CN108032277A - Robot with elevating mechanism - Google Patents
Robot with elevating mechanism Download PDFInfo
- Publication number
- CN108032277A CN108032277A CN201711260116.9A CN201711260116A CN108032277A CN 108032277 A CN108032277 A CN 108032277A CN 201711260116 A CN201711260116 A CN 201711260116A CN 108032277 A CN108032277 A CN 108032277A
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- CN
- China
- Prior art keywords
- elevating mechanism
- cylinder
- manipulator
- automatic guided
- guided vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot with elevating mechanism, it includes：Automatic guided vehicle, elevating mechanism and manipulator；The elevating mechanism is connected with the automatic guided vehicle, and the manipulator includes mechanical arm and takes discharging device, and the mechanical arm is connected with the elevating mechanism, described to take discharging device to be flexibly connected with the mechanical arm；The automatic guided vehicle is used to drive the elevating mechanism and the manipulator to move along the supporting surface of the support automatic guided vehicle, and the elevating mechanism is used to drive the manipulator to move up and down.The robot with elevating mechanism of the present invention has the advantages that flexibility is high, it is efficient, simple in structure to pick and place material.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot with elevating mechanism.
Background technology
Since robot is born, machine man-based development is throughout machinery, electronics, metallurgy, traffic, aerospace, national defence etc.
Field.The level of intelligence of robot is continuously improved in recent years, and rapidly changed the life style of people.People are continuous
Inquire into, transform, during the knowledge of natural environment, the machine that manufacture can substitute people's work is always the dream of the mankind.However, existing skill
The height of Shu Zhong robots is fixed, it is impossible to is adjusted according to the needs of environment, flexibility is poor.
The content of the invention
Present invention solves the technical problem that it is to provide a kind of machine with elevating mechanism simple in structure, flexibility is high
People.
The present invention provides a kind of robot with elevating mechanism, it includes automatic guided vehicle, elevating mechanism and machinery
Hand；The elevating mechanism is connected with the automatic guided vehicle, and the manipulator includes mechanical arm and takes discharging device, the machine
Tool arm is connected with the elevating mechanism, described to take discharging device to be flexibly connected with the mechanical arm；The automatic guided vehicle
For driving the elevating mechanism and the manipulator to be moved along the supporting surface of the support automatic guided vehicle, the elevating mechanism
For driving the manipulator to move up and down.
Preferably, the elevating mechanism includes fixed frame, the first guide rail, the second guide rail, adjustable shelf and driving device；It is described
Fixed frame is connected with the automatic guided vehicle, and first guide rail and second guide rail are arranged on the fixed frame parallel,
The adjustable shelf is flexibly connected with first guide rail and second guide rail, and the manipulator is connected with the adjustable shelf, institute
State driving device with the adjustable shelf to be connected, for driving the adjustable shelf leading along first guide rail and second guide rail
To movement.
Preferably, the driving device includes driving motor, leading screw, contiguous block and dust-proof guard；It is described driving motor with
The leading screw is connected；The first end of the contiguous block is flexibly connected with the leading screw, the second end of the contiguous block and the work
Moving frame is connected；The contiguous block is provided with holding tank, and institute's dust-proof guard is through the holding tank and is arranged at the screw and institute
State between adjustable shelf.
Preferably, the automatic guided vehicle includes vehicle frame, the first wheel, supporting item and the first power set；Described first
Wheel is connected with the vehicle frame；The supporting item is connected with first power set；First power set and the car
Frame is connected, for promoting the supporting item to be abutted with the supporting surface, to be positioned to the robot.
Preferably, the automatic guided vehicle further includes limiting component, and the limiting component is connected with the vehicle frame, and with institute
Supporting item flexible connection is stated, for hindering the supporting item to rock.
Preferably, the supporting item is provided with the first guide part, and the limiting component is provided with the second guide part；Described
One guide part is engaged with second guide part, for hindering the supporting item to rotate.
Preferably, the supporting item includes support column, elastic supporting seat；The support column and first guide part are removable
Connection is unloaded, the elastic supporting seat is arranged with the support column bottom to be connected.
Preferably, the support column includes the first cylinder, connection ring and the second cylinder, the cross section face of second cylinder
Product is more than the first cylinder cross-sectional area；The first end of first cylinder is connected with first power set, described
The second end of first cylinder is connected with the inner peripheral surface of the connection ring, and the first end of second cylinder is outer with the connection ring
Side face is connected, and the first end of the elastic supporting seat is plugged in second cylinder and is abutted against with the connection ring；It is described
The second end of elastic supporting seat is located at outside second cylinder.
Preferably, the robot with elevating mechanism further includes hydraulic pressure source device, and first power set include
Hydraulic cylinder；The hydraulic pressure source device is arranged on the vehicle frame, and the hydraulic cylinder is fixed on the vehicle frame, and with the support
Part is connected；The hydraulic pressure source device turns on connection with the hydraulic cylinder.
Preferably, the robot with elevating mechanism further includes the second power set of at least two, first wheel
Quantity be at least 2, second power set are fixed on the vehicle frame, and with first wheel correspond connect
Connect.
In conclusion the robot with elevating mechanism of the present invention includes automatic guided vehicle, elevating mechanism and machine
Tool hand；The elevating mechanism is connected with the automatic guided vehicle, and the manipulator includes mechanical arm and takes discharging device, described
Mechanical arm is connected with the elevating mechanism, described to take discharging device to be flexibly connected with the mechanical arm；The homing guidance
Car is used to drive the manipulator to move along the supporting surface of the support automatic guided vehicle, and the elevating mechanism is used to drive described
Manipulator moves up and down.When needing to carry out operation to higher destination object, the machinery is driven by the elevating mechanism
Hands movement can carry out operation to higher position, thus, it can be adjusted according to the needs of environment, flexibility is preferable, structure
Simply, in addition, taking discharging device to be flexibly connected with the mechanical arm by described, so as to can further improve flexibility.
Brief description of the drawings
Fig. 1 is the structure diagram of the preferred embodiment of robot of the present invention with elevating mechanism.
Fig. 2 is the structure diagram when robot body shown in Fig. 1 is separated with shell.
Fig. 3 is the structure diagram of the robot body shown in Fig. 1.
Fig. 4 is the structure diagram at another visual angle of robot body shown in Fig. 3.
Fig. 5 is the enlarged drawing of a-quadrant in Fig. 4.
Fig. 6 is the structure diagram of the automatic guided vehicle preferred embodiment of robot of the present invention with elevating mechanism.
Fig. 7 is the decomposition of first power set of robot of the present invention with elevating mechanism, limiting component and supporting item
Figure.
Fig. 8 is the sectional view of the support column preferred embodiment of robot of the present invention with elevating mechanism.
Fig. 9 is the structure diagram for taking discharging device preferred embodiment of robot of the present invention with elevating mechanism.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within protection scope of the present invention.
Please refer to Fig.1 to Fig. 2, the present invention provides a kind of robot with elevating mechanism, it includes automatic guided vehicle
100th, elevating mechanism 200, manipulator 300 and shell 400；The elevating mechanism 200 is connected with the automatic guided vehicle 100, institute
Manipulator 300 is stated with the elevating mechanism 200 to be connected；The automatic guided vehicle 100 is used to drive the elevating mechanism 200 and institute
Manipulator 300 is stated along supporting the supporting surface of the automatic guided vehicle 100 to move, the elevating mechanism 200 is used to drive the machine
Tool hand 300 moves up and down.In the present embodiment, the automatic guided vehicle 100, elevating mechanism 200 and manipulator 300 form machine
Human body.Drive the manipulator 300 to move by the automatic guided vehicle 100 and the elevating mechanism 200, institute can be expanded
The working range of manipulator 300 is stated, the robot with elevating mechanism can be used for the inspection and maintenance of server, can also
For the sorting and carrying of logistics system, its purposes is not especially limited herein；The shell 400 is located at the homing guidance
Outside car 100 and the elevating mechanism 200, polluted to avoid the automatic guided vehicle 100 and the elevating mechanism 200 by dust.
Refer to Fig. 6 to Fig. 8, the automatic guided vehicle 100 includes vehicle frame 110, the first wheel 120, supporting item 130, the
One power set 140 and the second power set 121；First wheel 120 is connected with the vehicle frame 110.In the present embodiment,
The quantity of first wheel 120 is 2, and 2 first wheels 120 are located at opposite two of 110 medium position of vehicle frame
Side.The quantity of second power set 121 is also 2, and 2 second power set 121 are each attached to the vehicle frame 110
On, and connect one to one with first wheel 120.Can be real by the speed sync movement of 2 first wheels 120
The straight line moving of the existing automatic guided vehicle 100, differential can realize the turning of the automatic guided vehicle 100 and rotate in place.
It is understood that the quantity of second power set 121 and first wheel 120 does not limit specifically herein
It is fixed.It is more stable and reliable for the ease of controlling and moving, in practice, second power set 121 and first car
The quantity of wheel 120 is at least 2.
Preferably, the automatic guided vehicle 100 further includes several the second wheels 122, and second wheel 122 is universal
Driven wheel.In the present embodiment, 122 quantity of the second wheel is 4, is distributed in 110 4 jiaos of the vehicle frame.By setting
State the second wheel 122 so that the automatic guided vehicle 100 runs more steady, flexible.
Preferably, the automatic guided vehicle 100 further includes limiting component 150, the limiting component 150 and the vehicle frame
110 are connected.The supporting item 130 is connected with first power set 140, and the supporting item 130 passes through in the present embodiment
Supporting item fixing bolt 130a is connected with first power set 140, it is to be appreciated that the supporting item 130 and described the
The connection mode of one power set 140 is not especially limited herein；First power set 140 are connected with the vehicle frame 110,
For promoting the supporting item 130 to be abutted with the supporting surface, to be supported positioning to the automatic guided vehicle 100.Institute
State after automatic guided vehicle 100 moves in place, the supporting item 130 and the supporting surface are promoted by first power set 140
Abut against, support and position the automatic guided vehicle 100.
Preferably, the supporting item 130 is provided with the first guide part 131, and the limiting component 150 is provided with the second guiding
Part 151；First guide part 131 is engaged with second guide part 151, for hindering the supporting item 130 to rotate.
In the present embodiment, first guide part 131 is flat key, and second guide part 151 is the keyway coordinated with the flat key；
In other embodiments, first guide part 131 can also be spline, and second guide part 151 is and the spline fitted
Keyway.
On the one hand, first guide part 131 can be to avoid the supporting item with the cooperation of second guide part 151
The rotation of the supporting item 130, causes the supporting item fixing bolt 130a loose or dislocations during 130 release.
On the other hand, the cooperation of first guide part 131 and second guide part 151 can also avoid the support
The rotation of part 130, when causing the supporting item 130 to be contacted with the supporting surface, the supporting item 130 deviates, and influences the branch
The locating effect of support member 130.
Preferably, the supporting item 130 includes support column 132；The support column 132 can with first guide part 131
Dismantling connection.In the present embodiment, first guide part 131 is bolted on the support column 132.Due to described
Support column 132 is detachably connected with first guide part 131 so that the support column 132 and first guide part 131 are made
Make convenience, easy to repair and replacement.
Preferably, the supporting item 130 further includes elastic supporting seat 133, the elastic supporting seat 133 and the support column
132 bottoms are arranged connected.The elastic supporting seat 133 can be buffered and hit with the supporting surface when supporting item 130 is released
Hit.The elastic supporting seat 133 can be rubber column or silicagel column or polyurethane column, be not especially limited herein.
Preferably, the support column 132 includes the first cylinder 134,135 and second cylinder 136 of connection ring, second column
The cross-sectional area of body 136 is more than 134 cross-sectional area of the first cylinder, therefore increases the supporting surface of the support column 132
Product；The first end of first cylinder 134 is connected with first power set 140, the second end of first cylinder 134 with
The inner peripheral surface of the connection ring 135 is connected, and the first end of second cylinder 136 is connected with the outer circumferential surface of the connection ring 135,
The first end of the elastic supporting seat 133 is plugged in second cylinder 136 and is abutted against with the connection ring 135；It is described
The second end of elastic supporting seat 133 is located at outside second cylinder 136.
Preferably, first cylinder 134 is less than the hollow cylinder of both ends internal diameter, first cylinder for middle part internal diameter
Hooking ring 137 is provided with 134；The push-off pin 138 of first power set 140 is plugged in first cylinder 134；Institute
State supporting item fixing bolt 130a be plugged in first cylinder 134 and with the push-off pin 138 and first cylinder 134
It is connected, specifically, the supporting item fixing bolt 130a and 137 snapping of hooking ring.
The limiting component 150 is flexibly connected with the supporting item 130, for hindering the supporting item 130 to rock, to carry
For the environment of 300 smooth working of manipulator.Preferably, the limiting component 150 is to be arranged phase with the supporting item 130
Even.In the present embodiment, the limiting component 150 can be set in 130 outer circumferential surface of supporting item sleeve or
Arranged on two pieces of limiting plates of 130 outer circumferential surface of supporting item, the position of two pieces of limiting plates is opposite, does not limit specifically herein
It is fixed.
Preferably, first power set 140 include hydraulic cylinder 139, and the hydraulic cylinder 139 is fixed on the vehicle frame
On 110, and it is connected with the supporting item 130.Deceleration device can be removed from using hydraulic cylinder 139, and do not have drive gap, moved
Steadily.First power set 140 can also be electric cylinder or cylinder, be not especially limited herein.
Preferably, the automatic guided vehicle 100 further includes hydraulic pressure source device 160, and the hydraulic pressure source device 160 is arranged on institute
State on vehicle frame 110, and turn on and connect with the hydraulic cylinder 139, pressure energy is provided for the hydraulic cylinder 139.In the present embodiment,
The hydraulic pressure source device 160 can provide flow direction, pressure and flux controllable hydraulic power source, to drive the supporting item 130 to release
Or retract.The supporting item 130 and the hydraulic cylinder 139 are 4, and the supporting item 130 is corresponded with the hydraulic cylinder 139
Connection；The hydraulic cylinder 139 and the supporting item 130 are distributed in 110 4 jiaos of the vehicle frame.It is arranged at 110 4 jiaos of the vehicle frame
The supporting item 130 can obtain maximum supporting surface.
In the present embodiment, the hydraulic pressure source device 160 provides the pressure of preset pressure value for 4 hydraulic cylinders 139
Energy；When needing positioning, the hydraulic pressure source device 160 provides for the hydraulic cylinder 139 and releases pressure energy, the hydraulic cylinder 139
Release the push-off pin 138；Since when the elastic supporting seat 133 and the supporting surface offset, in the hydraulic cylinder 139
Pressure is gradually risen until reaching preset pressure value, and the hydraulic cylinder 139 stops releasing the push-off pin 138.The push-off pin
Can just stop releasing after 138 only contact with the supporting surface, when reaching preset pressure value, therefore, no matter the homing guidance
For car 100 when being positioned on flat supporting surface or uneven supporting surface, the automatic guided vehicle 100 can automatically adjust appearance
State, keeps the horizontal attitude of the automatic guided vehicle 100.
Referring to Fig. 3, the elevating mechanism 200 includes fixed frame 210, the first guide rail 220, the second guide rail 230, adjustable shelf
240 and driving device 250；The fixed frame 210 is connected with the automatic guided vehicle 100, first guide rail 220 and described
Two guide rails 230 are arranged on the fixed frame 210 parallel, in the present embodiment, first guide rail 220 and second guide rail
230 are vertically arranged on the fixed frame 210 parallel；The adjustable shelf 240 and first guide rail 220 and second guide rail
230 are flexibly connected, and the manipulator 300 is connected with the adjustable shelf 240, the driving device 250 and 240 phase of adjustable shelf
Even, for driving the adjustable shelf 240 along first guide rail 220 and the guiding movement of second guide rail 230, to realize
State the up and down motion of manipulator 300.It is understood that in one embodiment, the elevating mechanism 200 includes fixed frame
210, the fixed frame 210 is provided with sprocket wheel, and the sprocket wheel is connected with chain, and the chain is connected with the manipulator 300, with
The manipulator 300 is driven to move up and down.Therefore, the structure of the elevating mechanism 200 is not specifically limited herein.
In the present embodiment, control device 211 and wireless communication module 212 are fixed with the fixed frame 210；The control
Device 211 and the wireless communication module 212 processed are arranged on the fixed frame 210, the control device 211 with it is described automatic
Guiding car 100, the elevating mechanism 200 and the manipulator 300 are electrically connected；For controlling the automatic guided vehicle 100, described
The movement of elevating mechanism 200 and the manipulator 300；The wireless communication module 212 is electrically connected with the control device 211,
Communicate for the control centre with controlling the robot to work, transmission of control signals.
Preferably, the adjustable shelf 240 includes riser 241, loading plate 242, floor 243 and several slide units 244, described
One end of slide unit 244 is flexibly connected with first guide rail 220 or second guide rail 230, the other end of the slide unit 244 with
The riser 241 is connected, and the portrait is arranged in parallel with first guide rail 220 and second guide rail 230；The loading plate
242 are vertically installed in 241 lower edge of riser, and the manipulator 300 is arranged on the loading plate 242；The floor 243
It is connected with the portrait and the loading plate 242, for strengthening the structural strength of the adjustable shelf 240.
Preferably, the slide unit 244 includes the first slide unit 245 and the second slide unit 246, first slide unit 245 with it is described
Second slide unit 246 is arranged at intervals, and first slide unit 245 is arranged at the upper end of the riser 241, second slide unit 246
The bottom of the portrait is arranged at, to strengthen the bearing capacity of the loading plate 242.
Refer to Fig. 4 to Fig. 5, the driving device 250 includes driving motor 251, leading screw 252, contiguous block 253 and dust-proof
Baffle 254；The driving motor 251 is connected with the leading screw 252；The first end of the contiguous block 253 and the leading screw 252
It is flexibly connected, the second end of the contiguous block 253 is connected with the adjustable shelf 240；The contiguous block 253 is provided with holding tank
255, institute's dust-proof guard 254 is through the holding tank 255 and is arranged at the leading screw 252 and the adjustable shelf 240, in order to avoid
The leading screw 252 is contaminated, influences the lifting precision of the elevating mechanism 200.In the present embodiment, the driving motor 251
It is connected with the screw drive of the leading screw 252, the first end of the contiguous block 253 is connected with the nut of the leading screw 252, with reality
The rotary motion of the existing driving motor 251 is converted into the straight line elevating movement of the adjustable shelf 240.
Fig. 3 and Fig. 9 are referred to, the manipulator 300 includes mechanical arm 310 and takes discharging device 320, the manipulator
The first end of arm 310 is connected with the adjustable shelf 240, and the second end of the mechanical arm 310 takes discharging device 320 to live with described
It is dynamic to be connected；It is described to take discharging device 320 to include the first linking arm 321, the second linking arm 322, the 3rd linking arm 323, identification part
Part 324, by hit component 325 and pick and place material component 326；The first end of first linking arm 321 and second linking arm 322
First end and the first end of the 3rd linking arm 323 be connected；The second end of first linking arm 321 and the identification part
Part 324 is connected, and the second end of second linking arm 322 is connected by hitting component 325 with described, the 3rd linking arm 323
Second end is connected with the material component 326 that picks and places；The identification component 324 is used for position and the state for identifying material, described to press
Hit component 325 to be used to releasing or establishing the constraint to the material, the material component 326 that picks and places is used to release or establish to institute
The material is gripped during the constraint for stating material.The manipulator 300 of the present invention can improve the flexibility of robot.In this reality
Apply in example, the identification component 324 includes imaging sensor, described to include electric cylinders and be connected with the electric cylinders by hitting component 325
Push rod, the push rod outwards exerts a force under the drive of the electric cylinders, and the material component 326 that picks and places includes clamping jaw.
Preferably, the angle formed between first linking arm 321 and second linking arm 322 is first angle,
The angle formed between second linking arm 322 and the 3rd linking arm 323 is second angle, first linking arm
The angle formed between 321 and the 3rd linking arm 323 is third angle, the first angle, second angle and described
The sum of three angles are equal to 360 °, and the difference between the first angle, the second angle, the third angle is less than 10 °,
Described to take discharging device 320 to rotate 360 ° relative to the mechanical arm 310, when work, which first controls, takes discharging device 320 to revolve
Identification mission is performed after turning first angle, second angle is then rotated again and performs unlock task, finally rotate third angle again and hold
Row feeding task, therefore, can improve efficiency, and flexibility is higher.
In conclusion the robot with elevating mechanism of the present invention includes automatic guided vehicle 100, elevating mechanism
200 and manipulator 300；The elevating mechanism 200 is connected with the automatic guided vehicle 100, and the manipulator 300 includes manipulator
Arm 310 and take discharging device 320, the mechanical arm 310 is connected with the elevating mechanism 200, it is described take discharging device 320 with
The mechanical arm 310 is flexibly connected；The automatic guided vehicle 100 is used to drive the manipulator 300 described automatic along supporting
The supporting surface movement of car 100 is guided, the elevating mechanism 200 is used to drive the manipulator 300 to move up and down.When need to compared with
When high destination object carries out operation, the manipulator 300 is driven to move to higher position just by the elevating mechanism 200
Operation can be carried out, thus, it can be adjusted according to the needs of environment, flexibility is preferable, simple in structure, in addition, being taken by described
Discharging device 320 is flexibly connected with the mechanical arm 310, so as to can further improve flexibility.
The robot provided by the present invention with elevating mechanism is described in detail above, tool used herein
Body example is set forth the principle of the present invention and embodiment, and the explanation of above example is only intended to help to understand this hair
Bright method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, specific real
There will be changes in mode and application range are applied, in conclusion this specification content is only embodiments of the present invention, and
Non- therefore the limitation present invention the scope of the claims, every equivalent structure made using description of the invention and accompanying drawing content or equivalent
Flow converts, and is directly or indirectly used in other related technical areas, is similarly included in the patent protection model of the present invention
In enclosing.It should not be construed as limiting the invention.
Claims (10)
- A kind of 1. robot with elevating mechanism, it is characterised in that：Including automatic guided vehicle, elevating mechanism and manipulator；Institute State elevating mechanism with the automatic guided vehicle to be connected, the manipulator includes mechanical arm and takes discharging device, the manipulator Arm is connected with the elevating mechanism, described to take discharging device to be flexibly connected with the mechanical arm；The automatic guided vehicle is used for Driving the elevating mechanism and the manipulator, the elevating mechanism is used for along supporting the supporting surface of the automatic guided vehicle to move The manipulator is driven to move up and down.
- 2. the robot according to claim 1 with elevating mechanism, it is characterised in that：The elevating mechanism includes fixing Frame, the first guide rail, the second guide rail, adjustable shelf and driving device；The fixed frame is connected with the automatic guided vehicle, and described first Guide rail and second guide rail are arranged on the fixed frame parallel, and the adjustable shelf is led with first guide rail and described second Rail is flexibly connected, and the manipulator is connected with the adjustable shelf, and the driving device is connected with the adjustable shelf, for driving Adjustable shelf is stated along first guide rail and the guiding movement of second guide rail.
- 3. the robot according to claim 2 with elevating mechanism, it is characterised in that：The driving device includes driving Motor, leading screw, contiguous block and dust-proof guard；The driving motor is connected with the leading screw；The first end of the contiguous block and institute Leading screw flexible connection is stated, the second end of the contiguous block is connected with the adjustable shelf；The contiguous block is provided with holding tank, prevents Dirt baffle is through the holding tank and is arranged at the screw and the adjustable shelf.
- 4. the robot according to any one of claims 1 to 3 with elevating mechanism, it is characterised in that：It is described to lead automatically Drawing car includes vehicle frame, the first wheel, supporting item and the first power set；First wheel is connected with the vehicle frame；The branch Support member is connected with first power set；First power set are connected with the vehicle frame, for promoting the supporting item Abutted with the supporting surface, to be positioned to the robot.
- 5. the robot according to claim 4 with elevating mechanism, it is characterised in that：The automatic guided vehicle further includes Limiting component, the limiting component are connected with the vehicle frame, and are flexibly connected with the supporting item, for hindering the supporting item Rock.
- 6. the robot according to claim 5 with elevating mechanism, it is characterised in that：The supporting item is provided with first Guide part, the limiting component are provided with the second guide part；First guide part is engaged with second guide part, is used for The supporting item is hindered to rotate.
- 7. the robot according to claim 6 with elevating mechanism, it is characterised in that：The supporting item includes support Column, elastic supporting seat；The support column is detachably connected with first guide part, the elastic supporting seat and the support column Bottom is arranged connected.
- 8. the robot according to claim 7 with elevating mechanism, it is characterised in that：The support column includes the first column Body, connection ring and the second cylinder, the cross-sectional area of second cylinder are more than the first cylinder cross-sectional area；Described The first end of one cylinder is connected with first power set, the second end of first cylinder and the inner peripheral surface of the connection ring It is connected, the first end of second cylinder is connected with the outer circumferential surface of the connection ring, and the first end of the elastic supporting seat plugs Abutted against in second cylinder and with the connection ring；The second end of the elastic supporting seat is located at second cylinder Outside.
- 9. the robot according to claim 4 with elevating mechanism, it is characterised in that：The machine with elevating mechanism Device people further includes hydraulic pressure source device, and first power set include hydraulic cylinder；The hydraulic pressure source device is arranged on the vehicle frame On, the hydraulic cylinder is fixed on the vehicle frame, and is connected with the supporting item；The hydraulic pressure source device is led with the hydraulic cylinder Lead to and connect.
- 10. the robot according to any one of claims 1 to 3 with elevating mechanism, it is characterised in that：Described carry rises The robot of descending mechanism further includes the second power set of at least two, and the quantity of first wheel is at least 2, and described second Power set are fixed on the vehicle frame, and are connected one to one with first wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260116.9A CN108032277A (en) | 2017-12-04 | 2017-12-04 | Robot with elevating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260116.9A CN108032277A (en) | 2017-12-04 | 2017-12-04 | Robot with elevating mechanism |
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| CN108032277A true CN108032277A (en) | 2018-05-15 |
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| CN201711260116.9A Pending CN108032277A (en) | 2017-12-04 | 2017-12-04 | Robot with elevating mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656098A (en) * | 2018-07-02 | 2018-10-16 | 芜湖易迅生产力促进中心有限责任公司 | A kind of robot leg telescoping mechanism |
| CN109455247A (en) * | 2018-12-21 | 2019-03-12 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
| CN110000750A (en) * | 2019-05-22 | 2019-07-12 | 沈阳维特自动化设备有限公司 | A kind of robot external mobile devices |
| CN112389966A (en) * | 2020-11-20 | 2021-02-23 | 王琳 | Automatic sorting transport vehicle and sorting method thereof |
| CN113104575A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Intelligent single cotton bale carrying robot |
| US20210229265A1 (en) * | 2018-06-05 | 2021-07-29 | Tsinghua University | Movable Hybrid Machining Robot based on Three-Degree-of-Freedom Force-Controlled Parallel Module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109455247B (en) * | 2018-12-21 | 2023-10-20 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
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| CN110000750B (en) * | 2019-05-22 | 2024-02-20 | 沈阳维特自动化设备有限公司 | External mobile device of robot |
| CN112389966A (en) * | 2020-11-20 | 2021-02-23 | 王琳 | Automatic sorting transport vehicle and sorting method thereof |
| CN113104575A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Intelligent single cotton bale carrying robot |
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Application publication date: 20180515 |