CN110978007B

CN110978007B - Automatic brick carrying manipulator

Info

Publication number: CN110978007B
Application number: CN201911320601.XA
Authority: CN
Inventors: 唐亮
Original assignee: Foshan Ruibo Ceramics Electrical & Mechanical Co ltd
Current assignee: FOSHAN RUIBO CERAMICS ELECTRICAL & MECHANICAL Co.,Ltd.
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-08-04
Anticipated expiration: 2039-12-19
Also published as: CN110978007A

Abstract

The invention discloses an automatic brick carrying manipulator, which comprises a base, wherein a travelling device is arranged in the base and is used for driving the base to travel, a rotating column is arranged on the upper end surface of the base in a rotating way through a steering motor, a height adjusting device is arranged in the rotating column and comprises a lifting arm capable of lifting, a mounting plate is fixedly arranged on the left end surface of the lifting arm, and a placing plate is fixedly arranged between the lower ends of the mounting plates. And can clamp different numbers of bricks, the carrying process is completed automatically, the safety is high and the working efficiency is high.

Description

Automatic brick carrying manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to an automatic brick carrying manipulator.

Background

The brick is moved and is referred to the transport fragment of brick, present move the brick work for carrying for the manual work usually or through the supplementary transport of simple and easy transport utensil, supplementary handling equipment is usually as the power supply through the strength of carrier hand, with fragment of brick centre gripping between the utensil, because the utensil of centre gripping is open, mostly be two symmetrical grip blocks, when then pressing from both sides and getting more than a quantity of fragments of brick, the fragment of brick of mid portion only receives the extrusion force that adjacent fragment of brick gave, then in handling, can lead to the mid portion fragment of brick to drop when carrier hand strength is lax, it has certain potential safety hazard to use inconveniently and drop of fragment of brick, secondly, the strength of hand is limited, lead to its single fragment of brick quantity of carrying limited, handling efficiency is low, partial handling device is bulky, application scope and region are little. The present invention sets forth a device that solves the above problems.

Disclosure of Invention

The technical problem is as follows:

the existing brick carrying work is carried by manpower generally, the efficiency is low, and certain potential safety hazards exist.

In order to solve the problems, the automatic brick carrying manipulator is designed in the embodiment, and comprises a base, wherein a travelling device is arranged in the base and used for driving the base to travel, a rotating column is arranged on the upper end surface of the base in a rotating mode through a steering motor, a height adjusting device is arranged in the rotating column and comprises a lifting arm capable of ascending and descending, a mounting plate is fixedly arranged on the left end surface of the lifting arm, a placing plate is fixedly arranged between the lower ends of the mounting plates, a driving device is arranged between the two mounting plates and the placing plate, a rotating block is rotatably arranged on one end surface, close to each other, of the front mounting plate and the rear mounting plate, the driving device provides power for the rotation of the rotating block, a swinging device is arranged in the rotating block and comprises a lifting swing arm, a clamping block is rotatably arranged on one end surface, close to each other, of the front swing arm, when the rotating block drives the swing arm to swing to the vertical state, the clamping blocks rotate to drive the bricks to rotate one hundred eighty degrees to be placed on the placing plate, and then the travelling device drives the bricks to move.

Preferably, a hydraulic cylinder is fixedly arranged in the swing arm at the rear side, a telescopic shaft is dynamically installed at the front end of the hydraulic cylinder, and the clamping block at the rear side is rotatably connected with the front end of the telescopic shaft.

Preferably, the anti-skid pad is fixedly arranged on one end face, close to each other, of the front clamping block and the rear clamping block for clamping the anti-skid pad.

The traveling device comprises track grooves with left and right symmetrical openings facing downwards, traveling wheels with front and back symmetrical are arranged in the track grooves in a rotating mode, the front traveling wheels and the back traveling wheels are connected through track power, the traveling wheels on the front side are fixedly connected with the centers of the traveling wheels on the back side through traveling shafts respectively, and the right end of the traveling shaft on the front side is connected to a traveling motor mounted on the right end wall of the track groove on the right side in a power mode.

The height adjusting device comprises a lifting groove with an opening facing left, a lifting motor is fixedly arranged on the upper end wall of the lifting groove, a ball screw with a lower end rotatably connected with the lower end wall of the lifting groove is dynamically mounted at the lower end of the lifting motor, and the lifting arm is in threaded connection with the ball screw.

Wherein, drive arrangement includes the transmission groove of front and back symmetry, the transmission inslot all rotates be equipped with the homonymy the axis of rotation that rotatory piece linked firmly, the transmission groove downside rotates and is equipped with the drive shaft, the drive shaft with connect through driving belt power between the axis of rotation, front and back power mounting has driving motor, the front side between the one end that the drive shaft is close to each other be equipped with the meshing chamber in the transmission groove front end wall, the front side the axis of rotation front end extends to the meshing intracavity has just set firmly the external gear, external gear inner gearing is connected with the internal gear, internal gear center department has set firmly the gear shaft, the gear shaft with the axis of rotation rotates to be connected and extends backward.

Wherein, the swing device comprises a telescopic slot which is arranged in the rotating block and penetrates up and down, the swing arm is arranged in the telescopic slot in a sliding way, a guide chute is arranged at one side of the front telescopic slot and the rear telescopic slot, which is close to the symmetrical center, a guide slide block fixedly connected with the swing arm is arranged in the guide chute in a sliding way, a pressure spring is fixedly arranged between the upper end and the lower end of the guide slide block and the guide chute, a synchronous slot is arranged in the swing arm at the front side, a connecting shaft is arranged in the synchronous slot in a rotating way, a rotating shaft is arranged at the lower side of the connecting shaft in a rotating way, the rotating shaft is connected with the connecting shaft through a synchronous belt power, the clamping block at the front side is fixedly connected with the rear end of the rotating shaft, a groove is arranged at the front side of the synchronous slot, the, the second bevel gear upside has set firmly the straight-teeth gear, the front side be equipped with in the flexible groove front end wall and rotate the chamber, rotate the intracavity through installation hub rotation be equipped with straight-teeth gear meshed rotates the tooth post, it is equipped with the connection chamber to rotate the chamber downside, the installation hub lower extreme extends to connect the intracavity and set firmly the third bevel gear, third bevel gear front side meshing be connected with the fourth bevel gear that the gear shaft rear end linked firmly.

The invention has the beneficial effects that: the height adjusting device and the advancing device can drive the whole body to move, the bricks are clamped through the clamping blocks, when the bricks are placed on the placing plate, the swing arms and the clamping blocks rotate synchronously, so that the bricks are placed on the placing plate or taken out of the placing plate in an overturning mode, in the process, the bricks are always supported and overturned by the bottom bricks, the ground or the placing plate, tight clamping among the bricks is guaranteed, different numbers of bricks can be clamped, the carrying process is completed in a full-automatic mode, and the safety is high and the working efficiency is high.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

Fig. 1 is a schematic overall structure diagram of an automatic brick conveying manipulator according to the present invention;

FIG. 2 is an enlarged schematic view of "A" of FIG. 1;

FIG. 3 is a schematic view of the structure in the direction "B-B" of FIG. 1;

FIG. 4 is an enlarged view of the structure of "C" of FIG. 3;

fig. 5 is a schematic view of the enlarged structure "D" of fig. 4.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, for ease of description, the orientations described below will now be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to an automatic brick carrying manipulator which is mainly used for carrying bricks, and the invention is further explained by combining the attached drawings of the invention:

the invention relates to an automatic brick carrying manipulator, which comprises a base 20, wherein a traveling device 90 is arranged in the base 20, the traveling device 90 is used for driving the base 20 to travel, a rotating column 31 is rotatably arranged on the upper end surface of the base 20 through a steering motor 30, a height adjusting device 89 is arranged in the rotating column 31, the height adjusting device 89 comprises a lifting arm 32 capable of lifting, a mounting plate 36 is fixedly arranged on the left end surface of the lifting arm 32, a placing plate 50 is fixedly arranged between the lower ends of the mounting plates 36, a driving device 88 is arranged between the two mounting plates 36 and the placing plate 50, a rotating block 40 is rotatably arranged on one end surface of the front and rear mounting plates 36 close to each other, the driving device 88 provides power for the rotating block 40 to rotate, a swinging device 87 is arranged in the rotating block 40, the swinging device 87 comprises a lifting swinging arm 37, a clamping block 38 is rotatably arranged on one end surface of the front and rear swinging arms 37 close, when the rotating block 40 swings, the swing arm 37 is driven to swing, so that the clamping blocks 38 swing to two sides of a brick to be carried, the clamping block 38 at the rear side can move back and forth to adjust the distance between the two clamping blocks 38, so that the brick is clamped between the clamping blocks 38, when the rotating block 40 drives the swing arm 37 to swing to the vertical state, the clamping blocks 38 rotate to drive the brick to rotate one hundred eighty degrees and be placed on the placing plate 50, and then the brick is driven to move through the traveling device 90.

Advantageously, a hydraulic cylinder 77 is fixedly arranged in the swing arm 37 at the rear side, a telescopic shaft 76 is dynamically arranged at the front end of the hydraulic cylinder 77, and the clamping block 38 at the rear side is rotatably connected with the front end of the telescopic shaft 76.

Advantageously, a non-slip pad 39 is fixed on one end face of the front and the rear clamping blocks 38 close to each other for clamping non-slip.

According to an embodiment, the traveling device 90 is described in detail below, the traveling device 90 includes a track groove 21 with a left-right symmetrical opening facing downward, traveling wheels 24 with front and rear symmetrical shapes are rotatably provided in the track groove 21, the front and rear traveling wheels 24 are dynamically connected by a track 25, the front traveling wheel 24 and the rear traveling wheel 24 are fixedly connected by a traveling shaft 23, respectively, and the right end of the front traveling shaft 23 is dynamically connected to a traveling motor 22 mounted on the right end wall of the right track groove 21.

According to an embodiment, the height adjusting device 89 is described in detail below, the height adjusting device 89 includes a lifting groove 33 with a left opening, a lifting motor 35 is fixedly installed on an upper end wall of the lifting groove 33, a ball screw 34 with a lower end rotatably connected with a lower end wall of the lifting groove 33 is dynamically installed on a lower end of the lifting motor 35, and the lifting arm 32 is in threaded connection with the ball screw 34.

According to an embodiment, a detailed description is given below on the driving device 88, where the driving device 88 includes a transmission groove 54 symmetrical in front and back, a rotation shaft 60 fixedly connected to the rotation block 40 on the same side is rotatably disposed in the transmission groove 54, a driving shaft 52 is rotatably disposed under the transmission groove 54, the driving shaft 52 is in power connection with the rotation shaft 60 through a transmission belt 53, a driving motor 51 is dynamically mounted between the ends of the front and back driving shafts 52 close to each other, a meshing cavity 55 is disposed in the front end wall of the transmission groove 54 on the front side, the front end of the rotation shaft 60 on the front side extends into the meshing cavity 55 and is fixedly provided with an external gear 56, an internal gear 57 is connected in an internal meshing manner to the external gear 56, a gear rotation shaft 58 is fixedly provided at the center of the internal gear 57, and the gear rotation shaft 58 is rotatably connected with the.

According to the embodiment, the following detailed description will be made on the swing device 87, the swing device 87 includes a vertically penetrating telescopic slot 81 disposed in the rotating block 40, the swing arm 37 is slidably disposed in the telescopic slot 81, a guide slot 79 is disposed on one side of the front and rear telescopic slots 81 near the symmetry center, a guide block 78 fixedly connected to the swing arm 37 is slidably disposed in the guide slot 79, a pressure spring 80 is fixedly disposed between the upper and lower ends of the guide block 78 and the guide slot 79, a synchronous slot 74 is disposed in the swing arm 37 on the front side, a connecting shaft 72 is rotatably disposed in the synchronous slot 74, a rotating shaft 75 is rotatably disposed on the lower side of the connecting shaft 72, the rotating shaft 75 is dynamically connected to the connecting shaft 72 through a synchronous belt 73, the clamping block 38 on the front side is fixedly connected to the rear end of the rotating shaft 75, a groove 67 is disposed on the front side of the synchronous slot, connecting axle 72 front end extends to just set firmly first bevel gear 71 in the recess 67, the meshing of first bevel gear 71 upside is connected with second bevel gear 70, second bevel gear 70 upside sets firmly spur gear 69, the front side be equipped with in the flexible groove 81 front end wall and rotate chamber 61, rotate in the chamber 61 through installation axle 63 rotate be equipped with the rotation column gear 62 of spur gear 69 meshing, it is equipped with connection chamber 65 to rotate chamber 61 downside, installation axle 63 lower extreme extends to connect and just set firmly third bevel gear 66 in the chamber 65, the meshing of third bevel gear 66 front side be connected with gear shaft 58 rear end fixed fourth bevel gear 64.

The following describes in detail the use steps of an automatic brick conveying manipulator in the present disclosure with reference to fig. 1 to 5:

initially, the lower end surface of the lift arm 32 abuts against the lower end wall of the lift groove 33, the mounting plate 36 is vertically disposed, and the pressure spring 80 is in a natural state.

During carrying, the travelling motor 22 is started to drive the travelling wheel 24 to rotate, the crawler 25 rotates to drive the base 20 to travel to the brick to be carried, the steering motor 30 is started to drive the ball screw 34 to rotate, and the lifting arm 32 rises to enable the upper end surface of the placing plate 50 to be flush with the lower end surface of the brick to be carried at a single time;

starting a driving motor 51 to drive a driving shaft 52 to rotate, enabling a rotating shaft 60 to swing clockwise through a transmission belt 53, enabling a rotating block 40 to drive a swinging arm 37 to swing, enabling clamping blocks 38 to be located at the front side and the rear side of a brick to be carried at a single time, enabling a hydraulic cylinder 77 to work, and pushing the clamping blocks 38 at the rear side to move forwards through a telescopic shaft 76, so that the front clamping blocks 38 and the rear clamping blocks 38 clamp the brick tightly;

then, when the driving motor 51 works reversely, the rotating shaft 60 rotates reversely to drive the swing arm 37 to swing and reset anticlockwise, when the rotating shaft 60 rotates reversely, the external gear 56 drives the internal gear 57 to rotate, the gear rotating shaft 58 drives the fourth bevel gear 64 to rotate, so that the rotating toothed column 62 drives the straight gear 69 to rotate, the first bevel gear 71 rotates, the clamping block 38 is driven by the synchronous belt 73 to rotate, the clamping block 38 drives the brick to turn over by one hundred eighty degrees and place on the placing plate 50, and in the turning process, the swing arm 37 can lift and is adjusted and reset by the pressure spring 80;

the traveling motor 22 is started, the placing plate 50 is driven to move to the position where bricks are placed through rotation of the crawler 25, the motor 30 is turned to work to adjust the height, and then the driving motor 51 works in a reverse rotation mode, so that the swing arm 37 drives the bricks to swing towards the placing area, and the clamping block 38 drives the bricks to overturn to the placing area to finish carrying and stacking.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.

Claims

1. The utility model provides an automatic remove brick manipulator, includes the base, its characterized in that: a traveling device is arranged in the base; the travelling device is used for driving the base to travel, a rotating column is arranged on the upper end face of the base in a rotating mode through a steering motor, a height adjusting device is arranged in the rotating column, and the height adjusting device comprises a lifting arm capable of being lifted; the left end face of the lifting arm is fixedly provided with a mounting plate, a placing plate is fixedly arranged between the lower ends of the mounting plates, a driving device is arranged between the two mounting plates and the placing plate, a rotating block is rotatably arranged on one end face, close to each other, of the front mounting plate and the rear mounting plate, and the driving device provides power for the rotation of the rotating block; the swinging device is arranged in the rotating block and comprises a liftable swinging arm, clamping blocks are rotatably arranged on one end face, close to each other, of the front swinging arm and the rear swinging arm, the swinging arm is driven to swing when the rotating block swings, so that the clamping blocks swing to two sides of a brick to be carried, the clamping blocks on the rear side can move back and forth to adjust the distance between the two clamping blocks, the brick is clamped between the clamping blocks, when the rotating block drives the swinging arm to swing to a vertical state, the clamping blocks rotate to drive the brick to rotate one hundred eighty degrees and place the brick on the placing plate, and the brick is driven to move through the advancing device; a hydraulic cylinder is fixedly arranged in the swing arm at the rear side, a telescopic shaft is dynamically arranged at the front end of the hydraulic cylinder, and the clamping block at the rear side is rotatably connected with the front end of the telescopic shaft; an anti-slip pad is fixedly arranged on one end face, close to each other, of the front clamping block and the rear clamping block for clamping anti-slip; the traveling device comprises track grooves with downward openings, which are symmetrical left and right; the front travelling wheel and the rear travelling wheel are connected through crawler power, the front travelling wheel and the rear travelling wheel are fixedly connected through a travelling shaft respectively, and the right end of the travelling shaft at the front side is connected to a travelling motor arranged on the right end wall of the right crawler groove at the right side in a power mode; the height adjusting device comprises a lifting groove with an opening facing left; a lifting motor is fixedly arranged on the upper end wall of the lifting groove, a ball screw with the lower end rotatably connected with the lower end wall of the lifting groove is dynamically mounted at the lower end of the lifting motor, and the lifting arm is in threaded connection with the ball screw; the driving device comprises transmission grooves which are symmetrical front and back; a rotating shaft fixedly connected with the rotating blocks on the same side is rotatably arranged in the transmission grooves, a driving shaft is rotatably arranged on the lower side of the transmission grooves, the driving shaft is in power connection with the rotating shaft through a driving belt, and a driving motor is dynamically arranged between the adjacent ends of the front and rear driving shafts; a meshing cavity is arranged in the front end wall of the transmission groove on the front side, the front end of the rotating shaft on the front side extends into the meshing cavity and is fixedly provided with an external gear, the external gear is internally meshed with an internal gear, a gear rotating shaft is fixedly arranged at the center of the internal gear, and the gear rotating shaft is rotatably connected with the rotating shaft and extends backwards; the swinging device comprises a telescopic groove which is arranged in the rotating block and penetrates up and down; the swing arm is arranged in the telescopic groove in a sliding manner, a guide sliding groove is formed in one side, close to the symmetrical center, of the front telescopic groove and the rear telescopic groove, a guide sliding block fixedly connected with the swing arm is arranged in the guide sliding groove in a sliding manner, and a pressure spring is fixedly arranged between the upper end and the lower end of the guide sliding block and the guide sliding groove; a synchronous belt groove is formed in the swing arm on the front side, a connecting shaft is rotationally arranged in the synchronous belt groove, a rotating shaft is rotationally arranged on the lower side of the connecting shaft, the rotating shaft is in power connection with the connecting shaft through a synchronous belt, the clamping block on the front side is fixedly connected with the rear end of the rotating shaft, a groove is formed in the front side of the synchronous belt groove, the front end of the connecting shaft extends into the groove and is fixedly provided with a first bevel gear, the upper side of the first bevel gear is in meshed connection with a second bevel gear, and the upper side of the second bevel gear is fixedly provided with; the front side be equipped with in the flexible groove front end wall and rotate the chamber, rotate the intracavity through installation axle rotate be equipped with straight-teeth gear meshed rotates the tooth post, it is equipped with the connection chamber to rotate the chamber downside, the installation axle lower extreme extends to connect the intracavity and set firmly the third bevel gear, third bevel gear front side meshing be connected with the fourth bevel gear that the gear shaft rear end links firmly.