CN115650112B

CN115650112B - Industrial carrying robot based on computer

Info

Publication number: CN115650112B
Application number: CN202211281319.7A
Authority: CN
Inventors: 苏伟斌; 蔡英鹏; 王惠; 曾繁勇; 黄志炜; 陈锦活; 谢凯旋; 李恩泽
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2023-05-09
Anticipated expiration: 2042-10-19
Also published as: CN115650112A

Abstract

The invention relates to the technical field of carrying robots, in particular to an industrial carrying robot based on a computer, which comprises a carrying vehicle body and a carrying table, wherein a stand column is fixed at the center of the upper surface of the carrying vehicle body through a bolt, the top end of the stand column is integrally formed with the carrying table, and two side guard plates are integrally formed on two side walls of the carrying table along the length direction. According to the industrial carrying robot based on the computer, goods can be automatically transferred onto or from the carrying table through the arrangement of the carrying assembly, the arranged carrying assembly is of a rotatable and lifting structure, so that automatic lifting and steering to the carrying table during loading can be realized, the carrying assembly can be automatically rotated out from the carrying table during unloading, and the height of the carrying assembly can be automatically lifted according to the height of the palletizing table or the palletizing height of the goods to carry out unloading palletizing.

Description

Industrial carrying robot based on computer

Technical Field

The invention relates to the technical field of carrying robots, in particular to an industrial carrying robot based on a computer.

Background

A Robot (Robot) is an intelligent machine that can operate semi-autonomously or fully autonomously. The robot can execute tasks such as operation or movement through programming and automatic control, the earliest historically-known robot is a puppet robot constructed by an inert worker according to Liu image, has the capabilities of sitting, rising, worrying, lying and the like, has the basic characteristics of sensing, deciding, executing and the like, can assist and even replace human beings to complete dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, expands or extends the activity and capability range of the human beings, and in the modern industry, the robot refers to an artificial machine device capable of automatically executing the tasks so as to replace or assist the human work, and the industrial carrying robot is one common type of industrial robot;

the current industry carrying robot still needs the manpower to carry the article of carrying on the robot when carrying of goods, still needs the manpower to carry down article from the robot after reaching the destination, even when some robots are unloading, just simple slope the object plane of carrying, the article of carrying slides along the inclined plane, very easily makes the article bump and pile up, makes the article of carrying take place to damage, causes loss of property to when the article of need many discharges stacks up, still need the manual lifting goods height, stacks up, very laborious troublesome.

Disclosure of Invention

In order to solve the above problems, the present invention provides a computer-based industrial robot.

The invention adopts the following technical scheme that the industrial carrying robot based on the computer comprises a carrying vehicle body and a carrying table, wherein a stand column is fixed at the center of the upper surface of the carrying vehicle body through a bolt, the carrying table is integrally formed at the top end of the stand column, and two side guard plates are integrally formed on two side walls of the carrying table along the length direction;

one of the side guard plates is provided with a carrying assembly, and the other side guard plate is provided with a protection assembly;

the carrying assembly comprises a base, the base bolt fastening is in side guard plate outer wall bottom, base upper surface center department rotates and is connected with the rotary disk, rotary disk upper surface bolt fastening has the back-concave type frame, rotary disk upper surface center department rotates and is connected with first lead screw, back-concave type frame upper surface center department bolt fastening has first lead screw motor, the output shaft of first lead screw motor passes through the top rigid coupling of shaft coupling and first lead screw, threaded connection has first lead screw nut seat on the first lead screw, the interval has L type seat on the first lead screw nut seat, the welding has the slider on the vertical end of L type seat, spout sliding connection that sets up on slider and the back-concave type frame vertical end.

As a further description of the above technical solution: four oblique support columns are fixed on the periphery of the outer side of the upright post between the carrying vehicle body and the carrying table through bolts.

As a further description of the above technical solution: the center of the lower surface of the base is fixedly provided with a driving motor for driving the rotary disk to rotate, four hydraulic telescopic rods are fixedly arranged on the periphery of the outer side of the lower surface of the base, which is positioned on a single driving machine, of the lower surface of the base, and the bottom ends of the hydraulic telescopic rods are provided with supporting seats.

As a further description of the above technical solution: the horizontal end of the L-shaped seat is provided with a groove, the groove is internally connected with a supporting plate through a rotating shaft in a rotating mode, and a detachable pull rod is fixed between the supporting plate and the L-shaped seat through bolts.

As a further description of the above technical solution: the protection assembly comprises a concave seat, the concave seat is fixed on the other side guard plate through bolts, a strip-shaped groove is formed in one side wall of the two vertical ends of the concave seat along the length direction, a second screw rod is connected in the strip-shaped groove in a rotating mode, a second screw rod nut seat is connected to the second screw rod in a threaded mode, and concave protection frames are welded on the two second screw rod nut seats.

As a further description of the above technical solution: the upper surfaces of two vertical ends of the concave protection frame are provided with a plurality of jacks at equal intervals, vertical rods are inserted into the jacks, and the top ends of the vertical rods are welded with cross beams.

As a further description of the above technical solution: the cross section of the strip-shaped groove is of a convex structure, the top ends of the two vertical ends of the concave seat are fixedly connected with a second screw motor through bolts, and an output shaft of the second screw motor is fixedly connected with a second screw through a coupler.

As a further description of the above technical solution: the two pull rods are arranged in total and are symmetrically arranged relative to the L-shaped seat.

As a further description of the above technical solution: and a video acquisition camera is fixed at the center of the front surface of the carrier vehicle body through a bolt.

As a further description of the above technical solution: the front surface of the vertical rod is provided with a plurality of positioning holes at equal intervals along the vertical direction, and positioning bolts are inserted into the positioning holes.

According to the industrial carrying robot based on the computer, the carrying assembly is arranged on the side guard plate, goods can be automatically transferred onto or out of the carrying table through the arrangement of the carrying assembly, the carrying assembly is of a rotatable and lifting structure, so that automatic lifting and turning to the carrying table during loading can be realized, the carrying assembly can be automatically rotated out of the carrying table during unloading, and the carrying assembly can be automatically lifted and piled up according to the height of the piling table or the piling height of the goods, so that unloading and piling are carried out, the unloading efficiency is greatly improved, the stability of the carried goods in the unloading process of loading is improved, and the labor intensity is reduced;

further, still be provided with the protection subassembly on the delivery table, when placing the goods and transporting through the delivery table, can cooperate to set up the protection subassembly and protect, on the one hand, improve its goods and place the stability on the delivery table, on the other hand through the setting of protection subassembly, can also carry out anticollision protection by many goods, there is the in-process at in-service use, the accessible second lead screw nut seat drives concave protection frame at concave seat oscilaltion, adjust concave protection frame's height, thereby the height of adjustable grafting horizontal pole on concave frame, change its concrete position of protection, thereby can be according to the height of the last goods pile up neatly of delivery table, the height of the concave frame of rational regulation, improve its protection effect, prevent that upper portion goods pile up neatly from being too high, cause the goods to empty when transporting.

Drawings

The invention is further explained below with reference to the drawings and examples:

fig. 1 is a schematic diagram of a first state structure of an industrial carrying robot based on a computer according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a second state structure of a computer-based industrial carrying robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of a carrier body according to an embodiment of the present invention;

FIG. 4 is a schematic view of a first state structure of a carrier assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of a second state structure of a carrier assembly according to an embodiment of the present invention;

FIG. 6 is an enlarged view of area A of FIG. 4, provided by an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a base according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a protection component according to an embodiment of the present invention;

FIG. 9 is a cross-sectional view of a female mount provided by an embodiment of the present invention.

In the figure: 1. a carrying vehicle body; 2. a carrying table; 21. a column; 22. a side guard plate; 23. an oblique support column; 3. a carrying assembly; 31. a base; 32. a rotating disc; 33. an inverted concave frame; 34. an L-shaped seat; 35. a groove; 36. a supporting plate; 37. a pull rod; 38. the first lead screw nut seat; 39. a first lead screw; 310. a first lead screw motor; 311. a support base; 312. a hydraulic telescopic rod; 313. a chute; 314. a slide block; 4. a protective assembly; 41. a concave seat; 42. a bar-shaped groove; 43. a second lead screw; 44. the second screw nut seat; 45. a second lead screw motor; 46. a concave protection frame; 47. a jack; 48. a vertical rod; 481. positioning holes; 482. positioning bolts; 49. and a cross beam.

Detailed Description

The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand. It should be noted that, without conflict, the embodiments and features of the embodiments in the present application may be combined with each other.

Referring to fig. 1 to 9, the embodiment of the present invention provides a technical solution: the industrial carrying robot based on the computer comprises a carrying vehicle body 1 and a carrying platform 2, wherein a stand column 21 is fixedly arranged at the center of the upper surface of the carrying vehicle body 1 through bolts, the carrying platform 2 is integrally formed at the top end of the stand column 21, four diagonal support columns 23 are fixedly arranged between the carrying vehicle body 1 and the carrying platform 2 through bolts on the periphery of the outer side of the stand column 21, two side guard plates 22 are integrally formed on two side walls of the carrying platform 2 along the length direction, and a video acquisition camera is fixedly arranged at the center of the front surface of the carrying vehicle body 1 through bolts;

specifically, the carrier vehicle body 1 is used for the removal transportation of this industrial robot, be provided with wireless connector in the carrier vehicle body 1 and be used for with terminal PC wireless connection, can the remote control carrier vehicle body 1 remove through terminal PC, realize the transportation of goods, and the video is wiped the shoulder camera and can be gathered the picture that carrier vehicle body 1 removed in real time and pass through wireless connector transmission to terminal PC, carry out remote monitoring, the setting of delivery platform 2, be used for the placing of goods, through the setting of delivery platform 2, increase the area of placing of goods, and cooperate stand 21 and the setting of oblique support column 23, carry out auxiliary stay to delivery platform 2 and fix, improve its intensity.

One side guard 22 is provided with a carrying component 3, the other side guard 22 is provided with a protective component 4, the carrying component 3 comprises a base 31, the base 31 is fixed at the bottom of the outer wall of the side guard 22 through bolts, the center of the upper surface of the base 31 is rotationally connected with a rotary disk 32, the upper surface of the rotary disk 32 is fixedly provided with an inverted concave frame 33 through bolts, the center of the upper surface of the rotary disk 32 is rotationally connected with a first lead screw 39, the center of the upper surface of the inverted concave frame 33 is fixedly provided with a first lead screw motor 310, an output shaft of the first lead screw motor 310 is fixedly connected with the top end of the first lead screw 39 through a coupler, a first lead screw nut seat 38 is connected onto the first lead screw 39 through threads, L-shaped seats 34 are arranged at intervals on the first lead screw nut seat 38, sliding blocks 314 are welded on the vertical ends of the L-shaped seats 34, grooves 313 which are arranged on the vertical ends of the sliding blocks 314 and the inverted concave frame 33 are in a sliding mode, two detachable pull rods 37 and 37 are arranged symmetrically relative to the L-shaped seats 34 through bolts in the grooves 35.

Specifically, the setting of carrier assembly 3 is used for loading and unloading of goods on carrier platform 2, firstly, when loading goods to carrier platform 2, initial position control L type seat 34 is located on rotary disk 32 (is in the state of laminating each other), with the goods pile up on layer board 36, then open first lead screw motor 310 and drive first lead screw 39 rotation, first lead screw 39 drives first lead screw nut seat 38 and moves up, first lead screw nut seat 38 drives L type seat 34 and moves up, make it be located the top of carrier platform 2, then control rotary disk 32 rotation, make layer board 36 rotate directly over carrier platform 2, at this moment again through first lead screw motor 310 control L type seat 34 down move, make layer board 36 move down and carrier platform 2 laminating, thereby accomplish the loading of goods, when unloading, firstly, open first lead screw motor 310 control L type seat 34 up move, make layer board 36 move up and carrier platform 2 not laminating, then control rotary disk 32 rotates, at this moment, the pile up height of more unloaded goods, open first motor 310 again, control L type seat 34 and carry out the regulation of height, the realization is very much more convenient to carry out the improvement of the pallet, the high speed of pallet, when carrying is carried out, the carrier board is convenient, the carrier is realized, the carrier is not need to be adjusted to carry out, high adjustment height is carried out, at the carrier plate 36, and has no need to carry out, high speed is directly is controlled.

And the supporting plate 36 is rotated to be connected to the L-shaped seat 34 through the rotating shaft, when the carrying assembly 3 is not needed to be used, the supporting plate 36 can be rotated to be in a vertical state, so that the whole volume of the computer-based industrial carrying robot is reduced, and the transportation and the transfer are convenient.

In still another embodiment of the present invention, a driving motor for driving the rotating disc 32 to rotate is fixed at the center of the lower surface of the base 31, four hydraulic telescopic rods 312 are fixed on the periphery of the lower surface of the base 31 outside the single driving machine through bolts, and a supporting seat 311 is installed at the bottom end of the hydraulic telescopic rods 312.

Specifically, the driving motor is used for providing power for the rotating disk 32, that is, driving the rotating disk 32 to rotate, and the four hydraulic telescopic rods 312 and the supporting seat 311 on the lower surface of the base 31 are arranged, when cargo handling is performed through the carrying assembly 3, the hydraulic telescopic rods 312 are controlled to extend, and the supporting seat 311 is driven to move downwards to contact with the ground, so that the base 31 is supported in an auxiliary manner, and the strength of the base 31 is improved.

In still another embodiment of the present invention, the protection component 4 includes a concave seat 41, the concave seat 41 is bolted to the other side guard 22, a strip-shaped groove 42 is formed on one side wall of two vertical ends of the concave seat 41 along the length direction, a second lead screw 43 is connected in a rotating manner in the strip-shaped groove 42, a second lead screw nut seat 44 is connected on the second lead screw 43 in a threaded manner, a plurality of insertion holes 47 are formed on the upper surfaces of two vertical ends of the concave protection frame 46 at equal intervals, a vertical rod 48 is inserted into the insertion holes 47, a cross beam 49 is welded at the top ends of the plurality of vertical rods 48, a plurality of positioning holes 481 are formed on the front surface of the vertical rod 48 at equal intervals, a positioning bolt 482 is inserted into the positioning holes, the cross section of the strip-shaped groove 42 is in a "convex" shape structure, a second lead screw motor 45 is fixed on the top ends of the two vertical ends of the concave seat 41 in a bolt manner, an output shaft of the second lead screw motor 45 is fixedly connected with the second lead screw 43 through a coupling, a plurality of positioning holes 481 are formed on the front surfaces of the vertical rod 48 at equal intervals along the vertical direction, and a plurality of positioning holes 481 are inserted into the positioning holes 481.

Specifically, when the protection component 4 is used, firstly, a plurality of upright rods 48 are mutually welded through the cross beam 49 to form an integrated structure, when goods are loaded and unloaded through the carrying component 3, the upright rods 48 and the cross beam 49 can be disassembled, then the concave protection frame 46 is controlled to move upwards, so that the goods are not influenced to be loaded and unloaded, after the goods are loaded on the carrying platform 2, the concave protection frame 46 is controlled to move downwards, the height is adjusted, then the upright rods 48 are inserted into the insertion holes 47 formed in the concave protection frame 46 to be connected, the upright rods 48 are fixed through the positioning holes 481 and the positioning bolts 482, so that the stability of the transportation of the upright rods is improved, the goods placed on the carrying platform 2 are collided during the transportation through the concave protection frame 46, and then the concave protection frame 46 is driven to move upwards and downwards through the second lead screw motor 45, and the second lead screw nut seat 44 is driven to move upwards and downwards through the second lead screw motor 43, and the concave protection frame 46 is driven to move upwards and downwards.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, and that the foregoing embodiments and description are merely illustrative of the principles of this invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, and these changes and modifications fall within the scope of the invention as hereinafter claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an industrial delivery robot based on computer, includes delivery wagon body (1) and delivery stand (2), its characterized in that: a vertical column (21) is fixed at the center of the upper surface of the carrying vehicle body (1) through a bolt, a carrying table (2) is integrally formed at the top end of the vertical column (21), and two side guard plates (22) are integrally formed on two side walls of the carrying table (2) along the length direction;

one side guard plate (22) is provided with a carrying assembly (3), and the other side guard plate (22) is provided with a protection assembly (4);

the carrying assembly (3) comprises a base (31), the base (31) is fixed at the bottom of the outer wall of the side guard plate (22) through bolts, a rotary disc (32) is rotationally connected to the center of the upper surface of the base (31), an inverted concave frame (33) is rotationally connected to the center of the upper surface of the rotary disc (32), a first lead screw motor (310) is rotationally connected to the center of the upper surface of the inverted concave frame (33), an output shaft of the first lead screw motor (310) is fixedly connected with the top end of the first lead screw (39) through a coupler, first lead screw nut seats (38) are connected to the first lead screw (39) through threads, L-shaped seats (34) are arranged at intervals on the first lead screw nut seats (38), sliding blocks (314) are welded to the vertical ends of the L-shaped seats (34), and sliding grooves (313) formed in the vertical ends of the inverted concave frame (33) are slidingly connected with the sliding blocks (314);

a groove (35) is formed in the horizontal end of the L-shaped seat (34), a supporting plate (36) is rotatably connected in the groove (35) through a rotating shaft, and a detachable pull rod (37) is fixed between the supporting plate (36) and the L-shaped seat (34) through bolts;

the goods are piled on the supporting plate (36), then a first screw motor (310) is turned on to drive a first screw (39) to rotate, the first screw (39) drives a first screw nut seat (38) to move upwards, the first screw nut seat (38) drives an L-shaped seat (34) to move upwards, the L-shaped seat is located above the carrying table (2), then the rotating disc (32) is controlled to rotate, the supporting plate (36) is enabled to rotate to be right above the carrying table (2), at the moment, the L-shaped seat (34) is controlled to move downwards again through the first screw motor (310), and the supporting plate (36) is enabled to move downwards to be attached to the carrying table (2), so that the loading of the goods is completed;

the protection component (4) comprises a concave seat (41), the concave seat (41) is fixed on the other side guard plate (22) through bolts, a strip-shaped groove (42) is formed in one side wall of two vertical ends of the concave seat (41) along the length direction, a second lead screw (43) is connected in a rotating mode in the strip-shaped groove (42), a second lead screw nut seat (44) is connected to the second lead screw (43) through threads, concave protection frames (46) are welded on the second lead screw nut seat (44), a plurality of insertion holes (47) are formed in the upper surfaces of two vertical ends of the concave protection frames (46) at equal intervals, vertical rods (48) are inserted into the insertion holes (47), cross beams (49) are welded at the top ends of the vertical rods (48), a second lead screw (45) is fixedly connected to the top ends of the two vertical ends of the concave seat (41) through bolts, and an output shaft of the second lead screw motor (45) is fixedly connected with the second lead screw (43) through a coupling.

2. A computer-based industrial robot according to claim 1, characterized in that four diagonal support columns (23) are bolted around the outside of the upright (21) between the carrier body (1) and the carrier table (2).

3. The industrial carrying robot based on the computer according to claim 1 or 2, wherein a driving motor for driving the rotary disk (32) to rotate is fixed at the center of the lower surface of the base (31) through bolts, four hydraulic telescopic rods (312) are fixed on the periphery of the lower surface of the base (31) outside the driving motor through bolts, and a supporting seat (311) is installed at the bottom end of each hydraulic telescopic rod (312).

4. A computer-based industrial robot according to claim 1, characterized in that the two tie rods (37) are provided in total and that the two tie rods (37) are arranged symmetrically to each other about the L-shaped seat (34).

5. A computer-based industrial robot according to claim 1, characterized in that a video acquisition camera is bolted in the centre of the front surface of the vehicle body (1).

6. The industrial robot according to claim 5, wherein a plurality of positioning holes (481) are formed in the front surface of the upright (48) at equal intervals in the vertical direction, and positioning bolts (482) are inserted into the positioning holes (481).