CN110027926B - Intelligent car loader based on mobile robot - Google Patents
Intelligent car loader based on mobile robot Download PDFInfo
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- CN110027926B CN110027926B CN201910430720.4A CN201910430720A CN110027926B CN 110027926 B CN110027926 B CN 110027926B CN 201910430720 A CN201910430720 A CN 201910430720A CN 110027926 B CN110027926 B CN 110027926B
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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
- 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
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
The invention relates to the field of freight transportation, in particular to an intelligent car loader based on a mobile robot, which comprises a car loader, a lifting device, the mobile robot, a supporting device, a switching device and a carrying device, wherein the lifting device, the mobile device and the mobile robot are fixed in the car loader; the intelligent car loader based on the mobile robot can lift the mobile robot bearing goods to a position parallel to a car trunk, so that the goods can be conveniently loaded, meanwhile, the car loader can be conveniently moved, and the inclined plane plate convenient for the mobile robot to move up and down is arranged, so that the intelligent car loader based on the mobile robot is more convenient.
Description
Technical Field
The invention relates to the field of freight transportation, in particular to an intelligent car loader based on a mobile robot.
Background
The goods carloader is suitable for the transmission of article, the handling work, great shortening the artifical distance of carrying the material that comes and goes, improve work efficiency, reduce intensity of labour, reduce the damage rate of goods, shorten handling time, reduce intensity of labour, be the equipment that reduces cost of enterprises and quality, improve effective efficiency, but traditional carloader need carry and promote the goods simultaneously, efficiency is lower, traditional mobile robot only can realize the removal transport of goods, and can't promote the goods to the boxcar ability, therefore it improves above-mentioned problem to need to set up an intelligent carloader based on mobile robot.
Disclosure of Invention
The invention aims to provide an intelligent car loader based on a mobile robot, which can overcome the defects in the prior art, so that the practicability of equipment is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention discloses an intelligent car loader based on a mobile robot, which comprises a car loader, a lifting device, a mobile device, the mobile robot, a supporting device, a switching device and a carrying device, wherein the lifting device, the mobile device and the mobile robot are fixed in the car loader, the supporting device, the switching device and the carrying device are fixed in the mobile robot, the lifting device is arranged in a lifting cavity arranged in the top wall of the car loader, the mobile device is arranged in the bottom wall of the car loader, the supporting device is arranged in a switching cavity arranged in the top wall of the mobile robot, the switching device is arranged in a sliding cavity arranged in the bottom wall of the switching cavity and a centrifugal cavity arranged in the end wall of the left side of the mobile robot, and the carrying device is arranged in a rotating cavity and a steering cavity;
the lifting device comprises a lifting tray, two roller cavities and a power superposition device, wherein the lifting tray is arranged in the lifting cavity in a sliding mode, the two roller cavities are symmetrically arranged in the top wall of the lifting tray from front to back, and the power superposition device is arranged in a mixing cavity arranged between the front roller cavity and the back roller cavity;
the mobile device comprises a driving cavity and a hydraulic cavity, the driving cavity is arranged in the bottom wall of the car loader, and the hydraulic cavity is arranged in the left end wall of the car loader;
the supporting device comprises a supporting plate, and the supporting plate is arranged at the top of the mobile robot;
the switching device comprises a sliding block and a centrifugal device, the sliding block is arranged in the sliding cavity in a sliding mode, and the centrifugal device is arranged in the centrifugal cavity;
the carrying device comprises a power cavity and a steering cavity, the power cavity is arranged in the end wall of the left side of the rotating cavity, and an opening of the steering cavity is downwards arranged in the bottom wall of the mobile robot.
Furthermore, the lifting device further comprises a worm wheel cavity, two first thread sleeves, a first threaded hole, a first threaded rod, a first worm wheel, a first worm, a limiting groove, a limiting block and a first bevel gear, the worm wheel cavity is arranged in the left side end wall of the lifting tray, the two first thread sleeves are symmetrically and rotationally arranged in the worm wheel cavity in the front-back direction, the first threaded hole is arranged in the first thread sleeve, the first threaded rod is in threaded fit connection with the first threaded hole and is fixedly connected with the bottom wall of the lifting cavity, the first worm wheel is arranged on the outer surface of the first thread sleeve in the worm wheel cavity, the first worm is rotationally arranged between the mixing cavity and the worm wheel cavity and is meshed with the front and back two first worm wheels, and the first bevel gear is fixedly arranged at the tail end of the first worm in the mixing cavity, the limiting groove is provided with an opening upwards in the top wall of the lifting tray, and the limiting block is fixedly arranged at the top ends of the front threaded rod and the rear threaded rod.
Further, the power superposition device comprises a roller, a first rotating shaft, a belt cavity, a belt pulley, a belt, a second bevel gear, a third bevel gear, a fixed support and a fourth bevel gear, the belt cavity is arranged in the end wall of one side of the roller cavity far away from the mixing cavity, the first rotating shaft is arranged between the belt cavity and the roller cavity in a bilateral symmetry rotating manner, the belt pulley is fixedly arranged at the tail end of the first rotating shaft in the belt cavity, the left and right belt pulleys are connected in a transmission fit manner by the belt, the roller is fixedly arranged on the outer surface of the first rotating shaft in the roller cavity, the tail end of the first rotating shaft on the right side extends into the mixing cavity, the second bevel gear is rotatably arranged on the outer surface of the first rotating shaft in the mixing cavity on the front side and is meshed with the first bevel gear, and the third bevel gear is fixedly arranged at the tail end of the first rotating shaft in the mixing cavity, the fixed brackets are arranged on the rear end wall of the second bevel gear in a bilateral symmetry mode, and the fourth bevel gear is rotatably arranged in the end wall of one side, opposite to the left fixed bracket and the right fixed bracket, and is meshed with the front third bevel gear and the rear third bevel gear.
Furthermore, the moving device further comprises a second worm, a first motor, a second rotating shaft, a second worm wheel, a first roller, a second roller, a hydraulic rod, a reset device, a hydraulic hole, a guide chute, a guide block, a push rod and an inclined plane plate, wherein the hydraulic rod is arranged in the hydraulic cavity in a sliding manner, the reset device is elastically arranged between the hydraulic rod and the end wall of the hydraulic cavity, the guide chute is arranged in the end wall at the right side of the car loader, the guide block is arranged in the guide chute in a sliding manner, the inclined plane plate is arranged on the end wall at the right side of the car loader in a sliding manner and is fixedly connected with the guide block, the hydraulic hole is communicated between the guide chute and the hydraulic cavity, the push rod is arranged in the hydraulic hole in a sliding manner and is fixedly connected with the guide block, the first motor is fixedly arranged in the end wall at the right side of the driving cavity, the second worm is rotatably arranged in the driving cavity, the second pivot rotate set up in both sides stretch into around in the drive intracavity and outside the carloader, first gyro wheel fixed set up in both sides are terminal around the second pivot, the second worm wheel fixed set up in the drive intracavity the second pivot surface and with the meshing of second worm, the second gyro wheel rotate set up in on the both sides end wall around the carloader.
Further, the supporting device further comprises a second threaded sleeve, a second threaded rod, a second threaded hole and a first gear, the second threaded sleeve is rotatably arranged in the switching cavity, the second threaded hole is formed in the top wall of the second threaded sleeve, the second threaded rod is in threaded connection with the inside of the second threaded hole and fixedly connected with the bottom wall of the supporting plate, and the first gear is fixedly arranged on the outer surface of the second threaded sleeve in the switching cavity.
Further, the switching device further comprises a second motor, a second gear, a sliding hole jacking cavity, a jacking block and a U-shaped rod, wherein the second motor is fixedly arranged in the top wall of the sliding block, the second gear is fixedly arranged at the tail end of an output shaft of the second motor, the jacking cavity is arranged in the end wall of the left side of the power cavity, the jacking block is slidably arranged in the jacking cavity, the sliding hole is communicated with the sliding cavity and the jacking cavity, and the U-shaped rod is slidably arranged in the sliding hole and fixedly connected with the sliding block and the jacking block.
Further, the centrifugal device comprises a third worm, a spline hole, a spline shaft, a rotating block, a fixed block, a hinge rod, a gravity ball, a jacking spring and a third gear, the third worm is rotatably arranged between the power cavity and the centrifugal cavity, the fixed block is fixedly arranged at the tail end of the third worm in the centrifugal cavity, the third gear is fixedly arranged at the tail end of the third worm in the power cavity, the spline hole is arranged in the third worm, the spline shaft is in spline fit connection with the spline hole, the tail end of the left side of the spline shaft is rotatably arranged in the right side end wall of the jacking block, the tail end of the spline shaft in the centrifugal cavity is fixedly provided with the rotating block, the rotating block and the upper and lower end walls of the fixed block are symmetrically hinged with the hinge rod, the gravity ball is hinged with the hinged joints of the tail ends of the left and right hinge rods, the jacking spring is elastically arranged between the rotating block and the fixed block.
Further, the carrying device further comprises a third rotating shaft, a third worm wheel, a third roller wheel, a steering shaft, a bogie, a steering wheel, a fourth gear wheel, a fifth gear wheel and a third motor, the third motor is fixedly arranged in the right side end wall of the power cavity, the fifth gear wheel is fixedly arranged at the tail end of an output shaft of the third motor and is meshed with the third gear wheel, the third rotating shaft is rotatably arranged in the rotating cavity, the tail ends of the front side and the rear side of the third rotating shaft extend out of the mobile robot, the third roller wheel is fixedly arranged at the tail ends of the front side and the rear side of the third rotating shaft, the third worm wheel is fixedly arranged on the outer surface of the third rotating shaft in the rotating cavity and is meshed with the third worm, the steering shaft is rotatably arranged between the switching cavity and the steering cavity, and the fourth gear wheel is fixedly arranged at the tail end of the steering shaft in the, the bogie is fixedly arranged at the tail end of the steering shaft in the steering cavity, and the steering wheel is rotatably arranged in the bogie.
The invention has the beneficial effects that: the intelligent car loader based on the mobile robot can lift the mobile robot bearing goods to a position parallel to a car trunk, so that the goods can be conveniently loaded, meanwhile, the car loader can be conveniently moved, and the inclined plane plate convenient for the mobile robot to move up and down is arranged, so that the intelligent car loader based on the mobile robot is more convenient.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic diagram of the overall structure of an intelligent car loader based on a mobile robot.
Fig. 2 is a schematic view of the structure a-a in fig. 1.
Fig. 3 is an enlarged structural diagram of B in fig. 2.
Fig. 4 is a schematic view of the overall structure of the mobile robot in fig. 1.
Fig. 5 is an enlarged schematic view of C in fig. 4.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
With reference to fig. 1-5, the mobile robot-based intelligent car loader comprises a car loader 10, a lifting device 200, a moving device 300, a mobile robot 48 fixed in the car loader 10, a supporting device 400, a switching device 500, and a carrying device 600 fixed in the mobile robot 48, wherein the lifting device 200 is disposed in a lifting cavity 16 disposed in a top wall of the car loader 10, the moving device 300 is disposed in a bottom wall of the car loader 10, the supporting device 400 is disposed in a switching cavity 70 disposed in a top wall of the mobile robot 48, the switching device 500 is disposed in a sliding cavity 64 disposed in a bottom wall of the switching cavity 70 and a centrifugal cavity 84 disposed in a left end wall of the mobile robot 48, the carrying device 600 is disposed in a rotating cavity 78 and a turning cavity 60 disposed in a bottom wall of the mobile robot 48, the lifting device 200 comprises a lifting tray 31, two roller cavities 41 and a power superposition device 700, the lifting tray 31 is arranged in the lifting cavity 16 in a sliding manner, the two roller cavities 41 are symmetrically arranged in the top wall of the lifting tray 31 in a front-back manner, the power superposition device 700 is arranged in a mixing cavity 47 arranged between the two roller cavities 41, the mobile device 300 comprises a driving cavity 28 and a hydraulic cavity 11, the driving cavity 28 is arranged in the bottom wall of the car loader 10, the hydraulic cavity 11 is arranged in the left end wall of the car loader 10, the supporting device 400 comprises a supporting plate 73, the supporting plate 73 is arranged at the top of the mobile robot 48, the switching device 500 comprises a sliding block 66 and a centrifugal device 800, the sliding block 66 is arranged in the sliding cavity 64 in a sliding manner, the centrifugal device 800 is arranged in the centrifugal cavity 84, the carrying device 600 comprises a power cavity 54 and a steering cavity 60, wherein the power cavity 54 is arranged in the end wall of the left side of the rotating cavity 78, and the steering cavity 60 is arranged in the bottom wall of the mobile robot 48 with a downward opening.
Advantageously, the lifting device 200 further comprises a worm cavity 30, two first thread bushings 29, a first threaded hole 34, a first threaded rod 15, a first worm wheel 33, a first worm 35, a limiting groove 22, a limiting block 14 and a first bevel gear 42, the worm cavity 30 is arranged in the left end wall of the lifting tray 31, the two first thread bushings 29 are rotationally arranged in the worm cavity 30 in a front-back symmetrical manner, the first threaded hole 34 is arranged in the first thread bushing 29, the first threaded rod 15 is in threaded fit connection with the first threaded hole 34 and is fixedly connected with the bottom wall of the lifting cavity 16, the first worm wheel 33 is arranged on the outer surface of the first thread bushing 29 in the worm cavity 30, the first worm 35 is rotationally arranged between the mixing cavity 47 and the worm cavity 30 and is meshed with the front and back first worm wheels 33, the first bevel gear 42 is fixedly arranged at the end of the first worm wheel 35 in the mixing cavity 47, the limiting groove 22 is arranged in the top wall of the lifting tray 31 in an upward direction, and the limiting block 14 is fixedly arranged at the top ends of the front and the rear first threaded rods 15.
Advantageously, the power superimposing apparatus 700 includes a roller 36, a first rotating shaft 39, a belt cavity 40, a belt pulley 37, a belt 38, a second bevel gear 43, a third bevel gear 46, a fixed bracket 44, and a fourth bevel gear 45, wherein the belt cavity 40 is disposed in an end wall of the roller cavity 41 on a side away from the mixing cavity 47, the first rotating shaft 39 is disposed between the belt cavity 40 and the roller cavity 41 in a left-right symmetric manner, the belt pulley 37 is fixedly disposed at an end of the first rotating shaft 39 in the belt cavity 40, the left and right two belt pulleys 37 are connected by the belt 38 in a transmission fit manner, the roller 36 is fixedly disposed on an outer surface of the first rotating shaft 39 in the roller cavity 41, an end of the first rotating shaft 39 on a right side extends into the mixing cavity 47, the second bevel gear 43 is rotatably disposed on an outer surface of the first rotating shaft 39 in the mixing cavity 47 on a front side and is engaged with the first bevel gear 42, the third bevel gears 46 are fixedly arranged at the tail ends of the first rotating shafts 39 in the mixing cavity 47, the fixing brackets 44 are arranged on the rear end wall of the second bevel gear 43 in a left-right symmetry manner, and the fourth bevel gears 45 are rotatably arranged in the opposite end walls of the left and right fixing brackets 44 and are meshed with the front and rear third bevel gears 46.
Advantageously, the moving device 300 further includes a second worm 24, a first motor 23, a second rotating shaft 27, a second worm wheel 25, a first roller 26, a second roller 21, a hydraulic rod 12, a reset device 13, a hydraulic hole 32, a guide chute 19, a guide block 18, a push rod 17, and a bevel board 20, the hydraulic rod 12 is slidably disposed in the hydraulic cavity 11 and elastically disposed between the hydraulic cavity 11 and the end wall, the guide chute 19 is disposed in the right end wall of the car loader 10, the guide block 18 is slidably disposed in the guide chute 19, the bevel board 20 is slidably disposed on the right end wall of the car loader 10 and fixedly connected to the guide block 18, the hydraulic hole 32 is communicatively disposed between the guide chute 19 and the hydraulic cavity 11, the push rod 17 is slidably disposed in the hydraulic hole 32 and fixedly connected to the guide block 18, the first motor 23 is fixedly disposed in the right end wall of the driving cavity 28, second worm 24 rotate set up in the drive chamber 28 and with 23 power connection of first motor, second pivot 27 rotate set up in the drive chamber 28 and around both sides stretch into outside the carloader 10, first gyro wheel 26 fixed set up in both sides are terminal around the second pivot 27, second worm wheel 25 fixed set up in the drive chamber 28 second pivot 27 surface and with the meshing of second worm 24, second gyro wheel 21 rotate set up in on the both sides end wall around the carloader 10.
Advantageously, the supporting device 400 further comprises a second threaded sleeve 59, a second threaded rod 58, a second threaded hole 57 and a first gear 69, the second threaded sleeve 59 is rotatably disposed in the switching chamber 70, the second threaded hole 57 is disposed in the top wall of the second threaded sleeve 59, the second threaded rod 58 is in threaded connection with the second threaded hole 57 and is fixedly connected with the bottom wall of the supporting plate 73, and the first gear 69 is fixedly disposed on the outer surface of the second threaded sleeve 59 in the switching chamber 70.
Advantageously, the switching device 500 further comprises a second motor 67, a second gear 68, a sliding hole 71, a pressing cavity 56, a pressing block 55, and a U-shaped rod 72, wherein the second motor 67 is fixedly disposed in the top wall of the sliding block 66, the second gear 68 is fixedly disposed at the end of the output shaft of the second motor 67, the pressing cavity 56 is disposed in the left end wall of the power cavity 54, the pressing block 55 is slidably disposed in the pressing cavity 56, the sliding hole 71 is communicatively disposed between the sliding cavity 64 and the pressing cavity 56, and the U-shaped rod 72 is slidably disposed in the sliding hole 71 and is fixedly connected with the sliding block 66 and the pressing block 55.
Beneficially, the centrifugal device 800 includes a third worm 77, a spline hole 81, a spline shaft 79, a rotation block 85, a fixed block 76, a hinge rod 75, a gravity ball 82, a top pressure spring 83 and a third gear 51, the third worm 77 is rotatably disposed between the power chamber 54 and the centrifugal chamber 84, the fixed block 76 is fixedly disposed at the end of the third worm 77 in the centrifugal chamber 84, the third gear 51 is fixedly disposed at the end of the third worm 77 in the power chamber 54, the spline hole 81 is disposed in the third worm 77, the spline shaft 79 is in spline fit connection with the spline hole 81, the left end is rotatably disposed in the right end wall of the top pressure block 55, the end of the spline shaft 79 in the centrifugal chamber 84 is fixedly disposed with the rotation block 85, the rotation block 85 is symmetrically hinged with the hinge rod 75 on the upper and lower end walls of the fixed block 76, the gravity ball 82 is hinged to the hinged joint of the ends of the left and right hinged rods 75, and the top pressure spring 83 is elastically arranged between the rotating block 85 and the fixed block 76.
Advantageously, the carrying device 600 further comprises a third rotating shaft 52, a third worm gear 80, a third roller 53, a steering shaft 63, a bogie 62, a steering wheel 61, a fourth gear 65, a fifth gear 50 and a third motor 49, wherein the third motor 49 is fixedly arranged in the right side end wall of the power cavity 54, the fifth gear 50 is fixedly arranged at the end of the output shaft of the third motor 49 and is meshed with the third gear 51, the third rotating shaft 52 is rotatably arranged in the rotating cavity 78 and the front and rear ends of the third rotating shaft extend out of the mobile robot 48, the third rollers 53 are fixedly arranged at the front and rear ends of the third rotating shaft 52, the third worm gear 80 is fixedly arranged on the outer surface of the third rotating shaft 52 in the rotating cavity 78 and is meshed with the third worm 77, the steering shaft 63 is rotatably arranged between the switching cavity 70 and the steering cavity 60, the fourth gear 65 is fixedly disposed at the end of the steering shaft 63 in the switching chamber 70, the bogie 62 is fixedly disposed at the end of the steering shaft 63 in the steering chamber 60, and the steering wheel 61 is rotatably disposed in the bogie 62.
The fixing and connecting method in this embodiment includes, but is not limited to, bolting, welding, and the like.
Sequence of mechanical actions of the whole device:
1. starting the first motor 23 to rotate to drive the second worm 24 to rotate, wherein the second worm 24 rotates to drive the second worm gear 25 to rotate, the second worm gear 25 rotates to drive the first roller 26 to rotate, so as to drive the car loader 10 to move, when the car loader 10 moves to one side of a loading car, the hydraulic rod 12 abuts against the loading car, at the moment, the hydraulic rod 12 moves to the right to compress hydraulic oil, so as to drive the push rod 17 to drive the guide block 18 to move downwards, so as to drive the inclined plane plate 20 to move downwards to abut against the ground, and at the moment, the mobile robot 48 is convenient to move to the lifting tray 31;
2. actuating the third motor 49 to rotate and drive the fifth gear 50 to rotate, thereby driving the third gear 51 to rotate, thereby driving the third worm screw 77 to rotate, thereby driving the third worm wheel 80 to rotate, thereby driving the third roller 53 to move, thereby driving the mobile robot 48 to move, simultaneously, the third worm screw 77 rotates and drives the spline shaft 79 to rotate, thereby driving the rotating block 85 and the fixed block 76 to rotate, thereby driving the gravity ball 82 to rotate, at this time, the gravity ball 82 moves outwards under the action of centrifugal force, thereby driving the rotating block 85 and the fixed block 76 to approach each other, at this time, the rotating block 85 moves and drives the spline shaft 79 to move left, thereby driving the top pressing block 55 to move left, thereby driving the sliding block 66 to move left, thereby driving the second gear 68 to engage with the fourth gear 65, at this time, the second motor 67 is started to rotate, so that the second gear 68 is driven to rotate, and the fourth gear 65 is driven to rotate, so that the bogie 62 and the steering wheel 61 are driven to swing, and the moving direction of the mobile robot 48 is controlled;
3. when the mobile robot 48 moves to the bottom of the general pallet for goods, the third motor 49 is turned off, the gravity ball 82 does not rotate any more, the centrifugal force of the gravity ball 82 disappears, the jacking spring 83 drives the sliding block 66 to reset at the moment, the second gear 68 is meshed with the first gear 69 at the moment, the second motor 67 is started to rotate to drive the second gear 68 to rotate, the first gear 69 is driven to rotate, the second threaded sleeve 59 is driven to rotate, the second threaded rod 58 is driven to move upwards, the supporting plate 73 is driven to move upwards, the general pallet for goods is jacked up, and the third motor 49 is started to rotate again, so that the mobile robot 48 is driven to move;
4. when the mobile robot 48 moves to the right side of the car loader 10, the mobile robot 48 moves upward through the bevel board 20, when the third roller 53 on the mobile robot 48 moves between the left and right rollers 36, at this time, the third roller 53 on the mobile robot 48 slips and cannot move, at this time, the third roller 53 rotates to drive the roller 36 to rotate, thereby driving the first rotating shaft 39 to rotate, thereby driving the third bevel gear 46 to rotate, the third bevel gear 46 rotates to drive the second bevel gear 43 to rotate, thereby driving the first worm 35 to rotate, thereby driving the first worm wheel 33 to rotate, thereby driving the first thread bushing 29 to rotate, thereby driving the lifting tray 31 to move upward to abut against the stopper 14, the lifting tray 31 is parallel to the loading compartment, the lifting tray 31 cannot move upwards continuously, at this time, the first thread bushing 29 cannot rotate, the roller 36 cannot rotate, at this time, the friction between the third roller 53 and the roller 36 is increased, and the mobile robot 48 moves into the loading compartment through the lifting tray 31.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. The utility model provides an intelligence carloader based on mobile robot, includes the carloader, fixes hoisting device, mobile device and mobile robot in the carloader, fix strutting arrangement, auto-change over device and handling device in the mobile robot, its characterized in that: the lifting device is arranged in a lifting cavity arranged in the top wall of the car loader, the moving device is arranged in the bottom wall of the car loader, the supporting device is arranged in a switching cavity arranged in the top wall of the mobile robot, the switching device is arranged in a sliding cavity arranged in the bottom wall of the switching cavity and a centrifugal cavity arranged in the left end wall of the mobile robot, and the carrying device is arranged in a rotating cavity and a steering cavity arranged in the bottom wall of the mobile robot;
the lifting device comprises a lifting tray, two roller cavities and a power superposition device, wherein the lifting tray is arranged in the lifting cavity in a sliding mode, the two roller cavities are symmetrically arranged in the top wall of the lifting tray from front to back, and the power superposition device is arranged in a mixing cavity arranged between the front roller cavity and the back roller cavity;
the mobile device comprises a driving cavity and a hydraulic cavity, the driving cavity is arranged in the bottom wall of the car loader, and the hydraulic cavity is arranged in the left end wall of the car loader;
the supporting device comprises a supporting plate, and the supporting plate is arranged at the top of the mobile robot;
the switching device comprises a sliding block and a centrifugal device, the sliding block is arranged in the sliding cavity in a sliding mode, and the centrifugal device is arranged in the centrifugal cavity;
the carrying device comprises a power cavity and a steering cavity, the power cavity is arranged in the end wall of the left side of the rotating cavity, and an opening of the steering cavity is downwards arranged in the bottom wall of the mobile robot.
2. The intelligent car loader based on the mobile robot as claimed in claim 1, wherein: the lifting device also comprises a worm wheel cavity, two first thread sleeves, a first thread hole, a first thread rod, a first worm wheel, a first worm, a limiting groove, a limiting block and a first bevel gear, wherein the worm wheel cavity is arranged in the left end wall of the lifting tray, the two first thread sleeves are symmetrically and rotationally arranged in the worm wheel cavity in the front-back direction, the first thread hole is arranged in the first thread sleeve, the first thread rod is in thread fit connection with the first thread hole and is fixedly connected with the bottom wall of the lifting cavity, the first worm wheel is arranged on the outer surface of the first thread sleeve in the worm wheel cavity, the first worm is rotationally arranged between the mixing cavity and the worm wheel cavity and is meshed with the front and back two first worm wheels, the first bevel gear is fixedly arranged at the tail end of the first worm in the mixing cavity, the opening of the limiting groove is upwards arranged in the top wall of the lifting tray, the limiting blocks are fixedly arranged at the top ends of the front threaded rod and the rear threaded rod.
3. The intelligent car loader based on mobile robot as claimed in claim 1 or 2, characterized in that: the power superposition device comprises a roller wheel, a first rotating shaft, a belt cavity, a belt wheel, a belt, a second bevel gear, a third bevel gear, a fixed support and a fourth bevel gear, the belt cavity is arranged in the end wall of one side of the roller cavity far away from the mixing cavity, the first rotating shaft is arranged between the belt cavity and the roller cavity in a bilateral symmetry rotation manner, the belt wheel is fixedly arranged at the tail end of the first rotating shaft in the belt cavity, the left and right belt wheels are connected in a transmission fit manner by the belt, the roller wheel is fixedly arranged on the outer surface of the first rotating shaft in the roller cavity, the tail end of the first rotating shaft on the right side extends into the mixing cavity, the second bevel gear is rotatably arranged on the outer surface of the first rotating shaft in the mixing cavity on the front side and is meshed with the first bevel gear, and the third bevel gear is fixedly arranged at the tail end of the first rotating shaft, the fixed brackets are arranged on the rear end wall of the second bevel gear in a bilateral symmetry mode, and the fourth bevel gear is rotatably arranged in the end wall of one side, opposite to the left fixed bracket and the right fixed bracket, and is meshed with the front third bevel gear and the rear third bevel gear.
4. The intelligent car loader based on the mobile robot as claimed in claim 1, wherein: the moving device further comprises a second worm, a first motor, a second rotating shaft, a second worm wheel, a first roller, a second roller, a hydraulic rod, a reset device, a hydraulic hole, a guide chute, a guide block, a push rod and an inclined plane plate, wherein the hydraulic rod is arranged in the hydraulic cavity in a sliding manner, the reset device is elastically arranged between the hydraulic rod and the end wall of the hydraulic cavity, the guide chute is arranged in the right end wall of the car loader, the guide block is arranged in the guide chute in a sliding manner, the inclined plane plate is arranged on the right end wall of the car loader in a sliding manner and is fixedly connected with the guide block, the hydraulic hole is communicated and arranged between the guide chute and the hydraulic cavity, the push rod is arranged in the hydraulic hole in a sliding manner and is fixedly connected with the guide block, the first motor is fixedly arranged in the right end wall of the driving cavity, the second worm is rotatably arranged in the driving cavity and is in power connection, the second pivot rotate set up in both sides stretch into around in the drive intracavity and outside the carloader, first gyro wheel fixed set up in both sides are terminal around the second pivot, the second worm wheel fixed set up in the drive intracavity the second pivot surface and with the meshing of second worm, the second gyro wheel rotate set up in on the both sides end wall around the carloader.
5. The intelligent car loader based on the mobile robot as claimed in claim 1, wherein: the supporting device further comprises a second threaded sleeve, a second threaded rod, a second threaded hole and a first gear, the second threaded sleeve is rotatably arranged in the switching cavity, the second threaded hole is formed in the top wall of the second threaded sleeve, the second threaded rod is in threaded connection with the second threaded hole and fixedly connected with the bottom wall of the supporting plate, and the first gear is fixedly arranged on the outer surface of the second threaded sleeve in the switching cavity.
6. The intelligent car loader based on the mobile robot as claimed in claim 1, wherein: the switching device further comprises a second motor, a second gear, a sliding hole jacking cavity, a jacking block and a U-shaped rod, wherein the second motor is fixedly arranged in the top wall of the sliding block, the second gear is fixedly arranged at the tail end of an output shaft of the second motor, the jacking cavity is arranged in the end wall of the left side of the power cavity, the jacking block is slidably arranged in the jacking cavity, the sliding hole is communicated with the sliding cavity and the jacking cavity, and the U-shaped rod is slidably arranged in the sliding hole and fixedly connected with the sliding block and the jacking block.
7. The intelligent car loader based on mobile robot as claimed in claim 1 or 6, characterized in that: the centrifugal device comprises a third worm, a spline hole, a spline shaft, a rotating block, a fixed block, a hinge rod, a gravity ball, a jacking spring and a third gear, the third worm is rotatably arranged between the power cavity and the centrifugal cavity, the fixed block is fixedly arranged at the tail end of the third worm in the centrifugal cavity, the third gear is fixedly arranged at the tail end of the third worm in the power cavity, the spline hole is arranged in the third worm, the spline shaft is in spline fit connection with the spline hole, the tail end of the left side of the spline shaft is rotatably arranged in the right side end wall of the jacking block, the tail end of the spline shaft in the centrifugal cavity is fixedly provided with the rotating block, the rotating block is symmetrically hinged with the hinge rod on the upper end wall and the lower end wall of the fixed block, the gravity ball is hinged with the tail end hinged joints of the left hinge rod and, the jacking spring is elastically arranged between the rotating block and the fixed block.
8. The intelligent car loader based on mobile robot as claimed in claim 7, wherein: the carrying device further comprises a third rotating shaft, a third worm wheel, a third roller wheel, a steering shaft, a bogie, a steering wheel, a fourth gear, a fifth gear and a third motor, the third motor is fixedly arranged in the right side end wall of the power cavity, the fifth gear is fixedly arranged at the tail end of an output shaft of the third motor and is meshed with the third gear, the third rotating shaft is rotatably arranged in the rotating cavity, the tail ends of the front side and the rear side of the third rotating shaft extend out of the mobile robot, the third roller wheel is fixedly arranged at the tail ends of the front side and the rear side of the third rotating shaft, the third worm wheel is fixedly arranged on the outer surface of the third rotating shaft in the rotating cavity and is meshed with the third worm, the steering shaft is rotatably arranged between the switching cavity and the steering cavity, the fourth gear is fixedly arranged at the tail end of the steering shaft in the switching cavity, and the bogie is fixedly arranged at the tail end of the steering shaft in, the steering wheel is rotatably arranged in the steering frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430720.4A CN110027926B (en) | 2019-05-22 | 2019-05-22 | Intelligent car loader based on mobile robot |
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| CN201910430720.4A CN110027926B (en) | 2019-05-22 | 2019-05-22 | Intelligent car loader based on mobile robot |
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| CN110027926A CN110027926A (en) | 2019-07-19 |
| CN110027926B true CN110027926B (en) | 2020-03-24 |
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| CN110239696B (en) * | 2019-07-25 | 2021-07-13 | 南京棠邑科创服务有限公司 | Underwater detector based on bionics |
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| JP4244413B2 (en) * | 1998-10-02 | 2009-03-25 | 神鋼電機株式会社 | Transport equipment |
| US9598238B2 (en) * | 2015-01-29 | 2017-03-21 | United Parcel Service Of America, Inc. | Automated loading and unloading items |
| CN206654554U (en) * | 2017-03-21 | 2017-11-21 | 济南威瞰科技有限公司 | A kind of intelligent loading system |
| CN107738930B (en) * | 2017-11-07 | 2020-08-28 | 烟台博特自动化设备有限公司 | Gantry type liftable supply platform bagged material intelligent car loader |
| CN208485326U (en) * | 2018-06-27 | 2019-02-12 | 邓援超 | A kind of automatic loading machine |
| CN208616943U (en) * | 2018-07-23 | 2019-03-19 | 合肥泰禾光电科技股份有限公司 | Cargo conveys loading system and logistics system |
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Effective date of registration: 20200228 Address after: 276800 Shandong Province, Rizhao City Donggang district four North Road and Yanzhou Road intersection Applicant after: Shandong Leadthing Information Science and Technology Co., Ltd. Address before: 323000 No. 51 Xianyan West, Xianyuan Village, Xiandu Street, Jinyun County, Lishui City, Zhejiang Province Applicant before: Jinyun Dotu Intelligent Technology Co.,Ltd. |
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