CN112158773A - Mobile loading robot and use method - Google Patents
Mobile loading robot and use method Download PDFInfo
- Publication number
- CN112158773A CN112158773A CN202011030949.8A CN202011030949A CN112158773A CN 112158773 A CN112158773 A CN 112158773A CN 202011030949 A CN202011030949 A CN 202011030949A CN 112158773 A CN112158773 A CN 112158773A
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- loading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/19—Additional means for facilitating unloading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile loading robot, which relates to the field of robots and comprises: the portion of marcing, the lift portion, the loading portion, the portion of marcing provides power through the action wheel, the diversion wheelset is supplementary to be adjusted the diversion, when the robot needs direct lateral shifting, through diversion clamping ring about adjusting, the diversion pole pushes down from top to bottom, the direct diversion of diversion wheelset, after arriving the loading position, the height of robot is adjusted to the telescoping device, the loading board through the loading portion takes out the material, load the material, the material loading shell is sent into with the material to the cooperation of rethread liter flitch and fender flitch, use at last and empty device cooperation loading attachment and carry out the unloading.
Description
Technical Field
The invention relates to the field of robots, in particular to a mobile loading robot and a using method thereof.
Background
Generally, goods are full of goods on shelves of supermarkets or warehouses, and currently, manual loading and unloading are basically adopted, so that the efficiency is low, and when some goods with overlarge weight are loaded and unloaded or the shelves are too high, the manual loading and unloading are very troublesome and laborious, especially when the goods are fragile goods.
The risk of damage has also been increased in manual handling, has greatly increased the efficiency and the cost of loading goods onto goods shelves, but current loading robot is automatic inadequately firstly, secondly when moving in goods shelves, because the interval of goods shelves is less, moves inconveniently.
Disclosure of Invention
The invention aims to solve the problem that the robot is inconvenient to turn in a narrow loading space when the existing mobile loading robot moves.
The invention also aims to provide a using method of the mobile loading robot.
In order to achieve one of the purposes, the invention adopts the following scheme: a mobile loading robot, comprising: the portion of marcing, this portion of marcing sets up subaerial, and this portion of marcing includes, the device of marcing, and this device of marcing sets up subaerial, and turning device, this turning device connect around this device of marcing, and this turning device is provided with four, and turning wheelset, this turning wheelset connect inside this turning device, and this turning wheelset is provided with four, lift portion, and this lift portion connects in the top of this portion of marcing, and this lift portion includes: the telescoping device, this telescoping device connect in the top of this running gear, empty the device, should empty the device and connect in the top of this telescoping device, load the portion, this portion of loading is connected in the top of this lift portion, and this portion of loading includes: the loading shell is connected above the dumping device, and the loading device is connected inside the loading shell.
Further, in the embodiment of the present invention, the driving wheel is disposed on the ground, the main wheel housing is connected to the outside of the driving wheel, the motor is disposed inside the main wheel housing, the pressing machine is disposed on the surface of the protective housing, the protective housing is connected to the outside of the main wheel housing, the circular hole is disposed inside the protective housing, the traveling housing is connected to the outside of the protective housing, and square notches are disposed at four corners of the traveling housing.
Further, in the embodiment of the present invention, the direction changing housing is connected in square concave holes at four corners of the traveling housing, a through hole is formed on the surface of the direction changing housing, a semicircular groove is formed at the bottom of the direction changing housing, a direction changing chassis is connected in the semicircular groove at the bottom of the direction changing housing, four sides of the direction changing chassis are provided with wheel grooves, a circular hole is formed at the center position of the direction changing chassis, a direction changing plate is connected to the upper parts of the wheel grooves at the four sides of the direction changing chassis, a movable buckle is arranged above the direction changing plate, an installation groove is formed at the lower end of the direction changing plate, four upright posts are arranged in the installation groove at the lower end of the direction changing plate, four direction changing plates are provided with upper direction changing rods, the upper direction changing rods are connected in the movable buckles above the two direction changing plates in the front-back direction, two lower, the lower turning rod is connected in the movable buckle above the two turning plates in the left and right directions, the lower turning rod is provided with two turning columns, the lower turning column is connected in a hole in the center of the turning chassis, two ends of the lower turning column are connected on the lower turning rod, the upper end of the lower turning column is provided with a circular groove hole, the upper turning column is connected in the circular groove hole of the upper turning column, two ends of the upper turning column are connected on the upper turning column, the upper turning compression ring is connected at the top of the upper turning column, the lower turning compression ring is connected on the surface of the lower turning column.
Further, in the embodiment of the invention, the shell of the turning wheel is connected in a case groove arranged at the lower end of the turning plate, a circular groove is formed in the surface of the shell of the turning wheel, the turning wheel is connected in the shell of the turning wheel, the turning springs are connected on the stand columns in the mounting groove of the turning plate, and the number of the turning springs is four.
Further, in the embodiment of the present invention, the base is connected inside the protective casing, four connecting posts are arranged on the surface of the telescopic base, two groups of telescopic rods are arranged on the telescopic base in a crossed manner, six groups of telescopic rods are arranged, and the bottom of each group of telescopic rods is connected to the connecting posts on the surface of the base.
Further, in the embodiment of the present invention, the tilting base is connected to the upper end of the telescopic rod, the mounting tables are respectively arranged above and below the surface of the tilting base, the tilting column is connected to the central position of the tilting base, the mounting table is arranged at the bottom of the tilting column, the tilting gear is connected to the mounting table at the bottom of the tilting column, the lower end of the first tilting rod is connected to the mounting table arranged below the surface of the tilting base, the second tilting rod is connected to the mounting table arranged above the surface of the tilting base, the middle of the second tilting rod is connected to the upper end of the first tilting rod, and the lower of the third tilting rod is connected above the second tilting rod.
Further, in the embodiment of the present invention, the loading housing is connected above the dumping column, a material returning baffle is arranged inside the loading housing, a rectangular hole is arranged on the surface of the loading housing, a material loading housing is connected inside the loading housing, sliding chutes are arranged on two sides of the inner wall of the material loading housing, a material lifting plate is connected inside the sliding chute inside the material loading housing, and a material protecting plate is connected inside the sliding chute inside the material loading housing and located above the material lifting plate.
Further, in the embodiment of the present invention, the loading motor is connected to the surface of the loading housing, the first loading gear is connected to the left side of the loading motor, the second loading gear is connected to the right side of the loading motor, the second loading gear is engaged with the first loading gear, the loading plate is connected to the inside of the loading housing, the front end of the loading plate is provided with a groove, the right side of the loading plate is provided with a rack, the rack on the right side of the loading plate is engaged with the first loading gear, the baffle is connected to the inside of the groove of the loading plate, the loading rack is connected to the material lifting plate, and the loading rack is engaged with the second loading gear.
A method of using a mobile loading robot, comprising the steps of:
starting the travelling part, starting the travelling device, starting the driving wheel to rotate, when the robot moves forwards, the upper turning press ring moves downwards, the upper turning press ring drives the upper turning column to move downwards, the upper turning column drives the upper turning rod to move downwards, the upper turning rod turns outwards when moving downwards, the turning plate moves downwards, the turning wheel set below the turning plate contacts the ground to become an auxiliary wheel, when the robot moves leftwards and rightwards, the lower turning press ring moves downwards, the lower turning press ring drives the lower turning column to move downwards, the lower turning column drives the lower turning rod to move downwards, the lower turning rod turns outwards when moving downwards, the turning plate moves downwards, the wheel set below the turning plate contacts the ground to become an auxiliary wheel, when the driving wheel changes the direction in a small amplitude, the turning wheel drives the turning wheel shell to move leftwards and rightwards, after the driving wheel is righted, the driving wheel is reset through the spring, and the advancing device moves to a loading position.
After moving to waiting to load the position, the lift portion begins to start, and telescoping device's telescopic link will empty the base jack-up of empting of device, empty the base and will empty the post jack-up, empty the post and will load the shell jack-up, transport the device portion on suitable height.
Further, in the embodiment of the invention, the loading part starts to work, the loading motor starts to start, the second loading gear rotates clockwise to drive the loading plate to advance, when the loading plate advances, the material is pushed onto the loading plate by the obliquely arranged baffle, after the loading is finished, the second loading motor starts again, the second loading motor rotates anticlockwise to drive the loading plate to retreat, when the loading plate retreats, the oblique baffle is opened under the extrusion of the material to protect the falling of the material, and simultaneously, when the loading plate retreats, the material returning baffle arranged in the loading shell unloads all the material, and the material enters the material lifting plate.
When the second loads the gear and loads the material at every turn clockwise, the second loads the gear clockwise and drives the first gear anticlockwise rotation that loads simultaneously, the first gear anticlockwise rotation that loads drives the loading rack and rises, the loading rack drives the liter flitch and rises, rise after the flitch rises to the take the altitude, it will protect the flitch to open by the liter flitch, the front end of liter flitch is blockked by the kicking block in the loading shell, the front end slope, the material falls into the inside of loading the shell, when the second loads the gear and carries out anticlockwise rotation and receive the material, the first gear clockwise rotation that loads drives the loading rack and descends, it accomplishes and resets to rise the flitch.
When the unloading is carried out to needs, empty the device and start, empty the device and empty the gear and begin anticlockwise rotation, empty the gear and drive the front end decline of first pole of empting, the upper end decline that first pole of empting drove the second pole of empting, the pole decline is emptyd to the second drive third pole of empting, the third is emptyd the pole and is driven the upset of year material shell, accomplishes the unloading.
Has the advantages that: when loading goods, when the loading board obtains the goods in the advance, the oblique angle of baffle plays the effect of shovel to the goods, and when retrieving, the rear end of baffle is by material jack-up, and the baffle plays the effect to the material protection once more, through loading reciprocating of rack, moves the material to the upper strata, and when the transport, the material protection board has played the guard action to the material on the material loading board, and when empting the material, the material protection board becomes the bottom plate, has played the effect of supplementary unloading.
Drawings
Fig. 1 is a schematic perspective view of a mobile loading robot according to an embodiment of the present invention.
Fig. 2 is a rear perspective view of a mobile loading robot according to an embodiment of the present invention.
FIG. 3 is a schematic perspective view of a traveling part according to an embodiment of the present invention.
Fig. 4 is a bottom view of the traveling part according to the embodiment of the present invention.
Fig. 5 is a schematic perspective view of a direction changing device and a direction changing wheel set according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a telescopic device according to an embodiment of the present invention.
Fig. 7 is a schematic perspective view of a loading portion according to an embodiment of the present invention.
Fig. 8 is a schematic view of a back structure of a loading portion according to an embodiment of the invention.
Fig. 9 is a schematic view of the internal structure of the loading unit according to the embodiment of the present invention.
1. Traveling unit 2, lifting unit 3, and loading unit
11. Traveling device 111, traveling case 112, and protective case
113. Main wheel casing 114, driving wheel
12. Deviator 121, deviator shell 122, deviator chassis
123. Direction changing plate 124, upper direction changing rod 125 and lower direction changing rod
126. Lower turning column 127, upper turning column 128 and upper turning press ring
129. Lower turning press ring
13. Direction-changing wheel group 131, direction-changing wheel 132 and direction-changing wheel shell
133. Direction-changing spring
21. Telescopic device 211, telescopic base 212 and telescopic rod
22. Dumping device 221, dumping base 222 and dumping gear
223. A dumping column 224, a first dumping rod 225, a second dumping rod
226. Third dumping rod
31. Loading case 311, loading case 312, and loading case
313. Guard plate 314 and lifting plate
32. Loading device 321, loading motor 322, first loading gear
323. Second loading gear 324, loading plate 325, shutter
326. Loading rack
In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of some embodiments of the invention and are not limiting of the invention, and that all other embodiments obtained by those of ordinary skill in the art without the exercise of inventive faculty are within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a," "an," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
For the purposes of simplicity and explanation, the principles of the embodiments are described by referring mainly to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that the embodiments may be practiced without these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
The first embodiment is as follows:
the embodiment discloses a mobile loading robot, which is characterized by comprising:
the portion of marcing 1, the portion of marcing 1 sets up on ground, and the portion of marcing 1 includes: running gear 11, running gear 11 sets up on ground, and running gear 11 still includes: a driving wheel 114, the driving wheel 114 is arranged on the ground, a main wheel shell 113, the main wheel shell 113 is connected to the outer side of the driving wheel 114, a motor is arranged inside the main wheel shell 113, a press is arranged on the surface of the protective shell 112, the protective shell 112 is connected to the outer side of the main wheel shell 113, a round hole is arranged inside the protective shell 112, a traveling shell 111 is connected to the outer side of the protective shell 112, square notches are arranged at four corners of the traveling shell 111, the driving wheel 114 is driven to rotate autonomously by using the plane rotation of the main wheel shell 113, the direction of the driving wheel 114 is changed under the condition that the robot does not change the direction, so that the robot can also adjust the direction when moving inconveniently under the environment of a narrow container, the direction changing device 12 is connected around the traveling device 11, four direction changing devices 12 are arranged, the deviator 12 further comprises: a direction changing shell 121, the direction changing shell 121 is connected in square concave holes at four corners of the advancing shell 111, through holes are arranged on the surface of the direction changing shell 121, a semicircular groove is arranged at the bottom of the direction changing shell 121, a direction changing chassis 122 is connected in the semicircular groove at the bottom of the direction changing shell 121, wheel grooves are arranged at four sides of the direction changing chassis 122, a circular hole is arranged at the center of the direction changing chassis 122, a direction changing plate 123 is connected at the upper part of the wheel grooves at the four sides of the direction changing chassis 122, a movable buckle is arranged above the direction changing plate 123, a mounting groove is arranged at the lower end of the direction changing plate 123, four upright posts are arranged in the mounting groove at the lower end of the direction changing plate 123, four direction changing plates 123 are arranged, an upper direction changing rod 124 is connected in the movable buckle above the two direction changing plates 123 in the front, the lower steering column 125 is connected in the movable buckle above the two steering plates 123 in the left-right direction, the lower steering column 125 is provided with two lower steering columns 126, the lower steering column 126 is connected in a hole in the center of the steering chassis 122, two ends of the lower steering column 126 are connected on the lower steering column 125, the upper end of the lower steering column 126 is provided with a circular groove hole, the upper steering column 127 is connected in the circular groove hole of the upper steering column 124, two ends of the upper steering column 127 are connected on the upper steering column 124, the upper steering press ring 128 is connected on the top of the upper steering column 127, the lower steering press ring 129 and the lower steering press ring 129 are connected on the surface of the lower steering column 126, the steering wheel set 13 uses the upper and lower steering press rings 129 to adjust the steering wheel 131, when the vehicle moves forwards and backwards, the steering wheel 131 of the upper steering column 124 is used, when the vehicle moves leftwards or rightwards, the matching steering wheel 131 of the lower steering column 125 is used, the robot is prevented from being damaged under the condition of no protection when moving and loading goods in a narrow container.
Lift portion 2, lift portion 2 connects in the top of advancing portion 1, and lift portion 2 includes: the telescoping device 21, the telescoping device 21 is connected above the running gear 11, the telescoping device 21 further includes: flexible base 211, the inside at protecting sheathing 112 is connected to the base, and flexible base 211 surface is provided with four spliced poles, and telescopic link 212, telescopic link 212 are alternately placed and are equipped with two sets ofly, and telescopic link 212 every group is provided with six, and the spliced pole on the base surface is connected to the bottom of telescopic link 212, emptys device 22, emptys the device 22 and connects in the top of telescoping device 21, emptys device 22 and still includes: toppling base 211, toppling base 211 is connected in the upper end of telescopic link 212, toppling base 211's the subsurface and below respectively is provided with the mount table, toppling post 223 is connected in the central point that topples base 211, the bottom of toppling post 223 is provided with a mount table, toppling gear 222 connects on the mount table of toppling post 223 bottom, first pole 224 that topples, the lower extreme of first pole 224 that topples is connected on the mount table that topples base 211 subsurface and set up, second pole 225 that topples, the lower extreme of second pole 225 is connected on the mount table that topples base 211 surface top and set up, the upper end at first pole 224 that topples is connected in the middle part of second pole 225, third pole 226 that topples, the top at second pole 225 is connected in the below of third pole 226 that topples.
Loading portion 3, loading portion 3 connects in the top of lift portion 2, and loading portion 3 includes: loading case 31, loading case 31 is connected above pouring device 22, and loading case 31 further includes: load shell 311, load shell 311 and connect in the top of empting post 223, the inside of loading shell 311 is provided with material returned baffle, the surface of loading shell 311 is provided with the rectangle hole, carry material shell 312, it connects in the inside of loading shell 311 to carry material shell 312, the inner wall both sides of carrying material shell 312 are provided with the spout, it rises flitch 314, it connects in the spout of carrying material shell 312 inside to rise flitch 314, it protects flitch 313, should protect flitch 313 and connect in this spout of carrying material shell 312 inside, this protects flitch 313 and is located the top that should rise flitch 314, loading device 32 connects in the inside of loading shell 31, loading device 32 still include: the loading motor 321 is connected to the surface of the loading housing 311, the first loading gear 322 is connected to the left side of the loading motor 321, the second loading gear 323 is connected to the right side of the loading motor 321, the second loading gear 323 is meshed with the first loading gear 322, the loading plate 324 is connected to the inside of the loading housing 311, a groove is formed in the front end of the loading plate 324, a rack is arranged on the right side of the loading plate 324, the rack on the right side of the loading plate 324 is meshed with the first loading gear 322, the baffle 325 is connected to the inside of the groove of the loading plate 324, the loading rack 326 is connected to the material lifting plate 314, and the loading rack 326 is meshed with the second loading gear 323.
Example two:
as in embodiment 1, the traveling unit 1 being provided on the ground, the traveling unit 1 includes: a traveling device 11, the traveling device 11 being disposed on the ground, the traveling device 11 further comprising: action wheel 114, action wheel 114 sets up subaerial, main round shell 113 is connected in the outside of action wheel 114, the inside motor that is provided with of main round shell 113, protective housing 112's surface is provided with the press, protective housing 112 connects in the outside of main round shell 113, protective housing 112's inside is provided with circular hole, the shell 111 of marcing is connected in protective housing 112's the outside, the four corners of the shell 111 of marcing is provided with square notch, deviator 12 connects around the device 11 of marcing, deviator 12 is provided with four, deviator 12 still include: a direction changing shell 121, the direction changing shell 121 is connected in square concave holes at four corners of the advancing shell 111, through holes are arranged on the surface of the direction changing shell 121, a semicircular groove is arranged at the bottom of the direction changing shell 121, a direction changing chassis 122 is connected in the semicircular groove at the bottom of the direction changing shell 121, wheel grooves are arranged at four sides of the direction changing chassis 122, a circular hole is arranged at the center of the direction changing chassis 122, a direction changing plate 123 is connected at the upper part of the wheel grooves at the four sides of the direction changing chassis 122, a movable buckle is arranged above the direction changing plate 123, a mounting groove is arranged at the lower end of the direction changing plate 123, four upright posts are arranged in the mounting groove at the lower end of the direction changing plate 123, four direction changing plates 123 are arranged, an upper direction changing rod 124 is connected in the movable buckle above the two direction changing plates 123 in the front, the lower steering column 125 is connected in the movable buckle above the two steering plates 123 in the left-right direction, the lower steering column 125 is provided with two lower steering columns 126, the lower steering column 126 is connected in a hole in the center of the steering chassis 122, two ends of the lower steering column 126 are connected on the lower steering column 125, the upper end of the lower steering column 126 is provided with a circular groove hole, the upper steering column 127 is connected in the circular groove hole of the upper steering column 124, two ends of the upper steering column 127 are connected on the upper steering column 124, the upper steering press ring 128 is connected on the top of the upper steering column 127, the lower steering press ring 129 and the lower steering press ring 129 are connected on the surface of the lower steering column 126, the steering wheel set 13 uses the upper and lower steering press rings 129 to adjust the steering wheel 131, when the vehicle moves forwards and backwards, the steering wheel 131 of the upper steering column 124 is used, when the vehicle moves leftwards or rightwards, the matching steering wheel 131 of the lower steering column 125 is used, the robot is prevented from being damaged under the condition of no protection when moving and loading goods in a narrow container. Direction turning wheelset 13 is connected inside deviator 12, and direction turning wheelset 13 is provided with four, direction turning wheelset 13 still include: the turning wheel shell 132 is connected in a case groove formed in the lower end of the turning plate 123, a circular groove is formed in the surface of the turning wheel shell 132, the turning wheel 131 is connected in the turning wheel shell 132, the turning spring 133 is connected to a stand column inside the turning plate 123 mounting groove, four turning springs 133 are arranged, the turning wheel group 13 is matched with the turning device 12 through the turning spring 133 when moving, the situation that the landing direction of the turning wheel group 13 is changed after the turning wheel group 13 is replaced and reset and descends again is avoided, and faults occur when moving is caused.
Lift portion 2, lift portion 2 connects in the top of advancing portion 1, and lift portion 2 includes: the telescoping device 21, the telescoping device 21 is connected above the running gear 11, the telescoping device 21 further includes: flexible base 211, the inside at protecting sheathing 112 is connected to the base, and flexible base 211 surface is provided with four spliced poles, and telescopic link 212, telescopic link 212 are alternately placed and are equipped with two sets ofly, and telescopic link 212 every group is provided with six, and the spliced pole on the base surface is connected to the bottom of telescopic link 212, emptys device 22, emptys the device 22 and connects in the top of telescoping device 21, emptys device 22 and still includes: toppling base 211, toppling base 211 is connected in the upper end of telescopic link 212, toppling base 211's the subsurface and below respectively is provided with the mount table, toppling post 223 is connected in the central point that topples base 211, the bottom of toppling post 223 is provided with a mount table, toppling gear 222 connects on the mount table of toppling post 223 bottom, first pole 224 that topples, the lower extreme of first pole 224 that topples is connected on the mount table that topples base 211 subsurface and set up, second pole 225 that topples, the lower extreme of second pole 225 is connected on the mount table that topples base 211 surface top and set up, the upper end at first pole 224 that topples is connected in the middle part of second pole 225, third pole 226 that topples, the top at second pole 225 is connected in the below of third pole 226 that topples.
Loading portion 3, loading portion 3 connects in the top of lift portion 2, and loading portion 3 includes: loading case 31, loading case 31 is connected above pouring device 22, and loading case 31 further includes: load shell 311, load shell 311 and connect in the top of empting post 223, the inside of loading shell 311 is provided with material returned baffle, the surface of loading shell 311 is provided with the rectangle hole, carry material shell 312, it connects in the inside of loading shell 311 to carry material shell 312, the inner wall both sides of carrying material shell 312 are provided with the spout, it rises flitch 314, it connects in the spout of carrying material shell 312 inside to rise flitch 314, it protects flitch 313, should protect flitch 313 and connect in this spout of carrying material shell 312 inside, this protects flitch 313 and is located the top that should rise flitch 314, loading device 32 connects in the inside of loading shell 31, loading device 32 still include: the loading motor 321 is connected to the surface of the loading housing 311, the first loading gear 322 is connected to the left side of the loading motor 321, the second loading gear 323 is connected to the right side of the loading motor 321, the second loading gear 323 is meshed with the first loading gear 322, the loading plate 324 is connected to the inside of the loading housing 311, a groove is formed in the front end of the loading plate 324, a rack is arranged on the right side of the loading plate 324, the rack on the right side of the loading plate 324 is meshed with the first loading gear 322, the baffle 325 is connected to the inside of the groove of the loading plate 324, the loading rack 326 is connected to the material lifting plate 314, and the loading rack 326 is meshed with the second loading gear 323.
Example three:
the embodiment discloses a use method of a mobile loading robot, which comprises the following steps:
when the robot moves forwards, the upper turning press ring 128 moves downwards, the upper turning press ring 128 drives the upper turning column 127 to move downwards, the upper turning column 127 drives the upper turning rod 124 to move downwards, the upper turning rod 124 turns outwards when moving downwards, the turning plate 123 moves downwards, the turning wheel set 13 below the turning plate 123 contacts the ground to become an auxiliary wheel, when the robot moves leftwards and rightwards, the lower turning press ring 129 moves downwards, the lower turning press ring 129 drives the lower turning column 126 to move downwards, the lower turning column 126 drives the lower turning rod 125 to move downwards, the lower turning rod 125 turns outwards when moving downwards, the turning plate 123 moves downwards, the turning wheel set 13 below the turning plate 123 contacts the ground to become an auxiliary wheel, when the turning wheel set 13 moves, the driving wheel 114 changes direction in a small amplitude, the direction-changing wheel 131 drives the direction-changing wheel shell 132 to move left and right, and after the driving wheel 114 is adjusted, the direction-changing wheel shell is reset through the spring, and the traveling device 11 moves to the loading position.
After the device is moved to the waiting position, the lifting unit 2 starts to be operated, the telescopic rod 212 of the telescopic device 21 jacks up the tilting base 211 of the tilting device 22, the tilting base 211 jacks up the tilting column 223, the tilting column 223 jacks up the loading housing 311, and the device is transported to a proper height.
At this time, the loading unit 3 starts to operate, the loading motor 321 starts, the second loading gear 323 rotates clockwise to drive the loading plate 324 to advance, when the loading plate 324 advances, the material is pushed onto the loading plate 324 by the inclined baffle 325, after the loading is completed, the second loading motor 321 starts again, the second loading motor 321 rotates counterclockwise to drive the loading plate 324 to retreat, when the loading plate 324 retreats, the inclined baffle 325 is opened by the extrusion of the material to protect the falling of the material, and when the loading plate 324 retreats, the material returning baffle 325 provided inside the loading housing 311 unloads all the material, and the material enters the material lifting plate 314.
When the second loading gear 323 rotates clockwise each time to load materials, the second loading gear 323 rotates clockwise and drives the first loading gear 322 to rotate counterclockwise, the first loading gear 322 rotates counterclockwise and drives the loading rack 326 to ascend, the loading rack 326 drives the material lifting plate 314 to ascend, after the material lifting plate 314 ascends to a certain height, the material lifting plate 314 jacks the material protecting plate 313, the front end of the material lifting plate 314 is blocked by the jacking block in the loading shell 311, the front end of the material lifting plate inclines, the materials fall into the loading shell 311, when the second loading gear 323 rotates counterclockwise to receive the materials, the first loading gear 322 rotates clockwise and drives the loading rack 326 to descend, and the material lifting plate 314 finishes resetting.
When the blanking is needed, the dumping device 22 is started, the dumping gear 222 of the dumping device 22 starts to rotate counterclockwise, the dumping gear 222 drives the front end of the first dumping rod 224 to descend, the first dumping rod 224 drives the upper end of the second dumping rod 225 to descend, the second dumping rod 225 drives the third dumping rod 226 to descend, and the third dumping rod 226 drives the material loading shell 312 to overturn, so that the blanking is completed.
Although the illustrative embodiments of the present invention have been described above to enable those skilled in the art to understand the present invention, the present invention is not limited to the scope of the embodiments, and it is apparent to those skilled in the art that all the inventive concepts using the present invention are protected as long as they can be changed within the spirit and scope of the present invention as defined and defined by the appended claims.
Claims (7)
1. A mobile loading robot, comprising:
a traveling part provided on a ground, the traveling part including:
the running gear, running gear sets up on ground, running gear still include:
the driving wheel is arranged on the ground;
the main wheel shell is connected to the outer side of the driving wheel, a motor is arranged in the main wheel shell, and a press is arranged on the surface of the protective shell;
the protective shell is connected to the outer side of the main wheel shell, and a circular hole is formed in the protective shell;
the traveling shell is connected to the outer side of the protective shell, and square notches are formed in four corners of the traveling shell;
a lifting portion connected above the traveling portion, the lifting portion including:
the telescopic device is connected above the travelling device;
the dumping device is connected above the telescopic device;
a loading part connected above the lifting part, the loading part including:
a loading housing connected above the dumping device;
a loading device connected inside the loading housing.
2. A mobile loading robot as defined in claim 1 wherein said telescoping means further comprises:
the base is connected to the inside of the protective shell, and four connecting columns are arranged on the surface of the telescopic base;
the telescopic link, the telescopic link is alternately placed and is equipped with two sets ofly, every group of telescopic link is provided with six, the bottom of telescopic link is connected on the spliced pole on base surface.
3. A mobile loading robot as defined in claim 1 wherein said dumping means further comprises:
the tilting base is connected to the upper end of the telescopic rod, and mounting platforms are arranged above and below the surface of the tilting base;
the dumping column is connected to the center of the dumping base, and the bottom of the dumping column is provided with an installation platform;
the dumping gear is connected to the mounting table at the bottom of the dumping column;
the lower end of the first dumping rod is connected to an installation table arranged below the surface of the dumping base;
the lower end of the second dumping rod is connected to an installation table arranged above the surface of the dumping base, and the middle of the second dumping rod is connected to the upper end of the first dumping rod;
and the lower part of the third dumping rod is connected to the upper part of the second dumping rod.
4. The mobile loading robot of claim 1, wherein the loading housing further comprises:
the loading shell is connected above the dumping column, a material returning baffle is arranged inside the loading shell, and a rectangular hole is formed in the surface of the loading shell;
the material loading shell is connected inside the loading shell, and sliding grooves are formed in two sides of the inner wall of the material loading shell;
the material lifting plate is connected in a sliding groove in the material loading shell;
the material protection plate is connected in the chute in the material loading shell and is positioned above the material lifting plate.
5. The mobile loading robot of claim 1, wherein said loading unit further comprises:
the loading motor is connected to the surface of the loading shell;
a first loading gear connected to a left side of the loading motor;
a second loading gear connected to a right side of the loading motor, the second loading gear being engaged with the first loading gear;
the loading plate is connected to the inside of the loading shell, a groove is formed in the front end of the loading plate, a rack is arranged on the right side of the loading plate, and the rack on the right side of the loading plate is meshed with the first loading gear;
the baffle is connected to the inner part of the groove of the loading plate;
the loading rack is connected to the material lifting plate and meshed with the second loading gear.
6. A method of using a mobile loading robot, comprising the steps of:
starting the travelling part, starting the travelling device, starting the driving wheel to rotate, when the robot moves forwards, the upper turning press ring moves downwards, the upper turning press ring drives the upper turning column to move downwards, the upper turning column drives the upper turning rod to move downwards, the upper turning rod turns outwards when moving downwards, the turning plate moves downwards, the turning wheel set below the turning plate contacts the ground to become an auxiliary wheel, when the robot moves leftwards and rightwards, the lower turning press ring moves downwards, the lower turning press ring drives the lower turning column to move downwards, the lower turning column drives the lower turning rod to move downwards, the lower turning rod turns outwards when moving downwards, the turning plate moves downwards, the wheel set below the turning plate contacts the ground to become an auxiliary wheel, when the driving wheel changes the direction in a small amplitude, the turning wheel drives the turning wheel shell to move leftwards and rightwards, after the driving wheel is righted, the driving wheel is reset through a spring, and the advancing device moves to a loading position;
after moving to waiting to load the position, the lift portion begins to start, and telescoping device's telescopic link will empty the base jack-up of empting of device, empty the base and will empty the post jack-up, empty the post and will load the shell jack-up, transport the device portion on suitable height.
7. The method of use of a mobile loading robot of claim 6, wherein said method of use further comprises the steps of:
the loading part starts to work, the loading motor starts, the second loading gear starts to start, the second loading gear rotates clockwise to drive the loading plate to move forward, when the loading plate moves forward, materials are pushed onto the loading plate by the obliquely arranged baffle, after loading is finished, the second loading motor starts again, the second loading motor rotates anticlockwise to drive the loading plate to move backward, when the loading plate moves backward, the oblique baffle is opened under the extrusion of the materials to protect the materials from falling off, and meanwhile, when the loading plate moves backward, the material returning baffle arranged in the loading shell unloads all the materials, and the materials enter the material lifting plate;
when the second loading gear rotates clockwise each time to load materials, the second loading gear rotates clockwise and drives the first loading gear to rotate anticlockwise, the first loading gear rotates anticlockwise to drive the loading rack to ascend, the loading rack drives the material lifting plate to ascend, the material lifting plate jacks the material protecting plate after ascending to a certain height, the front end of the material lifting plate is blocked by a jacking block in the loading shell, the front end of the material lifting plate inclines, the materials fall into the loading shell, when the second loading gear rotates anticlockwise to receive the materials, the first loading gear rotates clockwise to drive the loading rack to descend, and the material lifting plate completes resetting;
when the unloading is carried out to needs, empty the device and start, empty the device and empty the gear and begin anticlockwise rotation, empty the gear and drive the front end decline of first pole of empting, the upper end decline that first pole of empting drove the second pole of empting, the pole decline is emptyd to the second drive third pole of empting, the third is emptyd the pole and is driven the upset of year material shell, accomplishes the unloading.
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| CN202011030949.8A CN112158773B (en) | 2020-09-27 | 2020-09-27 | Mobile loading robot and use method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112880350A (en) * | 2021-01-22 | 2021-06-01 | 曹苗苗 | Device and process for treating residues generated in preparation of traditional Chinese medicine decoction pieces |
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| Publication number | Publication date |
|---|---|
| CN112158773B (en) | 2022-05-27 |
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