CN113859959A - Logistics transportation small robot capable of carrying articles with different heights - Google Patents
Logistics transportation small robot capable of carrying articles with different heights Download PDFInfo
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- CN113859959A CN113859959A CN202111131199.8A CN202111131199A CN113859959A CN 113859959 A CN113859959 A CN 113859959A CN 202111131199 A CN202111131199 A CN 202111131199A CN 113859959 A CN113859959 A CN 113859959A
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- electric telescopic
- seat
- arm
- telescopic rod
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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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Abstract
The invention discloses a small logistics transportation robot capable of transporting articles with different heights, which comprises a robot transporting mechanism, wherein the robot transporting mechanism comprises a locking mechanism, a picking main body, a lifting arm, a lifting seat and a host, the front end of the lifting arm is rotatably connected with the upper end of the locking mechanism, the rear end of the picking main body is mounted with the locking mechanism, the rear end of the lifting arm is rotatably mounted with the rear part of the upper end of the lifting seat, the lifting seat is fixedly mounted with the host and comprises a first motor, the first motor is electrically connected with the host, the locking mechanism further comprises a disc, a nut, a bolt, a first gear, a second gear, a connecting frame, a tray and a connecting block, the disc is fixedly connected with the connecting block, and the front end of the lifting arm is rotatably mounted at the upper end of the connecting block. The invention relates to the technical field of small logistics transportation robot equipment, and aims at conveniently transporting targets with different heights and better meeting use requirements.
Description
Technical Field
The invention relates to the technical field of small logistics transportation robots, in particular to a small logistics transportation robot capable of carrying articles with different heights.
Background
The conventional small logistics transportation robot can only carry a low target usually, and the mechanical claw of the small logistics transportation robot which can carry a high target partially needs to control the angle accurately by a program, so that the problem of programming difficulty is caused, and the gravity balance degree also needs to be controlled accurately by a programming mode, so that the small logistics transportation robots for transporting the high target are caused, the problem of high technical maintenance difficulty is caused, and a scheme capable of relieving the problem is urgently needed.
Disclosure of Invention
The invention aims to provide a small logistics transportation robot capable of transporting articles with different heights, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a commodity circulation transportation small robot of not co-altitude article can carry, includes robot handling mechanism, robot handling mechanism includes locking mechanism, picks up the main part, lifts the arm, lifts seat and host computer, the front end that lifts the arm rotates with locking mechanism's upper end and links together, the rear end and the locking mechanism installation of picking up the main part are in the same place, the rear end that lifts the arm rotates with the upper end rear portion that lifts the seat and installs together, it is in the same place with host computer fixed mounting to lift the seat.
Preferably, the locking mechanism comprises a first motor, the first motor is electrically connected with the host, the locking mechanism further comprises a disc, a nut, a bolt, a first gear, a second gear, a connecting frame, a tray and a connecting block, the disc is fixedly connected with the connecting block, the upper end of the connecting block is rotatably provided with the front end of the lifting arm, the connecting block penetrates through the lifting arm and is connected with the disc, the nut and the bolt are in threaded installation, the bolt penetrates through the nut, a rotor of the first motor is fixedly connected with the first gear, the second gear is meshed with the first gear, the second gear is fixedly connected with the bolt, the upper end of the connecting frame is fixedly connected with the lower end of the connecting block, the rear end of the tray is fixedly connected with the lower end of the connecting frame, and the nut and the lifting arm are fixedly installed together, the first motor is fixedly connected with the lifting arm.
Preferably, the picking main body comprises a first electric telescopic rod, a second motor and a second electric telescopic rod, the first electric telescopic rod, the second motor and the second electric telescopic rod are electrically connected with the host, the rear ends of the first electric telescopic rod and the second electric telescopic rod are rotatably connected with the upper end of the connecting frame, the outer end of the second motor is fixedly connected with the inner wall of the upper portion of the connecting frame, the picking main body further comprises a worm, a first bearing seat, a worm wheel, a rotating rod and an elastic frame, the first bearing seat is rotatably connected with the worm, the lower end of the first bearing seat is fixedly connected with the upper end of the connecting frame through the connecting frame, the worm wheel is meshed with the worm wheel, the rotating rod is rotatably connected with the worm wheel through the connecting frame, and the elastic frame is fixedly installed at the front ends of the second electric telescopic rod and the first electric telescopic rod.
Preferably, the arm of lifting includes third electric telescopic handle, third electric telescopic handle passes through host computer electric connection, the arm of lifting still includes first armed lever, the front end and the connecting block of first armed lever rotate to link together, nut and first motor are through first armed lever fixed connection, the rear end and the seat of lifting of first armed lever rotate to install together, third electric telescopic handle's upper end and first armed lever rotate to install together, third electric telescopic handle's lower extreme and the seat of lifting rotate to install together.
Preferably, the lifting arm further comprises a first connecting seat and a second connecting seat, the upper end of the third electric telescopic rod is rotatably connected with the first connecting seat, the lower end of the first connecting seat is fixedly connected with the upper end of the first arm rod, the second connecting seat is fixedly installed with the lifting seat, and the third electric telescopic rod is rotatably connected with the second connecting seat.
Preferably, the lifting seat comprises a fourth electric telescopic rod, the fourth electric telescopic rod is electrically connected with a host, the lifting seat further comprises a second arm rod, a slotted hole, a pull rope, a second bearing seat, a guide rod, a sliding block, a tension spring and a fixed rod, the slotted hole is formed in the upper end of the second arm rod, the upper end of the pull rope is fixedly connected with the second arm rod, the lower end of the pull rope is fixedly connected with the sliding block, the pull rope penetrates through the upper portion of the second bearing seat, the lower end of the second bearing seat is fixedly connected with the guide rod, the rear portion of the sliding block is slidably mounted at the outer end of the guide rod, the tension spring is located on the inner side of the front portion of the sliding block, the rear end of the tension spring is fixedly connected with the sliding block, the front ends of the tension spring and the guide rod are fixedly mounted with the host, the lower end of the fixed rod is fixedly connected with the host, and the front end of the second arm rod is rotatably connected with the upper end of the fixed rod, the lower end of the fourth electric telescopic rod is rotatably connected with the fixed rod, and the upper end of the fourth electric telescopic rod is rotatably connected with the second arm rod.
Preferably, the lifting seat further comprises a pulley, the pulley is rotatably mounted at the inner end of the upper part of the second bearing seat, and the pull rope is hung at the outer end of the pulley.
Preferably, the host computer includes gear motor and organism, gear motor is connected with the organism electricity, the host computer still includes carousel, gyro wheel and pin, the gyro wheel is provided with a pair ofly, the gyro wheel rotates the inner of installing at the carousel, the lower extreme roll of gyro wheel supports the upper end at the organism, the carousel is in the same place with gear motor's rotor fixed mounting, carousel, dead lever, guide arm and tension spring pass through carousel fixed connection, the lower extreme and the pin fixed mounting of pin are in the same place.
Preferably, the main frame further comprises a stop block, the stop block is fixedly connected with the rotary table, and the stop block is in sliding contact with the stop rod.
Compared with the prior art, the invention has the following beneficial effects:
1. the lifting seat is driven by the host to lift, the lifting arm is driven to lift, the lifting arm is used for driving the locking mechanism and the picking main body to move upwards until the locking mechanism and the picking main body are moved to a target position, after the picking main body is waited to swing and balance, the picking main body is driven to lock, the angle of the picking main body is fixed, the front part of the picking main body is driven by the host to tilt upwards, then the picking main body is driven to extend, then the picking main body is driven to swing downwards, then the picking main body is driven to contract, the picking main body is used for grabbing a target into the picking main body, then the picking main body is driven to unlock, the heights of the locking mechanism and a target object are reduced by the lifting arm and the lifting seat in the same way, and the picking main body is driven to move to the target position and push the base down.
2. Utilize the space at link and tray rear portion, alleviate the gravity at connecting block rear portion, make link and tray can keep balance with the help of the action of gravity is automatic, after link and tray are balanced, rotate through the first motor of host computer electric drive, drive the bolt through first motor and rotate, make the bolt along nut screw extrusion dish, press from both sides the dish through the bolt and press from both sides the dish and tightly fix the anterior inner at the arm that lifts, play the purpose of fixed link, tray and connecting block angle.
3. When the picking main body grabs a target, the worm is driven by the second motor to drive the worm wheel to rotate, the first electric telescopic rod, the second electric telescopic rod and the front portion of the elastic frame are driven by the worm wheel to tilt, the elastic force of the elastic frame is utilized to enable the deformation of the rear portion of the elastic frame to adapt to the inner space of the connecting frame, then the first electric telescopic rod and the second electric telescopic rod are driven to extend, the second motor is driven to rotate reversely to drive the second electric telescopic rod, the elastic frame and the first electric telescopic rod to swing downwards until the elastic frame is clamped at the outer end of the target, and the target is pulled into the tray by the first electric telescopic rod and the second electric telescopic rod, so that the picking main body is used for carrying light objects; the third electric telescopic handle rotates with the lifting seat through the second connecting seat and is installed together, and the host is utilized to drive the third electric telescopic handle to drive the first arm rod to swing upwards to lift.
4. The host drives the fourth electric telescopic rod to extend to lift the second arm rod, and meanwhile, the second arm rod swings upwards to pull the sliding block to move backwards, so that the center of gravity is corrected towards the middle part, the center of gravity of the device is stabilized, and the running stability of the device is improved; the tension direction of the pull rope is changed through the pulley.
5. The machine body is used for driving the speed reducing motor to drive the turntable to rotate, the pressure resistance of the turntable is improved by using the roller, the speed reducing motor is convenient to operate, and the grabbing direction is adjusted by the way that the speed reducing motor drives the turntable to rotate; the stop lever is used for limiting the rotation amplitude of the stop block, so that the purpose of protecting the wires on the upper side of the main machine is achieved.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic view of the locking mechanism of the present invention;
FIG. 3 is a schematic view of a pickup body according to the present invention;
FIG. 4 is a schematic view of a lift arm according to the present invention;
FIG. 5 is a schematic diagram of a disassembled structure of the lifting base of the present invention;
FIG. 6 is a schematic diagram of a host structure according to the present invention.
In the figure: 1. a robot handling mechanism; 2. a locking mechanism; 3. a pickup main body; 4. a lifting arm; 5. a lifting seat; 6. a host; 7. a disc; 8. a nut; 9. a bolt; 10. a first motor; 11. a first gear; 12. a second gear; 13. a connecting frame; 14. a tray; 15. connecting blocks; 16. a first electric telescopic rod; 17. a second motor; 18. a worm; 19. a first bearing housing; 20. a worm gear; 21. a rotating rod; 22. a second electric telescopic rod; 23. an elastic frame; 24. a first arm; 25. a first connecting seat; 26. a third electric telescopic rod; 27. a second connecting seat; 28. a second arm; 29. a slot; 30. pulling a rope; 31. a pulley; 32. a second bearing housing; 33. a guide bar; 34. a slider; 35. a tension spring; 36. fixing the rod; 37. a fourth electric telescopic rod; 38. a turntable; 39. a roller; 40. a reduction motor; 41. a stopper; 42. a stop lever; 43. a body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc., indicate orientations or positional relationships according to those shown in the drawings, are only for convenience of description and simplicity of description, and are used to enhance the connection between the description and the drawings and to increase the clarity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Referring to fig. 1, a small logistics transportation robot capable of transporting articles with different heights comprises a robot transporting mechanism 1, wherein the robot transporting mechanism 1 comprises a locking mechanism 2, a picking main body 3, a lifting arm 4, a lifting seat 5 and a main machine 6, the front end of the lifting arm 4 is rotatably connected with the upper end of the locking mechanism 2, the rear end of the picking main body 3 is mounted with the locking mechanism 2, the rear end of the lifting arm 4 is rotatably mounted with the rear part of the upper end of the lifting seat 5, and the lifting seat 5 is fixedly mounted with the main machine 6; the lifting seat 5 is driven by the main machine 6 to carry out lifting work, the lifting arm 4 is driven to carry out lifting work at the same time, the locking mechanism 2 and the picking main body 3 are driven by the lifting arm 4 to move upwards until the locking mechanism 2 and the picking main body 3 are moved to a target position, the picking main body 3 is driven to be locked after the picking main body 3 is in swing balance, so that the angle of the pickup body 3 is fixed, the front part of the pickup body 3 is driven to tilt upwards by the main body 6, then the pick-up body 3 is driven to extend again, then the pick-up body 3 is driven to swing downward, then the pick-up body 3 is driven to contract, the object is grabbed into the interior of the pick-up body 3 by the pick-up body 3, then the picking main body 3 is driven to unlock, the height of the locking mechanism 2 and the target object is lowered through the lifting arm 4 and the lifting seat 5 in the same way, and the picking main body 3 is used for pushing the base down after the picking main body is transported to the target position in the same way.
Referring to fig. 2, the locking mechanism 2 includes a first motor, a first motor 10 electrically connected to the host 6, the locking mechanism 2 further includes a disk 7, a nut 8, a bolt 9, a first gear 11, a second gear 12, a connecting frame 13, a tray 14 and a connecting block 15, the disk 7 is fixedly connected to the connecting block 15, the upper end of the connecting block 15 is rotatably mounted to the front end of the lifting arm 4, the connecting block 15 penetrates through the lifting arm 4 and is connected to the disk 7, the nut 8 is threadedly mounted to the bolt 9, the bolt 9 penetrates through the nut 8, the rotor of the first motor 10 is fixedly connected to the first gear 11, the second gear 12 is meshed with the first gear 11, the second gear 12 is fixedly connected to the bolt 9, the upper end of the connecting frame 13 is fixedly connected to the lower end of the connecting block 15, the rear end of the tray 14 is fixedly connected to the lower end of the connecting frame 13, the nut 8 is fixedly mounted to the lifting arm 4, the first motor 10 is fixedly connected with the lifting arm 4; utilize the space at link 13 and tray 14 rear portion, alleviate the gravity at link 15 rear portion, make link 13 and tray 14 can keep balance with the help of the action of gravity is automatic, after link 13 and tray 14 are balanced, rotate through the first motor 10 of host computer 6 electric drive, it rotates to drive bolt 9 through first motor 10, because bolt braking is very little with the distance of unclamping the needs displacement, consequently what first motor 10 adopted is step motor, work through the mode of corotation round or reversal round, first motor 10 drives bolt 9 working process, first gear 11 can not break away from with second gear 12, make bolt 9 along the 8 spiral extrusion dish 7 of nut, press from both sides tight fixing of dish 7 at the anterior inner of lifting arm 4 through bolt 9, play the purpose of fixed link 13, tray 14 and link 15 angle.
Referring to fig. 3, the picking main body 3 includes a first electric telescopic rod 16, a second motor 17 and a second electric telescopic rod 22, the first electric telescopic rod 16, the second motor 17 and the second electric telescopic rod 22 are electrically connected to the main body 6, the first electric telescopic rod 16, the rear end of a second electric telescopic rod 22 is rotatably connected with the upper end of the connecting frame 13, the outer end of a second motor 17 is fixedly connected with the inner wall of the upper part of the connecting frame 13, the picking main body 3 further comprises a worm 18, a first bearing seat 19, a worm wheel 20, a rotating rod 21 and an elastic frame 23, the first bearing seat 19 is rotatably connected with the worm 18, the lower end of the first bearing seat 19 is fixedly connected with the upper end of the connecting frame 13 through the connecting frame, the worm 18 is meshed with the worm wheel 20, the rotating rod 21 rotatably penetrates through the connecting frame 13 and is fixedly connected with the worm wheel 20, and the elastic frame 23 is fixedly arranged at the front ends of the second electric telescopic rod 22 and the first electric telescopic rod 16; when picking up main part 3 and snatching the target, it rotates to drive worm 18 through second motor 17 and drive worm wheel 20, drive first electric telescopic handle 16 through worm wheel 20, second electric telescopic handle 22 and the anterior perk of elastic frame 23, utilize the elasticity of elastic frame 23, make elastic frame 23 rear portion deformation adaptation link 13 inner space, then drive first electric telescopic handle 16 and the extension of second electric telescopic handle 22, it drives second electric telescopic handle 22 to drive the reversal of second motor 17 again, elastic frame 23 and the 16 downswing of first electric telescopic handle, until elastic frame 23 card in the target outer end, rethread first electric telescopic handle 16 and second electric telescopic handle 22 with the target draw in tray 14 inside can, use for light-duty transport.
The lifting arm 4 comprises a third electric telescopic rod 26, the third electric telescopic rod 26 is electrically connected with a host machine 6, the lifting arm 4 further comprises a first arm rod 24, the front end of the first arm rod 24 is rotationally connected with a connecting block 15, a nut 8 and a first motor 10 are fixedly connected with the first arm rod 24, the rear end of the first arm rod 24 is rotationally mounted with a lifting seat 5, the upper end of the third electric telescopic rod 26 is rotationally mounted with the first arm rod 24, and the lower end of the third electric telescopic rod 26 is rotationally mounted with the lifting seat 5.
Referring to fig. 4, the lifting arm 4 further includes a first connecting seat 25 and a second connecting seat 27, an upper end of a third electric telescopic rod 26 is rotatably connected to the first connecting seat 25, a lower end of the first connecting seat 25 is fixedly connected to an upper end of the first arm 24, the second connecting seat 27 is fixedly mounted to the lifting seat 5, and the third electric telescopic rod 26 is rotatably connected to the second connecting seat 27; the third electric telescopic rod 26 is rotatably installed with the lifting seat 5 through the second connecting seat 27, and the host 6 is utilized to drive the third electric telescopic rod 26 to drive the first arm 24 to swing upwards for lifting.
Referring to fig. 5, the lifting seat 5 further includes a second arm 28, a slot 29, a pull rope 30, a second bearing seat 32, a guide rod 33, a sliding block 34, a tension spring 35 and a fixing rod 36, the slot 29 is formed in the upper end of the second arm 28, the upper end of the pull rope 30 is fixedly connected to the second arm 28, the lower end of the pull rope 30 is fixedly connected to the sliding block 34, the pull rope 30 passes through the upper portion of the second bearing seat 32, the lower end of the second bearing seat 32 is fixedly connected to the guide rod 33, the rear portion of the sliding block 34 is slidably mounted at the outer end of the guide rod 33, the tension spring 35 is located inside the front portion of the sliding block 34, the rear end of the tension spring 35 is fixedly connected to the sliding block 34, the front ends of the tension spring 35 and the guide rod 33 are fixedly mounted to the main machine 6, the lower end of the fixing rod 36 is fixedly connected to the main machine 6, the front end of the second arm lever 28 is rotatably connected with the upper end of the fixed lever 36, the lower end of the fourth electric telescopic lever 37 is rotatably connected with the fixed lever 36, and the upper end of the fourth electric telescopic lever 37 is rotatably connected with the second arm lever 28; the fourth electric telescopic rod 37 is driven by the main machine 6 to extend to lift the second arm rod 28, and meanwhile, the second arm rod 28 swings upwards to pull the sliding block 34 to move backwards, so that the gravity center is corrected towards the middle part, the gravity center of the device is stabilized, and the running stability of the device is improved.
The lifting seat 5 further comprises a pulley 31, the pulley 31 is rotatably arranged at the inner end of the upper part of the second bearing seat 32, and the pull rope 30 is hung at the outer end of the pulley 31; the direction of the pulling force of the pulling rope 30 is changed by the pulley 31.
Referring to fig. 6, the main body 6 includes a reduction motor 40 and a body 43, the reduction motor 40 is electrically connected to the body 43, the main body 6 further includes a pair of wheels 38, a pair of wheels 39 and a stop lever 42, the wheels 39 are rotatably mounted at an inner end of the wheels 38, a lower end of the wheels 39 is rotatably supported at an upper end of the body 43, the wheels 38 are fixedly mounted with a rotor of the reduction motor 40, the wheels 38, the fixing rod 36, the guide rod 33 and the tension spring 35 are fixedly connected through the wheels 38, and a lower end of the stop lever 42 is fixedly mounted with the stop lever 42; utilize organism 43 drive gear motor 40 to drive carousel 38 and rotate, utilize gyro wheel 39 to increase the compressive capacity of carousel 38, make things convenient for gear motor 40 to operate, drive carousel 38 pivoted mode through gear motor 40, adjust and snatch the direction.
The main frame 6 further comprises a stop block 41, the stop block 41 is fixedly connected with the rotary disc 38, and the stop block 41 is in sliding contact with the stop rod 42; the stop lever 42 is used to limit the rotation range of the stop 41, thereby achieving the purpose of protecting the wires on the upper side of the main machine 6.
The working principle is as follows: the lifting seat 5 is driven by the main machine 6 to carry out lifting work, the lifting arm 4 is driven to carry out lifting work at the same time, the locking mechanism 2 and the picking main body 3 are driven by the lifting arm 4 to move upwards until the locking mechanism 2 and the picking main body 3 are moved to a target position, the picking main body 3 is driven to be locked after the picking main body 3 is in swing balance, so that the angle of the pickup body 3 is fixed, the front part of the pickup body 3 is driven to tilt upwards by the main body 6, then the pick-up body 3 is driven to extend again, then the pick-up body 3 is driven to swing downward, then the pick-up body 3 is driven to contract, the object is grabbed into the interior of the pick-up body 3 by the pick-up body 3, then the picking main body 3 is driven to unlock, the height of the locking mechanism 2 and the target object is reduced through the lifting arm 4 and the lifting seat 5 in the same way, and the picking main body 3 is used for pushing the base down after the picking main body is transported to the target position in the same way; the gravity at the rear part of the connecting block 15 is reduced by utilizing a gap between the connecting frame 13 and the rear part of the tray 14, so that the connecting frame 13 and the tray 14 can automatically keep balance under the action of gravity, after the connecting frame 13 and the tray 14 are balanced, the first motor 10 is driven to rotate by the electric power of the host machine 6, the bolt 9 is driven to rotate by the first motor 10, the bolt 9 spirally extrudes the disc 7 along the nut 8, the disc 7 is clamped and fixed at the inner end of the front part of the lifting arm 4 through the bolt 9, and the purpose of fixing the angles of the connecting frame 13, the tray 14 and the connecting block 15 is achieved; when the picking main body 3 grabs a target, the worm 18 is driven by the second motor 17 to drive the worm wheel 20 to rotate, the first electric telescopic rod 16, the second electric telescopic rod 22 and the front part of the elastic frame 23 are driven by the worm wheel 20 to tilt, the elastic force of the elastic frame 23 is utilized to enable the rear part of the elastic frame 23 to deform to adapt to the inner space of the connecting frame 13, then the first electric telescopic rod 16 and the second electric telescopic rod 22 are driven to extend, the second motor 17 is driven to rotate reversely to drive the second electric telescopic rod 22, the elastic frame 23 and the first electric telescopic rod 16 to swing downwards until the elastic frame 23 is clamped at the outer end of the target, and the target is pulled into the tray 14 by the first electric telescopic rod 16 and the second electric telescopic rod 22 to be used for light carrying; the third electric telescopic rod 26 is rotatably installed with the lifting seat 5 through the second connecting seat 27, and the host machine 6 is used for driving the third electric telescopic rod 26 to drive the first arm rod 24 to swing upwards to perform lifting work; the host machine 6 drives the fourth electric telescopic rod 37 to extend to lift the second arm rod 28, and meanwhile, the second arm rod 28 swings upwards to pull the sliding block 34 to move backwards, so that the center of gravity is corrected towards the middle part, the center of gravity of the device is stabilized, and the running stability of the device is improved; the tension direction of the pulling rope 30 is changed through the pulley 31; the machine body 43 is used for driving the speed reducing motor 40 to drive the turntable 38 to rotate, the pressure resistance of the turntable 38 is improved by the roller 39, the speed reducing motor 40 can conveniently operate, and the grabbing direction is adjusted in a mode that the speed reducing motor 40 drives the turntable 38 to rotate; the stop lever 42 is used to limit the rotation range of the stop 41, thereby achieving the purpose of protecting the wires on the upper side of the main machine 6.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a commodity circulation transportation small robot of different height article can carry, includes robot handling mechanism (1), its characterized in that: robot handling mechanism (1) includes locking mechanical system (2), picks up main part (3), lifts arm (4), lifts seat (5) and host computer (6), the front end that lifts arm (4) rotates with the upper end of locking mechanical system (2) and links together, the rear end that picks up main part (3) is in the same place with locking mechanical system (2) installation, the rear end that lifts arm (4) rotates with the upper end rear portion that lifts seat (5) and installs together, it is in the same place with host computer (6) fixed mounting to lift seat (5).
2. The small logistics transportation robot capable of carrying articles with different heights as claimed in claim 1, wherein the locking mechanism (2) comprises a first motor, the first motor (10) is electrically connected with the main machine (6), and the small logistics transportation robot is characterized in that: the locking mechanism (2) further comprises a disc (7), a nut (8), a bolt (9), a first gear (11), a second gear (12), a connecting frame (13), a tray (14) and a connecting block (15), the disc (7) is fixedly connected with the connecting block (15), the upper end of the connecting block (15) rotates to install the front end of the lifting arm (4), the connecting block (15) penetrates through the lifting arm (4) to be connected with the disc (7), the nut (8) is in threaded installation with the bolt (9), the bolt (9) penetrates through the nut (8), the rotor of the first motor (10) is fixedly connected with the first gear (11), the second gear (12) is meshed with the first gear (11), the second gear (12) is fixedly connected with the bolt (9), and the upper end of the connecting frame (13) is fixedly connected with the lower end of the connecting block (15), the rear end fixed connection of tray (14) is in the lower extreme of link (13), nut (8) and lift arm (4) fixed mounting are in the same place, first motor (10) are through lifting arm (4) fixed connection.
3. A small logistics transportation robot capable of carrying articles with different heights as claimed in claim 2, wherein the pick-up main body (3) comprises a first electric telescopic rod (16), a second electric motor (17) and a second electric telescopic rod (22), the first electric telescopic rod (16), the second electric motor (17) and the second electric telescopic rod (22) are electrically connected with a main machine (6), and the small logistics transportation robot is characterized in that: the rear ends of the first electric telescopic rod (16) and the second electric telescopic rod (22) are rotatably connected with the upper end of the connecting frame (13), the outer end of the second motor (17) is fixedly connected with the inner wall of the upper part of the connecting frame (13), the picking main body (3) also comprises a worm (18), a first bearing seat (19), a worm wheel (20), a rotating rod (21) and an elastic frame (23), the first bearing seat (19) is rotationally connected with the worm (18), the lower end of the first bearing seat (19) is fixedly connected with the upper end of the connecting frame (13), the worm (18) is meshed with the worm wheel (20), the rotating rod (21) rotates to penetrate through the connecting frame (13) and is fixedly connected with the worm wheel (20), the elastic frame (23) is fixedly arranged at the front ends of the second electric telescopic rod (22) and the first electric telescopic rod (16).
4. The small logistics transportation robot capable of carrying articles with different heights as claimed in claim 2, wherein the lifting arm (4) comprises a third electric telescopic rod (26), the third electric telescopic rod (26) is electrically connected through the main machine (6), and the small logistics transportation robot is characterized in that: lift arm (4) and still include first armed lever (24), the front end and connecting block (15) of first armed lever (24) rotate to link together, nut (8) and first motor (10) are through first armed lever (24) fixed connection, the rear end and the seat of lifting (5) of first armed lever (24) rotate to install together, the upper end and first armed lever (24) of third electric telescopic handle (26) rotate to install together, the lower extreme and the seat of lifting (5) of third electric telescopic handle (26) rotate to install together.
5. The small logistics transportation robot capable of carrying articles with different heights as claimed in claim 4, wherein the small logistics transportation robot comprises: the lifting arm (4) further comprises a first connecting seat (25) and a second connecting seat (27), the upper end of the third electric telescopic rod (26) is rotatably connected with the first connecting seat (25), the lower end of the first connecting seat (25) is fixedly connected with the upper end of the first arm rod (24), the second connecting seat (27) is fixedly mounted with the lifting seat (5), and the third electric telescopic rod (26) is rotatably connected with the second connecting seat (27).
6. The small logistics transportation robot capable of carrying articles with different heights as claimed in claim 1, comprising a fourth electric telescopic rod (37), wherein the fourth electric telescopic rod (37) is electrically connected with the main machine (6), and is characterized in that: the lifting seat (5) further comprises a second arm rod (28), a slotted hole (29), a pull rope (30), a second bearing seat (32), a guide rod (33), a sliding block (34), a tension spring (35) and a fixing rod (36), wherein the slotted hole (29) is formed in the upper end of the second arm rod (28), the upper end of the pull rope (30) is fixedly connected with the second arm rod (28), the lower end of the pull rope (30) is fixedly connected with the sliding block (34), the pull rope (30) penetrates through the upper portion of the second bearing seat (32), the lower end of the second bearing seat (32) is fixedly connected with the guide rod (33), the rear portion of the sliding block (34) is slidably mounted at the outer end of the guide rod (33), the tension spring (35) is located on the inner side of the front portion of the sliding block (34), the rear end of the tension spring (35) is fixedly connected with the sliding block (34), and the tension spring (35), The front end of guide arm (33) is in the same place with host computer (6) fixed mounting, the lower extreme of dead lever (36) passes through host computer (6) fixed connection, the front end of second armed lever (28) rotates with the upper end of dead lever (36) and links together, the lower extreme of fourth electric telescopic handle (37) rotates with dead lever (36) and links together, the upper end of fourth electric telescopic handle (37) rotates with second armed lever (28) and links together.
7. The small logistics transportation robot capable of carrying articles with different heights as claimed in claim 6, wherein: the lifting seat (5) further comprises a pulley (31), the pulley (31) is rotatably installed at the inner end of the upper portion of the second bearing seat (32), and the pull rope (30) is hung at the outer end of the pulley (31).
8. A small logistics transportation robot capable of carrying articles with different heights as claimed in claim 6, wherein the main machine (6) comprises a speed reducing motor (40) and a machine body (43), the speed reducing motor (40) is electrically connected with the machine body (43), and the small logistics transportation robot is characterized in that: the main machine (6) further comprises a rotary table (38), a roller (39) and a stop lever (42), the roller (39) is provided with a pair of rollers, the roller (39) is rotatably installed at the inner end of the rotary table (38), the lower end of the roller (39) is supported at the upper end of the machine body (43) in a rolling mode, the rotary table (38) is fixedly installed together with a rotor of a speed reducing motor (40), the rotary table (38), a fixing rod (36), a guide rod (33) and a tension spring (35) are fixedly connected through the rotary table (38), and the lower end of the stop lever (42) is fixedly installed together with the stop lever (42).
9. The small logistics transportation robot capable of carrying articles with different heights as claimed in claim 8, wherein: the main machine (6) further comprises a stop block (41), the stop block (41) is fixedly connected with the rotary table (38), and the stop block (41) is in sliding contact with the stop lever (42).
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| CN202111131199.8A CN113859959B (en) | 2021-09-26 | 2021-09-26 | Logistics transportation small robot capable of carrying articles with different heights |
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| CN113859959B (en) | 2023-06-16 |
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