CN110356486A - Robot for transporting articles - Google Patents
Robot for transporting articles Download PDFInfo
- Publication number
- CN110356486A CN110356486A CN201910687610.6A CN201910687610A CN110356486A CN 110356486 A CN110356486 A CN 110356486A CN 201910687610 A CN201910687610 A CN 201910687610A CN 110356486 A CN110356486 A CN 110356486A
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- fixedly connected
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- rack
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- motor
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for transporting articles, which relates to the technical field of robots and comprises a rack, an auxiliary unloading plate, an unloading control mechanism, an elastic clamping piece and a positioning piece. The auxiliary unloading plate is connected to the rack in a clearance fit mode, the unloading control mechanism is fixedly connected to the left side of the rack, the lower end of the unloading control mechanism penetrates through the auxiliary unloading plate and is attached to the auxiliary unloading plate, the two elastic clamping pieces are symmetrically and fixedly connected to the upper end and the lower end of the rack, the two elastic clamping pieces are arranged in a staggered mode in the vertical direction, the two positioning pieces are arranged, and the two positioning pieces are symmetrically arranged at the front end and the rear end of the rack.
Description
Technical field
The present invention relates to robotic technology fields, are in particular a kind of robots for transporting article.
Background technique
The plastic barrel transportation robot of existing Patent No. CN201710730816.3, a kind of plastic barrel fortune of disclosure of the invention
Defeated robot, comprising: workbench, upper surface are provided with a telescopic column, and the upper end of the column face is equipped with a fixed column, one end
Portion be equipped with one perforation crossbeam be sheathed on outside fixed column, crossbeam can be rotated around fixed column, crossbeam lower end surface along its length between
Every setting there are two plate is grabbed, below the crossbeam is equipped with body feed tank；Pedestal, the pedestal lower end surface are equipped with multiple driving wheels；Two are stretched
Shrinking structure, each stretching structure are set between pedestal and workbench along position base length direction.The plastic barrel of the invention transports
Robot can grab plastic barrel, grasping stability, and walking is stablized during transportation, and height is adjustable.But the device is not
It can unload automatically.
Summary of the invention
The object of the present invention is to provide a kind of robot for transporting article, its advantages are that the present invention is suitable for carrying ladle
Class or column article can once deliver multiple articles, and it is convenient that quickly fixed and automatic unloading, unloading may be implemented.
The purpose of the present invention is achieved through the following technical solutions:
A kind of robot transporting article, including rack, auxiliary unloading plate, unloading control mechanism, elastic detent part and fixed
Position part, the auxiliary unloading sheet separation are cooperatively connected on the rack, and unloading control mechanism is fixedly connected on the left side of rack, unloads
The lower end of goods control mechanism passes through auxiliary unloading plate and is bonded with auxiliary unloading plate, and there are two elastic detent part settings, two bullets
Property card-bit part be symmetrically fixedly connected on the upper and lower ends of rack, two elastic detent parts are staggered in the vertical direction, position
There are two part settings, and two locating pieces are symmetricly set on the rear and front end of rack；
The elastic detent part includes level frame, three linkage control mechanisms and six elastic block pieces；Three linkage controls
Mechanism is all connected on level frame, and six elastic block pieces are all fixedly connected on level frame, the both ends of three linkage control mechanisms
It is connected by meshing transmission respectively with an elastic block piece；The level frame of lower end is fixedly connected on the lower end of rack, the level frame of upper end
It is fixedly connected on the upper end of rack, the elastic block piece sliding connection in the elastic detent part of lower end is on the rack.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the rack includes
Supporting plate, rectangular channel, circular through hole, supporting leg, riser, L-type frame and pedestal plate；There are four rectangular channel, supports for the top surface setting of supporting plate
The rear and front end of plate is all arranged there are three circular through hole, and the both ends of former and later two risers are all fixedly connected with a supporting leg, and four
Supporting leg is respectively fixedly connected at four angles of supporting plate, and the lower end of four supporting legs is all rotatablely connected a universal wheel, and four
The upper end of supporting leg is all fixedly connected with a L-type frame, is all fixedly connected with a pedestal plate on two supporting legs of right end；Lower end
Six elastic block pieces in elastic detent part are slidably connected respectively in six circular through holes, and the elastic detent part of upper end is solid
Surely it is connected on four L-type framves, auxiliary unloading plate is rotatably connected on two pedestal plates, and two locating pieces are connected to two
On riser.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the auxiliary unloading
Plate includes the right bar, left side bar, cross bar and rotation axis；Four cross bars are fixedly connected between the right bar and left side bar, the right bar
Both ends are all fixedly connected with a rotation axis, and four cross bar clearance fits are connected in four rectangular channels, and two rotation axis turn respectively
Dynamic to be cooperatively connected on two pedestal plates, the right bar, left side bar are respectively positioned on the outer end of supporting plate, and unloading control mechanism passes through intermediate
Two cross bars are simultaneously bonded with two cross bars.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the unloading control
Mechanism includes bridge plate, motor I, threaded rod, linkage block, perpendicular slide bar, round bar and baffle；Bridge plate is fixedly connected on the two of left end
On a supporting leg, motor I is fixedly connected on bridge plate by motor rack, and the output shaft of motor I passes through shaft coupling connection screw thread
Bar, linkage block are connected on threaded rod by being threadedly engaged, and linkage block is fixedly connected on perpendicular slide bar, erect the upper and lower ends of slide bar
It is respectively fixedly connected with baffle and round bar, sliding bar is erected and is cooperatively connected on bridge plate, slide bar is erected and passes through two intermediate cross bars,
Round bar is bonded with the bottom surface of two intermediate cross bars.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the level frame packet
Include support rod, floor, guide rod, rectangle sliding slot, motor II, worm screw and lead screw frame plate；The both ends of floor are respectively fixedly connected with one
A support rod is uniformly fixedly connected with three guide rods on floor, and a rectangle sliding slot, motor is all arranged in the both ends of three guide rods
II is fixedly connected on the support rod on right side by motor rack, and for the output shaft of motor II by shaft coupling connecting worm, worm screw is logical
It crosses rolling bearing units to be rotatably connected on two lead screw frame plates, two lead screw frame plates are respectively fixedly connected under two support rods
End.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the linkage control
Mechanism includes vertical frame plate, reverse-flighted screw, worm gear, rack gear and L-type guide rod；Vertical frame plate is fixedly connected on the lower end of floor, two-way spiral shell
Bar is rotatably connected on vertical frame plate by rolling bearing units, and worm gear is fixedly connected on the middle part of reverse-flighted screw, and worm gear is engaged with worm screw
Transmission connection, the both ends of reverse-flighted screw pass through respectively is threadedly engaged one rack gear of connection, and the inner end of two rack gears is all fixedly connected
One L-type guide rod；The rack gear is connected by meshing transmission with elastic block piece, and L-type guide rod is slidably connected in rectangle sliding slot.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the elastic block piece
Including spring seat board, drive shaft, gear, raised line, spring loop bar, compressed spring, shift fork, sheave and telescopic shaft；Drive shaft turns
It is cooperatively connected on spring seat board, the upper and lower ends of gear are respectively fixedly connected with raised line and gear, and the both ends of spring seat board are all solid
Surely a spring loop bar is connected, is all arranged a compressed spring on two spring loop bars, two shift forks are symmetrically slidably connected
On two spring loop bars；The both ends of the compressed spring are respectively fixedly connected with shift fork and spring seat board；The inside of two shift forks
All clearance fit is connected on sheave, and sheave is fixedly connected on the lower end of telescopic shaft, and the medial surface of telescopic shaft is inclined surface, driving
Axis and raised line are all slidably connected in the lower end of telescopic shaft；The spring seat board is fixedly connected on the guide bar, rack gear and tooth
Wheel is connected by meshing transmission；The telescopic shaft of lower end is slidably connected in circular through hole, and the sheave of lower end is located at the lower section of supporting plate.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the locating piece packet
Include door type frame, push plate, motor I and adjusting screw rod；Door type frame is slidably connected on riser, and the inside of door type frame is solid
Surely push plate is connected, motor I is fixedly connected on the outer end of door type frame by motor rack, and the output shaft of motor I is connected by shaft coupling
Adjusting screw rod is connect, door type frame is connected on adjusting screw rod by being threadedly engaged, and push plate is located at the inside of riser.
As advanced optimizing for the technical program, a kind of robot for transporting article of the present invention, the bullet of the upper end
Property block piece at a distance from the elastic block piece interleaved of lower end be equal to column cargo diameter.
A kind of robot for transporting article of the present invention has the beneficial effect that
A kind of robot for transporting article of the present invention, the present invention are suitable for carrying ladle class or column article, can once deliver
It is convenient that quickly fixed and automatic unloading, unloading may be implemented in multiple articles.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for the robot for transporting article of the present invention；
Fig. 2 is a kind of structural schematic diagram for the robot for transporting article of the present invention；
Fig. 3 is a kind of structural schematic diagram for the robot for transporting article of the present invention；
Fig. 4 is a kind of partial elevational structural schematic diagram for the robot for transporting article of the present invention；
Fig. 5 is the structural schematic diagram one of elastic detent part；
Fig. 6 is the structural schematic diagram two of elastic detent part；
Fig. 7 is the structural schematic diagram of rack；
Fig. 8 is the structural schematic diagram of auxiliary unloading plate；
Fig. 9 is the structural schematic diagram of unloading control mechanism；
Figure 10 is the structural schematic diagram of level frame；
Figure 11 is the structural schematic diagram of linkage control mechanism；
Figure 12 is the structural schematic diagram of elastic block piece；
Figure 13 is the schematic cross-sectional view of elastic block piece；
Figure 14 is the structural schematic diagram of locating piece.
In figure: rack 1；Supporting plate 1-1；Rectangular channel 1-2；Circular through hole 1-3；Supporting leg 1-4；Riser 1-5；L-type frame 1-6；
Pedestal plate 1-7；Auxiliary unloading plate 2；The right bar 2-1；Left side bar 2-2；Cross bar 2-3；Rotation axis 2-4；Unloading control mechanism 3；Bar
Frame plate 3-1；I 3-2 of motor；Threaded rod 3-3；Linkage block 3-4；Perpendicular slide bar 3-5；Round bar 3-6；Baffle 3-7；Elastic detent part 4；Water
Flatrack 4-1；Support rod 4-1-1；Floor 4-1-2；Guide rod 4-1-3；Rectangle sliding slot 4-1-4；II 4-1-5 of motor；Worm screw 4-1-
6；Lead screw frame plate 4-1-7；Linkage control mechanism 4-2；Vertical frame plate 4-2-1；Reverse-flighted screw 4-2-2；Worm gear 4-2-3；Rack gear 4-2-
4；L-type guide rod 4-2-5；Elastic block piece 4-3；Spring seat board 4-3-1；Drive shaft 4-3-2；Gear 4-3-3；Raised line 4-3-4；Spring
Loop bar 4-3-5；Compressed spring 4-3-6；Shift fork 4-3-7；Sheave 4-3-8；Telescopic shaft 4-3-9；Locating piece 5；Door type frame 5-1；
Push plate 5-2；I 5-3 of motor；Adjusting screw rod 5-4.
Specific embodiment
The present invention will be further described in detail for 1-14 and specific embodiment with reference to the accompanying drawing.
Specific embodiment 1:
Illustrate present embodiment, a kind of robot transporting article, including rack 1, auxiliary unloading below with reference to Fig. 1-14
Plate 2, unloading control mechanism 3, elastic detent part 4 and locating piece 5, auxiliary unloading 2 clearance fit of plate are connected to rack 1
On, unloading control mechanism 3 is fixedly connected on the left side of rack 1, the lower end of unloading control mechanism 3 pass through auxiliary unloading plate 2 and with
Auxiliary unloading plate 2 is bonded, and there are two the settings of elastic detent part 4, and two elastic detent parts 4 are symmetrically fixedly connected on the upper of rack 1
Lower both ends, two elastic detent parts 4 are staggered in the vertical direction, and there are two the settings of locating piece 5, and two locating pieces 5 are symmetrical
The rear and front end of rack 1 is set；
The elastic detent part 4 includes level frame 4-1, three linkage control mechanism 4-2 and six elastic block piece 4-3；Three
A linkage control mechanism 4-2 is all connected on level frame 4-1, and six elasticity block piece 4-3 are all fixedly connected on level frame 4-1,
The both ends of three linkage control mechanism 4-2 are connected by meshing transmission with an elasticity block piece 4-3 respectively；The level frame 4-1 of lower end is solid
Surely it is connected to the lower end of rack 1, the level frame 4-1 of upper end is fixedly connected on the upper end of rack 1, in the elastic detent part 4 of lower end
Elastic block piece 4-3 be slidably connected in rack 1；The elastic block piece 4-3 of the upper end and elastic block piece 4-3 of lower end
The distance of interleaved is equal to the diameter of column cargo.
In the use of the present invention, inclined-plane all courts of the elastic block piece 4-3 when the inclined-plane and lower end of the elastic block piece 4-3 of upper end
, at this time can be from right side to cargo is shipped on 1 when to the right, cargo successively rolls to the left, can be according to while cargo rolls to the left
The secondary elastic block piece 4-3 squeezed in two elastic detent parts 4, when cargo is uniformly between two elastic detent parts 4, control
The level frame 4-1 of upper end processed, the level frame 4-1 of upper end drive the linkage control mechanism 4-2 work of upper end, the linkage control of upper end
Mechanism 4-2 drives the elastic block piece 4-3 rotation of upper end, and the inclined-plane of the elastic block piece 4-3 of upper end is towards left side, the bullet of upper end at this time
Property block piece 4-3 limit cargo and be moved to the left, the inclined-plane elastic block piece 4-3 of lower end limits cargo towards the right side and moves right, control
Two locating pieces 5 act against on cargo, limit cargo back-and-forth motion, when cargo to be unloaded, it is separate to control two locating pieces 5
Cargo controls the level frame 4-1 of lower end, and the level frame 4-1 of lower end drives the linkage control mechanism 4-2 work of lower end, lower end
Linkage control mechanism 4-2 drives the elastic block piece 4-3 rotation of lower end, and the inclined-plane of the elastic block piece 4-3 of lower end is towards left side, at this time
It is increased by control unloading control mechanism 3 with the left end of dynamic auxiliary unloading plate 2, auxiliary unloading plate 2 is in heeling condition, cargo meeting
It moves to the right under the effect of gravity, successively squeezes the elastic block piece 4-3 in two elastic detent parts 4, realize quickly unloading.
Specific embodiment 2:
Illustrate that present embodiment, the rack 1 are logical including supporting plate 1-1, rectangular channel 1-2, circle below with reference to Fig. 1-14
Hole 1-3, supporting leg 1-4, riser 1-5, L-type frame 1-6 and pedestal plate 1-7；The top surface of supporting plate 1-1 is arranged there are four rectangular channel 1-2,
The rear and front end of supporting plate 1-1 is all arranged there are three circular through hole 1-3, the both ends of former and later two risers 1-5 are all fixedly connected with one
Supporting leg 1-4, four supporting leg 1-4 are respectively fixedly connected at four angles of supporting plate 1-1, and the lower end of four supporting leg 1-4 is all
It is rotatablely connected a universal wheel, the upper end of four supporting leg 1-4 is all fixedly connected with a L-type frame 1-6, two supporting legs of right end
A pedestal plate 1-7 is all fixedly connected on 1-4；Six elasticity block piece 4-3 in the elastic detent part 4 of lower end are slidably matched respectively
It is connected in six circular through hole 1-3, the elastic detent part 4 of upper end is fixedly connected on four L-type frame 1-6, auxiliary unloading plate 2
It is rotatably connected on two pedestal plate 1-7, two locating pieces 5 are connected on two riser 1-5.
Specific embodiment 3:
Illustrate present embodiment below with reference to Fig. 1-14, the auxiliary unloading plate 2 includes the right bar 2-1, left side bar 2-
2, cross bar 2-3 and rotation axis 2-4；Four cross bar 2-3 are fixedly connected between the right bar 2-1 and left side bar 2-2, the right bar 2-1's
Both ends are all fixedly connected with a rotation axis 2-4, and four cross bar 2-3 clearance fits are connected in four rectangular channel 1-2, two rotations
Axis 2-4 is rotatably assorted respectively to be connected on two pedestal plate 1-7, and the right bar 2-1, left side bar 2-2 are respectively positioned on the outer of supporting plate 1-1
End, unloading control mechanism 3 pass through two intermediate cross bar 2-3 and are bonded with two cross bar 2-3；The upper surface of cross bar 2-3 and support
The upper surface of plate 1-1 is same plane.
Specific embodiment 4:
Illustrate present embodiment below with reference to Fig. 1-14, the unloading control mechanism 3 includes bridge plate 3-1, I 3- of motor
2, threaded rod 3-3, linkage block 3-4, perpendicular slide bar 3-5, round bar 3-6 and baffle 3-7；Bridge plate 3-1 is fixedly connected on the two of left end
On a supporting leg 1-4, I 3-2 of motor is fixedly connected on bridge plate 3-1 by motor rack, and the output shaft of I 3-2 of motor passes through connection
Axis device connection screw thread bar 3-3, linkage block 3-4 are connected on threaded rod 3-3 by being threadedly engaged, and linkage block 3-4 is fixedly connected on
On perpendicular slide bar 3-5, the upper and lower ends of perpendicular slide bar 3-5 are respectively fixedly connected with baffle 3-7 and round bar 3-6, and perpendicular slide bar 3-5 is slidably matched
It is connected on bridge plate 3-1, erects slide bar 3-5 and pass through two intermediate cross bar 2-3, round bar 3-6 and two intermediate cross bar 2-3
Bottom surface fitting.When in use, in unloading, the inclined-plane of the elastic block piece 4-3 of top and bottom is all for the unloading control mechanism 3
Towards left side, I 3-2 of motor by wire connecting power and control switch and is opened, I 3-2 of motor drives threaded rod 3-3 to turn
Dynamic, threaded rod 3-3 and linkage block 3-4 is connected through a screw thread generation relative displacement band dynamic elasticity block piece 4-3 and moves up, elasticity gear
Part 4-3 drives perpendicular slide bar 3-5 to move up, and perpendicular slide bar 3-5 drives round bar 3-6 to move up, and bridge plate 3-1 is to perpendicular slide bar 3-5
Play the role of limition orientation, round bar 3-6 is increased with the left end of dynamic auxiliary unloading plate 2, and auxiliary unloading plate 2 is around two rotation axis
2-4 is rotated up, and four cross bar 2-3 are in heeling condition at this time, and cargo moves to the right under the effect of gravity, successively squeezes two
Elastic block piece 4-3 in a elastic detent part 4 realizes quickly unloading.
Specific embodiment 5:
Illustrate present embodiment below with reference to Fig. 1-14, the level frame 4-1 includes support rod 4-1-1, floor 4-1-
2, guide rod 4-1-3, rectangle sliding slot 4-1-4, II 4-1-5 of motor, worm screw 4-1-6 and lead screw frame plate 4-1-7；Floor 4-1-2's
Both ends are respectively fixedly connected with a support rod 4-1-1, three guide rod 4-1-3 are uniformly fixedly connected on floor 4-1-2, three are led
One rectangle sliding slot 4-1-4 is all set to the both ends of bar 4-1-3, and II 4-1-5 of motor is fixedly connected on right side by motor rack
On support rod 4-1-1, the output shaft of II 4-1-5 of motor passes through axis of usheing to seat by shaft coupling connecting worm 4-1-6, worm screw 4-1-6
It holds and is rotatably connected on two lead screw frame plate 4-1-7, two lead screw frame plate 4-1-7 are respectively fixedly connected in two support rod 4-1-
1 lower end.
Specific embodiment 6:
Illustrate present embodiment below with reference to Fig. 1-14, the linkage control mechanism 4-2 includes vertical frame plate 4-2-1, double
To screw rod 4-2-2, worm gear 4-2-3, rack gear 4-2-4 and L-type guide rod 4-2-5；Vertical frame plate 4-2-1 is fixedly connected on floor 4-1-2
Lower end, reverse-flighted screw 4-2-2 is rotatably connected on vertical frame plate 4-2-1 by rolling bearing units, and worm gear 4-2-3 is fixedly connected on double
To the middle part of screw rod 4-2-2, worm gear 4-2-3 is connected by meshing transmission with worm screw 4-1-6, and the both ends of reverse-flighted screw 4-2-2 lead to respectively
It crosses and is threadedly engaged one rack gear 4-2-4 of connection, the inner end of two rack gear 4-2-4 is all fixedly connected with a L-type guide rod 4-2-5；Institute
It states rack gear 4-2-4 and elasticity block piece 4-3 to be connected by meshing transmission, L-type guide rod 4-2-5 is slidably connected in rectangle sliding slot 4-1-4
It is interior.When in use, II 4-1-5 of motor by wire connecting power and control switch and is opened by the linkage control mechanism 4-2
It opens, II 4-1-5 of motor drives worm screw 4-1-6 rotation, and worm screw 4-1-6 drives worm gear 4-2-3 rotation, and worm gear 4-2-3 drives two-way
Screw rod 4-2-2 rotation, reverse-flighted screw 4-2-2 and two rack gear 4-2-4 are connected through a screw thread generation relative displacement, drive two teeth
4-2-4 is simultaneously outward away from sliding, and band dynamic elasticity block piece 4-3 rotates 180 degree to two rack gear 4-2-4 respectively；L-type guide rod 4-
2-5 plays the role of limition orientation to rack gear 4-2-4.
Specific embodiment 7:
Illustrate present embodiment below with reference to Fig. 1-14, the elastic block piece 4-3 includes spring seat board 4-3-1, driving
Axis 4-3-2, gear 4-3-3, raised line 4-3-4, spring loop bar 4-3-5, compressed spring 4-3-6, shift fork 4-3-7, sheave 4-3-8 and
Telescopic shaft 4-3-9；Drive shaft 4-3-2, which is rotatably assorted, to be connected on spring seat board 4-3-1, the upper and lower ends difference of gear 4-3-3
It is fixedly connected with raised line 4-3-4 and gear 4-3-3, the both ends of spring seat board 4-3-1 are all fixedly connected with a spring loop bar 4-3-5,
A compressed spring 4-3-6 is all arranged on two spring loop bar 4-3-5, two shift fork 4-3-7 are symmetrically slidably connected two
On a spring loop bar 4-3-5；The both ends of the compressed spring 4-3-6 are respectively fixedly connected with shift fork 4-3-7 and spring seat board 4-3-
1；The inside of two shift fork 4-3-7 all clearance fits are connected on sheave 4-3-8, and sheave 4-3-8 is fixedly connected on telescopic shaft 4-
The medial surface of the lower end of 3-9, telescopic shaft 4-3-9 is inclined surface, and drive shaft 4-3-2 and raised line 4-3-4 are all slidably connected
The lower end of telescopic shaft 4-3-9；The spring seat board 4-3-1 is fixedly connected on guide rod 4-1-3, rack gear 4-2-4 and gear 4-
3-3 is connected by meshing transmission；The telescopic shaft 4-3-9 of lower end is slidably connected the sheave 4-3-8 of lower end in circular through hole 1-3
Positioned at the lower section of supporting plate 1-1.When in use, rack gear 4-2-4 band moving gear 4-3-3 is rotated the elastic block piece 4-3, gear 4-
3-3 drives drive shaft 4-3-2 rotation, and drive shaft 4-3-2 rotation drives telescopic shaft 4-3-9 rotation by raised line 4-3-4, works as cargo
When the mobile inclined-plane for squeezing telescopic shaft 4-3-9, telescopic shaft 4-3-9 slide downward on drive shaft 4-3-2 and raised line 4-3-4 is stretched
Contracting axis 4-3-9 drives sheave 4-3-8 and two shift fork 4-3-7 to move down, and two compressed spring 4-3-6 are extruded in compression
State drives telescopic shaft 4- under the elastic force effect of two compressed spring 4-3-6 when cargo is not when squeezing telescopic shaft 4-3-9
3-9 moves upwards reset.
Specific embodiment 8:
Illustrate present embodiment below with reference to Fig. 1-14, the locating piece 5 includes door type frame 5-1, push plate 5-2, electricity
Machine I 5-3 and adjusting screw rod 5-4；Door type frame 5-1 is slidably connected on riser 1-5, and the inside of door type frame 5-1 is fixed
Push plate 5-2 is connected, I 5-3 of motor is fixedly connected on the outer end of door type frame 5-1 by motor rack, and the output shaft of I 5-3 of motor is logical
It crosses shaft coupling connection adjusting screw rod 5-4, door type frame 5-1 to be connected on adjusting screw rod 5-4 by being threadedly engaged, push plate 5-2
In the inside of riser 1-5.The locating piece 5 passes through wire connecting power and control switch simultaneously when in use, by I 5-3 of motor
It opens, I 5-3 of motor drives adjusting screw rod 5-4 rotation, and it is opposite that adjusting screw rod 5-4 and door type frame 5-1 are connected through a screw thread generation
Displacement drives door type frame 5-1 to move inward dynamic, and door type frame 5-1 drives push plate 5-2 to move inward, and acts against cargo
On, limitation cargo is moved forward and backward.
A kind of working principle for the robot for transporting article of the present invention: in the use of the present invention, working as the elastic block piece of upper end
The inclined-plane of the elastic block piece 4-3 on the inclined-plane and lower end of 4-3 all towards right side when, at this time can be from right side to shipping cargo, goods on 1
Object successively rolls to the left, and the elastic block piece 4-3 in two elastic detent parts 4 can be successively squeezed while cargo rolls to the left, when
When cargo is uniformly between two elastic detent parts 4, the level frame 4-1 of upper end is controlled, in the level frame 4-1 drive of upper end
The linkage control mechanism 4-2 at end works, and the linkage control mechanism 4-2 of upper end drives the elastic block piece 4-3 rotation of upper end, upper end
The inclined-plane of elastic block piece 4-3 is towards left side, and the elastic block piece 4-3 of upper end limits cargo and is moved to the left at this time, the elasticity of lower end
The inclined-plane block piece 4-3 limits cargo towards the right side and moves right, and controls two locating pieces 5 and acts against on cargo, limits cargo front and back
It is mobile, when cargo to be unloaded, two locating pieces 5 are controlled far from cargo, control the level frame 4-1 of lower end, the level frame of lower end
4-1 drives the linkage control mechanism 4-2 work of lower end, and the linkage control mechanism 4-2 of lower end drives the elastic block piece 4-3 of lower end to turn
Dynamic, the inclined-plane of the elastic block piece 4-3 of lower end is towards left side, at this time by control unloading control mechanism 3 with dynamic auxiliary unloading plate 2
Left end increases, and auxiliary unloading plate 2 is in heeling condition, and cargo can move to the right under the effect of gravity, successively squeeze two bullets
Property card-bit part 4 on elastic block piece 4-3, realize quickly unloading.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (9)
1. a kind of robot for transporting article, including rack (1), auxiliary unloading plate (2), unloading control mechanism (3), elastic detent
Part (4) and locating piece (5), it is characterised in that: described auxiliary unloading plate (2) clearance fit is connected on rack (1), unloading control
Mechanism (3) processed is fixedly connected on the left side of rack (1), the lower end of unloading control mechanism (3) pass through auxiliary unloading plate (2) and with it is auxiliary
Unloading plate (2) fitting is helped, there are two elastic detent part (4) settings, and two elastic detent parts (4) are symmetrically fixedly connected on rack
(1) upper and lower ends, two elastic detent parts (4) are staggered in the vertical direction, and there are two locating piece (5) settings, and two
Locating piece (5) is symmetricly set on the rear and front end of rack (1)；
The elastic detent part (4) includes level frame (4-1), three linkage control mechanisms (4-2) and six elastic block piece (4-
3)；Three linkage control mechanisms (4-2) are all connected on level frame (4-1), and six elastic block pieces (4-3) are all fixedly connected on water
In flatrack (4-1), the both ends of three linkage control mechanisms (4-2) are connected by meshing transmission with an elastic block piece (4-3) respectively；Under
The level frame (4-1) at end is fixedly connected on the lower end of rack (1), and the level frame (4-1) of upper end is fixedly connected on the upper of rack (1)
It holds, the elastic block piece (4-3) in the elastic detent part (4) of lower end is slidably connected on rack (1).
2. a kind of robot for transporting article according to claim 1, it is characterised in that: the rack (1) includes support
Plate (1-1), rectangular channel (1-2), circular through hole (1-3), supporting leg (1-4), riser (1-5), L-type frame (1-6) and pedestal plate (1-
7)；There are four rectangular channel (1-2), the rear and front end of supporting plate (1-1) is all arranged to be led to there are three round for the top surface setting of supporting plate (1-1)
Hole (1-3), the both ends of former and later two risers (1-5) are all fixedly connected with a supporting leg (1-4), and four supporting legs (1-4) are respectively
It being fixedly connected at four angles of supporting plate (1-1), the lower end of four supporting legs (1-4) is all rotatablely connected a universal wheel, and four
The upper end of supporting leg (1-4) is all fixedly connected with a L-type frame (1-6), is all fixedly connected with one on two supporting legs (1-4) of right end
A pedestal plate (1-7)；Six elastic block pieces (4-3) in the elastic detent part (4) of lower end are slidably connected respectively at six
In circular through hole (1-3), the elastic detent part (4) of upper end is fixedly connected on four L-type framves (1-6), and auxiliary unloading plate (2) turns
Dynamic to be connected on two pedestal plates (1-7), two locating pieces (5) are connected on two risers (1-5).
3. a kind of robot for transporting article according to claim 2, it is characterised in that: the auxiliary unloads plate (2)
Including the right bar (2-1), left side bar (2-2), cross bar (2-3) and rotation axis (2-4)；The right bar (2-1) and left side bar (2-2) it
Between be fixedly connected with four cross bars (2-3), the both ends of the right bar (2-1) are all fixedly connected with a rotation axis (2-4), four cross bars
(2-3) clearance fit is connected in four rectangular channels (1-2), and two rotation axis (2-4) are rotatably assorted respectively is connected to two axis
On frame plate (1-7), the right bar (2-1), left side bar (2-2) are respectively positioned on the outer end of supporting plate (1-1), and unloading control mechanism (3) passes through
Two intermediate cross bars (2-3) are simultaneously bonded with two cross bars (2-3).
4. a kind of robot for transporting article according to claim 3, it is characterised in that: the unloading control mechanism
(3) include bridge plate (3-1), motor I (3-2), threaded rod (3-3), linkage block (3-4), perpendicular slide bar (3-5), round bar (3-6) and
Baffle (3-7)；Bridge plate (3-1) is fixedly connected on two supporting legs (1-4) of left end, and motor I (3-2) is solid by motor rack
Surely it is connected on bridge plate (3-1), the output shaft of motor I (3-2) passes through shaft coupling connection screw thread bar (3-3), linkage block (3-4)
It is connected on threaded rod (3-3) by being threadedly engaged, linkage block (3-4) is fixedly connected on perpendicular slide bar (3-5), erects slide bar (3-
5) upper and lower ends are respectively fixedly connected with baffle (3-7) and round bar (3-6), erect slide bar (3-5) sliding connection in bridge plate
On (3-1), erects slide bar (3-5) and pass through two intermediate cross bars (2-3), the bottom of round bar (3-6) and two intermediate cross bars (2-3)
Face paste is closed.
5. a kind of robot for transporting article according to claim 4, it is characterised in that: level frame (4-1) packet
Include support rod (4-1-1), floor (4-1-2), guide rod (4-1-3), rectangle sliding slot (4-1-4), motor II (4-1-5), worm screw
(4-1-6) and lead screw frame plate (4-1-7)；The both ends of floor (4-1-2) are respectively fixedly connected with a support rod (4-1-1), floor
Three guide rods (4-1-3) are uniformly fixedly connected on (4-1-2), a rectangle is all arranged in the both ends of three guide rods (4-1-3)
Sliding slot (4-1-4), motor II (4-1-5) are fixedly connected on the support rod (4-1-1) on right side by motor rack, II (4- of motor
Output shaft 1-5) is rotatably connected on two silks by rolling bearing units by shaft coupling connecting worm (4-1-6), worm screw (4-1-6)
On thick stick frame plate (4-1-7), two lead screw frame plates (4-1-7) are respectively fixedly connected in the lower end of two support rods (4-1-1).
6. a kind of robot for transporting article according to claim 5, it is characterised in that: the linkage control mechanism
(4-2) includes vertical frame plate (4-2-1), reverse-flighted screw (4-2-2), worm gear (4-2-3), rack gear (4-2-4) and L-type guide rod (4-2-
5)；Vertical frame plate (4-2-1) is fixedly connected on the lower end of floor (4-1-2), and reverse-flighted screw (4-2-2) is rotated by rolling bearing units to be connected
Connect on vertical frame plate (4-2-1), worm gear (4-2-3) is fixedly connected on the middle part of reverse-flighted screw (4-2-2), worm gear (4-2-3) with
Worm screw (4-1-6) is connected by meshing transmission, and the both ends of reverse-flighted screw (4-2-2) pass through respectively is threadedly engaged one rack gear (4- of connection
2-4), the inner end of two rack gears (4-2-4) is all fixedly connected with a L-type guide rod (4-2-5)；The rack gear (4-2-4) and elasticity
Block piece (4-3) is connected by meshing transmission, and L-type guide rod (4-2-5) sliding connection is in rectangle sliding slot (4-1-4).
7. a kind of robot for transporting article according to claim 6, it is characterised in that: elastic block piece (4-3) packet
Include spring seat board (4-3-1), drive shaft (4-3-2), gear (4-3-3), raised line (4-3-4), spring loop bar (4-3-5), compression
Spring (4-3-6), shift fork (4-3-7), sheave (4-3-8) and telescopic shaft (4-3-9)；Drive shaft (4-3-2) is rotatably assorted connection
On spring seat board (4-3-1), the upper and lower ends of gear (4-3-3) are respectively fixedly connected with raised line (4-3-4) and gear (4-3-
3), the both ends of spring seat board (4-3-1) are all fixedly connected with a spring loop bar (4-3-5), on two spring loop bars (4-3-5) all
It is arranged a compressed spring (4-3-6), two shift forks (4-3-7) are symmetrically slidably connected in two spring loop bars (4-3-5)
On；The both ends of the compressed spring (4-3-6) are respectively fixedly connected with shift fork (4-3-7) and spring seat board (4-3-1)；Two shift forks
The inside of (4-3-7) all clearance fits are connected on sheave (4-3-8), and sheave (4-3-8) is fixedly connected on telescopic shaft (4-3-9)
Lower end, the medial surface of telescopic shaft (4-3-9) is inclined surface, and drive shaft (4-3-2) and raised line (4-3-4) are all slidably connected
In the lower end of telescopic shaft (4-3-9)；The spring seat board (4-3-1) is fixedly connected on guide rod (4-1-3), rack gear (4-2-
4) it is connected by meshing transmission with gear (4-3-3)；Telescopic shaft (4-3-9) sliding connection of lower end is interior in circular through hole (1-3),
The sheave (4-3-8) of lower end is located at the lower section of supporting plate (1-1).
8. a kind of robot for transporting article according to claim 7, it is characterised in that: the locating piece (5) includes
Door type frame (5-1), push plate (5-2), motor I (5-3) and adjusting screw rod (5-4)；Door type frame (5-1) sliding connection exists
It on riser (1-5), is fixedly connected on the inside of door type frame (5-1) push plate (5-2), motor I (5-3) is fixedly connected by motor rack
In the outer end of door type frame (5-1), the output shaft of motor I (5-3) connects adjusting screw rod (5-4) by shaft coupling, door type frame
(5-1) is connected on adjusting screw rod (5-4) by being threadedly engaged, and push plate (5-2) is located at the inside of riser (1-5).
9. a kind of robot for transporting article according to claim 7, it is characterised in that: the elastic block piece of the upper end
(4-3) is equal to the diameter of column cargo at a distance from elastic block piece (4-3) interleaved of lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687610.6A CN110356486B (en) | 2019-07-29 | 2019-07-29 | Robot for transporting articles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687610.6A CN110356486B (en) | 2019-07-29 | 2019-07-29 | Robot for transporting articles |
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| Publication Number | Publication Date |
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| CN110356486A true CN110356486A (en) | 2019-10-22 |
| CN110356486B CN110356486B (en) | 2021-12-10 |
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| CN201910687610.6A Active CN110356486B (en) | 2019-07-29 | 2019-07-29 | Robot for transporting articles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112499144A (en) * | 2020-12-11 | 2021-03-16 | 无锡百禾工业机器人有限公司 | AGV commodity circulation blanking structure for dolly |
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| DE3722399A1 (en) * | 1987-07-07 | 1989-01-19 | Jens Petersen | Construction for the loading area of a motor vehicle for transporting packages |
| US20090155034A1 (en) * | 2007-12-18 | 2009-06-18 | Fonseca Jr Augustine | Apparatus and method for securing a vehicle on a carrier bed |
| MX2012003036A (en) * | 2011-03-17 | 2012-12-04 | Gerdau Acos Longos S A | A tilting tipper gate and method for the operation thereof. |
| CN208484715U (en) * | 2018-05-11 | 2019-02-12 | 惠安县云点网络科技有限公司 | A kind of road and bridge construction material conveyor |
| CN209159782U (en) * | 2018-12-19 | 2019-07-26 | 聊城大学 | A kind of Construction of Civil Engineering transport trolley |
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2019
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB875951A (en) * | 1957-01-11 | 1961-08-23 | Autolava Oy | Loading and unloading equipment for a motor lorry |
| DE3722399A1 (en) * | 1987-07-07 | 1989-01-19 | Jens Petersen | Construction for the loading area of a motor vehicle for transporting packages |
| US20090155034A1 (en) * | 2007-12-18 | 2009-06-18 | Fonseca Jr Augustine | Apparatus and method for securing a vehicle on a carrier bed |
| MX2012003036A (en) * | 2011-03-17 | 2012-12-04 | Gerdau Acos Longos S A | A tilting tipper gate and method for the operation thereof. |
| CN208484715U (en) * | 2018-05-11 | 2019-02-12 | 惠安县云点网络科技有限公司 | A kind of road and bridge construction material conveyor |
| CN209159782U (en) * | 2018-12-19 | 2019-07-26 | 聊城大学 | A kind of Construction of Civil Engineering transport trolley |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112499144A (en) * | 2020-12-11 | 2021-03-16 | 无锡百禾工业机器人有限公司 | AGV commodity circulation blanking structure for dolly |
| CN112499144B (en) * | 2020-12-11 | 2023-09-29 | 无锡百禾工业机器人有限公司 | Unloading structure for AGV commodity circulation dolly |
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| Publication number | Publication date |
|---|---|
| CN110356486B (en) | 2021-12-10 |
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Effective date of registration: 20211126 Address after: 252000 room 585, No. 9, Lushan South Road, high tech Industrial Development Zone, Liaocheng City, Shandong Province Applicant after: Shandong smart parking service Co.,Ltd. Address before: Room 2801, 2 Wanda garden, 898 Hengyuan street, Shimao Avenue, Songbei District, Harbin City, Heilongjiang Province Applicant before: Kong Deping |