CN110356486B - Robot for transporting articles - Google Patents
Robot for transporting articles Download PDFInfo
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- CN110356486B CN110356486B CN201910687610.6A CN201910687610A CN110356486B CN 110356486 B CN110356486 B CN 110356486B CN 201910687610 A CN201910687610 A CN 201910687610A CN 110356486 B CN110356486 B CN 110356486B
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- 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
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- 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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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 invention relates to the technical field of robots, in particular to a robot for transporting articles.
Background
The invention discloses a plastic barrel transportation robot with the prior patent number of CN201710730816.3, which comprises: the upper surface of the workbench is provided with a telescopic upright post, the upper end surface of the upright post is provided with a fixed column, one end part of the upright post is provided with a perforated crossbeam which is sleeved outside the fixed column, the crossbeam can rotate around the fixed column, the lower end surface of the crossbeam is provided with two grabbing plates at intervals along the length direction of the crossbeam, and a material box is arranged below the crossbeam; the lower end face of the base is provided with a plurality of driving wheels; two extending structures, every extending structure all locates between base and the workstation along a base length direction. The plastic bucket transportation robot can grab plastic buckets stably, and is stable in walking and adjustable in height in the transportation process. But the device cannot be unloaded automatically.
Disclosure of Invention
The invention aims to provide a robot for transporting articles, which has the beneficial effects that the robot is suitable for transporting barrel-shaped or columnar articles, can carry a plurality of articles at one time, can realize quick fixation and automatic unloading, and is convenient to unload.
The purpose of the invention is realized by the following technical scheme:
a robot for transporting goods comprises a rack, an auxiliary unloading plate, an unloading control mechanism, two elastic clamping parts and two positioning parts, wherein the auxiliary unloading plate is connected to the rack in a clearance fit manner;
the elastic clamping piece comprises a horizontal frame, three linkage control mechanisms and six elastic blocking pieces; the three linkage control mechanisms are all connected to the horizontal frame, the six elastic stoppers are all fixedly connected to the horizontal frame, and two ends of each linkage control mechanism are respectively in meshing transmission connection with one elastic stopper; the horizontal frame of lower extreme fixed connection is in the lower extreme of frame, and the horizontal frame fixed connection of upper end is in the upper end of frame, and the elastic catch spare on the elastic screens piece of lower extreme sliding fit connects in the frame.
As further optimization of the technical scheme, the robot for transporting articles, provided by the invention, comprises a rack, wherein the rack comprises a supporting plate, a rectangular groove, a circular through hole, supporting legs, a vertical plate, an L-shaped frame and a shaft frame plate; the top surface of the supporting plate is provided with four rectangular grooves, the front end and the rear end of the supporting plate are provided with three circular through holes, the two ends of the front vertical plate and the rear vertical plate are fixedly connected with a supporting leg, the four supporting legs are respectively and fixedly connected at four corners of the supporting plate, the lower ends of the four supporting legs are rotatably connected with a universal wheel, the upper ends of the four supporting legs are fixedly connected with an L-shaped frame, and the two supporting legs at the right end are fixedly connected with a shaft frame plate; six elastic blocking parts on the elastic blocking parts at the lower end are respectively connected in six circular through holes in a sliding fit manner, the elastic blocking parts at the upper end are fixedly connected on four L-shaped frames, the auxiliary unloading plate is rotatably connected on two shaft frame plates, and the two positioning parts are respectively connected on two vertical plates.
As a further optimization of the technical scheme, the robot for transporting goods provided by the invention comprises an auxiliary unloading plate, a lifting plate and a lifting plate, wherein the auxiliary unloading plate comprises a right side rod, a left side rod, a cross rod and a rotating shaft; four horizontal poles of fixed connection between right side pole and the left side pole, axis of rotation of the both ends of right side pole all fixed connection, four horizontal pole clearance fits and connects in four rectangular channels, and two axis of rotation are normal running fit respectively and are connected on two axle stand boards, and right side pole, the left side pole all are located the outer end of layer board, and discharge control mechanism passes two horizontal poles in the middle and laminates with two horizontal poles.
As further optimization of the technical scheme, the robot for transporting the articles comprises a discharging control mechanism, a lifting control mechanism and a lifting control mechanism, wherein the discharging control mechanism comprises a rod frame plate, a motor I, a threaded rod, a linkage block, a vertical sliding rod, a round rod and a baffle plate; pole frame board fixed connection is on two supporting legs of left end, motor I passes through motor frame fixed connection on the pole frame board, the output shaft of motor I passes through the coupling joint threaded rod, the linkage piece passes through screw-thread fit and connects on the threaded rod, linkage piece fixed connection is on erecting the slide bar, the upper and lower both ends of erecting the slide bar are fixed connection baffle and round bar respectively, it connects on the pole frame board to erect slide bar sliding fit, erect the slide bar and pass two horizontal poles in the middle, the round bar is laminated with the bottom surface of two horizontal poles in the middle.
As a further optimization of the technical scheme, the robot for transporting articles, disclosed by the invention, comprises a horizontal frame, a horizontal frame and a driving device, wherein the horizontal frame comprises a supporting rod, a rib plate, a guide rod, a rectangular sliding groove, a motor II, a worm and a screw frame plate; the bracing piece of both ends difference fixed connection of floor, three guide bars of even fixed connection on the floor, the both ends of three guide bars all set up a rectangle spout, motor II passes through motor frame fixed connection on the bracing piece on right side, the output shaft of motor II passes through the coupling joint worm, the worm rotates through the tape seat bearing and connects on two lead screw frame plates, two lead screw frame plates are fixed connection respectively at the lower extreme of two bracing pieces.
As a further optimization of the technical scheme, the robot for transporting articles, disclosed by the invention, comprises a linkage control mechanism, a lifting mechanism and a lifting mechanism, wherein the linkage control mechanism comprises a vertical frame plate, a bidirectional screw rod, a worm gear, a rack and an L-shaped guide rod; the vertical frame plate is fixedly connected to the lower end of the rib plate, the bidirectional screw rod is rotatably connected to the vertical frame plate through a bearing with a seat, the worm wheel is fixedly connected to the middle of the bidirectional screw rod, the worm wheel is meshed with the worm in a transmission manner, two ends of the bidirectional screw rod are respectively connected with a rack in a threaded fit manner, and the inner ends of the two racks are fixedly connected with an L-shaped guide rod; the rack is in meshed transmission connection with the elastic stopper, and the L-shaped guide rod is connected in the rectangular sliding groove in a sliding fit manner.
As a further optimization of the technical scheme, the robot for transporting articles of the invention comprises an elastic stopper, a driving shaft, a gear, a convex strip, a spring sleeve rod, a compression spring, a shifting fork, a grooved wheel and a telescopic shaft, wherein the elastic stopper comprises a spring seat plate, a driving shaft, a gear, a convex strip, a spring sleeve rod, a compression spring, a shifting fork, a grooved wheel and a telescopic shaft; the driving shaft is connected to the spring seat plate in a rotating fit manner, the upper end and the lower end of the gear are respectively fixedly connected with the convex strip and the gear, two ends of the spring seat plate are respectively fixedly connected with a spring sleeve rod, two compression springs are sleeved on the two spring sleeve rods, and the two shifting forks are symmetrically connected to the two spring sleeve rods in a sliding fit manner; two ends of the compression spring are respectively and fixedly connected with the shifting fork and the spring seat plate; the inner sides of the two shifting forks are connected to the grooved pulley in a clearance fit manner, the grooved pulley is fixedly connected to the lower end of the telescopic shaft, the inner side surface of the telescopic shaft is an inclined surface, and the driving shaft and the raised line are connected to the lower end of the telescopic shaft in a sliding fit manner; the spring seat plate is fixedly connected to the guide rod, and the rack is in meshing transmission connection with the gear; the telescopic shaft at the lower end is connected in the circular through hole in a sliding fit mode, and the grooved wheel at the lower end is located below the supporting plate.
As further optimization of the technical scheme, the robot for transporting the objects comprises a positioning piece, a positioning piece and a control device, wherein the positioning piece comprises a door-shaped frame, a push plate, a motor I and an adjusting screw rod; door style of calligraphy frame sliding fit connects on the riser, the inboard fixed connection push pedal of door style of calligraphy frame, and motor I passes through motor frame fixed connection in the outer end of door style of calligraphy frame, and the output shaft of motor I passes through coupling joint adjusting screw, and door style of calligraphy frame passes through screw-thread fit to be connected on adjusting screw, and the push pedal is located the inboard of riser.
As a further optimization of the technical solution, in the robot for transporting goods of the present invention, the distance between the upper elastic stoppers and the lower elastic stoppers is equal to the diameter of the columnar goods.
The robot for transporting articles has the beneficial effects that:
the robot for transporting the articles is suitable for transporting barrel-shaped or columnar articles, can carry a plurality of articles at one time, can realize quick fixation and automatic unloading, and is convenient to unload.
Drawings
FIG. 1 is a schematic diagram of a robot for transporting objects according to the present invention;
FIG. 2 is a schematic diagram of a robot for transporting objects according to the present invention;
FIG. 3 is a schematic diagram of a robot for transporting objects according to the present invention;
FIG. 4 is a schematic view of a partial elevation view of a robot for transporting articles according to the present invention;
FIG. 5 is a first schematic structural view of the elastic locking member;
FIG. 6 is a second schematic structural view of the elastic locking member;
FIG. 7 is a schematic view of a frame;
FIG. 8 is a schematic view of the structure of the auxiliary discharge board;
FIG. 9 is a schematic view of the discharge control mechanism;
FIG. 10 is a schematic structural view of a horizontal shelf;
FIG. 11 is a schematic structural view of a linkage control mechanism;
FIG. 12 is a schematic structural view of the elastic stopper;
FIG. 13 is a cross-sectional view of the elastic stop;
fig. 14 is a schematic structural view of a positioning member.
In the figure: a frame 1; 1-1 of a supporting plate; 1-2 of rectangular groove; 1-3 of a circular through hole; 1-4 of supporting legs; a vertical plate 1-5; 1-6 of an L-shaped frame; 1-7 of a shaft frame plate; an auxiliary discharge plate 2; 2-1 of a right side rod; 2-2 of a left side rod; 2-3 of a cross bar; 2-4 of a rotating shaft; a discharge control mechanism 3; a lever rack plate 3-1; 3-2 parts of a motor; 3-3 parts of a threaded rod; 3-4 of a linkage block; 3-5 of vertical slide bars; 3-6 parts of a round rod; 3-7 parts of a baffle plate; an elastic clamping piece 4; a horizontal frame 4-1; 4-1-1 of a support rod; rib plate 4-1-2; 4-1-3 of a guide rod; a rectangular chute 4-1-4; 4-1-5 of a motor II; 4-1-6 of worm; 4-1-7 of a screw frame plate; a linkage control mechanism 4-2; 4-2-1 of a vertical frame plate; 4-2-2 of a bidirectional screw; a worm gear 4-2-3; 4-2-4 of a rack; 4-2-5 of an L-shaped guide rod; an elastic stopper 4-3; 4-3-1 of a spring seat plate; a drive shaft 4-3-2; 4-3-3 of a gear; 4-3-4 of convex strips; 4-3-5 parts of a spring sleeve rod; 4-3-6 of a compression spring; 4-3-7 of a shifting fork; 4-3-8 grooved wheels; 4-3-9 parts of a telescopic shaft; a positioning member 5; a door-shaped frame 5-1; 5-2 of a push plate; 5-3 of a motor I; and 5-4 of an adjusting screw rod.
Detailed Description
The invention is described in further detail below with reference to figures 1-14 and the detailed description.
The first embodiment is as follows:
the following describes the present embodiment with reference to fig. 1 to 14, and a robot for transporting goods includes a frame 1, an auxiliary unloading plate 2, an unloading control mechanism 3, two elastic clamping members 4 and two positioning members 5, wherein the auxiliary unloading plate 2 is connected to the frame 1 in a clearance fit manner, the unloading control mechanism 3 is fixedly connected to the left side of the frame 1, the lower end of the unloading control mechanism 3 passes through the auxiliary unloading plate 2 and is attached to the auxiliary unloading plate 2, the two elastic clamping members 4 are symmetrically and fixedly connected to the upper and lower ends of the frame 1, the two elastic clamping members 4 are vertically arranged in a staggered manner, the two positioning members 5 are arranged, and the two positioning members 5 are symmetrically arranged at the front and rear ends of the frame 1;
the elastic clamping piece 4 comprises a horizontal frame 4-1, three linkage control mechanisms 4-2 and six elastic blocking pieces 4-3; the three linkage control mechanisms 4-2 are all connected to the horizontal frame 4-1, the six elastic stoppers 4-3 are all fixedly connected to the horizontal frame 4-1, and two ends of the three linkage control mechanisms 4-2 are respectively in meshing transmission connection with one elastic stopper 4-3; the horizontal frame 4-1 at the lower end is fixedly connected with the lower end of the frame 1, the horizontal frame 4-1 at the upper end is fixedly connected with the upper end of the frame 1, and the elastic blocking piece 4-3 on the elastic blocking piece 4 at the lower end is connected on the frame 1 in a sliding fit manner; the distance between the elastic stoppers 4-3 at the upper end and the elastic stoppers 4-3 at the lower end is equal to the diameter of the columnar goods.
When the invention is used, when the inclined plane of the elastic blocking piece 4-3 at the upper end and the inclined plane of the elastic blocking piece 4-3 at the lower end face towards the right side, goods can be loaded and transported from the right side to the container 1, the goods roll leftwards in sequence, the goods can extrude the elastic blocking pieces 4-3 on the two elastic blocking pieces 4 in sequence while rolling leftwards, when the goods are uniformly positioned between the two elastic blocking pieces 4, the horizontal frame 4-1 at the upper end is controlled, the horizontal frame 4-1 at the upper end drives the linkage control mechanism 4-2 at the upper end to work, the linkage control mechanism 4-2 at the upper end drives the elastic blocking piece 4-3 at the upper end to rotate, the inclined plane of the elastic blocking piece 4-3 at the upper end faces towards the left side, the elastic blocking piece 4-3 at the upper end limits the goods to move leftwards, the inclined plane of the elastic blocking piece 4-3 at the lower end faces towards the right side and limits the goods to move rightwards, the two positioning parts 5 are controlled to abut against the goods to limit the back and forth movement of the goods, when the goods are to be unloaded, the two positioning parts 5 are controlled to be far away from the goods, the horizontal frame 4-1 at the lower end is controlled, the horizontal frame 4-1 at the lower end drives the linkage control mechanism 4-2 at the lower end to work, the linkage control mechanism 4-2 at the lower end drives the elastic blocking piece 4-3 at the lower end to rotate, the inclined surface of the elastic blocking piece 4-3 at the lower end faces to the left side, at the moment, the unloading control mechanism 3 is controlled to drive the left end of the auxiliary unloading plate 2 to rise, the auxiliary unloading plate 2 is in an inclined state, the goods can move towards the right side under the action of gravity, the elastic blocking pieces 4-3 on the two elastic blocking pieces 4 are sequentially extruded, and the quick unloading is realized.
The second embodiment is as follows:
the present embodiment is described below with reference to fig. 1-14, wherein the machine frame 1 includes a supporting plate 1-1, a rectangular groove 1-2, a circular through hole 1-3, a supporting leg 1-4, a vertical plate 1-5, an L-shaped frame 1-6 and a shaft frame plate 1-7; the top surface of the supporting plate 1-1 is provided with four rectangular grooves 1-2, the front end and the rear end of the supporting plate 1-1 are respectively provided with three circular through holes 1-3, the two ends of the front vertical plate 1-5 and the rear vertical plate 1-4 are respectively fixedly connected with a supporting leg 1-4, the four supporting legs 1-4 are respectively fixedly connected with four corners of the supporting plate 1-1, the lower ends of the four supporting legs 1-4 are respectively rotatably connected with a universal wheel, the upper ends of the four supporting legs 1-4 are respectively fixedly connected with an L-shaped frame 1-6, and the two supporting legs 1-4 at the right end are respectively fixedly connected with a shaft frame plate 1-7; six elastic blocking parts 4-3 on an elastic blocking part 4 at the lower end are respectively connected in six circular through holes 1-3 in a sliding fit manner, the elastic blocking parts 4 at the upper end are fixedly connected on four L-shaped frames 1-6, an auxiliary unloading plate 2 is rotatably connected on two shaft frame plates 1-7, and two positioning parts 5 are respectively connected on two vertical plates 1-5.
The third concrete implementation mode:
the present embodiment will be described with reference to fig. 1 to 14, wherein the auxiliary discharging board 2 comprises a right side bar 2-1, a left side bar 2-2, a cross bar 2-3 and a rotating shaft 2-4; four cross rods 2-3 are fixedly connected between a right side rod 2-1 and a left side rod 2-2, two ends of the right side rod 2-1 are fixedly connected with a rotating shaft 2-4, the four cross rods 2-3 are in clearance fit connection in four rectangular grooves 1-2, the two rotating shafts 2-4 are respectively in rotating fit connection on two shaft frame plates 1-7, the right side rod 2-1 and the left side rod 2-2 are both positioned at the outer end of a supporting plate 1-1, and a discharge control mechanism 3 penetrates through the two middle cross rods 2-3 and is attached to the two cross rods 2-3; the upper end surface of the cross rod 2-3 and the upper end surface of the supporting plate 1-1 are in the same plane.
The fourth concrete implementation mode:
the present embodiment is described below with reference to fig. 1-14, and the unloading control mechanism 3 includes a bar frame plate 3-1, a motor i 3-2, a threaded bar 3-3, a linkage block 3-4, a vertical sliding bar 3-5, a round bar 3-6 and a baffle 3-7; the support frame plate 3-1 is fixedly connected to the two support legs 1-4 at the left end, the motor I3-2 is fixedly connected to the support frame plate 3-1 through the motor frame, an output shaft of the motor I3-2 is connected with the threaded rod 3-3 through a coupler, the linkage block 3-4 is connected to the threaded rod 3-3 through threaded fit, the linkage block 3-4 is fixedly connected to the vertical slide rod 3-5, the upper end and the lower end of the vertical slide rod 3-5 are respectively fixedly connected with the baffle 3-7 and the round rod 3-6, the vertical slide rod 3-5 is connected to the support frame plate 3-1 through sliding fit, the vertical slide rod 3-5 penetrates through the two middle cross rods 2-3, and the round rod 3-6 is attached to the bottom surfaces of the two middle cross rods 2-3. When the unloading control mechanism 3 is used, during unloading, the inclined planes of the elastic stoppers 4-3 at the upper end and the lower end face towards the left side, the motor I3-2 is connected with a power supply and a control switch through a lead and is started, the motor I3-2 drives the threaded rod 3-3 to rotate, the threaded rod 3-3 and the linkage block 3-4 are connected through threads to generate relative displacement to drive the elastic stopper 4-3 to move upwards, the elastic stopper 4-3 drives the vertical sliding rod 3-5 to move upwards, the vertical sliding rod 3-5 drives the round rod 3-6 to move upwards, the rod frame plate 3-1 plays a role in limiting and guiding the vertical sliding rod 3-5, the round rod 3-6 drives the left end of the auxiliary unloading plate 2 to rise, the auxiliary unloading plate 2 rotates upwards around the two rotating shafts 2-4, and at the moment, the four cross rods 2-3 are in an inclined state, the goods move to the right side under the action of gravity, and the elastic blocking pieces 4-3 on the two elastic blocking pieces 4 are sequentially extruded, so that the quick unloading is realized.
The fifth concrete implementation mode:
the embodiment is described below with reference to fig. 1-14, and the horizontal frame 4-1 includes a support rod 4-1-1, a rib plate 4-1-2, a guide rod 4-1-3, a rectangular chute 4-1-4, a motor ii 4-1-5, a worm 4-1-6, and a screw frame plate 4-1-7; two ends of a ribbed plate 4-1-2 are respectively fixedly connected with a supporting rod 4-1-1, the ribbed plate 4-1-2 is uniformly and fixedly connected with three guide rods 4-1-3, two ends of each of the three guide rods 4-1-3 are respectively provided with a rectangular sliding groove 4-1-4, a motor II 4-1-5 is fixedly connected to the supporting rod 4-1-1 on the right side through a motor frame, an output shaft of the motor II 4-1-5 is connected with a worm 4-1-6 through a coupler, the worm 4-1-6 is rotatably connected to two lead screw frame plates 4-1-7 through a bearing with a seat, and the two lead screw frame plates 4-1-7 are respectively and fixedly connected to the lower ends of the two supporting rods 4-1-1.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 14, and the linkage control mechanism 4-2 includes a vertical frame plate 4-2-1, a bidirectional screw 4-2-2, a worm gear 4-2-3, a rack 4-2-4 and an L-shaped guide rod 4-2-5; the vertical frame plate 4-2-1 is fixedly connected to the lower end of the rib plate 4-1-2, the bidirectional screw rod 4-2-2 is rotatably connected to the vertical frame plate 4-2-1 through a bearing with a seat, the worm wheel 4-2-3 is fixedly connected to the middle of the bidirectional screw rod 4-2-2, the worm wheel 4-2-3 is in meshing transmission connection with the worm 4-1-6, two ends of the bidirectional screw rod 4-2-2 are respectively connected with the rack 4-2-4 through thread matching, and the inner ends of the two racks 4-2-4 are fixedly connected with the L-shaped guide rod 4-2-5; the rack 4-2-4 is in meshed transmission connection with the elastic stopper 4-3, and the L-shaped guide rod 4-2-5 is connected in the rectangular sliding groove 4-1-4 in a sliding fit manner. When the linkage control mechanism 4-2 is used, the motor II 4-1-5 is connected with a power supply and a control switch through a lead and is started, the motor II 4-1-5 drives the worm 4-1-6 to rotate, the worm 4-1-6 drives the worm wheel 4-2-3 to rotate, the worm wheel 4-2-3 drives the bidirectional screw 4-2-2 to rotate, the bidirectional screw 4-2-2 and the two racks 4-2-4 are connected through threads to generate relative displacement, the two racks 4-2-4 are driven to simultaneously deviate and slide towards the outer ends, and the two racks 4-2-4 respectively drive the elastic stopper 4-3 to rotate 180 degrees; the L-shaped guide rod 4-2-5 plays a role in limiting and guiding the rack 4-2-4.
The seventh embodiment:
the present embodiment is described below with reference to fig. 1 to 14, wherein the elastic stopper 4-3 includes a spring seat plate 4-3-1, a driving shaft 4-3-2, a gear 4-3-3, a rib 4-3-4, a spring loop bar 4-3-5, a compression spring 4-3-6, a shift fork 4-3-7, a sheave 4-3-8 and a telescopic shaft 4-3-9; the driving shaft 4-3-2 is connected to the spring seat plate 4-3-1 in a rotating fit manner, the upper end and the lower end of the gear 4-3-3 are respectively fixedly connected with a convex strip 4-3-4 and a gear 4-3-3, the two ends of the spring seat plate 4-3-1 are respectively fixedly connected with a spring loop bar 4-3-5, two compression springs 4-3-6 are sleeved on the two spring loop bars 4-3-5, and two shifting forks 4-3-7 are symmetrically connected to the two spring loop bars 4-3-5 in a sliding fit manner; two ends of the compression spring 4-3-6 are respectively and fixedly connected with a shifting fork 4-3-7 and a spring seat plate 4-3-1; the inner sides of the two shifting forks 4-3-7 are connected on the grooved pulleys 4-3-8 in a clearance fit manner, the grooved pulleys 4-3-8 are fixedly connected at the lower ends of the telescopic shafts 4-3-9, the inner side surfaces of the telescopic shafts 4-3-9 are inclined surfaces, and the driving shafts 4-3-2 and the convex strips 4-3-4 are connected at the lower ends of the telescopic shafts 4-3-9 in a sliding fit manner; the spring seat plate 4-3-1 is fixedly connected to the guide rod 4-1-3, and the rack 4-2-4 is in meshed transmission connection with the gear 4-3-3; the telescopic shaft 4-3-9 at the lower end is connected in the circular through hole 1-3 in a sliding fit mode, and the grooved wheel 4-3-8 at the lower end is located below the supporting plate 1-1. When the elastic stopper 4-3 is used, the rack 4-2-4 drives the gear 4-3-3 to rotate, the gear 4-3-3 drives the driving shaft 4-3-2 to rotate, the driving shaft 4-3-2 rotates to drive the telescopic shaft 4-3-9 to rotate through the convex strip 4-3-4, when goods move to extrude the inclined plane of the telescopic shaft 4-3-9, the telescopic shaft 4-3-9 slides downwards on the driving shaft 4-3-2 and the convex strip 4-3-4, the telescopic shaft 4-3-9 drives the grooved pulley 4-3-8 and the two shifting forks 4-3-7 to move downwards, the two compression springs 4-3-6 are extruded to be in a compression state, when the goods are not extruded on the telescopic shaft 4-3-9, the telescopic shaft 4-3-9 is driven to move upwards to reset under the elastic force action of the two compression springs 4-3-6.
The specific implementation mode is eight:
the embodiment is described below with reference to fig. 1 to 14, wherein the positioning member 5 comprises a door-shaped frame 5-1, a push plate 5-2, a motor i 5-3 and an adjusting screw 5-4; the door-shaped frame 5-1 is connected to the vertical plate 1-5 in a sliding fit mode, the inner side of the door-shaped frame 5-1 is fixedly connected with the push plate 5-2, the motor I5-3 is fixedly connected to the outer end of the door-shaped frame 5-1 through the motor frame, an output shaft of the motor I5-3 is connected with the adjusting screw rod 5-4 through the coupler, the door-shaped frame 5-1 is connected to the adjusting screw rod 5-4 through a threaded fit mode, and the push plate 5-2 is located on the inner side of the vertical plate 1-5. When the positioning piece 5 is used, the motor I5-3 is connected with a power supply and a control switch through a lead and is started, the motor I5-3 drives the adjusting screw rod 5-4 to rotate, the adjusting screw rod 5-4 is in threaded connection with the door-shaped frame 5-1 to generate relative displacement, the door-shaped frame 5-1 is driven to move inwards, the door-shaped frame 5-1 drives the push plate 5-2 to move inwards and lean against the goods, and the goods are limited to move forwards and backwards.
The invention relates to a working principle of a robot for transporting articles, which comprises the following steps: when the invention is used, when the inclined plane of the elastic blocking piece 4-3 at the upper end and the inclined plane of the elastic blocking piece 4-3 at the lower end face towards the right side, goods can be loaded and transported from the right side to the container 1, the goods roll leftwards in sequence, the goods can extrude the elastic blocking pieces 4-3 on the two elastic blocking pieces 4 in sequence while rolling leftwards, when the goods are uniformly positioned between the two elastic blocking pieces 4, the horizontal frame 4-1 at the upper end is controlled, the horizontal frame 4-1 at the upper end drives the linkage control mechanism 4-2 at the upper end to work, the linkage control mechanism 4-2 at the upper end drives the elastic blocking piece 4-3 at the upper end to rotate, the inclined plane of the elastic blocking piece 4-3 at the upper end faces towards the left side, the elastic blocking piece 4-3 at the upper end limits the goods to move leftwards, the inclined plane of the elastic blocking piece 4-3 at the lower end faces towards the right side and limits the goods to move rightwards, the two positioning parts 5 are controlled to abut against the goods to limit the back and forth movement of the goods, when the goods are to be unloaded, the two positioning parts 5 are controlled to be far away from the goods, the horizontal frame 4-1 at the lower end is controlled, the horizontal frame 4-1 at the lower end drives the linkage control mechanism 4-2 at the lower end to work, the linkage control mechanism 4-2 at the lower end drives the elastic blocking piece 4-3 at the lower end to rotate, the inclined surface of the elastic blocking piece 4-3 at the lower end faces to the left side, at the moment, the unloading control mechanism 3 is controlled to drive the left end of the auxiliary unloading plate 2 to rise, the auxiliary unloading plate 2 is in an inclined state, the goods can move towards the right side under the action of gravity, the elastic blocking pieces 4-3 on the two elastic blocking pieces 4 are sequentially extruded, and the quick unloading is realized.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (9)
1. The utility model provides a robot of transportation article, includes frame (1), supplementary unloading board (2), unloading control mechanism (3), elasticity screens piece (4) and setting element (5), its characterized in that: the auxiliary unloading plate (2) is connected to the rack (1) in a clearance fit mode, the unloading control mechanism (3) is fixedly connected to the left side of the rack (1), the lower end of the unloading control mechanism (3) penetrates through the auxiliary unloading plate (2) and is attached to the auxiliary unloading plate (2), two elastic clamping pieces (4) are arranged, the two elastic clamping pieces (4) are symmetrically and fixedly connected to the upper end and the lower end of the rack (1), the two elastic clamping pieces (4) are arranged in a staggered mode in the vertical direction, two positioning pieces (5) are arranged, and the two positioning pieces (5) are symmetrically arranged at the front end and the rear end of the rack (1);
the elastic clamping piece (4) comprises a horizontal frame (4-1), three linkage control mechanisms (4-2) and six elastic blocking pieces (4-3); the three linkage control mechanisms (4-2) are all connected to the horizontal frame (4-1), the six elastic stoppers (4-3) are all fixedly connected to the horizontal frame (4-1), and two ends of the three linkage control mechanisms (4-2) are respectively in meshing transmission connection with one elastic stopper (4-3); the horizontal rack (4-1) at the lower end is fixedly connected with the lower end of the frame (1), the horizontal rack (4-1) at the upper end is fixedly connected with the upper end of the frame (1), and the elastic blocking piece (4-3) on the elastic blocking piece (4) at the lower end is connected with the frame (1) in a sliding fit manner.
2. A robot for transporting objects according to claim 1, wherein: the rack (1) comprises a supporting plate (1-1), a rectangular groove (1-2), a circular through hole (1-3), supporting legs (1-4), a vertical plate (1-5), an L-shaped frame (1-6) and a shaft frame plate (1-7); the top surface of the supporting plate (1-1) is provided with four rectangular grooves (1-2), the front end and the rear end of the supporting plate (1-1) are provided with three circular through holes (1-3), the two ends of the front vertical plate (1-5) and the rear vertical plate (1-4) are fixedly connected with one supporting leg (1-4), the four supporting legs (1-4) are respectively and fixedly connected with four corners of the supporting plate (1-1), the lower ends of the four supporting legs (1-4) are respectively and rotatably connected with a universal wheel, the upper ends of the four supporting legs (1-4) are respectively and fixedly connected with an L-shaped frame (1-6), and the two supporting legs (1-4) at the right end are respectively and fixedly connected with a shaft frame plate (1-7); six elastic blocking parts (4-3) on the elastic blocking part (4) at the lower end are respectively connected in six circular through holes (1-3) in a sliding fit manner, the elastic blocking part (4) at the upper end is fixedly connected on four L-shaped frames (1-6), the auxiliary unloading plate (2) is rotatably connected on two shaft frame plates (1-7), and two positioning parts (5) are respectively connected on two vertical plates (1-5).
3. A robot for transporting objects according to claim 2, wherein: the auxiliary unloading plate (2) comprises a right side rod (2-1), a left side rod (2-2), a cross rod (2-3) and a rotating shaft (2-4); four cross rods (2-3) are fixedly connected between the right side rod (2-1) and the left side rod (2-2), two ends of the right side rod (2-1) are fixedly connected with a rotating shaft (2-4), the four cross rods (2-3) are connected in four rectangular grooves (1-2) in a clearance fit mode, the two rotating shafts (2-4) are connected on two shaft frame plates (1-7) in a rotating fit mode respectively, the right side rod (2-1) and the left side rod (2-2) are located at the outer ends of the supporting plates (1-1), and the unloading control mechanism (3) penetrates through the two cross rods (2-3) in the middle and is attached to the two cross rods (2-3).
4. A robot for transporting objects according to claim 3, wherein: the unloading control mechanism (3) comprises a rod frame plate (3-1), a motor I (3-2), a threaded rod (3-3), a linkage block (3-4), a vertical sliding rod (3-5), a round rod (3-6) and a baffle (3-7); the support frame comprises a rod frame plate (3-1), a motor I (3-2), a motor frame, a coupler, a threaded rod (3-3), a linkage block (3-4), a vertical sliding rod (3-5), a baffle (3-7) and a round rod (3-6), wherein the rod frame plate (3-1) is fixedly connected to the two support legs (1-4) at the left end, the motor I (3-2) is fixedly connected to the rod frame plate (3-1) through the motor frame, an output shaft of the motor I (3-2) is connected with the threaded rod (3-3) through a coupler, the linkage block (3-4) is connected to the threaded rod (3-3) in a threaded fit mode, the upper end and the lower end of the vertical sliding rod (3-5) are respectively fixedly connected with the baffle (3-7) and the round rod (3-6), the vertical sliding rod (3-5) is connected to the rod frame plate (3-1) in a sliding fit mode, the vertical sliding rod (3-5) penetrates through the two transverse rods (2-3) in the middle, and the round rod (3-6) is attached to the bottom surfaces of the two transverse rods (2-3) in the middle.
5. A robot for transporting objects according to claim 4, wherein: the horizontal frame (4-1) comprises a support rod (4-1-1), a ribbed plate (4-1-2), a guide rod (4-1-3), a rectangular sliding groove (4-1-4), a motor II (4-1-5), a worm (4-1-6) and a screw frame plate (4-1-7); two ends of a rib plate (4-1-2) are respectively fixedly connected with a supporting rod (4-1-1), the rib plate (4-1-2) is uniformly and fixedly connected with three guide rods (4-1-3), two ends of each guide rod (4-1-3) are respectively provided with a rectangular sliding groove (4-1-4), a motor II (4-1-5) is fixedly connected onto the supporting rod (4-1-1) on the right side through a motor frame, an output shaft of the motor II (4-1-5) is connected with a worm (4-1-6) through a shaft coupling, the worm (4-1-6) is rotatably connected onto two screw frame plates (4-1-7) through a bearing with a seat, and the two screw frame plates (4-1-7) are respectively and fixedly connected onto the lower ends of the two supporting rods (4-1-1).
6. A robot for transporting objects according to claim 5, wherein: the linkage control mechanism (4-2) comprises a vertical frame plate (4-2-1), a bidirectional screw rod (4-2-2), a worm gear (4-2-3), a rack (4-2-4) and an L-shaped guide rod (4-2-5); the vertical frame plate (4-2-1) is fixedly connected to the lower end of the rib plate (4-1-2), the bidirectional screw (4-2-2) is rotatably connected to the vertical frame plate (4-2-1) through a bearing with a seat, the worm wheel (4-2-3) is fixedly connected to the middle of the bidirectional screw (4-2-2), the worm wheel (4-2-3) is in meshed transmission connection with the worm (4-1-6), two ends of the bidirectional screw (4-2-2) are respectively connected with one rack (4-2-4) through thread matching, and the inner ends of the two racks (4-2-4) are fixedly connected with an L-shaped guide rod (4-2-5); the rack (4-2-4) is in meshed transmission connection with the elastic stopper (4-3), and the L-shaped guide rod (4-2-5) is connected in the rectangular sliding groove (4-1-4) in a sliding fit manner.
7. A robot for transporting objects according to claim 6, characterized in that: the elastic blocking piece (4-3) comprises a spring seat plate (4-3-1), a driving shaft (4-3-2), a gear (4-3-3), a convex strip (4-3-4), a spring loop bar (4-3-5), a compression spring (4-3-6), a shifting fork (4-3-7), a grooved pulley (4-3-8) and a telescopic shaft (4-3-9); the driving shaft (4-3-2) is connected to the spring seat plate (4-3-1) in a rotating fit manner, the upper end and the lower end of the gear (4-3-3) are respectively fixedly connected with a convex strip (4-3-4) and the gear (4-3-3), the two ends of the spring seat plate (4-3-1) are fixedly connected with a spring sleeve rod (4-3-5), the two spring sleeve rods (4-3-5) are respectively sleeved with a compression spring (4-3-6), and the two shifting forks (4-3-7) are symmetrically connected to the two spring sleeve rods (4-3-5) in a sliding fit manner; two ends of the compression spring (4-3-6) are respectively and fixedly connected with a shifting fork (4-3-7) and a spring seat plate (4-3-1); the inner sides of the two shifting forks (4-3-7) are connected to the grooved wheels (4-3-8) in a clearance fit manner, the grooved wheels (4-3-8) are fixedly connected to the lower ends of the telescopic shafts (4-3-9), the inner side surfaces of the telescopic shafts (4-3-9) are inclined surfaces, and the driving shafts (4-3-2) and the convex strips (4-3-4) are connected to the lower ends of the telescopic shafts (4-3-9) in a sliding fit manner; the spring seat plate (4-3-1) is fixedly connected to the guide rod (4-1-3), and the rack (4-2-4) is in meshing transmission connection with the gear (4-3-3); the telescopic shaft (4-3-9) at the lower end is connected in the circular through hole (1-3) in a sliding fit manner, and the grooved wheel (4-3-8) at the lower end is positioned below the supporting plate (1-1).
8. A robot for transporting objects according to claim 7, wherein: the positioning piece (5) comprises a door-shaped frame (5-1), a push plate (5-2), a motor III (5-3) and an adjusting screw rod (5-4); the door-shaped frame (5-1) is connected to the vertical plate (1-5) in a sliding fit mode, the inner side of the door-shaped frame (5-1) is fixedly connected with the push plate (5-2), the motor III (5-3) is fixedly connected to the outer end of the door-shaped frame (5-1) through the motor frame, an output shaft of the motor III (5-3) is connected with the adjusting screw rod (5-4) through the coupler, the door-shaped frame (5-1) is connected to the adjusting screw rod (5-4) through a thread fit mode, and the push plate (5-2) is located on the inner side of the vertical plate (1-5).
9. A robot for transporting objects according to claim 7, wherein: the distance between the elastic stoppers (4-3) at the upper end and the elastic stoppers (4-3) at the lower end is equal to the diameter of the columnar goods.
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| 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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| 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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| CN110356486A CN110356486A (en) | 2019-10-22 |
| CN110356486B true CN110356486B (en) | 2021-12-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7785050B2 (en) * | 2007-12-18 | 2010-08-31 | Fonseca Jr Augustine | Apparatus and method for securing a vehicle on a carrier bed |
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2019
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Patent Citations (5)
| 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 |
| 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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| CN110356486A (en) | 2019-10-22 |
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