CN117508978A - Loading and unloading robot mechanical transmission system - Google Patents
Loading and unloading robot mechanical transmission system Download PDFInfo
- Publication number
- CN117508978A CN117508978A CN202311788670.XA CN202311788670A CN117508978A CN 117508978 A CN117508978 A CN 117508978A CN 202311788670 A CN202311788670 A CN 202311788670A CN 117508978 A CN117508978 A CN 117508978A
- Authority
- CN
- China
- Prior art keywords
- rocker
- arm
- conveyor belt
- belt assembly
- conveying arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Intermediate Stations On Conveyors (AREA)
Abstract
The invention relates to the technical field of mechanical transmission of loading and unloading equipment, in particular to a mechanical transmission system of a loading and unloading robot, which comprises a front conveying arm and a rear conveying arm, wherein the front conveying arm and the rear conveying arm are connected through a universal head; the front conveying arm is provided with a power assembly, the power assembly comprises a rotary tray, and the rotary tray is rotatably arranged on the vehicle body; the rotary tray is provided with a front rocker and a rear rocker; the lifting hydraulic cylinder is also included; the lifting hydraulic cylinder is movably arranged on the rotary tray; the rear conveying arm is provided with a fixed conveying belt assembly and a movable conveying belt assembly, and the rear end of the universal head is connected with a bracket of the movable conveying belt assembly; the conveyor belts of the movable conveyor belt assembly are alternately arranged with the conveyor belts of the fixed conveyor belt assembly. The invention has the advantages of smooth movement of the front conveying arm, reliable power, flexible adjustment and the like.
Description
Technical Field
The invention relates to the technical field of mechanical transmission of loading and unloading equipment, in particular to a loading and unloading robot mechanical transmission system.
Background
The loading and unloading of goods is an important link in warehouse logistics, and the logistics efficiency is determined. In the traditional mode, the carrying of goods is accomplished by the manual work, but manual handling is with high costs, inefficiency. In order to improve the working efficiency and reduce the cargo handling cost, the current technology in the art has gradually developed towards the direction of a handling robot, but in the process of handling cargoes by the handling robot, the mechanical arm needs to be adjusted at multiple angles, so that the supply of mechanical power is a core technical problem which needs to be solved. Meanwhile, for loading and unloading equipment with more than two mechanical arms, the problem of relative motion between the front mechanical arm and the rear mechanical arm is also required to be solved, and the stability and the reliability of swinging of the related mechanical arms are ensured. The applicant solves the technical problems by developing related technical research and development problems with Guangxi Zhongyan industry Limited liability company and combining research and development advantages of all parties, and processes a prototype 'automatic loading and unloading robot'.
Disclosure of Invention
Aiming at the defects, the invention provides the loading and unloading robot transmission system with good mechanical transmission effect.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the mechanical transmission system of the loading and unloading robot comprises a vehicle body, a front conveying arm and a rear conveying arm, wherein the front conveying arm and the rear conveying arm are connected through a universal head; the front conveying arm is provided with a power assembly, the power assembly comprises a rotary tray, and the rotary tray is rotatably arranged on the vehicle body; the rotary tray is provided with a front rocker and a rear rocker; one end of the front rocker and one end of the rear rocker are respectively and movably connected with the front conveying arm; the up-and-down swing adjustment of the front conveying arm is realized through the cooperative acting force of the front rocker and the rear rocker; the left and right direction adjustment of the front conveying arm is realized through the rotation of the rotary tray;
the lifting hydraulic cylinder is also included; the lifting hydraulic cylinder is movably arranged on the rotary tray and is arranged between the front rocker and the rear rocker; the top of the lifting hydraulic cylinder is movably connected with the front conveying arm;
the rear conveying arm is provided with a fixed conveying belt assembly and a movable conveying belt assembly, and the rear end of the universal head is connected with a bracket of the movable conveying belt assembly; the conveyor belts of the movable conveyor belt assembly are alternately arranged with the conveyor belts of the fixed conveyor belt assembly.
Optionally, moving rods are respectively arranged on two sides of the bracket of the movable conveying belt assembly, and a plurality of guide groove blocks are arranged on the vehicle body of the rear conveying arm corresponding to the moving rods; the movable conveying belt component is movably connected with the vehicle body of the rear conveying arm through the movable rod.
Optionally, more than 2 conveyor belts of the movable conveyor belt assembly are arranged, and a transmission roller body of the conveyor belt is arranged on a bracket of the movable conveyor belt assembly; the conveying belt of the fixed conveying belt assembly is provided with more than 2 conveying belts, and the transmission roller bodies of the conveying belts are arranged on the vehicle body of the rear conveying arm; the conveyor belts of the movable conveyor belt assembly and the conveyor belts of the fixed conveyor belt assembly are alternately arranged with each other.
Optionally, the front rocker is movably connected with the front conveying arm through a connecting rod.
Optionally, the vehicle further comprises a driving shaft lever, wherein the driving shaft lever is arranged on the vehicle body through a bearing bracket; the right side of the driving shaft lever is connected with the rear rocker, and the left side of the driving shaft lever is connected with a second rear rocker; the upper ends of the rear rocker and the second rear rocker are respectively and movably connected with two sides of the rear part of the front conveying arm.
Optionally, the device further comprises a support shaft, wherein the support shaft is transversely fixed at the rear part of the front conveying arm; the upper ends of the rear rocker and the second rear rocker are respectively and rotatably connected with two ends of the supporting shaft; the middle part of the supporting shaft is connected with the rear conveying arm through the universal joint.
Optionally, the device further comprises a first bracket and a second bracket; the first bracket and the second bracket are respectively combined between two side plates of the front conveying arm; the upper end of the front rocker is rotatably connected with the first bracket; the upper end of the lifting hydraulic cylinder is rotatably connected with the second bracket.
Optionally, the swing tray is disposed below a rear side of the front conveying arm.
Optionally, a track drive motor of the front conveying arm is disposed on the second bracket.
Optionally, the rotary tray is further provided with a first driving motor, a second driving motor and a third driving motor; the first driving motor, the second driving motor and the third driving motor respectively provide driving forces for the rotary tray, the rear rocker and the front rocker.
Compared with the prior art, the invention has the beneficial effects that:
the power system is particularly suitable for loading and unloading robots with long front conveying arms, and the front conveying arms and the rear conveying arms are movably connected by fixedly connecting the rear conveying arms with a vehicle body, so that flexible adjustment of various positions, forms and angles of the front conveying arms is realized, the applicability to various actual operation environments is better, the material conveying effect is better, and the phenomenon that the material conveying is unsmooth due to the fact that the positions of the conveying arms and a goods shelf are not adjustable or are not flexible in adjustment in actual operation is obviously reduced; the rear conveying arm adopts the combined design of the fixed conveying belt assembly and the movable conveying belt assembly, and meets the requirement that the front conveying arm needs to swing in various positions relative to the rear conveying arm under the condition of not influencing the conveying of rear materials.
The power component can realize effective power control of the long-arm type front conveying arm, solves the problem of flexibility required by stable adjustment of the front conveying arm, large driving force and no loss of action adjustment in the material conveying process because the power component is arranged at the rear lower part of the front conveying arm, and has good use effect and strong power reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
FIG. 1 is a right side perspective view of the present invention;
FIG. 2 is a left side perspective view of the present invention;
FIG. 3 is a schematic view of the internal structure of FIG. 2;
FIG. 4 is a schematic view of the lower left view structure of FIG. 3;
FIG. 5 is a schematic view of the upper right side view angle structure of the present invention;
FIG. 6 is a rear right side view schematic at a swivel tray of the invention;
FIG. 7 is a schematic view of the structure of FIG. 6 with the rear rocker removed;
FIG. 8 is a schematic view of the structure of FIG. 7 with the drive motor removed;
FIG. 9 is a schematic perspective view of a rear transfer arm of the present invention;
FIG. 10 is a schematic view of the partial internal structure of the rear transfer arm of the present invention;
FIG. 11 is a rear perspective view of the rear transfer arm of the present invention;
fig. 12 is a schematic view of the rear partial internal structure of the rear conveying arm of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. 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.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "inner", "front", "rear", "left", "right", etc., are based on directions or positional relationships shown in the drawings, or directions or positional relationships in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 8, the loading and unloading robot transmission system comprises a vehicle body, wherein the vehicle body comprises a front conveying arm 1 and a rear conveying arm 8, and the front conveying arm 1 and the rear conveying arm 8 are connected through a universal head 17. In the present embodiment, the rear lower end of the rear conveying arm 8 is connected to the vehicle body, and then the front side thereof provides a partial supporting force by means of the universal head 17; the front conveying arm 1 is provided with a power assembly, the power assembly comprises a rotary tray 4, the rotary tray 4 is rotatably arranged on a vehicle body through a rotary tray 5, in the embodiment, the rotary tray 4 is arranged below the rear side of the front conveying arm 1, and in use, the rotary tray is driven by a first driving motor 19 to perform rotary motion, and the left-right direction swing adjustment of the front conveying arm 1 is realized through the rotation of the rotary tray 4; the rotary tray 4 is provided with a front rocker 201 and a rear rocker 6; the front rocking bar 201 is arranged on the rotary tray 4 through a rotating shaft bracket 10. One end of the front rocker 201 and one end of the rear rocker 6 are respectively and movably connected with the front conveying arm 1; in the present embodiment, the following scheme is adopted in consideration of the gravity center and rigidity mechanics of the front conveying arm 1: as shown in fig. 4, it can be seen that the first bracket 14 and the second bracket 21 are also included; the first bracket 14 and the second bracket 21 are respectively combined between two side plates of the front conveying arm 1, which play a role of reinforcing rigidity, and meanwhile, the track driving motor of the front conveying arm 1 is arranged on the second bracket 21, so that the purpose of the design is that: the center of gravity of the front conveying arm 1 is biased to the rear side, and the moment of inertia is reduced to improve the driving stability. The upper end of the front rocker 201 is rotatably connected with the first bracket 14; the lifting hydraulic cylinder 3 is also included; as can be seen from fig. 1, the lifting hydraulic cylinder 3 is movably arranged on the rotary tray 3 and between the front rocker 201 and the rear rocker 6; the upper end of the lifting hydraulic cylinder 3 is rotatably connected with the second bracket 21. The up-down and back-and-forth swinging adjustment of the front conveying arm is realized through the cooperative acting force of the front rocker 201 and the back rocker 6; for example, when the front conveying arm 1 is swung upward, the rear rocker 6 applies a force in a downward backward direction to the front conveying arm 1 (the swing is not large), and at this time, the front rocker 201 applies an upward force to the front conveying arm 1, and at this time, the lift cylinder 3 also extends to function as a balance cylinder to assist in lifting the front conveying arm 1.
Alternatively, as can be seen from fig. 2, in this embodiment, the front rocker 201 is movably connected to the front conveying arm 1 through a connecting rod 2, so as to better implement the lifting function of the front conveying arm 1.
Optionally, the vehicle further comprises a driving shaft lever 11, wherein the driving shaft lever 11 is arranged on the vehicle body through a bearing bracket 20; the right side of the driving shaft lever 11 is connected with the rear rocker 6, and the left side thereof is connected with a second rear rocker 12; the upper ends of the rear rocker 6 and the second rear rocker 12 are respectively movably connected with two sides of the rear part of the front conveying arm, in this embodiment, as shown in fig. 5, the rear conveying arm further comprises a support shaft 13, and the support shaft 13 is transversely fixed at the rear part of the front conveying arm 1; the upper ends of the rear rocker 6 and the second rear rocker 12 are respectively and rotatably connected with two ends of the supporting shaft 13; the middle part of the supporting shaft 13 is connected with the rear conveying arm 8 through the universal joint 17. In this embodiment, the rear conveying arm 8 is fixed on the vehicle body, so that the conveying belt on the rear conveying arm 8 adopts the movable conveying belt assembly 16, that is, the movable conveying belt assembly 16 is used as a movable combination body to be movably arranged with the rear conveying arm 8 in a movable groove mode, and the rear end of the universal head 17 is connected with the support of the movable conveying belt assembly 16, so that the front conveying arm 1 can realize multi-angle and multi-position movement relative to the rear conveying arm 8. Optionally, a second driving motor 18 and a third driving motor 15 are further arranged on the rotary tray 4; the second driving motor 18 and the third driving motor 15 provide driving forces for the rear rocker 6 and the front rocker 201, respectively.
In order to ensure the smoothness of the front conveying arm 1 capable of realizing the omnibearing multi-angle swing, the rear conveying arm 8 of the present embodiment adopts the following scheme: as shown in fig. 9 to 12, the rear conveyor arm 8 is provided with a fixed conveyor belt assembly and a movable conveyor belt assembly, and the rear end of the universal head 17 is connected with a bracket 28 of the movable conveyor belt assembly; the conveyor belts of the movable conveyor belt assembly are alternately arranged with the conveyor belts of the fixed conveyor belt assembly. In this embodiment, the movable conveyor belt assembly is disposed in front of the fixed conveyor belt assembly, and as shown in fig. 9, the conveyor belt 22 of the movable conveyor belt assembly is provided with 2 or more conveyor belts, although in other embodiments, there may be more than 2 conveyor belts, and then two sides of the front driving roller 30 of the conveyor belt 22 are respectively fixed to the c-shaped channel steel 27 on two sides through the supporting plates 29; then the outside of the c-shaped channel steel 27 is fixed with a movable rod 26; the rear transmission roller body 33 of the conveyor belt 22 is fixed to the c-shaped channel steel 27 through a supporting plate 34; the car body of the rear conveying arm 8 is provided with a plurality of guide groove blocks 25 corresponding to the moving rods 26, the moving rods 26 can realize displacement on the guide groove blocks 25, so that the movable conveying belt assembly horizontally moves relative to the rear conveying arm 8 as a whole, and the rear end of the universal head 17 is connected with the support 28 of the movable conveying belt assembly, therefore, when the front conveying arm 1 swings in all directions, the front conveying arm 1 and the rear conveying arm 8 can be ensured to be connected continuously, namely, the front conveying arm and the rear conveying arm 8 can be smoothly conveyed back and forth, and the swinging flexibility of the front conveying arm 1 is not affected.
In order to ensure the stability of the goods transportation on the rear conveyor arm 8 during the movement of the movable conveyor assembly, the conveyor belt 23 of the fixed conveyor assembly is provided with more than 2 conveyor belts, in this embodiment, 3 conveyor belts are provided, as can be seen from fig. 9, the conveyor belts 23 and the conveyor belts 22 are alternately arranged, then smooth steel plates 24 are provided in the area of the conveyor belts 23 and corresponding to the conveyor belts 22, and the front transmission roller body 32 and the rear transmission roller body 31 of the conveyor belt 23 are provided on the body of the rear conveyor arm 8, so that the normal transportation of the goods on the rear conveyor arm 8 is not affected when the conveyor belts 22 are displaced.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311788670.XA CN117508978A (en) | 2023-12-25 | 2023-12-25 | Loading and unloading robot mechanical transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311788670.XA CN117508978A (en) | 2023-12-25 | 2023-12-25 | Loading and unloading robot mechanical transmission system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117508978A true CN117508978A (en) | 2024-02-06 |
Family
ID=89744134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311788670.XA Pending CN117508978A (en) | 2023-12-25 | 2023-12-25 | Loading and unloading robot mechanical transmission system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117508978A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213059217U (en) * | 2020-08-05 | 2021-04-27 | 福莱特玻璃集团股份有限公司 | Telescopic glass conveying device |
| CN113460646A (en) * | 2021-06-08 | 2021-10-01 | 中烟物流技术有限责任公司 | Flexible automatic loading and unloading system |
| CN113581787A (en) * | 2021-08-21 | 2021-11-02 | 王娟 | Container stacking equipment for material storage |
| CN116674987A (en) * | 2023-06-12 | 2023-09-01 | 盛视科技股份有限公司 | Cargo handling robot and loading and unloading method thereof |
| CN221719535U (en) * | 2023-12-25 | 2024-09-17 | 合肥哈工同创智能科技有限公司 | Mechanical transmission system of loading and unloading robot |
-
2023
- 2023-12-25 CN CN202311788670.XA patent/CN117508978A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213059217U (en) * | 2020-08-05 | 2021-04-27 | 福莱特玻璃集团股份有限公司 | Telescopic glass conveying device |
| CN113460646A (en) * | 2021-06-08 | 2021-10-01 | 中烟物流技术有限责任公司 | Flexible automatic loading and unloading system |
| CN113581787A (en) * | 2021-08-21 | 2021-11-02 | 王娟 | Container stacking equipment for material storage |
| CN116674987A (en) * | 2023-06-12 | 2023-09-01 | 盛视科技股份有限公司 | Cargo handling robot and loading and unloading method thereof |
| CN221719535U (en) * | 2023-12-25 | 2024-09-17 | 合肥哈工同创智能科技有限公司 | Mechanical transmission system of loading and unloading robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP4169858A1 (en) | Loading and unloading equipment, and loading and unloading system | |
| JP2008213060A (en) | Articulated robot | |
| KR20210103489A (en) | goods carrier | |
| CN113460646A (en) | Flexible automatic loading and unloading system | |
| WO2022237051A1 (en) | Intelligent consignment machine suitable for large components and consignment method therefor | |
| CN211109433U (en) | Liftable rotatory conveyer | |
| CN117262783A (en) | Automatic boxing device and method | |
| CN221719535U (en) | Mechanical transmission system of loading and unloading robot | |
| CN220115576U (en) | Tilting mechanism for belt line | |
| CN215853723U (en) | Bidirectional driving transverse moving conveying device | |
| CN215754996U (en) | Flexible automatic loading and unloading system | |
| JP4286461B2 (en) | Transfer machine | |
| CN222453621U (en) | Unstacking mechanism for tray overhaul line | |
| CN217323084U (en) | Conveying positioning device and conveying system | |
| JP7779287B2 (en) | Pallet lifting device, transport device | |
| CN224029922U (en) | Glove feeding mechanism | |
| CN223280053U (en) | Transplanting and turning mechanism for special-shaped magnetic powder core products | |
| CN223101824U (en) | Follow-up conveying structure | |
| CN222453373U (en) | Conveying device for assembly type sorting machine | |
| CN223239011U (en) | Roller transfer conveying mechanism | |
| CN223044547U (en) | A robot for carrying pole pieces | |
| CN117585347B (en) | An automated loading and unloading robot | |
| CN217024290U (en) | Stable turning device for goods and transportation system | |
| CN112591496A (en) | Automatic loading system for bagged goods of train boxcar | |
| CN218370472U (en) | Electroplated part conveying device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |