CN112645052A - Movable robot for carrying - Google Patents
Movable robot for carrying Download PDFInfo
- Publication number
- CN112645052A CN112645052A CN202011427470.8A CN202011427470A CN112645052A CN 112645052 A CN112645052 A CN 112645052A CN 202011427470 A CN202011427470 A CN 202011427470A CN 112645052 A CN112645052 A CN 112645052A
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- China
- Prior art keywords
- adjusting
- plate
- pushing
- clamping
- plates
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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)
- Manipulator (AREA)
Abstract
The invention discloses a movable robot for carrying, which comprises a bracket, a wheel device, a movable plate, a connecting plate and a clamping chamber, wherein the bracket is fixedly connected with the movable plate; the bottom of the support is symmetrically provided with a plurality of wheel devices convenient to move, and a movable plate is arranged in the support; the bottom of the movable plate is symmetrically fixed with connecting plates, and the bottoms of the two connecting plates are provided with clamping bins; pushing plates are arranged in the two clamping chambers in a sliding manner; clamping plates are fixed on the inner sides of the two pushing plates; the inner end of the clamping plate is arranged to be downward inclined, and a pushing mechanism for pushing the clamping plate to move inwards is arranged in the clamping bin. The movable robot for carrying can conveniently clamp materials through the matching of the pushing plate, the clamping plate and the pushing mechanism, and cannot damage the structure of the materials; through setting up adjustment mechanism, can adjust the upper and lower height of material to transfer robot removes.
Description
Technical Field
The invention relates to a carrying robot, in particular to a movable robot for carrying.
Background
A transfer robot is a machine device for transferring a load, and is capable of automatically executing work and realizing various functions by its own power and control capability. The existing carrying robot is not enough when in use, and when the carrying robot carries materials in the use process, the carrying robot often clamps the materials through clamping arms, thereby carrying the materials, adopting the mode to carry the materials, often leading the material surface to bear larger pressure, and damaging the structure of the materials to a certain extent.
Disclosure of Invention
The present invention is directed to a mobile robot for transportation to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a movable robot for carrying comprises a bracket, a wheel device, a movable plate, a connecting plate and a clamping chamber; the bottom of the support is symmetrically provided with a plurality of wheel devices convenient to move, and a movable plate is arranged in the support; the bottom of the movable plate is symmetrically fixed with connecting plates, and the bottoms of the two connecting plates are provided with clamping bins; pushing plates are arranged in the two clamping chambers in a sliding manner; clamping plates are fixed on the inner sides of the two pushing plates; the inner end of the clamping plate is arranged to be downward inclined, and a pushing mechanism for pushing the clamping plate to move inwards is arranged in the clamping bin.
As a further scheme of the invention: the front side and the rear side of the two clamping plates are respectively fixed with a baffle.
As a still further scheme of the invention: the pushing mechanism comprises a pushing motor, a driving gear, a driven gear, a crankshaft, a rotating sleeve and a pushing rod; a pushing motor is fixed in the clamping chamber, and a driving gear is fixed at the rotating end of the pushing motor; the driving gear is meshed with the driven gear, and the driving gear and the driven gear are identical in structure; the driving gear and the driven gear are respectively connected with one ends of the two crankshafts which are symmetrically distributed; the two crankshafts are rotatably arranged in the clamping chamber; the bent parts of the two crankshafts are both rotatably provided with rotating sleeves; one end of a push rod is fixed on each of the two rotating sleeves; the other ends of the two push rods are hinged on the push plate.
As a still further scheme of the invention: a plurality of positioning rods are symmetrically fixed in the bracket, and the movable plate is arranged on the plurality of positioning rods in a sliding manner; and an adjusting mechanism for adjusting the vertical height of the movable plate is also arranged in the support.
As a still further scheme of the invention: the adjusting mechanism comprises a rotating shaft, an incomplete gear, an adjusting plate and an adjusting rod; two rotating shafts are rotatably arranged on the bracket, and incomplete gears are fixed on the two rotating shafts; the initial rotation angles of the two incomplete gears are different by half a circle, and the two incomplete gears are respectively and rotatably arranged in the openings of the two adjusting plates; the upper end and the lower end of the opening of the adjusting plate are respectively provided with a toothed bar matched with the incomplete gear, and when teeth at one end of the incomplete gear are separated from the toothed bar at one end of the opening of the adjusting plate, the teeth at the other end of the incomplete gear are just contacted with the toothed bar at the other end of the opening of the adjusting plate; the bottoms of the two adjusting plates are hinged with one end of an adjusting rod; the other ends of the two adjusting rods are hinged on the movable plate; and the driving mechanism for driving the two rotating shafts to rotate is arranged on the bracket.
As a still further scheme of the invention: the driving mechanism comprises a driving adjusting motor and a belt; an adjusting motor is fixed on the bracket, and the rotating end of the adjusting motor is connected with one end of the single rotating shaft; the two rotating shafts are connected through a belt.
As a still further scheme of the invention: a plurality of limiting rod structures are symmetrically arranged between the bracket and the two adjusting plates and between the two adjusting plates; the limiting rod mechanism comprises an inner limiting rod and an outer limiting rod; one end of the inner limiting rod is arranged in one end of the outer limiting rod in a sliding mode.
Compared with the prior art, the invention has the beneficial effects that: the pushing plate, the clamping plate and the pushing mechanism are matched, so that the material can be clamped conveniently, and the structure of the material cannot be damaged; through setting up adjustment mechanism, can adjust the upper and lower height of material to transfer robot removes.
Drawings
Fig. 1 is a schematic structural view of a mobile robot for carrying.
Fig. 2 is a schematic structural view of a pushing mechanism in the mobile robot for carrying.
Fig. 3 is a schematic structural view of an adjustment mechanism in the mobile robot for carrying.
In the figure: 1. a support; 2. a wheel assembly; 3. a movable plate; 4. a connecting plate; 5. a clamping chamber; 6. a push plate; 7. a clamping plate; 8. a push motor; 9. a driving gear; 10. a driven gear; 11. a crankshaft; 12. rotating the sleeve; 13. a push rod; 14. positioning a rod; 15. adjusting the motor; 16. a belt; 17. a rotating shaft; 18. an incomplete gear; 19. an adjusting plate; 20. adjusting a rod; 21. an inner limiting rod; 22. an outer limiting rod.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to specific embodiments.
Example 1
Referring to fig. 1-3, the present embodiment provides a mobile robot for transportation, including a support 1, a wheel device 2, a movable plate 3, a connecting plate 4 and a clamping chamber 5; the bottom of the support 1 is symmetrically provided with a plurality of wheel devices 2 convenient to move, and a movable plate 3 is arranged in the support 1; the bottom of the movable plate 3 is symmetrically fixed with connecting plates 4, and the bottoms of the two connecting plates 4 are respectively provided with a clamping chamber 5; the two clamping chambers 5 are internally provided with a pushing plate 6 in a sliding way; the inner sides of the two pushing plates 6 are respectively fixed with a clamping plate 7; the inner end of the clamping plate 7 is designed to be downward inclined, and a pushing mechanism for pushing the clamping plate 7 to move inwards is arranged in the clamping bin 5; set up like this, when needs were carried the material, support 1 removed directly over the material, and two pushing mechanism promoted two pushing plates 6 inward movement respectively this moment to promote two grip blocks 7 inward movement, because the inner of grip block 7 establishes to decurrent slope shape, thereby can drive the material and remove on two grip blocks 7, thereby can drive the material and remove.
Furthermore, in order to prevent the materials from falling from the front side and the rear side of the two clamping plates 7, baffle plates are fixed on the front side and the rear side of the two clamping plates 7.
The pushing mechanism comprises a pushing motor 8, a driving gear 9, a driven gear 10, a crankshaft 11, a rotating sleeve 12 and a pushing rod 13; a pushing motor 8 is fixed in the clamping chamber 5, and a driving gear 9 is fixed at the rotating end of the pushing motor 8; the driving gear 9 is meshed with the driven gear 10, and the structures of the driving gear and the driven gear are the same; the driving gear 9 and the driven gear 10 are respectively connected with one ends of two crankshafts 11 which are symmetrically distributed; the two crankshafts 11 are rotatably arranged in the clamping bin 5; the bent parts of the two crankshafts 11 are both rotatably provided with rotating sleeves 12; one end of a push rod 13 is respectively fixed on the two rotating sleeves 12; the other ends of the two push rods 13 are hinged on the push plate 6; so arranged, when the pushing motor 8 works to drive the driving gear 9 to rotate, the driven gear 10 is driven to rotate reversely, the two crankshafts 11 rotate reversely, the two pushing rods 13 are pushed to swing inwards through the rotating sleeve 12, and the pushing plate 6 is pushed to move inwards.
Further, in order to facilitate driving the clamping plate 7 to move upwards so that the robot can drive the material to move, a plurality of positioning rods 14 are symmetrically fixed in the bracket 1, and the movable plate 3 is slidably arranged on the plurality of positioning rods 14; and an adjusting mechanism for adjusting the vertical height of the movable plate 3 is also arranged in the support 1.
The adjusting mechanism comprises a rotating shaft 17, an incomplete gear 18, an adjusting plate 19 and an adjusting rod 20; two rotating shafts 17 are rotatably arranged on the bracket 1, and incomplete gears 18 are fixed on the two rotating shafts 17; the initial rotation angles of the two incomplete gears 18 are different by half a turn, and the two incomplete gears 18 are respectively and rotatably arranged in the openings of the two adjusting plates 19; the upper end and the lower end of the opening of the adjusting plate 19 are respectively provided with a toothed bar matched with the incomplete gear 18, and when teeth at one end of the incomplete gear 18 are separated from the toothed bar at one end of the opening of the adjusting plate 19, the teeth at the other end of the incomplete gear 18 are just contacted with the toothed bar at the other end of the opening of the adjusting plate 19; the bottoms of the two adjusting plates 19 are hinged with one end of an adjusting rod 20; the other ends of the two adjusting rods 20 are hinged on the movable plate 3; and a driving mechanism for driving the two rotating shafts 17 to rotate is arranged on the bracket 1.
Further, the driving mechanism includes a driving adjustment motor 15 and a belt 16; an adjusting motor 15 is fixed on the bracket 1, and the rotating end of the adjusting motor 15 is connected with one end of a single rotating shaft 17; the two rotating shafts 17 are connected through a belt 16; set up like this, when adjusting motor 15 during operation, thereby drive two pivot 17 synchronous rotations through belt 16, thereby drive two incomplete gear 18 syntropy rotations, because two incomplete gear 18's initial rotation angle phase difference half-turn, and the opening of regulating plate 19 is gone up the lower extreme and all is equipped with the ratch with incomplete gear 18 matched with, thereby two regulating plates 19 can be close to each other and keep away from, when two regulating plates 19 keep away from each other, thereby two regulation poles 20 can the upswing, thereby drive fly leaf 3 upward movement, thereby drive grip block 7 upward movement, so that the robot can drive the material and remove.
The working principle of the embodiment is as follows: when needs were carried the material, support 1 removed the material directly over, and two pushing mechanism promoted two pushing plates 6 inward movement respectively this moment to promote two grip block 7 inward movement, because the inner of grip block 7 establishes to decurrent slope shape, thereby can drive the material and remove on two grip block 7, thereby can drive the material and remove.
When adjusting motor 15 during operation, thereby drive two pivot 17 synchronous rotations through belt 16, thereby drive two incomplete gear 18 syntropy rotations, because two incomplete gear 18's initial rotation angle phase difference half-turn, and the opening of regulating plate 19 is gone up the lower extreme and all is equipped with the ratch with incomplete gear 18 matched with, thereby two regulating plate 19 can be close to each other and keep away from, when two regulating plate 19 keep away from each other, thereby two regulation pole 20 can the luffing motion, thereby drive fly leaf 3 upward movement, thereby drive grip block 7 upward movement, so that the robot can drive the material and remove.
Example 2
The embodiment is further improved on the basis of the embodiment 1, and the improvement is as follows: in order to make the two adjusting plates 19 more stable during movement, a plurality of limiting rod structures are symmetrically arranged between the bracket 1 and the two adjusting plates 19 and between the two adjusting plates 19; the limiting rod mechanism comprises an inner limiting rod 21 and an outer limiting rod 22; one end of the inner limiting rod 21 is slidably arranged in one end of the outer limiting rod 22.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (7)
1. A movable robot for carrying is characterized by comprising a support (1), a wheel device (2), a movable plate (3), a connecting plate (4) and a clamping chamber (5); a plurality of wheel devices (2) convenient to move are symmetrically arranged at the bottom of the support (1), and a movable plate (3) is arranged in the support (1); the bottom of the movable plate (3) is symmetrically fixed with connecting plates (4), and the bottoms of the two connecting plates (4) are respectively provided with a clamping chamber (5); pushing plates (6) are arranged in the two clamping chambers (5) in a sliding manner; clamping plates (7) are fixed on the inner sides of the two pushing plates (6); the inner end of the clamping plate (7) is arranged to be downward inclined, and a pushing mechanism for pushing the clamping plate (7) to move inwards is arranged in the clamping bin (5).
2. The mobile robot for conveyance according to claim 1, wherein a baffle is fixed to both front and rear sides of the two gripper plates (7).
3. The mobile robot for handling according to claim 1, characterized in that the pushing mechanism includes a pushing motor (8), a driving gear (9), a driven gear (10), a crankshaft (11), a rotating sleeve (12), and a pushing rod (13); a pushing motor (8) is fixed in the clamping chamber (5), and a driving gear (9) is fixed at the rotating end of the pushing motor (8); the driving gear (9) is meshed with the driven gear (10) and has the same structure; the driving gear (9) and the driven gear (10) are respectively connected with one ends of two crankshafts (11) which are symmetrically distributed; the two crankshafts (11) are rotatably arranged in the clamping chamber (5); the bent parts of the two crankshafts (11) are both rotatably provided with rotating sleeves (12); one end of a push rod (13) is respectively fixed on the two rotating sleeves (12); the other ends of the two push rods (13) are hinged on the push plate (6).
4. The mobile robot for handling according to claim 1, characterized in that a plurality of positioning rods (14) are symmetrically fixed in the support (1), and the movable plate (3) is slidably disposed on the plurality of positioning rods (14); an adjusting mechanism for adjusting the vertical height of the movable plate (3) is further arranged in the support (1).
5. The mobile robot for handling according to claim 4, characterized in that the adjusting mechanism comprises a rotating shaft (17), a partial gear (18), an adjusting plate (19), and an adjusting rod (20); two rotating shafts (17) are rotatably arranged on the bracket (1), and incomplete gears (18) are fixed on the two rotating shafts (17); the initial rotation angles of the two incomplete gears (18) have a half-circle difference, and the two incomplete gears (18) are respectively and rotatably arranged in the openings of the two adjusting plates (19); the upper end and the lower end of the opening of the adjusting plate (19) are respectively provided with a toothed bar matched with the incomplete gear (18), and when the teeth at one end of the incomplete gear (18) are separated from the toothed bar at one end of the opening of the adjusting plate (19), the teeth at the other end of the incomplete gear (18) are just contacted with the toothed bar at the other end of the opening of the adjusting plate (19); the bottoms of the two adjusting plates (19) are hinged with one end of an adjusting rod (20); the other ends of the two adjusting rods (20) are hinged on the movable plate (3); and a driving mechanism for driving the two rotating shafts (17) to rotate is arranged on the bracket (1).
6. The mobile robot for handling according to claim 5, characterized in that the drive mechanism comprises a drive adjustment motor (15) and a belt (16); an adjusting motor (15) is fixed on the support (1), and the rotating end of the adjusting motor (15) is connected with one end of a single rotating shaft (17); the two rotating shafts (17) are connected through a belt (16).
7. The mobile robot for handling as claimed in claim 6, characterized in that a plurality of stop bar structures are symmetrically arranged between the bracket (1) and the two adjusting plates (19) and between the two adjusting plates (19); the limiting rod mechanism comprises an inner limiting rod (21) and an outer limiting rod (22); one end of the inner limiting rod (21) is arranged in one end of the outer limiting rod (22) in a sliding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011427470.8A CN112645052A (en) | 2020-12-07 | 2020-12-07 | Movable robot for carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011427470.8A CN112645052A (en) | 2020-12-07 | 2020-12-07 | Movable robot for carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112645052A true CN112645052A (en) | 2021-04-13 |
Family
ID=75350460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011427470.8A Withdrawn CN112645052A (en) | 2020-12-07 | 2020-12-07 | Movable robot for carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112645052A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580030A (en) * | 2021-06-15 | 2021-11-02 | 奥士康科技股份有限公司 | Adjustable fixing device for PCB (printed circuit board) separator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438889A (en) * | 2018-05-10 | 2018-08-24 | 清远市校维绘动漫科技有限公司 | A kind of adjustable robot handling system |
| CN208980226U (en) * | 2018-10-23 | 2019-06-14 | 南京机电职业技术学院 | A kind of novel large-scale transport hoist |
| CN209536820U (en) * | 2019-01-21 | 2019-10-25 | 淳安千岛湖明艳木业有限公司 | Material handling device is used in a kind of production of wood furniture |
| CN211104042U (en) * | 2019-10-20 | 2020-07-28 | 天津晟华晔机器人有限公司 | Robot gripper for carrying bagged materials |
| CN211362290U (en) * | 2019-11-01 | 2020-08-28 | 安徽普华灵动机器人科技有限公司 | Suspension type industrial robot |
| CN211594821U (en) * | 2020-02-19 | 2020-09-29 | 宁夏有为信息技术有限公司 | Handling device for operation and maintenance of power equipment |
| CN112021827A (en) * | 2020-09-08 | 2020-12-04 | 童汝根 | Teaching aid strorage device is used in teacher's education management |
-
2020
- 2020-12-07 CN CN202011427470.8A patent/CN112645052A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438889A (en) * | 2018-05-10 | 2018-08-24 | 清远市校维绘动漫科技有限公司 | A kind of adjustable robot handling system |
| CN208980226U (en) * | 2018-10-23 | 2019-06-14 | 南京机电职业技术学院 | A kind of novel large-scale transport hoist |
| CN209536820U (en) * | 2019-01-21 | 2019-10-25 | 淳安千岛湖明艳木业有限公司 | Material handling device is used in a kind of production of wood furniture |
| CN211104042U (en) * | 2019-10-20 | 2020-07-28 | 天津晟华晔机器人有限公司 | Robot gripper for carrying bagged materials |
| CN211362290U (en) * | 2019-11-01 | 2020-08-28 | 安徽普华灵动机器人科技有限公司 | Suspension type industrial robot |
| CN211594821U (en) * | 2020-02-19 | 2020-09-29 | 宁夏有为信息技术有限公司 | Handling device for operation and maintenance of power equipment |
| CN112021827A (en) * | 2020-09-08 | 2020-12-04 | 童汝根 | Teaching aid strorage device is used in teacher's education management |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580030A (en) * | 2021-06-15 | 2021-11-02 | 奥士康科技股份有限公司 | Adjustable fixing device for PCB (printed circuit board) separator |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210413 |