CN111776573A - Intelligent carton conveying robot and conveying method thereof - Google Patents
Intelligent carton conveying robot and conveying method thereof Download PDFInfo
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- CN111776573A CN111776573A CN202010681167.4A CN202010681167A CN111776573A CN 111776573 A CN111776573 A CN 111776573A CN 202010681167 A CN202010681167 A CN 202010681167A CN 111776573 A CN111776573 A CN 111776573A
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- connecting shaft
- carton
- fixing seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention discloses an intelligent carton conveying robot and a conveying method thereof, and the intelligent carton conveying robot comprises a mobile station, a walking device, a storage table and a grabbing frame, wherein the mobile station is in a triangular structure, and the three corners of the mobile station are respectively provided with a universal wheel set, the center of the triangle of the mobile station is fixedly provided with a walking device, a conveying table is arranged on the table surface of the moving table through a supporting beam, an object placing table is fixedly arranged on the surface of the conveying table, a grabbing frame is vertically arranged on one side of the surface of the conveying table, the intelligent carton conveying robot has high integration degree, abandons the traditional manual pushing, ensures high carton conveying efficiency, greatly reduces the labor cost of enterprises through intelligent storage and transportation, meanwhile, by arranging the universal wheel set and matching the driving motors, the mobile station is provided with two sets of walking devices, and the moving stability of the intelligent carton conveying robot is improved.
Description
Technical Field
The invention belongs to the technical field of transportation equipment, and particularly relates to an intelligent carton transportation robot and a transportation method thereof.
Background
In fields such as article express delivery, goods packing, in order to carry out safe portable's transportation to article, people often utilize the carton to carry out the extranal packing to various article to satisfy the needs that article were delivered. People need to finish the preparation work of article delivery after carton shaping, goods vanning, sticky tape joint sealing work in proper order in carrying out the extranal packing in-process to article.
After the carton packing is accomplished, need carry the carton after the packing in the warehouse, traditional carton transport is pulled the shallow with the carton through the manual work on, the transportation of carton is realized to the artifical pulling shallow of rethread, makes carton handling efficiency low through this kind of mode, and porter's working strength is big, is unfavorable for the intelligent operation of storage, has increaseed the operation cost of storage.
Disclosure of Invention
The invention aims to provide an intelligent carton conveying robot and a conveying method thereof, and aims to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent carton transportation robot comprises a moving platform, a traveling device, a storage platform and a grabbing frame, wherein the moving platform is of a triangular structure, universal wheel sets are respectively mounted at three corners of the moving platform, the traveling device is fixedly arranged at the center position of the triangle of the moving platform, the table top of the moving platform is provided with a transportation platform through a supporting beam, the storage platform is fixedly arranged on the surface of the transportation platform, and the grabbing frame is vertically arranged on one side of the surface of the transportation platform;
the traveling device comprises a first transverse plate and a second transverse plate which are arranged on two sides of a vertical plate, a first motor is fixedly arranged on the first transverse plate, a second motor is fixedly arranged on the second transverse plate, an output shaft of the first motor penetrates through the first transverse plate and is connected with a first gear, an output shaft of the second motor penetrates through the second transverse plate and is fixedly connected with the first rotary shaft, the tail end of the first rotary shaft penetrates through the top surface of the tire fixing seat and is arranged inside the tire fixing seat, a second gear is fixedly arranged on the surface of the tire fixing seat, and the first gear is meshed with the second gear;
the first rotating shaft penetrates through a central through hole of the second gear, a first T-shaped gear is arranged right above the second gear on the first rotating shaft, a second rotating shaft is fixedly arranged on the tire fixing seat, a second rotating shaft penetrates through the second gear on the second rotating shaft, a third gear is arranged at the top end of the second rotating shaft, the third gear is meshed with the first T-shaped gear, a first rotating gear is fixedly connected to one end of the first rotating shaft, which is positioned inside the tire fixing seat, a second rotating gear is fixedly connected to one end of the second rotating shaft, which is positioned inside the tire fixing seat, a first connecting shaft and a second connecting shaft are respectively arranged on two sides of the tire fixing seat, a first walking wheel and a fourth gear are arranged on the first connecting shaft, a second walking wheel and a fifth gear are arranged on the second connecting shaft, a third connecting shaft is fixedly arranged on the same side, which, one end, located outside the tire fixing seat, of the connecting shaft III is provided with a T-shaped gear II, the T-shaped gear II is meshed with the gear IV, one end, located inside the tire fixing seat, of the connecting shaft III is provided with a T-shaped gear III, and the T-shaped gear III is meshed with the rotating gear I;
the homonymy that the tire fixing base is located connecting axle two is provided with connecting axle four and connecting axle five, connecting axle four is fixed to be set up on the side of tire fixing base, the connecting axle four bit is provided with T type gear four in the outside one end of tire fixing base, T type gear four is connected with five meshing of gear, the connecting axle four bit is provided with T type gear three in the inside one end of tire fixing base, T type gear three is connected with the meshing of rotatory tooth one, connecting axle five runs through the side setting of tire fixing base, connecting axle five is located the outside one end of tire fixing base and is provided with T type gear five, T type gear five is connected with four meshing of T type gear, connecting axle five is located the inside one end of tire fixing base and is provided with T type gear six, T type gear six is connected with two meshing of rotatory tooth.
As a further scheme of the invention: put the thing platform and include the U template, U template back-off is on the mesa of transport table, the inside screw rod that is provided with of U template, the one end of screw rod runs through three fixed connection of vertical board with the motor of one side of U template, the screw rod is opposite along the screw thread of vertical direction central line both ends soon, the both ends of screw rod have the symmetry to be provided with nut seat one and nut seat two through threaded connection, nut seat one and two top surface both ends of nut seat are provided with the supporting shoe respectively, the supporting shoe at nut seat one top runs through U template horizontal plate and is connected with clamp plate one, the supporting shoe at nut seat two tops runs through U template horizontal plate and is connected with clamp plate two.
As a still further scheme of the invention: and a strip-shaped groove for the supporting block to slide is formed in the horizontal plate of the U-shaped plate.
As a still further scheme of the invention: snatch the frame including setting up the support column in the transport table both sides, and be provided with X at the support column top of both sides to the support frame, X has seted up the rectangle notch to the both sides that the support frame is located division board one, X is to the fixed cylinder one that is provided with on the rectangle notch of support frame back one side, the fixed L type fixed block that is provided with of piston rod of cylinder one, L type fixed block one runs through another rectangle notch and moves base plate back fixed connection with X to, X is provided with X to the slide rail along the horizontal direction on to the front of support frame, X is provided with the slider with X to slide rail looks adaptation on to the back of moving base plate, X passes through slider sliding connection on X to the slide rail of support frame to moving base plate, X is fixed to be provided with Y to the support frame on to the front of moving base.
As a still further scheme of the invention: y has seted up the rectangle notch to the both sides that the support frame is located division board two, Y is fixed to be provided with cylinder two on the rectangle notch of support frame back one side, the fixed L type fixed block two that is provided with of piston rod of cylinder two, L type fixed block two runs through another rectangle notch with Y to removal base plate back fixed connection, Y is provided with Y to the slide rail along the horizontal direction on to the front of support frame, Y is provided with the slider to slide rail looks adaptation with Y on to the back of removal base plate, Y passes through slider sliding connection to the removal base plate on Y is to the slide rail to the Y of support frame, Y is to the fixed Z to the support frame that is provided with on the front of removal base plate.
As a still further scheme of the invention: z is to the fixed cylinder three that is provided with of support frame, the piston rod tip fixedly connected with sucking disc mounting base of cylinder three, it is provided with a plurality of sucking disc to be the rectangular array on the sucking disc mounting base.
As a still further scheme of the invention: and the three universal wheel sets on the bottom surface of the mobile station are respectively and independently provided with corresponding driving motors.
As a still further scheme of the invention: a transportation method of a carton intelligent transportation robot comprises the following specific steps:
the method comprises the following steps: the first L-shaped fixing block is driven by the first cylinder to move in the X direction, the first L-shaped fixing block drives the X-direction moving substrate to move in the X direction, so that the adjustment of the sucker mounting base in the X direction is realized, the second L-shaped fixing block is driven by the second cylinder to move in the Y direction, the second L-shaped fixing block drives the Y-direction moving substrate to move in the Y direction, so that the adjustment of the sucker mounting base in the Y direction is realized, after the position of the sucker mounting base is determined, the third cylinder drives the piston rod to push the sucker mounting base to move downwards, a sucker on the sucker mounting base adsorbs a carton, and the carton is transported to the object placing table;
step two: the screw rod is driven to rotate by the motor III, so that the screw rod drives the nut seat I and the nut seat II at the two ends to move in opposite directions, and the carton on the object placing table is arranged and fixedly clamped by the clamping plate I and the clamping plate II;
step three: the first rotating shaft is driven to rotate by the second motor, so that the first T-shaped gear is in meshing transmission with the third gear, the second rotating shaft is driven to rotate, the rotating teeth at the bottom end of the first rotating shaft are in meshing transmission with the third T-shaped gear, the second T-shaped gear is in meshing transmission with the fourth gear, the fourth gear drives the first walking wheel to rotate, meanwhile, the second rotating teeth at the bottom end of the second rotating shaft are in meshing transmission with the sixth T-shaped gear, the fifth T-shaped gear is in meshing transmission with the fourth T-shaped gear, the fourth T-shaped gear is in meshing transmission with the fifth gear, the fifth gear drives the second walking wheel to synchronously rotate, the moving table is moved, and the carton is transported.
Compared with the prior art, the invention has the beneficial effects that:
1. in the process of grabbing the carton by the grabbing frame, the first L-shaped fixing block is pushed to move in the X direction by the first cylinder driving piston rod, the first L-shaped fixing block drives the X-direction moving substrate to move in the X direction, so that the adjustment of the sucker mounting base in the X direction is realized, the second L-shaped fixing block is pushed to move in the Y direction by the second cylinder driving piston rod, the second Y-direction moving substrate is driven to move in the Y direction by the second L-shaped fixing block, so that the adjustment of the sucker mounting base in the Y direction is realized, after the position of the sucker mounting base is determined, the sucker mounting base is pushed to move downwards by the third cylinder driving piston rod, the carton is adsorbed by the sucker on the sucker mounting base, and the carton is transported to the object placing table, so that the grabbing angle of the carton is adjusted by the grabbing frame, and the carton intelligent transportation robot can grab cartons at different, the practicability is strong;
2. the screw rod is driven to rotate by the motor III, so that the screw rod drives the nut seat I and the nut seat II at the two ends to move in opposite directions, and accordingly, the carton on the object placing table is arranged and fixedly clamped by the clamping plate I and the clamping plate II, the transportation stability of the carton intelligent transportation machine for the carton is high, and the phenomenon of overturning of the carton intelligent transportation robot in the transportation process of the carton is avoided;
3. in the carton intelligent transportation robot, a first rotating shaft is driven to rotate through a second motor, so that a first T-shaped gear and a third gear are in meshed transmission, a second rotating shaft is driven to rotate, rotating teeth at the bottom end of the first rotating shaft are in meshed transmission with the third T-shaped gear, the second T-shaped gear and a fourth gear are in meshed transmission, so that a first gear four drives a first travelling wheel to rotate, meanwhile, the second rotating teeth at the bottom end of the second rotating shaft are in meshed transmission with a sixth T-shaped gear, so that a fifth T-shaped gear is in meshed transmission with the fourth T-shaped gear, the fourth T-shaped gear is in meshed transmission with the fifth gear, so that the fifth gear drives the second travelling wheel to synchronously rotate, the moving platform is moved, the carton is transported, the traditional manual pushing is abandoned, the carton transportation efficiency is high, the labor cost of an enterprise is greatly reduced through intelligent storage transportation, and meanwhile, a universal wheel set is arranged, and the driving motors are matched, so that the mobile station has two sets of walking devices, and the moving stability of the intelligent carton conveying robot is improved.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a perspective view of a carton intelligent transportation robot.
Fig. 2 is a bottom view of a mobile station in the carton intelligent transportation robot.
Fig. 3 is a perspective view of a storage table in the carton intelligent transportation robot.
Fig. 4 is a first perspective view of a grabbing frame in the carton intelligent transportation robot.
Fig. 5 is a second perspective view of a grabbing frame in the carton intelligent transportation robot.
Fig. 6 is a first perspective view of a walking device in the carton intelligent transportation robot.
Fig. 7 is a bottom view of a walking device in the carton intelligent transportation robot.
Fig. 8 is a schematic view of an internal structure of a tire fixing seat in the carton intelligent transportation robot.
Fig. 9 is a perspective view of a second walking device in the carton intelligent transportation robot.
In the figure: the device comprises a moving table 1, a support beam 101, a transport table 102, a universal wheel set 103, a driving motor 104, a traveling device 2, a transverse plate I201, a transverse plate II 202, a motor I203, a motor II 204, a gear I205, a rotating shaft I206, a rotating gear I2061, a T-shaped gear I207, a gear II 208, a rotating shaft II 209, a rotating gear II 2091, a gear III 210, a tire fixing seat 211, a rotating wheel I212, a connecting shaft I2121, a rotating wheel II 213, a connecting shaft II 2131, a gear IV 214, a gear V215, a T-shaped gear II 217, a connecting shaft III 217, a T-shaped gear III 218, a T-shaped gear IV 219, a connecting shaft IV 2191, a T-shaped gear V220, a connecting shaft V2201, a T-shaped gear VI 221, an object placing table 3, a U-shaped plate 301, a strip-shaped groove 302, a support block 303, a clamping plate I304, a clamping plate II 305, a motor III 306, a screw 307, a nut grabbing seat I308, The vacuum chuck comprises a first separation plate 501, a first air cylinder 502, an X-direction slide rail 503, an X-direction moving substrate 504, a first L-shaped fixed block 505, a Y-direction support frame 6, a second separation plate 601, a second air cylinder 602, a Y-direction slide rail 603, a Y-direction moving substrate 604, a second L-shaped fixed block 605, a Z-direction support frame 7, a third air cylinder 701, a chuck mounting base 702 and a chuck 703.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 9, in the embodiment of the invention, an intelligent carton transportation robot includes a mobile station 1, a traveling device 2, a placing table 3 and a grabbing frame 4, where the mobile station 1 is in a triangular structure, three corners of the mobile station 1 are respectively provided with a universal wheel set 103, the traveling device 2 is fixedly arranged at a triangular center position of the mobile station 1, a transportation table 102 is arranged on a table top of the mobile station 1 through a supporting beam 101, the placing table 3 is fixedly arranged on a plate surface of the transportation table 102, the grabbing frame 4 is vertically arranged on one side of the plate surface of the transportation table 102, and the intelligent carton transportation robot has a high integration degree and a high carton transportation efficiency.
Running gear 2 is including setting up diaphragm one 201 and diaphragm two 202 in the riser both sides, the fixed motor one 203 that is provided with on diaphragm one 201, the fixed motor two 204 that is provided with on diaphragm two 202, the output shaft of motor one 203 runs through diaphragm one 201 and is connected with gear one 205, the output shaft of motor two 204 runs through diaphragm two 202 with pivot one 206 fixed connection, the end of pivot one 206 runs through the inside of tire fixing base 211 top surface setting at tire fixing base 211, the fixed gear two 208 that is provided with on the surface of tire fixing base 211, gear one 205 is connected with gear two 208 meshing, through motor one 203 drive gear one 205 and gear two 208 meshing transmission to the realization is adjusted turning to of tire fixing base 211, realizes this running gear 2's the direction of turning to.
The first rotating shaft 206 penetrates through a central through hole of the second gear 208, a first T-shaped gear 207 is arranged on the first rotating shaft 206 and positioned right above the second gear 208, a second rotating shaft 209 is fixedly arranged on the tire fixing seat 211, the second rotating shaft 209 penetrates through the second gear 208, a third gear 210 is arranged at the top end of the second rotating shaft 209, the third gear 210 is in meshed connection with the first T-shaped gear 207, one end of the first rotating shaft 206, which is positioned inside the tire fixing seat 211, is fixedly connected with a first rotating tooth 2061, one end of the second rotating shaft 209, which is positioned inside the tire fixing seat 211, is fixedly connected with a second rotating tooth 2091, two sides of the tire fixing seat 211 are respectively provided with a first connecting shaft 2121 and a second connecting shaft 2131, a first traveling wheel 212 and a fourth gear 214 are arranged on the first connecting shaft 2121, a second traveling wheel 213 and a fifth gear 215 are arranged on the second connecting shaft 2131, a third connecting shaft 217, the connecting shaft III 2171 penetrates through the side face of the tire fixing seat 211, one end, located outside the tire fixing seat 211, of the connecting shaft III 2171 is provided with a T-shaped gear II 217, the T-shaped gear II 217 is in meshed connection with a gear IV 214, one end, located inside the tire fixing seat 211, of the connecting shaft III 2171 is provided with a T-shaped gear III 218, and the T-shaped gear III 218 is in meshed connection with a rotating gear I2061;
a connecting shaft four 2191 and a connecting shaft five 2201 are arranged on the same side of the tire fixing seat 211 as the connecting shaft two 2131, the connecting shaft four 2191 is fixedly arranged on the side surface of the tire fixing seat 211, a T-shaped gear four 219 is arranged at one end, located outside the tire fixing seat 211, of the connecting shaft four 2191, the T-shaped gear four 219 is meshed with the gear five 215, a T-shaped gear three 218 is arranged at one end, located inside the tire fixing seat 211, of the connecting shaft four 2191, the T-shaped gear three 218 is meshed with the rotating gear one 1, the connecting shaft five 2201 penetrates through the side surface of the tire fixing seat 211, a T-shaped gear five 220 is arranged at one end, located outside the tire fixing seat 211, of the connecting shaft five 2201, the T-shaped gear five 220 is meshed with the T-shaped gear four 219, a T-shaped gear six 221 is arranged at one end, located inside the tire fixing seat 211, of the connecting shaft five 2201, the T-shaped gear six 221, in the transportation process of the intelligent carton transportation robot, the first rotating shaft 206 is driven to rotate through the second motor 204, the first T-shaped gear 207 is in meshing transmission with the third gear 210, the second rotating shaft 209 is driven to rotate, the first rotating gear 2061 at the bottom end of the first rotating shaft 206 is in meshing transmission with the third T-shaped gear 218, the second T-shaped gear 217 is in meshing transmission with the fourth gear 214, the fourth gear 214 drives the first traveling wheel 212 to rotate, meanwhile, the second rotating gear 2091 at the bottom end of the second rotating shaft 209 is in meshing transmission with the sixth T-shaped gear 221, the fifth T-shaped gear 220 is in meshing transmission with the fourth T-shaped gear 219, the fourth T-shaped gear 219 is in meshing transmission with the fifth gear 215, the fifth gear 215 drives the second traveling wheel 213 to synchronously rotate, the movement of the mobile platform 1 is realized, the transportation of cartons is completed, the traditional manual pushing is abandoned, and the carton transportation efficiency is high.
The object placing table 3 comprises a U-shaped plate 301, the U-shaped plate 301 is reversely buckled on the table top of the conveying table 102, a screw 307 is arranged in the U-shaped plate 301, one end of the screw 307 penetrates through a vertical plate on one side of the U-shaped plate 301 and is fixedly connected with a motor III 306, the screw thread directions of two ends of the screw 307 along the center line in the vertical direction are opposite, two ends of the screw 307 are symmetrically provided with a nut seat I308 and a nut seat II 309 through screw threads, two ends of the top surfaces of the nut seat I308 and the nut seat II 309 are respectively provided with a supporting block 303, the supporting block 303 at the top of the nut seat I308 penetrates through the horizontal plate of the U-shaped plate 301 and is connected with a clamping plate I304, the supporting block 303 at the top of the nut seat II 309 penetrates through the horizontal plate of the U-shaped plate 301 and is connected with a clamping plate II 305, the screw 307 is driven by, therefore, the first clamping plate 304 and the second clamping plate 305 can arrange and fixedly clamp the cartons on the object platform 3, the carton intelligent transportation machine is high in transportation stability of the cartons, and the phenomenon of overturning of the carton intelligent transportation robot in the transportation process of the cartons is avoided.
The horizontal plate of the U-shaped plate 301 is provided with a strip-shaped groove 302 for the supporting block 303 to slide, so that the first clamping plate 304 and the second clamping plate 305 move more stably in the horizontal direction.
The grabbing frame 4 comprises supporting columns 401 arranged on two sides of the transport table 102, X-direction supporting frames 5 are arranged on the tops of the supporting columns 401 on the two sides, the X-direction supporting frame 5 is positioned on two sides of a first separation plate 501 and is provided with a rectangular notch, a first cylinder 502 is fixedly arranged on the rectangular notch on one side of the back surface of the X-direction supporting frame 5, a first L-shaped fixed block 505 is fixedly arranged on a piston rod of the first cylinder 502, the first L-shaped fixed block 505 penetrates through the other rectangular notch and is fixedly connected with the back surface of the X-direction moving substrate 504, an X-direction sliding rail 503 is horizontally arranged on the front surface of the X-direction supporting frame 5, a sliding block matched with the X-direction sliding rail 503 is arranged on the back surface of the X-direction moving substrate 504, the X-direction moving substrate 504 is slidably connected on the X-direction sliding rail 503 of the X-direction supporting frame 5, the first cylinder 502 drives the piston rod to push the first L-shaped fixing block 505 to move in the X direction, and the first L-shaped fixing block 505 drives the X-direction moving substrate 504 to move in the X direction, so that the chuck mounting base 702 is adjusted in the X direction.
The Y-direction support frame 6 is provided with rectangular notches at two sides of the second partition plate 601, a second air cylinder 602 is fixedly arranged on the rectangular notch at one side of the back surface of the Y-direction support frame 6, a second L-shaped fixed block 605 is fixedly arranged on a piston rod of the second air cylinder 602, the second L-shaped fixed block 605 penetrates through the other rectangular notch to be fixedly connected with the back surface of the Y-direction moving substrate 604, a Y-direction slide rail 603 is arranged on the front surface of the Y-direction support frame 6 along the horizontal direction, a slide block matched with the Y-direction slide rail 603 is arranged on the back surface of the Y-direction moving substrate 604, the Y-direction moving substrate 604 is slidably connected on the Y-direction slide rail 603 of the Y-direction support frame 6 through the slide block, a Z-direction support frame 7 is fixedly arranged on the front surface of the Y-direction moving substrate 604, the second air cylinder 602 drives the piston rod to push the second L-shaped fixed, adjustment of the chuck mounting base 702 in the Y direction is achieved.
Z is to fixed cylinder three 701 that is provided with of support frame 7, the piston rod tip fixedly connected with sucking disc mounting base 702 of cylinder three 701, it is provided with a plurality of sucking disc 703 to be the rectangular array on the sucking disc mounting base 702.
Three universal wheel sets 103 of mobile station 1 bottom surface are provided with corresponding driving motor 104 respectively independently, through setting up universal wheel set 103 to pair driving motor 104, make this mobile station 1 possess two sets of running gear, improved carton intelligence transport robot's mobility stability.
A transportation method of a carton intelligent transportation robot comprises the following specific steps:
the method comprises the following steps: the first cylinder 502 drives the piston rod to push the first L-shaped fixing block 505 to move in the X direction, the first L-shaped fixing block 505 drives the X-direction moving substrate 504 to move in the X direction, so that the adjustment of the sucker mounting base 702 in the X direction is realized, the second cylinder 602 drives the piston rod to push the second L-shaped fixing block 605 to move in the Y direction, the second L-shaped fixing block 605 drives the Y-direction moving substrate 604 to move in the Y direction, so that the adjustment of the sucker mounting base 702 in the Y direction is realized, after the position of the sucker mounting base 702 is determined, the third cylinder 701 drives the piston rod to push the sucker mounting base 702 to move downwards, a sucker 703 on the sucker mounting base 702 adsorbs a carton, and the carton is transported to the object placing table 3;
step two: the screw 307 is driven to rotate by the motor III 306, so that the screw 307 drives the nut seats I308 and II 309 at the two ends to move oppositely, and the clamping plates I304 and II 305 are used for arranging and fixedly clamping the cartons on the object table 3;
step three: the first rotating shaft 206 is driven to rotate by the second motor 204, so that the first T-shaped gear 207 is in meshing transmission with the third gear 210, the second rotating shaft 209 is driven to rotate, the first rotating gear 2061 at the bottom end of the first rotating shaft 206 is in meshing transmission with the third T-shaped gear 218, the second T-shaped gear 217 is in meshing transmission with the fourth gear 214, the fourth gear 214 drives the first traveling wheel 212 to rotate, meanwhile, the second rotating gear 2091 at the bottom end of the second rotating shaft 209 is in meshing transmission with the sixth T-shaped gear 221, the fifth T-shaped gear 220 is in meshing transmission with the fourth T-shaped gear 219, and the fourth T-shaped gear 219 is in meshing transmission with the fifth gear 215, so that the fifth gear 215 drives the second traveling wheel 213 to synchronously rotate, the moving table 1 moves, and the transportation of the carton is completed.
The working principle is as follows: the first cylinder 502 drives the piston rod to push the first L-shaped fixing block 505 to move in the X direction, the first L-shaped fixing block 505 drives the X-direction moving substrate 504 to move in the X direction, so that the adjustment of the sucker mounting base 702 in the X direction is realized, the second cylinder 602 drives the piston rod to push the second L-shaped fixing block 605 to move in the Y direction, the second L-shaped fixing block 605 drives the Y-direction moving substrate 604 to move in the Y direction, so that the adjustment of the sucker mounting base 702 in the Y direction is realized, after the position of the sucker mounting base 702 is determined, the third cylinder 701 drives the piston rod to push the sucker mounting base 702 to move downwards, a sucker 703 on the sucker mounting base 702 adsorbs a carton, the carton is transported to the object placing table 3, the third motor 306 drives the screw rod 307 to rotate, so that the screw rod 307 drives the first nut seat 308 and the second nut seat 309 at two ends to move towards each other, so that the first clamping plate 304 and the second clamping plate 305 tidy and fixedly clamp the cartons on the object table 3, the first rotating shaft 206 is driven to rotate by the second motor 204, the first T-shaped gear 207 is in meshed transmission with the third gear 210, the second rotating shaft 209 is driven to rotate, the first rotating tooth 2061 at the bottom end of the first rotating shaft 206 is in meshed transmission with the third T-shaped gear 218, the second T-shaped gear 217 is in meshed transmission with the fourth gear 214, the fourth gear 214 drives the first traveling wheel 212 to rotate, meanwhile, the second rotating tooth 2091 at the bottom end of the second rotating shaft 209 is in meshed transmission with the sixth T-shaped gear 221, the fifth T-shaped gear 220 is in meshed transmission with the fourth T-shaped gear 219, the fourth T-shaped gear 219 is in meshed transmission with the fifth gear 215, the fifth gear 215 drives the second traveling wheel 213 to synchronously rotate, the movement of the moving table 1 is realized, and the first driving gear 205 is in meshed transmission with the second gear 208 by the first motor 203 in the moving, thereby realize adjusting the turning to of tire fixing base 211, realize this running gear 2 turn to, accomplish the transportation to the carton.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a carton intelligence transportation robot which characterized in that: the device comprises a mobile platform (1), a traveling device (2), an object placing platform (3) and a grabbing frame (4), wherein the mobile platform (1) is of a triangular structure, universal wheel sets (103) are respectively mounted at three corners of the mobile platform (1), the traveling device (2) is fixedly arranged at the triangular center position of the mobile platform (1), a conveying platform (102) is arranged on the platform surface of the mobile platform (1) through a supporting beam (101), the object placing platform (3) is fixedly arranged on the surface of the conveying platform (102), and the grabbing frame (4) is vertically arranged on one side of the surface of the conveying platform (102);
the traveling device (2) comprises a first transverse plate (201) and a second transverse plate (202) which are arranged on two sides of a vertical plate, a first motor (203) is fixedly arranged on the first transverse plate (201), a second motor (204) is fixedly arranged on the second transverse plate (202), an output shaft of the first motor (203) penetrates through the first transverse plate (201) and is connected with a first gear (205), an output shaft of the second motor (204) penetrates through the second transverse plate (202) and is fixedly connected with a first rotating shaft (206), the tail end of the first rotating shaft (206) penetrates through the top surface of a tire fixing seat (211) and is arranged inside the tire fixing seat (211), a second gear (208) is fixedly arranged on the surface of the tire fixing seat (211), and the first gear (205) is meshed with the second gear (208);
the first rotating shaft (206) penetrates through a central through hole of the second gear (208), a first T-shaped gear (207) is arranged on the first rotating shaft (206) and located right above the second gear (208), a second rotating shaft (209) is fixedly arranged on the tire fixing seat (211), the second rotating shaft (209) penetrates through the second gear (208), a third gear (210) is arranged at the top end of the second rotating shaft (209), the third gear (210) is meshed with the first T-shaped gear (207), one end of the first rotating shaft (206) located inside the tire fixing seat (211) is fixedly connected with a first rotating gear (2061), one end of the second rotating shaft (209) located inside the tire fixing seat (211) is fixedly connected with a second rotating gear (2091), two sides of the tire fixing seat (211) are respectively provided with a first connecting shaft (2121) and a second connecting shaft (2131), and a first traveling wheel (212) and a fourth gear (214) are arranged on the first connecting shaft (2121), a travelling wheel II (213) and a gear five (215) are arranged on the connecting shaft II (2131), a connecting shaft III (2171) is fixedly arranged on the tire fixing seat (211) on the same side of the connecting shaft I (2121), the connecting shaft III (2171) penetrates through the side face of the tire fixing seat (211), a T-shaped gear II (217) is arranged at one end, located outside the tire fixing seat (211), of the connecting shaft III (2171), the T-shaped gear II (217) is connected with a gear IV (214) in a meshed mode, a T-shaped gear III (218) is arranged at one end, located inside the tire fixing seat (211), of the connecting shaft III (2171), and the T-shaped gear III (218) is connected with the rotating gear I (2061) in a meshed mode;
a connecting shaft four (2191) and a connecting shaft five (2201) are arranged on the same side of the tire fixing seat (211) on which the connecting shaft two (2131) is located, the connecting shaft four (2191) is fixedly arranged on the side surface of the tire fixing seat (211), a T-shaped gear four (219) is arranged at one end of the connecting shaft four (2191) located outside the tire fixing seat (211), the T-shaped gear four (219) is meshed with the gear five (215), a T-shaped gear three (218) is arranged at one end of the connecting shaft four (2191) located inside the tire fixing seat (211), the T-shaped gear three (218) is meshed with the rotating gear one (2061), the connecting shaft five (2201) penetrates through the side surface of the tire fixing seat (211), a T-shaped gear five (220) is arranged at one end of the connecting shaft five (2201) located outside the tire fixing seat (211), and the T-shaped gear five (220) is meshed with the T-shaped gear four (219), one end, located inside the tire fixing seat (211), of the connecting shaft five (2201) is provided with a T-shaped gear six (221), and the T-shaped gear six (221) is in meshed connection with the rotating gear two (2091).
2. The intelligent carton conveying robot according to claim 1, wherein the storage table (3) comprises a U-shaped plate (301), the U-shaped plate (301) is reversely buckled on the table top of the conveying table (102), a screw (307) is arranged inside the U-shaped plate (301), a vertical plate, one end of which penetrates through one side of the U-shaped plate (301), is fixedly connected with a motor III (306), the screw (307) has opposite thread directions along two ends of a central line in the vertical direction, two ends of the screw (307) are symmetrically provided with a nut seat I (308) and a nut seat II (309) through thread connection, two ends of the top surfaces of the nut seat I (308) and the nut seat II (309) are respectively provided with a supporting block (303), the supporting block (303) at the top of the nut seat I (308) penetrates through a horizontal plate of the U-shaped plate (301) and is connected with a clamping plate I (304), and a supporting block (303) at the top of the second nut seat (309) penetrates through the horizontal plate of the U-shaped plate (301) and is connected with a second clamping plate (305).
3. The intelligent carton conveying robot according to claim 2, wherein a strip-shaped groove (302) for sliding the supporting block (303) is formed in the horizontal plate of the U-shaped plate (301).
4. The intelligent carton conveying robot according to claim 1, wherein the grabbing frame (4) comprises supporting columns (401) arranged at two sides of the conveying table (102), X-direction supporting frames (5) are arranged at the tops of the supporting columns (401) at the two sides, rectangular notches are formed in the X-direction supporting frames (5) at two sides of a first separating plate (501), a first air cylinder (502) is fixedly arranged on the rectangular notch at one side of the back of the X-direction supporting frame (5), a first L-shaped fixing block (505) is fixedly arranged on a piston rod of the first air cylinder (502), the first L-shaped fixing block (505) penetrates through the other rectangular notch and is fixedly connected with the back of the X-direction moving substrate (504), an X-direction sliding rail (503) is arranged on the front of the X-direction supporting frame (5) in the horizontal direction, and a sliding block matched with the X-direction sliding rail (503) is arranged on the back of the X-direction moving substrate (, the X-direction moving substrate (504) is connected to an X-direction sliding rail (503) of the X-direction supporting frame (5) in a sliding mode through a sliding block, and a Y-direction supporting frame (6) is fixedly arranged on the front face of the X-direction moving substrate (504).
5. The intelligent carton conveying robot according to claim 4, wherein rectangular notches are formed in two sides, located on a second partition plate (601), of the Y-direction support frame (6), a second air cylinder (602) is fixedly arranged on the rectangular notch in one side of the back surface of the Y-direction support frame (6), a second L-shaped fixed block (605) is fixedly arranged on a piston rod of the second air cylinder (602), the second L-shaped fixed block (605) penetrates through the other rectangular notch and is fixedly connected with the back surface of the Y-direction moving substrate (604), a Y-direction slide rail (603) is horizontally arranged on the front surface of the Y-direction support frame (6), a slide block matched with the Y-direction slide rail (603) is arranged on the back surface of the Y-direction moving substrate (604), and the Y-direction moving substrate (604) is slidably connected to the Y-direction slide rail (603) of the Y-direction support frame (6) through the slide, and a Z-direction supporting frame (7) is fixedly arranged on the front surface of the Y-direction moving substrate (604).
6. The intelligent carton transportation robot as claimed in claim 5, wherein a third air cylinder (701) is fixedly arranged on the Z-direction support frame (7), a suction cup mounting base (702) is fixedly connected to the end of a piston rod of the third air cylinder (701), and a plurality of suction cups (703) are arranged on the suction cup mounting base (702) in a rectangular array.
7. The intelligent carton transportation robot as claimed in claim 1, wherein three universal wheel sets (103) on the bottom surface of the mobile station (1) are respectively and independently provided with corresponding driving motors (104).
8. A transportation method of a carton intelligent transportation robot is characterized by comprising the following specific steps:
the method comprises the following steps: the first cylinder (502) drives the piston rod to push the first L-shaped fixing block (505) to move in the X direction, the first L-shaped fixing block (505) drives the X-direction moving substrate (504) to move in the X direction, adjustment of the sucker mounting base (702) in the X direction is achieved, the second cylinder (602) drives the piston rod to push the second L-shaped fixing block (605) to move in the Y direction, the second L-shaped fixing block (605) drives the Y-direction moving substrate (604) to move in the Y direction, adjustment of the sucker mounting base (702) in the Y direction is achieved, after the position of the sucker mounting base (702) is determined, the third cylinder (701) drives the piston rod to push the sucker mounting base (702) to move downwards, a carton is adsorbed by a sucker (703) on the sucker mounting base (702), and the carton is transported to the object placing table (3);
step two: a screw rod (307) is driven to rotate by a motor III (306), so that the screw rod (307) drives a nut seat I (308) and a nut seat II (309) at two ends to move oppositely, and a clamping plate I (304) and a clamping plate II (305) are arranged and fixedly clamped on a carton on the object table (3);
step three: the first rotating shaft (206) is driven to rotate through the second motor (204), the first T-shaped gear (207) is in meshing transmission with the third gear (210), so that the second rotating shaft (209) is driven to rotate, the first rotating gear (2061) at the bottom end of the first rotating shaft (206) is in meshing transmission with the third T-shaped gear (218), the second T-shaped gear (217) is in meshing transmission with the fourth gear (214), so that the fourth gear (214) drives the first traveling wheel (212) to rotate, meanwhile, the second rotating gear (2091) at the bottom end of the second rotating shaft (209) is in meshing transmission with the sixth T-shaped gear (221), so that the fifth T-shaped gear (220) is in meshing transmission with the fourth T-shaped gear (219), the fourth T-shaped gear (219) is in meshing transmission with the fifth gear (215), so that the fifth gear (215) drives the second traveling wheel (213) to synchronously rotate, the moving table (1) is moved, and the transportation of the carton is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010681167.4A CN111776573A (en) | 2020-07-15 | 2020-07-15 | Intelligent carton conveying robot and conveying method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010681167.4A CN111776573A (en) | 2020-07-15 | 2020-07-15 | Intelligent carton conveying robot and conveying method thereof |
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| CN111776573A true CN111776573A (en) | 2020-10-16 |
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| CN202010681167.4A Pending CN111776573A (en) | 2020-07-15 | 2020-07-15 | Intelligent carton conveying robot and conveying method thereof |
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