CN207209153U - A kind of roller transfer humanoid robot - Google Patents
A kind of roller transfer humanoid robot Download PDFInfo
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- CN207209153U CN207209153U CN201721156046.8U CN201721156046U CN207209153U CN 207209153 U CN207209153 U CN 207209153U CN 201721156046 U CN201721156046 U CN 201721156046U CN 207209153 U CN207209153 U CN 207209153U
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- humanoid robot
- clamping plate
- roller transfer
- retractor device
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Abstract
The utility model provides a kind of roller transfer humanoid robot, including support frame and the cylinder mechanism that is located in the support frame, wherein, in addition to clamping device, guiding mechanism and the position-limit mechanism being located in the support frame：The clamping device is used for along drum length direction goods clamping, and the guiding mechanism is used to guide the goods to docking location, and the position-limit mechanism is used to prevent the goods from inclining to along the cylinder mechanism abutting direction.The utility model roller transfer humanoid robot, effectively extended while ensureing that goods is reliably transported suitable transshipment cargo scope, overcome that existing transfer humanoid robot occurs when transporting different goods topple over, inclining falls and docks the problem of efficiency is low.
Description
Technical field
It the utility model is related to mobile robot manufacturing technology field, and in particular to a kind of knot of roller transfer humanoid robot
Structure improves.
Background technology
At present, conventional mobile robot mainly plays translocation, for transporting goods or traction fixture vehicle.And existing rolling
Cylinder transfer humanoid robot can not only dock with automatic production line, can also realize automatic transferring or the transhipment of pallet and goods.But
It is that existing roller transfer humanoid robot is not particularly suited for transporting various shapes or the goods of size, every kind of roller transfer type machine
The cargo type that people suitably transports is limited, if run into goods shape or larger change in size, in order to prevent goods from toppling over
Or incline and, and avoid docking from slipping up, then need to change corresponding roller transfer humanoid robot.
Therefore, the scope of application of roller transfer humanoid robot how is improved, it is this practicality it is adapted to most goods
The problem of new faced.
The content of the invention
The purpose of this utility model is to provide a kind of roller transfer humanoid robot, while ensureing that goods is reliably transported
Effectively extend suitable transshipment cargo scope, overcome that existing transfer humanoid robot occurs when transporting different goods inclines
, incline and fall and dock the problem of efficiency is low.
To reach above-mentioned purpose, the utility model is achieved using following technical scheme：
A kind of roller transfer humanoid robot, including support frame and the cylinder mechanism that is located in the support frame, wherein,
Also include clamping device, guiding mechanism and the position-limit mechanism being located in the support frame：The clamping device is used for along institute
Drum length direction goods clamping is stated, the guiding mechanism is used to guide the goods to docking location, the position-limit mechanism use
Incline to along the cylinder mechanism abutting direction in preventing the goods.
Further, the clamping device includes clamping plate, installation frame and the first retractor device：The installation frame tool
There are two and be located at the installation frame positioned at the both sides of the cylinder mechanism, first retractor device and be provided with the folder
Plate, for driving the clamping plate to clamp the goods.
Further, the retractor device includes the first motor, fork-shearing frame and the first screw-nut body:The scissor
The free end of frame is provided with the clamping plate, and first screw-nut body drives the scissor under the driving of first motor
Frame stretches.
Further, first retractor device also includes opening for detecting the stroke whether clamping plate is held in place
Close.
Further, the travel switch is located on the fork-shearing frame and is located at the inner side of the clamping plate, the clamping plate
Upper articulation triggers the travel switch, the folder in the fork-shearing frame when the clamping plate is collided when the goods rotates
Elastic supporting member for supporting optical member, the reset for the clamping plate are provided between the bottom of plate and the fork-shearing frame.
Further, the guiding mechanism includes push pedal, the second retractor device：The push pedal has two and less than described
Clamping plate, the first retractor device are laid, and second retractor device is located at the support frame, for driving the push pedal guiding institute
Goods is stated to the docking location.
Further, the push pedal, the second retractor device are located at top, the lower section of the cylinder mechanism respectively, and pass through
Gap connection between the adjacent roller.
Further, second retractor device includes the second motor and by the described second motor-driven second leading screw
Nut body.
Further, the both ends of the push pedal extend the cylinder mechanism and are slidably connected to the support frame.
Further, the position-limit mechanism includes planar linkage mechanism, the 3rd retractor device：Planar linkage mechanism has two
Front and rear sides individual and positioned at the cylinder mechanism abutting direction, the 3rd retractor device are hinged the planar linkage mechanism
Rocking bar, for driving the connecting rod lifting of the planar linkage mechanism.
Compared with prior art, the advantages of the utility model and beneficial effect is：
The utility model realizes gripper cylinder by the clamping device installed on the support frame on drum length direction
Goods in mechanism, during roller transfer humanoid robot is advanced, effectively prevent because of cargo size or planform or
The reasons such as weight and occur phenomena such as toppling over, rock, beating, be unrestrained, and the effect of righting can also be played, so as to be beneficial to goods
Transhipment and docking；By the guiding mechanism installed on the support frame, the goods on cylinder mechanism can be directed to docking
Position, so-called docking location are the center of roller transfer humanoid robot car body, can effectively be avoided using guiding mechanism
Goods dock or transport caused by skew or Rotation, during especially with pallet transshipment cargo, can preferably guide pallet
To docking location, efficiency is docked with other automatic production lines so as to improve；It is spacing by what is installed on the support frame
Mechanism, during roller transfer humanoid robot is advanced, avoid goods and docked by inertia, the reason such as jolt along cylinder mechanism
Incline the problem of falling for the front and rear sides in direction, and the goods in transport process has been provided better protection against with clamping device collective effect.With showing
There is technology to compare, the utility model, with stronger versatility, is suitable for more polymorphic type goods while reliable transhipment is ensured
Transhipment.
After the detailed description of the utility model embodiment is read in conjunction with the figure, other features and advantage of the present utility model
It will become clearer.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model specific embodiment roller transfer humanoid robot；
Fig. 2 is the front view of the utility model specific embodiment roller transfer humanoid robot；
Fig. 3 is the structural representation of the utility model specific embodiment clamping device；
Fig. 4 is the structural representation of the utility model specific embodiment guiding mechanism；
Fig. 5 is the structural representation of the utility model specific embodiment position-limit mechanism.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the embodiment of the utility model is clearly and completely described.
In description of the present utility model, it is to be understood that term " first ", " second ", " the 3rd " are only used for describing
Purpose, and it is not intended that instruction or relative importance is implied, therefore it is not intended that to limitation of the present utility model.
In order to suitably transport a greater variety of goods, the utility model roller transfer humanoid robot is in prior art
Structure improvement has been carried out, has been the utility model roller transfer humanoid robot one embodiment shown in reference picture 1, Fig. 2.This implementation
Example roller transfer humanoid robot includes support frame 10 and the cylinder mechanism 20 being located in the support frame 10, particularly, also
Including clamping device 30, guiding mechanism 40 and the position-limit mechanism 50 being located in the support frame 10.
When by cargo transfer to cylinder mechanism 20, clamping device 30 can clamp goods along drum length direction, i.e.,
The docking transhipment of goods is will not interfere with, and is also avoided that goods is toppled over, rocks, jumped in roller transfer humanoid robot traveling process
Phenomena such as dynamic, unrestrained, if for example, cargo size is smaller in warehousing system, lighter weight, to prevent from jolting, generation is dropped on ground
Accident on face, therefore generally require to be equipped with special roller transfer humanoid robot, such roller transfer humanoid robot versatility compared with
It is low, if cargo size changes greatly, need to change corresponding roller transfer humanoid robot, and use the present embodiment roller
Transfer humanoid robot then can suitable most of goods transhipment.And the position-limit mechanism 50 set, then on the basis of clamping device 30
Upper is to avoid inclining for goods from falling and provide one layer of guarantee, and it is used to prevent goods from inclining to along the abutting direction of cylinder mechanism 20.
During by the cargo transfer on cylinder mechanism 20 to other automatic production lines, goods can be directed to pair by guiding mechanism 40 in advance
Position is connect, the generation of docking error is avoided, effectively increases docking efficiency.
The concrete structure of clamping device 30 has plurality of optional scheme in the utility model, is pressed from both sides for example with manipulator, machinery
Have to realize, or clamping device 30 includes power transmission shaft and two installing plates in other embodiment of the present utility model, passes
Moving axis is by power source drive and is provided with two oppositely oriented screw threads, and two installing plates are threadedly connected to power transmission shaft by two,
And the synchronous backward under the drive of power transmission shaft（Including in opposite directions, backwards）It is mobile, to realize clipping operation.
Clamping device 30 specifically includes two installation frames 31 and be located on installation frame 31 in the present embodiment
One retractor device and the clamping plate 32 for playing specific clamping action, reference picture 3 understand.To avoid interference with docking, two installation frames
31 are located at the both sides of cylinder mechanism 20 respectively, for the first retractor device of specific installation, for ensure it is attractive in appearance can also be by installation frame
31 are built in the Electric Appliance Cabinet of roller transfer humanoid robot.First retractor device is then used to drive the goods clamping of clamping plate 32.Obviously,
Installation frame 31, the first retractor device and clamping plate 32 are respectively provided with two in the present embodiment, and are correspondingly arranged.
First retractor device can use can realize drive specified parts in the prior art（The present embodiment is specially clamping plate
32）Stretched out and the structure that withdraws is realized, for example, electric pushrod, hydraulically extensible cylinder etc..First flexible dress in the present embodiment
Put and specifically include the first motor 33, fork-shearing frame 34 and drive flexible first of fork-shearing frame 34 under the driving of the first motor 33
Thick stick nut body, wherein, clamping plate 32 is arranged on the free end of fork-shearing frame 34.Specifically, the first screw-nut body is included vertically
First leading screw 35 of setting, the first nut and the first sliding block 36 for being threadedly connected to the first leading screw 35.First sliding block 36 limits
The rotation of first nut, it is fixedly connected on the first nut and is slidably connected to installation frame 31, fork-shearing frame 34 it is non-free
The upper articulation at end is in the first sliding block 36, and the lower hinge at the non-free end of fork-shearing frame 34 is in installation frame 31, the first motor 33
Output shaft be connected to the first leading screw 35.The upper of 34 non-free end of fork-shearing frame can be realized in the process that the first nut moves up and down
Portion moves up and down, and then realizes the flexible of clamping plate 32.
In order to realize position limitation protection, avoid tension from clamping, the first retractor device also includes being used to detect whether clamping plate 32 presss from both sides
Hold travel switch in place.To ensure the sensitivity of detection, travel switch is specifically located on fork-shearing frame 34 simultaneously position by the present embodiment
In the inner side of clamping plate 32, the upper articulation of clamping plate 32 is further designed in fork-shearing frame 34, and the bottom of clamping plate 32 and fork-shearing frame 34
Between be provided with elastic supporting member for supporting optical member 37, when clamping plate 32 collide goods rotate when, clamping plate 32 trigger travel switch cause first electricity
Machine 33 is out of service.Reset of the setting of elastic supporting member for supporting optical member 37 then for clamping plate 32 can reliable retention goods.
The present embodiment guiding mechanism 40 has included the push pedal 41 of specific impetus and driving push pedal 41 promotes goods extremely
Second retractor device of docking location, reference picture 4 understand.It is similar with the principle of the first retractor device, in the utility model
Two retractor devices can also use can realize that drive specified parts (the present embodiment is specially push pedal 41) are stretched in the prior art
Go out and the structure that withdraws is realized, such as electric cylinders, cylinder are with electric pushrod.Because push pedal 41 mainly reaches guiding work by promoting
With in order to avoid interfering with clamping plate 32, the present embodiment especially lays push pedal 41 less than clamping plate 32, the first retractor device.In order to
Realize two-way guiding goods and ajust goods, the present embodiment push pedal 41 has two with for being arranged on the both sides of goods.When
When goods on cylinder mechanism 20 offsets docking location or occurs crooked, the second retractor device drives two push pedals 41 in time by goods
Thing is directed to docking location and ajusts goods.
Specifically, the second retractor device can both be located at the top of cylinder mechanism 20, cylinder mechanism 20 can also be located at
Lower section.In order to ensure it is attractive in appearance while realize roller be located at by the second retractor device to the secure support of push pedal 41, the present embodiment
In the support frame 10 of the lower section of mechanism 20, it is clear that push pedal 41 is located at the top of cylinder mechanism 20, and therefore, the present embodiment passes through
Gap between adjacent roller connects both.Further, the retractor device of the present embodiment second include the second motor and by
Second motor-driven second screw-nut body.Second screw-nut body includes horizontally disposed second leading screw 42, screw thread
Be connected to the second nut and connector 43 of the second leading screw 42, connector 43 be fixedly connected on the second nut and push pedal 41 it
Between.The movement of push pedal 41 can be driven in the process that the second nut moves horizontally, and then realizes the guiding to goods.In order to reduce
The quantity of driving source, the present embodiment design second motor while drive two the second screw-nut bodies, two second
The second leading screw 42 in thick stick nut body is connected by shaft coupling, and the thread rotary orientation on two the second leading screws 42 is on the contrary, second
Motor can realize the synchronous opposite or movement backwards of two push pedals 41 during driving two the second leading screws 42 to rotate.When
So, two push pedals 41 can be also operated alone by two the second motors in the utility model other embodiment, and here is omitted.
Although rotated using roller backstop push pedal 41 to reach the effect of the second nut rotation of limitation, in order to ensure machine
The smoothness and stability of structure operating, the both ends of the present embodiment design push pedal 41 are extended cylinder mechanism 20 and are slidably connected to
Support frame 10, as shown in figure 1, being provided with the second sliding block at the both ends of push pedal 41 and being formed in support frame 10 corresponding sliding
Rail, under this scheme, push pedal 41 can cover the total length of the abutting direction of cylinder mechanism 20, thus be more conducive to realize to different type goods
Guiding.
The goods that the design of position-limit mechanism 50 need to be avoided and transported in the utility model interferes, and its concrete structure can join
The first retractor device stated, the second retractor device are admitted to, only vertical lifting need to be changed into from transversal stretching.To simplify structure,
The present embodiment position-limit mechanism 50 specifically includes two planar linkage mechanisms 51 and be correspondingly arranged with planar linkage mechanism 51
Three retractor devices 52, reference picture 5 understand.Two planar linkage mechanisms 51 are located at front and rear the two of the abutting direction of cylinder mechanism 20 respectively
Side, to realize the protection of both direction.Each planar linkage mechanism 51 be respectively positioned on the same side of cylinder mechanism 20 two slide rails it
Between, it has been effectively ensured integrally-built compact.3rd retractor device 52 is realized and driven by the rocking bar of hinge plane linkage 51
The connecting rod lifting of dynamic planar linkage mechanism 51.Certainly, to ensure the transhipment for not interfering goods, extreme lower position is dropped in connecting rod
When, it is less than roller；When connecting rod rises to extreme higher position, it plays spacing effect higher than roller.Specifically, the present embodiment
In the 3rd retractor device 52 employ existing electric pushrod to realize, and the expansion link of specific design electric pushrod and rocking bar are cut with scissors
Connect, as shown in Figure 5.
More than, only it is preferred embodiment of the present utility model, is not the limit for making other forms to the utility model
System, any person skilled in the art are changed or are modified as equivalent variations possibly also with the technology contents of the disclosure above
Equivalent embodiment.But it is every without departing from the content of the technical scheme of the utility model, according to the technical essence of the utility model pair
Any simple modification, equivalent variations and the remodeling that above example is made, still fall within the protection model of technical solutions of the utility model
Enclose.
Claims (10)
1. a kind of roller transfer humanoid robot, including support frame and the cylinder mechanism being located in the support frame, its feature
It is, in addition to is located in the support frame：
Clamping device, for along drum length direction goods clamping,
Guiding mechanism, for guiding the goods to docking location,
Position-limit mechanism, for preventing the goods from inclining to along the cylinder mechanism abutting direction.
2. roller transfer humanoid robot according to claim 1, it is characterised in that the clamping device includes clamping plate, peace
Frame up frame and the first retractor device：
The installation frame has two, and is located at the both sides of the cylinder mechanism,
First retractor device, it is located at the installation frame and is provided with the clamping plate, for drives described in the clamping plate clamping
Goods.
3. roller transfer humanoid robot according to claim 2, it is characterised in that the retractor device includes:
First motor,
Fork-shearing frame, its free end are provided with the clamping plate,
First screw-nut body, the fork-shearing frame is driven to stretch under the driving of first motor.
4. roller transfer humanoid robot according to claim 3, it is characterised in that first retractor device also includes using
In the travel switch whether the detection clamping plate is held in place.
5. roller transfer humanoid robot according to claim 4, it is characterised in that the travel switch is located at the scissor
On frame and positioned at the inner side of the clamping plate, the upper articulation of the clamping plate is in the fork-shearing frame, when the clamping plate collides the goods
The travel switch is triggered when thing rotates, elastic supporting member for supporting optical member is provided between the bottom of the clamping plate and the fork-shearing frame, is used
In the reset of the clamping plate.
6. roller transfer humanoid robot according to claim 2, it is characterised in that the guiding mechanism includes push pedal, the
Two retractor devices：
The push pedal has two, and is laid less than the clamping plate, the first retractor device,
Second retractor device, is located at the support frame, for driving the push pedal to guide the goods to the docking
Position.
7. roller transfer humanoid robot according to claim 6, it is characterised in that the push pedal, the second retractor device point
Not Wei Yu the cylinder mechanism top, lower section, and connected by gap between the adjacent roller.
8. roller transfer humanoid robot according to claim 6, it is characterised in that second retractor device includes second
Motor and by the described second motor-driven second screw-nut body.
9. roller transfer humanoid robot according to claim 6, it is characterised in that extend described in the both ends of the push pedal
Cylinder mechanism is simultaneously slidably connected to the support frame.
10. roller transfer humanoid robot according to any one of claim 1 to 9, it is characterised in that the position-limit mechanism
Including planar linkage mechanism, the 3rd retractor device：
Planar linkage mechanism has two, and is located at the front and rear sides of the cylinder mechanism abutting direction,
3rd retractor device, the rocking bar of the planar linkage mechanism is hinged, for driving the connecting rod liter of the planar linkage mechanism
Drop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721156046.8U CN207209153U (en) | 2017-09-11 | 2017-09-11 | A kind of roller transfer humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721156046.8U CN207209153U (en) | 2017-09-11 | 2017-09-11 | A kind of roller transfer humanoid robot |
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| CN207209153U true CN207209153U (en) | 2018-04-10 |
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ID=61823969
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| CN201721156046.8U Active CN207209153U (en) | 2017-09-11 | 2017-09-11 | A kind of roller transfer humanoid robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600874A (en) * | 2017-09-11 | 2018-01-19 | 青岛海通机器人***有限公司 | A kind of roller transfer humanoid robot |
| CN108423398A (en) * | 2018-06-11 | 2018-08-21 | 珠海格力智能装备有限公司 | Material conveying mechanism |
| CN108832518A (en) * | 2018-07-17 | 2018-11-16 | 国网山东省电力公司济南市长清区供电公司 | A kind of 10kV switch cabinet phasing handcart |
| CN109533601A (en) * | 2018-11-20 | 2019-03-29 | 顺丰科技有限公司 | A kind of anti-tipping apparatus |
| CN114132697A (en) * | 2021-09-16 | 2022-03-04 | 德马科技集团股份有限公司 | Goods clamping and anti-toppling device and shuttle vehicle |
-
2017
- 2017-09-11 CN CN201721156046.8U patent/CN207209153U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600874A (en) * | 2017-09-11 | 2018-01-19 | 青岛海通机器人***有限公司 | A kind of roller transfer humanoid robot |
| CN107600874B (en) * | 2017-09-11 | 2023-08-15 | 苏州海通机器人***有限公司 | Roller transfer type robot |
| CN108423398A (en) * | 2018-06-11 | 2018-08-21 | 珠海格力智能装备有限公司 | Material conveying mechanism |
| CN108832518A (en) * | 2018-07-17 | 2018-11-16 | 国网山东省电力公司济南市长清区供电公司 | A kind of 10kV switch cabinet phasing handcart |
| CN108832518B (en) * | 2018-07-17 | 2019-07-26 | 国网山东省电力公司济南市长清区供电公司 | A kind of 10kV switch cabinet phasing handcart |
| CN109533601A (en) * | 2018-11-20 | 2019-03-29 | 顺丰科技有限公司 | A kind of anti-tipping apparatus |
| CN109533601B (en) * | 2018-11-20 | 2024-02-20 | 顺丰科技有限公司 | Anti-toppling device |
| CN114132697A (en) * | 2021-09-16 | 2022-03-04 | 德马科技集团股份有限公司 | Goods clamping and anti-toppling device and shuttle vehicle |
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| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: 266101 Qingdao, Shandong Province B3, 10 / F, block B, Qingdao International Innovation Park, No. 169, Songling Road, Laoshan District, Qingdao, Shandong Province Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |
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| CP03 | Change of name, title or address |