CN113086901B

CN113086901B - Intelligent transportation robot

Info

Publication number: CN113086901B
Application number: CN202110334652.9A
Authority: CN
Inventors: 郭红微; 杨泽雪; 赵中楠
Original assignee: Heilongjiang Institute of Technology
Current assignee: Heilongjiang Institute of Technology
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2022-06-10
Anticipated expiration: 2041-03-29
Also published as: CN113086901A

Abstract

The invention relates to a robot, in particular to an intelligent transportation robot. The utility model provides an intelligent transportation robot, includes the manipulator, the manipulator includes shovel shoulder and the shovel arm of an organic whole connection at shovel shoulder right-hand member. When the front end and the rear end of the shovel shoulder are respectively provided with a shovel arm, a gap is reserved between the two shovel arms. Further when the manipulator is equipped with two, make installing on synchronous adjustment mechanism that two manipulator mirror symmetry set up, utilize synchronous adjustment mechanism to adjust that two manipulators are close to in step to the shovel shoulder slides with ground and laminates, and then can follow the bottom of goods and scoop subaerial goods. The right end of the shovel arm is also provided with a chamfer surface, and the chamfer surface is high in the left and low in the right. The shovel arm arranged by using the mirror image can stably shovel the goods from the bottom of the goods.

Description

Intelligent transportation robot

Technical Field

The invention relates to a robot, in particular to an intelligent transportation robot.

Background

For example, a crawler-type multi-section solar transport robot is disclosed as CN104973150A, and the transport robot is composed of at least 2 single-section transport robots and a connecting mechanism, the connecting mechanism connects two adjacent sections of transport robots, and solar panels are laid above a movable support plate, a side rotating baffle plate towards one side of the center of the robot, a side folding support plate towards one side of the center of the robot and above the connecting folding support plate. The robot comprises a plurality of single-section crawler-type solar transportation robots, side plates of each transportation robot can be overturned onto the crawler belt, the crawler belt plays a supporting role, so that the unfolding area is enlarged, the solar energy collection rate is improved, the side plates can be folded when the robot is not used, the occupied area is reduced, each solar cell panel in the robot is supported by a cylinder, different compartments can be formed as required, and the robot can be lifted to the top end to prevent two side baffles from blocking light so as to improve the generating capacity; but the transport robot cannot pick up the goods from the bottom of the goods.

Disclosure of Invention

The invention aims to provide an intelligent transportation robot which can pick up goods from the bottom of the goods.

The purpose of the invention is realized by the following technical scheme:

the utility model provides an intelligent transportation robot, includes the manipulator, the manipulator includes shovel shoulder and the shovel arm of an organic whole connection at shovel shoulder right-hand member. When the front end and the rear end of the shovel shoulder are respectively provided with a shovel arm, a gap is reserved between the two shovel arms.

Further when the manipulator is equipped with two, make installing on synchronous adjustment mechanism that two manipulator mirror symmetry set up, utilize synchronous adjustment mechanism to adjust that two manipulators are close to in step to the shovel shoulder slides with ground and laminates, and then can follow the bottom of goods and scoop subaerial goods. The right end of the shovel arm is also provided with a chamfer surface, and the chamfer surface is high in the left and low in the right.

Further the manipulator still includes the foundation beam, buckles seat I and electric putter I, buckles I rigid coupling of seat in the left front end of shovel board upper end, and electric putter I's stiff end rigid coupling is at the front end of foundation beam, and electric putter I's expansion end sets up towards a left side, electric putter I's expansion end with buckle I rigid coupling of seat.

Further the manipulator still includes the baffle, with the upper end rigid coupling baffle of foundation beam, higher as the goods, can utilize the baffle to shelter from the goods, increases the stability of transport. But the baffle setting is higher makes the manipulator occupation space great, has the defect. Therefore, the manipulator further comprises a bending frame I, a plug board and an electric push rod II, the upper end of the baffle is provided with a slot, the plug board is connected in the slot in a sliding mode, the bending frame I is fixedly connected to the upper end of the plug board, the fixed end of the electric push rod II is fixedly connected to the base beam, and the movable end of the electric push rod II is fixedly connected to the upper portion of the bending frame I.

The adjusting mechanism preferably adjusts the two manipulators to approach or move away from each other in a screw transmission mode.

The intelligent transportation robot has the beneficial effects that:

the cargo can be stably shoveled by utilizing the shovel arms arranged in a mirror image manner; the two base beams on the two mechanical arms can be abutted against the left end and the right end of the goods, so that the carrying is more stable; the area of the inserting plate contacting with goods is increased, and the positioning stability is improved; the inserting plate can be hidden and contracted in the baffle plate for hiding, or lifted and supported out of the baffle plate to increase the supporting height, so that the space occupied by the manipulator is prevented from being larger.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 shows schematically a shovel arm construction in a perspective view;

fig. 2 schematically shows the structure of a foundation beam in a perspective view;

fig. 3 shows schematically the structure of a connecting beam in a perspective view;

fig. 4 shows schematically the structure of the adjustment mechanism in a perspective view;

FIG. 5 schematically illustrates the structure of a baffle in perspective view;

FIG. 6 shows schematically the structure of a bending frame I in a perspective view;

fig. 7 shows schematically in a perspective view how the board is hidden and lifted;

FIG. 8 schematically shows a structure of a pushing portion in a perspective view;

fig. 9 schematically shows a sectional structure of the pushing portion in a perspective view;

fig. 10 schematically shows an overall partial structure of the present invention in a perspective view.

In the figure: the shovel comprises a shovel shoulder 11, a shovel arm 12, a chamfer surface 13, a base beam 14, a bending seat I15, an electric push rod I16, a baffle 17, a cross rod 18, a connecting beam 19, a supporting part 110, a slot 111, a rack 21, a lead screw 22, a belt wheel I23, a motor 24, a belt wheel II 25, a bending frame I31, a plug board 32, an electric push rod II 33, a bending frame II 41, an electric push rod III 42, a base plate 43 and a pushing part 44.

Detailed Description

It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.

The directional terms upper, lower, left, right, front, rear, front, back, top, bottom and the like that are or may be mentioned in this specification are defined relative to the configurations shown in the drawings, and are relative concepts that may be changed accordingly depending on the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the first, second, third, etc. similar descriptions are used for distinguishing and not for limiting the importance.

The present invention will be described in further detail with reference to the accompanying drawings.

This section may be illustrated with reference to fig. 1 and 10 to further detail an exemplary operation:

the shovel arm 12 is used for shoveling and supporting goods, for example, the goods that the carton is packed, and the interval between the shovel arm 12 reduces the area of contact of shovel arm 12 and goods bottom, reduces frictional resistance, and it is more stable to utilize two shovel arms 12 to shovel the goods, and preferred shovel arm 12 is equipped with threely, respectively in the front of shovel shoulder 11, well and rear portion, and then carries out the multiple spot to great goods and support more stably, selects two adjacent shovel arms 12 to less goods can.

When the goods is shoveled by the mode that the shoveling shoulder 11 is attached to the ground and is close to synchronously, the two ends of the bottom of the goods are shoveled simultaneously, the goods are stressed synchronously in two directions, and the goods are prevented from being moved by unidirectional force to cause the shoveling operation failure when being shoveled in one direction. The chamfered surface 13 is utilized to facilitate insertion of the dipper arm 12 into the cargo. Compared with direct clamping of goods transportation, the bottom of the goods is shoveled and picked up to transport, and the fragile carton packaging is not easy to damage.

Using base beam 14 as a reference point for the movement of blade 11 and arm 12, electric ram I16 is actuated to enable the side-to-side movement of blade 11 and arm 12 relative to base beam 14. And the blade arms 12 on both manipulators can be adjusted individually. When the shovel arm 12 needs to be adjusted synchronously, the adjusting mechanism drives the two base beams 14 to be close to or far away from synchronously. Two base beams on the two mechanical arms can be abutted to the left end and the right end of the goods, so that the carrying is more stable. When the distance between the left end and the right end of the goods is small, the electric push rod I16 is started to enable the two shovel arms 12 to move outwards, so that the shovel arms 12 between the two base beams 14 are shortened, and the situation that the goods are contacted with the base beams 14 when the shovel arms 12 on the two mechanical hands collide with each other cannot be avoided.

This section can be seen from figures 1, 5, 6, 10 to further detail an exemplary operation:

the electric push rod II 33 is started to drive the bending frame I31 and the inserting plate 32 to lift relative to the baffle 17, and then the inserting plate 32 can be hidden and retracted in the baffle 17 to be hidden, or the lifting support is arranged on the baffle 17 to increase the supporting height, so that the occupied space of a manipulator is avoided being large.

This section can be explained in detail with reference to fig. 7, 8, 10:

further the manipulator still includes bending frame II 41, electric putter III 42, base plate 43 and dials and pushes away portion 44, and the left end of bending frame II 41 is connected fixedly with the stiff end of electric putter III 42, and the expansion end of electric putter III 42 passes bending frame II 41 from left to right, and base plate 43 rigid coupling is on the expansion end of electric putter III 42, and the front and back both ends of base plate 43 lower extreme respectively rigid coupling are dialled and are pushed the portion 44, dial and push portion 44 and can laminate with the right-hand member face of base beam 14, and bending frame II 41 rigid coupling is in the upper end of bending frame I31.

This section can be seen from figures 7, 8, 10 to further detail an exemplary operation:

when the upper end of the transported goods is also stacked with other goods, the sizes of the other goods and the goods below are different, and the quantities of the other goods are different. The electric push rod III 42 is started to drive the base plate 43 and the pushing portion 44 to be close to and abut against the goods located above, the height of the base plate 43 and the pushing portion 44 can be adjusted, and the base plate 43 and the pushing portion 44 are driven to move up and down through the bending frame I31. In addition, when the transported large goods are packaged by the carton and the large goods need to be taken out of the carton, the two pushing parts 44 are adjusted to the buckling position above the carton, then the two pushing parts 44 are made to descend and inserted into the buckling position of the two paper boards above the carton, then the two pushing parts 44 are driven to be away from each other, the two buckled paper boards are pushed to be in a vertical state so as to open the carton, at the moment, the pushing parts 44 are used for limiting the buckled paper boards to be buckled again, and the situation that the buckled paper boards influence the goods to be taken out of the carton can be avoided. After the buckled paper boards are opened, the pushing part 44 can be directly lowered to be inserted into the gap between the paper boxes and the goods, and the goods can be clamped and fixed by the pushing parts 44 on the two mechanical arms. The distance of deployment of the two shoulders 11 is then increased, at which time the electric ram iii 42 is extended to compensate, and then the carton bottom will drop without the shoulders 11. If the carton and goods can not be separated because of the tight insertion of the pushing part 44, the pushing part 44 can be started to descend, and then the carton descends to contact the ground, so that the shovel shoulders 11 on the two mechanical arms are close to the part for clamping the bottom of the carton, and because the bottom of the carton is of a plate-shaped structure, the wall surface of the carton cannot be squeezed and deformed, so that the goods are tight in the carton. Utilize this moment to dial the portion 44 rising of pushing away with the goods from the carton in can, and then realize the separation of goods and carton so that the operation of the dismantlement packing after the freight.

This section can be explained in detail with reference to fig. 2, 3, 4, 10:

furthermore, the adjusting mechanism comprises a cross bar 18, two connecting beams 19, a support part 110, an insertion groove 111, a rack 21, two lead screws 22, belt wheels I23, a motor 24 and two belt wheels II 25, wherein the front and the back of each lead screw 22 are provided with two lead screws 22, the thread turning directions of the two sides of each lead screw 22 are opposite, the two ends and the middle part of each lead screw 22 are rotatably connected to the rack 21, the edge ends of the two lead screws 22 are respectively fixedly connected with one belt wheel I23, the two belt wheels I23 are driven by a belt, the upper end of the rack 21 is fixedly connected with the motor 24, the output shaft of the motor 24 is fixedly connected with the middle part of one lead screw 22 by one belt wheel II 25, the two belt wheels II 25 are driven by the belt, the middle part of the rack 21 is provided with an opening, the belt wheels II 25 on the corresponding lead screws 22 are positioned in the opening, the two connecting beams 19 are provided, one connecting beam 19 is connected with the left threads of the two lead screws 22, the other connecting beam 19 is connected with the right threads of the two lead screws 22, the two connecting beams 19 are respectively fixedly connected with the outer ends of the baffle plates 17 of the two mechanical arms, the outer ends are the ends far away from the contact surfaces of the baffle plates 17 and goods, a cross rod 18 is arranged in each mechanical arm, the cross rods 18 are fixedly connected on the two baffle plates 17 correspondingly and positioned on the front side, the connecting beams 19 are fixedly connected with the cross rods 18, the bottoms of the connecting beams 19 are fixedly connected with the support parts 110, and the upper ends of the support parts 110 are in contact with the lower ends of the cross rods 18 to increase the structural stability. The adjusting mechanism can also adopt hydraulic cylinders, and the two hydraulic cylinders are arranged on the truss in a mirror symmetry manner so as to drive the two mechanical arms.

This section can be seen from figures 2, 3, 4, 10 to further detail an exemplary operation:

starter motor 24 can drive II 25 rotations of band pulley on itself, and then two II 25 synchronous rotations of band pulley, and then can drive lead screw 22 and rotate, also realize the transmission for band pulley belt subassembly because of two lead screws 22, so two lead screws 22 can synchronous rotation in order to adjust the interval of two tie-beams 19, two tie-beams 19 are through the interval of adjusting two base beams 14 with being connected of baffle 17, and then realize the synchronous control of the whole interval of two manipulators, cooperation electric putter III 42 can adjust the shovel board 11 that corresponds alone and remove, realize multiple usage pattern. Referring to fig. 10, the present invention leaves the part shown in the figure on the adjusting mechanism mirror-symmetrically except for the adjusting mechanism consisting of the frame 21, the lead screw 22, the pulley i 23, the motor 24 and the pulley ii 25. The invention is arranged on movable equipment, such as a crawler-type chassis to drive the invention to move, a lifting device, such as a hydraulic cylinder and the like, is arranged on the crawler-type chassis, and the frame 21 is arranged on the hydraulic cylinder and is used for driving the invention to lift.

The technical scope of the present application is not limited to the contents in the above description, and those skilled in the art can make various changes and modifications to the above embodiments without departing from the technical spirit of the present application, and these changes and modifications should fall within the protective scope of the present application.

Claims

1. The utility model provides an intelligent transportation robot, includes manipulator and adjustment mechanism, its characterized in that: the manipulator comprises a plate-shaped piece, and the adjusting mechanism can adjust the plate-shaped piece to translate;

the two mechanical arms are arranged in a mirror symmetry mode, the mechanical arms are arranged on the adjusting mechanism, the adjusting mechanism can synchronously adjust the distance between the two mechanical arms, and the bottoms of the mechanical arms can be attached to the ground to slide;

the plate-shaped part comprises a shovel shoulder (11) and shovel arms (12), the shovel shoulder (11) is integrally connected with at least two shovel arms (12) which are arranged in a linear array, and a gap is formed between the two shovel arms (12);

the shovel shoulder (11) is provided with three shovel arms (12) which are uniformly distributed;

a chamfer surface (13) is arranged at one end of the shovel arm (12) far away from the shovel shoulder (11);

the manipulator further comprises a base beam (14), a bending seat I (15) and an electric push rod I (16), wherein the bending seat I (15) is fixedly connected to one end, far away from the shovel arm (12), of the shovel shoulder (11), and the electric push rod I (16) can drive the shovel shoulder (11) to move left and right relative to the base beam (14);

the upper part of the base beam (14) is fixedly connected with at least one baffle (17);

three baffles (17) are uniformly distributed;

the manipulator further comprises a bending frame I (31), inserting plates (32) and electric push rods II (33), wherein inserting grooves (111) are formed in the upper portions of the baffle plates (17), the number of the inserting plates (32) corresponds to that of the inserting grooves (111), the inserting plates (32) are connected in the inserting grooves (111) in a sliding mode, the bending frame I (31) is integrally connected above the inserting plates (32), and the electric push rods II (33) can drive the bending frame I (31) to lift relative to the base beam (14);

adjustment mechanism includes tie-beam (19), frame (21) and lead screw (22), and tie-beam (19) rigid coupling is on baffle (17), rotates on frame (21) and connects two lead screws (22), and the both sides screw thread of lead screw (22) is turned round to the opposite direction, and tie-beam (19) are equipped with two, and threaded connection is in the both sides of lead screw (22) respectively for two tie-beam (19), and two tie-beam (19) are respectively with baffle (17) rigid coupling that two manipulators included.