CN107500187A - The operating method of gantry transfer robot and gantry transfer robot - Google Patents
The operating method of gantry transfer robot and gantry transfer robot Download PDFInfo
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- CN107500187A CN107500187A CN201710911124.9A CN201710911124A CN107500187A CN 107500187 A CN107500187 A CN 107500187A CN 201710911124 A CN201710911124 A CN 201710911124A CN 107500187 A CN107500187 A CN 107500187A
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- transfer robot
- gantry
- robot
- gantry transfer
- goods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to intelligent robot technology field, and in particular to a kind of operating method of gantry transfer robot and gantry transfer robot.Gantry transfer robot of the present invention, including robot castor, gantry support, chassis and clamping device, gantry support includes crossbeam and the longeron located at the left and right sides of below the crossbeam, gantry support is fixed at the top on chassis by longeron, robot castor is on chassis, and by activating robot castor gantry transfer robot can be driven integrally to move, clamping device is on the medial surface of two side girders of gantry support.By using the operating method of gantry transfer robot of the present invention and gantry transfer robot, automatic transporting effectively can be carried out to goods, the clamping to the goods of different in width is disclosure satisfy that simultaneously, improve the application of gantry transfer robot, and gantry transfer robot architecture is compacter reliable, improves the reliability of handling process.
Description
Technical field
The invention belongs to intelligent robot technology field, and in particular to a kind of gantry transfer robot and gantry transfer machine
The operating method of people.
Background technology
Current transfer robot mainly has two classes, and one kind is AGV dolly of the profile similar to sweeping robot, and it is being moved
Because center of gravity is low in ability, flexible multidirectional movement, therefore more use is obtained in storage environment.But because it passes through (ditch
Bank) ability, therefore it is mainly used in interior.Another kind of is automatic delivery dolly of the profile similar to small courier vehicle, its
It is stronger by ability in terms of property, but then it is not so good as AGV dollies in flexibility and transporting power.
Wherein, either common AGV dollies or automatic delivery dolly, do not possess complete independently goods and carry full mistake
The ability of journey, need artificial or other robot in goods handling process or mechanical arm place goods onto AGV dollies or from
On dynamic delivery dolly, so as to add the labor intensity of worker in goods handling process, goods handling efficiency is reduced.
The content of the invention
The invention aims to solve above-mentioned at least one problem, the purpose is by the following technical programs
Realize.
The present invention proposes a kind of gantry transfer robot, including robot castor, gantry support, chassis and folder
Tight device, the gantry support are used for the fixed multiple parts for supporting the gantry transfer robot, and the gantry support includes
Crossbeam and the longeron located at the left and right sides of the below the crossbeam, the gantry support are fixed at described by the longeron
The top on chassis, the robot castor on the chassis, and by activate the robot castor can drive it is described
Gantry transfer robot is integrally moved, and the clamping device is located on the medial surface of two side girders of the gantry support,
For clamping and fixing goods to be handled.
Further, the crossbeam and the longeron are welded to form by shaped steel.
Further, the multiple part includes fixed dam, electrical apparatus control system installing plate and Pneumatic component installing plate,
Wherein, the fixed dam is located at the bottom surface of the crossbeam, and the electrical apparatus control system installing plate is located at the top surface of the crossbeam,
The Pneumatic component installing plate is located at described in both sides on the medial surface of longeron, and the clamping device is fixed at described in both sides and indulged
On the Pneumatic component installing plate of the medial surface of beam.
Further, the clamping device is clamping cylinder.
Further, the gantry transfer robot includes multiple clamping cylinders, and multiple clamping cylinders are symmetrical
It is distributed on the Pneumatic component installing plate of two medial surfaces of the longeron.
Further, the chassis is by same plane and two pieces of chassis installing plates of spaced setting form.
Further, the robot castor includes cylinder, connecting seat, steering unit, hub bracket and wheel hub motor, its
In, the cylinder is used for the height for adjusting the robot castor and located at the top on the chassis, the connecting seat, described turn
The bottom on the chassis is sequentially arranged in unit, the hub bracket and the wheel hub motor, the cylinder rod of the cylinder passes through
The chassis is simultaneously connected with the top of the connecting seat, and the upper end of the hub bracket is through the steering unit and that can turn
Dynamic mode is connected to the inside of the connecting seat, and the lower end of the hub bracket is connected with the output shaft of the wheel hub motor,
By activating the wheel hub motor robot castor can be driven to move, can be adjusted by activating the steering unit
The steering of the whole robot castor.
Further, the steering unit includes steering motor and the worm-gear speed reducer coordinated with the steering motor
Or worm speed reducer.
Further, the robot castor also includes guider, and the guider includes guide rod and guide holder,
The guide holder is fixed at the top on the chassis, and one end of the guide rod through the guide holder and the chassis and leads to
Cross guiding joint element for bar to be fixedly connected with the cylinder rod of the cylinder, the gas for being oriented to joint element for bar and being used to prevent the cylinder
Cylinder rod rotates, and the cylinder is by the guiding joint element for bar with being connected at the top of the connecting seat.
The invention also provides a kind of operating method of gantry transfer robot, according to gantry transfer machine described above
People is implemented, including following steps：
The whole height of the gantry transfer robot is reduced, the height of the clamping device is in the goods to be handled
The center of the two sides of thing；
The robot castor is activated, makes the gantry transfer Robot before the direction of the goods to be handled
Enter, and the clamping device is moved to the center of the two sides of the goods to be handled；
The clamping device is activated, the two sides of the clamping device and the goods to be handled is fitted, and clamp
The fixed goods to be handled；
The whole height of the gantry transfer robot is raised, and is embraced the goods to be handled by the clamping device
Rise, the goods to be handled is departed from ground；
The robot castor is activated, the goods to be handled is moved.
, can be effective by using the operating method of gantry transfer robot of the present invention and gantry transfer robot
Automatic transporting is carried out to goods, reduce manpower output, improve handling efficiency, while disclosure satisfy that to the goods of different in width
Clamp, improve the application of gantry transfer robot, and gantry transfer robot architecture is compacter reliable, improves and removes
The reliability of fortune process.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the overall structure diagram of gantry support in Fig. 1；
Fig. 3 is the decomposition texture schematic diagram of Tu1Zhong robots castor.
Each mark represents as follows in accompanying drawing：
100：Robot castor, 110：Cylinder, 120：It is oriented to joint element for bar, 130：Connecting seat, 140：Steering unit, 150：
Hub bracket, 160：Wheel hub motor, 170：Guide rod, 180：Guide holder；
200：Gantry support, 210：Crossbeam, 220：Longeron, 230：Electrical apparatus control system installing plate；
300：Chassis；
400：Clamping device.
Embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although this public affairs is shown in accompanying drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.Conversely, there is provided these embodiments are to be able to be best understood from the disclosure, and can be by this public affairs
The scope opened completely is communicated to those skilled in the art.
Fig. 1 is the overall structure diagram of the embodiment of the present invention.Gantry transfer robot in the present embodiment includes machine
People's castor 100, gantry support 200, chassis 300 and clamping device 400, gantry support 200 are used for fixed support gantry transfer
Multiple parts of robot, gantry support 200 include crossbeam 210 and the longeron located at the left and right sides of the lower section of crossbeam 210
220, gantry support 200 is fixed at the top on chassis 300 by longeron 220, and robot castor 100 is located on chassis 300, and
By activating robot castor 100 gantry transfer robot can be driven integrally to move, clamping device 400 is located at gantry branch
On the medial surface of two side girders of frame 200, for clamping and fixing goods to be handled.Wherein, crossbeam 210 and longeron 220 by
Shaped steel is welded to form, naturally it is also possible to is made of other metal materials, can be played stable support function.Crossbeam 210
It is defined with the welding manner of shaped steel on longeron 220 by the rigidity requirement for meeting gantry transfer robot.
In the present embodiment, gantry transfer robot general frame uses planer type structure, adds gantry transfer robot
Strength and stiffness, prevent from causing gantry transfer robot integrally to shake during mobile transport goods.Meanwhile it will use
The position of the close bottom of two side girders 220 of gantry transfer robot is placed in the clamping device 400 for the goods that is fixedly clamped, from
Improve the overall stability of robot.
Further, multiple parts include fixed dam, electrical apparatus control system installing plate 230 and Pneumatic component installing plate.
Wherein, fixed dam is located at the bottom surface of crossbeam 210, and the goods for preventing from being placed on clamping device 400 is toppled over.Electrical equipment
Control system installing plate 23 is located at the top surface of crossbeam 210, is used to control gantry transfer robotically-driven for being fixedly mounted
Various electric components.Pneumatic component installing plate is used to drive gate-type on the medial surface of two side girders 220 for being fixedly mounted
The various Pneumatic components of transfer robot.
In the present embodiment, clamping device 400 is clamping cylinder.Clamping cylinder is coaxially mounted to two medial surfaces of longeron 220
Pneumatic component installing plate on, for the goods to be handled that is fixedly clamped.When for being clamped to the goods of different in width, only
The extension elongation of the cylinder rod of clamping cylinder, which need to be changed, to be clamped to the goods of different in width, improve gantry transfer machine
The application of device people.
Further, to strengthen the chuck strength to goods, gantry transfer robot includes multiple clamping cylinders, multiple folders
On the Pneumatic component installing plate for two medial surfaces that tight cylinder is symmetrically distributed in longeron 220.Wherein, clamping device 400 can also be
Electric clamping device, disclosure satisfy that to treat to transport goods and is clamped and carries.
Chassis 300 is U-shaped disk in the present embodiment, and the overall structure that U-shaped dish structure can increase gantry transfer robot is strong
Degree.Further, on the basis of gantry transfer robot overall construction intensity is ensured, for convenience of gantry transfer robot to goods
The progress of thing, gantry transfer robot is set to be carried from the front and rear sides of angle steel to goods, the structure on chassis 300 can
Slightly to change.By chassis 300 by same plane and two pieces of chassis installing plates of spaced setting form, cancelling bottom
Transverse slat between disk installing plate, without any connector between two pieces of chassis installing plates, so in gantry transfer robot to goods
When being carried, without any shelter in the course of the front and rear sides of angle steel, making for gantry transfer robot is added
The convenience of used time.
Fig. 2 is the decomposition texture schematic diagram of Tu1Zhong robots castor.Robot castor 100 includes cylinder in the present embodiment
110th, connecting seat 130, steering unit 140, hub bracket 150 and wheel hub motor 160, wherein, cylinder 110 is in adjustment robot foot
The height of wheel 100 and the top for being located at chassis 300, connecting seat 130, steering unit 140, hub bracket 150 and wheel hub motor 160
The bottom on chassis 300 is sequentially arranged in, the cylinder rod of cylinder 110 is connected through chassis 300 and with the top of connecting seat 130, wheel hub
The upper end of support 150 is through steering unit 140 and is rotatably connected to the inside of connecting seat 130, hub bracket
150 lower end is connected with the output shaft of wheel hub motor 160, by activating wheel hub motor 160 robot castor 100 can be driven to enter
Row movement, the steering of robot castor 100 can be adjusted by activating steering unit 140.Wherein, steering unit 140 includes turning
The worm-gear speed reducer or worm speed reducer coordinated to motor and with steering motor.
In the present embodiment, using the height of the control machine people castor 100 of cylinder 110 can provide for robot foot wheel 100
Good damping effect, meanwhile, the stroke length of cylinder 110, it is swift in response, for the tune of the overall posture of gantry transfer robot
It is whole can be very timely.For example during climb very steep slopes, pavement behavior is detected by the sensor on fuselage, so as to different machines
Device people castor 100 inputs different tolerance, makes vehicle body entirety keep level.In potted road surface, integral elevator body so that logical
The property crossed is fine；It is overall to reduce fuselage so that stability is fine at smooth-riding surface.
Further, potentiometer is additionally provided with inside the connecting seat 130 in the present embodiment, potentiometer is used for accurate measurement wheel
The steering of hub holder 150 simultaneously feeds back to electric system.The potentiometer possesses the features such as durable, accurate, perceived direction, is turning to
When unit 140 is operated, the potentiometer carries out the accurate measurement of rotational angle and feeds back to electric-control system, is entered by electric-control system
One step controls steering unit 140 to ensure to allow the rotation of each robot castor 100 to reach accurate.In bumpy road, if
The change of direction occurs in the effect of external force for robot castor 100, and the situation of rotation timely can also be informed electricity by potentiometer
Control system, corrective instruction is sent from electric-control system to steering unit 140, and the result of correction is further perceived by potentiometer, with
Keep the accurate control of the direction of individual machine people castor 100.
In wheel hub motor 160, system is reserved with hall device, and passes through rotation of the Hall circuit to wheel hub motor 160
Or static, rotation direction, rotating speed are fed back, and further optimize electric-control system to wheel hub motor by the signal of feedback
160 control.
Further, to ensure that the cylinder rod of cylinder 110 will not rotate in telescopic process, the door in the present embodiment
Formula transfer robot also includes guider, and guider is used for the linear motion for ensureing the cylinder rod of cylinder 110, guider
Including guide rod 170 and guide holder 180, guide holder 180 is fixed at the top on chassis 300, and one end of guide rod 170, which passes through, leads
It is fixedly connected to seat 180 and chassis 300 and by being oriented to joint element for bar 120 with the cylinder rod 170 of cylinder 110, cylinder 110 passes through
Joint element for bar 120 is oriented to connecting seat 130 to be connected.
Guide holder 180 is fixed on chassis 300, is internally provided with the operation passage of guide rod 170, be ensure that guide rod
170 linear motion.The lower end of guide rod 170 and the external part of cylinder 110, which are each attached to, to be oriented on joint element for bar 120, effectively
Prevent and drive hub bracket 150 to rotate during stretching motion in cylinder 110, so as to ensure hub bracket 150
Rotation can only occur under the driving force of steering unit 140, it is ensured that the reliability of steering.
This programme employs Arduino Due and carries out execution control, and Due possesses 54 road IO, turns wherein single wheel uses
1, velocity modulation section, rotating 1, velocity measuring 3；Wheel is turned to using turning velocity control 1, rotating 1, enabled control
System 1；Pneumatic system uses lifting control 1, decline control 1；Range sensor 2.Therefore, single set wheel uses 12 tunnels
IO, if car uses four wheels, it can be carried out controlling by Due 48 road IO.
In to the specific control logic of fuselage, the Arduino Due for control machine people castor 100 are from top level control
Center (is controlled using Raspberry Pi in this programme and is carried out data exchange with high in the clouds, positioned, navigated, driven, kept away with realization
The action such as barrier) action command (for example advance, turn-take, traversing etc.) is collected, Due is issued to each wheel collaborate instruction again simultaneously,
Complete fixation and handling process of the gantry transfer robot to goods.
The invention also provides a kind of operating method of gantry transfer robot, including following steps：
The whole height of gantry transfer robot is reduced, the height of clamping device 400 is in the both sides of goods to be handled
The center in face.
Robot castor 100 is activated, gantry transfer Robot is advanced close to the direction of goods to be handled, and will be clamped
Device 400 is moved to the center of the two sides of goods to be handled.
Clamping device 400 is activated, the two sides of clamping device 400 and goods to be handled is fitted, and be fixedly clamped and treat
Transport goods.
The whole height of gantry transfer robot is raised, and is taken in one's arms goods to be handled by clamping device 400, makes to wait to remove
Thing of freighting departs from ground.
Robot castor 100 is activated, goods to be handled is moved.
Wherein, gantry transfer robot is provided with video acquisition module, and coordinates video identification technology and detection technique true
Position relationship between fixed goods and gantry transfer robot to be handled, so as to the energy of clamping device 400 of gantry transfer robot
It is enough that goods is accurately clamped, preferably complete goods handling process.
, can be effective by using the operating method of gantry transfer robot of the present invention and gantry transfer robot
Automatic transporting is carried out to goods, reduce manpower output, improve handling efficiency, while disclosure satisfy that to the goods of different in width
Clamp, improve the application of gantry transfer robot, and gantry transfer robot architecture is compacter reliable, improves and removes
The reliability of fortune process.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Enclose and be defined.
Claims (10)
1. gantry transfer robot, it is characterised in that described including robot castor, gantry support, chassis and clamping device
Gantry support is used for the fixed multiple parts for supporting the gantry transfer robot, and the gantry support includes crossbeam and is located at
The longeron of the left and right sides of the below the crossbeam, the gantry support are fixed at the top on the chassis by the longeron,
The robot castor can drive the gantry transfer machine on the chassis by activating the robot castor
People integrally moves, and the clamping device is on the medial surface of two side girders of the gantry support, for clamping and admittedly
Fixed goods to be handled.
2. gantry transfer robot according to claim 1, it is characterised in that the crossbeam and the longeron are by shaped steel
It is welded to form.
3. gantry transfer robot according to claim 1, it is characterised in that the multiple part include fixed dam,
Electrical apparatus control system installing plate and Pneumatic component installing plate, wherein, the fixed dam is located at the bottom surface of the crossbeam, the electricity
Device control system installing plate is located at the top surface of the crossbeam, and the Pneumatic component installing plate is located at the medial surface of longeron described in both sides
On, and the clamping device is fixed on the Pneumatic component installing plate of the medial surface of longeron described in both sides.
4. the gantry transfer robot according to any one of claim 1-3, it is characterised in that the clamping device is folder
Tight cylinder.
5. gantry transfer robot according to claim 4, it is characterised in that the gantry transfer robot includes multiple
The clamping cylinder, multiple clamping cylinders are symmetrically distributed in the Pneumatic component installing plate of two medial surfaces of the longeron
On.
6. the gantry transfer robot according to any one of claim 1-3, it is characterised in that the chassis is by same
In one plane and spaced setting two pieces of chassis installing plates compositions.
7. the gantry transfer robot according to any one of claim 1-3, it is characterised in that the robot castor bag
Cylinder, connecting seat, steering unit, hub bracket and wheel hub motor are included, wherein, the cylinder is used to adjust the robot castor
Height and located at the chassis top, the connecting seat, the steering unit, the hub bracket and the wheel hub motor
The bottom on the chassis is sequentially arranged in, the cylinder rod of the cylinder is connected through the chassis and with the top of the connecting seat,
The upper end of the hub bracket is through the steering unit and is rotatably connected to the inside of the connecting seat, institute
The lower end for stating hub bracket is connected with the output shaft of the wheel hub motor, and the machine can be driven by activating the wheel hub motor
Device people's castor is moved, and the steering of the robot castor can be adjusted by activating the steering unit.
8. gantry transfer robot according to claim 7, it is characterised in that the steering unit include steering motor and
The worm-gear speed reducer or worm speed reducer coordinated with the steering motor.
9. gantry transfer robot according to claim 7, it is characterised in that the robot castor also includes being oriented to dress
Put, the guider includes guide rod and guide holder, and the guide holder is fixed at the top on the chassis, the guide rod
One end be fixedly connected by being oriented to joint element for bar through the guide holder and the chassis and with the cylinder rod of the cylinder, institute
State be oriented to joint element for bar be used for prevent the cylinder rod of the cylinder from rotating, the cylinder by it is described guiding joint element for bar with
It is connected at the top of the connecting seat.
10. the operating method of gantry transfer robot, the gantry transfer machine according to any one of the claims 1-9
People is implemented, it is characterised in that is comprised the following steps：
The whole height of the gantry transfer robot is reduced, the height of the clamping device is in the goods to be handled
The approximate centre position of two sides；
The robot castor is activated, the gantry transfer Robot is advanced close to the direction of the goods to be handled, and
The clamping device is moved to the center of the two sides of the goods to be handled；
The clamping device is activated, the two sides of the clamping device and the goods to be handled is fitted, and be fixedly clamped
The goods to be handled；
The whole height of the gantry transfer robot is raised, and is taken in one's arms the goods to be handled by the clamping device,
The goods to be handled is set to depart from ground；
The robot castor is activated, the goods to be handled is moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710911124.9A CN107500187A (en) | 2017-09-29 | 2017-09-29 | The operating method of gantry transfer robot and gantry transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710911124.9A CN107500187A (en) | 2017-09-29 | 2017-09-29 | The operating method of gantry transfer robot and gantry transfer robot |
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| CN107500187A true CN107500187A (en) | 2017-12-22 |
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| CN201710911124.9A Pending CN107500187A (en) | 2017-09-29 | 2017-09-29 | The operating method of gantry transfer robot and gantry transfer robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275619A (en) * | 2018-04-08 | 2018-07-13 | 惠州城市职业学院 | It is a kind of can 360 ° steering handling devices |
| CN111293617A (en) * | 2020-02-18 | 2020-06-16 | 安徽通昊电力设备有限公司 | Transfer device for power distribution cabinet |
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| CN107128849A (en) * | 2017-05-10 | 2017-09-05 | 安徽宇锋仓储设备有限公司 | A kind of forklift lifting device clamped |
| CN207347084U (en) * | 2017-09-29 | 2018-05-11 | 北京正合慧视科技有限公司 | Gantry transfer robot |
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| CN204057754U (en) * | 2014-09-02 | 2014-12-31 | 河南重工起重机集团有限公司 | One hangs chain gripper carrying implement |
| CN105347225A (en) * | 2015-11-23 | 2016-02-24 | 苏州市优诺特升降机械有限公司 | Hauling-up device with lifting wheels |
| CN107128849A (en) * | 2017-05-10 | 2017-09-05 | 安徽宇锋仓储设备有限公司 | A kind of forklift lifting device clamped |
| CN207347084U (en) * | 2017-09-29 | 2018-05-11 | 北京正合慧视科技有限公司 | Gantry transfer robot |
Cited By (3)
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| CN108275619A (en) * | 2018-04-08 | 2018-07-13 | 惠州城市职业学院 | It is a kind of can 360 ° steering handling devices |
| CN111293617A (en) * | 2020-02-18 | 2020-06-16 | 安徽通昊电力设备有限公司 | Transfer device for power distribution cabinet |
| CN111293617B (en) * | 2020-02-18 | 2021-06-04 | 安徽通昊电力设备有限公司 | Transfer device for power distribution cabinet |
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