CN108910408A - A kind of mobile robot and its conveyer system with transmission device - Google Patents
A kind of mobile robot and its conveyer system with transmission device Download PDFInfo
- Publication number
- CN108910408A CN108910408A CN201810579145.XA CN201810579145A CN108910408A CN 108910408 A CN108910408 A CN 108910408A CN 201810579145 A CN201810579145 A CN 201810579145A CN 108910408 A CN108910408 A CN 108910408A
- Authority
- CN
- China
- Prior art keywords
- transmission device
- slide plate
- mobile robot
- robot
- mounting base
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of mobile robot and its conveyer system with transmission device.A kind of mobile robot with transmission device, including robot body, and it is fixed on the transmission device of robot body upper end；The transmission device includes the mounting base for being fixed on device human body upper end, set on the transport mechanism and telescoping mechanism of mounting base；The transport mechanism is arranged in parallel with telescoping mechanism.The present invention is conducive to transmit cargo between shelf and robot by the way that transmission device is arranged in robot.Symmetrically arranged transport mechanism, cargo stress balance, is conducive to goods handling, avoids falling off.The stretching motion of telescoping mechanism is conducive to be pushed to cargo in shelf or robot.The configuration of the present invention is simple is compact, is conducive to quickly transmit cargo, can also falling off to avoid cargo.
Description
Technical field
The present invention relates to robots, more specifically refer to a kind of mobile robot with transmission device and its transmission system
System.
Background technique
In mobile robot field, the main purpose of robot exactly by cargo from designated place be transplanted on it is another specifiedly
Point needs a kind of docking Transmission system just at this time to complete.Robot and the handover of the cargo of other equipment, often due to docking is not
Accurately, cargo is caused to can not be completed docking.There are also in docking operation, only cargo is transferred by conveyer belt, is easy to fall, deposit
In security risk.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, provide a kind of mobile robot with transmission device and its
Conveyer system.
To achieve the above object, the present invention uses following technical scheme：
A kind of mobile robot with transmission device, including robot body, and it is fixed on the biography of robot body upper end
Send device；The transmission device includes the mounting base for being fixed on device human body upper end, set on the transport mechanism of mounting base and flexible
Mechanism；The transport mechanism is arranged in parallel with telescoping mechanism.
Its further technical solution is：The transport mechanism includes rotating the driving wheel coupled with mounting base, with mounting base
The driven wheel and driving coupling for rotating connection are in the conveyer belt of driving wheel and driven wheel；The driving wheel and the transmission being equipped with are dynamic
Power part driving coupling.
Its further technical solution is：The telescoping mechanism includes the first telescopic component, and set on the first telescopic component
Second telescopic component of power output end；First telescopic component is mutually slidably connected with the second telescopic component.
Its further technical solution is：First telescopic component includes the first force piece, and set on the first force piece
First slide plate of power output end；First slide plate is slidably connected with mounting base；It is sliding that second telescopic component is set to first
Plate.
Its further technical solution is：Screw rod part transmission connection between first force piece and the first slide plate by being equipped with
It connects；The transmission nut of first slide plate and screw rod part is fixedly connected.
Its further technical solution is：Second telescopic component includes the second force piece for being fixed on the first slide plate, and
The second slide plate coupled with the first slide plate slides；The powered belt that the power output end of second force piece is equipped with；Described second
Slide plate is fixed on powered belt.
Its further technical solution is：The end of second slide plate is equipped with barrier assembly；The barrier assembly include with
Perpendicular to the barrier plate of the second slide plate slides connection, and the elastic component set on barrier plate lower end.
Its further technical solution is：The elastic component includes spring and gas spring；The spring is vertical at barrier plate
Lower end；The gas spring inclination is set to the side of barrier plate.
Its further technical solution is：The inside of the mounting base is equipped with Photoelectric Detection part.
A kind of robotic transfer system, including shelf and above-mentioned mobile robot, and the shelf plugged into robot；Institute
It states shelf and is equipped with the accommodating chamber for accommodating telescoping mechanism；The accommodating chamber two sides are equipped with idler wheel.
Compared with the prior art, the invention has the advantages that：The present invention has by the way that transmission device is arranged in robot
It is transmitted between shelf and robot conducive to by cargo.Symmetrically arranged transport mechanism, cargo stress balance are conducive to cargo fortune
It send, avoids falling off.The stretching motion of telescoping mechanism is conducive to be pushed to cargo in shelf or robot.Structure of the invention letter
It is single compact, be conducive to quickly transmit cargo, it can also falling off to avoid cargo.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is a kind of three-dimensional structure diagram of the mobile robot with transmission device of the present invention；
Fig. 2 is a kind of transport mechanism three-dimensional structure diagram of the mobile robot with transmission device of the present invention；
Fig. 3 is a kind of telescoping mechanism three-dimensional structure diagram of the mobile robot with transmission device of the present invention；
Fig. 4 is a kind of three-dimensional structure diagram of robotic transfer system of the present invention；
Fig. 5 is a kind of side view of robotic transfer system of the present invention；
Fig. 6 is a kind of top view of robotic transfer system of the present invention.
Specific embodiment
In order to more fully understand technology contents of the invention, combined with specific embodiments below to technical solution of the present invention into
One step introduction and explanation, but not limited to this.
Such as the drawing that Fig. 1 to Fig. 6 is the embodiment of the present invention.
A kind of mobile robot with transmission device, as shown in Fig. 1-3, including robot body 10, and it is fixed on machine
The transmission device 20 of 10 upper end of human body.Transmission device 20 includes the mounting base 21 for being fixed on 10 upper end of device human body, is set to peace
Fill the transport mechanism 22 and telescoping mechanism 23 of seat 21.Transport mechanism 21 is arranged in parallel with telescoping mechanism 23.
Transport mechanism 22 includes rotating the driving wheel 221 coupled with mounting base 21, is coupled with the rotation of mounting base 21 driven
Wheel 222 and driving coupling are in the conveyer belt 223 of driving wheel 221 and driven wheel 222.Driving wheel 221 and the transmission force piece being equipped with
224 driving couplings.Transport mechanism 22 can be by goods movement position, in order to move or be moved to cargo from robot upper end
In the equipment of quilt.
Preferably, transport mechanism 22 is two, is symmetrically arranged at 23 two sides of telescoping mechanism, is symmetrical arranged and is conducive to make
Cargo force balance.
Wherein, telescoping mechanism 23 includes the first telescopic component 231, and the power output end set on the first telescopic component 231
The second telescopic component 232.First telescopic component 231 is mutually slidably connected with the second telescopic component 232.Pass through first flexible group
Part 231, the second telescopic component 232 can push to the cargo on shelf on robot body, can also be by robot body
On cargo push on shelf.
First telescopic component 231 includes the first force piece (being not marked in figure), and the power output set on the first force piece
First slide plate 2312 at end.First slide plate 2312 is slidably connected with mounting base 21.Second telescopic component 232 is set to the first slide plate
2312.First force piece is motor.
2313 driving coupling of screw rod part between first force piece and the first slide plate 2312 by being equipped with.First slide plate 2312
It is fixedly connected with the transmission nut of screw rod part 2313.
Coupled by sliding rail with slide between first slide plate 2312 and mounting base 21.Wherein, sliding rail is fixed on mounting base 21
On, sliding rail is fixed on the first slide plate 2312, increases the stability of sliding.
Second telescopic component 232 include be fixed on the second force piece 2321 of the first slide plate 2312, and with the first slide plate
2312 the second slide plates 2322 being slidably connected.The powered belt 2323 that the power output end of second force piece 2321 is equipped with, and second
Slide plate 2322 is fixed on powered belt 2323.Second force piece 2321 is motor.
Specifically, 2322 two sides of the second slide plate are coupled by sliding rail with the first slide plate 2312.
The end of second slide plate 2322 is equipped with barrier assembly 24.Barrier assembly 24 includes sliding with perpendicular to the second slide plate 2322
The barrier plate 241 of dynamic connection, and the elastic component 242 set on 241 lower end of barrier plate.
Elastic component 242 includes spring 2421 and gas spring 2422.Spring 2421 is vertical at the lower end of barrier plate 241.Gas
The inclination of spring 2422 is set to the side of barrier plate 241.
Preferably, the protective fence 25 that 21 upper end of mounting base is equipped with, avoids cargo from falling off.
The inside of mounting base 21 is equipped with Photoelectric Detection part 26, for detecting the state of the cargo in transmission device 20.
A kind of robotic transfer system plugs into as shown in Fig. 4-6 including shelf and above-mentioned shifter people, and with device people
Shelf 30.Shelf 30 are equipped with the accommodating chamber 31 for accommodating telescoping mechanism 23, and 31 two sides of accommodating chamber are equipped with idler wheel 32.Robot is logical
The navigation system for crossing itself is docked with shelf 30, and then cargo is pushed on shelf or will from shelf by the stretching of telescoping mechanism 23
Cargo is drawn onto the transmission device 20 of robot.
Wherein, shelf 30 are equipped with Anti-collision railing 33.
Preferably, shelf 30 are equipped with detection piece, to detect state of the cargo on shelf.
In other embodiments, elevating mechanism is additionally provided between robot body 10 and transmission device 20.Elevating mechanism benefit
It being gone up and down with screw rod part, transport mechanism 20 is fixed on the transmission nut of screw rod part, and then screw rod rotates driven by the motor, so that
20 elevating movement of transport mechanism.
In conclusion the present invention by the way that transmission device is arranged in robot, is conducive to cargo from shelf and robot
Between transmit.Symmetrically arranged transport mechanism, cargo stress balance, is conducive to goods handling, avoids falling off.Telescoping mechanism is stretched
Contracting movement, is conducive to be pushed to cargo in shelf or robot.The configuration of the present invention is simple is compact, is conducive to quickly transmit goods
Object, can also falling off to avoid cargo.
It is above-mentioned that technology contents of the invention are only further illustrated with embodiment, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by of the invention
Protection.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of mobile robot with transmission device, which is characterized in that including robot body, and be fixed on robot body
The transmission device of upper end；The transmission device includes the mounting base for being fixed on device human body upper end, set on the conveyer of mounting base
Structure and telescoping mechanism；The transport mechanism is arranged in parallel with telescoping mechanism.
2. a kind of mobile robot with transmission device according to claim 1, which is characterized in that the transport mechanism packet
Include and rotate the driving wheel that couple with mounting base, with mounting base rotate the driven wheel coupled and driving coupling in driving wheel with it is driven
The conveyer belt of wheel；The driving wheel and the transmission force piece driving coupling being equipped with.
3. a kind of mobile robot with transmission device according to claim 1, which is characterized in that the telescoping mechanism packet
Include the first telescopic component, and the second telescopic component of the power output end set on the first telescopic component；First telescopic component
It is mutually slidably connected with the second telescopic component.
4. a kind of mobile robot with transmission device according to claim 3, which is characterized in that described first flexible group
Part includes the first force piece, and the first slide plate of the power output end set on the first force piece；First slide plate and mounting base
It is slidably connected；Second telescopic component is set to the first slide plate.
5. a kind of mobile robot with transmission device according to claim 4, which is characterized in that first force piece
Screw rod part driving coupling between the first slide plate by being equipped with；The transmission nut of first slide plate and screw rod part is fixed to be joined
It connects.
6. a kind of mobile robot with transmission device according to claim 4, which is characterized in that described second flexible group
Part includes the second force piece for being fixed on the first slide plate, and the second slide plate coupled with the first slide plate slides；Second power
The powered belt that the power output end of part is equipped with；Second slide plate is fixed on powered belt.
7. a kind of mobile robot with transmission device according to claim 6, which is characterized in that second slide plate
End is equipped with barrier assembly；The barrier assembly includes the barrier plate coupled with perpendicular to the second slide plate slides, and is set to and stops
The elastic component of plate lower end.
8. a kind of mobile robot with transmission device according to claim 7, which is characterized in that the elastic component includes
Spring and gas spring；The spring is vertical at the lower end of barrier plate；The gas spring inclination is set to the side of barrier plate.
9. a kind of mobile robot with transmission device according to claim 1, which is characterized in that the mounting base it is interior
Side is equipped with Photoelectric Detection part.
10. a kind of robotic transfer system, which is characterized in that including shelf and the described in any item moving machines of claim 1-9
Device people, and the shelf plugged into robot；The shelf are equipped with the accommodating chamber for accommodating telescoping mechanism；The accommodating chamber two sides are equipped with
Idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810579145.XA CN108910408A (en) | 2018-06-07 | 2018-06-07 | A kind of mobile robot and its conveyer system with transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810579145.XA CN108910408A (en) | 2018-06-07 | 2018-06-07 | A kind of mobile robot and its conveyer system with transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108910408A true CN108910408A (en) | 2018-11-30 |
Family
ID=64418940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810579145.XA Pending CN108910408A (en) | 2018-06-07 | 2018-06-07 | A kind of mobile robot and its conveyer system with transmission device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108910408A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991977A (en) * | 2019-03-04 | 2019-07-09 | 斯坦德机器人（深圳）有限公司 | The paths planning method and device of robot |
| CN111137653A (en) * | 2020-04-03 | 2020-05-12 | 斯坦德机器人（深圳）有限公司 | Logistics robot equipment and carrying method |
| CN112978349A (en) * | 2021-01-29 | 2021-06-18 | 斯坦德机器人（深圳）有限公司 | Material taking and placing equipment |
| CN114394434A (en) * | 2022-03-25 | 2022-04-26 | 江苏金九月纺织科技有限责任公司 | Spinning storage and stacking device for towel product production |
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|---|---|---|---|---|
| US3835980A (en) * | 1973-03-20 | 1974-09-17 | Mc Donald J | Conveyor with extendible booms |
| FR2525570A1 (en) * | 1982-04-26 | 1983-10-28 | Rbl Sa | Three part telescopic endless belt goods conveyor - has centre part to locate superimposed inversely mounted jacks displacing outer parts |
| JPH09104537A (en) * | 1995-10-06 | 1997-04-22 | Fukuda Eng Kk | Container loader/unloader inclination mechanism |
| CN202575246U (en) * | 2012-04-28 | 2012-12-05 | 库特勒自动化系统(苏州)有限公司 | Telescopic transmission mechanism for solar battery silicon slice |
| CN205346268U (en) * | 2016-02-20 | 2016-06-29 | 贵州恒晋科技有限公司 | Access battery device |
| CN105752888A (en) * | 2016-05-11 | 2016-07-13 | 深圳普智联科机器人技术有限公司 | Robot forklift with simple and convenient positioning function |
| CN107813882A (en) * | 2017-10-24 | 2018-03-20 | 杭州南江机器人股份有限公司 | A kind of hopper carries AGV, method for carrying and SMT production line automatic butt systems |
| CN107934370A (en) * | 2017-11-23 | 2018-04-20 | 安徽巨自动化装备有限公司 | A kind of multiple-automobile-type roofs convey in the air and detent mechanism |
-
2018
- 2018-06-07 CN CN201810579145.XA patent/CN108910408A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3835980A (en) * | 1973-03-20 | 1974-09-17 | Mc Donald J | Conveyor with extendible booms |
| FR2525570A1 (en) * | 1982-04-26 | 1983-10-28 | Rbl Sa | Three part telescopic endless belt goods conveyor - has centre part to locate superimposed inversely mounted jacks displacing outer parts |
| JPH09104537A (en) * | 1995-10-06 | 1997-04-22 | Fukuda Eng Kk | Container loader/unloader inclination mechanism |
| CN202575246U (en) * | 2012-04-28 | 2012-12-05 | 库特勒自动化系统(苏州)有限公司 | Telescopic transmission mechanism for solar battery silicon slice |
| CN205346268U (en) * | 2016-02-20 | 2016-06-29 | 贵州恒晋科技有限公司 | Access battery device |
| CN105752888A (en) * | 2016-05-11 | 2016-07-13 | 深圳普智联科机器人技术有限公司 | Robot forklift with simple and convenient positioning function |
| CN107813882A (en) * | 2017-10-24 | 2018-03-20 | 杭州南江机器人股份有限公司 | A kind of hopper carries AGV, method for carrying and SMT production line automatic butt systems |
| CN107934370A (en) * | 2017-11-23 | 2018-04-20 | 安徽巨自动化装备有限公司 | A kind of multiple-automobile-type roofs convey in the air and detent mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991977A (en) * | 2019-03-04 | 2019-07-09 | 斯坦德机器人（深圳）有限公司 | The paths planning method and device of robot |
| CN109991977B (en) * | 2019-03-04 | 2022-04-29 | 斯坦德机器人（深圳）有限公司 | Path planning method and device for robot |
| CN111137653A (en) * | 2020-04-03 | 2020-05-12 | 斯坦德机器人（深圳）有限公司 | Logistics robot equipment and carrying method |
| CN112978349A (en) * | 2021-01-29 | 2021-06-18 | 斯坦德机器人（深圳）有限公司 | Material taking and placing equipment |
| CN114394434A (en) * | 2022-03-25 | 2022-04-26 | 江苏金九月纺织科技有限责任公司 | Spinning storage and stacking device for towel product production |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |
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| RJ01 | Rejection of invention patent application after publication |