CN106241211B - Intelligent transportation system - Google Patents
Intelligent transportation system Download PDFInfo
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- CN106241211B CN106241211B CN201610759569.5A CN201610759569A CN106241211B CN 106241211 B CN106241211 B CN 106241211B CN 201610759569 A CN201610759569 A CN 201610759569A CN 106241211 B CN106241211 B CN 106241211B
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- 230000033001 locomotion Effects 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 40
- 230000005540 biological transmission Effects 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 210000004907 gland Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
It further include the conveying robot for transporting goods on conveyer belt the invention discloses intelligent transportation system, including conveyer belt, conveying robot is connected on Mobile base, and Mobile base can drive handling machinery hands movement.The present invention has following technical effect that smooth running by adopting the above technical scheme, running fix is accurate, bearing capacity is big, has brake function, integrates steering and walking, adapt to narrow place, working range is big, works without dead angle, snatch ability is strong, the high speed that can be realized cargo is carried, and the high speed that can be realized the cargo of weight 50kg or so is carried；Conveyer belt can arbitrarily be rotated, be moved, it can be achieved that any direction conveying, also can be realized repeatedly turning conveying.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to intelligent transportation system.
Background technique
With the continuous development of intelligent robot technology, field involved in robot is more and more extensive, in package packing machine
Industry, existing transfer robot are mostly fixed on one place, can not move freely work.In addition the machinery of existing robot
Hand working range is small, and there is dead angles for work, while transporting velocity is slow.
In the factory, the position that cargo is put is not fixed, because of landform reason, brings many fiber crops for cargo conveying, entrucking
It is tired, it is existing to turn to conveyer belt all and be fixed and arbitrarily change rotational angle.
The conveying for needing to turn in workshop at present is all assembled using a plurality of conveyer belt, while can not realize flexible turn
Curved conveying.
Summary of the invention
The technical problem to be solved by the present invention is in view of the above problems, providing a kind of smooth running, running fix is accurate, holds
It is big to carry power, there is brake function, integrates steering and walking, adapts to narrow place, working range is big, and work is without dead
Angle, snatch ability is strong, and the high speed that can be realized cargo is carried, and conveyer belt can
Arbitrarily to rotate, move, it can be achieved that any direction conveys, the intelligent delivery system of repeatedly turning conveying also can be realized
System.
To solve the above-mentioned problems, the invention adopts the following technical scheme: intelligent transportation system, including conveyer belt, also wrap
The conveying robot for transporting goods on conveyer belt is included, conveying robot is connected on Mobile base, and Mobile base can drive and remove
Transport robot movement.
It is further improvement of the present invention below:
Mobile base includes chassis, and there are two main driving wheel and two followers, two main transmissions for tray bottom rotation connection
It takes turns the line between axle center and the line between two follower axle center is arranged in a crossed manner.
It is further improved:
The chassis is equipped with the second reducing motors for driving main driving wheel to walk, and second reducing motors are respectively with two
A main driving wheel transmission connection.
It is further improved:
Second reducing motors are sequentially connected by the first chain and one of main driving wheel, and second reducing motors pass through the
Three chains and another main driving wheel are sequentially connected.
It is further improved:
Chassis is equipped with two main driving wheels of driving and two followers carry out the first reducing motors of 360 ° of steerings simultaneously.
It is further improved:
It is connected between two main driving wheels and two followers by the second chain drive, the second chain slows down by first
Motor drive connection, first reducing motors are used for while two main driving wheels and two followers being driven to do divertical motion.
It is further improved:
The main driving wheel includes columnar inner pedestal, and the outer sheath of inner pedestal is equipped with outer bearing carrier, inner bearing
Seat is pierced by by the both ends of outer bearing carrier, and inner pedestal and outer bearing carrier are rotatablely connected by bearing, and the outside of outer bearing carrier is fixed
It is connected with fixed plate, the upper end of outer bearing carrier is equipped with platen；
Steering sprocket is fixedly connected on the outside of the outer bearing carrier；
The end of the inner pedestal is fixedly connected with connector sleeve, the axis of the inner pedestal and axis of connector sleeve is vertical sets
It sets；
The both ends of connector sleeve are rotatably connected to an idler wheel respectively.
It is further improved:
Transmission shaft, the axis of transmission shaft and the axis weight of inner pedestal are rotatably connected to by bearing in the inner pedestal
Close, the both ends of transmission shaft are pierced by by inner pedestal respectively, and one end of transmission shaft is fixedly connected with drive sprocket, transmission shaft it is another
End is fixedly connected with the first cone pinion across connector sleeve；
It is fixedly connected in the connector sleeve there are two axle bed, is rotatably connected to a first axle, first axle in each axle bed
On be connected with electromagnetic clutch, first axle is sequentially connected by electromagnetic clutch and idler wheel；
The idler wheel includes steel ring, and the outer sheath of steel ring hangs layer equipped with polyurethane, is fixedly connected with steel disk on the inside of steel ring,
The center of steel disk is fixedly connected with bearing chamber, and bearing chamber is interior to be rotatably connected to the second axis, one end of the second axis by bearing
It is connect with electromagnetic clutch, the other end of the second axis is fixedly connected by end cap with bearing chamber.
It is further improved:
Conveying robot includes the lead screw being vertically arranged, and the outer sheath of lead screw is equipped with supporting plate, and supporting plate can be transported up and down along lead screw
It is dynamic, it is rotatably connected to handling arm above supporting plate, the end of handling arm is connected with sucker by cylinder；
The outer sheath of lead screw is equipped with sleeve, and supporting plate is fixedly connected with sleeve, and screw-threaded shaft elevator, lead screw liter are connected on lead screw
Drop machine and sleeve connection, screw-threaded shaft elevator can move up and down along lead screw with moving sleeve and then supporting plate driven to move up and down along lead screw；
The outside of the sleeve is rotatablely connected close to the position of splint upper surface by bearing and handling arm, and bearing holder (housing, cover) is mounted in
The outside of sleeve；
Circular orbit is equipped with below handling arm, track is fixedly connected on the upper surface of supporting plate；
The position that the outside of sleeve is located at handling arm upper surface is set with large bevel gear, large bevel gear and the fixed company of handling arm
It connects, cone pinion is engaged on large bevel gear, motor is connected on cone pinion, motor is fixedly connected with sleeve.
It is further improved:
Conveyer belt includes the chain support plate that can carry out any angle adjusting in the horizontal direction, and chain support plate is equipped with chain
Item, chain ring are arranged around the upper and lower surface of chain support plate, are fixedly connected with multiple delivery boards on the chain, and delivery board can be
The drive of chain is moved around the upper and lower surface of chain support plate.
It is further improved:
The chain support plate includes at least two piece of first support plate, passes through second between adjacent two piece of first support plate
Fagging is hinged, hinged by connecting shaft between the first support plate and the second support plate；
The lower surface of every piece of first support plate is fixed by a fixed bracket.
The present invention has following technical effect that smooth running by adopting the above technical scheme, and running fix is accurate, bearing capacity
Greatly, there is brake function, integrate steering and walking, adapt to narrow place, working range is big, works without dead angle, grabs
Act ability is strong, and the high speed that can be realized cargo is carried, and the high speed that can be realized the cargo of weight 50kg or so is carried；Conveyer belt can
Arbitrarily to rotate, move, it can be achieved that any direction conveys, repeatedly turning conveying also can be realized.
The utility model is described further with reference to the accompanying drawings and examples.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of Mobile base in the present invention；
Attached drawing 2 is another structural schematic diagram of the invention；
Attached drawing 3 is the top view of attached drawing 1；
Attached drawing 4 is the structural schematic diagram of universal wheel in the present invention；
Attached drawing 5 is the structural schematic diagram of idler wheel；
Attached drawing 6 is the left view of attached drawing 5；
Attached drawing 7 is the structural schematic diagram of conveying robot in the present invention；
Attached drawing 8 is structural schematic diagram of the invention；
Attached drawing 9 is the structural schematic diagram of the universal conveyer belt of the present invention；
Attached drawing 10 is the top view of attached drawing 1；
Attached drawing 11 is the structural schematic diagram of chain；
Attached drawing 12 is the top view of attached drawing 11；
Attached drawing 13 is the perspective view of chain；
Attached drawing 14 is the structural schematic diagram of delivery board；
Attached drawing 15 is the structural schematic diagram that chain is connect with delivery board；
Attached drawing 16 is the bottom view of attached drawing 15;
Attached drawing 17 is A partial enlarged view in attached drawing 9.
In figure: 1- drive sprocket；2- transmission shaft；3- inner pedestal；4- steering sprocket；5- gland；6- outer bearing carrier；7- electricity
Magnet clutch；8- idler wheel；9- axle bed；10- first axle；11- end cap；12- cone pinion；
13- bearing chamber；14- polyurethane hangs layer；The second axis of 15-；16- large bevel gear；17- fixed plate；18- connector sleeve；19-
Steel ring；20- steel disk；The chassis 21-；22- main driving wheel；23- follower；The first expansion tightening wheel of 24-；The second expansion tightening wheel of 25-；26-
Three expansion tightening wheels；27- directive wheel；28- Mobile base；29- conveying robot；
B1- bolt；B2- first reducing motors；B3- second reducing motors；The first chain of B4-；The second chain of B5-；B6-
Third chain；1a- sucker；2a- cylinder；3a- supporting plate；4a- handling arm；5a- cone pinion；6a- large bevel gear；7a- motor；
8a- screw-threaded shaft elevator；9a- lead screw；10a- sleeve；11a- track；12a- conveyer belt；13a- bearing；M- cargo；
1b- motor reducer；2b- bearing block；The second support plate of 3b-；The first support plate of 4b-；5b- chain；The first chain of 6b-
Guide bearing；7b- sprocket support；8b- drum-shaped tooth type shaft coupling；9b- sprocket wheel；10b- intermediate support；11b- fixes bracket；
12b- connecting shaft；The first universal wheel of 13b-；The second universal wheel of 14b-；15b- first axle；The second axis of 16b-；The support of 17b- chain
Plate；18b- vertical supports；19b- horizontal support；20b- the second chain guide bearing；21b- third universal wheel；22b- delivery board；
23b- rectangular slab；24b- semicircular plate；25b- hinge；26b- fixed plate；The 4th universal wheel of 27b-；
1c- first is linked；The second chain link of 2c-；3c- link block；The first pin shaft of 4c-；The second pin shaft of 5c-；The first chain of 101c-
Plate；The second carrier bar of 201c-.
Specific embodiment
Embodiment, shown in as shown in Figure 1, Figure 2, Fig. 3, Fig. 8, intelligent transportation system, including conveyer belt 12a,
It further include the conveying robot 29 for transporting goods on conveyer belt, conveying robot 29 is connected to Mobile base 28
On, Mobile base 28 can drive conveying robot 29 to move.
The Mobile base 28 includes chassis 21, and there are two main driving wheel 22 and two followers for the connection of 21 lower rotation of chassis
23, the line between line and two 23 axle center of follower between two 22 axle center of main driving wheel is arranged in a crossed manner.
The chassis 21 is equipped with second reducing motors B3, second reducing motors B3 for driving main driving wheel 22 to walk
Be sequentially connected by the first chain B4 and one of main driving wheel 22, second reducing motors B3 by third chain B6 with it is another
A main driving wheel 22 is sequentially connected.
Third expansion tightening wheel 26 and directive wheel 27 are sequentially connected on third chain B6.
The first expansion tightening wheel 24 is sequentially connected on first chain B4.
It is sequentially connected between two main driving wheels 22 and two followers 23 by the second chain B5, the second chain B5 passes through
First reducing motors B2 transmission connection, first reducing motors B2 are used for while driving two main driving wheels 22 and two followers 23
Do divertical motion.Second chain B5 can drive two main driving wheels 22 and two followers 23 to carry out 360 ° of steerings simultaneously.
As Figure 4-Figure 6, the main driving wheel 22 includes columnar inner pedestal 3, and the outer sheath of inner pedestal 3 is equipped with
Outer bearing carrier 6, inner pedestal 3 are pierced by by the both ends of outer bearing carrier 6, and inner pedestal 3 and outer bearing carrier 6 are rotated by bearing and connected
It connects, the outside of outer bearing carrier 6 is fixedly connected with fixed plate 17, and the upper end of outer bearing carrier 6 is equipped with gland 5.
The outside of the inner pedestal 3 is fixedly connected with steering sprocket 4.
The end of the inner pedestal 3 is fixedly connected with connector sleeve 18, the axis of inner pedestal 3 and the axis of connector sleeve 18
It is vertically arranged.
The both ends of connector sleeve 18 are rotatably connected to an idler wheel 8 respectively.
Transmission shaft 2, the axis of transmission shaft 2 and the axis of inner pedestal 3 are rotatably connected to by bearing in the inner pedestal 3
Line is overlapped, and the both ends of transmission shaft 2 are pierced by by inner pedestal 3 respectively, and one end of transmission shaft 2 is fixedly connected with drive sprocket 1, transmission
The other end of axis 2 passes through connector sleeve 18 and is fixedly connected with the first cone pinion 12.
It is fixedly connected in the connector sleeve 18 there are two axle bed 9, is rotatably connected to a first axle 10 in each axle bed 9,
Electromagnetic clutch 7 is connected in first axle 10, first axle 10 is sequentially connected by electromagnetic clutch 7 and idler wheel 8.
The idler wheel 8 includes steel ring 19, and the outer sheath of steel ring 19 hangs layer 14 equipped with polyurethane, and the inside of steel ring 19 is fixed to be connected
It is connected to steel disk 20, the center of steel disk 20 is fixedly connected with bearing chamber 13, is rotatably connected to the by bearing in bearing chamber 13
One end of two axis 15, the second axis 15 is connect with electromagnetic clutch 7, and the other end of the second axis 15 is solid by end cap 11 and bearing chamber 13
Fixed connection.
The first large bevel gear 16, the first large bevel gear wherein are fixedly connected in a first axle 10 in two first axles 10
16 and first cone pinion 12 be sequentially connected, be connected between the first axle 10 and axle bed 9 of the first large bevel gear 16 and pass through bearing
Rotation connection.
The follower 23 and the difference of main driving wheel 22 be not installing transmission shaft 2 in the inner pedestal 3 of follower 23,
First cone pinion 12 is not installed on transmission shaft 2, the first large bevel gear 16 is not installed in first axle 10.
The second reducing motors B3 is driven by the drive sprocket 1 of the first chain B4 and one of main driving wheel 22 to be connected
It connects, second reducing motors B3 is sequentially connected by the drive sprocket 1 of third chain B6 and another main driving wheel 22.
It is fixedly connected between the fixed plate 17 of outer bearing carrier 6 and chassis 21 by bolt B 1.
As shown in fig. 7, the conveying robot 29 includes the lead screw 9a being vertically arranged, the outer sheath of lead screw 9a is equipped with sleeve
10a, one end of sleeve 10a are fixedly connected with gas supporting plate 3a, are connected with screw-threaded shaft elevator 8a on lead screw 9a, screw-threaded shaft elevator 8a with
Sleeve 10a connection, screw-threaded shaft elevator 8a can move up and down with moving sleeve 10a along lead screw 9a and then band takes offence supporting plate 3a along lead screw 9a
It moves up and down.
The outside of the sleeve 10a is rotatably connected to handling arm by bearing 13a close to the position of the upper surface gas supporting plate 3a
4a, bearing 13a are sleeved on the outside of sleeve 10a.
Circular orbit 11a is equipped with below handling arm 4a, track 11a is fixedly connected on the upper surface of gas supporting plate 3a.
The end of the handling arm 4a is connected with sucker 1a by cylinder 2a.
The position that the outside of sleeve 10a is located at the upper surface handling arm 4a is set with large bevel gear 6a, large bevel gear 6a with remove
Fortune arm 4a is fixedly connected, and cone pinion 5a is engaged on large bevel gear 6a, is connected with motor 7a on cone pinion 5a, motor 7a with
Sleeve 10a is fixedly connected.
The conveying robot further includes conveyer belt 12a.
As shown in Fig. 9-17, the conveyer belt 12a includes the chain support that can carry out any angle adjusting in the horizontal direction
Plate 17b, chain support plate 17b are equipped with chain 5b, and chain 5b is arranged around the upper and lower surface of chain support plate 17b, the chain
Be fixedly connected with multiple delivery board 22b on 5b, delivery board 22b can chain drive around chain support plate 17b up and down
Apparent motion.
The chain support plate 17b includes leading at least between two piece of first support plate 4b, adjacent two piece of first support plate 4b
It is hinged to cross the second support plate 3b, it is hinged by connecting shaft 12b between the first support plate 4b and the second support plate 3b.
The lower surface of every piece of first support plate 4b is fixed by a fixed bracket 11b.
One end of chain 5b is sequentially connected with sprocket wheel 9b, and sprocket wheel 9b is connected by first axle 15b and drum-shaped tooth type shaft coupling 8bb
It connects, drum-shaped tooth type shaft coupling 8bb is connect with motor reducer 1b, and sprocket wheel 9b is connected on sprocket support；The other end of chain 5b
The second axis 16b, the second axis 16b is sequentially connected with to be sequentially connected by sprocket wheel and chain 5b.
The delivery board 22b includes rectangular slab 23b, is hinged with semicircular plate 24b by hinge 25b on rectangular slab 23b, and half
The straight flange of circular slab 24b and rectangular slab 23b are hinged, and the position on rectangular slab 23b close to semicircular plate 24b is fixedly connected with fixation
Plate 26b, fixed plate 26b are connected with the 4th universal wheel 27b.
The chain 5b includes at least one set of link that can be mutually rotatablely connected, and every group of link includes mutually being rotatablely connected
First link 1c and the second chain link 2c.
The first link 1c includes two the first carrier bar 101c spaced apart and disposed in parallel, two the first chains
Position between plate 101c close to its end is hinged with link block 3c by the second pin shaft 5c.
It includes two spaced apart and parallel that the second chain link 2c, the second chain link 2c is also hinged on link block 3c
The second carrier bar 201c being arranged, link block 3c are arranged between two the second carrier bar 201c and by first pin shaft 4c and two the
Two carrier bar 201c are hinged.
The axis of the first pin shaft 4c and the second pin shaft 5c are vertically arranged.
Multiple delivery board 22b are arranged along the length direction of chain 5b, and two neighboring delivery board 22b is superposed, rectangular slab
23b is superimposed upon the top of semicircular plate 24b, and rectangular slab 23b is fixedly connected by fixed plate 26b with chain 5b.
It is located at the position below the first support plate 4b on the fixed bracket 11b and is equipped with the second universal wheel 14b, second is universal
Wheel 14b is used to support delivery board 22b.
The lower surface of second support plate 3b is fixedly connected with intermediate support 10b, and intermediate support 10b includes vertical supports 18b
And there are two the second chain guide bearing 20b, chain 5b settings at two second for connection on horizontal support 19b, horizontal support 19b
Between chain guide bearing 20b, the vertical supports 18b is equipped with third universal wheel 21b, and third universal wheel 21b is used to support
Delivery board 22b.
The guiding movement side chain 5b is respectively provided on the upper surface of the first support plate 4b and the second support plate 3b
To the first chain guide bearing 6bb.
When work, second reducing motors B3 imparts power to the drive sprocket 1 in main driving wheel 22 by chain, passes through
Drive sprocket 1 transfers power to transmission shaft 2, and transmission shaft 2 transfers power to a side wheel 8, and then idler wheel 8 is driven to move；The
One decelerating motor B2 drives the second chain B5 and first reducing motors B2 to be sequentially connected, and first reducing motors B2 passes through the second chain
B5 drives the steering sprocket 4 in main driving wheel 22 and follower 23 to rotate, and steering sprocket 4 drives inner pedestal 3 to rotate, and then band
Dynamic main driving wheel 22 realizes that 360 ° of rotations are completed to turn to follower 23；Pass through screw-threaded shaft elevator 8a when conveying robot 29 works
The band supporting plate 3a that takes offence is elevated to different height, and then handling arm 4a is driven to be elevated to different height, passes through sucker 1a and grabs cargo
M, motor 7a drive handling arm 4a to turn an angle and cargo M are placed on conveyer belt by cone pinion 5a, large bevel gear 6a
On 12a.
Claims (4)
1. intelligent transportation system, including conveyer belt (12a), it is characterised in that: further include for transporting goods on conveyer belt
Conveying robot (29), conveying robot (29) are connected on Mobile base (28), and Mobile base (28) can drive conveying robot
(29) it moves；Mobile base (28) includes chassis (21), and there are two main driving wheel (22) for the connection of chassis (21) lower rotation；
The main driving wheel (22) includes columnar inner pedestal (3)；
The end of the inner pedestal (3) is fixedly connected with connector sleeve (18), axis and connector sleeve (18) of inner pedestal (3)
Axis is vertically arranged；The both ends of connector sleeve (18) are rotatably connected to an idler wheel (8) respectively；
It is rotatably connected to transmission shaft (2) in the inner pedestal (3) by bearing, the axis of transmission shaft (2) and inner pedestal (3)
Axis be overlapped, the both ends of transmission shaft (2) are pierced by by inner pedestal (3) respectively, and one end of transmission shaft (2) is fixedly connected with transmission
Sprocket wheel (1), the other end of transmission shaft (2) pass through connector sleeve (18) and are fixedly connected with the first cone pinion (12)；
It is fixedly connected in the connector sleeve (18) there are two axle bed (9), each axle bed (9) is interior to be rotatably connected to a first axle
(10), it is connected with electromagnetic clutch (7) in first axle (10), first axle (10) is driven by electromagnetic clutch (7) and idler wheel (8)
Connection；
The first large bevel gear (16), the first gamp tooth wherein are fixedly connected on a first axle (10) on two first axles (10)
It takes turns (16) and the first cone pinion (12) to be sequentially connected, is connected with first axle (10) and axle bed (9) of the first large bevel gear (16)
Between pass through bearing be rotatablely connected；
The idler wheel (8) includes steel ring (19), and the outer sheath of steel ring (19) hangs layer (14) equipped with polyurethane, the inside of steel ring (19)
It is fixedly connected with steel disk (20), the center of steel disk (20) is fixedly connected with bearing chamber (13), passes through axis in bearing chamber (13)
It holds and is rotatably connected to the second axis (15), one end of the second axis (15) is connect with electromagnetic clutch (7), the other end of the second axis (15)
It is fixedly connected by end cap (11) with bearing chamber (13)；
Conveying robot (29) includes the lead screw (9a) being vertically arranged, and the outer sheath of lead screw (9a) is equipped with supporting plate (3a), supporting plate
(3a) can move up and down along lead screw (9a), be rotatably connected to handling arm (4a) above supporting plate (3a), and the end of handling arm (4a) is logical
It crosses cylinder (2a) and is connected with sucker (1a)；
The outer sheath of lead screw (9a) is equipped with sleeve (10a), and supporting plate (3a) is fixedly connected with sleeve (10a), connects on lead screw (9a)
Have screw-threaded shaft elevator (8a), screw-threaded shaft elevator (8b) is connect with sleeve (10a), and screw-threaded shaft elevator (8a) can be with moving sleeve (10a)
It moves up and down along lead screw (9a) and then supporting plate (3a) is driven to move up and down along lead screw (9a)；
The outside of the sleeve (10a) is rotated close to the position of the upper surface supporting plate (3a) by bearing (13a) and handling arm (4a)
Connection, bearing (13a) are sleeved on the outside of sleeve (10a)；
It is equipped with circular orbit (11a) below handling arm (4a), track (11a) is fixedly connected on the upper surface of supporting plate (3a)；
The position that the outside of sleeve (10a) is located at the upper surface handling arm (4a) is set with large bevel gear (6a), large bevel gear (6a)
It is fixedly connected, is engaged on large bevel gear (6a) cone pinion (5a) with handling arm (4a), be connected with electricity on cone pinion (5a)
Machine (7a), motor (7a) are fixedly connected with sleeve (10a)；
Conveyer belt (12a) includes the chain support plate (17b) that can carry out any angle adjusting in the horizontal direction, chain support plate
(17b) is equipped with chain (5b), and chain (5b) is arranged around the upper and lower surface of chain support plate (17b), on the chain (5b)
It is fixedly connected with multiple delivery boards (22b), delivery board (22b) can be in the drive of chain above and below chain support plate (17b)
Apparent motion；
The chain support plate (17b) includes at least two piece of first support plate (4b), between adjacent two piece of first support plate (4b)
Hingedly by the second support plate (3b), hinged by connecting shaft (12b) between the first support plate (4b) and the second support plate (3b)；
The lower surface of every piece of first support plate (4b) is fixed by a fixed bracket (11b)；
(21) lower rotation connection in chassis is there are two follower (23), the line between two main driving wheel (22) axle center and two
Line between follower (23) axle center is arranged in a crossed manner；
The chassis (21) is equipped with the second reducing motors (B3) for driving main driving wheel (22) to walk, second reducing motors
(B3) it is sequentially connected respectively with two main driving wheels (22)；
The chassis (21) is equipped with two main driving wheels (22) of driving and two followers (23) carry out 360 ° of steerings simultaneously
First reducing motors (B2).
2. intelligence transportation system according to claim 1, it is characterised in that: second reducing motors (B3) pass through the first chain
(B4) it is sequentially connected with one of main driving wheel (22), second reducing motors (B3) pass through third chain (B6) and another master
Driving wheel (22) transmission connection.
3. intelligence transportation system according to claim 1, it is characterised in that: two main driving wheels (22) and two followers
(23) it being sequentially connected between by the second chain (B5), the second chain (B5) is sequentially connected by first reducing motors (B2), the
One decelerating motor (B2) is used for while two main driving wheels (22) and two followers (23) being driven to do divertical motion.
4. intelligence transportation system according to claim 1, it is characterised in that: the outer sheath of inner pedestal (3) is equipped with outer shaft
It holds seat (6), inner pedestal (3) is pierced by by the both ends of outer bearing carrier (6), and inner pedestal (3) and outer bearing carrier (6) are turned by bearing
It is dynamic to connect, it is fixedly connected with fixed plate (17) on the outside of outer bearing carrier (6), the upper end of outer bearing carrier (6) is equipped with gland (5)；
Steering sprocket (4) are fixedly connected on the outside of the inner pedestal (3).
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| CN201610759569.5A CN106241211B (en) | 2016-08-30 | 2016-08-30 | Intelligent transportation system |
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| CN201610759569.5A CN106241211B (en) | 2016-08-30 | 2016-08-30 | Intelligent transportation system |
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| CN109454196B (en) * | 2017-09-06 | 2024-06-11 | 核工业西南物理研究院 | Automatic feeding and discharging device of automobile disc brake pad spin riveting machine |
| CN108502508A (en) * | 2018-03-07 | 2018-09-07 | 喻杨凯 | A kind of construction material conveying equipment |
| CN109230516A (en) * | 2018-09-29 | 2019-01-18 | 芜湖中义玻璃有限公司 | A kind of clamping device of vial processing |
| CN109305556B (en) * | 2018-11-19 | 2024-03-29 | 镇江华驰电器有限公司 | Switch cabinet panel conveying device |
| CN110921215A (en) * | 2019-12-11 | 2020-03-27 | 芜湖点金机电科技有限公司 | Workpiece conveying device for turning and welding integrated equipment |
| CN112758673A (en) * | 2021-01-20 | 2021-05-07 | 长安大学 | Intelligent associated robot device capable of being continuously constructed on building site |
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Denomination of invention: Intelligent conveying system Effective date of registration: 20231218 Granted publication date: 20191119 Pledgee: Anqiu Sub branch of China Construction Bank Corp. Pledgor: ANQIU BOYANG MACHINERY MANUFACTURE Co.,Ltd. Registration number: Y2023980072270 |
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