cutaway isometric view of the present invention.
Fig. 5 is a full section left side isometric view of the present invention.
Fig. 6 is an isometric view of a socket plate in accordance with the present invention.
Fig. 7 is an isometric view of an i-beam in accordance with the present invention.
Fig. 8 is an enlarged view of a of fig. 2 according to the present invention.
Fig. 9 is an enlarged view of B of fig. 3 according to the present invention.
Fig. 10 is an enlarged view of C of fig. 4 in accordance with the present invention.
In the figure: 1. an anti-collision shell; 2. a connection frame; 3. rotating the shell; 4. an I-shaped rod; 5. a relief groove; 6. a driving rod; 7. a driving wheel; 8. driven wheel; 9. a swinging rod; 10. a receiving plate; 11. i-shaped sliding grooves; 12. a sliding block; 13. a contact plate; 14. a retaining plate; 15. a connecting rod; 16. a first gear; 17. a support ring; 18. a rotating lever; 19. a first worm; 20. a first worm wheel; 21. a second gear; 22. a cross groove; 23. a connecting rod; 24. a second worm; 25. a connection groove; 26. a second worm wheel; 27. a double-ended motor; 28. a transmission rod; 29. a first helical gear; 30. a second helical gear; 31. a hydraulic cylinder; 32. a U-shaped rod; 33. a return spring; 34. a third gear; 35. a fourth gear; 36. a toothed chain; 37. a hydraulic device; 38. a push rod; 39. a hollow motor; 40. a screw rod; 41. a moving block; 42. a waist-shaped groove; 43. a support rod; 44. a limit groove; 45. a limiting block; 46. a tension spring; 47. a placement groove; 48. a blocking piece; 49. a magnetic block; 50. a groove; 51. iron blocks.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
The anti-collision device is provided by figures 1 to 10, which comprises an anti-collision shell 1, two left and right opposite connecting frames 2 are fixedly connected to the front side and the rear side of the anti-collision shell 1, the lower ends of the connecting frames 2 are rotationally connected with a rotating shell 3, two left and right opposite yielding grooves 5 are respectively formed in the front side and the rear side of the lower end of the I-shaped rod 4, driving rods 6 which are respectively arranged in the yielding grooves and are respectively arranged on the left side and the right side of the lower end of the I-shaped rod 4, rotatable driving wheels 7 are arranged in the rotating shell 3 at the front end, rotatable driven wheels 8 are arranged in the rotating shell 3 at the rear side, two left and right symmetrical L-shaped swinging rods 9 are respectively rotationally connected to the front side and the rear side of the anti-collision shell 1, two left and right opposite swinging rods 9 can swing up and down, a bearing plate 10 is arranged above the anti-collision shell 1, two left and right opposite bearing grooves 11 are respectively formed in the front side and the rear side of the lower end of the I-shaped rod 4, sliding blocks 12 are connected with sliding blocks 12 in sliding connection with driving rods 6 which are respectively inserted into corresponding side yielding grooves, the upper ends of the bearing plates 10 are respectively connected with corresponding sliding plates 13, and the bearing plates 14 are respectively arranged on the upper ends of the bearing plates 14 in sliding connection with the corresponding sliding plates 14, and the bearing plates 15 are respectively connected with the corresponding sliding plates 14 through the corresponding sides.
As shown in fig. 1 to 10, the connection frame 2, the rotation shell 3, the driving wheel 7 and the driven wheel 8 are arranged, the rotation shell 3 can be utilized to rotate the driving wheel 7 and the driven wheel 8, the driving wheel 7 is used for providing power for the movement of the robot, the rotation shell 3 can drive the rotation direction of the driving wheel 7 and the driven wheel 8 when the robot turns to, the tire direction is changed, the advancing direction of the robot is changed, the I-shaped rod 4, the yielding groove 5 and the driving rod 6 are arranged, the rotation shell 3 can be driven to rotate by the driving rod 6 by utilizing the left and right movement of the I-shaped rod 4, the power is provided for the rotation shell 3, the swinging rod 9 is arranged, the bearing plate 10, the I-shaped sliding groove 11 and the sliding block 12 can be driven to move up and down when the swinging rod 9 swings, the I-shaped sliding groove 11 and the sliding block 12 can avoid the situation that the skew bearing plate 10 appears when moving up and down, meanwhile, the connection stability is improved, the contact plate 13, the retaining plate 14 and the connecting rod 15 can move downwards when the contact plate 13 contacts the bottom of a container, the container is arranged, the contact plate 14 moves outwards under the action of the connecting rod 15, the contact plate 14 moves outwards, the contact plate 14 can move outwards when the contact plate and the container is contacted with the container, and the container is prevented from moving to the bottom, and the container is placed on the side of the container, and the container is prevented from moving to the side when the container, and the container is in the contact box is inclined with the contact plate.
The inside of the connecting frame 2 is provided with a rotatable first gear 16, the inside of the rotating shell 3 is fixedly connected with a supporting ring 17, the supporting ring 17 is rotationally connected with a rotating rod 18 with the upper side meshed with the first gear 16, the rotating shell 3 at the front side is rotationally connected with a first worm 19 with the upper side meshed with the lower side of a transmission rod 28, the driving wheel 7 is coaxially and fixedly connected with a first worm wheel 20 meshed with the first worm 19, the rotating shell 3 at the rear side is rotationally connected with a second gear 21 meshed with the lower side of the corresponding side transmission rod 28, the lower end of the second gear 21 is provided with a cross groove 22, the inside of the cross groove 22 is slidingly connected with a connecting rod 23 capable of moving up and down, the rotating shell 3 at the rear side is rotationally connected with a second worm 24, the upper end of the second worm 24 is provided with a cross connecting groove 25, the lower end of the connecting rod 23 can be inserted into the connecting groove 25, and the driven wheel 8 is coaxially and fixedly connected with a second worm wheel 26 meshed with the second worm 24.
As shown in fig. 2 to 10, the first gear 16, the rotating rod 18, the first worm 19 and the first worm wheel 20 are provided, the rotating rod 18 can be driven by the first gear 16 to rotate, the rotating rod 18 drives the first worm 19 and the first worm wheel 20 to rotate, the first worm wheel 20 drives the driving wheel 7 to rotate, meanwhile, when the rotating shell 3 rotates, the rotating rod 18 rotates along the outer end of the first gear 16, the rotating rod 18 is enabled to be meshed with the first gear 16 all the time, further, the driving wheel 7 can still be driven to move after the steering is completed, the second gear 21, the cross groove 22, the connecting rod 23, the connecting groove 25, the second worm 24 and the second worm wheel 26 are provided, the second gear 21 is driven by the first gear 16 through the rotating rod 18, the connecting rod 23 can be separated from the connecting groove 25, the second worm wheel 21 is enabled not to be driven to rotate, the driven wheel 8 is prevented from losing power, the driving wheel 8 is prevented from being turned to be opposite to the traveling direction after the driving wheel 7 is turned, and the driving wheel 7 is enabled to drive the robot to move.
The anti-collision shell 1 is internally and fixedly connected with a double-headed motor 27, two output ends of the double-headed motor 27 are respectively and fixedly connected with transmission rods 28, opposite ends of the two transmission rods 28 are respectively and fixedly connected with a first bevel gear 29, and the upper end of the first gear 16 on the front side is fixedly connected with a second bevel gear 30 meshed with the first bevel gear 29 on the corresponding side.
As shown in fig. 2 to 7, the double-headed motor 27, the transmission rod 28, the first bevel gear 29 and the second bevel gear 30 are provided, and the double-headed motor 27 can drive the first bevel gear 29 and the second bevel gear 30 to rotate through the transmission rod 28, so as to drive the two first gears 16 on the front side to rotate, further drive the driving wheel 7 to rotate, and provide power for the rotation of the driving wheel 7.
The rotary shell 3 at the rear side is fixedly connected with a hydraulic cylinder 31, the output end of the hydraulic cylinder 31 is fixedly connected with a U-shaped rod 32, the right end of the U-shaped rod 32 is rotationally connected with the connecting rod 23 at the corresponding side, and the connecting rod 23 is sleeved with a reset spring 33 positioned between the connecting rod 23 and the second gear 21.
As shown in fig. 2 to 10, after the steering is completed, the hydraulic cylinder 31 and the U-shaped rod 32 are arranged, and when the travelling directions of the driving gear and the driven gear are opposite, the hydraulic cylinder 31 can drive the connecting rod 23 to ascend by using the U-shaped rod 32, so that the connecting rod 23 is separated from the connecting groove 25, and the driven wheel 8 loses power.
The upper end of the second bevel gear 30 is fixedly connected with a third gear 34, the upper end of the first gear 16 at the rear side is fixedly connected with a fourth gear 35, a toothed chain 36 is meshed with the third gear 34, and the toothed chain 36 is meshed with the fourth gear 35.
As shown in fig. 2 to 10, the third gear 34, the fourth gear 35 and the toothed chain 36 are provided so as to be capable of rotating the driving wheel 7 and the driven wheel 8 together by the double-headed motor 27.
The hydraulic device 37 is arranged on the I-shaped rod 4, the output end of the hydraulic device 37 is fixedly connected with a push rod 38, and the left end of the push rod 38 is fixedly connected with the left side wall of the anti-collision shell 1.
As shown in fig. 2 to 7, the hydraulic device 37 and the push rod 38 are provided, and the hydraulic device 37 can drive the h-shaped rod 4 to move left and right through the push rod 38, so that the rotating shell 3 can be driven to rotate, and the movement direction of the robot can be further rotated.
The anti-collision shell 1 is internally and fixedly connected with a hollow motor 39, the output end of the hollow motor 39 is fixedly connected with a lead screw 40, the left side and the right side of the lead screw 40 are respectively in threaded connection with a movable block 41, the opposite ends of the front swinging rod and the rear swinging rod 9 are respectively provided with a waist-shaped groove 42, and the movable block 41 is fixedly connected with a supporting rod 43, the front side and the rear side of which are respectively inserted into the corresponding side waist-shaped grooves 42.
As shown in fig. 1 to 7, the hollow motor 39, the screw 40, the moving block 41, the waist-shaped groove 42 and the supporting rod 43 are provided, and the hollow motor 39 can be used for driving the screw 40 to rotate, so as to drive the two moving blocks 41 to move relatively or oppositely, and the moving block 41 can drive the supporting rod 43 to move in the waist-shaped groove 42, so as to provide power for the swinging of the swinging rod 9.
The contact plate 13 is provided with a limit groove 44, the retaining plate 14 is fixedly connected with a limit block 45 inserted into the limit groove 44, the retaining plate 14 is fixedly connected with a tension spring 46 positioned between the retaining plate 14 and the contact plate 13, and the tension spring 46 is fixedly connected with the contact plate 13.
As shown in fig. 1 to 5, the contact plate 13, the limit groove 44, the retaining plates 14, the limit blocks 45 and the tension springs 46 are provided, when the contact plate 13 contacts the bottom of the container, the four retaining plates 14 move around, the tension springs 46 stretch, the limit blocks 45 can move in the limit groove 44, and the retaining plates 14 are prevented from being inclined and simultaneously prevented from being separated from the contact plate 13 due to excessive movement of the retaining plates 14.
The upper side wall middle part has seted up the standing groove 47 in the anticollision shell 1, is equipped with in the standing groove 47 and blocks the piece 48, blocks the both sides of 48 lower extreme fixedly connected with magnet 49 respectively, and two recess 50 that are symmetrical each other have been seted up respectively to the left and right sides of I-shaped pole 4 upper end, and fixedly connected with can with magnet 49 contact's iron plate 51 in the recess 50, block the piece 48 and can insert in two recesses 50 respectively.
As shown in fig. 2 and 8, the placement groove 47, the blocking block 48, the magnet 49, the groove 50 and the iron block 51 are arranged, and the mutual attraction between the magnet 49 and the iron block 51 can be utilized, when the groove 50 of the h-shaped rod 4 moves to the upper side of the placement groove 47, the magnet 49 and the iron block 51 on the corresponding side of the blocking block 48 are attracted mutually, the blocking block 48 enters the groove 50, the h-shaped rod 4 can be blocked from continuing to move, and further, the situation that the robot turns to an overlarge angle to cause the action track to be inclined can be avoided.
When the robot is used, the double-headed motor 27 is started in an initial state, the motor drives the first gear 16 at the front side to rotate through the transmission rod 28, the first bevel gear 29 and the second bevel gear 30, the first gear 16 drives the rotating rod 18 to rotate, the rotating rod 18 drives the first worm gear 20 to rotate through the first worm gear 19 so as to drive the driving wheel 7 to rotate, meanwhile, the second bevel gear 30 drives the third gear 34 to rotate, the third gear 34 drives the fourth gear 35 to rotate through the toothed chain 36, the fourth gear 35 drives the two first gears 16 at the rear side to rotate, the first gear 16 at the rear side drives the rotating rod 18 at the rear side to rotate, the rotating rod 18 at the rear side drives the second gear 21 at the rear side to rotate, the second worm gear 21 drives the second worm gear 24 to rotate through the connecting rod 23, the second worm gear 24 drives the driven wheel 8 to synchronously rotate with the driving wheel 7 through the second worm gear 26, and the robot can move left and right;
when the robot moves to the bottom of the container, the hollow motor 39 is started, the hollow motor 39 drives the two moving blocks 41 to move relatively through the lead screw 40, the moving blocks 41 drive the supporting rods 43 to move in the waist-shaped grooves 42, the opposite ends of the swinging rods 9 on the left side and the right side swing upwards, and the upper ends of the swinging rods 9 on the left side and the right side drive the sliding blocks 12 in the same I-shaped sliding groove 11 to move relatively in the I-shaped sliding groove 11, so that the bearing plate 10 is lifted;
when the contact plate 13 contacts with the bottom of the container, the contact plate 13 is static, the bearing plate 10 continues to rise, the bearing plate 10 drives the four retaining plates 14 to move around through the connecting rod 15, the limiting block 45 moves in the limiting groove 44, the tension spring 46 stretches, when the contact time of the four retaining plates 14 and the frame at the bottom of the container is different, the retaining plates 14 which are contacted firstly drive the container to move in the moving direction until the four retaining plates 14 are in contact with the frame at the bottom of the container, at the moment, the limiting block 45 on the retaining plates 14 reaches the outer limit position of the limiting groove 44, the retaining plates 14 cannot move continuously, the supporting range of the container is enlarged by the four retaining plates 14, and the container can be driven to move more stably; when the retaining plate 14 is not moved any more, the carrying plate 10 continues to move upwards until the container is fully supported, the container is separated from the shelf, then the hollow motor 39 is turned off, the moving block 41 cannot move due to the self-locking property of the screw 40, and the contact plate 13 keeps the state of supporting the container;
when the robot needs to turn in the moving process, the double-headed motor 27 is closed, the hydraulic cylinder 31 is started, the hydraulic cylinder 31 drives the connecting rod 23 to move upwards through the U-shaped rod 32, the connecting rod 23 is separated from the connecting groove 25, the driven wheel 8 loses a power source, the hydraulic device 37 is started, the hydraulic device 37 drives the hydraulic device 37 to move through the push rod 38, the hydraulic device 37 drives the I-shaped rod 4 to move leftwards, the I-shaped rod 4 drives the rotating shell 3 to rotate through the driving rod 6, the driven wheel 8 and the driving wheel 7 turn ninety degrees, meanwhile, the rotating rod 18 is always meshed with the first worm 19 and the first gear 16 on the front side, the situation that the transmission cannot be caused by the failure of meshing is avoided, then the blocking piece 48 enters the groove 50, the I-shaped rod 4 cannot move continuously, deviation of the turning angle is avoided, the movement track of the robot is askew, the double-headed motor 27 is started later, the double-headed motor 27 drives the driving wheel 7 to rotate to drive the robot to move, and the steering is completed;
when goods are required to be placed on the goods shelf, the hollow motor 39 is started, the hollow motor 39 drives the two moving blocks 41 to move relatively, the carrying plate 10 descends, after the goods shelf is placed on the goods shelf, the carrying plate 10 continues to move downwards, the tension springs 46 drive the four retaining plates 14 to retract inwards, the contact plates 13 are always contacted with the goods shelf, when the carrying plate 10 descends to a certain height, the retaining plates 14 stop moving, then the carrying plate 10 continues to move downwards, the contact plates 13 follow to move downwards, the original position is restored, and the placing of the goods shelf is completed.
In the present invention, the double-headed motor 27 and the hollow motor 39 are both of the prior art, and will not be described in detail here.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions, without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (7)
1. The utility model provides an intelligent transfer robot, including crashproof shell (1), a serial communication port, both sides fixedly connected with are left and right sides relative linking frame (2) around crashproof shell (1), linking frame (2) lower extreme rotation is connected with rotates shell (3), but be equipped with left and right sides movable's worker's shape pole (4) in crashproof shell (1), two left and right sides relative groove of stepping down (5) have been seted up respectively to worker's shape pole (4) lower extreme front and back both sides, fixedly connected with upper end on rotating shell (3) can insert in its corresponding side drive rod (6) of stepping down and L shape, be equipped with rotatable action wheel (7) in rotation shell (3) of front end, be equipped with rotatable follow driving wheel (8) in rotation shell (3) of rear side, both sides are rotated respectively in crashproof shell (1) front and back both sides are connected with two bilateral symmetry and L shape swinging arms (9), but the back of being equipped with respectively of left and right sides relative swinging arms (9) swing from top to bottom, be equipped with on crashproof shell (1) and hold up (10), it has top-down sliding connection board (11) to hold up board (12) to hold up board (13) and sliding connection board (13) in the top-down board, sliding connection board (13) have sliding connection board (13), the upper end of the bearing plate (10) is hinged with a bearing plate (14) at the corresponding side of the bearing plate through a connecting rod (15);
a hydraulic cylinder (31) is fixedly connected in the rotary shell (3) at the rear side, the output end of the hydraulic cylinder (31) is fixedly connected with a U-shaped rod (32), the right end of the U-shaped rod (32) is rotationally connected with a connecting rod (23) at the corresponding side of the U-shaped rod, and a return spring (33) positioned between the connecting rod (23) and the second gear (21) is sleeved on the connecting rod (23);
the anti-collision shell is characterized in that a placing groove (47) is formed in the middle of the upper side wall in the anti-collision shell (1), a blocking block (48) is arranged in the placing groove (47), two magnetic blocks (49) are fixedly connected to two sides of the lower end of the blocking block (48), two mutually symmetrical grooves (50) are formed in the left side and the right side of the upper end of the I-shaped rod (4), iron blocks (51) which can be in contact with the magnetic blocks (49) are fixedly connected in the grooves (50), and the blocking block (48) can be inserted into the two grooves (50) respectively.
2. The intelligent transfer robot according to claim 1, wherein a rotatable first gear (16) is arranged in the engagement frame (2), a supporting ring (17) is fixedly connected in the rotation shell (3), a rotating rod (18) with an upper side meshed with the first gear (16) is rotatably connected in the supporting ring (17), a first worm (19) with an upper side meshed with a lower side of the transmission rod (28) is rotatably connected in the rotation shell (3) on the front side, a first worm wheel (20) meshed with the first worm (19) is coaxially and fixedly connected on the driving wheel (7), a second gear (21) meshed with a lower side of a corresponding side transmission rod (28) is rotatably connected in the rotation shell (3) on the rear side, a cross groove (22) is formed in the lower end of the second gear (21), an engagement rod (23) capable of moving up and down is slidably connected in the cross groove (22), a first worm (24) is rotatably connected in the rotation shell (3) on the rear side, a cross engagement groove (25) is formed in the upper end of the second worm (24), and a second worm wheel (25) is coaxially connected in the lower end of the second worm wheel (24), and the second worm wheel (25) is fixedly connected in the lower end (25) and is fixedly connected with the second worm (25).
3. An intelligent transfer robot according to claim 2, wherein the anti-collision shell (1) is fixedly connected with a double-headed motor (27), two output ends of the double-headed motor (27) are respectively fixedly connected with transmission rods (28), opposite ends of the two transmission rods (28) are respectively fixedly connected with a first bevel gear (29), and the upper end of the first gear (16) at the front side is fixedly connected with a second bevel gear (30) meshed with the first bevel gear (29) at the corresponding side.
4. An intelligent transfer robot according to claim 3, wherein the upper end of the second bevel gear (30) is fixedly connected with a third gear (34), the upper end of the first gear (16) at the rear side is fixedly connected with a fourth gear (35), the third gear (34) is meshed with a toothed chain (36), and the toothed chain (36) is meshed with the fourth gear (35).
5. The intelligent transfer robot according to claim 1, wherein the h-shaped rod (4) is provided with a hydraulic device (37), the output end of the hydraulic device (37) is fixedly connected with a push rod (38), and the left end of the push rod (38) is fixedly connected with the left side wall of the anti-collision shell (1).
6. The intelligent transfer robot according to claim 1, wherein the anti-collision shell (1) is fixedly connected with a hollow motor (39), an output end of the hollow motor (39) is fixedly connected with a screw (40), left and right sides of the screw (40) are respectively connected with a moving block (41) in a threaded manner, opposite ends of the front and rear opposite swinging rods (9) are respectively provided with a waist-shaped groove (42), and front and rear sides of the moving block (41) are fixedly connected with supporting rods (43) of which the front and rear sides are respectively inserted into the corresponding side waist-shaped grooves (42).
7. The intelligent transfer robot according to claim 1, wherein the contact plate (13) is provided with a limit groove (44), a limit block (45) inserted into the limit groove (44) is fixedly connected to the retaining plate (14), a tension spring (46) positioned between the retaining plate (14) and the contact plate (13) is fixedly connected to the retaining plate (14), and the tension spring (46) is fixedly connected to the contact plate (13).
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| CN202211163504.6A CN115339539B (en) | 2022-09-23 | 2022-09-23 | Intelligent transfer robot |
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| CN115339539A (en) | 2022-11-15 |
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