CN114590574B - Transfer robot for production line - Google Patents
Transfer robot for production line Download PDFInfo
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- CN114590574B CN114590574B CN202210157949.7A CN202210157949A CN114590574B CN 114590574 B CN114590574 B CN 114590574B CN 202210157949 A CN202210157949 A CN 202210157949A CN 114590574 B CN114590574 B CN 114590574B
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- 238000012546 transfer Methods 0.000 title claims abstract description 15
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 14
- 238000003860 storage Methods 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000009194 climbing Effects 0.000 claims description 19
- 238000003825 pressing Methods 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 4
- 239000013013 elastic material Substances 0.000 claims description 3
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 20
- 238000000034 method Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 4
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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
- B65G13/00—Roller-ways
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/035—Stacking of articles by adding to the top of the stack from above with a stepwise downward movement of the stack
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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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a transfer robot for a production line, which belongs to the technical field of transfer robots, and comprises a trolley for moving and transporting, and is characterized in that: the rear part of the upper end of the trolley is provided with a storage device for stacking and storing a plurality of desks, the front part of the upper end of the trolley is provided with a conveying device for pushing the desks to enter the storage device one by one from low to high, and the conveying device is driven by a crank sliding block mechanism positioned on one side of the trolley.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to a transfer robot for a production line.
Background
With the development of technology and further demands for efficient production, many labor-intensive factories gradually replace a part of manpower with automated equipment, and common handling robots are used in production lines.
For example, chinese patent CN110127361a discloses a handling robot for a seat panel production line, which comprises a machine hanger, and is characterized in that: the machine hanging bracket is respectively provided with a motor frame, a rear plate and a guide rail; the motor frame is provided with a motor, the motor is connected with a rocker, the rocker is hinged with a transmission rod, and the transmission rod is hinged with a driving plate which is horizontally and slidably arranged on the guide rail. This transfer robot is adopted machinery to replace the manual work, but a transport table chair panel can only be pressed from both sides through the clamp splice to a single, and transport efficiency promotes very limited, because the clamp splice itself has certain thickness moreover, and the table chair panel generally belongs to wooden material again, when two clamp splices keep away from each other and place the table chair panel, the table chair panel can inevitably collide with ground in dropping the in-process, causes table chair panel surface fish tail easily, influences pleasing to the eye degree.
Based on the above, the present invention provides a transfer robot for a production line to solve the above problems.
Disclosure of Invention
In order to solve the problems, the invention provides the following technical scheme:
transfer robot for production line, including the dolly that is used for removing transportation, its characterized in that: the rear part of the upper end of the trolley is provided with a storage device for stacking and storing a plurality of desks, the front part of the upper end of the trolley is provided with a conveying device for pushing the desks to enter the storage device one by one from low to high, and the conveying device is driven by a crank sliding block mechanism positioned on one side of the trolley.
As a further scheme of the invention, the crank slide block mechanism comprises a motor arranged on a motor frame, a crank is fixedly arranged on an output shaft of the motor, the other end of the crank is hinged with a connecting rod, and the other end of the connecting rod is hinged with a sliding rod of a conveying device.
As a further scheme of the invention, the conveying device comprises a table conveying frame, a push rod used for pushing the table to move along the table conveying frame, a slide rod used for pushing the push rod to move back and forth, and constraint frames positioned at two sides of the table conveying frame and used for controlling the height of the push rod, wherein the high end of the table conveying frame is flush with the high end of the storage device.
As a further scheme of the invention, the constraint frame comprises a lift frame, a far frame, a return frame and a near frame, wherein the far frame extends obliquely upwards, the return frame is positioned above the lift frame, one side of the constraint frame, which is close to the table plate transportation frame, is provided with a constraint groove, the constraint groove corresponds to each part of the constraint frame and comprises a lift groove, a far groove, a return groove and a near groove, a step is arranged at the joint of the tail end of the lift groove and the initial end of the far groove, the depth of the far groove is larger than the depth of the lift groove, the horizontal part of the return groove is provided with a climbing slope, the lower end of the climbing slope is close to the far groove, and the high end of the climbing slope is identical with the depth of the lift groove; the lower end of the sliding rod is in sliding connection with a sliding groove at the upper part of the trolley, and a rod groove is formed in the middle of the sliding rod; the table plate transportation frame comprises two side frameworks and a transportation roller rotatably connected between the two frameworks; the push rod comprises a thicker main rod with the middle part in contact with the table plate and thinner auxiliary rods which are arranged at the two ends of the main rod and are in sliding connection with the rod grooves and the constraint grooves, spring grooves are formed at the two ends of the main rod, a first spring is arranged in each spring groove, and the auxiliary rods are in sliding connection with the spring grooves; the rear end of the sliding rod is fixedly connected with a right-angle pressing plate, and the upper ends of the two pressing plates are fixedly connected through a transverse plate.
As a further scheme of the invention, the storage device comprises a box body, the four corners of the box body are provided with jacks, the jacks are in sliding fit with four inserted bars at the upper end of a trolley, one side of the trolley is provided with a telescopic bar for lifting the box body, the rear part of the trolley is provided with a hole with the same outline as the inner cavity of the box body, and the part of the trolley, which is positioned at the rear part of the hole, is communicated; the inner cavity of the box body is internally provided with a placing platform for placing the table plate in a sliding manner, the lower end of the placing platform is provided with a foot made of elastic materials, supporting mechanisms for controlling the placing platform to slide up and down are connected in a sliding manner in T-shaped lifting grooves on two sides of the box body, and the supporting mechanisms are matched with sliding rails on the side walls of the box body.
As a further scheme of the invention, the supporting mechanism comprises a trapezoid shell which is in sliding connection with the lifting groove, a second spring is fixedly connected to the middle of the shell, a sliding plate is fixedly connected to the other end of the second spring, an adapter block is in sliding connection with the shell, an adapter rod is fixedly connected to the adapter block, and an adapter is rotatably connected to the other end of the adapter rod; two guide rods are fixedly connected to two sides of the rear part of the shell, and guide grooves which are parallel to each other and are in sliding fit with the guide rods are formed in two sides of the lifting groove; the lower end of the lifting groove is provided with a separation groove extending towards the side wall of the box body, and the guide groove extends inwards at the corresponding part of the separation groove.
As a further scheme of the invention, the guide grooves at the front part of each side of the box body are provided with a guide rod which penetrates through the box body, is hollow corresponding to the guide grooves, and is internally connected with a stress rod in a sliding manner, and one end of the stress rod is fixedly connected with the adapter.
As a further scheme of the invention, the sliding rail comprises a plurality of 7-shaped rails, the 7-shaped rails comprise horizontal rails and inclined rails, the initial end of the horizontal rail of the 7-shaped rail below is communicated with the tail end of the inclined rail of the 7-shaped rail above, the tail end of the inclined rail at the lowest end is communicated with the initial end of the inclined rail at the uppermost end by a reset rail, and the clamping angle between the reset rail and the inclined rail at the lowest end is smaller than sixty degrees; the lower extreme the crossing department of inclined rail and reset rail is equipped with the ladder, and reset rail initial end degree of depth is greater than the terminal degree of depth of inclined rail, reset rail middle part is equipped with the climbing that gradually becomes shallow by supreme degree of depth down, reset rail terminal and the crossing department of uppermost horizontal rail are equipped with the ladder, and the degree of depth at the initial end of horizontal rail is greater than reset rail terminal degree of depth, uppermost the horizontal rail also is equipped with one section climbing.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
when the table top is used, the crank rocker mechanism drives the push rod to smoothly transport the table top at the lower part into the storage device, and the pressing plate controls the supporting mechanism to move downwards along the sliding rail by a table top thickness through the stress rod; every stack a table, strorage device's degree of depth can all enlarge the thickness of a table, and a plurality of tables can be transported to single, promotes transportation efficiency greatly. The upper end of the front desk plate of the slide way of the back desk plate can be smooth, so that the back desk plate is prevented from injuring the front desk plate by smashing. Until the table plate is filled, after the table plate is moved to a designated position, the table plate is put down, and the height difference between the footing and the ground is small in the placing process, the footing has elasticity and the gravity effect of the table plate, and the stacked table plate is stably placed on the ground through the placing platform, so that the table plate is prevented from being knocked.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a right side view of the present invention;
FIG. 3 is a schematic view of the structure of the restraint frame of the present invention;
FIG. 4 is an enlarged schematic top view of the top portion of FIG. 3 in accordance with the present invention;
FIG. 5 is a schematic view of the slide bar and platen structure of the present invention;
FIG. 6 is a schematic illustration of a putter in accordance with the present invention;
FIG. 7 is a schematic view of a storage device according to the present invention;
FIG. 8 is a first cross-sectional schematic view of a storage device of the present invention;
FIG. 9 is an enlarged partial schematic view of FIG. 8 in accordance with the present invention;
FIG. 10 is a schematic view of a support structure according to the present invention;
FIG. 11 is a second cross-sectional schematic view of the storage device of the present invention;
FIG. 12 is a third cross-sectional schematic view of the storage device of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1-trolley, 2-storage, 3-transport, 4-motor, 5-crank, 6-link, 8-table transport rack, 9-push rod, 10-slide bar, 11-restraint rack, 12-lift rack, 13-distancing rack, 14-return rack, 15-approaching rack, 16-restraint slot, 17-lift slot, 18-distancing slot, 19-return slot, 20-approaching slot, 21-climbing, 22-slide slot, 23-rod slot, 24-backbone, 25-transport roller, 26-main bar, 27-auxiliary bar, 28-first spring, 29-spring slot, 30-clamp, 31-box, 32-jack, 33-insert bar, 34-telescoping bar, 35-placement platform, 36-foot, 37-lifting slot, 38-support mechanism, 39-slide rail, 40-housing, 41-second spring, 42-slide plate, 43-transfer block, 44-transfer bar, 45-adapter, 46-guide bar, guide slot, 48-disengagement slot, 49-slide bar, 50-step ladder rail, 51-return rail, 52-slide rail, 52-return rail.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-12, the present invention provides a technical solution:
a transfer robot for a production line, as shown in fig. 1 and 2, includes a trolley 1 for moving and transporting, and is characterized in that: the rear part of the upper end of the trolley 1 is provided with a storage device 2 for stacking and storing a plurality of desks, the front part of the upper end of the trolley 1 is provided with a conveying device 3 for pushing the desks to enter the storage device 2 one by one from low to high, and the conveying device 3 is driven by a crank 5 sliding block mechanism positioned on one side of the trolley 1.
When the novel table is used, the crank 5 rocker mechanism drives the conveying device 3 to continuously convey the table boards at the lower part into the storage device 2, each time one table board is stacked, the depth of the storage device 2 can be increased by the thickness of one table board, the upper end of the previous table board of the slide way, which can be smooth, of the next table board is ensured, and the previous table board is prevented from being injured by the next table board. Until the table plate is full, the table plate is put down after the table plate is moved to a designated position.
As an embodiment of the present invention, as shown in fig. 1 and 2, the crank 5 slider mechanism includes a motor 4 mounted on a frame of the motor 4, a crank 5 is fixedly mounted on an output shaft of the motor 4, a connecting rod 6 is hinged to the other end of the crank 5, and a slide bar 10 of the transportation device 3 is hinged to the other end of the connecting rod 6.
The transportation device 3 comprises a table transportation frame 8, a push rod 9 used for pushing a table to move along the table transportation frame 8, a slide rod 10 used for pushing the push rod 9 to move back and forth, and constraint frames 11 positioned at two sides of the table transportation frame 8 and used for controlling the height of the push rod 9, wherein the high end of the table transportation frame 8 is flush with the high end of the storage device 2.
As shown in fig. 1, 2, 3, 4, 5 and 6, the restraint frame 11 comprises a lift frame 12, a far frame 13, a return frame 14 and a near frame 15, the far frame 13 extends obliquely upwards, the return frame 14 is positioned above the lift frame 12, a restraint groove 16 is arranged on one side of the restraint frame 11 near the table plate transportation frame 8, the restraint groove 16 corresponds to each part of the restraint frame 11 and comprises a lift groove 17, a far groove 18, a return groove 19 and a near groove 20, a step 53 is arranged at the joint of the tail end of the lift groove 17 and the initial end of the far groove 18, the depth of the far groove 18 is larger than that of the lift groove 17, a climbing 21 is arranged on the horizontal part of the return groove 19, the lower end of the climbing 21 is close to the far groove 18, and the high end of the climbing 21 is the same as the depth of the lift groove 17; the lower end of the sliding rod 10 is in sliding connection with a sliding groove 22 at the upper part of the trolley 1, and a rod groove 23 is arranged in the middle of the sliding rod 10; the table transport frame 8 comprises two skeletons 24 on two sides and transport rollers 25 rotatably connected between the two skeletons 24; the push rod 9 comprises a thicker main rod 26 with the middle part in contact with the desk plate and thinner auxiliary rods 27 which are arranged at the two ends of the main rod 26 and are in sliding connection with the rod groove 23 and the restraint groove 16, a spring groove 29 is arranged at the two ends of the main rod 26, a first spring 28 is arranged in the spring groove 29, and the auxiliary rods 27 are in sliding connection with the spring groove 29; the rear end of the slide bar 10 is fixedly connected with a right-angle pressing plate 30, and the upper ends of the two pressing plates 30 are fixedly connected through a transverse plate.
The working principle of the transport device 3 will be described in detail starting from the initial point of the slide bar 10 at the slide 22. The motor 4 starts to drive the crank 5 to rotate, the crank 5 drives the slide bar 10 to move backwards along the slide groove 22 through the connecting rod 6, namely, to move to a position close to the storage device 2, when the slide bar 10 moves, the push rod 9 which is in sliding connection with the rod groove 23 is driven to move synchronously through the rod groove 23, and in the movement process of the push rod 9, the table plate placed on the initial end of the table plate transportation frame 8 can be pushed to move synchronously, and the transportation roller 25 on the table plate transportation frame 8 can rotate, so that the table plate is convenient to transport. When the push rod 9 moves to the horizontal part of the upper part of the table transport frame 8, the slide rod 10 continues to move backwards, the push rod 9 gradually moves away from the table under the constraint of the lift groove 17 which is slightly inclined upwards until the table slides completely onto the placement platform 35, at this time, the slide rod 10 continues to slide forwards for a certain distance to the tail end of the lift groove 17, and the two pairs of rods 27 extend outwards for a certain distance under the action of the elastic force of the first springs 28 and enter the away groove 18. At this time, the motor 4 continues to drive the crank 5 to rotate, so as to push the slide bar 10 to slide back, and further drive the push rod 9 to enter the return groove 19 along the distance from the groove 18, and when the push rod 9 slides along the return groove 19, the auxiliary rod 27 is retracted into the spring groove 29 again due to the shallow depth when the push rod passes through the climbing 21 section, and the first spring 28 is recompressed. The slide bar 10 continues to slide until it slides to the initial position of the slide groove 22, and the push rod 9 moves to the initial end of the lift groove 17. The motor 4 continues to rotate and the next table is transported into the storage device 2.
As an embodiment of the present invention, as shown in fig. 7, 8 and 9, the storage device 2 includes a box 31, four corners of the box 31 are provided with insertion holes 32, the insertion holes 32 are slidably matched with four insertion rods 33 at the upper end of the trolley 1, one side of the trolley 1 is provided with a telescopic rod 34 for lifting the box 31, the rear part of the trolley 1 is provided with a hole with the same outline as the inner cavity of the box 31, and the part of the trolley 1 located at the rear part of the hole is opened; the inner chamber inside of box 31 slides and is provided with the place platform 35 that is used for placing the table, and place platform 35 lower extreme is equipped with the footing 36 of elastic material, and the T shape lift groove 37 sliding connection of box 31 both sides has the supporting mechanism 38 that is used for controlling place platform 35 to slide from top to bottom, and supporting mechanism 38 cooperates with the slide rail 39 of box 31 lateral wall.
As shown in fig. 8, 9 and 10, the supporting mechanism 38 comprises a trapezoidal shell 40 slidably connected with the lifting groove 37, a second spring 41 is fixedly connected to the middle of the shell 40, a sliding plate 42 is fixedly connected to the other end of the second spring 41, a switching block 43 is slidably connected to the shell 40 in a sliding manner, a switching rod 44 is fixedly connected to the switching block 43, and a switching joint 45 is rotatably connected to the other end of the switching rod 44; two guide rods 46 are fixedly connected to two sides of the rear part of the shell 40, and guide grooves 47 which are parallel to each other and are in sliding fit with the guide rods 46 are formed in two sides of the lifting groove 37; the lower end of the lifting groove 37 is provided with a release groove 48 extending toward the side wall of the case 31, and the guide groove 47 extends inward at a portion corresponding to the release groove 48.
As shown in fig. 9 and 10, the guide groove 47 at the front of each side of the box 31 has a guide rod 46 corresponding to the guide groove 47 and hollow, and a force-bearing rod 49 is slidably connected inside, and one end of the force-bearing rod 49 is fixedly connected with the adapter 43.
As shown in fig. 11 and 12, the slide rail 39 comprises a plurality of 7-shaped rails, the 7-shaped rails comprise a horizontal rail 50 and an inclined rail 51, the initial end of the horizontal rail 50 of the lower 7-shaped rail is communicated with the tail end of the inclined rail 51 of the upper 7-shaped rail, the tail end of the lowest inclined rail 51 is communicated with the initial end of the uppermost inclined rail 51 by a reset rail 52, and the included angle between the reset rail 52 and the lowest inclined rail 51 is smaller than sixty degrees; the intersection of the bottommost inclined rail 51 and the reset rail 52 is provided with a step 53, the depth of the initial end of the reset rail 52 is larger than the depth of the tail end of the inclined rail 51, the middle part of the reset rail 52 is provided with a climbing 21 with gradually shallower depth from bottom to top, the intersection of the tail end of the reset rail 52 and the uppermost horizontal rail 50 is provided with a step 53, the depth of the initial end of the horizontal rail 50 is larger than the depth of the tail end of the reset rail 52, and the uppermost horizontal rail 50 is also provided with a section of climbing 21.
After the force-bearing rod 49 moves along the lifting groove 17 until the force-bearing rod 49 is completely separated from the table plate, the force-bearing rod 49 moves along the lifting groove 17 for a certain distance until the force-bearing rod 49 enters the initial end far away from the groove 18, in the process, the right-angle pressing plate 30 fixedly connected with the sliding rod 10 presses the force-bearing rod 49, the force-bearing rod 49 pushes the adapter plate to slide backwards in the shell 40, the adapter rod 44 and the adapter 45 are pushed to slide backwards along the horizontal rail 50 against friction until the adapter plate slides to the tail end of the horizontal rail 50, the adapter 45 enters the inclined rail 51, the adapter plate enters the next section of horizontal rail 50 along the inclined rail 51 under the left standing effect, at the moment, the adapter plate moves downwards along with the adapter 45 by the thickness of one table plate, the force-bearing rod 49 moves downwards, the shell 40 and the placing platform 35 supported by the part of the shell 40 protruding out of the lifting groove 37 synchronously and stably moves downwards by the thickness of one table plate, and then the table plate just transported by the transporting device 3 enters the box 31, and the next table plate horizontally slides to the upper end of the box 31. In the process of moving down the shell 40 along the lifting groove 37, the guide rods 46 at the two ends of the shell also synchronously slide down along the guide grooves 47, and the shell 40 cannot rotate because the shell 40 is in sliding connection with the lifting groove 37 and the four guide rods 46 and the four guide grooves 47 are in sliding fit to form a stable rectangular structure on a plane. In this way, after each table is transported by the transporting device 3 to the storing device 2, the stress rod 49 is pushed to move the placing platform 35 and the supporting mechanism 38 downwards by one table thickness, until the table is not transported into the box 31 when the adapter 45 moves to the horizontal rail 50 at the lowest end. At this time, the trolley 1 can be started to move the trolley 1 to a preset position, then the motor 4 is continuously started to make the slide rod 10 run for one turn, the adapter 45 is pushed away from the horizontal rail 50 by the stress rod 49 to enter the lower-most inclined rail 51, in fact, when the adapter 45 is positioned at the tail end of a small section of vertical rail between the horizontal rail 50 and the inclined rail 51, the foot 36 at the lower end of the placement platform 35 is already grounded, so that no mutual friction force exists when the shell 40 and the placement platform 35 are moved relatively to each other. Due to the small difference in height between the foot 36 and the floor during placement, and the elasticity of the foot 36 itself, and the weight of the table itself, the stacked table is placed on the floor smoothly by the placement platform 35. When the adapter 45 enters the lowermost inclined rail 51, the guide bar 46 also enters the lowermost inclined portion of the guide groove 47 simultaneously; in this process, the housing 40 is moved away from the placement platform 35 downwards, and the guide rod 46 slides along the inclined guide groove 47, so that the housing 40 is moved deep into the release groove against the elastic force of the second spring 41, i.e. the housing 40 is retracted into the release groove until the adapter 45 moves to the end of the lowermost inclined rail 51, and is pushed into the initial end of the return rail 52 by the slide plate 42 under the elastic force of the second spring 41. The motor 4 continues to rotate, the slide bar 10 runs for one circle again, so that the pressure plate 30 pushes the adapter 45 to rise to the uppermost horizontal rail 50 along the reset rail 52 through the stress rod 49, and reset is completed. When the second spring 41 passes the climbing 21 in the ascending process, the adapter 45 presses the adapter rod 44 and the adapter plate through the adapter 45, so that the second spring 41 is compressed, and the adapter 45 penetrates into the shell 40. When the adapter 45 moves to the uppermost horizontal rail 50, the adapter 45 enters the initial end of the deeper horizontal rail 50 again under the action of the second spring 41. At this time, the box 31 can be pushed up by the telescopic rod 34 until the lower end of the box 31 exceeds the uppermost table plate, the trolley 1 moves forwards and is separated from the table plate on the ground, and finally the box 31 is put down.
One specific application of this embodiment is:
the working principle of the transport device 3 will be described in detail starting from the initial point of the slide bar 10 at the slide 22. The motor 4 starts to drive the crank 5 to rotate, the crank 5 drives the slide bar 10 to move backwards along the slide groove 22 through the connecting rod 6, namely, to move to a position close to the storage device 2, when the slide bar 10 moves, the push rod 9 which is in sliding connection with the rod groove 23 is driven to move synchronously through the rod groove 23, and in the movement process of the push rod 9, the table plate placed on the initial end of the table plate transportation frame 8 can be pushed to move synchronously, and the transportation roller 25 on the table plate transportation frame 8 can rotate, so that the table plate is convenient to transport. When the push rod 9 moves to the horizontal part of the upper part of the table transport frame 8, the slide rod 10 continues to move backwards, the push rod 9 gradually moves away from the table under the constraint of the lift groove 17 which is slightly inclined upwards until the table slides completely onto the placement platform 35, at this time, the slide rod 10 continues to slide forwards for a certain distance to the tail end of the lift groove 17, and the two pairs of rods 27 extend outwards for a certain distance under the action of the elastic force of the first springs 28 and enter the away groove 18. At this time, the motor 4 continues to drive the crank 5 to rotate, so as to push the slide bar 10 to slide back, and further drive the push rod 9 to enter the return groove 19 along the distance from the groove 18, and when the push rod 9 slides along the return groove 19, the auxiliary rod 27 is retracted into the spring groove 29 again due to the shallow depth when the push rod passes through the climbing 21 section, and the first spring 28 is recompressed. The slide bar 10 continues to slide until it slides to the initial position of the slide groove 22, and the push rod 9 moves to the initial end of the lift groove 17. The motor 4 continues to rotate and the next table is transported into the storage device 2.
After the force-bearing rod 49 moves along the lifting groove 17 until the force-bearing rod 49 is completely separated from the table plate, the force-bearing rod 49 moves along the lifting groove 17 for a certain distance until the force-bearing rod 49 enters the initial end far away from the groove 18, in the process, the right-angle pressing plate 30 fixedly connected with the sliding rod 10 presses the force-bearing rod 49, the force-bearing rod 49 pushes the adapter plate to slide backwards in the shell 40, the adapter rod 44 and the adapter 45 are pushed to slide backwards along the horizontal rail 50 against friction until the adapter plate slides to the tail end of the horizontal rail 50, the adapter 45 enters the inclined rail 51, the adapter plate enters the next section of horizontal rail 50 along the inclined rail 51 under the left standing effect, at the moment, the adapter plate moves downwards along with the adapter 45 by the thickness of one table plate, the force-bearing rod 49 moves downwards, the shell 40 and the placing platform 35 supported by the part of the shell 40 protruding out of the lifting groove 37 synchronously and stably moves downwards by the thickness of one table plate, and then the table plate just transported by the transporting device 3 enters the box 31, and the next table plate horizontally slides to the upper end of the box 31. In the process of moving down the shell 40 along the lifting groove 37, the guide rods 46 at the two ends of the shell also synchronously slide down along the guide grooves 47, and the shell 40 cannot rotate because the shell 40 is in sliding connection with the lifting groove 37 and the four guide rods 46 and the four guide grooves 47 are in sliding fit to form a stable rectangular structure on a plane. In this way, after each table is transported by the transporting device 3 to the storing device 2, the stress rod 49 is pushed to move the placing platform 35 and the supporting mechanism 38 downwards by one table thickness, until the table is not transported into the box 31 when the adapter 45 moves to the horizontal rail 50 at the lowest end. At this time, the trolley 1 can be started to move the trolley 1 to a preset position, then the motor 4 is continuously started to make the slide rod 10 run for one turn, the adapter 45 is pushed away from the horizontal rail 50 by the stress rod 49 to enter the lower-most inclined rail 51, in fact, when the adapter 45 is positioned at the tail end of a small section of vertical rail between the horizontal rail 50 and the inclined rail 51, the foot 36 at the lower end of the placement platform 35 is already grounded, so that no mutual friction force exists when the shell 40 and the placement platform 35 are moved relatively to each other. Due to the small difference in height between the foot 36 and the floor during placement, and the elasticity of the foot 36 itself, and the weight of the table itself, the stacked table is placed on the floor smoothly by the placement platform 35. When the adapter 45 enters the lowermost inclined rail 51, the guide bar 46 also enters the lowermost inclined portion of the guide groove 47 simultaneously; in this process, the housing 40 is moved away from the placement platform 35 downwards, and the guide rod 46 slides along the inclined guide groove 47, so that the housing 40 is moved deep into the release groove against the elastic force of the second spring 41, i.e. the housing 40 is retracted into the release groove until the adapter 45 moves to the end of the lowermost inclined rail 51, and is pushed into the initial end of the return rail 52 by the slide plate 42 under the elastic force of the second spring 41. The motor 4 continues to rotate, the slide bar 10 runs for one circle again, so that the pressure plate 30 pushes the adapter 45 to rise to the uppermost horizontal rail 50 along the reset rail 52 through the stress rod 49, and reset is completed. When the second spring 41 passes the climbing 21 in the ascending process, the adapter 45 presses the adapter rod 44 and the adapter plate through the adapter 45, so that the second spring 41 is compressed, and the adapter 45 penetrates into the shell 40. When the adapter 45 moves to the uppermost horizontal rail 50, the adapter 45 enters the initial end of the deeper horizontal rail 50 again under the action of the second spring 41.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. Transfer robot for production line, including being used for removing dolly (1) of transportation, its characterized in that: the rear part of the upper end of the trolley (1) is provided with a storage device (2) for stacking and storing a plurality of desks, the front part of the upper end of the trolley (1) is provided with a conveying device (3) for pushing the desks to enter the storage device (2) one by one from low to high, and the conveying device (3) is driven by a crank (5) sliding block mechanism positioned at one side of the trolley (1);
the conveying device (3) comprises a table conveying frame (8), a push rod (9) used for pushing a table to move along the table conveying frame (8), a slide rod (10) used for pushing the push rod (9) to move back and forth, and constraint frames (11) positioned at two sides of the table conveying frame (8) and used for controlling the height of the push rod (9), wherein the high end of the table conveying frame (8) is flush with the high end of the storage device (2);
the restraint frame (11) comprises a lift frame (12), a distance frame (13), a return frame (14) and a near frame (15), wherein the distance frame (13) extends upwards in an inclined mode, the return frame (14) is located above the lift frame (12), a restraint groove (16) is formed in one side, close to the table conveying frame (8), of the restraint frame (11), the restraint groove (16) corresponds to each part of the restraint frame (11), the restraint frame comprises a lift groove (17), a distance groove (18), a return groove (19) and a near groove (20), a step (53) is formed in the joint of the tail end of the lift groove (17) and the initial end of the distance groove (18), the depth of the distance groove (18) is larger than the depth of the lift groove (17), a climbing slope (21) is arranged on the horizontal part of the return groove (19), the lower end of the climbing slope (21) is close to the distance groove (18), and the high end of the climbing slope (21) is identical to the depth of the lift groove (17). The lower end of the sliding rod (10) is in sliding connection with a sliding groove (22) at the upper part of the trolley (1), and a rod groove (23) is formed in the middle of the sliding rod (10); the table plate transportation frame (8) comprises two side frameworks (24) and a transportation roller (25) rotatably connected between the two frameworks (24); the push rod (9) comprises a thicker main rod (26) with the middle part in contact with the table plate and thinner auxiliary rods (27) which are positioned at two ends of the main rod (26) and are in sliding connection with the rod grooves (23) and the constraint grooves (16), spring grooves (29) are formed in two ends of the main rod (26), a first spring (28) is arranged in each spring groove (29), and the auxiliary rods (27) are in sliding connection with the spring grooves (29); the rear end of the sliding rod (10) is fixedly connected with a right-angle pressing plate (30), and the upper ends of the two pressing plates (30) are fixedly connected through a transverse plate;
the storage device (2) comprises a box body (31), jacks (32) are arranged at four corners of the box body (31), the jacks (32) are in sliding fit with four inserting rods (33) at the upper end of the trolley (1), a telescopic rod (34) for lifting the box body (31) is arranged on one side of the trolley (1), holes with the same outline as that of an inner cavity of the box body (31) are formed in the rear portion of the trolley (1), and the portions, located at the rear portions of the holes, of the trolley (1) are communicated; a placing platform (35) for placing a table plate is arranged in the inner cavity of the box body (31) in a sliding manner, a footing (36) made of elastic materials is arranged at the lower end of the placing platform (35), supporting mechanisms (38) for controlling the placing platform (35) to slide up and down are connected in a sliding manner in T-shaped lifting grooves (37) on two sides of the box body (31), and the supporting mechanisms (38) are matched with sliding rails (39) on the side walls of the box body (31);
the sliding rail (39) comprises a plurality of 7-shaped rails, the 7-shaped rails comprise horizontal rails (50) and inclined rails (51), the initial end of the horizontal rail (50) of the 7-shaped rail below is communicated with the tail end of the inclined rail (51) of the 7-shaped rail above, the tail end of the inclined rail (51) at the lowest end is communicated with the initial end of the inclined rail (51) at the uppermost end by a reset rail (52), and the included angle between the reset rail (52) and the inclined rail (51) at the lowest end is smaller than sixty degrees; the lower most inclined rail (51) is provided with a step (53) at the intersection with the reset rail (52), the depth of the initial end of the reset rail (52) is larger than the depth of the tail end of the inclined rail (51), the middle part of the reset rail (52) is provided with a climbing slope (21) gradually shallower from the bottom to the top, the intersection of the tail end of the reset rail (52) and the uppermost horizontal rail (50) is provided with the step (53), the depth of the initial end of the horizontal rail (50) is larger than the depth of the tail end of the reset rail (52), and the uppermost horizontal rail (50) is also provided with a section of climbing slope (21).
2. The transfer robot for a production line according to claim 1, wherein: the crank (5) sliding block mechanism comprises a motor (4) arranged on a motor (4) frame, a crank (5) is fixedly arranged on an output shaft of the motor (4), a connecting rod (6) is hinged to the other end of the crank (5), and a sliding rod (10) of the conveying device (3) is hinged to the other end of the connecting rod (6).
3. The transfer robot for a production line according to claim 1, wherein: the supporting mechanism (38) comprises a trapezoid shell (40) which is in sliding connection with the lifting groove (37), a second spring (41) is fixedly connected to the middle of the shell (40), a sliding plate (42) is fixedly connected to the other end of the second spring (41), a switching block (43) is in sliding connection with the shell (40), a switching rod (44) is fixedly connected to the switching block (43), and a switching head (45) is rotatably connected to the other end of the switching rod (44); two guide rods (46) are fixedly connected to two sides of the rear part of the shell (40), and guide grooves (47) which are parallel to each other and are in sliding fit with the guide rods (46) are formed in two sides of the lifting groove (37); the lower end of the lifting groove (37) is provided with a separation groove (48) extending towards the side wall of the box body (31), and the guide groove (47) extends inwards at the corresponding part of the separation groove (48).
4. A handling robot for a production line according to claim 3, characterized in that: the guide grooves (47) at the front part of each side of the box body (31) are all provided with a guide rod (46) which penetrates through the box body (31) and corresponds to the guide grooves (47), a stress rod (49) is connected inside the guide rods in a sliding mode, and one end of the stress rod (49) is fixedly connected with the adapter block (43).
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| CN202210157949.7A CN114590574B (en) | 2022-02-21 | 2022-02-21 | Transfer robot for production line |
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| CN202210157949.7A CN114590574B (en) | 2022-02-21 | 2022-02-21 | Transfer robot for production line |
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| CN114590574B true CN114590574B (en) | 2023-11-21 |
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| CN115447652B (en) * | 2022-10-18 | 2023-06-20 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Intelligent traveling tool car with tool loss prevention function |
| CN117699412B (en) * | 2024-02-06 | 2024-05-03 | 福建蓝帆食品包装有限公司 | Food packaging box sterilization device and operation method thereof |
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| CN114590574A (en) | 2022-06-07 |
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Effective date of registration: 20231027 Address after: No. 809, Central Avenue, Jiaojiang District, Taizhou City, Zhejiang Province, 318001 Applicant after: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. TAIZHOU POWER SUPPLY Co. Address before: No. 896, Kongzhuang workshop, Datun coal mine, Xuzhou City, Jiangsu Province, 221611 Applicant before: Wen Dexu |
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