CN112645049A - Robot with transport function - Google Patents
Robot with transport function Download PDFInfo
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- CN112645049A CN112645049A CN202011390162.2A CN202011390162A CN112645049A CN 112645049 A CN112645049 A CN 112645049A CN 202011390162 A CN202011390162 A CN 202011390162A CN 112645049 A CN112645049 A CN 112645049A
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- motor
- robot
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- supporting plate
- clamping part
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a robot with a carrying function, which comprises a moving base, a grabbing assembly and a bearing assembly, wherein the grabbing assembly comprises a portal frame, two groups of transverse screw rods and a clamping part, the portal frame is fixedly arranged on the upper surface of the moving base, the two groups of transverse screw rods are rotatably arranged between the portal frame, a moving block is slidably arranged on the surface of each transverse screw rod, the clamping part is arranged at the bottom of the moving block, a positioning rope is arranged between the clamping part and the moving block, one end of the clamping part is in transmission connection with a first motor, the clamping part comprises two groups of clamping plates, an adjusting rod and a supporting plate, a first vertical plate is fixedly connected below the supporting plate, a second vertical plate is slidably arranged below the supporting plate, the two groups of adjusting rods are respectively in threaded connection with the first vertical plate and the second vertical plate, the bearing assembly comprises a rotating shaft and a tray, and, the potential safety hazard caused by manual transportation is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot with a carrying function.
Background
An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions. Because of this, we say that this is a true robot, although their appearance may be different.
The existing transfer robot mostly still carries out manual loading, wastes time and energy, potential safety hazards exist during the transfer of large-size objects, the transfer robot can incline if the ground is uneven during the work process, the goods on the transfer robot can slide easily, and the stability of the transfer robot is further reduced.
Disclosure of Invention
The invention aims to provide a robot with a carrying function, which is provided with a group of mobile bases for automatically grabbing components, wherein the mobile bases are used for controlling the spatial positions of the grabbing components by utilizing a transverse moving lead screw to grab materials, and the grabbing components are suitable for materials with different sizes, so that potential safety hazards caused by manual carrying are avoided; set up the tray of rotating the connection above moving the base, set up the recess in the tray to slide in the recess and place different backup pads, be provided with the storing groove of different shapes in the backup pad, be applicable to not unidimensional material, and utilize locking screw locking, be convenient for tear open and trade, and independent carrier assembly makes the material place stably, and difficult emergence is emptyd or is dropped, in order to solve the problem that proposes among the above-mentioned background art.
In order to achieve the purpose, the invention provides the following technical scheme: a robot with a carrying function comprises a moving base, a grabbing assembly and a bearing assembly, wherein the grabbing assembly comprises a portal frame, two groups of transverse screw rods and a clamping part, the portal frame is fixedly arranged on the upper surface of the moving base, the two groups of transverse screw rods are rotatably arranged between the portal frame, a moving block is slidably arranged on the surface of each transverse screw rod, the clamping part is arranged at the bottom of the moving block, a positioning rope is arranged between the clamping part and the moving block, and one end of the clamping part is in transmission connection with a first motor;
the clamping part comprises two groups of clamping plates, an adjusting rod and a supporting plate, the clamping plates are connected with the adjusting rod in a rotating mode, a first vertical plate is fixedly connected below the supporting plate, a second vertical plate is slidably mounted below the supporting plate, and the two groups of adjusting rods are in threaded connection with the first vertical plate and the second vertical plate respectively;
the bearing assembly comprises a rotating shaft and a tray, the rotating shaft is fixedly installed in the middle of the bottom surface of the tray, a groove is formed in the tray, locking screw rods are symmetrically installed on two sides of the groove, one end, far away from the rotating shaft, of the tray is rotatably installed in the movable base and extends to the lower portion of the movable base, and one end, far away from the rotating shaft, of the tray is in transmission connection with a second motor.
The two ends of the transverse moving screw rod are rotatably connected with two sets of sliding sleeves through deep groove ball bearings, the sliding sleeves are slidably mounted on the surfaces of four sets of stand columns of the portal frame, and one sides of the sliding sleeves are in threaded connection with set screws.
The gantry crane comprises a gantry frame, a transverse moving screw rod, a first synchronous belt wheel, a second synchronous belt wheel, a first motor and a second motor, wherein the first synchronous belt wheel is fixedly installed at one end of the transverse moving screw rod, the second synchronous belt wheel is fixedly installed at an output shaft end of the first motor, the first synchronous belt wheel is in transmission connection with the second synchronous belt wheel, and the first motor is fixedly installed on the upper surface of the gantry.
The positioning rope comprises two groups of grooved wheels and a steel belt, the steel belt is in transmission connection between the two groups of grooved wheels, and the bottom of the moving block is fixedly connected with a transition piece.
The transition piece comprises a hollow pipe, a first connecting pin shaft and a second connecting pin shaft, wherein the first connecting pin shaft and the second connecting pin shaft are welded on two sides of the hollow pipe;
the upper surface of the movable base is fixedly provided with a control cabinet, and the control cabinet is electrically connected with the first motor and the second motor.
The upper surface of the supporting plate is fixedly provided with a third motor, the third motor is electrically connected with the control cabinet, an output shaft end of the third motor is fixedly connected with a screw rod, the top of the second vertical plate is slidably installed in the supporting plate and extends to the upper portion of the supporting plate, the screw rod is in threaded connection with the top of the second vertical plate, and one end, far away from the third motor, of the screw rod is rotatably installed on the upper surface of the supporting plate through a bearing with a seat.
The groove is internally provided with a supporting plate in a sliding and inserting mode, and the supporting plate is internally provided with storage grooves in an equidistant array mode.
The tray is characterized in that limiting plates are symmetrically arranged on two sides of the tray, a fixing plate is arranged on one side of each limiting plate, and a spring is fixedly connected between each fixing plate and each limiting plate.
The first bevel gear is fixedly mounted at the output shaft end of the second motor, the second bevel gear is fixedly mounted at one end of the rotating shaft, and the first bevel gear is meshed with the second bevel gear.
The four corners of the bottom of the moving base are rotatably provided with four groups of walking wheels, wherein the four groups of walking wheels are connected with a fourth motor in a transmission manner, and the fourth motor is electrically connected with the control cabinet.
In summary, due to the adoption of the technology, the invention has the beneficial effects that:
according to the automatic material grabbing device, a group of movable bases of the automatic grabbing assemblies are arranged, the transverse screw rod is used for controlling the space positions of the grabbing assemblies to grab materials, the grabbing assemblies are suitable for materials with different sizes, and potential safety hazards caused by manual carrying are avoided;
according to the invention, the tray which is rotatably connected is arranged above the movable base, the groove is formed in the tray, the different support plates are arranged in the groove in a sliding manner, the storage grooves with different shapes are formed in the support plates, the support plates are suitable for materials with different sizes, and are locked by the locking screw rod, so that the support plates are convenient to disassemble and replace, and the independent bearing assembly enables the materials to be stably placed and is not easy to topple or fall.
In the invention, the vertical position of the moving block is limited by arranging the positioning rope, so that the moving block can move on the surface of the traverse screw rod when the first motor drives the traverse screw rod to rotate, and the steel wire belt is arranged between the two groups of grooved wheels in a transmission way, thereby being convenient for disassembly and maintenance.
Drawings
Fig. 1 is a front sectional structural view of a robot with a carrying function according to the present invention;
FIG. 2 is a schematic top view of a gripping assembly of a transfer robot according to the present invention;
FIG. 3 is a schematic bottom view of a robot with a carrying function according to the present invention;
FIG. 4 is a cross-sectional side view of a robot with handling capability according to the present invention;
FIG. 5 is an enlarged view of part A of FIG. 2 of a robot with a carrying function according to the present invention;
fig. 6 is a partial perspective view of a carrier assembly of a robot with a carrying function according to the present invention.
In the figure: 1. moving the base; 2. a grasping assembly; 201. a gantry; 202. transversely moving the screw rod; 204. a moving block; 205. a first motor; 206. a sliding sleeve; 207. a first timing pulley; 208. a second timing pulley; 3. a load bearing assembly; 301. a rotating shaft; 302. a tray; 303. a groove; 304. locking the screw rod; 305. a second motor; 306. a support plate; 307. a storage tank; 308. a limiting plate; 309. a fixing plate; 310. a spring; 311. a first bevel gear; 312. a second bevel gear; 4. a clamping portion; 401. a splint; 402. adjusting a rod; 403. a support plate; 404. adjusting a rod; 405. a first vertical plate; 406. a second vertical plate; 5. positioning a rope; 501. a grooved wheel; 502. a steel wire belt; 6. a transition piece; 601. a hollow tube; 602. a first connecting pin shaft; 603. a second connecting pin shaft; 7. a third motor; 8. a screw; 9. a traveling wheel; 10. a fourth motor; 11. a control cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the specification.
The invention provides a robot with a carrying function as shown in figures 1-6, which comprises a moving base 1, a grabbing component 2 and a bearing component 3, wherein four groups of walking wheels 9 are rotatably arranged at four corners of the bottom of the moving base 1, a fourth motor 10 is connected in the two groups of walking wheels 9 in a transmission manner, the grabbing component 2 comprises a portal frame 201, two groups of transverse screw rods 202 and a clamping part 4, the portal frame 201 is fixedly arranged on the upper surface of the moving base 1, the two groups of transverse screw rods 202 are rotatably arranged between the portal frame 201, a moving block 204 is slidably arranged on the surface of the transverse screw rods 202, the clamping part 4 is arranged at the bottom of the moving block 204, a positioning rope 5 is arranged between the clamping part 4 and the moving block 204, one end of the clamping part 4 is rotatably connected with a first motor 205, the clamping part 4 comprises two groups of clamping plates 401, a first vertical plate 405 is fixedly connected below the supporting plate 403, a second vertical plate 406 is slidably mounted below the supporting plate 403, and the two groups of adjusting rods 404 are respectively in threaded connection with the first vertical plate 405 and the second vertical plate 406.
Bearing assembly 3 includes pivot 301 and tray 302, pivot 301 fixed mounting is in tray 302 bottom surface central position, the recess 303 has been seted up in the tray 302, locking screw 304 is installed to recess 303 bilateral symmetry, pivot 301 is kept away from tray 302 one end and is installed in removing base 1 and extend to and remove base 1 below in the rotation, pivot 301 is kept away from tray 302 one end transmission and is connected with second motor 305, it has backup pad 306 to slide in the recess 303 and peg graft, equidistant array has storing groove 307 in the backup pad 306, tray 302 bilateral symmetry is provided with limiting plate 308, limiting plate 308 one side is provided with fixed plate 309, fixedly connected with spring 310 between fixed plate 309 and the limiting plate 308, the output shaft fixed mounting of second motor 305 has first bevel gear 311, pivot 301 one end fixed mounting has second bevel gear 312, first bevel gear 311 and the meshing of second bevel gear 312.
Two ends of the traversing lead screw 202 are rotatably connected with two groups of sliding sleeves 206 through deep groove ball bearings, the sliding sleeves 206 are slidably mounted on the surfaces of four groups of upright posts of the portal frame 201, one side of each sliding sleeve 206 is in threaded connection with a set screw, one end of the traversing lead screw 202 is fixedly mounted with a first synchronous pulley 207, an output shaft end of a first motor 205 is fixedly mounted with a second synchronous pulley 208, the first synchronous pulley 207 is in transmission connection with the second synchronous pulley 208, and the first motor 205 is fixedly mounted on the upper surface of the portal frame 201.
The positioning rope 5 comprises two groups of sheaves 501 and a steel belt 502, a notch matched with the steel belt 502 is formed in each sheave 501, and the steel belt 502 is prevented from slipping off under the condition of uneven stress in long-term use; the steel wire belt 502 is connected between the two grooved wheels 501 in a transmission manner, the bottom of the moving block 204 is fixedly connected with the transition piece 6, the transition piece 6 is arranged, and the moving block 204 and the grabbing component 2 are connected under the condition that the use requirement is ensured; transition piece 6 includes hollow tube 601 and welds first connecting pin 602 and second connecting pin 603 in hollow tube 601 both sides, hollow tube 601 runs through in steel wire belt 502 outside, first connecting pin 602 one end fixed connection is in movable block 204 lower surface, and first connecting pin 602 keeps away from movable block 204 one end and runs through in hollow tube 601 and with steel wire belt 502 fixed connection, fixed surface is connected on second connecting pin 603 one end and the backup pad 403, fixed surface installs third motor 7 on the backup pad 403, the output shaft fixedly connected with screw rod 8 of third motor 7, second riser 406 top slidable mounting just extends to the backup pad 403 top in the backup pad 403, screw rod 8 and second riser 406 top threaded connection, screw rod 8 keeps away from third motor 7 one end and rotates through the seated bearing and installs in backup pad 403 upper surface.
The upper surface of the movable base 1 is fixedly provided with a control cabinet 11, and the control cabinet 11 is electrically connected with a first motor 205, a second motor 305, a third motor 7 and a fourth motor 10.
It should be noted that a single chip microcomputer is arranged in the control cabinet 11 fixedly mounted on the upper surface of the mobile base 1, the model of the single chip microcomputer is AT89C51, and the AT89C51 single chip microcomputer can be programmed in sequence according to the actions of the electrical components, so that the work flow that each mechanism should complete is realized, and the action sequence between the electrical components is controlled without interference.
The working principle is as follows: the automatic material grabbing device is characterized in that a group of moving bases 1 with automatic grabbing components 2 are arranged, the space positions of the grabbing components 2 are controlled by a transverse moving screw 202 to grab materials, the grabbing components 2 are suitable for materials with different sizes, and potential safety hazards caused by manual carrying are avoided;
set up the tray 302 of rotating the connection through pivot 301 in removal base 1 top, set up recess 303 in tray 302 to slide in recess 303 and place different backup pads 306, be provided with the storing groove 307 of different shapes in the backup pad 306, be applicable to not unidimensional material, and utilize locking screw 304 locking, be convenient for tear open and change, and independent carrier assembly 3 makes the material place stably, and difficult emergence is emptyd or is dropped.
The vertical position of the moving block 204 is limited by the positioning rope 5, so that when the first motor 205 drives the traverse lead screw 202 to rotate, the moving block 204 can move on the surface of the traverse lead screw 202, and the steel wire belt 502 is installed between the two grooved wheels 501 in a transmission manner, so that the moving block is convenient to disassemble, assemble and maintain.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Claims (10)
1. The utility model provides a robot with transport function, includes mobile base (1), snatchs subassembly (2) and carrier assembly (3), its characterized in that: the grabbing assembly (2) comprises a portal frame (201), two groups of transverse moving screw rods (202) and a clamping part (4), the portal frame (201) is fixedly installed on the upper surface of a moving base (1), the two groups of transverse moving screw rods (202) are rotatably installed between the portal frame (201), a moving block (204) is installed on the surface of each transverse moving screw rod (202) in a sliding mode, the clamping part (4) is arranged at the bottom of the moving block (204), a positioning rope (5) is arranged between the clamping part (4) and the moving block (204), and one end of the clamping part (4) is in transmission connection with a first motor (205);
the clamping part (4) comprises two groups of clamping plates (401), adjusting rods (402) and a supporting plate (403), the clamping plates (401) are connected with the adjusting rods (404) in a rotating mode, a first vertical plate (405) is fixedly connected to the lower portion of the supporting plate (403), a second vertical plate (406) is installed on the lower portion of the supporting plate (403) in a sliding mode, and the two groups of adjusting rods (404) are respectively in threaded connection with the first vertical plate (405) and the second vertical plate (406);
the bearing assembly (3) comprises a rotating shaft (301) and a tray (302), the rotating shaft (301) is fixedly installed at the central position of the bottom surface of the tray (302), a groove (303) is formed in the tray (302), locking screws (304) are symmetrically installed on two sides of the groove (303), one end, far away from the tray (302), of the rotating shaft (301) is rotatably installed in the movable base (1) and extends to the lower side of the movable base (1), and one end, far away from the tray (302), of the rotating shaft (301) is in transmission connection with a second motor (305);
remove fixed surface and install switch board (11) on base (1), switch board (11) and first motor (205), second motor (305) electric connection.
2. The robot having a transfer function according to claim 1, wherein: the two ends of the transverse moving screw rod (202) are rotatably connected with two sets of sliding sleeves (206) through deep groove ball bearings, the sliding sleeves (206) are slidably installed on the surfaces of four sets of upright posts of the portal frame (201), and one side of each sliding sleeve (206) is in threaded connection with a set screw.
3. The robot having a transfer function according to claim 1, wherein: one end of the transverse moving screw rod (202) is fixedly provided with a first synchronous pulley (207), an output shaft end of the first motor (205) is fixedly provided with a second synchronous pulley (208), the first synchronous pulley (207) is in transmission connection with the second synchronous pulley (208), and the first motor (205) is fixedly arranged on the upper surface of the portal frame (201).
4. The robot having a transfer function according to claim 1, wherein: the positioning rope (5) comprises two groups of grooved wheels (501) and a steel belt (502), the steel belt (502) is in transmission connection between the two groups of grooved wheels (501), and the bottom of the moving block (204) is fixedly connected with a transition piece (6).
5. The robot having a transfer function according to claim 4, wherein: the transition piece (6) comprises a hollow pipe (601), a first connecting pin shaft (602) and a second connecting pin shaft (603), wherein the first connecting pin shaft (602) and the second connecting pin shaft (603) are welded on two sides of the hollow pipe (601), the hollow pipe (601) penetrates through the outer portion of the steel wire belt (502), one end of the first connecting pin shaft (602) is fixedly connected to the lower surface of the moving block (204), one end, far away from the moving block (204), of the first connecting pin shaft (602) penetrates through the hollow pipe (601) and is fixedly connected with the steel wire belt (502), and one end of the second connecting pin shaft (603) is fixedly connected with the upper surface of.
6. The robot having a transfer function according to claim 1, wherein: the upper surface of the supporting plate (403) is fixedly provided with a third motor (7), the third motor (7) is electrically connected with the control cabinet (11), the output shaft end of the third motor (7) is fixedly connected with a screw rod (8), the top of the second vertical plate (406) is slidably installed in the supporting plate (403) and extends to the upper side of the supporting plate (403), the screw rod (8) is in threaded connection with the top of the second vertical plate (406), and one end, far away from the third motor (7), of the screw rod (8) is rotatably installed on the upper surface of the supporting plate (403) through a bearing with a seat.
7. The robot having a transfer function according to claim 1, wherein: a supporting plate (306) is inserted in the groove (303) in a sliding mode, and storage grooves (307) are arranged in the supporting plate (306) in an equidistant array mode.
8. The robot having a transfer function according to claim 1, wherein: limiting plates (308) are symmetrically arranged on two sides of the tray (302), a fixing plate (309) is arranged on one side of each limiting plate (308), and a spring (310) is fixedly connected between each fixing plate (309) and each limiting plate (308).
9. The robot having a transfer function according to claim 1, wherein: a first bevel gear (311) is fixedly mounted at an output shaft end of the second motor (305), a second bevel gear (312) is fixedly mounted at one end of the rotating shaft (301), and the first bevel gear (311) is meshed with the second bevel gear (312).
10. The robot having a transfer function according to claim 1, wherein: four groups of walking wheels (9) are rotatably installed at four corners of the bottom of the movable base (1), wherein a fourth motor (10) is connected in the two groups of walking wheels (9) in a transmission mode, and the fourth motor (10) is electrically connected with the control cabinet (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011390162.2A CN112645049A (en) | 2020-12-01 | 2020-12-01 | Robot with transport function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011390162.2A CN112645049A (en) | 2020-12-01 | 2020-12-01 | Robot with transport function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112645049A true CN112645049A (en) | 2021-04-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011390162.2A Pending CN112645049A (en) | 2020-12-01 | 2020-12-01 | Robot with transport function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112645049A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114209071A (en) * | 2021-12-09 | 2022-03-22 | 温州科技职业学院 | Vegetable cleaning device with drying function |
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| CN205255186U (en) * | 2015-12-07 | 2016-05-25 | 郭彪 | Carpenter is with numerical control disc type milling machine |
| KR20190082573A (en) * | 2018-01-02 | 2019-07-10 | 주식회사 윈텍오토메이션 | Hard-metal insert product separator |
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| CN114209071A (en) * | 2021-12-09 | 2022-03-22 | 温州科技职业学院 | Vegetable cleaning device with drying function |
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Application publication date: 20210413 |