CN108502823A - A kind of full-automatic remains carrying implement - Google Patents
A kind of full-automatic remains carrying implement Download PDFInfo
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- CN108502823A CN108502823A CN201810332611.4A CN201810332611A CN108502823A CN 108502823 A CN108502823 A CN 108502823A CN 201810332611 A CN201810332611 A CN 201810332611A CN 108502823 A CN108502823 A CN 108502823A
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- push
- pull
- driving
- mechanical arm
- remains
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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
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
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- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention discloses a kind of full-automatic remains carrying implement, including carries driving device, lifting gear, push-pull device at fixed, mechanical arm handling device；The push-pull device at fixed is set to the top of lifting gear, for pushing and pulling remains stretcher；The lifting gear, which is arranged in, to be carried at the top of driving device, for driving push-pull device at fixed to lift；The mechanical arm handling device, which is set up in, to be carried at the top of driving device, for carrying remains stretcher；The carrying driving device is for carrying and driving lifting gear, push-pull device at fixed, the movement of mechanical arm handling device.The present invention is automatically finished the enabling of refrigerator in the funeral parlor, remains stretcher is moved out to from refrigerator and is transferred to a series of activities such as destination, saves cost of labor.
Description
Technical field
The present invention relates to robots to carry technical field more particularly to a kind of full-automatic remains carrying implement.
Background technology
With the development of economy with the progress of social civilization, carries transporting equipment and constantly sent out to automation and mechanization direction
Exhibition.For the large-scale funeral parlor, if also many work are completed only by manpower transport as before, it is
It is difficult the challenge for completing to carry.
Remains stretcher is moved out and is transferred to destination by enabling in the funeral parlor including refrigerator from refrigerator, this is
If row action can realize automation, the manpower to work in the funeral parlor can be reduced, saves cost of labor.But in the funeral parlor
The environment and equipment in portion, current carrying implement are unsatisfactory.
Invention content
The object of the present invention is to provide a kind of full-automatic remains carrying implement, it is automatically finished opening in funeral parlor refrigerator
Remains stretcher is moved out from refrigerator and is transferred to a series of activities such as destination by door, saves cost of labor.
To achieve the above object, using following technical scheme：
A kind of full-automatic remains carrying implement, including carry driving device, lifting gear, push-pull device at fixed, mechanical arm and carry dress
It sets；The push-pull device at fixed is set to the top of lifting gear, for pushing and pulling remains stretcher；The lifting gear is arranged in carrying and drives
At the top of dynamic device, for driving push-pull device at fixed to lift；The mechanical arm handling device, which is set up in, to be carried at the top of driving device, is used for
Carry remains stretcher；The carrying driving device is for carrying and driving lifting gear, push-pull device at fixed, mechanical arm handling device fortune
It is dynamic.
Preferably, the remains carrying implement further includes flygate device, it is respectively arranged in the both ends of push-pull device at fixed；It is described to open
Door gear includes telescopic rod, flexible linear motor, enabling profile, electromagnetic lock；The enabling profile is set to telescopic rod upper end, electromagnetism
Lock keeps it parallel or vertical with telescopic rod for locking enabling profile；The flexible linear motor is for driving telescopic rod drive to open
Knocker stretching motion.
Preferably, the mechanical arm handling device includes Multi-shaft mechanical arm, clip claw mechanism, dynamic balance sensor, mechanical arm
Carry controller；The mechanical arm is carried controller and is electrically connected with Multi-shaft mechanical arm, clip claw mechanism, dynamic balance sensor respectively
It connects；Detachable be installed in described Multi-shaft mechanical arm one end is carried at the top of driving device, and the other end is detachable with clip claw mechanism
Connection；The Multi-shaft mechanical arm is for driving clip claw mechanism to carry remains stretcher；The dynamic balance sensor is for incuding clamping jaw
The balanced signal of mechanism crawl remains stretcher is simultaneously back to mechanical arm carrying controller, and mechanical arm carries controller according to the signal
Control the crawl angle of Multi-shaft mechanical arm adjustment clip claw mechanism.
Preferably, institute's clip claw mechanism includes clamping jaw link, two clamping jaw screw components, screw drive motor, two grabs
Hook assembly；The two clamping jaws screw component is arranged in parallel in the both sides of clamping jaw link；The two grapples member parallel setting, often
The both ends of one grapple component are separately connected a clamping jaw screw component, and screw drive motor is close or remote for driving two grapple components
From；The grapple component includes two grapples, two electromagnetism lock, grapple driving motor, grapple connecting rod；Two grapple is set respectively
In the both ends of grapple connecting rod, the end of each grapple is latched equipped with an electromagnetism；The grapple driving motor is for driving grapple
Remains stretcher is captured, and its torque signal is back to mechanical arm after capturing remains stretcher and carries controller, mechanical arm is carried
Controller controls electromagnetism lock and locks the position of grapple.
Preferably, the push-pull device at fixed includes push-and-pull chassis, three shifting roller mechanisms, two movement linear motors, two push-and-pulls
Buckle mechanism；Length direction of three shifting roller mechanism along push-and-pull chassis is set to the top on push-and-pull chassis, and cloth respectively
It is placed in the both sides and middle part on push-and-pull chassis；The two movements linear motor is arranged in parallel in the top on push-and-pull chassis, and each shifting
Dynamic linear motor is arranged between every two shifting roller mechanism；Each mobile linear motor is for driving a push-and-pull buckle mechanism fortune
It is dynamic.
Preferably, the push-and-pull buckle mechanism pushes away button, two pulling buckles including push-and-pull button pedestal, two；The one of the push-and-pull button pedestal
End both sides are correspondingly arranged one and push away button, a pulling buckle respectively, push away and are connected through torsional spring between button and pulling buckle；The two push-and-pull buckle mechanism pushes away
Button and pulling buckle are arranged in opposite one end.
Preferably, the lifting gear includes hoistable platform, lifting pedestal, scissors type elevating frame, the first lifting driving electricity
Machine；The hoistable platform is set to the top of scissors type elevating frame, and lifting pedestal is set to the bottom of scissors type elevating frame；Described first
Lifting driving motor is installed on inside scissors type elevating frame, for driving scissors type elevating frame to shrink or stretching, extension.
Preferably, the lifting gear includes elevator platform, lift platform, the second lifting driving motor；The elevator
The top of frame to its bottom is equipped with sliding equipment；The second lifting driving motor is for driving lift platform through sliding equipment phase
Elevator platform is slided up and down.
Preferably, the lifting gear further includes clump weight, which is installed on the top of elevator platform；The lifting
Rack and the L-shaped construction of lift platform；The sliding equipment is installed on the perpendicular end of elevator platform, the perpendicular end of lift platform and cunning
Motivation structure connects.
Preferably, the carrying driving device includes vehicle ontology, drive wheel mechanism, power module, control module, whirler
Structure；The drive wheel mechanism is set to vehicle body bottom portion, and rotating mechanism is set to vehicle bodies top, and lifting gear is installed on rotating mechanism
Top simultaneously rotates under the driving of rotating mechanism；The power module uses lithium battery group, for powering；The control
Module is for controlling drive wheel mechanism, rotating mechanism work；The drive wheel mechanism is set as two-way AGV steering wheels mechanism, omnidirectional
Any one in AGV steering wheels mechanism, Athey wheel mechanism；The rotating mechanism includes rotary drive motor, rotating disk, rotation
Axis, rotary transmission gear；The rotating disk is set up in through rotary shaft above vehicle ontology；The rotating disk is circumferentially provided with sawtooth structure
It makes, rotary transmission gear engages connection with the zigzag structure of rotating disk；The output shaft and rotary drive of the rotary drive motor
Gear connects, for being rotated around the axis of rotation through rotary transmission gear driving rotating disk.
Using the above scheme, the beneficial effects of the invention are as follows：
1) according to the height of refrigerator, the height of adjustment push-pull device at fixed, and it is automatically finished the enabling of refrigerator, from refrigerator
It is middle that remains stretcher is moved out to and is transferred to a series of activities such as destination, save cost of labor；
2) various road conditions are suitable for：Athey wheel mechanism is suitable for rough road surface or climb and fall travels, two-way AGV rudders
It takes turns mechanism to be suitable in the road conditions only moved forward or back, AGV steering wheels mechanism of omnidirectional is suitable for needing to turn around or turning
The road conditions such as curved；When encountering narrow lane can by rotating mechanism by the remains stretcher of carrying carry out rotation adjustment good position with
Just narrow lane is passed through.
Description of the drawings
Fig. 1 is the stereogram of the embodiment of the present invention 3；
Fig. 2 is the stereogram that the embodiment of the present invention 6 saves mechanical arm handling device；
Fig. 3 is the stereogram of the push-pull device at fixed and door opener of the present invention；
Fig. 4 is the stereogram that the door opener of the present invention is shunk；
Fig. 5 is the stereogram of the door opener stretching, extension of the present invention；
Fig. 6 is the stereogram of the push-and-pull buckle mechanism of the present invention；
Fig. 7 is the stereogram of the clip claw mechanism of the present invention；
Fig. 8 is the stereogram of the crossing type lifting apparatus of the present invention；
Fig. 9 is the stereogram of gantry lifting gear of the present invention；
Figure 10 is the vertical view of the vehicle ontology and rotating mechanism of the present invention；
Figure 11 is the upward view of the two-way AGV steering wheels mechanism of 3 wheel constructions of the present invention；
Figure 12 is the upward view of the two-way AGV steering wheels mechanism of 5 wheel constructions of the present invention；
Figure 13 is the upward view of the AGV steering wheels mechanism of omnidirectional of 4 wheel constructions of the present invention；
Figure 14 is the upward view of the AGV steering wheels mechanism of omnidirectional of 6 wheel constructions of the present invention；
Wherein, description of drawing identification：
1-carrying driving device, 2/2 '-lifting gear,
3-push-pull device at fixed, 4-door openers,
5-mechanical arm handling devices, 11-vehicle ontologies,
12-two-way AGV steering wheels mechanisms, 12 '-AGV steering wheels mechanisms of omnidirectional,
12 "-Athey wheel mechanisms, 13-rotating mechanisms,
21-hoistable platforms, 22-lifting pedestals,
23-scissors type elevating framves, the 24-the first lifting driving motor,
21 '-elevator platforms, 22 '-lift platforms,
23 '-second lifting driving motors, 24 '-clump weights,
25 '-sliding equipments, 31-push-and-pull chassis,
32-shifting roller mechanisms, 33-mobile linear motors,
34-push-and-pull buckle mechanisms, 41-telescopic rods,
42-enabling profiles, 43-electromagnetic locks,
51-Multi-shaft mechanical arms, 52-clip claw mechanisms,
131-rotating disks, 132-rotary shafts,
133-rotary transmission gears, 341-push-and-pull button pedestals,
342-push away button, 343-pulling buckles,
521-clamping jaw links, 522-clamping jaw screw components,
523-grapple components, 5231-grapples,
5232-grapple driving motors, 5233-grapple connecting rods.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Shown in 14, the present invention provides a kind of full-automatic remains carrying implement, including carries driving device 1, lifting
Device 2/2 ', push-pull device at fixed 3, mechanical arm handling device 5；The push-pull device at fixed 3 is set to the top of lifting gear 2/2 ', is used for
Push and pull remains stretcher；The lifting gear 2/2 ', which is arranged in, carries 1 top of driving device, for driving push-pull device at fixed 3 to lift；Institute
It states mechanical arm handling device 5 and is set up in 1 top of carrying driving device, for carrying remains stretcher；The carrying driving device 1 is used
It is moved in carrying and driving lifting gear 2/2 ', push-pull device at fixed 3, mechanical arm handling device 5.
Wherein, the remains carrying implement further includes flygate device 4, is respectively arranged in the both ends of push-pull device at fixed 3；It is described to open
Door gear 4 includes telescopic rod 41, flexible linear motor (not shown), enabling profile 42, electromagnetic lock 43；The enabling profile
42 are set to 41 upper end of telescopic rod, and electromagnetic lock 43 keeps it parallel or vertical with telescopic rod 41 for locking enabling profile 42；It is described to stretch
Contracting linear motor is for driving telescopic rod 41 to drive 42 stretching motion of enabling profile.It is moved using linear motor control telescopic rod,
Do not take up space and can be precisely controlled the flexible stroke of telescopic rod.
The mechanical arm handling device 5 is removed including Multi-shaft mechanical arm 51, clip claw mechanism 52, dynamic balance sensor, mechanical arm
Transport controller；The mechanical arm is carried controller and (is called with Multi-shaft mechanical arm 51, clip claw mechanism 52, dynamic balance sensor respectively
Servo sensor) it is electrically connected；Detachable be installed in 51 one end of the Multi-shaft mechanical arm carries 1 top of driving device, another
End and 52 detachable connection of clip claw mechanism；The Multi-shaft mechanical arm 51 is for driving clip claw mechanism 52 to carry remains stretcher；Institute
Dynamic balance sensor is stated to be used to incude the balanced signal of the crawl remains stretcher of clip claw mechanism 52 and be back to mechanical arm carrying control
Device, mechanical arm carry controller and control the crawl angle that Multi-shaft mechanical arm 51 adjusts clip claw mechanism 52 according to the signal.The institute
Clip claw mechanism 52 includes clamping jaw link 521, two clamping jaw screw components 522, screw drive motor (not shown), two grapple groups
Part 523；The two clamping jaws screw component 522 is arranged in parallel in the both sides of clamping jaw link 521；The two grapples component 523 is flat
The both ends of row setting, each grapple component 523 are separately connected a clamping jaw screw component 522, and screw drive motor is for driving two
Grapple component 523 closer or far from；The grapple component 523 includes two grapples 5231, two electromagnetism lock, grapple driving motor
5232, grapple connecting rod 5233；Two grapple 5231 is respectively arranged on the both ends of grapple connecting rod 5233, each grapple 5231
End is latched equipped with an electromagnetism；The grapple driving motor 5232 is being captured for driving grapple 5231 to capture remains stretcher
Its torque signal is back to mechanical arm after remains stretcher and carries controller, mechanical arm is carried controller control electromagnetism lock and will be grabbed
The position of hook 5231 locks.
The push-pull device at fixed 3 includes push-and-pull chassis 31, the movement push-and-pull of linear motor 33, two of three shifting roller mechanisms 32, two
Buckle mechanism 34；Length direction of three shifting roller mechanism 32 along push-and-pull chassis 31 is set to the top on push-and-pull chassis 31,
And it is respectively arranged in the both sides and middle part on push-and-pull chassis 31；Two movements linear motor 33 parallel arrangement is in push-and-pull chassis 31
Top, and each mobile linear motor 33 is arranged between every two shifting roller mechanism 32, and linear motor control is used to push away herein
The stroke of drawing device occupies little space and can be precisely controlled the stroke of push-pull device at fixed；Each mobile linear motor 33 is for driving
One push-and-pull buckle mechanism 34 moves.The push-and-pull buckle mechanism 34 includes that push-and-pull button pedestal 341, two pushes away button 342, two pulling buckles 343；It is described
One end both sides of push-and-pull button pedestal 341 are correspondingly arranged one and push away button 342, a pulling buckle 343 respectively, push away and are passed through between button 342 and pulling buckle 343
Torsional spring connects；The two push-and-pulls buckle mechanism 34 push away button 342 and pulling buckle 343 is arranged in opposite one end, coordinate push-pull device at fixed two
The door opener at end, can meet can automatically open refrigerator door at the both ends of push-pull device at fixed and haul out remains stretcher.
The carrying driving device 1 include vehicle ontology 11, drive wheel mechanism 12/12 '/12 ", power module, control module,
Rotating mechanism 13；The drive wheel mechanism 12/12 '/12 " is set to 11 bottom of vehicle ontology, and rotating mechanism 13 is pushed up set on vehicle ontology 11
Portion, lifting gear 2/2 ' are installed on 13 top of rotating mechanism and rotate under the driving of rotating mechanism 13；The power supply
Module uses lithium battery group, for powering；The control module is for controlling drive wheel mechanism 12/12 '/12 ", rotating mechanism 13
Work；The rotating mechanism 13 includes rotary drive motor (not shown), rotating disk 131, rotary shaft 132, rotary drive
Gear 133；The rotating disk 131 is set up in 11 top of vehicle ontology through rotary shaft 132；The rotating disk 131 is circumferentially provided with saw
Tooth constructs, and rotary transmission gear 133 engages connection with the zigzag structure of rotating disk 131；The output shaft of the rotary drive motor
It is connect with rotary transmission gear 133, for driving rotating disk 131 to be rotated around rotary shaft 132 through rotary transmission gear 133.
Embodiment 1：Lifting gear uses crossing type lifting apparatus 2, drive wheel mechanism to use two-way AGV steering wheels mechanism 12；
Embodiment 2：Lifting gear uses crossing type lifting apparatus 2, drive wheel mechanism to use AGV steering wheels mechanism of omnidirectional 12 '；
Embodiment 3：Lifting gear uses crossing type lifting apparatus 2, drive wheel mechanism to use Athey wheel mechanism 12 "；
Embodiment 4：Lifting gear uses gantry lifting gear 2 ', drive wheel mechanism to use two-way AGV steering wheels mechanism 12；
Embodiment 5：Lifting gear uses gantry lifting gear 2 ', drive wheel mechanism to use AGV steering wheels mechanism of omnidirectional 12 '；
Embodiment 6：Lifting gear uses gantry lifting gear 2 ', drive wheel mechanism to use Athey wheel mechanism 12 "；
Wherein, the crawler belt in the Athey wheel mechanism in embodiment 3,6 uses easy Gus's crawler belt, wearability good.
Crossing type lifting apparatus 2 in embodiment 1-6 is：
The lifting gear 2 includes hoistable platform 21, lifting pedestal 22, the lifting driving electricity of scissors type elevating frame 23, first
Machine 24；The hoistable platform 21 is set to the top of scissors type elevating frame 23, and lifting pedestal 22 is set to the bottom of scissors type elevating frame 23
Portion；The first lifting driving motor 24 is installed on inside scissors type elevating frame 23, for driving scissors type elevating frame 23 to shrink
Or stretching, extension.
Gantry lifting gear 2 ' in embodiment 1-6 is：
The lifting gear 2 ' includes elevator platform 21 ', lift platform 22 ', the second lifting driving motor 23 '；The liter
Top to its bottom for dropping rack 21 ' is equipped with sliding equipment 25 '；The second lifting driving motor 23 ' is for driving lifting platform
Frame 22 ' is slided up and down through 25 ' OQ t rack 21 ' of sliding equipment.The lifting gear 2 ' further includes clump weight 24 ', this is matched
Pouring weight 24 ' is installed on the top of elevator platform 21 '；The elevator platform 21 ' and the L-shaped construction of lift platform 22 '；The cunning
Motivation structure 25 ' is installed on the perpendicular end of elevator platform 21 ', and the perpendicular end of lift platform 22 ' is connect with sliding equipment 25 '.
Operation principle of the present invention：
As shown in figure 11, it is the two-way AGV steering wheels mechanism 12 of 3 wheel constructions, including an AGV steering wheels and two two-way rollers,
AGV steering wheels are set in the middle part of middle 11 one end of vehicle ontology, and a two-way roller is respectively arranged in other end both sides；
As shown in figure 12, it is the two-way AGV steering wheels mechanism 12 of 5 wheel constructions, including an AGV steering wheels, two universal wheels, two two-way
Idler wheel, is wherein arranged AGV steering wheels in the middle part of one end of vehicle ontology 11, a universal wheel, Che Ben is respectively arranged in the end both sides of vehicle ontology 11
A two-way roller is respectively arranged in the other end both sides of body 11；
As shown in figure 13, it is the AGV steering wheels mechanism of omnidirectional 12 ' of 4 wheel constructions, including two AGV steering wheels, two universal wheels, four
Wheel is respectively arranged on the quadrangle of vehicle ontology 11, wherein two AGV steering wheels are set on a pair of of linea angulata of vehicle ontology 11, two universal wheels are set to vehicle
On another diagonal line of ontology 11；
As shown in figure 14, it is the AGV steering wheels mechanism of omnidirectional 12 ' of 6 wheel constructions, including two AGV steering wheels, four universal wheels, wherein
Two AGV steering wheels are respectively arranged in the middle part of 11 both ends of vehicle ontology, and four universal wheels are respectively arranged on the quadrangle of vehicle ontology 11.
Drive wheel mechanism 12/12 '/12 ", wherein Athey wheel mechanism 12 " are selected to be suitable for bumps not according to different road conditions
Flat road surface or climb and fall traveling, two-way AGV steering wheels mechanism 12 are suitable in the road conditions only moved forward or back, omnidirectional
AGV steering wheels mechanism 12 ' is suitable for needing the road conditions such as turn around or turn.
The course of work of the present invention is as follows：
1) according to the height of refrigerator, the corresponding height of 3 lift adjustment of push-pull device at fixed is driven by lifting gear 2/2 '；
2) telescopic rod 41 in door opener 4 drives enabling profile 42 to stretch out and opens the door of refrigerator；
3) push-and-pull buckle mechanism 34 catches on remains stretcher, and hauls out remains stretcher under the driving of mobile linear motor 33
It is slided along shifting roller mechanism 32, until keeping flat entire remains stretcher to the top of push-pull device at fixed 3；
4) it carries driving device 1 and remains stretcher is transferred to destination, during transfer, if encounter narrow lane
The remains stretcher of carrying can be subjected to rotation adjustment good position to pass through narrow lane by rotating mechanism 13；
5) after arriving at, Multi-shaft mechanical arm 51 drives clip claw mechanism 52 to carry remains stretcher.
The above is merely preferred embodiments of the present invention, be not intended to restrict the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made by within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of full-automatic remains carrying implement, which is characterized in that including carrying driving device, lifting gear, push-pull device at fixed, machinery
Arm handling device；The push-pull device at fixed is set to the top of lifting gear, for pushing and pulling remains stretcher；The lifting gear arrangement
In carrying at the top of driving device, for driving push-pull device at fixed to lift；The mechanical arm handling device is set up in carrying driving device
Top, for carrying remains stretcher；The carrying driving device is for carrying and driving lifting gear, push-pull device at fixed, mechanical arm
Handling device moves.
2. full-automatic remains carrying implement according to claim 1, which is characterized in that the remains carrying implement further includes two opening
Door gear is respectively arranged in the both ends of push-pull device at fixed；The door opener include telescopic rod, flexible linear motor, enabling profile,
Electromagnetic lock；The enabling profile is set to telescopic rod upper end, and electromagnetic lock keeps it parallel or vertical with telescopic rod for locking enabling profile
Directly；The flexible linear motor is for driving telescopic rod to drive enabling profile stretching motion.
3. full-automatic remains carrying implement according to claim 1, which is characterized in that the mechanical arm handling device includes more
Shaft mechanical arm, clip claw mechanism, dynamic balance sensor, mechanical arm carry controller；The mechanical arm carry controller respectively with it is more
Shaft mechanical arm, clip claw mechanism, dynamic balance sensor are electrically connected；Described Multi-shaft mechanical arm one end is detachable to be installed on carrying drive
At the top of dynamic device, the other end and clip claw mechanism detachable connection；The Multi-shaft mechanical arm is lost for driving clip claw mechanism to carry
Body stretcher；The dynamic balance sensor is used to incude the balanced signal of clip claw mechanism crawl remains stretcher and is back to mechanical arm and removes
Controller is transported, mechanical arm carries controller and controls the crawl angle that Multi-shaft mechanical arm adjusts clip claw mechanism according to the signal.
4. full-automatic remains carrying implement according to claim 3, which is characterized in that institute's clip claw mechanism includes that clamping jaw connects
Connect frame, two clamping jaw screw components, screw drive motor, two grapple components；The two clamping jaws screw component is arranged in parallel in clamping jaw
The both sides of link；The two grapples member parallel setting, the both ends of each grapple component are separately connected a clamping jaw screw component,
Screw drive motor for drive two grapple components closer or far from；The grapple component includes two grapples, two electromagnetism lock, grabs
Hook driving motor, grapple connecting rod；Two grapple is respectively arranged on the both ends of grapple connecting rod, and the end of each grapple is equipped with one
Electromagnetism latches；The grapple driving motor is used to that grapple to be driven to capture remains stretcher, and by its torque after capturing remains stretcher
Signal return to mechanical arm carries controller, and mechanical arm carries controller control electromagnetism lock and locks the position of grapple.
5. full-automatic remains carrying implement according to claim 1, which is characterized in that the push-pull device at fixed includes push-and-pull bottom
Disk, three shifting roller mechanisms, two movement linear motors, two push-and-pull buckle mechanisms；Three shifting roller mechanism is along push-and-pull chassis
Length direction be set to push-and-pull chassis top, and be respectively arranged in push-and-pull chassis both sides and middle part；Two movement is straight
Line motor parallel arrangement is in the top on push-and-pull chassis, and each mobile linear motor is arranged between every two shifting roller mechanism；
Each mobile linear motor is for driving a push-and-pull buckle mechanism movement.
6. full-automatic remains carrying implement according to claim 5, which is characterized in that the push-and-pull buckle mechanism includes that push-and-pull is detained
Pedestal, two push away button, two pulling buckles；One end both sides of the push-and-pull button pedestal are correspondingly arranged one and push away button, a pulling buckle respectively, push away button and draw
It is connected through torsional spring between button；It is described two push-and-pull buckle mechanism push away button and pulling buckle is arranged in opposite one end.
7. full-automatic remains carrying implement according to claim 1, which is characterized in that the lifting gear includes that lifting is flat
Platform, lifting pedestal, scissors type elevating frame, the first lifting driving motor；The hoistable platform is set to the top of scissors type elevating frame,
Lifting pedestal is set to the bottom of scissors type elevating frame；The first lifting driving motor is installed on inside scissors type elevating frame, is used
It shrinks or stretches in driving scissors type elevating frame.
8. full-automatic remains carrying implement according to claim 1, which is characterized in that the lifting gear includes elevator
Frame, lift platform, the second lifting driving motor；The top of the elevator platform to its bottom is equipped with sliding equipment；Described second
Lifting driving motor is for driving lift platform to be slided up and down through sliding equipment OQ t rack.
9. full-automatic remains carrying implement according to claim 8, which is characterized in that the lifting gear further includes counterweight
Block, the clump weight are installed on the top of elevator platform；The elevator platform and the L-shaped construction of lift platform；The skate machine
Structure is installed on the perpendicular end of elevator platform, and the perpendicular end of lift platform is connect with sliding equipment.
10. full-automatic remains carrying implement according to claim 1, which is characterized in that the carrying driving device includes vehicle
Ontology, drive wheel mechanism, power module, control module, rotating mechanism；The drive wheel mechanism is set to vehicle body bottom portion, rotation
Mechanism is set to vehicle bodies top, and lifting gear is installed at the top of rotating mechanism and rotates under the driving of rotating mechanism；
The power module uses lithium battery group, for powering；The control module is for controlling drive wheel mechanism, rotating mechanism work
Make；The drive wheel mechanism is set as any one in two-way AGV steering wheels mechanism, AGV steering wheels mechanism of omnidirectional, Athey wheel mechanism
Kind；The rotating mechanism includes rotary drive motor, rotating disk, rotary shaft, rotary transmission gear；The rotating disk is through rotary shaft
It is set up in above vehicle ontology；The rotating disk is circumferentially provided with zigzag structure, the zigzag structure of rotary transmission gear and rotating disk
Engagement connection；The output shaft of the rotary drive motor is connect with rotary transmission gear, is revolved for being driven through rotary transmission gear
Turntable rotates around the axis of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810332611.4A CN108502823A (en) | 2018-04-13 | 2018-04-13 | A kind of full-automatic remains carrying implement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810332611.4A CN108502823A (en) | 2018-04-13 | 2018-04-13 | A kind of full-automatic remains carrying implement |
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| Publication Number | Publication Date |
|---|---|
| CN108502823A true CN108502823A (en) | 2018-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810332611.4A Pending CN108502823A (en) | 2018-04-13 | 2018-04-13 | A kind of full-automatic remains carrying implement |
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| CN (1) | CN108502823A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510354A (en) * | 2019-09-23 | 2019-11-29 | 深圳优艾智合机器人科技有限公司 | A kind of conveying device and automatic assembly line |
| CN111943093A (en) * | 2020-09-07 | 2020-11-17 | 国网江苏省电力有限公司滨海县供电分公司 | Electric power overhauls elevating gear |
| CN114404153A (en) * | 2022-01-18 | 2022-04-29 | 重庆嘉腾机器人自动化有限公司 | AGV for carrying remains without funeral parlour |
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| CN111943093B (en) * | 2020-09-07 | 2021-11-16 | 国网江苏省电力有限公司滨海县供电分公司 | Electric power overhauls elevating gear |
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| CN114404153B (en) * | 2022-01-18 | 2024-04-09 | 重庆嘉腾机器人自动化有限公司 | Unmanned carrying remains AGV of funeral and interment |
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Application publication date: 20180907 |