CN1279147A

CN1279147A - Loading robot with weight compensative balancer

Info

Publication number: CN1279147A
Application number: CN99111367A
Authority: CN
Inventors: 金成权; 成学庆
Original assignee: Samsung Electronics Co Ltd
Current assignee: Samsung Electronics Co Ltd
Priority date: 1999-06-25
Filing date: 1999-08-10
Publication date: 2001-01-10
Anticipated expiration: 2019-08-10
Also published as: KR20010003877A; JP2001002398A; JP3142536B2; CN1088643C; KR100342254B1

Abstract

A robot for cargo loading has a loading part provided on a robot main body and a balancer for offsetting the weight uneven distribution of the loading part. The loading part is provided with loading plates which can move from a fixed part on the robot main body to the loading position. When they are moved to the loading position, the balancer is moved to the direction opposite to the moving direction of the loading plates along therewith. The weight uneven distribution is eliminated by the balancer when cargo places on the loading plates, thus the tumble of the robot can be avoided.

Description

Lade robot with the ubiquitous balancer of compensation weight

The present invention relates to a kind of robot that is used for lade, particularly a kind of lade robot with the ubiquitous balancer of compensatory goods weight, this robot can not fall when loading bulky goods like this.

At industrial circle, produce needed goods for shipping products expeditiously, use the robot of various lades.Usually, such robot comprises the robot body and the loading plate that is installed on this robot body that are used for robot self operation, lade on loading plate.This loading plate outwards moves and is in " loaded " position from the main body of robot in loading process, and the workman can easily be loaded into goods in the robot like this.The workman loads onto goods on the loading plate that is positioned at " loaded " position.If adorned goods, loading plate is just retracted robot body's top.Then, the robot that has loaded goods moves on to the ideal position unloading.Otherwise the loading plate that the robot body will be loaded with goods moves on to desirable position.At this moment, loading plate is moved back into " loaded " position as mentioned above, and the workman can easily unload goods like this.

In aforesaid conventional lade robot, when the bulky goods such as liquid crystal display (LCD) board bracket or flat-panel monitor carriage is loaded on the loading plate, will be applied to the last very big power of robot owing to the weight of goods.Like this, when weight was ubiquitous with respect to loading plate, robot just may fall.Especially, the robot of the motion of lade just is not fixed to ground unpiloted automobile as same, and when a big masterpiece was used in this robot, robot just may fall.

In order to address the above problem, one object of the present invention just provides a kind of robot of lade, it is used to compensate the ubiquity of the weight that is produced when goods is placed on the loading plate, so just avoided robot to fall, even and when loading weight in robot, loading work is also very stable.

In order to realize above-mentioned purpose of the present invention, the robot of the lade that is provided comprises: a robot body; A bearing part and a loading plate, this bearing part has the standing part that is fixed on the robot body, and the " loaded " position of this loading plate moves leaving between robot body's " loaded " position; One near robot body and the balancer that is installed separately with the robot body; One be used for the driven equilibrium device with the robot body near and the driver that separates with the robot body; And a controller that is used to control driver, in order to compensate the ubiquity of goods weight on the loading plate, balancer moves to the opposite direction of the loading plate direction of motion when loading plate is shifted to " loaded " position like this.

Here, driver comprises: a tooth bar that links to each other with balancer; Pinion with the tooth bar luer engages with; And one be used for forward and the drive motors of driving pinion backward.Preferably also comprise a bearing part drive unit, be used for driving loading plate and between standing part and " loaded " position, move.Controller control driver and bearing part drive unit and bearing part interlocking are with the driven equilibrium device.

Describe structure of the present invention and operation in conjunction with the drawings in detail, purpose of the present invention and other advantage will be more obvious, wherein:

Fig. 1 and Fig. 2 are the perspective views of lade of the present invention robot;

Fig. 3 is the partial enlarged drawing of lade robot shown in Fig. 1 and Fig. 2;

Fig. 4 is the vertical view of Fig. 3;

Fig. 5 is the vertical view of the lade robot of another embodiment of the present invention; And

Fig. 6 is the side view that Fig. 5 power transmissioning part divides.

Describe most preferred embodiment of the present invention with reference to the accompanying drawings in detail.

As depicted in figs. 1 and 2, lade of the present invention robot comprises: robot body 10, a bearing part 40 and a balancer 50.Fig. 1 and Fig. 2 show a kind of bearing part 40 respectively and be placed on top state of the robot body 10 and the state that stretch out a kind of bearing part 40 from robot bodies 10.

Robot body 10 is as the pedestal of support bearing part 40.In order to move easily, a plurality of wheels 13 are housed at robot body's downside.Robot motion and control robot manipulation's the necessary power transmission of controller is housed in robot body 10 inside.The fixed head 30 of a standing part function that has been used for fixed support bearing part 40 is installed at robot body 10 upper surface.Bearing part 40 be installed in fixed head 30 above.

Bearing part 40 comprises that one of order is stacked in first, second and the

3rd plate

41,42 and 43 above.

Plate

41,42 slidably is connected with guide lip 48 by the gathering sill 47 on contact position separately one by one with 43.Like this, each plate 41 of

bearing part

40,42 and 43 at as shown in Figure 1

plate

41,42 and 43 order stack are placed on state on the robot body 10 and plate as shown in Figure 2 41,42 and 43 and stretch out from robot body 10 and make the 3rd plate 43 move on between the state of (being called " loaded " position) of precalculated position to move.

The 3rd plate 43 is loading plates, and goods 25 is placed on it.When the workman goods is loaded on the loading plate 43 or goods when loading plate 43 unloads, he or she handles bearing part 40 makes loading plate 43 reach " loaded " position as shown in Figure 2, helps loading work.

Balancer 50 comprises a pair of from robot body 10 bar 54 that is outwards being supported movably and the balance pillow block 53 that is installed in bar 54 outer ends.This balance pillow block 53 is made by heavy material in order to accomplish the end in view.Balancer 50 can move on same straight line round about with respect to the direction of bearing part 40 and the direction of motion of bearing part 40.Under the control of the driving mechanism of the motion of balancer 50 in being installed on robot body 10.Balancer 50 has compensated the ubiquity of bearing part 40 contained goods weights.This reason will be described in the back.

Fig. 3 and Fig. 4 show the driving mechanism of driven equilibrium device 50 and bearing part 40.This driving mechanism comprises: a pair of

tooth bar

45 and 55, a pair of

pinion

61 and 62, a pair of

belt

71 and 72 and motor 75.This driving mechanism be subjected to one independently the controller (not shown) control.

First tooth bar 45 is fixed on first plate 41 of bearing part 40, and second tooth bar 55 is connected with a bar 54 of balancer 50.First tooth bar 45 and second tooth bar 55 respectively with first pinion 61 and second pinion, 62 luer engages with.First pinion 61 and second pinion 62 are coaxial.First pinion 61 links to each other with the belt pulley 73 of drive motors 75 with second belt 72 by first belt 71 respectively with second pinion 62.Can be used as drive motors 75 by the driven motor of forward and backward directions.

If a user handles the executor (not shown) for lade, according to operator's control signal controller control drive motors 75.When drive motors 75 runnings, first and

second pinions

61 and 62 all rotate, and at this moment first and

second tooth bars

45 and 55 also move respectively.Like this, first plate 41 is moved to the left, the opposite right side of shifting to the first plate direction of bar 54 and balancer pillow block 53.

Though do not illustrate in the drawings, in order to move in a telescopic structure,

plate

41,42 and 43 is connected in the frame for movement separately.Like this, if first plate 41 to left movement, second is moved to the left respectively with respect to the plate that contacts on the basal surface with 43 with the 3rd plate 42.Like this, the second and the 3rd plate order stretching, extension as shown in Figure 2.As a result, the 3rd plate 43 is positioned at " loaded " position.During this state, when the user was loaded into goods 25 on the 3rd plate 43, even heavy relatively goods is put on the 3rd plate 43, the balance pillow block 53 that the weight of goods is moved right was offset.As a result, robot keeps one's legs.Like this, the work of loading heavy goods just can be stablized and carried out.When the shoveller finished, drive motors 75 rotated round about, at this moment loaded goods on the loading plate 43 and balance pillow block 53 has also returned to original position.

Fig. 5 and 6 shows different embodiment of the present invention.Identical label among parts employing identical and the last embodiment with last embodiment.

In last embodiment, bearing part 40 and balancer 50 are driven by same drive motors 75, are driven by two

motors

85 and 95 respectively in the present embodiment.Just, first pinion 61 links to each other with the belt pulley 83 of first drive motors 85 by first belt 71.Second pinion 62 links to each other with the belt pulley 93 of second drive motors 95 by second belt 72.Like this, when 85 runnings of first drive motors, bearing part 40 is driven, if 95 runnings of second drive motors, then balancer 50 is driven.Herein, bearing part 40 and balancer 50 can be subjected to required each other control in various degree.And according to user's manipulation, the effector controls first and

second drive motors

85 and 95 simultaneously, and balancer 50 can be stretched over and the corresponding position of the extension degree of bearing part 40 like this.

And, in an embodiment of the present invention, when moving to " loaded " position or regained by " loaded " position, bearing part 40 uses the drive motors 75 (first embodiment) or first drive motors 85.Yet bearing part 40 can need not to use drive motors 75 or 85 and move with artificial.

As mentioned above, since the present invention can utilize the ubiquity of balance pillow block compensation goods weight when heavy goods is loaded on the loading plate, load robot and will can not fall.Like this, loading work can be stablized and carried out.

Claims

1. lade robot is characterized in that it comprises:

A robot body;

A bearing part and a loading plate, this bearing part has the standing part that is fixed on the robot body, and the " loaded " position of this loading plate moves leaving between robot body's " loaded " position;

One near robot body and the balancer that is installed separately with the robot body;

One be used for the driven equilibrium device with the robot body near and the driver that separates with the robot body; And

A controller that is used to control driver, in order to compensate the ubiquity of lade weight on the loading plate, balancer moves to the opposite direction of the loading plate direction of motion when loading plate is shifted to " loaded " position like this.

2. according to the described lade of claim 1 robot, it is characterized in that described driver comprises:

A tooth bar that links to each other with balancer;

Pinion with the tooth bar luer engages with; And

One is used for forward and the drive motors of driving pinion backward.

3. according to the described lade of claim 1 robot, it is characterized in that, described driver also comprises a bearing part drive unit, be used for driving loading plate and move between standing part and " loaded " position, wherein said controller control driver and bearing part drive unit and bearing part interlocking are with the driven equilibrium device.

4. according to the described lade of claim 2 robot, it is characterized in that, described driver also comprises a bearing part drive unit, be used for driving loading plate and move between standing part and " loaded " position, wherein said controller control driver and bearing part drive unit and bearing part interlocking are with the driven equilibrium device.