CN102642199A - Robot for carrying warehouses - Google Patents
Robot for carrying warehouses Download PDFInfo
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- CN102642199A CN102642199A CN2012101395216A CN201210139521A CN102642199A CN 102642199 A CN102642199 A CN 102642199A CN 2012101395216 A CN2012101395216 A CN 2012101395216A CN 201210139521 A CN201210139521 A CN 201210139521A CN 102642199 A CN102642199 A CN 102642199A
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Abstract
The invention discloses a robot for carrying warehouses, which comprises a frame and a ground moving mechanism mounted on the frame; a supporting board and a lifting mechanism connected between the frame and the supporting board; a translating board and a translating mechanism, a rotating board and a rotating mechanism connected between the supporting board and the translating board; and an actuating mechanism connected onto the rotating board. The robot can achieve clipping, carrying and storing of goods, and is a device for replacing the existing manual goods carrying, human manual labor is reduced, and production efficiency is improved. The robot adjusts the height of a mechanical claw working platform through the lifting mechanism, so that goods can be carried to storage places with different heights, and automatic production of the whole process from goods carrying to storage is achieved.
Description
Technical field
The present invention relates to a kind of warehouse transfer robot, can be used for the arrangement of warehouse article carrying and article.
Background technology
Build under the historical background of high speed development in Chinese national economy, urbanization construction and science and technology, what automated production was more and more faster comes among the life, especially need for the management of articles from the storeroom.The goods major part is that volume is big, weight big, the surface is dirty in the present warehouse; The working environment in warehouse is relatively poor, is unfavorable for that people work, as being stained with greasy dirt above the parts many in the workshop of factory; Also retain some burrs above the part that has, be unfavorable for a dead lift.Simultaneously, goods is put and also need be consumed suitable a part of manpower in the warehouse.Therefore, a kind of novel transfer robot that can replace manual work to accomplish warehouse carrying work of people's exigence.
The warehouse transfer robot; A kind of as transfer robot; Can catch different sizes and difform goods through opening of mechanical paw, like some irregular machine components, goods, the cylindric and spherical body of packing moulding and the article that some are scrappy etc. with tightening.The warehouse transfer robot more and more receives people's attention as a kind of robot apparatus that in the warehouse, carries out transport operation.The present invention is primarily aimed at current demand, provides a kind of ability to substitute artificial warehouse transfer robot.
Summary of the invention
Technical problem to be solved by this invention provide a kind of be motive force with the motor, be the warehouse carrying implement robot of transmission mechanism with the gears engaged.This robot can be used for the carrying of articles from the storeroom and deposits, and replaces human work.
The technical scheme that the present invention adopted is: a kind of warehouse transfer robot comprises: vehicle frame is installed in the ground motion mechanism on the vehicle frame; Gripper shoe is connected the elevating mechanism between vehicle frame and the gripper shoe; Translation plates is connected the translation mechanism between gripper shoe and the translation plates; Rotor plate is connected the rotating mechanism between rotor plate and the translation plates; Be connected the executing agency on the rotor plate.
The technique effect that the present invention realized is: in the warehouse; The present invention is through motor driven gear mechanism and linkage, realize goods gripping, carry and deposit, be the replacement device that existing manual is transported goods; Reduce people's manual labor, improved production efficiency.This money warehouse transfer robot can also be regulated the height of mechanical paw workbench through elevating mechanism, thereby can realize the storage place of article carrying to different height from freight handling to the full process automatization production of depositing.
Description of drawings
Through the more specifically explanation of the preferred embodiments of the present invention shown in the accompanying drawing, above-mentioned and other purpose, characteristic and advantage of the present invention will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part.Painstakingly do not draw accompanying drawing, focus on illustrating purport of the present invention by actual size equal proportion convergent-divergent.
Fig. 1-Fig. 4 is the warehouse transfer robot overall structure sketch map shown in the different angles.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated.
Warehouse of the present invention transfer robot mainly comprises with the lower part: vehicle frame 1 is installed in the ground motion mechanism 2 on the vehicle frame 1; Gripper shoe 3 is connected the elevating mechanism 4 between vehicle frame 1 and the gripper shoe 3; Translation plates 5 is connected the translation mechanism 6 between gripper shoe 3 and the translation plates 5; Rotor plate 7 is connected the rotating mechanism 8 between rotor plate 7 and the translation plates 5; Be connected the executing agency 9 on the rotor plate 7.Below will be elaborated to each mechanism respectively.
Referring to Fig. 2, said ground motion mechanism 2 comprises and rotates the driving wheel 21 that is arranged on vehicle frame 1 bottom, craspedodrome electric rotating machine 22, and craspedodrome electric rotating machine 22 connects driving wheel 21 through gear reduction box 23 and rotating shaft; Also comprise: two deflecting rollers 24; The steering spindle 25 of two " L " types, every deflecting roller 24 are rotatably connected on a section an of steering spindle 25 respectively, and another section rotation that does not connect deflecting roller 24 of said steering spindle 25 is arranged on the vehicle frame 1; Steering rack 26, the two ends of this steering rack 26 respectively with every steering spindle 25 another the section be rotationally connected; With the tooth sector 27 of steering rack 26 engagement, what drive tooth sector 27 turns to electric rotating machine 28, and the said electric rotating machine 28 that turns to is fixed on the vehicle frame 1.This steering mode structure is ingenious, connects through simple parts, and the rotational angle of two deflecting rollers 24 can guarantee identical.
Referring to Fig. 1; Said elevating mechanism 4 comprises: " X " type connecting rod secondary 41 that forms by being rotationally connected in the middle part of two connecting rods; According to the actual height demand, two secondary above (for example three pairs among the figure) said " X " type connecting rod secondary 41 is in turn connected to form " X " type link assembly; Bottom one end that is somebody's turn to do " X " type link assembly is fixedly attached to vehicle frame 1 top, and the other end is slidingly connected on the drop shot 42 and is connected to the output of up-down linear electric motors 43, and drop shot 42 and up-down linear electric motors 43 all are fixed on vehicle frame 1 top; Top one end of " X " type link assembly is fixed to the bottom of gripper shoe 3, and the other end is slidingly connected on the upper slide bar 44, and upper slide bar 44 is fixed on the bottom of gripper shoe 3.Above-mentioned elevating mechanism 4 forms the scissors jack structure.
Referring to Fig. 4, said translation mechanism 6 comprises the cylindrical guide 61 that is fixed on gripper shoe 3 tops, the slide block 62 that is fixed on translation plates 5 bottoms and cooperates with cylindrical guide 61, and said slide block 62 is slidingly arranged on the cylindrical guide 61; Also comprise the translation tooth bar 63 that is fixed on gripper shoe 3 tops, with the shiftable gear 64 of translation tooth bar 63 engagements; The translation electric rotating machine 65 that is fixedly connected with shiftable gear 64, said translation electric rotating machine 65 is fixed on the translation plates 5.
Referring to Fig. 3, said rotating mechanism 8 comprises the rotating shaft 81 that is fixed on translation plates 5 tops, and rotor plate 7 is rotatably connected in the rotating shaft 81; Be fixed on the internal gear 82 of rotor plate 7 bottoms, with the transmitting gear 83 of said internal gear 82 engagements, with the rotation electric rotating machine 84 that said transmitting gear 83 is fixedly connected, said rotation electric rotating machine 84 is fixed on translation plates 5 tops.
Referring to Fig. 2; Said executing agency 9 comprises two mechanical claws 91 that are rotatably connected on rotor plate 7 tops; Be fixed on the execution linear electric motors 92 at rotor plate 7 tops; The output shaft of said execution linear electric motors 92 is fixed to branch plectrum 93, and plectrum 93 was rotationally connected respectively to every mechanical claw 91 through two braces 94 in said minute.
Above warehouse transfer robot has following freedom of motion: the first, and craspedodrome electric rotating machine 22 drives driving wheel 21, and then drives robot at ground motion; The second, turn to electric rotating machine 28 to drive tooth sectors 27, make steering rack 26 translations, the steering spindle 25 of two " L " types is rotated, and two deflecting rollers 24 rotate predetermined angulars, realize that robot turns on ground; The 3rd, up-down linear electric motors 43 promote " X " type link assembly, drive gripper shoe 3 and go up and down; The 4th, translation electric rotating machine 65 drives 63 motions of shiftable gear 64 relative translation tooth bars, and then slide block 62 slides on cylindrical guide 61, makes translation plates 5 relative gripper shoes 3 slide; The 5th, rotate electric rotating machine 84 and drive transmitting gear 83, and then drive internal gear 82, make rotor plate 7 relative translation plates 5 rotate; The 6th, carry out linear electric motors 92 and drive and divide plectrums 93 advance and retreat, promote brace and opened or drew in 94 minutes, make two mechanical claw 91 foldings.
The typical operation of this warehouse transfer robot is: the first step, and opening power, the locus of the relative mechanical claw 91 of judgement goods, ground motion mechanism 2 makes the robot motion near goods; Second the step, elevating mechanism 4 make mechanical claw 91 move to goods be complementary the height; In the 3rd step, mechanical claw 91 opens, and translation mechanism 6 promotion mechanical claws 91 stretch out and near goods, mechanical claw 91 closures are also caught goods, and translation mechanism 6 drives mechanical claws 91 and goods withdrawal; The 4th step; Robot pose conversion; For example, elevating mechanism 4 drives mechanical claw 91 and goods goes up and down, and rotating mechanism 8 drives mechanical claw 91 and goods rotates; Ground motion mechanism 2 drives motion mode or aggregate motion mode alone such as mechanical claw 91 and goods advance and retreat, until moving to the target location; In the 5th step, translation mechanism 6 promotes mechanical claw 91 and goods stretches out, and mechanical claw 91 opens and unloads goods, and translation mechanism 6 promotes mechanical claw 91 withdrawals.
Though the present invention with preferred embodiment openly as above; But it is not to be used for limiting claim; Any those skilled in the art are not breaking away from the spirit and scope of the present invention; Can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that claim of the present invention was defined.
Claims (7)
1. warehouse transfer robot, it is characterized in that comprising: vehicle frame is installed in the ground motion mechanism on the vehicle frame; Gripper shoe is connected the elevating mechanism between vehicle frame and the gripper shoe; Translation plates is connected the translation mechanism between gripper shoe and the translation plates; Rotor plate is connected the rotating mechanism between rotor plate and the translation plates; Be connected the executing agency on the rotor plate.
2. warehouse as claimed in claim 1 transfer robot is characterized in that, said ground motion mechanism comprises: rotate the driving wheel that is arranged on bottom of frame, and the craspedodrome electric rotating machine, said craspedodrome electric rotating machine connects driving wheel through gear reduction box and rotating shaft.
3. warehouse as claimed in claim 1 transfer robot is characterized in that, said ground motion mechanism comprises: two deflecting rollers; The steering spindle of two " L " types, every deflecting roller are rotatably connected on a section an of steering spindle respectively, and another section rotation that does not connect deflecting roller of said steering spindle is arranged on the vehicle frame; Steering rack, the two ends of this steering rack respectively with every steering spindle another the section be rotationally connected; With the tooth sector of steering rack engagement, drive the electric rotating machine that turns to of tooth sector, the said electric rotating machine that turns to is fixed on the vehicle frame.
4. warehouse as claimed in claim 1 transfer robot is characterized in that, said elevating mechanism comprises: by " X " type connecting rod pair that two connecting rod middle parts are rotationally connected and form, two secondary the above " X " type connecting rod pair are in turn connected to form " X " type link assembly; Bottom one end that is somebody's turn to do " X " type link assembly is fixedly attached to the vehicle frame top, and the other end is slidingly connected on the drop shot and is connected to the output of up-down linear electric motors, and drop shot and up-down linear electric motors all are fixed on the vehicle frame top; Top one end of " X " type link assembly is fixed to the bottom of gripper shoe, and the other end is slidingly connected on the upper slide bar, and upper slide bar is fixed on the bottom of gripper shoe.
5. warehouse as claimed in claim 1 transfer robot; It is characterized in that; Said translation mechanism comprises the cylindrical guide that is fixed on the gripper shoe top, the slide block that is fixed on the translation plates bottom and cooperates with cylindrical guide, and said slide block is slidingly arranged on the cylindrical guide; Be fixed on the translation tooth bar at gripper shoe top, with the shiftable gear of translation tooth bar engagement, the translation electric rotating machine that is fixedly connected with shiftable gear, said translation electric rotating machine is fixed on the translation plates.
6. warehouse as claimed in claim 1 transfer robot is characterized in that said rotating mechanism comprises the rotating shaft that is fixed on the translation plates top, and rotor plate is rotatably connected in the rotating shaft; Be fixed on the internal gear of rotor plate bottom, with the transmitting gear of said internal gear engagement; The rotation electric rotating machine that is fixedly connected with said transmitting gear, said rotation electric rotating machine is fixed on the translation plates top.
7. warehouse as claimed in claim 1 transfer robot; It is characterized in that; Said executing agency comprises two mechanical claws that are rotatably connected on the rotor plate top; Be fixed on the execution linear electric motors at rotor plate top, the output shaft of said execution linear electric motors is fixed to the branch plectrum, and plectrum was rotationally connected respectively to every mechanical claw through two braces in said minute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101395216A CN102642199A (en) | 2012-05-07 | 2012-05-07 | Robot for carrying warehouses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101395216A CN102642199A (en) | 2012-05-07 | 2012-05-07 | Robot for carrying warehouses |
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| CN102642199A true CN102642199A (en) | 2012-08-22 |
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| CN2012101395216A Pending CN102642199A (en) | 2012-05-07 | 2012-05-07 | Robot for carrying warehouses |
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Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406894A (en) * | 2013-07-17 | 2013-11-27 | 吴亚平 | Simple robot |
| CN103786006A (en) * | 2014-01-18 | 2014-05-14 | 合肥工业大学 | Four-freedom-degree fine adjustment device |
| CN104626094A (en) * | 2014-12-28 | 2015-05-20 | 宁波市海达塑料机械有限公司 | Novel industrial transportation robot |
| CN104723318A (en) * | 2015-03-10 | 2015-06-24 | 苏州英达瑞机器人科技有限公司 | Autonomous working robot system |
| CN105082180A (en) * | 2015-08-04 | 2015-11-25 | 杭州华能大坝安全工程技术有限公司 | Tunnel detection robot and detection method |
| CN105127974A (en) * | 2015-09-22 | 2015-12-09 | 哈尔滨工业大学 | Intelligent mobile operation arm having mechanical testing function |
| CN105540251A (en) * | 2016-01-25 | 2016-05-04 | 浙江工业大学 | Combined grabbing and conveying matched device of fungus mushroom cultivation box |
| CN104589302B (en) * | 2014-12-28 | 2016-06-29 | 宁波市海达塑料机械有限公司 | A kind of ball type object carrier |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN106114175A (en) * | 2016-07-22 | 2016-11-16 | 浙江捷众科技股份有限公司 | A kind of walking mechanism picking up rubbish robot |
| CN106426077A (en) * | 2016-10-14 | 2017-02-22 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
| CN106475991A (en) * | 2016-12-30 | 2017-03-08 | 安徽清水岩生态科技有限公司 | A kind of walking mechanism with holding function |
| CN106618907A (en) * | 2017-01-05 | 2017-05-10 | 首都医科大学 | Assist wheelchair transfer device |
| CN106914881A (en) * | 2015-12-25 | 2017-07-04 | 天津威科特科技有限公司 | Load-carrying transfer robot high |
| CN106965152A (en) * | 2017-03-24 | 2017-07-21 | 成都蒲江珂贤科技有限公司 | A kind of workshop mobile manipulator |
| CN107401471A (en) * | 2017-09-12 | 2017-11-28 | 牛翠芹 | A kind of hydro-electric power generating equipment with cleaning impurity function |
| CN107571257A (en) * | 2017-08-04 | 2018-01-12 | 广东美的智能机器人有限公司 | The control method of robot, the control system of robot and robot |
| CN107971104A (en) * | 2017-11-24 | 2018-05-01 | 朱银娥 | A kind of afforestation work tool |
| CN109291034A (en) * | 2018-10-29 | 2019-02-01 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of carrying mechanism of Medical Devices transfer robot |
| CN109434845A (en) * | 2018-10-24 | 2019-03-08 | 重庆科技学院 | A kind of home intelligent is accompanied and attended to system and its application method |
| CN109591028A (en) * | 2018-12-29 | 2019-04-09 | 丁风海 | A kind of anti-terrorism robot creeped for pipeline |
| CN109625623A (en) * | 2018-12-25 | 2019-04-16 | 宇晓洁 | A kind of communication network cable loading transporting equipment |
| CN109775222A (en) * | 2019-03-15 | 2019-05-21 | 吕晓阳 | A kind of intelligent repository transportation robot |
| CN109878957A (en) * | 2019-03-07 | 2019-06-14 | 襄阳市科瑞杰医疗器械有限公司 | Sample transportation robot |
| CN110013196A (en) * | 2019-04-15 | 2019-07-16 | 昆明理工大学 | A kind of household cleaning transfer robot |
| CN111037848A (en) * | 2020-01-10 | 2020-04-21 | 东莞市磐锐机电科技有限公司 | Novel connecting device |
| CN112936239A (en) * | 2021-03-19 | 2021-06-11 | 丁斌 | Multidirectional adjustable welding mechanical arm structure and use method thereof |
| CN115432624A (en) * | 2022-11-08 | 2022-12-06 | 杭州富阳泳富机械有限公司 | Lifting carrier for carrying goods |
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Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406894B (en) * | 2013-07-17 | 2016-04-06 | 吴亚平 | Simple robot |
| CN103406894A (en) * | 2013-07-17 | 2013-11-27 | 吴亚平 | Simple robot |
| CN103786006A (en) * | 2014-01-18 | 2014-05-14 | 合肥工业大学 | Four-freedom-degree fine adjustment device |
| CN104626094A (en) * | 2014-12-28 | 2015-05-20 | 宁波市海达塑料机械有限公司 | Novel industrial transportation robot |
| CN104589302B (en) * | 2014-12-28 | 2016-06-29 | 宁波市海达塑料机械有限公司 | A kind of ball type object carrier |
| CN104723318A (en) * | 2015-03-10 | 2015-06-24 | 苏州英达瑞机器人科技有限公司 | Autonomous working robot system |
| CN105082180A (en) * | 2015-08-04 | 2015-11-25 | 杭州华能大坝安全工程技术有限公司 | Tunnel detection robot and detection method |
| CN105127974A (en) * | 2015-09-22 | 2015-12-09 | 哈尔滨工业大学 | Intelligent mobile operation arm having mechanical testing function |
| CN106914881A (en) * | 2015-12-25 | 2017-07-04 | 天津威科特科技有限公司 | Load-carrying transfer robot high |
| CN105540251A (en) * | 2016-01-25 | 2016-05-04 | 浙江工业大学 | Combined grabbing and conveying matched device of fungus mushroom cultivation box |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
| CN106114175A (en) * | 2016-07-22 | 2016-11-16 | 浙江捷众科技股份有限公司 | A kind of walking mechanism picking up rubbish robot |
| CN106426077A (en) * | 2016-10-14 | 2017-02-22 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
| CN106475991A (en) * | 2016-12-30 | 2017-03-08 | 安徽清水岩生态科技有限公司 | A kind of walking mechanism with holding function |
| CN106618907A (en) * | 2017-01-05 | 2017-05-10 | 首都医科大学 | Assist wheelchair transfer device |
| CN106965152A (en) * | 2017-03-24 | 2017-07-21 | 成都蒲江珂贤科技有限公司 | A kind of workshop mobile manipulator |
| CN107571257A (en) * | 2017-08-04 | 2018-01-12 | 广东美的智能机器人有限公司 | The control method of robot, the control system of robot and robot |
| CN107571257B (en) * | 2017-08-04 | 2020-05-19 | 广东美的智能机器人有限公司 | Robot control method, robot control system and robot |
| CN107401471A (en) * | 2017-09-12 | 2017-11-28 | 牛翠芹 | A kind of hydro-electric power generating equipment with cleaning impurity function |
| CN107971104A (en) * | 2017-11-24 | 2018-05-01 | 朱银娥 | A kind of afforestation work tool |
| CN109434845A (en) * | 2018-10-24 | 2019-03-08 | 重庆科技学院 | A kind of home intelligent is accompanied and attended to system and its application method |
| CN109291034A (en) * | 2018-10-29 | 2019-02-01 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of carrying mechanism of Medical Devices transfer robot |
| CN109291034B (en) * | 2018-10-29 | 2024-04-26 | 南京中律信息科技有限公司 | Handling mechanism of medical equipment handling robot |
| CN109625623A (en) * | 2018-12-25 | 2019-04-16 | 宇晓洁 | A kind of communication network cable loading transporting equipment |
| CN109591028B (en) * | 2018-12-29 | 2021-12-14 | 徐州启峰智能科技有限公司 | Anti-terrorist robot for pipeline crawling |
| CN109591028A (en) * | 2018-12-29 | 2019-04-09 | 丁风海 | A kind of anti-terrorism robot creeped for pipeline |
| CN109878957A (en) * | 2019-03-07 | 2019-06-14 | 襄阳市科瑞杰医疗器械有限公司 | Sample transportation robot |
| CN109775222A (en) * | 2019-03-15 | 2019-05-21 | 吕晓阳 | A kind of intelligent repository transportation robot |
| CN110013196A (en) * | 2019-04-15 | 2019-07-16 | 昆明理工大学 | A kind of household cleaning transfer robot |
| CN110013196B (en) * | 2019-04-15 | 2024-05-28 | 昆明理工大学 | Household cleaning and carrying robot |
| CN111037848A (en) * | 2020-01-10 | 2020-04-21 | 东莞市磐锐机电科技有限公司 | Novel connecting device |
| CN112936239A (en) * | 2021-03-19 | 2021-06-11 | 丁斌 | Multidirectional adjustable welding mechanical arm structure and use method thereof |
| CN115432624A (en) * | 2022-11-08 | 2022-12-06 | 杭州富阳泳富机械有限公司 | Lifting carrier for carrying goods |
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Application publication date: 20120822 |