CN109249423A - A kind of storage robot with elevating function - Google Patents
A kind of storage robot with elevating function Download PDFInfo
- Publication number
- CN109249423A CN109249423A CN201810948333.5A CN201810948333A CN109249423A CN 109249423 A CN109249423 A CN 109249423A CN 201810948333 A CN201810948333 A CN 201810948333A CN 109249423 A CN109249423 A CN 109249423A
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- fixedly connected
- motor
- mounting base
- folding rod
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of storage robot with elevating function, including lower chambers, lower hinged seat, gliding groove, the first folding rod, the second folding rod, upper hinged seat, upper hopper chute, through-hole groove, platform, upright bar etc.；The present invention have it is structurally reasonable it is simple, production cost is low, easy for installation, storage robot is mounted in robot mounting base, to effectively realize to the lifting of storage robot by the present apparatus, solve the problems in background technique；Robot mounting base in the present invention can be rotated under the drive of first motor, realize the angle rotation of storage robot；Sucker in the present invention can be under the action of multiple atmospheric pressure poles, stretching and ground face contact, to prevent the sliding of the invention when static.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of storage robot with elevating function.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
In current warehousing and storage activities, robot manipulating task is slowly transformed by manual work, and current storage machine
Device people only has horizontally moving functions, cannot take to the article on higher shelf, and it is significantly inconvenient to bring for work,
So needing a kind of technology insufficient to make up this.
Summary of the invention
The object of the invention is that solve the above-mentioned problems, and a kind of storage machine with elevating function is provided
People.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions: a kind of storage machine with elevating function
People, including it is lower chambers, lower hinged seat, gliding groove, the first folding rod, the second folding rod, upper hinged seat, upper hopper chute, through-hole groove, flat
Platform, upright bar, hydraulic cylinder, spin, upper chamber, transfer roller, first bearing, robot mounting base, runner mounting base, runner, belt pulley,
First motor and belt；A lower hinged seat is fixedly connected on the left of the lower chambers upper surface；The lower chambers upper surface is right
Side is fixedly connected with a gliding groove；A upper hinged seat is fixedly connected on the left of the epicoele chamber lower surface；The upper chamber
A upper hopper chute is fixedly connected on the right side of lower surface；Pass through pin shaft on the middle end position of first folding rod and the second folding rod
It is hinged；The lower end of first folding rod is hinged on lower hinged seat, and the upper end of first folding rod is slidably connected
In upper hopper chute；The upper end of second folding rod is hinged on hinged seat, and the lower end of second folding rod is slidably connected
In gliding groove；A through-hole groove is equipped in the lower end position of second folding rod；Lower chambers right side upper end is fixed
It is connected with a platform；A upright bar is fixedly connected on the platform；One is fixedly connected on the rod end side
Hydraulic cylinder；A spin is connected on the output end of the hydraulic cylinder, the spin is slidably connected in through-hole groove；It is described
A transfer roller is connected with by a first bearing on upper chamber's upper end center position；Upper chamber upper surface two sides are equal
It is fixedly connected with a runner mounting base；A runner is connected in the runner mounting base；The top of the transfer roller
On be fixedly connected with a robot mounting base, the robot mounting base is in contact together with runner；The end of the transfer roller
A belt pulley is fixedly connected on end；A first motor is fixedly connected in the chamber of the upper chamber；First electricity
The output shaft of machine is connected together by belt and belt pulley.
Preferably, further include partition, the first sliding rail, slide bar, the first atmospheric pressure pole, the second atmospheric pressure pole, mounting base, groove,
Third atmospheric pressure pole and sucker；The partition is fixedly connected on the chamber interior middle-end of lower chambers, and the partition and horizontal plane are mutual
Vertically；First sliding rail is fixedly connected on the two sides of the partition；One is slidably connected on first sliding rail
A slide bar；Second atmospheric pressure pole is fixedly connected on the other end of the slide bar；The chamber bottom of the slide bar and lower chambers
First atmospheric pressure pole is fixedly connected between face；An installation is fixedly connected on the output end of second atmospheric pressure pole
Seat；A groove is equipped on the lower surface of the mounting base；A third atmospheric pressure pole is equipped in the groove；The third
A sucker is fixedly connected on the output end of atmospheric pressure pole.
Preferably, further including bottom plate, universal wheel, column, the second sliding rail, limited block, slide, connecting rod, lead screw, turning
Axis, second bearing, the first umbrella tooth, the second motor, motor cabinet and the second umbrella tooth；The lower surface of base plate is equipped with several universal
Wheel；The plate upper surface two sides are fixedly connected to a column；A limit is fixedly connected on the top of the column
Position block；Second sliding rail is fixedly connected on the medial surface of the column；One is slidably connected between second sliding rail
A slide；Several connecting rods are fixedly connected between the slide and lower chambers；Pass through screw thread on the center of the slide
It is connected with a lead screw；A shaft is connected with by second bearing on the center of the bottom plate, the shaft with
Lead screw fixing axle links together；First umbrella tooth is fixedly connected on the outer surface of the shaft；The plate upper surface
On be fixedly connected with a motor cabinet；Second motor is fixedly connected on the motor cabinet；The output of second motor
Axis connection has second umbrella tooth on axis, and second umbrella tooth and the first umbrella tooth are intermeshed together.
Preferably, being equipped with anti-skid device on the universal wheel.
Preferably, second motor is variable-frequency motor.
Preferably, the lead screw is ball-screw.
Preferably, the belt is synchronous belt.
Preferably, the first motor is variable-frequency motor.
Beneficial effects of the present invention:
(1) present invention have it is structurally reasonable it is simple, production cost is low, easy for installation, storage robot is mounted on robot peace
It fills on seat, to effectively realize to the lifting of storage robot by the present apparatus, solve the problems in background technique.
(2) the robot mounting base in the present invention, can be rotated under the drive of first motor, realize storage
The angle of robot rotates.
(3) sucker in the present invention can be under the action of multiple atmospheric pressure poles, stretching and ground face contact, to prevent this hair
It is bright to be slided when static.
(4) present invention is provided with universal wheel, substantially increases travelling performance.
(5) present hydraulic cylinder can push the second folding rod, to realize the folding of the first folding rod and the second folding rod
It is folded, and then realize that whole device is significantly gone up and down.
(6) the second motor of the invention drives the lead screw rotation in shaft, and the slide on lead screw slowly goes up and down, realizes entire
The lifting of device by a small margin.
Detailed description of the invention:
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is partial structure diagram of the invention.
Fig. 3 is partial structure diagram of the invention.
Fig. 4 is partial structure diagram of the invention.
In figure: 1- lower chambers；Hinged seat under 2-；3- gliding groove；The first folding rod of 4-；The second folding rod of 5-；6- is upper hinged
Seat；7- upper hopper chute；8- through-hole groove；9- platform；10- upright bar；11- hydraulic cylinder；12- spin；13- upper chamber；14- transfer roller；15-
One bearing；16- robot mounting base；17- runner mounting base；18- runner；19- belt pulley；20- first motor；21- belt；
22- partition；The first sliding rail of 23-；24- slide bar；The first atmospheric pressure pole of 25-；The second atmospheric pressure pole of 26-；27- mounting base；28- groove；29-
Third atmospheric pressure pole；30- sucker；31- bottom plate；32- universal wheel；33- column；The second sliding rail of 34-；35- limited block；36- slide；
37- connecting rod；38- lead screw；39- shaft；40- second bearing；The first umbrella tooth of 41-；The second motor of 42-；43- motor cabinet；44-
Two umbrella tooths.
Specific embodiment:
As shown in Figures 1 to 4, present embodiment uses a kind of following technical scheme: storage machine with elevating function
People, including it is lower chambers 1, lower hinged seat 2, gliding groove 3, the first folding rod 4, the second folding rod 5, upper hinged seat 6, upper hopper chute 7, logical
Hole slot 8, platform 9, upright bar 10, hydraulic cylinder 11, spin 12, upper chamber 13, transfer roller 14, first bearing 15, robot mounting base 16,
Runner mounting base 17, runner 18, belt pulley 19, first motor 20 and belt 21；It is fixedly connected on the left of 1 upper surface of lower chambers
There is a lower hinged seat 2；A gliding groove 3 is fixedly connected on the right side of 1 upper surface of lower chambers；13 lower surface of upper chamber
Left side is fixedly connected with a upper hinged seat 6；A upper hopper chute 7 is fixedly connected on the right side of 13 lower surface of upper chamber；It is described
It is hinged by pin shaft on the middle end position of first folding rod 4 and the second folding rod 5；The lower end of first folding rod 4
It is hinged on lower hinged seat 2, the upper end of first folding rod 4 is slidably connected in upper hopper chute 7；Second folding rod 5
Upper end is hinged on hinged seat 6, and the lower end of second folding rod 5 is slidably connected in gliding groove 3；Second folding rod
A through-hole groove 8 is equipped in 5 lower end position；The 1 right side upper end of lower chambers is fixedly connected with a platform 9；It is described flat
A upright bar 10 is fixedly connected on platform 9；A hydraulic cylinder 11 is fixedly connected on the 10 top side of upright bar；It is described hydraulic
A spin 12 is connected on the output end of cylinder 11, the spin 12 is slidably connected in through-hole groove 8；The upper chamber 13
A transfer roller 14 is connected with by a first bearing 15 on upper end center position；The 13 upper surface two sides of upper chamber are equal
It is fixedly connected with a runner mounting base 17；A runner 18 is connected in the runner mounting base 17；The transfer roller
A robot mounting base 16 is fixedly connected on 14 top, the robot mounting base 16 is in contact with runner 18 one
It rises；A belt pulley 19 is fixedly connected on the end of the transfer roller 14；One is fixedly connected in the chamber of the upper chamber 13
A first motor 20；The output shaft of the first motor 20 is connected together by belt 21 with belt pulley 19.
It further include partition 22, the first sliding rail 23, slide bar 24, the first atmospheric pressure pole 25, the second atmospheric pressure pole 26, mounting base 27, recessed
Slot 28, third atmospheric pressure pole 29 and sucker 30；The partition 22 is fixedly connected on the chamber interior middle-end of lower chambers 1, the partition
22 are mutually perpendicular to horizontal plane；First sliding rail 23 is fixedly connected on the two sides of the partition 22；Described first is sliding
A slide bar 24 is slidably connected on rail 23；Second atmospheric pressure pole is fixedly connected on the other end of the slide bar 24
26；First atmospheric pressure pole 25 is fixedly connected between the slide bar 24 and the chamber bottom surface of lower chambers 1；Second air pressure
A mounting base 27 is fixedly connected on the output end of bar 26；A groove is equipped on the lower surface of the mounting base 27
28；A third atmospheric pressure pole 29 is equipped in the groove 28；It is fixedly connected on the output end of the third atmospheric pressure pole 29
One sucker 30.
It further include bottom plate 31, universal wheel 32, column 33, the second sliding rail 34, limited block 35, slide 36, connecting rod 37, lead screw
38, shaft 39, second bearing 40, the first umbrella tooth 41, the second motor 42, motor cabinet 43 and the second umbrella tooth 44；Under the bottom plate 31
Surface is equipped with several universal wheels 32；The 31 upper surface two sides of bottom plate are fixedly connected to a column 33；The column 33
Top on be fixedly connected to a limited block 35；Second sliding rail is fixedly connected on the medial surface of the column 33
34；A slide 36 is slidably connected between second sliding rail 34；Number is fixedly connected between the slide 36 and lower chambers 1
A connecting rod 37；A lead screw 38 has been connected through a screw thread on the center of the slide 36；The centre bit of the bottom plate 31
It sets and a shaft 39 is connected with by second bearing 40, the shaft 39 links together with 38 fixing axle of lead screw；Institute
It states and is fixedly connected with first umbrella tooth 41 on the outer surface of shaft 39；An electricity is fixedly connected on 31 upper surface of bottom plate
Base 43；Second motor 42 is fixedly connected on the motor cabinet 43；Axis connection on the output shaft of second motor 42
There is second umbrella tooth 44, second umbrella tooth 44 and the intermeshing of the first umbrella tooth 41 are together.
Wherein, anti-skid device is equipped on the universal wheel 32；Second motor 42 is variable-frequency motor；The lead screw 38
For ball-screw；The belt 21 is synchronous belt；The first motor 20 is variable-frequency motor.
Use state of the invention are as follows: robot is mounted in robot mounting base 16, is moved by universal wheel 32,
First motor 20 drives belt pulley 19 to rotate by belt 21, so that robot mounting base 16 rotates, realizes robot mounting base
Robot above 16 is rotated, and the first atmospheric pressure pole 25 pushes slide bar 24 to slide up and down, and the second atmospheric pressure pole 26 drives mounting base
27 horizontally slip, and third atmospheric pressure pole 29 drives sucker 30 and ground face contact, sliding when preventing static, and hydraulic cylinder 11 pushes spin
12, the second folding rod 5 can be pushed, to realize the folding of the first folding rod 4 and the second folding rod 5, and then realizes entire dress
It sets and significantly goes up and down, the second motor 42 drives the lead screw 38 in shaft 39 to rotate, and the slide 36 on lead screw 38 is slowly gone up and down,
Realize the lifting of whole device by a small margin.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, the technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention, the claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of storage robot with elevating function, it is characterised in that: including lower chambers (1), lower hinged seat (2), glide
Slot (3), the second folding rod (5), upper hinged seat (6), upper hopper chute (7), through-hole groove (8), platform (9), is stood the first folding rod (4)
Bar (10), hydraulic cylinder (11), spin (12), upper chamber (13), transfer roller (14), first bearing (15), robot mounting base (16),
Runner mounting base (17), runner (18), belt pulley (19), first motor (20) and belt (21)；Lower chambers (1) upper surface
Left side is fixedly connected with a lower hinged seat (2)；A gliding groove (3) is fixedly connected on the right side of lower chambers (1) upper surface；
One upper hinged seat (6) are fixedly connected on the left of upper chamber (13) lower surface；It is solid on the right side of upper chamber (13) lower surface
Surely it is connected with a upper hopper chute (7)；It is cut with scissors on the middle end position of first folding rod (4) and the second folding rod (5) by pin shaft
It is connected together；The lower end of first folding rod (4) is hinged on lower hinged seat (2), and the upper end of first folding rod (4) is sliding
It is dynamic to be connected in upper hopper chute (7)；The upper end of second folding rod (5) is hinged on hinged seat (6), second folding rod
(5) lower end is slidably connected in gliding groove (3)；A through-hole groove is equipped in the lower end position of second folding rod (5)
(8)；Lower chambers (1) the right side upper end is fixedly connected with a platform (9)；One is fixedly connected on the platform (9)
Upright bar (10)；A hydraulic cylinder (11) is fixedly connected on upright bar (10) the top side；The output of the hydraulic cylinder (11)
A spin (12) is connected on end, the spin (12) is slidably connected in through-hole groove (8)；On the upper chamber (13)
A transfer roller (14) is connected with by a first bearing (15) on the center of end；Upper chamber (13) upper surface two
Side is fixedly connected to a runner mounting base (17)；A runner is connected on the runner mounting base (17)
(18)；A robot mounting base (16), the robot mounting base (16) are fixedly connected on the top of the transfer roller (14)
It is in contact together with runner (18)；A belt pulley (19) is fixedly connected on the end of the transfer roller (14)；The epicoele
A first motor (20) is fixedly connected in the chamber of room (13)；The output shaft of the first motor (20) passes through belt (21)
It is connected together with belt pulley (19).
2. a kind of storage robot with elevating function according to claim 1, it is characterised in that: further include partition
(22), the first sliding rail (23), slide bar (24), the first atmospheric pressure pole (25), the second atmospheric pressure pole (26), mounting base (27), groove (28),
Third atmospheric pressure pole (29) and sucker (30)；The partition (22) is fixedly connected on the chamber interior middle-end of lower chambers (1), it is described every
Plate (22) is mutually perpendicular to horizontal plane；First sliding rail (23) is fixedly connected on the two sides of the partition (22)；Institute
It states and slidably connects a slide bar (24) on the first sliding rail (23)；One is fixedly connected on the other end of the slide bar (24)
A second atmospheric pressure pole (26)；First gas is fixedly connected between the slide bar (24) and the chamber bottom surface of lower chambers (1)
Compression bar (25)；A mounting base (27) is fixedly connected on the output end of second atmospheric pressure pole (26)；The mounting base
(27) groove (28) is equipped on lower surface；A third atmospheric pressure pole (29) is equipped in the groove (28)；It is described
A sucker (30) is fixedly connected on the output end of third atmospheric pressure pole (29).
3. a kind of storage robot with elevating function according to claim 2, it is characterised in that: further include bottom plate
(31), universal wheel (32), column (33), the second sliding rail (34), limited block (35), slide (36), connecting rod (37), lead screw
(38), shaft (39), second bearing (40), the first umbrella tooth (41), the second motor (42), motor cabinet (43) and the second umbrella tooth
(44)；Bottom plate (31) lower surface is equipped with several universal wheels (32)；Bottom plate (31) the upper surface two sides are fixedly connected with
There is a column (33)；A limited block (35) is fixedly connected on the top of the column (33)；The column (33)
Second sliding rail (34) is fixedly connected on medial surface；A slide is slidably connected between second sliding rail (34)
(36)；Several connecting rods (37) are fixedly connected between the slide (36) and lower chambers (1)；The centre bit of the slide (36)
It sets and has been connected through a screw thread a lead screw (38)；On the center of the bottom plate (31) even by second bearing (40) activity
It is connected to a shaft (39), the shaft (39) links together with lead screw (38) fixing axle；The outer surface of the shaft (39)
On be fixedly connected with first umbrella tooth (41)；A motor cabinet (43) is fixedly connected on bottom plate (31) upper surface；Institute
It states and is fixedly connected with second motor (42) on motor cabinet (43)；Axis connection has one on the output shaft of second motor (42)
A second umbrella tooth (44), second umbrella tooth (44) and the first umbrella tooth (41) are intermeshed together.
4. a kind of storage robot with elevating function according to claim 3, it is characterised in that: the universal wheel
(32) anti-skid device is equipped on.
5. a kind of storage robot with elevating function according to claim 3, it is characterised in that: second motor
It (42) is variable-frequency motor.
6. a kind of storage robot with elevating function according to claim 3, it is characterised in that: the lead screw (38)
For ball-screw.
7. a kind of storage robot with elevating function according to claim 1, it is characterised in that: the belt (21)
For synchronous belt.
8. a kind of storage robot with elevating function according to claim 1, it is characterised in that: the first motor
It (20) is variable-frequency motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810948333.5A CN109249423A (en) | 2018-08-20 | 2018-08-20 | A kind of storage robot with elevating function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810948333.5A CN109249423A (en) | 2018-08-20 | 2018-08-20 | A kind of storage robot with elevating function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109249423A true CN109249423A (en) | 2019-01-22 |
Family
ID=65049957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810948333.5A Withdrawn CN109249423A (en) | 2018-08-20 | 2018-08-20 | A kind of storage robot with elevating function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109249423A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150165619A1 (en) * | 2012-05-22 | 2015-06-18 | Lincoln Global, Inc. | Welding workbench assembly with wraparound dual state barriers |
| CN106081455A (en) * | 2016-07-29 | 2016-11-09 | 深圳普智联科机器人技术有限公司 | A kind of storage robot based on cross beam type storage rack fork truck |
| CN206663227U (en) * | 2016-12-13 | 2017-11-24 | 东莞市创丰科技发展有限公司 | A kind of pallet material picks and places robot |
| CN107902610A (en) * | 2017-12-15 | 2018-04-13 | 国网山东省电力公司龙口市供电公司 | A kind of power circuit erection lifting device |
| CN207522189U (en) * | 2017-11-09 | 2018-06-22 | 扬州匠新精密数控设备有限公司 | A kind of numerically-controlled machine tool gripper |
| CN108381602A (en) * | 2018-05-14 | 2018-08-10 | 何宗源 | A kind of robot lifting platform |
| CN207726646U (en) * | 2017-12-28 | 2018-08-14 | 长春职业技术学院 | A kind of electric mechanic lifting vehicle |
-
2018
- 2018-08-20 CN CN201810948333.5A patent/CN109249423A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150165619A1 (en) * | 2012-05-22 | 2015-06-18 | Lincoln Global, Inc. | Welding workbench assembly with wraparound dual state barriers |
| CN106081455A (en) * | 2016-07-29 | 2016-11-09 | 深圳普智联科机器人技术有限公司 | A kind of storage robot based on cross beam type storage rack fork truck |
| CN206663227U (en) * | 2016-12-13 | 2017-11-24 | 东莞市创丰科技发展有限公司 | A kind of pallet material picks and places robot |
| CN207522189U (en) * | 2017-11-09 | 2018-06-22 | 扬州匠新精密数控设备有限公司 | A kind of numerically-controlled machine tool gripper |
| CN107902610A (en) * | 2017-12-15 | 2018-04-13 | 国网山东省电力公司龙口市供电公司 | A kind of power circuit erection lifting device |
| CN207726646U (en) * | 2017-12-28 | 2018-08-14 | 长春职业技术学院 | A kind of electric mechanic lifting vehicle |
| CN108381602A (en) * | 2018-05-14 | 2018-08-10 | 何宗源 | A kind of robot lifting platform |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190122 |