CN108298244B - Transfer robot that space utilization that stability is good is high - Google Patents
Transfer robot that space utilization that stability is good is high Download PDFInfo
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- CN108298244B CN108298244B CN201810020941.XA CN201810020941A CN108298244B CN 108298244 B CN108298244 B CN 108298244B CN 201810020941 A CN201810020941 A CN 201810020941A CN 108298244 B CN108298244 B CN 108298244B
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- telescopic
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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
- B65G7/00—Devices for assisting manual moving or tilting heavy loads
- B65G7/02—Devices adapted to be interposed between loads and the ground or floor, e.g. crowbars with means for assisting conveyance of loads
- B65G7/04—Rollers
Abstract
The invention relates to a transfer robot with good stability and high space utilization rate, which comprises a support column, a binding mechanism, a fixed pulley, two stabilizing mechanisms, five cargo plates and four telescopic mechanisms, wherein each stabilizing mechanism comprises a swinging assembly, a supporting plate, a roller, a limiting plate, two rotating assemblies and two stabilizing assemblies, the transfer robot with good stability and high space utilization rate improves the stability of the transfer robot during movement through the stabilizing mechanisms, the cargo is bound through the binding mechanism, the shaking of the cargo is reduced, the probability that the cargo falls off during the work of the transfer robot is reduced, the distance between the two cargo plates is adjusted through the telescopic mechanisms, so that the gap between the cargo plates and the cargo is smaller, the gravity center of the transfer robot is reduced while the shaking of the cargo is reduced, the space utilization rate can be improved through reasonably adjusting the distance between the two cargo plates, thereby the space utilization rate and the practicability of the transfer robot are greatly improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a transfer robot with good stability and high space utilization rate.
Background
An intelligent robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
Present transfer robot is in the handling, because the height that the goods was put is far more than its height of own, make transfer robot's focus in the course of traveling on the high side, lead to rocking of goods easily, lead to the goods to drop even, thereby the practicality of current transfer robot has been reduced, moreover, when the goods was put, the distance between two goods boards is fixed, can't rationally utilize the space, there is the condition that the goods can't be put into between two goods boards, or, after the goods was put into between two goods boards, there is great gap between the goods board of goods and top, make present transfer robot's space utilization greatly reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the conveying robot with high stability and high space utilization rate is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a transfer robot with good stability and high space utilization rate comprises a base and four moving wheels, wherein each moving wheel is uniformly arranged below the base, the transfer robot further comprises a pillar, a binding mechanism, a fixed pulley, two stabilizing mechanisms, five cargo plates and four telescopic mechanisms, the five cargo plates are uniformly distributed above the base from top to bottom, the pillar is cylindrical in shape, the cargo plates are sleeved on the pillar, the telescopic mechanisms are arranged between the two cargo plates, the two stabilizing mechanisms are respectively arranged on two sides of the cargo plates close to the base in the five cargo plates, the stabilizing mechanisms are connected with the cargo plates, the fixed pulley is arranged on the pillar, the binding mechanism is arranged in the base, and the binding mechanism is connected with the fixed pulley;
the stabilizing mechanism comprises a swinging component, a supporting plate, a roller, a limiting plate, two rotating components and two stabilizing components, wherein the swinging component is arranged on one side of the base, the swinging component drives the supporting plate to swing, one end of the supporting plate is hinged with one end of a cargo plate close to the base in five cargo plates, the other end of the supporting plate is connected with the roller, a strip-shaped opening is formed in the supporting plate, one end of the limiting plate is fixedly connected with the base, the other end of the limiting plate penetrates through the supporting plate through the strip-shaped opening, the rotating components are arranged on two sides of the strip-shaped opening, the rotating components are connected with the limiting plate, the stabilizing components are arranged in the strip-shaped opening, the two stabilizing components are respectively positioned above and below the limiting plate, first openings are respectively arranged on the upper side and the lower side of the limiting plate, the vertical cross section of each first opening is rectangular, two chamfers are respectively arranged on two sides of one end, close to the stabilizing assembly, of the first opening, a first spring is arranged in the first opening, and electromagnets are arranged on two sides of the first opening;
the rotating assembly comprises a first motor, a wire spool and two first connecting wires, the first motor is fixed on the supporting plate and is in transmission connection with the wire spool, one ends of the two first connecting wires are respectively connected with the two stabilizing assemblies, and the other ends of the two first connecting wires are wound on the wire spool;
the stabilizing assembly comprises a moving block, a bolt, a connecting block and two stabilizing units, the moving block is arranged in a strip-shaped port and is in sliding connection with the strip-shaped port, the first connecting line is fixedly connected with the moving block, the bolt is fixed on one side, close to the limiting plate, of the moving block, the bolt is matched with the first opening, the connecting block is fixed in the bolt, second openings are formed in two sides of the bolt, the two second openings are respectively located in two sides of the connecting block, the vertical cross section of each second opening is rectangular, and the stabilizing units are arranged in the second openings;
the stabilizing unit comprises a second spring, a transmission block and a ball, the second spring is arranged in the second opening, one end of the second spring is connected with the connecting block, the other end of the second spring is connected with one end of the transmission block, the ball is connected with one end, far away from the second spring, of the transmission block, the transmission block and the ball are matched with the second opening, and the transmission block and the ball are matched with the clamping groove;
the binding mechanism comprises a second motor, a rotary table, a first pawl, a second pawl, a ratchet wheel, a winding bar, a second connecting line and a fourth motor, the second motor is fixed in the base and is in transmission connection with the rotary table, the first pawl is positioned above the second pawl, the first pawl and the second pawl are both fixedly connected with the rotary table, the ratchet wheel is positioned below the second pawl, the fourth motor is fixed in the base and is in transmission connection with the ratchet wheel, the first pawl and the second pawl are both matched with the ratchet wheel, the first pawl and the second pawl are both abutted against the ratchet wheel, the winding bar and the ratchet wheel are coaxially arranged, two ends of the second connecting line are respectively wound on two sides of the winding bar, the second connecting line is wound around the fixed pulley, and the second connecting line is in sliding connection with the fixed pulley;
the telescopic mechanism comprises two telescopic assemblies which are respectively arranged on two sides of the strut;
the telescopic assembly comprises a third motor, a driving wheel, two driving rods and two telescopic units, the third motor is fixed in a cargo plate below the telescopic mechanism, the third motor is in transmission connection with the driving wheel, the driving wheel is cylindrical, the two telescopic units are centrosymmetric about the intersection point of the axis of the driving wheel and the cargo plate, the two driving rods are centrosymmetric about the intersection point of the axis of the driving wheel and the cargo plate, one end of each driving rod is hinged with the position, far away from the center of a circle, of the driving wheel, and the other end of each driving rod is connected with the telescopic units;
the telescopic unit comprises a slide block, a chute, a fixed block, a telescopic frame and a top plate, the chute is fixed in a cargo plate positioned below the telescopic mechanism, the notch of the sliding groove faces the driving wheel, the sliding block is arranged in the sliding groove and is connected with the sliding groove in a sliding way, one end of the driving rod, which is far away from the driving wheel, is hinged with the sliding block, the fixed block is fixed in the cargo plate which is positioned below the telescopic mechanism, the telescopic frame is erected on the sliding block and the fixed block, the top plate is horizontally arranged and fixedly connected with the cargo plate positioned above the telescopic mechanism, the top plate is provided with a strip-shaped groove, the telescopic frame is vertically arranged, one side of the bottom end of the telescopic frame is hinged with the sliding block, the opposite side and the fixed block of the bottom of expansion bracket are articulated, one side and the one end of roof on the top of expansion bracket are articulated, the opposite side and the bar groove sliding connection on the top of expansion bracket.
Preferably, in order to drive the supporting plate more accurately, the swing assembly comprises an air pump, a cylinder and a piston rod, the air pump is fixed on one side of the base, one end of the cylinder is hinged to the base, the cylinder is communicated with the air pump, one end of the piston rod is arranged in the cylinder, and the other end of the piston rod is hinged to the supporting plate.
Preferably, the roller is a universal wheel to further improve convenience.
Preferably, in order to improve the stability of the cargo board during movement, four limit strips are arranged on the supporting column and are vertically arranged, the four limit strips are circumferentially and uniformly distributed on the periphery of the supporting column, four first grooves are formed in the cargo board and correspond to the limit strips one to one, the limit strips are embedded in the first grooves, and the limit strips are matched with the first grooves.
Preferably, in order to increase the capacity of the first spring to withstand the axial pressure, the first spring is a compression spring.
Preferably, in order to prolong the service life of the second connecting line, the second connecting line is a nylon line.
Preferably, in order to facilitate the detection of whether a gap is left between the cargo plates and the cargo, a pressure sensor is arranged between each cargo plate.
Preferably, the ball is made of stainless steel to prolong the service life of the ball.
Preferably, the first motor is a servo motor in order to improve the driving accuracy of the first motor.
Preferably, in order to improve the degree of intellectualization, a PLC and a wireless signal transceiver module are provided in the base, the PLC is electrically connected to the wireless signal transceiver module, and the PLC is electrically connected to the pressure sensor.
The invention has the advantages that the transfer robot with high space utilization rate and good stability improves the stability of the transfer robot when moving through the stabilizing mechanism, the goods are tightly bound through the binding mechanism, the shaking of the goods is reduced, and the probability of the goods falling off during the work of the transfer robot is reduced, compared with the prior stabilizing mechanism, the stabilizing mechanism can adjust the angle of the stabilizing mechanism according to the height of the base, so that the application range of the stabilizing mechanism is wider, the distance between two goods plates is adjusted through the telescopic mechanism, the gap between the goods plates and the goods is smaller, the gravity center of the transfer robot is reduced while the shaking of the goods is reduced, the space utilization rate can be improved through reasonably adjusting the distance between the two goods plates, so that the space utilization rate and the practicability of the transfer robot are greatly improved, compared with the prior telescopic mechanism, the operation synchronous rate of the telescopic mechanism is higher, so that the telescopic mechanism is more stable when the height of the cargo board is adjusted.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of a stable, space-efficient transfer robot according to the present invention;
fig. 2 is a schematic structural view of a stabilizing mechanism of the transfer robot of the present invention, which has high stability and high space utilization;
FIG. 3 is an enlarged view of portion A of FIG. 2;
fig. 4 is a schematic structural view of a binding mechanism of a highly space-efficient transfer robot according to the present invention;
fig. 5 is a plan view of the telescopic mechanism of the transfer robot of the present invention, which has high stability and high space efficiency;
fig. 6 is a schematic view of a connection structure between the telescopic unit and the cargo plate of the transfer robot with high stability and space utilization rate according to the present invention;
FIG. 7 is a schematic structural view of a swing assembly of the transfer robot of the present invention with good stability and high space utilization;
in the figure: 1. the automatic lifting device comprises a base, 2, a support column, 3, a fixed pulley, 4, a cargo board, 5, a supporting board, 6, a roller, 7, a limiting board, 8, a first spring, 9, an electromagnet, 10, a first motor, 11, a wire winding disc, 12, a first connecting wire, 13, a moving block, 14, a bolt, 15, a connecting block, 16, a second spring, 17, a driving block, 18, a ball, 19, a second motor, 20, a rotating disc, 21, a first pawl, 22, a second pawl, 23, a ratchet wheel, 24, a wire winding bar, 25, a second connecting wire, 26, a third motor, 27, a driving wheel, 28, a driving rod, 29, a sliding block, 30, a sliding groove, 31, a fixed block, 32, a telescopic frame, 33, a top plate, 34, an air pump 35, a cylinder barrel, 36, a piston rod, 37, a limiting bar and 38.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, a transfer robot with good stability and high space utilization rate comprises a base 1 and four moving wheels, wherein each moving wheel is uniformly arranged below the base 1, and further comprises a pillar 2, a binding mechanism, a fixed pulley 3, two stabilizing mechanisms, five cargo plates 4 and four telescopic mechanisms, wherein the five cargo plates 4 are uniformly distributed above the base 1 from top to bottom, the pillar 2 is cylindrical, the cargo plates 4 are sleeved on the pillar 2, the telescopic mechanisms are arranged between the two cargo plates 4, the two stabilizing mechanisms are respectively arranged at two sides of the cargo plates 4 close to the base 1 in the five cargo plates 4, the stabilizing mechanisms are connected with the cargo plates 4, the fixed pulley 3 is arranged on the pillar 2, the binding mechanism is arranged in the base 1, and the binding mechanism is connected with the fixed pulley 3;
the stability of the transfer robot during moving is improved through the stabilizing mechanism, the goods are tightly bound through the binding mechanism, the shaking of the goods is reduced, thereby reducing the probability of dropping the goods during the work of the transfer robot, compared with the prior stabilizing mechanism, the angle of the stabilizing mechanism can be adjusted according to the height of the base 1, so that the stabilizing mechanism has wider application range, the distance between the two cargo plates 4 is adjusted through the telescopic mechanism, so that the gap between the cargo plates 4 and the cargo is smaller, the cargo shaking is reduced, the gravity center of the transfer robot is reduced, the space utilization rate can be improved by reasonably adjusting the distance between the two cargo boards 4, thereby greatly improving the space utilization rate and the practicability of the transfer robot, compared with the prior telescopic mechanism, the operation synchronization rate of the telescopic mechanism is higher, so that the telescopic mechanism is more stable when the height of the cargo board 4 is adjusted.
As shown in fig. 2-3, in fact, fig. 3 is a schematic structural diagram of a stabilizing assembly, the stabilizing mechanism includes a swinging assembly, a supporting plate 5, a roller 6, a limiting plate 7, two rotating assemblies and two stabilizing assemblies, the swinging assembly is disposed on one side of the base 1, the swinging assembly drives the supporting plate 5 to swing, one end of the supporting plate 5 is hinged to one end of a cargo plate 4 close to the base 1 in five cargo plates 4, the other end of the supporting plate 5 is connected with the roller 6, a bar-shaped opening is disposed on the supporting plate 5, one end of the limiting plate 7 is fixedly connected with the base 1, the other end of the limiting plate 7 passes through the supporting plate 5 through the bar-shaped opening, the rotating assemblies are disposed on two sides of the bar-shaped opening, the rotating assemblies are connected with the limiting plate 7, the stabilizing assemblies are disposed in the bar-shaped opening, and the two stabilizing assemblies, the upper side and the lower side of the limiting plate 7 are both provided with first openings, the vertical cross sections of the first openings are rectangular, the two sides in the first openings are both provided with clamping grooves, the two sides of one end, close to the stabilizing assembly, of each first opening are respectively provided with two chamfers, a first spring 8 is arranged in each first opening, and the two sides of each first opening are both provided with electromagnets 9;
the rotating assembly comprises a first motor 10, a wire spool 11 and two first connecting wires 12, the first motor 10 is fixed on the supporting plate 5, the first motor 10 is in transmission connection with the wire spool 11, one ends of the two first connecting wires 12 are respectively connected with the two stabilizing assemblies, and the other ends of the two first connecting wires 12 are wound on the wire spool 11;
the stabilizing assembly comprises a moving block 13, a plug pin 14, a connecting block 15 and two stabilizing units, the moving block 13 is arranged in a strip-shaped opening, the moving block 13 is connected with the strip-shaped opening in a sliding mode, the first connecting wire 12 is fixedly connected with the moving block 13, the plug pin 14 is fixed on one side, close to the limiting plate 7, of the moving block 13, the plug pin 14 is matched with the first opening, the connecting block 15 is fixed in the plug pin 14, second openings are formed in two sides of the plug pin 14, the two second openings are located on two sides of the connecting block 15 respectively, the vertical cross section of each second opening is rectangular, and the stabilizing units are arranged in the second openings;
the stabilizing unit comprises a second spring 16, a transmission block 17 and a ball 18, the second spring 16 is arranged in a second opening, one end of the second spring 16 is connected with the connecting block 15, the other end of the second spring 16 is connected with one end of the transmission block 17, the ball 18 is connected with one end, far away from the second spring 16, of the transmission block 17, the transmission block 17 and the ball 18 are both matched with the second opening, and the transmission block 17 and the ball 18 are both matched with the clamping groove;
the swinging component drives the supporting plate 5 to swing, so that after the roller 6 is abutted against the ground, the first motor 10 drives the wire reel 11 to rotate, the first connecting wire 12 is contracted, the two moving blocks 13 are close to each other along the strip-shaped opening, when the bolt 14 enters the first opening, the balls 18 on the two sides roll and simultaneously drive the transmission block 17 to move into the second opening, at the moment, the second spring 16 compresses and stores deformation energy, when the balls 18 roll to the clamping groove position, the first spring 8 compresses and stores the deformation energy, and the second spring 16 releases the deformation energy, so that the transmission block 17 moves into the clamping groove, the bolt 14 is limited in the first opening through the friction force between the transmission block 17 and the clamping groove, so that the two moving blocks 13 clamp the limiting plate 7, the swinging of the limiting plate 7 is reduced, the swinging of the supporting plate 5 is reduced, the supporting effect of the supporting plate 5 on the base 1 is improved, when the limiting plate 7 is required to be loosened from the supporting plate 5, the electromagnet 9 drives the ball 18 to drive the transmission block 17 to move towards the second opening, at this time, the first motor 10 drives the wire spool 11 to release the first connection wire 12, and at the same time, the first spring 8 releases the deformation energy, so that the bolt 14 leaves the first opening.
As shown in fig. 4, the binding mechanism comprises a second motor 19, a rotating disk 20, a first pawl 21, a second pawl 22, a ratchet wheel 23, a winding rod 24, a second connecting wire 25 and a fourth motor 38, wherein the second motor 19 is fixed in the base 1, the second motor 19 is in transmission connection with the rotating disk 20, the first pawl 21 is positioned above the second pawl 22, the first pawl 21 and the second pawl 22 are both fixedly connected with the rotating disk 20, the ratchet wheel 23 is positioned below the second pawl 22, the fourth motor 38 is fixed in the base 1, the fourth motor is in transmission connection with the ratchet wheel 23, the first pawl 21 and the second pawl 22 are both matched with the ratchet wheel 23, the first pawl 21 and the second pawl 22 are both abutted against the ratchet wheel 23, the winding rod 24 is coaxially arranged with the ratchet wheel 23, two ends of the second connecting wire 25 are respectively wound on two sides of the winding rod 24, the second connecting line 25 passes around the fixed pulley 3, and the second connecting line 25 is connected with the fixed pulley 3 in a sliding manner;
in fact, the first pawl 21 and the second pawl 22 limit the counterclockwise rotation of the ratchet wheel 23, and the second connecting line 25 abuts against the cargo board 4;
when the second connecting line 25 needs to be paid out, the second motor 19 drives the turntable 20 to rotate clockwise, so that the first pawl 21 and the second pawl 22 are far away from the ratchet wheel 23, the ratchet wheel 23 is not limited by the first pawl 21 and the second pawl 22, so that the ratchet wheel 23 rotates anticlockwise under the driving of the fourth motor 38, when the goods plate 4 needs to be bound tightly, the fourth motor 38 drives the ratchet wheel 23 to rotate clockwise, the second connecting line 25 contracts, then the second motor 19 drives the turntable 20 to rotate anticlockwise, so that the first pawl 21 and the second pawl 22 abut against the ratchet wheel 23, and the anticlockwise rotation of the ratchet wheel 23 is limited.
As shown in fig. 5-6, the telescopic mechanism comprises two telescopic assemblies, which are respectively arranged at two sides of the pillar 2;
the telescopic assembly comprises a third motor 26, a driving wheel 27, two driving rods 28 and two telescopic units, wherein the third motor 26 is fixed in the cargo plate 4 below the telescopic mechanism, the third motor 26 is in transmission connection with the driving wheel 27, the driving wheel 27 is cylindrical, the two telescopic units are centrosymmetric about the axis of the driving wheel 27 and the intersection point of the cargo plate 4, the two driving rods 28 are centrosymmetric about the axis of the driving wheel 27 and the intersection point of the cargo plate 4, one end of each driving rod 28 is hinged to the position, far away from the center of a circle, of the driving wheel 27, and the other end of each driving rod 28 is connected with the telescopic units;
the telescopic unit comprises a sliding block 29, a sliding groove 30, a fixed block 31, a telescopic frame 32 and a top plate 33, the sliding groove 30 is fixed in a cargo plate 4 positioned below the telescopic mechanism, the notch of the sliding groove 30 faces towards the driving wheel 27, the sliding block 29 is arranged in the sliding groove 30, the sliding block 29 is connected with the sliding groove 30 in a sliding manner, one end of the driving rod 28 far away from the driving wheel 27 is hinged with the sliding block 29, the fixed block 31 is fixed in the cargo plate 4 positioned below the telescopic mechanism, the telescopic frame 32 is erected on the sliding block 29 and the fixed block 31, the top plate 33 is horizontally arranged, the top plate 33 is fixedly connected with the cargo plate 4 positioned above the telescopic mechanism, a strip-shaped groove is arranged on the top plate 33, the telescopic frame 32 is vertically arranged, one side of the bottom end of the telescopic frame 32 is hinged with the sliding block 29, the other side of the, one side of the top end of the telescopic frame 32 is hinged with one end of the top plate 33, and the other side of the top end of the telescopic frame 32 is connected with the strip-shaped groove in a sliding mode;
the third motor 26 drives the driving wheel 27 to rotate, and the two driving rods 28 drive the two sliding blocks 29 to move in opposite directions, so that the two telescopic frames 32 extend or contract synchronously, and the distance between the two cargo boards 4 is adjusted.
As shown in fig. 7, the swing assembly includes an air pump 34, a cylinder 35 and a piston rod 36, the air pump 34 is fixed on one side of the base 1, one end of the cylinder 35 is hinged to the base 1, the cylinder 35 is communicated with the air pump 34, one end of the piston rod 36 is disposed in the cylinder 35, the other end of the piston rod 36 is hinged to the support plate 5, the air pump 34 transmits or extracts air into the cylinder 35, so that the piston rod 36 makes piston motion under the action of pressure difference, and the support plate 5 is driven to swing back and forth, and the amount of expansion and contraction of the piston rod 36 can be controlled more accurately by adjusting the amount of transmission or extraction of air, so that the support plate 5 is driven more accurately.
Preferably, the roller 6 is a universal wheel to further improve convenience.
Preferably, in order to improve the stability of the goods plate 4 when moving, four limiting strips 37 are arranged on the supporting column 2, the limiting strips 37 are vertically arranged, the four limiting strips 37 are circumferentially and uniformly distributed on the periphery of the supporting column 2, four first grooves are arranged in the goods plate 4, the first grooves correspond to the limiting strips 37 one by one, the limiting strips 37 are embedded in the first grooves, the limiting strips 37 are matched with the first grooves, and the limiting strips 37 do not limit the goods plate 4 to rotate when lifting, so that the stability of the goods plate 4 when moving is improved.
Preferably, in order to improve the capability of the first spring 8 to bear the axial pressure, the first spring 8 is a compression spring, a certain gap is formed between the coils of the compression spring, and the spring contracts and deforms when being subjected to an external load, so that deformation energy is stored, and the capability of the first spring 8 to bear the axial pressure is improved.
Preferably, in order to prolong the service life of the second connection line 25, the second connection line 25 is a nylon line, and the nylon line has good wear resistance, so that the wear of the second connection line 25 in the using process can be reduced, and the service life of the second connection line 25 can be prolonged.
As preferred, whether leave the clearance for the convenience between detection goods board 4 and the goods, all be equipped with pressure sensor between each goods board 4, when pressure sensor detected pressure, then show that goods board 4 and goods have closely laminated to be convenient for detect whether leave the clearance between goods board 4 and the goods.
Preferably, in order to prolong the service life of the balls 18, the balls 18 are made of stainless steel, and the stainless steel has good corrosion resistance, so that the corrosion of the balls 18 can be effectively reduced, and the service life of the balls 18 can be prolonged.
Preferably, in order to improve the driving accuracy of the first motor 10, the first motor 10 is a servo motor, the servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into the torque and the rotating speed to drive the controlled object, so as to improve the driving accuracy of the first motor 10.
Preferably, in order to improve the degree of intellectualization, a PLC and a wireless signal transceiver module are provided in the base 1, the PLC is electrically connected to the wireless signal transceiver module, and the PLC is electrically connected to the pressure sensor.
Swing subassembly drive backup pad 5 swings, make gyro wheel 6 support to the back with ground, two stabilizing component of two rotating assembly drive of PLC control are close to, reduce rocking of backup pad 5, the support effect of backup pad 5 to base 1 has been improved, when the interval between two goods boards 4 is adjusted to needs, the goods board 4 of PLC control telescopic machanism drive top goes up and down, thereby adjust the interval between two goods boards 4, the back finishes in the regulation, tie goods board 4 tightly through tying tight mechanism, further reduce rocking of goods, the holistic focus has been reduced simultaneously, space utilization has also been improved simultaneously, thereby make this transfer robot's practicality improve greatly.
Compared with the prior art, the transfer robot with high space utilization rate and good stability improves the stability of the transfer robot when moving through the stabilizing mechanism, the goods are tightly bound through the binding mechanism, the shaking of the goods is reduced, and the probability of the goods falling off during the work of the transfer robot is reduced, compared with the prior stabilizing mechanism, the stabilizing mechanism can adjust the angle of the stabilizing mechanism according to the height of the base 1, so that the application range of the stabilizing mechanism is wider, the distance between the two goods plates 4 is adjusted through the telescopic mechanism, the gap between the goods plates 4 and the goods is smaller, the gravity center of the transfer robot is reduced while the goods shaking is reduced, the space utilization rate can be improved through reasonably adjusting the distance between the two goods plates 4, so that the space utilization rate and the practicability of the transfer robot are greatly improved, compared with the prior telescopic mechanism, the operation synchronization rate of the telescopic mechanism is higher, so that the telescopic mechanism is more stable when the height of the cargo board 4 is adjusted.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The carrying robot with good stability and high space utilization rate comprises a base (1) and four moving wheels, wherein the moving wheels are uniformly arranged below the base (1), and the carrying robot is characterized by further comprising a support column (2), a binding mechanism, a fixed pulley (3), two stabilizing mechanisms, five cargo plates (4) and four telescopic mechanisms, wherein the five cargo plates (4) are uniformly distributed above the base (1) from top to bottom, the support column (2) is cylindrical, the cargo plates (4) are sleeved on the support column (2), the telescopic mechanisms are arranged between the two cargo plates (4), the two stabilizing mechanisms are respectively arranged at two sides of the cargo plates (4) which are close to the base (1) and in the five cargo plates (4), the stabilizing mechanisms are connected with the cargo plates (4), the fixed pulley (3) is arranged on the support column (2), and the binding mechanism is arranged in the base (1), the binding mechanism is connected with the fixed pulley (3);
the stabilizing mechanism comprises a swinging component, a supporting plate (5), a roller (6), a limiting plate (7), two rotating components and two stabilizing components, wherein the swinging component is arranged on one side of the base (1), the swinging component drives the supporting plate (5) to swing, one end of the supporting plate (5) is hinged with one end of a cargo plate (4) close to the base (1) in five cargo plates (4), the other end of the supporting plate (5) is connected with the roller (6), a strip-shaped opening is arranged on the supporting plate (5), one end of the limiting plate (7) is fixedly connected with the base (1), the other end of the limiting plate (7) penetrates through the supporting plate (5) through the strip-shaped opening, the rotating components are arranged on two sides of the strip-shaped opening, the rotating components are connected with the limiting plate (7), the stabilizing components are arranged in the strip-shaped opening, and the two stabilizing components are respectively positioned above and below the limiting plate (7), the upper side and the lower side of the limiting plate (7) are both provided with first openings, the vertical cross sections of the first openings are rectangular, the two sides in the first openings are both provided with clamping grooves, the two sides of one end, close to the stabilizing assembly, of each first opening are respectively provided with two chamfers, a first spring (8) is arranged in each first opening, and the two sides of each first opening are both provided with electromagnets (9);
the rotating assembly comprises a first motor (10), a wire spool (11) and two first connecting wires (12), the first motor (10) is fixed on the supporting plate (5), the first motor (10) is in transmission connection with the wire spool (11), one ends of the two first connecting wires (12) are respectively connected with the two stabilizing assemblies, and the other ends of the two first connecting wires (12) are wound on the wire spool (11);
the stabilizing assembly comprises a moving block (13), a plug pin (14), a connecting block (15) and two stabilizing units, wherein the moving block (13) is arranged in a strip-shaped opening, the moving block (13) is connected with the strip-shaped opening in a sliding mode, a first connecting line (12) is fixedly connected with the moving block (13), the plug pin (14) is fixed on one side, close to the limiting plate (7), of the moving block (13), the plug pin (14) is matched with the first opening, the connecting block (15) is fixed in the plug pin (14), second openings are formed in two sides of the plug pin (14), the two second openings are respectively located on two sides of the connecting block (15), the vertical cross section of each second opening is rectangular, and the stabilizing units are arranged in the second openings;
the stabilizing unit comprises a second spring (16), a transmission block (17) and a ball (18), the second spring (16) is arranged in the second opening, one end of the second spring (16) is connected with the connecting block (15), the other end of the second spring (16) is connected with one end of the transmission block (17), the ball (18) is connected with one end, far away from the second spring (16), of the transmission block (17), the transmission block (17) and the ball (18) are matched with the second opening, and the transmission block (17) and the ball (18) are matched with the clamping groove;
the binding mechanism comprises a second motor (19), a rotating disc (20), a first pawl (21), a second pawl (22), a ratchet wheel (23), a winding rod (24), a second connecting line (25) and a fourth motor (38), wherein the second motor (19) is fixed in the base (1), the second motor (19) is in transmission connection with the rotating disc (20), the first pawl (21) is positioned above the second pawl (22), the first pawl (21) and the second pawl (22) are both fixedly connected with the rotating disc (20), the ratchet wheel (23) is positioned below the second pawl (22), the fourth motor (38) is fixed in the base (1), the fourth motor (38) is in transmission connection with the ratchet wheel (23), the first pawl (21) and the second pawl (22) are both matched with the ratchet wheel (23), and the first pawl (21) and the second pawl (22) are both abutted against the ratchet wheel (23), the winding bar (24) and the ratchet wheel (23) are coaxially arranged, two ends of the second connecting line (25) are respectively wound on two sides of the winding bar (24), the second connecting line (25) is wound around the fixed pulley (3), and the second connecting line (25) is connected with the fixed pulley (3) in a sliding mode;
the telescopic mechanism comprises two telescopic assemblies which are respectively arranged on two sides of the strut (2);
the telescopic assembly comprises a third motor (26), a driving wheel (27), two driving rods (28) and two telescopic units, wherein the third motor (26) is fixed in the cargo plate (4) below the telescopic mechanism, the third motor (26) is in transmission connection with the driving wheel (27), the driving wheel (27) is cylindrical, the two telescopic units are centrosymmetric about the intersection point of the axis of the driving wheel (27) and the cargo plate (4), the two driving rods (28) are centrosymmetric about the intersection point of the axis of the driving wheel (27) and the cargo plate (4), one end of each driving rod (28) is hinged to the position, far away from the circle center, of the driving wheel (27), and the other end of each driving rod (28) is connected with the telescopic unit;
the telescopic unit comprises a sliding block (29), a sliding groove (30), a fixed block (31), a telescopic frame (32) and a top plate (33), the sliding groove (30) is fixed in a cargo plate (4) positioned below the telescopic mechanism, a notch of the sliding groove (30) faces towards the driving wheel (27), the sliding block (29) is arranged in the sliding groove (30), the sliding block (29) is connected with the sliding groove (30) in a sliding manner, one end of the driving rod (28) far away from the driving wheel (27) is hinged with the sliding block (29), the fixed block (31) is fixed in the cargo plate (4) positioned below the telescopic mechanism, the telescopic frame (32) is erected on the sliding block (29) and the fixed block (31), the top plate (33) is horizontally arranged, the top plate (33) is fixedly connected with the cargo plate (4) positioned above the telescopic mechanism, a strip-shaped groove is arranged on the top plate (33), the vertical setting of expansion bracket (32), one side and slider (29) of the bottom of expansion bracket (32) are articulated, the opposite side and fixed block (31) of the bottom of expansion bracket (32) are articulated, one side on the top of expansion bracket (32) is articulated with the one end of roof (33), the opposite side and the bar groove sliding connection on the top of expansion bracket (32).
2. The transfer robot with high stability and space utilization as claimed in claim 1, wherein the swing assembly comprises an air pump (34), a cylinder (35) and a piston rod (36), the air pump (34) is fixed on one side of the base (1), one end of the cylinder (35) is hinged to the base (1), the cylinder (35) is communicated with the air pump (34), one end of the piston rod (36) is arranged in the cylinder (35), and the other end of the piston rod (36) is hinged to the support plate (5).
3. The stable and space-efficient transfer robot as claimed in claim 1, wherein said rollers (6) are universal wheels.
4. The transfer robot with good stability and high space utilization rate as claimed in claim 1, wherein four limiting strips (37) are arranged on the supporting column (2), the limiting strips (37) are vertically arranged, the four limiting strips (37) are circumferentially and uniformly distributed on the periphery of the supporting column (2), four first grooves are formed in the cargo plate (4), the first grooves correspond to the limiting strips (37) one by one, the limiting strips (37) are embedded in the first grooves, and the limiting strips (37) are matched with the first grooves.
5. The stable and space-efficient transfer robot according to claim 1, wherein the first spring (8) is a compression spring.
6. The stable and space-efficient transfer robot according to claim 1, wherein the second connecting line (25) is a nylon line.
7. The stable and space-efficient transfer robot as claimed in claim 1, wherein a pressure sensor is provided between each of the cargo plates (4).
8. The stable and space-efficient transfer robot according to claim 1, wherein the ball (18) is made of stainless steel.
9. The stable and space-efficient transfer robot according to claim 1, wherein the first motor (10) is a servo motor.
10. The transfer robot with high space utilization and good stability as claimed in claim 7, wherein a PLC and a wireless signal transceiver module are provided in the base (1), the PLC is electrically connected to the wireless signal transceiver module, and the PLC is electrically connected to the pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810020941.XA CN108298244B (en) | 2018-01-10 | 2018-01-10 | Transfer robot that space utilization that stability is good is high |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810020941.XA CN108298244B (en) | 2018-01-10 | 2018-01-10 | Transfer robot that space utilization that stability is good is high |
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| CN108298244A CN108298244A (en) | 2018-07-20 |
| CN108298244B true CN108298244B (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810020941.XA Active CN108298244B (en) | 2018-01-10 | 2018-01-10 | Transfer robot that space utilization that stability is good is high |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2081379U (en) * | 1990-02-16 | 1991-07-24 | 杨献维 | Tied unit for storage and transportation |
| JP2006327471A (en) * | 2005-05-27 | 2006-12-07 | Japan Steels International Inc | Transportation carriage |
| KR20080022896A (en) * | 2006-09-08 | 2008-03-12 | 임용석 | Cart for carrying various parts |
| CN204483497U (en) * | 2015-03-06 | 2015-07-22 | 杭州金松优诺电器有限公司 | modular shelf |
| CN205273544U (en) * | 2015-10-19 | 2016-06-01 | 重庆恒聚物流股份有限公司 | Novel logistics transport vehicle |
| CN205589263U (en) * | 2016-03-21 | 2016-09-21 | 吴为阳 | Special article deposit flow box |
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2018
- 2018-01-10 CN CN201810020941.XA patent/CN108298244B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2081379U (en) * | 1990-02-16 | 1991-07-24 | 杨献维 | Tied unit for storage and transportation |
| JP2006327471A (en) * | 2005-05-27 | 2006-12-07 | Japan Steels International Inc | Transportation carriage |
| KR20080022896A (en) * | 2006-09-08 | 2008-03-12 | 임용석 | Cart for carrying various parts |
| CN204483497U (en) * | 2015-03-06 | 2015-07-22 | 杭州金松优诺电器有限公司 | modular shelf |
| CN205273544U (en) * | 2015-10-19 | 2016-06-01 | 重庆恒聚物流股份有限公司 | Novel logistics transport vehicle |
| CN205589263U (en) * | 2016-03-21 | 2016-09-21 | 吴为阳 | Special article deposit flow box |
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|---|---|
| CN108298244A (en) | 2018-07-20 |
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Effective date of registration: 20191129 Address after: 245500 Xiangyang Qiaotou, Yanhe West Road, Yi County, Huangshan City, Anhui Province Applicant after: Fuxian state owned Assets Operation Co., Ltd Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Applicant before: Shenzhen Control Communication Technology Co., Ltd. |
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