CN114212530A

CN114212530A - Shuttle vehicle with swing arm robot

Info

Publication number: CN114212530A
Application number: CN202210044997.5A
Authority: CN
Inventors: 许习军; 田燕杰; 侯宏明
Original assignee: Taiyuan Fortucky Logistics Equipment Technology Co ltd
Current assignee: Taiyuan Fortucky Logistics Equipment Technology Co ltd
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-03-22

Abstract

The invention discloses a shuttle vehicle with a swing arm robot, which comprises an underframe and a swing mechanism arranged at the top of the underframe, wherein the swing mechanism comprises a corner driving motor and a fixed shaft connected with an output shaft of the corner driving motor; a clamping mechanism is arranged at one end of the swing arm, which is far away from the fixed shaft, the clamping mechanism mainly consists of a clamping rod driven by a clamping motor and a chuck plate at the outer side of the clamping rod, and when the clamping rod is inserted into a workpiece; carry out the centre gripping through pressing from both sides the mechanism and fix the goods, can upwards lift up the goods through the swing arm to transport the goods, can also order about the swing arm through corner driving motor in addition and overturn, thereby make to press from both sides the mechanism and carry the goods from one side upset of chassis to the opposite side of chassis, in the in-service use process, be favorable to saving the distance, improve the efficiency of transport, and simple structure is compact, has good stability.

Description

Shuttle vehicle with swing arm robot

Technical Field

The invention relates to the technical field of carrying devices, in particular to a shuttle vehicle with an arm swinging robot.

Background

Nowadays, with the revolution of the times and the rapid development of science and technology, the application of the shuttle car in the field of intelligent storage logistics is very wide, but the storage and taking business types of the logistics storage center are more and more diversified and complicated, for example, when cylindrical goods are stored and moved, the two-way or four-way shuttle car used in the field of traditional intelligent storage logistics is difficult to meet the requirements of placement and positioning.

Traditional two-way or even four-way shuttle is always a troublesome matter for the transportation and the transfer of cylindrical goods and barrel materials, mainly because the cylindrical goods are easy to roll and are not easy to position, clamp and place, therefore, the device for transporting the cylindrical goods at present is not enough on the whole.

Therefore, it is necessary to provide a shuttle vehicle equipped with an arm swinging robot to solve the above technical problems.

Disclosure of Invention

The technical problem to be solved

The invention aims to provide a shuttle vehicle with a swing arm robot, which aims to solve the problem that the traditional two-way or four-way shuttle vehicle in the background technology is troublesome for the transportation and the transfer of cylindrical goods and tubular materials all the time, mainly because the cylindrical goods are easy to roll and are difficult to position, clamp and place, and the existing device for transporting the cylindrical goods is insufficient on the whole.

Two technical schemes

In order to achieve the purpose, the invention provides the following technical scheme: a shuttle vehicle provided with a swing arm robot comprises an underframe and a swing mechanism arranged at the top of the underframe, wherein the swing mechanism comprises a corner driving motor and a fixed shaft connected with an output shaft of the corner driving motor;

the clamping mechanism is arranged at one end, far away from the fixed shaft, of the swing arm and mainly consists of a clamping rod driven by a clamping motor and a chuck plate on the outer side of the clamping rod, and when the clamping rod is inserted into a workpiece, the chuck plate abuts against two sides of the workpiece to clamp the workpiece.

As a further scheme of the invention, a balancing weight is fixedly arranged at the bottom of the underframe.

As a further scheme of the invention, the swing arms are composed of a large arm and a small arm which are fixedly connected through bolts, the small arm is connected with the clamping mechanism, and a cross beam is fixedly connected between the two swing arms.

As a further scheme of the invention, the clamping mechanism comprises a fixed plate fixedly arranged at one end of the small arm, an installation cover is fixedly connected onto the fixed plate, and the clamping motor is arranged in the installation cover.

As a further scheme of the invention, a transmission shaft is connected to an output shaft of the clamping motor, a gear box is arranged at one end of the transmission shaft, which is far away from the clamping motor, the transmission shaft is connected with an input end of a gear set inside the gear box, an output end of the gear set is a driving gear, a rack is meshed with the outer side of the driving gear, and the clamping rod is arranged at one end of the rack.

As a further scheme of the invention, the bottom of the underframe is provided with a running mechanism, and the running mechanism drives the device to integrally move.

As a further scheme of the invention, the running mechanism comprises a walking motor and a driving shaft connected with an output shaft of the walking motor, driving wheels are rotatably arranged at two ends of the driving shaft, a driven shaft is arranged on one side of the underframe far away from the driving shaft, and driven wheels are rotatably arranged at two ends of the driven shaft.

As a further scheme of the invention, mounting steel plates are uniformly arranged on two sides of the top of the underframe, and buffers are arranged on the mounting steel plates and are in contact with the buffers on the mounting steel plates when the swing arm rotates to the limit position.

Three beneficial effects

1. According to the shuttle vehicle with the swing arm robot, goods are clamped and fixed through the clamping mechanism, the goods can be lifted upwards through the swing arm, so that the goods are transported, the swing arm can be driven to turn through the corner driving motor, so that the goods are turned over and conveyed from one side of the underframe to the other side of the underframe by the clamping mechanism, in the actual use process, the distance is saved, the conveying efficiency is improved, the structure is simple and compact, and the shuttle vehicle has good stability;

2. in the actual use process, a controller is required to be arranged at the connecting end of the angle sensor, the controller can adopt a single chip microcomputer or a PLC and the like and is used for processing signals collected by the angle sensor and analyzing the signals, the controller is electrically connected with the corner driving motor and is used for controlling the work of the corner driving motor, when the corner driving motor rotates to a proper angle, the rotating angle of the fixed shaft can be detected through the angle sensor, and then the controller controls the corner driving motor to stop working, so that the swing arm stops at a corresponding height;

3. drive the transmission shaft through pressing from both sides tight motor output shaft and rotate, the transmission shaft can drive gear through the linkage of the inside gear train of gear box and rotate, and the meshing through drive gear and rack can drive the rack and remove, the rack can drive the clamping bar of its one end and remove, when the clamping bar injects the middle through-hole department of cylinder class goods, can support the side of work piece through the (holding) chuck, thereby can press from both sides the work piece through the cooperation of both sides (holding) chuck, the in-process stability of getting the goods is high, can avoid the goods to drop.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic view of the present invention in the configuration for handling cargo;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a usage scenario diagram of the present invention;

FIG. 4 is an enlarged view of the portion A of FIG. 2 according to the present invention;

FIG. 5 is a schematic view of the driving gear and rack meshing structure of the present invention;

FIG. 6 is a schematic view of the present invention chassis configuration;

fig. 7 is a schematic view of the structure of the running mechanism of the present invention.

In the figure: 1. a chassis; 2. a balancing weight; 3. a drive wheel; 4. a traveling motor; 5. a drive shaft; 6. a driven shaft; 7. a driven wheel; 8. swinging arms; 9. a buffer; 10. installing a steel plate; 11. a fixed shaft; 12. a corner driving motor; 13. a corner detection switch bracket; 14. a large arm; 15. a small arm; 16. a cross beam; 17. a baffle plate; 18. mounting a cover; 19. a rack; 20. a fixing plate; 21. a workpiece; 22. a tray; 23. a clamping bar; 24. a chuck; 25. clamping the motor; 26. a drive shaft; 27. a gear case; 28. the gears are driven.

Detailed Description

As shown in fig. 1-2, a shuttle vehicle equipped with a swing arm robot comprises an underframe 1 and mounting steel plates 10 fixed at the front and rear sides of the top of the underframe 1, a baffle 17 is fixedly connected to the top of the mounting steel plate 10, a swing mechanism is arranged outside the baffle 17, the swing mechanism is mounted on the underframe 1, and a clamping mechanism is mounted at one end of the swing mechanism.

Furthermore, a corner driving motor 12 is fixedly arranged at the top of the chassis 1, a fixed shaft 11 is connected on an output shaft of the corner driving motor 12, the fixed shaft 11 is fixed with the swing arm 8 on the swing mechanism, when in use, the corner driving motor 12 drives the fixed shaft 11 to rotate, the fixed shaft 11 can drive the swing arm 8 to rotate, the clamping mechanism is arranged at one end of the swing arm 8, so that the goods are clamped and fixed by the clamping mechanism, can be lifted upwards by the swing arm 8, thereby transporting goods, and the swing arm 8 can be driven to turn over by the corner driving motor 12, so that the gripping mechanism overturns and carries the goods from one side of the base frame 1 to the other side of the base frame 1, in the in-service use process, be favorable to saving the distance, improve the efficiency of transport to simple structure is compact, has good stability.

In order to facilitate the improvement of the stability during the transportation, the bottom of the underframe 1 is fixedly provided with the balancing weight 2 to increase the weight of the underframe 1 per se, thereby improving the stability during the transportation.

As shown in fig. 2-5, the swing arm 8 of the swing mechanism mainly comprises a large arm 14 and a small arm 15, the large arm 14 and the small arm 15 are fixedly connected through a bolt, the small arm 15 is connected with the clamping mechanism, a cross beam 16 is also fixedly connected between the two swing arms 8, two ends of the cross beam 16 are arranged at the joint of the large arm 14 and the small arm 15, the swing arms 8 on two sides can synchronously rotate through the cross beam 16, the stability is high, the structural strength of the swing arms 8 can be improved, and the fixing shaft 11 penetrates through the large arm 14 and is fixed with the large arm 14.

Furthermore, a sheet metal shell is fixedly distributed on two sides of the top of the chassis 1, two ends of the fixing shaft 11 respectively penetrate through the sheet metal shell and extend into the sheet metal shell, the fixing shaft 11 is rotatably connected with the sheet metal shell, one side of the sheet metal shell is provided with a corner detection switch bracket 13, an angle sensor matched with the fixing shaft 11 is mounted on the corner detection switch bracket 13, the rotating angle of the fixing shaft 11 can be detected through the angle sensor, the rotating angle of the fixing shaft 11 can be accurately controlled, the rotating angle of the swing arm 8 can be controlled conveniently, a controller is required to be arranged at the connecting end of the angle sensor in the actual use process, the controller can adopt a single chip microcomputer or a PLC and the like and is used for processing the signals collected by the angle sensor and analyzing the signals, and the controller is electrically connected with the corner driving motor 12 and is used for controlling the work of the corner driving motor 12, when the swing arm 8 rotates to a proper angle, the rotating angle of the fixed shaft 11 can be detected through the angle sensor, and the controller controls the rotation angle driving motor 12 to stop working, so that the swing arm 8 stops at the corresponding angle.

The clamping mechanism comprises a fixing plate 20 fixedly arranged at one end of the small arm 15, an installation cover 18 is fixedly connected to the fixing plate 20, a clamping motor 25 is arranged inside the installation cover 18, a transmission shaft 26 is connected to an output shaft of the clamping motor 25, a gear box 27 is arranged at one end, far away from the clamping motor 25, of the transmission shaft 26, the transmission shaft 26 is connected with an input end of a gear set inside the gear box 27, an output end of the gear set is a driving gear 28, a rack 19 is meshed to the outer side of the driving gear 28, a clamping manipulator is arranged at one end of the rack 19, and the clamping manipulator can be driven to mutually approach and keep away through reciprocating movement of the rack 19, so that clamping of goods is completed.

The gripper robot comprises a clamping bar 23 fixed with the rack 19 and a chuck plate 24 fixed on the outer side of the clamping bar 23, the clamping bar 23 penetrates through the small arm 15 and is connected with the small arm 15 in a sliding way, and the rack 19 penetrates through the mounting cover 18 and is connected with the mounting cover 18 in a sliding way.

When the device is used, when the device is integrally moved to one side of the tray 22, the swing arm 8 can be driven to rotate by the corner driving motor 12, so that the clamping mechanism at one end of the small arm 15 is arranged at two sides of the workpiece 21 on the top of the tray 22, the workpiece 21 is a cylinder type cargo which is difficult to carry and transport, when the clamping mechanism is moved to two sides of the workpiece 21, the output shaft of the clamping motor 25 drives the transmission shaft 26 to rotate, the transmission shaft 26 can drive the driving gear 28 to rotate by the linkage of the gear set inside the gear box 27, the rack 19 can be driven to move by the meshing of the driving gear 28 and the rack 19, the rack 19 can drive the clamping rod 23 at one end to move, when the clamping rod 23 is inserted into the middle through hole of the cylinder type cargo, the side surface of the workpiece 21 can be abutted by the clamping chuck 24, so that the workpiece 21 can be clamped by the cooperation of the clamping chucks 24 at two sides, at the moment, the swing arm 8 is driven by the corner driving motor 12 to rotate, the workpiece 21 can be driven to separate from the tray 22 and rotate to a designated height for transportation, as shown in fig. 3, when goods need to be transported from the tray 22 on one side to the tray 22 on the other side, the swing arm 8 can be directly driven to turn over by the corner driving motor 12, then the goods are transported to the tray 22 on the other side, and then the clamping motor 25 drives the rack 19 to reset, so that the clamping rod 23 and the chuck plate 24 can be driven to separate from the workpiece 21 and put down.

As shown in fig. 1, 7 and 6, the running mechanism at the bottom of the chassis 1 comprises a walking motor 4 and a driving shaft 5 connected with an output shaft of the walking motor 4, the driving shaft 5 can be driven to rotate by the walking motor 4, two ends of the driving shaft 5 are rotatably provided with driving wheels 3, a driven shaft 6 is arranged on one side of the chassis 1 away from the driving shaft 5, two ends of the driven shaft 6 are rotatably provided with driven wheels 7, here, the walking motor 4 is fixed with the chassis 1, and the driving shaft 5 and the driven shaft 6 are rotatably connected with the chassis 1.

When the device is used, the output shaft of the walking motor 4 can drive the driving shaft 5 to rotate, so that the driving wheel 3 is driven to rotate, and the device can be driven to integrally move.

Be provided with buffer 9 on installation steel sheet 10, can contact with buffer 9 on the installation steel sheet 10 when swing arm 8 rotates to extreme position to swing arm 8 to the rotation in-process is cushioned, avoids swing arm 8 and installation steel sheet 10 direct contact, causes swing arm 8's damage.

In conclusion, the device can clamp cylindrical goods by the clamping rod 23 and the chuck plate 24, is convenient to operate, is beneficial to rapidly transporting or transporting the cylindrical goods, can transport the goods within the range of 180 degrees by the swing arm 8, namely can turn the goods from one side of the underframe 1 to the other side of the underframe 1, can rapidly transport the goods from the production line on one side to the production line on the other side, has high efficiency, can precisely control the rotating angle of the swing arm 8 by the angle sensor, is beneficial to controlling the transporting position of the goods, can adapt to different production requirements, and has high stability in the process of clamping the goods by the matching of the rack 19 and the driving gear 28, so that the goods can be prevented from falling off, in addition, the whole structure of the device is simple, low production cost and convenient popularization.

The working principle is as follows: when the device integrally moves to one side of a tray 22, the swing arm 8 can be driven to rotate by the corner driving motor 12, so that the clamping mechanisms at one end of the small arm 15 are arranged at two sides of a workpiece 21 on the top of the tray 22, the output shaft of the clamping motor 25 drives the transmission shaft 26 to rotate, the transmission shaft 26 can drive the driving gear 28 to rotate by the linkage of the gear set inside the gear box 27, the rack 19 can be driven to move by the meshing of the driving gear 28 and the rack 19, the rack 19 can drive the clamping rod 23 at one end of the rack to move, when the clamping rod 23 is inserted into the middle through hole of a cylindrical cargo, the side surface of the workpiece 21 can be propped against by the chuck plate 24, so that the workpiece 21 can be clamped up by the matching of the chuck plates 24 at two sides, at the moment, the swing arm 8 is driven to rotate by the corner driving motor 12, the workpiece 21 can be driven to be separated from the tray 22 and rotate to a specified position for transportation, and the swing arm 8 is driven by the corner driving motor 12 to overturn, the goods are then transported to the other side of the pallet 22 and then the clamping bars 23 and the chuck plate 24 are released from the workpiece 21 and lowered by the rack 19 being returned by the clamping motor 25.

Claims

1. The utility model provides a shuttle of swing arm robot is equipped with which characterized in that: the swinging mechanism comprises an underframe (1) and a swinging mechanism arranged at the top of the underframe (1), wherein the swinging mechanism comprises a corner driving motor (12) and a fixed shaft (11) connected with an output shaft of the corner driving motor, a swinging arm (8) is arranged on the fixed shaft (11), and the swinging arm (8) can be driven to swing on a vertical surface in a reciprocating manner by the corner driving motor (12);

one end of the swing arm (8) far away from the fixed shaft (11) is provided with a clamping mechanism, the clamping mechanism mainly comprises a clamping rod (23) driven by a clamping motor (25) and a chuck (24) on the outer side of the clamping rod (23), and when the clamping rod (23) is inserted into the workpiece (21), the chuck (24) props against the two sides of the workpiece (21) to clamp the workpiece.

2. A shuttle vehicle equipped with an oscillating arm robot according to claim 1, characterized in that: and a balancing weight (2) is fixedly arranged at the bottom of the bottom frame (1).

3. A shuttle vehicle equipped with an oscillating arm robot according to claim 1, characterized in that: the swing arm (8) is composed of a large arm (14) and a small arm (15), the large arm (14) is fixedly connected with the small arm (15) through a bolt, the small arm (15) is connected with the clamping mechanism, and a cross beam (16) is fixedly connected between the two swing arms (8).

4. A shuttle vehicle equipped with an oscillating arm robot according to claim 3, characterized in that: the clamping mechanism comprises a fixing plate (20) fixedly arranged at one end of the small arm (15), the fixing plate (20) is fixedly connected with an installation cover (18), and the clamping motor (25) is arranged inside the installation cover (18).

5. A shuttle vehicle equipped with an oscillating arm robot according to claim 1, characterized in that: be connected with transmission shaft (26) on clamping motor (25) output shaft, the one end that clamping motor (25) was kept away from in transmission shaft (26) is provided with gear box (27), and transmission shaft (26) are connected with the input of the inside gear train of gear box (27), the output of gear train is a drive gear (28), the meshing has rack (19) in drive gear (28) outside, clamping bar (23) set up in rack (19) one end.

6. A shuttle vehicle equipped with an oscillating arm robot according to claim 1, characterized in that: the bottom of the bottom frame (1) is provided with a running mechanism, and the running mechanism drives the device to integrally move.

7. A shuttle vehicle equipped with an oscillating arm robot according to claim 6, wherein: the running mechanism comprises a walking motor (4) and a driving shaft (5) connected with an output shaft of the walking motor, driving wheels (3) are arranged at two ends of the driving shaft (5) in a rotating mode, a driven shaft (6) is arranged on one side, away from the driving shaft (5), of the chassis (1), and driven wheels (7) are arranged at two ends of the driven shaft (6) in a rotating mode.

8. A shuttle vehicle equipped with an oscillating arm robot according to claim 1, characterized in that: installation steel plates (10) are uniformly arranged on two sides of the top of the bottom frame (1), buffers (9) are arranged on the installation steel plates (10), and the swing arms (8) are in contact with the buffers (9) on the installation steel plates (10) when rotating to the limit positions.