CN112357499B - Commodity circulation transfer robot for industrial workshop - Google Patents
Commodity circulation transfer robot for industrial workshop Download PDFInfo
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- CN112357499B CN112357499B CN202110039438.0A CN202110039438A CN112357499B CN 112357499 B CN112357499 B CN 112357499B CN 202110039438 A CN202110039438 A CN 202110039438A CN 112357499 B CN112357499 B CN 112357499B
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The invention belongs to the technical field of transfer robots, and particularly relates to a logistics transfer robot for an industrial workshop, which comprises a driving mechanism, wherein the driving mechanism comprises a robot body and four driving wheels arranged on the bottom surface of the robot body; when needs are transported old-fashioned pallet, the lead screw slip table drives and promotes the picture peg to the mounting groove outside, peg graft to the pallet below until two picture pegs, the jacking axle carries out the jacking to the jacking board, the synchronous rebound of transfer line, the transfer line upwards promotes the picture peg through the slider, and simultaneously, first electric putter promotes the pendulum rod, and promote the pendulum rod to vertical state, at this moment, two picture pegs jack-up the pallet upwards, realize carrying the goods on old-fashioned pallet, can adjust according to the in-service use condition, and when not carrying the pallet, the picture peg all slides and accomodates, occupation space is less.
Description
Technical Field
The invention belongs to the technical field of transfer robots, and particularly relates to a logistics transfer robot for an industrial workshop.
Background
The transfer robot is an industrial robot capable of carrying out automatic transfer operation, the transfer operation refers to holding a workpiece by one device and moving the workpiece from one processing position to another processing position, heavy physical labor of human beings is greatly reduced, in an industrial workshop, a goods shelf of a special transfer robot and an old pallet goods shelf are arranged, and different types of transfer robots are selected according to different goods shelves in the workshop.
Current industrial workshop is comparatively fixed with commodity circulation transfer robot structure, can only carry a goods shelves, can't switch according to the in-service use condition, in the workshop of mixing goods shelves, needs multiple transfer robot, and the maintenance that leads to the management in workshop and later stage is comparatively complicated, can't satisfy the workshop use of multiple goods shelves.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides a logistics transfer robot for an industrial workshop, which has the characteristic of high applicability.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a commodity circulation transfer robot for industrial workshop, includes actuating mechanism, actuating mechanism includes the robot and installs four drive wheels in its bottom surface, the top of robot is equipped with the jack-up axle, the top fixedly connected with jack-up board of jack-up axle, one side of robot slides and pegs graft there is the transfer line, the robot is kept away from one side of transfer line slides and pegs graft there is the guide bar, the transfer line with the top of guide bar all with jack-up board fixed connection, the mounting groove has all been seted up to the top and the bottom of robot, transport mechanism is installed to the inner wall of mounting groove, slidable mounting has grafting structure about transport mechanism's the output, grafting structure includes picture peg and fixes the first electric putter in its one end bottom surface, the picture peg is close to first electric putter's one end articulates there is the pendulum rod, the bottom of pendulum rod is rotated and is connected with the supporting wheel, first electric putter's output with the first half of pendulum rod corresponds, the picture peg is close to the one end fixedly connected with baffle of pendulum rod, the baffle is used for right the pendulum rod carries on spacingly, first electric putter and external power source electric connection, the picture peg is kept away from the one end of pendulum rod slides and is in transport mechanism's output, two mutual parallel arrangement's spout are seted up to the top surface of picture peg, the slider of two symmetrical arrangement of bottom fixedly connected with of transfer line, the slider slides in the spout, complementary unit is still installed to the top surface of robot body.
Preferably, the conveying mechanism comprises a screw rod sliding table and a transmission plate, the transmission plate is in transmission connection with the screw rod sliding table, and the transmission plate is fixedly connected with a connection sliding rod.
Preferably, one end of the inserting plate, which is far away from the swing rod, is provided with an inserting hole, and the connecting sliding rod is inserted in the inserting hole in a sliding manner.
Preferably, the auxiliary mechanism includes rotor plate and two symmetrical arrangement's second electric putter, the rotor plate with the jacking board elasticity is articulated, the rotor plate is located the jacking board top surface, two the second electric putter symmetry is fixed the both sides wall of robot body, second electric putter's output with the rotor plate corresponds, second electric putter and external power source electric connection.
Preferably, the jacking plate is close to the one end fixedly connected with connecting block of pendulum rod, the rotor plate is close to two second journal stirrup of the one end symmetry fixedly connected with of connecting block, complementary unit still includes two pivots and cover and establishes the torsional spring at its outer wall, two the pivot respectively with two second journal stirrup fixed connection, the pivot is kept away from the one end of second journal stirrup with the connecting block rotates to be connected, the one end of torsional spring with second journal stirrup fixed connection, the other end of torsional spring with connecting block fixed connection.
Preferably, the width dimension of the rotating plate is larger than the width of the lifting plate.
Preferably, the output end of the first electric push rod is fixedly connected with a first ejector rod, and the first ejector rod is in contact with the swing rod.
Preferably, the output end of the second electric push rod is fixedly connected with a second push rod, and the second push rod is in contact with the rotating plate.
Preferably, the front ends of the first ejector rod and the second ejector rod are both arc-shaped.
Preferably, one end of the swing rod, which is far away from the supporting wheel, is hinged with a first support lug, and the first support lug is fixedly connected with the inserting plate.
Compared with the prior art, the invention has the beneficial effects that:
the jacking shaft on the robot body jacks the jacking plate, the jacking plate moves through the driving wheel to realize the transportation of the special goods shelf, when an old pallet needs to be transported, the screw rod sliding table drives the transmission plate to move, the connection sliding rod on the transmission plate moves, the connection sliding rod pushes the plugboards to the outer side of the mounting groove until the two plugboards are inserted below the pallet, when the plugboards slide, the sliding block slides along the sliding groove, the jacking shaft jacks the jacking plate, the transmission rod synchronously moves upwards, the transmission rod lifts the plugboards upwards through the sliding block, meanwhile, the first electric push rod pushes the swing rod to push the swing rod to be in a vertical state, at the moment, the two plugboards jack the pallet upwards, the driving wheel moves to realize the transportation of goods on the old pallet, the regulation can be carried out according to the actual use condition, and when the pallet is not transported, the picture peg all slides and accomodates, and occupation space is less.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the socket of the present invention;
FIG. 3 is a schematic view of a slider connection according to the present invention;
FIG. 4 is an enlarged view of the point A in FIG. 1;
FIG. 5 is a schematic view of the installation position of the pivotal plate in the present invention;
fig. 6 is an enlarged schematic view of B in fig. 5.
In the figure: 1. a drive mechanism; 101. mounting grooves; 11. a robot body; 12. a drive wheel; 13. a jacking shaft; 14. a transmission rod; 141. a slider; 15. a guide bar; 16. a jacking plate; 161. connecting blocks; 2. a transport mechanism; 21. a screw rod sliding table; 22. a drive plate; 23. connecting a sliding rod; 3. a plug-in structure; 301. a jack; 302. a chute; 31. inserting plates; 32. a first electric push rod; 321. a first ejector rod; 33. a swing rod; 331. a first lug; 34. a support wheel; 35. a baffle plate; 4. an auxiliary mechanism; 41. a rotating plate; 411. a second lug; 42. a second electric push rod; 421. a second ejector rod; 43. a rotating shaft; 44. a torsion spring.
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. 1-6, the present invention provides the following technical solutions: a logistics carrying robot for an industrial workshop comprises a driving mechanism 1, wherein the driving mechanism 1 comprises a robot body 11 and four driving wheels 12 arranged on the bottom surface of the robot body 11, a jacking shaft 13 is arranged at the top end of the robot body 11, a jacking plate 16 is fixedly connected to the top end of the jacking shaft 13, a transmission rod 14 is inserted into one side of the robot body 11 in a sliding manner, a guide rod 15 is inserted into one side of the robot body 11, which is far away from the transmission rod 14, in a sliding manner, the top ends of the transmission rod 14 and the guide rod 15 are fixedly connected with the jacking plate 16, mounting grooves 101 are formed in the top end and the bottom end of the robot body 11, a conveying mechanism 2 is mounted on the inner wall of each mounting groove 101, an insertion structure 3 is vertically and slidably mounted at the output end of the conveying mechanism 2, each insertion structure 3 comprises an insertion plate 31 and a first electric push rod 32 fixed on the bottom surface, the bottom end of the swing rod 33 is rotatably connected with a supporting wheel 34, the output end of the first electric push rod 32 corresponds to the upper half portion of the swing rod 33, one end of the inserting plate 31, which is close to the swing rod 33, is fixedly connected with a baffle 35, the baffle 35 is used for limiting the swing rod 33, the first electric push rod 32 is electrically connected with an external power supply, one end of the inserting plate 31, which is far away from the swing rod 33, slides at the output end of the conveying mechanism 2, the top surface of the inserting plate 31 is provided with two sliding grooves 302 which are arranged in parallel, the bottom end of the transmission rod 14 is fixedly connected with two symmetrically arranged sliding blocks 141, the sliding blocks 141 slide in the sliding grooves.
In this embodiment: when the pallet is used, when the pallet does not need to be transported, the conveying mechanism 2 drives the plug board 31 to slide into the mounting groove 101, the plug board 31 slides to the position that the first electric push rod 32 penetrates through the mounting groove 101 and is positioned outside the mounting groove 101, at the moment, the overlapping area of the plug board 31 and the robot body 11 is large, the occupied space of the plug board 31 is small, at the moment, the robot body 11 can transport a special shelf, the jacking shaft 13 on the robot body 11 jacks the jacking plate 16, the special shelf is transported by moving the driving wheel 12, when the old pallet needs to be transported, the lead screw sliding table 21 drives the driving plate 22 to move, the connecting sliding rod 23 on the driving plate 22 moves, the connecting sliding rod 23 pushes the plug board 31 to the outside of the mounting groove 101 until the two plug boards 31 are plugged below the pallet, when the plug board 31 slides, the sliding block 141 slides along the sliding groove 302, jacking axle 13 carries out the jacking to jacking board 16, the synchronous rebound of transfer line 14, transfer line 14 promotes picture peg 31 upwards through slider 141, and simultaneously, first electric putter 32 (model IP 800) promotes pendulum rod 33, and promote pendulum rod 33 to vertical state, baffle 35 is spacing it, supporting wheel 34 and ground contact, at this moment, two picture pegs 31 are with the upwards jack-up of pallet, drive wheel 12 removes, the realization is carried the goods on old-fashioned pallet, can adjust according to the in-service use condition, and when not carrying the pallet, picture peg 31 all slides and accomodates, occupation space is less.
Specifically, the transmission mechanism 2 comprises a screw rod sliding table 21 and a transmission plate 22, the transmission plate 22 is in transmission connection with the screw rod sliding table 21, and a connection sliding rod 23 is fixedly connected to the transmission plate 22; the screw rod sliding table 21 drives the transmission plate 22 to move, the connecting sliding rod 23 on the transmission plate 22 moves, and the inserting plate 31 is pushed to the outer side of the installation groove 101 by the connecting sliding rod 23.
Specifically, one end of the inserting plate 31, which is far away from the swing rod 33, is provided with an inserting hole 301, and the connecting sliding rod 23 is inserted in the inserting hole 301 in a sliding manner; when the insert plate 31 moves up and down, the insertion hole 301 slides along the connecting slide rod 23.
Specifically, the auxiliary mechanism 4 includes a rotating plate 41 and two second electric push rods 42 symmetrically arranged, the rotating plate 41 is elastically hinged to the lifting plate 16, the rotating plate 41 is located on the top surface of the lifting plate 16, the two second electric push rods 42 (model number DSDG 25) are symmetrically fixed on two side walls of the robot body 11, the output end of the second electric push rod 42 corresponds to the rotating plate 41, and the second electric push rod 42 is electrically connected to an external power supply; when carrying the goods on the pallet, after the lifting goods, second electric putter 42 promoted rotor plate 41, and rotor plate 41 rotates to and contacts with the goods, carries out supplementary limit support to the goods, prevents that the goods from dropping in the handling.
Specifically, one end of the jacking plate 16 close to the swing rod 33 is fixedly connected with a connecting block 161, one end of the rotating plate 41 close to the connecting block 161 is symmetrically and fixedly connected with two second lugs 411, the auxiliary mechanism 4 further comprises two rotating shafts 43 and a torsion spring 44 sleeved on the outer wall of the rotating shaft 43, the two rotating shafts 43 are respectively and fixedly connected with the two second lugs 411, one end of the rotating shaft 43 far away from the second lugs 411 is rotatably connected with the connecting block 161, one end of the torsion spring 44 is fixedly connected with the second lugs 411, and the other end of the torsion spring 44 is fixedly connected with the connecting block 161; when the rotating plate 41 rotates, the rotating shaft 43 of the second lug 411 rotates, and when the second electric push rod 42 retracts, the rotating plate 41 can rotate and return to the horizontal state under the action of the torsion spring 44.
Specifically, the width dimension of the rotating plate 41 is greater than the width of the lifting plate 16; the second electric push rod 42 is facilitated to push the rotating plate 41.
Specifically, the output end of the first electric push rod 32 is fixedly connected with a first push rod 321, and the first push rod 321 is in contact with the swing rod 33; the swing rod 33 is pushed by the first push rod 321, so as to protect the output end of the first electric push rod 32.
Specifically, the output end of the second electric push rod 42 is fixedly connected with a second push rod 421, and the second push rod 421 contacts with the rotating plate 41; the second push rod 421 pushes the rotating plate 41 to protect the second electric push rod 42.
Specifically, the front ends of the first top bar 321 and the second top bar 421 are both arc-shaped; when pushing, the first push rod 321 causes less wear to the swing link 33, and the second push rod 421 causes less wear to the rotating plate 41.
Specifically, one end of the swing rod 33, which is far away from the supporting wheel 34, is hinged with a first lug 331, and the first lug 331 is fixedly connected with the inserting plate 31; the first support lug 331 serves the purpose of connecting the inserting plate 31 and the swing rod 33, and simultaneously, the swing rod 33 is ensured to normally rotate.
The working principle and the using process of the invention are as follows: when the pallet is used, when the pallet does not need to be transported, the conveying mechanism 2 drives the plug board 31 to slide into the mounting groove 101, the plug board 31 slides to the position that the first electric push rod 32 penetrates through the mounting groove 101 and is positioned outside the mounting groove 101, at the moment, the overlapping area of the plug board 31 and the robot body 11 is large, the occupied space of the plug board 31 is small, at the moment, the robot body 11 can transport a special shelf, the jacking shaft 13 on the robot body 11 jacks the jacking plate 16, the special shelf is transported by moving the driving wheel 12, when the old pallet needs to be transported, the lead screw sliding table 21 drives the driving plate 22 to move, the connecting sliding rod 23 on the driving plate 22 moves, the connecting sliding rod 23 pushes the plug board 31 to the outside of the mounting groove 101 until the two plug boards 31 are plugged below the pallet, when the plug board 31 slides, the sliding block 141 slides along the sliding groove 302, jacking axle 13 carries out the jacking to jacking board 16, the synchronous rebound of transfer line 14, transfer line 14 promotes picture peg 31 upwards through slider 141, and simultaneously, first electric putter 32 promotes pendulum rod 33, and promote pendulum rod 33 to vertical state, baffle 35 is spacing it, supporting wheel 34 and ground contact, at this moment, two picture pegs 31 are the jack-up that makes progress of pallet, drive wheel 12 removes, the realization is carried the goods on old-fashioned pallet, can adjust according to the in-service use condition, and when not carrying the pallet, picture peg 31 all slides and accomodates, occupation space is less.
Finally, it should be noted that: 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 changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a commodity circulation transfer robot for industrial workshop, includes actuating mechanism (1), actuating mechanism (1) includes robot body (11) and installs four drive wheel (12) in its bottom surface, the top of robot body (11) is equipped with jacking axle (13), the top fixedly connected with jacking board (16) of jacking axle (13), its characterized in that: one side of robot body (11) slides and pegs graft and have transfer line (14), robot body (11) is kept away from one side of transfer line (14) slides and pegs graft and have guide bar (15), transfer line (14) with the top of guide bar (15) all with jacking board (16) fixed connection, mounting groove (101) have all been seted up to the long limit both sides of robot body (11), transport mechanism (2) are installed to the inner wall of mounting groove (101), slidable mounting has grafting structure (3) about the output of transport mechanism (2), grafting structure (3) include picture peg (31) and fix first electric putter (32) in its one end bottom surface, picture peg (31) are close to the one end of first electric putter (32) articulates there is pendulum rod (33), the bottom of pendulum rod (33) is rotated and is connected with supporting wheel (34), the output end of the first electric push rod (32) and the swing rod
(33) The first half of correspond, picture peg (31) are close to one end fixedly connected with baffle (35) of pendulum rod (33), baffle (35) are used for right pendulum rod (33) carry on spacingly, first electric putter (32) and external power source electric connection, picture peg (31) are kept away from the one end of pendulum rod (33) slides and is in the output of transport mechanism (2), two mutual parallel arrangement's spout (302) are seted up to the top surface of picture peg (31), slider (141) of two symmetrical arrangement of bottom fixedly connected with of transfer line (14), slider (31), slider
(141) Slide in spout (302), complementary unit (4) are still installed to the top surface of robot body (11), pendulum rod (33) are kept away from the one end of supporting wheel (34) articulates there is first journal stirrup (331), first journal stirrup (331) with picture peg (31) fixed connection.
2. The logistics transfer robot for an industrial plant according to claim 1, wherein: transport mechanism (2) include lead screw slip table (21) and driving plate (22), driving plate (22) with lead screw slip table (21) transmission is connected, fixedly connected with connects slide bar (23) on driving plate (22).
3. The logistics transfer robot for an industrial plant according to claim 2, wherein: an inserting hole (301) is formed in one end, far away from the swing rod (33), of the inserting plate (31), and the connecting sliding rod (23) is inserted into the inserting hole (301) in a sliding mode.
4. The logistics transfer robot for an industrial plant according to claim 1, wherein: complementary unit (4) include rotor plate (41) and two symmetrical arrangement's second electric putter (42), rotor plate (41) with jacking board (16) elasticity is articulated, rotor plate (41) are located jacking board (16) top surface, two second electric putter (42) symmetry is fixed the both sides wall of robot body (11), the output of second electric putter (42) with rotor plate (41) correspond, second electric putter (42) and external power source electric connection.
5. The logistics transfer robot for an industrial plant according to claim 4, wherein: jacking board (16) are close to the one end fixedly connected with connecting block (161) of pendulum rod (33), rotor plate (41) are close to two second journal stirrup (411) of the one end symmetry fixedly connected with of connecting block (161), complementary unit (4) still include two pivot (43) and cover establish torsional spring (44) at its outer wall, two pivot (43) respectively with two second journal stirrup (411) fixed connection, second journal stirrup (411) are kept away from the one end of second journal stirrup (411) with connecting block (161) rotate to be connected, torsional spring (44)
One end of the second supporting lug (411) is fixedly connected with the second supporting lug, and the other end of the torsion spring (44) is fixedly connected with the connecting block (161).
6. The logistics transfer robot for an industrial plant according to claim 4, wherein: the width dimension of the rotating plate (41) is larger than the width of the jacking plate (16).
7. The logistics transfer robot for an industrial plant according to claim 4, wherein: the output end of the first electric push rod (32) is fixedly connected with a first push rod (321), and the first push rod (321) is in contact with the swing rod (33).
8. The logistics transfer robot for an industrial plant according to claim 7, wherein: the output end of the second electric push rod (42) is fixedly connected with a second push rod (421), and the second push rod (421) is in contact with the rotating plate (41).
9. The logistics transfer robot for an industrial plant according to claim 8, wherein: the front ends of the first ejector rod (321) and the second ejector rod (421) are both arc-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110039438.0A CN112357499B (en) | 2021-01-13 | 2021-01-13 | Commodity circulation transfer robot for industrial workshop |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110039438.0A CN112357499B (en) | 2021-01-13 | 2021-01-13 | Commodity circulation transfer robot for industrial workshop |
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| Publication Number | Publication Date |
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| CN112357499A CN112357499A (en) | 2021-02-12 |
| CN112357499B true CN112357499B (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110039438.0A Active CN112357499B (en) | 2021-01-13 | 2021-01-13 | Commodity circulation transfer robot for industrial workshop |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110869294A (en) * | 2017-10-12 | 2020-03-06 | 艾克索泰克解决方案公司 | System for storing and transporting items stored in shelves of a warehouse |
| CN210284297U (en) * | 2019-08-05 | 2020-04-10 | 青岛凯瑞斯仓储物流设备有限公司 | Carrier for carrying goods shelf |
| CN111943087A (en) * | 2019-08-26 | 2020-11-17 | 李朝阳 | Bracket of transfer robot for warehouse logistics and transfer robot |
| CN212198338U (en) * | 2020-04-13 | 2020-12-22 | 北京京东乾石科技有限公司 | Warehouse logistics system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018064816A1 (en) * | 2016-10-08 | 2018-04-12 | 浙江国自机器人技术有限公司 | Robot used for moving goods shelves |
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2021
- 2021-01-13 CN CN202110039438.0A patent/CN112357499B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110869294A (en) * | 2017-10-12 | 2020-03-06 | 艾克索泰克解决方案公司 | System for storing and transporting items stored in shelves of a warehouse |
| CN210284297U (en) * | 2019-08-05 | 2020-04-10 | 青岛凯瑞斯仓储物流设备有限公司 | Carrier for carrying goods shelf |
| CN111943087A (en) * | 2019-08-26 | 2020-11-17 | 李朝阳 | Bracket of transfer robot for warehouse logistics and transfer robot |
| CN212198338U (en) * | 2020-04-13 | 2020-12-22 | 北京京东乾石科技有限公司 | Warehouse logistics system |
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