CN209480716U - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
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- CN209480716U CN209480716U CN201920076318.6U CN201920076318U CN209480716U CN 209480716 U CN209480716 U CN 209480716U CN 201920076318 U CN201920076318 U CN 201920076318U CN 209480716 U CN209480716 U CN 209480716U
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- clamping jaw
- transfer robot
- lifting support
- cylinder
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Abstract
The utility model discloses a kind of transfer robots, including moving frame, lifting support, lift drive mechanism and dynamical system are provided on the moving frame, the lifting support is connected with lift drive mechanism, the first clamping jaw and the second clamping jaw are provided on the lifting support, grasping part is provided between first clamping jaw and the second clamping jaw, first clamping jaw and the second clamping jaw are connected with dynamical system.First clamping jaw and the second clamping jaw can clamp cargo, lift drive mechanism can be used for driving the lifting of the first clamping jaw and the second clamping jaw, realize lifting and putting down for cargo, moving frame is moved to target position, cargo is transported to specified position to realize, robot can try the carrying of lower cargo, substitute hand labor, it is more efficient, artificial demand is reduced, cost of labor is reduced.
Description
Technical field
The utility model relates to haulage equipment fields, and in particular to a kind of transfer robot.
Background technique
With the development of logistic industry, cargo handling efficiency increasingly by the attention of logistics company, carry by traditional cargo
By manual handling, inefficiency, cost of labor is high.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of transfer robots, realize the automatic transporting of cargo,
Handling efficiency is improved, and reduces cost of labor.
The utility model technical scheme applied to solve the technical problem is: a kind of transfer robot, including moving frame,
Lifting support, lift drive mechanism and dynamical system, the lifting support and elevator drive machine are provided on the moving frame
Structure is connected, and the first clamping jaw and the second clamping jaw are provided on the lifting support, is arranged between first clamping jaw and the second clamping jaw
There is grasping part, first clamping jaw and the second clamping jaw are connected with dynamical system.
Further, the dynamical system includes two cylinders and the air supply system that connect with cylinder, the cylinder
Cylinder body is fixedly mounted on lifting support, and the piston rod of two cylinders is fixedly connected with the first clamping jaw and the second clamping jaw respectively.
Further, the air supply system includes air pump and gas cylinder, and air pump and gas cylinder are fixedly mounted on moving frame,
The air pump is connected by pipeline with gas cylinder, and the gas cylinder is connected with two snorkels, and every snorkel is connected with reversal valve, institute
Two outlets for stating reversal valve are connected to by pipeline with the both ends of cylinder.
Further, the lift drive mechanism includes lifting motor, and the lifting motor is connected with vertical screw rod, institute
It states screw rod to be threadedly engaged with lifting support, lifting support is slidably matched in the vertical direction with moving frame.
Further, the two sides of the moving frame bottom are provided with crawler belt, and the crawler belt is driven by movable motor.
Further, the lower surface of the lifting support is provided with the first ultrasonic sensor.
Further, it is provided with the first photoelectric sensor, the second ultrasonic sensor below the grasping part and takes the photograph
As head.
Further, the lateral wall of first clamping jaw and the second clamping jaw is provided with the second photoelectric sensor.
Further, first clamping jaw and the second clamping jaw are arc panel.
Further, the support tube of semi-circular shape is provided with below the grasping part.
Compared with prior art, the utility model has the beneficial effects that the first clamping jaw and the second clamping jaw can clamp goods
Object, lift drive mechanism can be used for driving the lifting of the first clamping jaw and the second clamping jaw, realize lifting and putting down, moving machine for cargo
Frame is moved to target position, and cargo is transported to specified position to realize, robot can try the carrying of lower cargo, substitution
Hand labor, it is more efficient, artificial demand is reduced, cost of labor is reduced.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram in one direction of the utility model.
Fig. 2 is the stereoscopic schematic diagram in another direction of the utility model.
Appended drawing reference: 1-moving frame；2-lifting supports；3-the first clamping jaw；4-the second clamping jaw；5-cylinders；6—
Air pump；7-gas cylinders；8-snorkels；9-reversal valves；10-lifting motors；11-screw rods；12-crawler belts；13-movable motors；
14-the first ultrasonic sensor；15-the first photoelectric sensor；16-the second ultrasonic sensor；17-the second photoelectric sensing
Device；18-support tubes；19-cameras.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, a kind of transfer robot of the utility model, including moving frame 1, the moving frame 1
On be provided with lifting support 2, lift drive mechanism and dynamical system, the lifting support 2 is connected with lift drive mechanism, described
It is provided with the first clamping jaw 3 and the second clamping jaw 4 on lifting support 2, is provided with clamping between first clamping jaw 3 and the second clamping jaw 4
Space, first clamping jaw 3 and the second clamping jaw 4 are connected with dynamical system.
Moving frame 1 is the frame structure with enough support strengths, and the profiles such as aluminium alloy can be used and be welded.In order to
The movement for realizing moving frame 1 is provided with walking mechanism in the bottom of moving frame 1, and walking mechanism can be movable motor drive
Dynamic idler wheel etc. is provided with crawler belt 12 in the two sides of 1 bottom of moving frame, carries out to keep the movement of moving frame 1 more steady
It is big with the contact area on ground with 12, it is with being conducive to when carrying heavy goods held stationary mobile.Crawler belt 12 is driven by movable motor 13,
Movable motor 13 is fixedly mounted on moving frame 1, is connected by transmission shaft etc. with crawler belt 12, for driving crawler belt 12 to rotate.
First clamping jaw 3 and the second clamping jaw 4 cooperate, and can clamp cargo, in order to transport goods.First clamping jaw
3 and second the chucking power of clamping jaw 4 provided by dynamical system, dynamical system can drive the first clamping jaw 3 and the second clamping jaw 4 it is opposite or
Person's counter motion adapts to the cargo of different volumes, while dynamical system drives the first clamping jaw 3 to adjust the size of grasping part
Cargo is clamped with the second clamping jaw 4.First clamping jaw 3 and the second clamping jaw 4 can be the manipulator of existing various structures, it is preferred that the
One clamping jaw 3 and the second clamping jaw 4 are using the grip block of arc, and grip block is plastic plate, and clamping face is arcwall face, increase and cargo
Contact area can more steadily hold cargo tightly.
Lifting support 2 is for installing the first clamping jaw 3 and the second clamping jaw 4, and lift drive mechanism is for driving lifting support 2
Lower movement, so that the first clamping jaw 3 and the second clamping jaw 4 is driven to move up and down, after the first clamping jaw 3 and the second clamping jaw 4 clamping cargo,
Lift drive mechanism driving lifting support 2 moves up, and so that cargo is left ground or stacks of goods, by goods handling to specific bit
It when setting, is required according to the other side of cargo, can use lift drive mechanism driving lifting support 2 and move down, thus by cargo
Under be placed on the ground, also can use lift drive mechanism driving adjust lifting support 2 height, cargo is subjected to stacking.
Since dynamical system is mainly used for pushing the first clamping jaw 3 and the second clamping jaw 4 straight reciprocating in the horizontal direction,
Therefore, the power mechanism of the routine such as two hydraulic cylinders, two linear motors can be used in dynamical system, preferred as the utility model
Embodiment:
The dynamical system includes two cylinders 5 and the air supply system that connect with cylinder 5, and the cylinder body of the cylinder 5 is solid
On lifting support 2, the piston rod of two cylinders 5 is fixedly connected with the first clamping jaw 3 and the second clamping jaw 4 respectively for Dingan County.Cylinder 5
Medium is used air as, consumption hydraulic oil is not needed, cleanliness without any pollution is at low cost.The movement that air supply system is used for as cylinder 5
Power is provided, pushes piston mobile by the pressure of air, and then push the first clamping jaw 3 and the movement of the second clamping jaw 4.
Existing conventional pneumatic air supply system can be used in air supply system, it is preferred that the air supply system includes that air pump 6 is gentle
Bottle 7, air pump 6 and gas cylinder 7 are fixedly mounted on moving frame 1, and the air pump 6 is connected by pipeline with gas cylinder 7, the gas cylinder
7 are connected with two snorkels 8, and every snorkel 8 is connected with reversal valve 9, and two outlets of the reversal valve 9 pass through pipeline and gas
The both ends of cylinder 5 are connected to.The both ends of cylinder 5 are provided with stomata, and the stomata at 5 both ends of cylinder passes through pipeline and reversal valve 9 respectively
Two outlets, reversal valve 9 are used to control the flow path of air-flow, enter air-flow from the stomata of one end of cylinder 5, thus
Piston motion is pushed, gas is then discharged in the stomata of 5 other end of cylinder.The specific action process of this air supply system are as follows: air pump 6 will be outer
The air on boundary inputs gas cylinder 7, and air compresses in gas cylinder 7, to be provided with higher pressure, when goods clamping, and control commutation
Valve 9 acts, and air-flow is passed through cylinder 5, piston and piston rod is pushed to move towards the direction of cargo, until the first clamping jaw 3 and the
Two clamping jaws 4 are by goods clamping；When unclamping cargo, control reversal valve 9 is acted, and changes the admission line of air-flow, air-flow enters cylinder 5
Afterwards, it pushes piston and piston rod to move away from the direction of cargo, cargo can be unclamped.
Lift drive mechanism is also possible to the hydraulic cylinder being vertically arranged, linear motor etc., it is preferred that the elevator drive machine
Structure includes lifting motor 10, and the lifting motor 10 is connected with vertical screw rod 11, and the screw rod 11 is matched with 2 screw thread of lifting support
It closes, lifting support 2 is slidably matched in the vertical direction with moving frame 1.It the both ends of screw rod 11 can be by bearing etc. rotationally
It is mounted on moving frame 1, lifting motor 10 drives screw rod 11 to rotate, and screw rod 11 pushes lifting support 2 under the action of screw thread
Vertical motion.
In order to make cargo keep stablizing during carrying, the branch of semi-circular shape is provided with below the grasping part
Support cylinder 18.The bottom of cargo can be placed on support tube 18, when the first clamping jaw 3 and the second clamping jaw 4 being avoided to clamp unstable to cargo
Cargo falls on the ground and damages.
The lower surface of the lifting support 2 is provided with the first ultrasonic sensor 14, and the first ultrasonic sensor 14 is used for
The height of lifting support 2 is detected, in order to control the lifting of lifting support 2 to suitable height.It is set below the grasping part
It is equipped with the first photoelectric sensor 15, the second ultrasonic sensor 16 and camera 19.Camera 19 is used to shoot cargo, in order to
The position of cargo, the first photoelectric sensor 15 and the second ultrasonic sensor 1 are found for detecting robot between cargo
Distance, in order to which robot is shifted exactly to cargo position.The lateral wall of first clamping jaw 3 and the second clamping jaw 4
It is provided with the second photoelectric sensor 17, the second photoelectric sensor 17 is used to detect the position of the first clamping jaw 3 and the second clamping jaw 4, with
Convenient for preferably clamping cargo.
Automation control may be implemented in various movements due to being provided with above-mentioned various sensors, robot, realizes goods
The automated handling of object.Specifically, raspberry pie, k60 single-chip microcontroller, oled display screen etc., robot are also provided on moving frame 1
Observe the display case of surrounding objects in real time by the camera 19 immediately ahead of it, the image data warp that camera 19 is passed back
After crossing raspberry pie processing, the action message that raspberry pie will carry out robot is sent according to certain communication protocol by serial ports
To k60 single-chip microcontroller, k60 single-chip microcontroller controls robot motion after parsing the information that the raspberry pie received is sent again.When me
Set robot after the color of article for needing to carry will automatic identification setpoint color object, when recognizing object
After body, robot will sail to object, while controlling reversal valve 9 by relay and working.First photoelectric sensor, 15 He
Second ultrasonic sensor, 1 real-time monitoring robot is at a distance from object, when detecting that robot drives to before object,
Reversal valve 9, the first clamping jaw 3 and the second clamping jaw 4 close up crawl object, while lifting support 2 is started to work, and object is embraced
It rises.Embrace get object after, robot begins look for cargo placement area, and sails to placement area, detecting traveling
Robot begins look for next object for needing to carry after to placement area after putting object stacking well.
To sum up, robot realizes the automatic transporting of cargo, can be improved handling efficiency, reduces cost of labor.
Claims (10)
1. a kind of transfer robot, which is characterized in that including moving frame (1), lifting branch is provided on the moving frame (1)
Frame (2), lift drive mechanism and dynamical system, the lifting support (2) are connected with lift drive mechanism, the lifting support
(2) it is provided with the first clamping jaw (3) and the second clamping jaw (4) on, is provided with folder between first clamping jaw (3) and the second clamping jaw (4)
Space is held, first clamping jaw (3) and the second clamping jaw (4) are connected with dynamical system.
2. a kind of transfer robot according to claim 1, which is characterized in that the dynamical system includes two cylinders
(5) and with cylinder (5) cylinder body of the air supply system connecting, the cylinder (5) is fixedly mounted on lifting support (2), and two
The piston rod of cylinder (5) is fixedly connected with the first clamping jaw (3) and the second clamping jaw (4) respectively.
3. a kind of transfer robot according to claim 2, which is characterized in that the air supply system include air pump (6) and
Gas cylinder (7), air pump (6) and gas cylinder (7) are fixedly mounted on moving frame (1), and the air pump (6) passes through pipeline and gas cylinder
(7) it is connected, the gas cylinder (7) is connected with two snorkels (8), and every snorkel (8) is connected with reversal valve (9), the commutation
Two outlets of valve (9) are connected to by pipeline with the both ends of cylinder (5).
4. a kind of transfer robot according to claim 1, which is characterized in that the lift drive mechanism includes lifting electricity
Machine (10), the lifting motor (10) are connected with vertical screw rod (11), and the screw rod (11) is matched with lifting support (2) screw thread
It closes, lifting support (2) is slidably matched in the vertical direction with moving frame (1).
5. a kind of transfer robot according to claim 1, which is characterized in that the two sides of moving frame (1) bottom
It is provided with crawler belt (12), the crawler belt (12) is driven by movable motor (13).
6. a kind of transfer robot according to claim 1, which is characterized in that the lower surface of the lifting support (2) is set
It is equipped with the first ultrasonic sensor (14).
7. a kind of transfer robot according to claim 1, which is characterized in that be provided with below the grasping part
One photoelectric sensor (15), the second ultrasonic sensor (16) and camera (19).
8. a kind of transfer robot according to claim 1, which is characterized in that first clamping jaw (3) and the second clamping jaw
(4) lateral wall is provided with the second photoelectric sensor (17).
9. a kind of transfer robot according to claim 1, which is characterized in that first clamping jaw (3) and the second clamping jaw
It (4) is arc panel.
10. a kind of transfer robot according to claim 1, which is characterized in that be provided with below the grasping part
The support tube (18) of semi-circular shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920076318.6U CN209480716U (en) | 2019-01-17 | 2019-01-17 | A kind of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920076318.6U CN209480716U (en) | 2019-01-17 | 2019-01-17 | A kind of transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209480716U true CN209480716U (en) | 2019-10-11 |
Family
ID=68131437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920076318.6U Active CN209480716U (en) | 2019-01-17 | 2019-01-17 | A kind of transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209480716U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573596A (en) * | 2019-01-17 | 2019-04-05 | 攀枝花学院 | A kind of transfer robot |
| CN110759282A (en) * | 2019-11-12 | 2020-02-07 | 齐齐哈尔大学 | Intelligent hoisting apparatus |
| CN115043193A (en) * | 2022-07-22 | 2022-09-13 | 广州城市理工学院 | Pushing and conveying robot |
-
2019
- 2019-01-17 CN CN201920076318.6U patent/CN209480716U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573596A (en) * | 2019-01-17 | 2019-04-05 | 攀枝花学院 | A kind of transfer robot |
| CN110759282A (en) * | 2019-11-12 | 2020-02-07 | 齐齐哈尔大学 | Intelligent hoisting apparatus |
| CN115043193A (en) * | 2022-07-22 | 2022-09-13 | 广州城市理工学院 | Pushing and conveying robot |
| CN115043193B (en) * | 2022-07-22 | 2024-04-05 | 广州城市理工学院 | Pushing and conveying robot |
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