CN113320972A

CN113320972A - Multifunctional loading and unloading integrated robot

Info

Publication number: CN113320972A
Application number: CN202110612653.5A
Authority: CN
Inventors: 张魏魏; 周洋洋; 屈海峰
Original assignee: Hefei Hagong Kuxun Intelligent Technology Co ltd
Current assignee: Hefei Hagong Kuxun Intelligent Technology Co ltd
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2021-08-31

Abstract

The invention discloses a multifunctional loading and unloading integrated robot, which relates to the field of loading and unloading integrated robots and aims at solving the problems that the existing loading and unloading integrated robot is inconvenient to flexibly adjust and use, has single function and low loading and unloading efficiency. The device has the characteristics of convenient adjustment, convenient clamping for fastening objects with different sizes, shapes and weights, and great improvement on the functionality of the device.

Description

Multifunctional loading and unloading integrated robot

Technical Field

The invention relates to the field of loading and unloading integrated robots, in particular to a multifunctional loading and unloading integrated robot.

Background

The automatic loading and unloading robot can be used for replacing manual material conveying bags to carry out loading operation, is not only suitable for the relatively poor working environment of the environment with much dust and the like, reduces the potential safety hazard possibly existing in manual conveying, and is higher in working efficiency. However, since the lengths and widths of the material bags are usually not equal, and the sizes of the carriages for carrying the material bags are not completely the same, the arrangement directions of the material bags need to be unified during loading in order to fully and reasonably utilize the space of the carriages. During manual operation, the arrangement orientation of the material bags can be identified and adjusted in a unified manner, but the manual cost is high, the labor intensity is high, and the material bags are restrained by the environment.

However, the loading and unloading clamping mechanism of the existing loading and unloading integrated robot is generally a fixed device and is inconvenient to adjust, and in actual use, due to the difference of the volume and the shape of the goods, the existing loading and unloading integrated robot is generally inconvenient and flexible to adjust, so that the existing loading and unloading integrated robot is poor in flexibility and not multifunctional, is inconvenient to adjust and use, and is low in loading and unloading efficiency of the goods due to the fact that the existing loading and unloading integrated robot is used for loading and unloading the goods with different shapes and volumes in a universal mode. Therefore, a multifunctional loading and unloading integrated robot is provided.

Disclosure of Invention

The invention provides a multifunctional loading and unloading integrated robot, which solves the problems that the existing loading and unloading integrated robot is inconvenient to flexibly adjust and use, and is single in function and low in loading and unloading efficiency.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multifunctional loading and unloading integrated robot comprises an omnidirectional vehicle platform, six mechanical arms and a square frame, wherein an equipment bin is fixedly connected between the front inner wall and the rear inner wall of the square frame, a push rod motor is fixedly arranged on the upper end surface array of the equipment bin, the upper end of the push rod motor is fixedly connected with the limiting cylinder, the lower end surface of the equipment bin is fixedly provided with a sucker, a screw rod is rotatably connected between the left inner wall and the right inner wall of the front side and the rear side of the square frame, and the screw rod passes through the equipment box and is fixedly sleeved with a first gear on the surface in the equipment bin, the lower inner wall of the equipment bin is fixedly provided with a first motor, the output end of the first motor is fixedly connected with a second gear, the second gear is meshed with the first gear, the two ends of the screw rod are both provided with sliding blocks in a threaded manner, the lower end face of the sliding block is provided with a clamping mechanism, the limiting cylinder is internally provided with an adjusting mechanism, and the tail end of the six-axis mechanical arm is rotatably connected with the limiting cylinder.

Preferably, fixture includes mounting panel, pivot, third gear, commentaries on classics board, jack catch, electric cylinder, bull stick, opening, the lower terminal surface fixedly connected with mounting panel of slider, the lower terminal surface of mounting panel rotates and is connected with the pivot, and the lower extreme fixedly connected with commentaries on classics board of pivot, the fixed cover in equidistant third gear that is equipped with in surface of pivot, both sides the lower extreme that the commentaries on classics board is close to a side of each other rotates and is connected with the jack catch, both sides the electric cylinder is all installed to one side that the commentaries on classics board was kept away from each other, and rotates between the jack catch of electric cylinder's lower extreme and one side separately and be connected with the bull stick, both sides the opening has been seted up on the commentaries on classics board, the screw thread on the surface is revolved to setting for opposite.

Preferably, adjustment mechanism includes spacing slide bar, rack, slide mouth, the equal slip cap in both ends of a spacing section of thick bamboo is equipped with spacing slide bar, fixedly connected with spring, both sides between the inner wall of a spacing slide bar and a spacing section of thick bamboo the one end that spacing slide bar kept away from each other all extends in the left and right two outsides of a spacing section of thick bamboo, and every the equal fixedly connected with rack of downside that spacing slide bar extended end, every the slide mouth has all been seted up on the surface of mounting panel.

Preferably, the equipment bin is arranged in the square frame in the middle, the length of the equipment bin is smaller than that of the square frame, and the screw rods on the two sides are provided with extending ends on the two outer sides of the equipment bin.

Preferably, the extension ends in the two outer sides of the screw rod are rotatably connected to the inner walls of the two sides of the square frame through bearings, the extension ends on the two sides of the screw rod are respectively provided with a sliding block in a threaded sleeve mode, and each sliding block is fixedly connected with an installation plate below the square frame in an extending mode.

Preferably, the mutually close ends of the limiting slide rods on the two sides are respectively arranged at the two ends in the limiting cylinder in a sliding manner.

Preferably, the sides of the two sides, which are far away from each other, of the third gears extend to the sides, which are far away from each other, of the two sides of the sliding blocks.

Preferably, the lower end of each rack passes through the slideway port and extends below the mounting plate, and the racks on two sides are respectively arranged on one side, far away from each other, of the third gears on two sides and are meshed with the third gears.

Preferably, the lower end of each rack is movably arranged in the opening on one side of the rack.

Compared with the prior art, the invention has the beneficial effects that:

1. by an omnidirectional vehicle platform, a six-shaft mechanical arm, a square frame, an equipment bin, a push rod motor, a limiting cylinder, a screw rod, a first gear, a second gear, a slide block, a mounting plate, a rotating shaft, a third gear, a rotating plate, a clamping jaw, an electric cylinder, a rotating rod, an opening, a limiting slide rod, a rack, a slide way opening and a sucking disc, when in use, the device can adjust the limiting cylinder and the device thereon by the six mechanical arms, and simultaneously can drive the screw rod to rotate by the first motor, thereby driving the sliding blocks at the two sides to approach or depart from each other, further driving the rotating plates at the two sides and the distance between the clamping jaws to be adjusted, facilitating the clamping of objects with different volumes, meanwhile, the rotating rod and the clamping jaw can be driven to rotate by the electric cylinder, so that different included angles can be formed between the clamping jaw and the rotating plate, and objects with different volumes can be further and conveniently clamped;

2. can drive the removal from top to bottom of a spacing section of thick bamboo through the push rod motor, and then drive the rack and reciprocate to be connected through the meshing of rack and third gear and drive the commentaries on classics board and rotate, and then drive commentaries on classics board and device on it and rotate the regulation, make the device can carry out the centre gripping of more fastening to it according to the different weight of object, can also carry out the absorption of fastening to the object through the sucking disc, with the functionality that improves the device, make it can satisfy the demand of various differences.

The device has the characteristics of convenient adjustment, convenient clamping for fastening objects with different sizes, shapes and weights, and great improvement on the functionality of the device.

Drawings

Fig. 1 is a sectional view showing the structure of a multifunctional loading and unloading integrated robot according to the present invention.

Fig. 2 is a sectional view showing a partial structure of a multifunctional loading and unloading integrated robot according to the present invention.

Fig. 3 is a sectional view of a partial side view of the multifunctional loading and unloading integrated robot of the present invention.

Fig. 4 is a sectional view of a partial plan view of the multifunctional loading/unloading integrated robot according to the present invention.

Fig. 5 is a sectional view showing a partially developed structure of the multifunctional loading and unloading integrated robot according to the present invention.

Reference numbers in the figures: the device comprises an omnidirectional vehicle platform, 2 six mechanical arms, 3 square frames, 4 equipment bins, 5 push rod motors, 6 limiting cylinders, 7 screw rods, 8 first gears, 9 second gears, 10 sliding blocks, 11 mounting plates, 12 rotating shafts, 13 third gears, 14 rotating plates, 15 clamping jaws, 16 electric cylinders, 17 rotating rods, 18 openings, 19 limiting sliding rods, 20 racks, 21 sliding channel openings and 22 suckers.

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.

Specific embodiments of the present invention are described below with reference to the accompanying drawings.

Example 1

Referring to fig. 1-3, a multifunctional loading and unloading integrated robot comprises an omnidirectional vehicle platform 1, a six-axis mechanical arm 2 and a square frame 3, wherein an equipment bin 4 is fixedly connected between the front inner wall and the rear inner wall of the square frame 3, a push rod motor 5 is fixedly arranged on the upper end surface of the equipment bin 4, the upper end of the push rod motor 5 is fixedly connected with a limiting cylinder 6, and a sucking disc 22 is fixedly arranged on the lower end surface of the equipment bin 4, the robot is characterized in that a screw 7 is rotatably connected between the left inner wall and the right inner wall of the front side and the rear side of the square frame 3, the screw 7 penetrates through the equipment bin 4, a first gear 8 is fixedly sleeved on the surface in the equipment bin 4, a first motor is fixedly arranged on the lower inner wall of the equipment bin 4, the output end of the first motor is fixedly connected with a second gear 9, the second gear 9 is meshed with the first gear 8, both ends of the screw 7 are provided with threaded sliders 10, the lower end face of the sliding block 10 is provided with a clamping mechanism, the limiting cylinder 6 is internally provided with an adjusting mechanism, the tail end of the six-axis mechanical arm 2 is rotatably connected with the limiting cylinder 6, the clamping mechanism comprises a mounting plate 11, a rotating shaft 12, a third gear 13, a rotating plate 14, clamping jaws 15, an electric cylinder 16, a rotating rod 17 and an opening 18, the lower end face of the sliding block 10 is fixedly connected with the mounting plate 11, the lower end face of the mounting plate 11 is rotatably connected with the rotating shaft 12, the lower end of the rotating shaft 12 is fixedly connected with the rotating plate 14, the surface of the rotating shaft 12 is fixedly sleeved with the third gear 13 at equal intervals, the lower ends of the rotating plates 14 at two sides, which are close to one side, are rotatably connected with the clamping jaws 15, the sides of the rotating plates 14 at two sides, which are far away from each other, are both provided with the electric cylinder 16, the rotating rods 17 are rotatably connected between the lower ends of the electric cylinder 16 and the clamping jaws 15 at one side, the rotating plates 14 at two sides are provided with the opening 18, the threads on the surfaces of the screw rod 7 are arranged in opposite directions, the adjusting mechanism comprises limiting slide bars 19, racks 20 and slide way openings 21, wherein the limiting slide bars 19 are slidably sleeved at two ends of a limiting cylinder 6, mutually-far ends of the limiting slide bars 19 at two sides extend to the left and right outer sides of the limiting cylinder 6, the lower side of the extending end of each limiting slide bar 19 is fixedly connected with the racks 20, the surface of each mounting plate 11 is provided with the slide way openings 21, the equipment bin 4 is arranged in the middle of the square frame 3, the length of the equipment bin 4 is smaller than that of the square frame 3, the screw rods 7 at two sides are respectively provided with the extending ends at two outer sides of the equipment bin 4, the extending ends at two outer sides of the screw rods 7 are respectively rotatably connected with the inner walls at two sides of the square frame 3 through bearings, the extending ends at two sides of the screw rods 7 are respectively sleeved with a slide block 10 in a threaded manner, the lower end face of each slide block 10 extends to the lower part of the square frame 3 and is fixedly connected with the mounting plate 11, so that the device can flexibly adjust the device by virtue of the six-axis mechanical arm 2, and then can adjust the spacing cylinder 6 and its lower device to flexibly turn to the movement, can drive the second gear 9 to rotate through the first electrical machinery at the same time, and then drive the screw 7 to rotate through the engagement connection of the second gear 9 and the first gear 8, because the extending end screw thread cover of both sides of the screw 7 is equipped with the slide block 10, and the two end screw thread direction of the screw 7 is opposite, and then can drive the movement that the slide block 10 is close to or away from each other, and because when the third gear 13 of both sides is far from each other, will drive the rack 20 of both sides to keep away from each other, and at the same time when the third gear 13 of both sides is close to each other, the spacing slide bar 19 of both sides will be close to each other under the effect of the spring, and the displacement synchronous with the third gear 13 of both sides, and then make each rack 20 can be engaged with the third gear 13 of their own side, and then drive the movement that the terminal surface is close to or away from each other through the equipment that the mounting panel 11 connects under the slide block 10 of both sides, and then the commentaries on classics board 14 that drives both sides and jack catch 15 are close to or the removal of keeping away from each other, simultaneously can keep away from a side fixed mounting's electric cylinder 16 through the commentaries on classics board 14 of both sides each other and promote bull stick 17 and rotate, and then can adjust the relative position of each jack catch 15 on changeing board 14, and then can control the interval between the commentaries on classics board 14 and the jack catch 15 of both sides, conveniently carry out the centre gripping to the object of different volumes, can adjust the angle of jack catch 15 simultaneously, and then can carry out the clamp of different dynamics to different objects and get.

Example 2

Referring to fig. 1 to 3, in the case where the other parts are the same as those of embodiment 1, this embodiment is different from embodiment 1 in that: the mutually close ends of the limiting slide bars 19 at two sides are respectively arranged at two ends in the limiting cylinder 6 in a sliding way, the mutually far sides of the third gears 13 at two sides are respectively extended at the mutually far sides of the slide blocks 10 at two sides, the lower end of each rack 20 passes through the slide way port 21 and extends below the mounting plate 11, the racks 20 at two sides are respectively arranged at the mutually far sides of the third gears 13 at two sides and are meshed with the third gears 13, the lower end of each rack 20 is movably arranged in the opening 18 at one side respectively, and then the limiting cylinder 6 can be driven by a push rod motor to move upwards relative to the square frame, so that the limiting slide bars 19 which are sleeved at two sides in the limiting cylinder 6 in a sliding way can be driven to move upwards and downwards, and the racks 20 at two sides are respectively meshed with the third gears 13 at one side respectively, and further the third gears 13 and the rotating shaft 12 can be driven to rotate, the rotating plate 14 fixedly connected to the rotating shaft 12 and the device on the rotating plate can be integrally rotated and adjusted, and the rotating plate 14 can be adjusted to rotate when the angle between the clamping jaw 15 and the rotating plate 14 is adjusted, so that the angle of the rotating plate 14 can be further adjusted, and meanwhile, the object can be further sucked through the sucking disc 22, and further clamping of the object can be stabilized.

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.

Claims

1. A multifunctional loading and unloading integrated robot comprises an omnidirectional vehicle platform (1), six-axis mechanical arms (2) and a square frame (3), wherein an equipment bin (4) is fixedly connected between the front inner wall and the rear inner wall of the square frame (3), a push rod motor (5) is fixedly arranged on the upper end face of the equipment bin (4), the upper end of the push rod motor (5) is fixedly connected with a limiting barrel (6), a sucker (22) is fixedly arranged on the lower end face of the equipment bin (4), the multifunctional loading and unloading integrated robot is characterized in that a screw rod (7) is rotatably connected between the left inner wall and the right inner wall of the front side and the rear side of the square frame (3), the screw rod (7) penetrates through the equipment bin (4) and is fixedly sleeved with a first gear (8) on the surface in the equipment bin (4), a first motor is fixedly arranged on the lower inner wall of the equipment bin (4), and the output end of the first motor is fixedly connected with a second gear (9), and the second gear (9) is meshed with the first gear (8) and connected with the first gear, the two ends of the screw rod (7) are respectively provided with a sliding block (10) in a threaded sleeve mode, the lower end face of each sliding block (10) is provided with a clamping mechanism, an adjusting mechanism is arranged in the limiting cylinder (6), and the tail end of the six-axis mechanical arm (2) is connected with the limiting cylinder (6) in a rotating mode.

2. The multifunctional loading and unloading integrated robot as claimed in claim 1, wherein the clamping mechanism comprises a mounting plate (11), a rotating shaft (12), a third gear (13), a rotating plate (14), clamping jaws (15), electric cylinders (16), rotating rods (17) and openings (18), the lower end surface of the sliding block (10) is fixedly connected with the mounting plate (11), the rotating shaft (12) is rotatably connected with the lower end surface of the mounting plate (11), the rotating plate (14) is fixedly connected with the lower end of the rotating shaft (12), the third gear (13) is fixedly sleeved on the surface of the rotating shaft (12) at equal intervals, the clamping jaws (15) are rotatably connected with the lower ends of the rotating plates (14) at two sides, which are close to one side surface, the electric cylinders (16) are respectively installed at one side of the rotating plates (14) at two sides, and the rotating rods (17) are rotatably connected between the lower ends of the electric cylinders (16) and the clamping jaws (15) at one side of the rotating plates respectively, openings (18) are formed in the rotating plates (14) on the two sides, and the thread turning directions of the surfaces of the two ends of the screw rod (7) are opposite.

3. The multifunctional loading and unloading integrated robot as claimed in claim 2, wherein the adjusting mechanism comprises a limiting slide bar (19), a rack (20) and a slide port (21), the limiting slide bar (19) is slidably sleeved at both ends of the limiting cylinder (6), a spring is fixedly connected between the limiting slide bar (19) and the inner wall of the limiting cylinder (6), one ends of the limiting slide bars (19) at both sides, which are far away from each other, extend at the left and right outer sides of the limiting cylinder (6), a rack (20) is fixedly connected to the lower side of the extending end of each limiting slide bar (19), and a slide port (21) is formed in the surface of each mounting plate (11).

4. A multifunctional loading and unloading integrated robot according to claim 3, wherein the equipment bin (4) is arranged in the middle of the square frame (3), the length of the equipment bin (4) is smaller than that of the square frame (3), and the screw rods (7) on the two sides are provided with extending ends on the two outer sides of the equipment bin (4).

5. A multifunctional loading and unloading integrated robot as claimed in claim 4, wherein the two outer extending ends of the screw (7) are rotatably connected to the two inner side walls of the square frame (3) through bearings, the two extending ends of the screw (7) are respectively in threaded sleeve with a sliding block (10), and the lower end face of each sliding block (10) extends below the square frame (3) and is fixedly connected with a mounting plate (11).

6. A multifunctional loading and unloading integrated robot as claimed in claim 3, wherein the ends of the limit slide bars (19) on both sides close to each other are respectively arranged at both ends in the limit cylinder (6) in a sliding manner.

7. A multifunctional handling robot according to claim 6, characterized in that the sides of said third gear wheels (13) facing away from each other extend on the sides of the slides (10) facing away from each other.

8. A multifunctional loading and unloading integrated robot according to claim 3, wherein the lower end of each rack (20) extends below the mounting plate (11) through the chute port (21), and the racks (20) on both sides are respectively arranged on the sides of the third gears (13) on both sides, which are far away from each other, and are meshed with the third gears (13).

9. A multi-functional load handling integrated robot according to claim 3, characterized in that the lower end of each rack (20) is movably disposed in the opening (18) on its respective side.