CN111633688B - Robot shelf height adjusting mechanism - Google Patents
Robot shelf height adjusting mechanism Download PDFInfo
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- CN111633688B CN111633688B CN202010534401.0A CN202010534401A CN111633688B CN 111633688 B CN111633688 B CN 111633688B CN 202010534401 A CN202010534401 A CN 202010534401A CN 111633688 B CN111633688 B CN 111633688B
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- swing arm
- hinge shaft
- shaft
- connecting rod
- guide groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot shelf height adjusting mechanism, and belongs to the technical field of transportation robots. The problem that the stability of a robot is affected due to overhigh gravity center caused by the fact that the height of a goods shelf of an existing transport robot cannot be adjusted is solved. The robot shelf height adjusting mechanism comprises a first parallelogram component arranged on a first supporting shaft and a second parallelogram component arranged on a second supporting shaft and symmetrically arranged with the first parallelogram component, wherein one end of a shelf is connected to the upper part of the first parallelogram component, the other end of the shelf is connected to the upper part of the second parallelogram component, and a counterweight component for adjusting the form is arranged between the first parallelogram component and the second parallelogram component. According to the invention, the height of the goods shelf is adjusted by changing the forms of the first parallelogram component and the second parallelogram component, so that the gravity center of goods is controlled within a reasonable range, and the stability is improved.
Description
Technical Field
The invention belongs to the technical field of transportation robots, and relates to a robot shelf height adjusting mechanism.
Background
Currently, the full-automatic transportation robot is widely applied, and has the advantages that: can replace higher and higher manpower cost, has high durability and no tiredness, can execute tasks in polluted environment and dangerous environment, and can execute tasks with harm to human bodies.
The China patent discloses a two-wheeled self-balancing transportation robot [ authorized bulletin number is CN209176810U ], which comprises a chassis; a left wheel assembly and a right wheel assembly; a balance sensing assembly; a control circuit board; a battery module and a container; the left wheel assembly and the right wheel assembly are symmetrically arranged along the travelling direction perpendicular to the left-right direction; the balance induction assembly, the control circuit board, the battery module and the container are symmetrically arranged along the advancing direction, and the container, the control circuit board and the battery are sequentially arranged from top to bottom along the height direction.
In the robot, the height position of the container relative to the chassis cannot be adjusted, and when a heavy object is placed on the container, the gravity center of the container is raised, so that the stability of the container is poor, and the container is easy to topple forwards or backwards; the heavier the cargo, the greater the impact on the stability of the container.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a robot shelf height adjusting mechanism capable of automatically adjusting the height of a shelf according to the weight of goods.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a robot goods shelves high adjustment mechanism, locates between base and the goods shelves of robot, the base on be equipped with first backup pad and with the relative second backup pad that sets up of first backup pad, first backup pad on be equipped with the first back shaft of horizontal extension, the second backup pad on be equipped with the coaxial second back shaft of first back shaft, it is including locating the epaxial first parallelogram component of first back shaft and locating the epaxial second parallelogram component that sets up with first parallelogram component symmetry of second back shaft, the upper portion at first parallelogram component is connected to one end of goods shelves, the upper portion at second parallelogram component is connected to its other end, first parallelogram component and second parallelogram component between be equipped with the counter weight subassembly that is used for adjusting the form.
The counterweight component is used for simultaneously adjusting the forms of the first parallelogram component and the second parallelogram component, the adjustment amplitude of the first parallelogram component and the second parallelogram component is the same, and the first parallelogram component and the second parallelogram component are always ensured to be symmetrical. The height of the goods shelf can be changed through the morphological changes of the first parallelogram component and the second parallelogram component, and the heavier goods are put into the goods shelf, the larger the descending amplitude of the goods shelf is, the lower the integral gravity center is, and the stability can be improved. The first parallelogram member and the second parallelogram member are located between the first support plate and the second support plate, and the shelf is located between the first parallelogram member and the second parallelogram member.
In the robot shelf height adjusting mechanism, the first parallelogram component comprises a first swing arm and a second swing arm which are sleeved on the first supporting shaft, the first swing arm and the second swing arm are arranged in a crossing mode, a first connecting rod parallel to the second swing arm is hinged to the upper portion of the first swing arm through a first hinge shaft, a second connecting rod parallel to the first swing arm is hinged to one end of the first connecting rod, which is far away from the first swing arm, through a second hinge shaft, a third connecting rod parallel to the first swing arm is hinged to the lower portion of the second swing arm through a third hinge shaft, a fourth connecting rod parallel to the second swing arm is hinged to one end of the third connecting rod, which is far away from the second swing arm, through a fifth hinge shaft, a fourth connecting rod is hinged to the lower portion of the first swing arm through a sixth hinge shaft, and the center line of the first hinge shaft is located on the same horizontal plane with the center line of the fourth hinge shaft.
In the robot shelf height adjusting mechanism, the second parallelogram component comprises a first swing arm and a second swing arm which are sleeved on the second supporting shaft, the first swing arm and the second swing arm are arranged in a crossed mode, the upper portion of the first swing arm is hinged with a first connecting rod parallel to the second swing arm through a first hinge shaft, one end of the first connecting rod far away from the first swing arm is hinged with a second connecting rod parallel to the first swing arm through a second hinge shaft, one end of the second connecting rod far away from the first connecting rod is hinged with the lower portion of the second swing arm through a third hinge shaft, the upper portion of the second swing arm is hinged with a third connecting rod parallel to the first swing arm through a fourth hinge shaft, one end of the third connecting rod far away from the second connecting rod is hinged with a sixth hinge shaft through a fifth hinge shaft, one end of the fourth connecting rod far away from the third connecting rod is coaxial with the first hinge shaft, the second hinge shaft is coaxial with the second hinge shaft, the third hinge shaft is coaxial with a third hinge shaft, the fourth hinge shaft is coaxial with the fifth hinge shaft, and the fifth hinge shaft is coaxial with the sixth hinge shaft.
In the robot shelf height adjusting mechanism, one end of the shelf is provided with a first guide groove extending horizontally and a second guide groove positioned at the same height as the first guide groove, the first hinge shaft is inserted into the first guide groove, and the fourth hinge shaft is inserted into the second guide groove; the other end of the goods shelf is provided with a first guide groove and a second guide groove, the first guide groove is symmetrically arranged with the first guide groove, the second guide groove is symmetrically arranged with the second guide groove, the first hinge shaft is inserted into the first guide groove, and the fourth hinge shaft is inserted into the second guide groove.
The two ends of the first guide groove, the second guide groove, the first guide groove and the fourth guide groove are all closed, and the first hinge shaft, the fourth hinge shaft, the first hinge shaft and the fourth hinge shaft are prevented from being separated from the guide grooves correspondingly arranged. The width of the first guide groove is matched with the outer diameter of the first hinge shaft, so that the first hinge shaft can slide in the first guide groove; the width of the second guide groove is matched with the outer diameter of the fourth hinge shaft, so that the fourth hinge shaft can slide in the second guide groove; the width of the first guide groove is matched with the outer diameter of the first hinge shaft, so that the first hinge shaft can slide in the first guide groove; the width of the second guide groove is matched with the outer diameter of the fourth hinge shaft, so that the fourth hinge shaft can slide in the second guide groove.
In the robot shelf height adjusting mechanism, a first synchronous rod is arranged between the second hinge shaft and the second hinge shaft, one end of the first synchronous rod is fixedly connected with the second hinge shaft in a coaxial manner, and the other end of the first synchronous rod is fixedly connected with the second hinge shaft in a coaxial manner; a second synchronizing rod is arranged between the fifth hinging shaft and the hinging shaft five, one end of the second synchronizing rod is fixedly connected with the fifth hinging shaft coaxially, and the other end of the second synchronizing rod is fixedly connected with the hinging shaft five coaxially.
In the above-mentioned robot shelf height adjusting mechanism, the weight assembly includes a weight body one disposed on the first synchronizing rod and a weight body two disposed on the second synchronizing rod. In order not to increase the burden of the robot, the electric box of the robot may be used as the first counterweight and the second counterweight. The distance between the first counterweight body and the second counterweight body is influenced by the weight of the cargo, and the larger the distance between the first counterweight body and the second counterweight body is when the cargo is heavier, the smaller the distance is on the contrary.
When no goods exist in the goods shelf, the distance between the first synchronizing rod and the second synchronizing rod is minimized under the action of the first counterweight body and the second counterweight body, at the moment, the first hinge shaft is abutted against one end of the first guide groove, which is close to the second guide groove, the fourth hinge shaft is abutted against one end of the second guide groove, which is close to the first guide groove, the first hinge shaft is abutted against one end of the first guide groove, which is close to the second guide groove, and the fourth hinge shaft is abutted against one end of the second guide groove, which is close to the first guide groove. After goods are put into the goods shelf, the upper part of the first swing arm swings towards the direction away from the upper part of the second swing arm under the action of the gravity of the goods, the upper part of the second swing arm swings synchronously towards the direction away from the upper part of the first swing arm under the action of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod, meanwhile, the first swing arm synchronously moves along with the first swing arm, the second swing arm synchronously moves along with the second swing arm, the distance between the first synchronous rod and the second synchronous rod is increased, and the height of the goods shelf is lowered. When the height of the goods shelf is lowered to a certain position, the first parallelogram component and the second parallelogram component are in a balanced state, so that the goods shelf, the first counterweight body and the second counterweight body can be kept at the current position. After the goods are taken out from the goods shelf, the first parallelogram component and the second parallelogram component are reset under the action of the first counterweight body and the second counterweight body.
In the robot shelf height adjusting mechanism, the distance from the first swing arm to the first swing arm is smaller than the distance from the second swing arm to the second swing arm, a driving rod coaxially arranged with the first supporting shaft is fixedly connected to the first swing arm, the other end of the driving rod is fixedly connected with the first swing arm, and a driving structure for driving the driving rod to rotate is arranged on the base.
In the robot shelf height adjusting mechanism, the driving structure comprises a motor arranged on the base, a driving wheel coaxially arranged on an output shaft of the motor and a driven wheel coaxially fixedly connected to the driving rod, and the driving wheel is in transmission connection with the driven wheel.
The motor is started, the output shaft of the motor drives the driving wheel to rotate, the driving wheel is in transmission connection with the driven wheel through the transmission belt, the driven wheel is driven to rotate, the driven wheel drives the driving rod to rotate around the central axis of the driven wheel, and accordingly the first swing arm and the swing arm are driven to swing synchronously, and the height of the position of the goods shelf can be actively controlled. The motor has a locking function, and the driving rod can be kept in the current state after the motor is stopped. The purpose of setting the driving structure is: when the weight of the goods is lighter, the height of the goods shelf can be actively adjusted down, so that the gravity center is lowered; the first parallelogram member may be actively reset with the second parallelogram member when the cargo is removed from the rack.
Compared with the prior art, the robot shelf height adjusting mechanism has the following advantages:
the first parallelogram component and the second parallelogram component are adopted, the structural design is ingenious, the height of the goods shelf can be automatically adjusted according to the weight of goods, the gravity center of the robot is lowered, and the stability can be effectively improved; meanwhile, the height of the goods shelf can be actively adjusted through the driving structure, the adjustment is convenient, and the adjusting effect is good.
Drawings
Fig. 1 is a schematic view of a robot pallet height adjustment mechanism in the absence of a counterweight assembly.
Fig. 2 is a schematic view of the structure of the robot shelf height adjustment mechanism in the absence of the first support plate.
Fig. 3 is a side view of a robotic pallet height adjustment mechanism.
Fig. 4 is a cross-sectional view of a robotic pallet height adjustment mechanism.
Fig. 5 is a schematic view of yet another configuration of the robotic pallet height adjustment mechanism in the absence of a counterweight assembly.
Fig. 6 is a schematic view of the structure of the robot shelf height adjustment mechanism in the absence of the second support plate.
Fig. 7 is a side view of the robot shelf height adjustment mechanism when the shelf height is high.
Fig. 8 is a side view of the robot shelf height adjustment mechanism when the shelf height is low.
In the figure, 101, a base; 102. a first support plate; 103. a second support plate; 104. a first support shaft; 105. a second support shaft; 200. a goods shelf; 201. a first guide groove; 202. a second guide groove; 203. a guide groove I; 204. a guide groove II; 301. a first swing arm; 302. a second swing arm; 303. a first hinge shaft; 304. a first link; 305. a second hinge shaft; 306. a second link; 307. a third hinge shaft; 308. a fourth hinge shaft; 309. a third link; 310. a fifth hinge shaft; 311. a fourth link; 312. a sixth hinge shaft; 401. a swing arm I; 402. swing arm II; 403. a first hinge shaft; 404. a first connecting rod; 405. a second hinge shaft; 406. a second connecting rod; 407. a third hinge shaft; 408. a hinge shaft IV; 409. a connecting rod III; 410. a fifth hinging shaft; 411. a connecting rod IV; 412. a hinge shaft six; 501. a first synchronization lever; 502. a second synchronizing lever; 601. a first counterweight body; 602. a second counterweight body; 700. a driving rod; 801. a motor; 802. a driving wheel; 803. driven wheel; 804. a driving belt.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The height adjusting mechanism of the robot shelf 200 is arranged between a base 101 and the shelf 200 of the robot, as shown in fig. 1, a first support plate 102 and a second support plate 103 opposite to the first support plate 102 are arranged on the base 101, the first support plate 102 is provided with a first support shaft 104, and the second support plate 103 is provided with a second support shaft 105 coaxial with the first support shaft 104.
The height adjusting mechanism of the robot shelf 200 comprises a first parallelogram member arranged on a first support shaft 104 and a second parallelogram member arranged on a second support shaft 105 and symmetrically arranged with the first parallelogram member, wherein the first parallelogram member can rotate around the first support shaft 104, the second parallelogram member can rotate around the second support shaft 105, and the first parallelogram member and the second parallelogram member synchronously act. As shown in fig. 2, one end of the shelf 200 is movably connected to the upper portion of the first parallelogram member, and as shown in fig. 6, the other end of the shelf 200 is movably connected to the upper portion of the second parallelogram member, and a weight assembly for adjusting the form is provided between the first parallelogram member and the second parallelogram member. The counterweight component is used for simultaneously adjusting the forms of the first parallelogram component and the second parallelogram component, the adjustment amplitude of the first parallelogram component and the second parallelogram component is the same, and the first parallelogram component and the second parallelogram component are always ensured to be symmetrical.
The height of the pallet 200 can be changed by the change in the form of the first parallelogram member and the second parallelogram member, and the heavier the load placed on the pallet 200 is, the larger the descending width of the pallet 200 is, the lower the center of gravity of the whole is, and the stability can be improved. The first and second parallelogram members are located between the first and second support plates 102, 103, and the pallet 200 is located between the first and second parallelogram members.
As shown in fig. 1 and 2, the first parallelogram member includes a first swing arm 301 and a second swing arm 302 sleeved on the first support shaft 104, the first swing arm 301 and the second swing arm 302 are disposed to intersect, as shown in fig. 2 and 3, a first link 304 parallel to the second swing arm 302 is hinged to the upper portion of the first swing arm 301 through a first hinge shaft 303, a second link 306 parallel to the first swing arm 301 is hinged to one end of the first link 304 away from the first swing arm 301 through a second hinge shaft 305, and one end of the second link 306 away from the first link 304 is hinged to the lower portion of the second swing arm 302 through a third hinge shaft 307. As shown in fig. 3 and 4, the upper portion of the second swing arm 302 is hinged with a third link 309 parallel to the first swing arm 301 through a fourth hinge shaft 308, one end of the third link 309 away from the second swing arm 302 is hinged with a fourth link 311 parallel to the second swing arm 302 through a fifth hinge shaft 310, one end of the fourth link 311 away from the third link 309 is hinged with the lower portion of the first swing arm 301 through a sixth hinge shaft 312, and the center line of the first hinge shaft 303 and the center line of the fourth hinge shaft 308 are located on the same horizontal plane. Among them, the first hinge shaft 303, the second hinge shaft 305, the third hinge shaft 307, the fourth hinge shaft 308, the fifth hinge shaft 310, and the sixth hinge shaft 312 are disposed parallel to each other. When the first swing arm 301 swings, the second swing arm 302 can be linked by the respective links described above.
As shown in fig. 6-8, the second parallelogram member includes a first swing arm 401 and a second swing arm 402 which are sleeved on the second support shaft 105, the first swing arm 401 and the second swing arm 402 are arranged in a crossing manner, as shown in fig. 7 and 8, a first connecting rod 404 parallel to the second swing arm 402 is hinged at the upper part of the first swing arm 401 through a first hinge shaft 403, a second connecting rod 406 parallel to the first swing arm 401 is hinged at one end of the first connecting rod 404 far away from the first swing arm 401 through a second hinge shaft 405, and a third connecting rod 407 is hinged at one end of the second connecting rod 406 far away from the first connecting rod 404 and the lower part of the second swing arm 402. As shown in fig. 7 and 8, the upper portion of the swing arm two 402 is hinged with a third link 409 parallel to the swing arm one 401 through a fourth hinge shaft 408, one end of the third link 409 away from the swing arm two 402 is hinged with a fourth link 411 parallel to the swing arm two 402 through a fifth hinge shaft 410, one end of the fourth link 411 away from the third link 409 is hinged with the lower portion of the swing arm one 401 through a sixth hinge shaft 412, the first hinge shaft 403 is coaxial with the first hinge shaft 303, the second hinge shaft 405 is coaxial with the second hinge shaft 305, the third hinge shaft 407 is coaxial with the third hinge shaft 307, the fourth hinge shaft 408 is coaxial with the fourth hinge shaft 308, the fifth hinge shaft 410 is coaxial with the fifth hinge shaft 310, and the sixth hinge shaft 412 is coaxial with the sixth hinge shaft 312. Hinge shaft one 403, hinge shaft two 405, hinge shaft three 407, hinge shaft four 408, hinge shaft five 410, and hinge shaft six 412 are disposed parallel to each other. When the swing arm I401 swings, the swing arm II 402 can be linked through the connecting rod I404, the connecting rod II 406, the connecting rod III 409 and the connecting rod IV 411.
As shown in fig. 1 to 3, one end of the shelf 200 has a first guide groove 201 extending horizontally and a second guide groove 202 located at the same height as the first guide groove 201, a first hinge shaft 303 is inserted into the first guide groove 201, and a fourth hinge shaft 308 is inserted into the second guide groove 202. As shown in fig. 6 to 8, the other end of the shelf 200 has a first guide groove 203 symmetrically arranged with the first guide groove 201 and a second guide groove 204 symmetrically arranged with the second guide groove 202, a first hinge shaft 403 is inserted into the first guide groove 203, and a fourth hinge shaft 408 is inserted into the second guide groove 204.
Both ends of the first guide groove 201, the second guide groove 202, the first guide groove 203 and the second guide groove 204 are closed, and the first hinge shaft 303, the fourth hinge shaft 308, the first hinge shaft 403 and the fourth hinge shaft 408 are prevented from being separated from the guide grooves correspondingly arranged. The width of the first guide groove 201 is matched with the outer diameter of the first hinge shaft 303, so that the first hinge shaft 303 can slide in the first guide groove 201; the width of the second guide groove 202 is matched with the outer diameter of the fourth hinge shaft 308, so that the fourth hinge shaft 308 can slide in the second guide groove 202; the width of the first guide groove 203 is matched with the outer diameter of the first hinge shaft 403, so that the first hinge shaft 403 can slide in the first guide groove 203; the width of the second guide slot 204, in cooperation with the outer diameter of the fourth hinge shaft 408, ensures that the fourth hinge shaft 408 can slide within the second guide slot 204.
As shown in fig. 1, a first synchronizing rod 501 is disposed between the second hinge shaft 305 and the second hinge shaft 405, one end of the first synchronizing rod 501 is coaxially and fixedly connected to the second hinge shaft 305, and the other end is coaxially and fixedly connected to the second hinge shaft 405. As shown in fig. 2, a second synchronizing rod 502 is disposed between the fifth hinge shaft 310 and the hinge shaft five 410, one end of the second synchronizing rod 502 is coaxially and fixedly connected to the fifth hinge shaft 310, and the other end is coaxially and fixedly connected to the hinge shaft five 410.
As shown in fig. 3, 7 and 8, the weight assembly includes a first weight 601 provided on the first synchronizing lever 501 and a second weight 602 provided on the second synchronizing lever 502. In order not to increase the burden on the robot, the electric box of the robot may be used as the first counterweight 601 and the second counterweight 602. The distance between the first weight body 601 and the second weight body 602 is affected by the weight of the cargo, and the larger the distance between the first weight body 601 and the second weight body 602 is when the cargo is heavier, the smaller is the opposite.
When no cargo is in the pallet 200, the distance between the first synchronizing bar 501 and the second synchronizing bar 502 is minimized under the action of the first counterweight 601 and the second counterweight 602, at this time, the first hinge shaft 303 abuts against an end of the first guide groove 201 adjacent to the second guide groove 202, the fourth hinge shaft 308 abuts against an end of the second guide groove 202 adjacent to the first guide groove 201, the first hinge shaft 403 abuts against an end of the first guide groove 203 adjacent to the second guide groove 204, and the fourth hinge shaft 408 abuts against an end of the second guide groove 204 adjacent to the first guide groove 203, as shown in fig. 7, and the pallet 200 is in a high posture. When a load is placed on the shelf 200, the upper portion of the first swing arm 301 swings away from the upper portion of the second swing arm 302 under the action of the load gravity, the upper portion of the second swing arm 302 swings synchronously away from the upper portion of the first swing arm 301 under the action of the first link 304, the second link 306, the third link 309 and the fourth link 311, meanwhile, the first swing arm 401 moves synchronously with the first swing arm 301, the second swing arm 402 moves synchronously with the second swing arm 302, the distance between the first synchronization lever 501 and the second synchronization lever 502 increases, the height of the shelf 200 decreases, and the shelf 200 is in a low posture as shown in fig. 8.
As shown in fig. 5 and 6, the distance from the first swing arm 301 to the first swing arm 401 is smaller than the distance from the second swing arm 302 to the second swing arm 402, that is, the second swing arm 302 is located at a side of the first swing arm 301 away from the first swing arm 401, and the second swing arm 402 is located at a side of the first swing arm 401 away from the first swing arm 301. The first swing arm 301 is fixedly connected with a driving rod 700 coaxially arranged with the first support shaft 104, the other end of the driving rod 700 is fixedly connected with the first swing arm 401, and the base 101 is provided with a driving structure for driving the driving rod 700 to rotate.
As shown in fig. 1, the driving structure includes a motor 801 provided on the base 101, a driving wheel 802 coaxially provided on an output shaft of the motor 801, and a driven wheel 803 coaxially fixedly connected to the driving rod 700, wherein the driving wheel 802 and the driven wheel 803 are in transmission connection through a transmission belt 804.
The motor 801 is started, the output shaft of the motor 801 drives the driving wheel 802 to rotate, the driving wheel 802 drives the driven wheel 803 to rotate, and the driven wheel 803 drives the driving rod 700 to rotate around the central axis of the driving rod 803, so that the first swing arm 301 and the first swing arm 401 are driven to swing synchronously, the second swing arm 302 and the second swing arm 402 swing synchronously under the action of the connecting rods and the counterweight assembly, and the height of the position of the goods shelf 200 can be actively controlled. Since the motor 801 has a locking function, the driving lever 700 can be maintained in a current state after the motor 801 is stopped.
Due to the driving structure, the height of the goods shelf 200 can be actively adjusted down when the weight of the goods is light, so that the gravity center is lowered; when the goods are removed from the shelf 200, the first parallelogram member and the second parallelogram member can be actively reset, and the shelf 200 is raised in height.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (3)
1. The utility model provides a robot shelf height adjustment mechanism, locates between base (101) and goods shelves (200) of robot, be equipped with first backup pad (102) and with first backup pad (102) the relative second backup pad (103) that sets up of setting up on base (101), be equipped with first back shaft (104) on first backup pad (102), be equipped with on second backup pad (103) with first back shaft (104) coaxial second back shaft (105), characterized in that, it includes the first parallelogram component that locates on first back shaft (104) and locates on second back shaft (105) and the second parallelogram component that sets up with first parallelogram component symmetry, the one end of goods shelves (200) is connected in the upper portion of first parallelogram component, and its other end is connected in the upper portion of second parallelogram component, be equipped with the counter weight subassembly that is used for adjusting the form between first parallelogram component and the second parallelogram component; the first parallelogram component comprises a first swing arm (301) and a second swing arm (302) which are sleeved on a first support shaft (104), the first swing arm (301) and the second swing arm (302) are arranged in a crossing way, the upper part of the first swing arm (301) is hinged with a first connecting rod (304) parallel to the second swing arm (302) through a first hinge shaft (303), one end of the first connecting rod (304) far away from the first swing arm (301) is hinged with a second connecting rod (306) parallel to the first swing arm (301) through a second hinge shaft (305), one end of the second connecting rod (306) far away from the first connecting rod (304) is hinged with the lower part of the second swing arm (302) through a third hinge shaft (307), the upper part of the second swing arm (302) is hinged with a third connecting rod (309) parallel to the first swing arm (301) through a fourth hinge shaft (308), one end of the third connecting rod (309) far away from the second swing arm (302) is hinged with a third connecting rod (311) parallel to the fourth swing arm (311) through a fifth hinge shaft (310), the central line of the first hinge shaft (303) and the central line of the fourth hinge shaft (308) are positioned on the same horizontal plane; the second parallelogram component comprises a swing arm I (401) and a swing arm II (402) which are sleeved on a second supporting shaft (105), the swing arm I (401) and the swing arm II (402) are arranged in a crossing way, the upper part of the swing arm I (401) is hinged with a connecting rod I (404) parallel to the swing arm II (402) through a hinge shaft I (403), one end of the connecting rod I (404) far away from the swing arm I (401) is hinged with a connecting rod II (406) parallel to the swing arm I (401) through a hinge shaft II (405), one end of the connecting rod II (406) far away from the connecting rod I (404) is hinged with the lower part of the swing arm II (402) through a hinge shaft III (407), the upper part of the swing arm II (402) is hinged with a connecting rod III (409) parallel to the swing arm I (401) through a hinge shaft IV (408), one end of the connecting rod III (409) far away from the swing arm II (402) is hinged with a connecting rod IV (411) parallel to the swing arm II (402) through a hinge shaft IV (410), one end of the connecting rod IV (409) far away from the swing arm III (401) is hinged with the hinge shaft II (305) coaxially through a hinge shaft II (305), the third hinge shaft (407) is coaxial with the third hinge shaft (307), the fourth hinge shaft (408) is coaxial with the fourth hinge shaft (308), the fifth hinge shaft (410) is coaxial with the fifth hinge shaft (310), and the sixth hinge shaft (412) is coaxial with the sixth hinge shaft (312); a first synchronizing rod (501) is arranged between the second hinge shaft (305) and the second hinge shaft (405), one end of the first synchronizing rod (501) is coaxially and fixedly connected with the second hinge shaft (305), and the other end of the first synchronizing rod is coaxially and fixedly connected with the second hinge shaft (405); a second synchronizing rod (502) is arranged between the fifth hinging shaft (310) and the hinging shaft five (410), one end of the second synchronizing rod (502) is coaxially and fixedly connected with the fifth hinging shaft (310), and the other end of the second synchronizing rod is coaxially and fixedly connected with the hinging shaft five (410); the counterweight assembly comprises a counterweight body I (601) arranged on the first synchronous rod (501) and a counterweight body II (602) arranged on the second synchronous rod (502); the distance from the first swing arm (301) to the first swing arm (401) is smaller than the distance from the second swing arm (302) to the second swing arm (402), a driving rod (700) coaxially arranged with the first supporting shaft (104) is fixedly connected to the first swing arm (301), the other end of the driving rod (700) is fixedly connected with the first swing arm (401), and a driving structure for driving the driving rod (700) to rotate is arranged on the base (101).
2. The robot shelf height adjustment mechanism according to claim 1, wherein one end of the shelf (200) has a first guide groove (201) extending horizontally and a second guide groove (202) located at the same height as the first guide groove (201), the first hinge shaft (303) is inserted into the first guide groove (201), and the fourth hinge shaft (308) is inserted into the second guide groove (202); the other end of the goods shelf (200) is provided with a first guide groove (203) which is symmetrically arranged with the first guide groove (201) and a second guide groove (204) which is symmetrically arranged with the second guide groove (202), the first hinge shaft (403) is inserted into the first guide groove (203), and the fourth hinge shaft (408) is inserted into the second guide groove (204).
3. The robot shelf height adjusting mechanism according to claim 1, wherein the driving structure comprises a motor (801) arranged on the base (101), a driving wheel (802) coaxially arranged on an output shaft of the motor (801), and a driven wheel (803) coaxially fixedly connected to the driving rod (700), and the driving wheel (802) is in transmission connection with the driven wheel (803).
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