CN205709709U - Rectangular coordinate rail carry loads and unloads robot - Google Patents

Rectangular coordinate rail carry loads and unloads robot Download PDF

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Publication number
CN205709709U
CN205709709U CN201620402503.6U CN201620402503U CN205709709U CN 205709709 U CN205709709 U CN 205709709U CN 201620402503 U CN201620402503 U CN 201620402503U CN 205709709 U CN205709709 U CN 205709709U
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sidesway
walking
fixed
walking wheel
wheel
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CN201620402503.6U
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王世鑫
崔少中
熊壮
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朱红蔚
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Abstract

This utility model relates to a kind of handling and loading robot, and a kind of rectangular coordinate rail carry loads and unloads robot, belongs to handling robotics.It includes vehicle frame, door frame, sidesway balladeur train, reducing motor, walking drive system, front walking wheel, rear walking wheel, lift cylinder, lifting sprocket wheel and lifting chain, reducing motor is fixed in vehicle frame upper end, and reducing motor is connected by walking drive system and drives two front walking wheels to walk.Vehicle frame front end is rotationally connected door frame, and lift cylinder is fixed in door frame lower end, and the cylinder rod front end of lift cylinder is provided with lifting sprocket wheel, promotes and connects lifting chain on sprocket wheel, and lifting chain one end is fixed on door frame, and the other end connects sidesway balladeur train.Walking tire of the present utility model uses cast steel wheel so that it can be walked in telescopic track;Same dependence track of walking in orbit because of it realizes balance, and vehicle body is without increasing counterweight, and overall weight reduces, it is ensured that its high-speed smooth is run.

Description

Rectangular coordinate rail carry loads and unloads robot
Technical field
This utility model relates to a kind of handling and loading robot, and a kind of rectangular coordinate rail carry loads and unloads robot, belongs to handling robotics.
Background technology
In prior art, fork truck, when transporting goods, needs the balance configuring counterweight guarantee when promoting goods, and this complete vehicle weight resulting in fork truck is relatively big, impact transport.Meanwhile, the pallet fork of fork truck typically can only move up and down lifting goods, it is impossible to enough side-to-side movements are transported goods.If desired goods is moved left and right, need operator first to start fork truck and move left and right, operate cumbersome, waste time and energy;Simultaneously for the place that working place is limited, fork truck is difficult to move left and right, and has influence on the carrying of goods.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned weak point, thus provides a kind of rectangular coordinate rail carry to load and unload robot, it is possible to along track free shuttling, and rely on track to realize balance vehicle body, without increasing counterweight, overall weight reduces, it is ensured that its high-speed smooth is run.
The technical scheme provided according to this utility model, rectangular coordinate rail carry loads and unloads robot and includes vehicle frame, door frame, sidesway balladeur train, reducing motor, walking drive system, front walking wheel, front walking wheel support, rear walking wheel support, rear walking wheel, lift cylinder, lifting sprocket wheel and lifting chain, it is characterized in that: vehicle frame lower-end front portion connects two front walking wheel supports, being rotationally connected a front walking wheel on each front walking wheel support, the inner side of each front walking wheel support is provided with a front side way roller;Vehicle frame lower-end rear portion connects two rear walking wheel supports, and each rear walking wheel support is rotationally connected a rear walking wheel, and the inner side of each rear walking wheel support is provided with a rear side way roller;Reducing motor is fixed in vehicle frame upper end, and reducing motor is connected by walking drive system and drives two front walking wheels to walk;Vehicle frame front end is rotationally connected door frame, and lift cylinder is fixed in door frame lower end, and the cylinder rod front end of lift cylinder is provided with lifting sprocket wheel, promotes and connects lifting chain on sprocket wheel, and lifting chain one end is fixed on door frame, and the other end connects sidesway balladeur train;Being provided with lift rail inside door frame, lift rail is slidably connected sidesway balladeur train.
Further, walking drive system includes that power transmission shaft and drive sprocket mechanism, two drive axis are connected on vehicle frame and are connected to the outfan of reducing motor, and each power transmission shaft is connected by a drive sprocket mechanism and driven front walking wheel to walk.
Further, two front walking wheel supports are symmetrical set.
Further, two rear walking wheel supports are symmetrical set.
Further, connecting dump ram in the middle part of door frame, dump ram is fixed on Hydraulic Station, and Hydraulic Station is fixed on vehicle frame.
Further, sidesway balladeur train includes fixed mount and travelling carriage, fixed mount top is provided with upper roller guide rail, travelling carriage bottom is provided with bottom roller guide rail, travelling carriage top is provided with upper roller assembly, travelling carriage bottom is provided with bottom roller assembly, and the upper roller assembly of travelling carriage and bottom roller assembly are slidably connected in upper roller guide rail and the bottom roller guide rail of fixed mount respectively;Fixing the first sidesway oil cylinder and the second sidesway oil cylinder on fixed mount side by side, the arranged direction of the first sidesway oil cylinder and the second sidesway oil cylinder is contrary;The push rod front end of the first sidesway oil cylinder connects the first sidesway sprocket support, first sidesway sprocket support is provided with the first sidesway sprocket wheel, first sidesway sprocket wheel is provided with the first sidesway chain, and one end of the first sidesway chain is fixed on fixed mount, and the other end is fixed on travelling carriage;The push rod front end of the second sidesway oil cylinder connects the second sidesway sprocket support, second sidesway sprocket support is provided with the second sidesway sprocket wheel, second sidesway sprocket wheel is provided with the second sidesway chain, and one end of the second sidesway chain is fixed on fixed mount, and the other end is fixed on travelling carriage.
Further, travelling carriage front end is provided with forging pallet fork.
Further, fixed mount is provided with elevator wheel.
Compared with the prior art this utility model has the advantage that
This utility model simple in construction, compact, reasonable, walking tire changes cast steel wheel into so that it can be walked in telescopic track;Same dependence track of walking in orbit because of it realizes balance, and vehicle body is without increasing counterweight, and overall weight reduces, it is ensured that its high-speed smooth is run;Sidesway balladeur train is capable of fork of forklift truck lateral translational movement, offers convenience to goods carrying, improves range and the work efficiency of fork truck.
Accompanying drawing explanation
Fig. 1 is this utility model front view.
Fig. 2 is walking drive system front view.
Fig. 3 is sidesway balladeur train front view.
Fig. 4 is sidesway balladeur train side view.
Fig. 5 is sidesway balladeur train top view.
nullDescription of reference numerals: 1-vehicle frame、2-door frame、3-sidesway balladeur train、3.1-fixed mount、3.2-travelling carriage、3.3-upper roller assembly、3.4-upper roller guide rail、3.5-bottom roller guide rail、3.6-bottom roller assembly、3.7-the first sidesway oil cylinder、3.8-the first sidesway sprocket support、3.9-the first sidesway sprocket wheel、3.10-the second sidesway oil cylinder、3.11-the second sidesway sprocket support、3.12-the second sidesway sprocket wheel、3.13-the first sidesway chain、3.14-the second sidesway chain、3.15-forging pallet fork、3.16-elevator wheel、4-reducing motor、5-walks drive system、5.1-power transmission shaft、5.2-drive sprocket mechanism、6-front walking wheel、7-front walking wheel support、Way roller on front side of 8-、Way roller on rear side of 9-、10-rear walking wheel support、11-rear walking wheel、12-dump ram、13-Hydraulic Station、14-lift cylinder、15-promotes sprocket wheel、16-lifting chain、17-lift rail.
Detailed description of the invention
The embodiment combined in accompanying drawing is further described by this utility model below:
As it is shown in figure 1, this utility model mainly includes vehicle frame 1, door frame 2, sidesway balladeur train 3, reducing motor 4, walking drive system 5, front walking wheel 6, front walking wheel support 7, rear walking wheel support 10, rear walking wheel 11, dump ram 12, Hydraulic Station 13, lift cylinder 14, promotes sprocket wheel 15 and lifting chain 16
Vehicle frame 1 lower-end front portion connects two front walking wheel supports 7, and two front walking wheel supports 7 are symmetrical set.Being rotationally connected a front walking wheel 6 on each front walking wheel support 7, the inner side of each front walking wheel support 7 is provided with a front side way roller 8.
Vehicle frame 1 lower-end rear portion connects two rear walking wheel supports 10, and two rear walking wheel supports 10 are symmetrical set.Being rotationally connected a rear walking wheel 11 on each rear walking wheel support 10, the inner side of each rear walking wheel support 10 is provided with a rear side way roller 9.During installation, on front side of regulation, way roller 8 and rear side way roller 9 can regulate handling and loading robot right position in orbit.Described front walking wheel 6 and rear walking wheel 11 use cast steel wheel so that it can be walked in telescopic track.
Reducing motor 4 is fixed in vehicle frame 1 upper end, and reducing motor 4 is connected by walking drive system 5 and driven two front walking wheels 6 to walk.As shown in Figure 2, described walking drive system 5 includes power transmission shaft 5.1 and drive sprocket mechanism 5.2, two power transmission shafts 5.1 are rotatably connected on vehicle frame 1 and are connected to the outfan of reducing motor 4, and each power transmission shaft 5.1 is connected by a drive sprocket mechanism 5.2 and driven front walking wheel 6 to walk.
Vehicle frame 1 front end is rotationally connected door frame 2, connects dump ram 12 in the middle part of door frame 2, and dump ram 12 is fixed on Hydraulic Station 13, and Hydraulic Station 13 is fixed on vehicle frame 1.During installation, dump ram 12 can regulate the angle that door frame 2 is installed.
Lift cylinder 14 is fixed in door frame 2 lower end, and the cylinder rod front end of lift cylinder 14 is provided with lifting sprocket wheel 15.Promoting and connect lifting chain 16 on sprocket wheel 15, lifting chain 16 one end is fixed on door frame 2, and the other end connects sidesway balladeur train 3.Being provided with lift rail 17 inside door frame 2, lift rail 17 is slidably connected sidesway balladeur train 3.
As shown in Fig. 3 ~ 5, described sidesway balladeur train 3 includes that fixed mount 3.1 and travelling carriage 3.2, fixed mount 3.1 top are provided with upper roller guide rail 3.4, and travelling carriage 3.2 bottom is provided with bottom roller guide rail 3.5.Travelling carriage 3.2 top is provided with upper roller assembly 3.3, and travelling carriage 3.2 bottom is provided with bottom roller assembly 3.6, and the upper roller assembly 3.3 of travelling carriage 3.2 and bottom roller assembly 3.6 are slidably connected in upper roller guide rail 3.4 and the bottom roller guide rail 3.5 of fixed mount 3.1 respectively.
Fixing the first sidesway oil cylinder 3.7 and the second sidesway oil cylinder 3.10 on fixed mount 3.1 side by side, the arranged direction of the first sidesway oil cylinder 3.7 and the second sidesway oil cylinder 3.10 is contrary.The push rod front end of the first sidesway oil cylinder 3.7 connects the first sidesway sprocket support 3.8, first sidesway sprocket support 3.8 is provided with the first sidesway sprocket wheel 3.9, first sidesway sprocket wheel 3.9 is provided with the first sidesway chain 3.13, one end of first sidesway chain 3.13 is fixed on fixed mount 3.1, and the other end is fixed on travelling carriage 3.2.The push rod front end of the second sidesway oil cylinder 3.10 connects the second sidesway sprocket support 3.11, second sidesway sprocket support 3.11 is provided with the second sidesway sprocket wheel 3.12, second sidesway sprocket wheel 3.12 is provided with the second sidesway chain 3.14, one end of second sidesway chain 3.14 is fixed on fixed mount 3.1, and the other end is fixed on travelling carriage 3.2.Described travelling carriage 3.2 front end is provided with forging pallet fork 3.15, and forging pallet fork 3.15 can be crossed and fork goods.Described fixed mount 3.1 is provided with elevator wheel 3.16, fixed mount 3.1 can be driven to promote by lifting chain 16.
Walking tire of the present utility model uses cast steel wheel so that it can be walked in telescopic track;Same dependence track of walking in orbit because of it realizes balance, and vehicle body is without increasing counterweight, and overall weight reduces, it is ensured that its high-speed smooth is run;Sidesway balladeur train is capable of fork of forklift truck lateral translational movement, offers convenience to goods carrying, improves range and the work efficiency of fork truck.Transport goods need left and right sidesway time, the sidesway oil cylinder that two arranged direction are contrary is started working, and promotes two sidesway sprocket wheels to two lateral movements respectively, and sprocket wheel drives again chain to move, chain-driving travelling carriage is along fixed mount side-to-side movement, thus realizes the sidesway carrying of goods.

Claims (8)

1. a rectangular coordinate rail carry loads and unloads robot, including vehicle frame (1), door frame (2), sidesway balladeur train (3), reducing motor (4), walking drive system (5), front walking wheel (6), front walking wheel support (7), rear walking wheel support (10), rear walking wheel (11), lift cylinder (14), promote sprocket wheel (15) and lifting chain (16), it is characterized in that: vehicle frame (1) lower-end front portion connects two front walking wheel supports (7), a front walking wheel (6) it is rotationally connected on each front walking wheel support (7), the inner side of each front walking wheel support (7) is provided with front side way roller (8);Vehicle frame (1) lower-end rear portion connects two rear walking wheel supports (10), and each rear walking wheel support (10) is rotationally connected a rear walking wheel (11), and the inner side of each rear walking wheel support (10) is provided with rear side way roller (9);Reducing motor (4) is fixed in vehicle frame (1) upper end, and reducing motor (4) is connected by walking drive system (5) and drives two front walking wheels (6) to walk;Vehicle frame (1) front end is rotationally connected door frame (2), lift cylinder (14) is fixed in door frame (2) lower end, the cylinder rod front end of lift cylinder (14) is provided with lifting sprocket wheel (15), promote and connect lifting chain (16) on sprocket wheel (15), lifting chain (16) one end is fixed on door frame (2), and the other end connects sidesway balladeur train (3);Door frame (2) inner side is provided with lift rail (17), and lift rail (17) is slidably connected sidesway balladeur train (3).
2. rectangular coordinate rail carry as claimed in claim 1 loads and unloads robot, it is characterized in that: described walking drive system (5) includes power transmission shaft (5.1) and drive sprocket mechanism (5.2), two power transmission shafts (5.1) are rotatably connected on vehicle frame (1) and are connected to the outfan of reducing motor (4), and each power transmission shaft (5.1) is connected by a drive sprocket mechanism (5.2) and driven front walking wheel (6) to walk.
3. rectangular coordinate rail carry as claimed in claim 1 loads and unloads robot, it is characterized in that: said two front walking wheel support (7) is symmetrical set.
4. rectangular coordinate rail carry as claimed in claim 1 loads and unloads robot, it is characterized in that: said two rear walking wheel support (10) is symmetrical set.
5. rectangular coordinate rail carry as claimed in claim 1 loads and unloads robot, it is characterized in that: described door frame (2) middle part connects dump ram (12), and dump ram (12) is fixed on Hydraulic Station (13), and Hydraulic Station (13) is fixed on vehicle frame (1).
6. rectangular coordinate rail carry as claimed in claim 1 loads and unloads robot, it is characterized in that: described sidesway balladeur train (3) includes fixed mount (3.1) and travelling carriage (3.2), fixed mount (3.1) top is provided with upper roller guide rail (3.4), travelling carriage (3.2) bottom is provided with bottom roller guide rail (3.5), travelling carriage (3.2) top is provided with upper roller assembly (3.3), travelling carriage (3.2) bottom is provided with bottom roller assembly (3.6), the upper roller assembly (3.3) of travelling carriage (3.2) and bottom roller assembly (3.6) are slidably connected in upper roller guide rail (3.4) and the bottom roller guide rail (3.5) of fixed mount (3.1) respectively;Fixing the first sidesway oil cylinder (3.7) and the second sidesway oil cylinder (3.10) on fixed mount (3.1) side by side, the arranged direction of the first sidesway oil cylinder (3.7) and the second sidesway oil cylinder (3.10) is contrary;The push rod front end of the first sidesway oil cylinder (3.7) connects the first sidesway sprocket support (3.8), first sidesway sprocket support (3.8) is provided with the first sidesway sprocket wheel (3.9), first sidesway sprocket wheel (3.9) is provided with the first sidesway chain (3.13), one end of first sidesway chain (3.13) is fixed on fixed mount (3.1), and the other end is fixed on travelling carriage (3.2);The push rod front end of the second sidesway oil cylinder (3.10) connects the second sidesway sprocket support (3.11), second sidesway sprocket support (3.11) is provided with the second sidesway sprocket wheel (3.12), second sidesway sprocket wheel (3.12) is provided with the second sidesway chain (3.14), one end of second sidesway chain (3.14) is fixed on fixed mount (3.1), and the other end is fixed on travelling carriage (3.2).
7. rectangular coordinate rail carry as claimed in claim 6 loads and unloads robot, it is characterized in that: described travelling carriage (3.2) front end is provided with forging pallet fork (3.15).
8. rectangular coordinate rail carry as claimed in claim 6 loads and unloads robot, it is characterized in that: described fixed mount (3.1) is provided with elevator wheel (3.16).
CN201620402503.6U 2016-05-05 2016-05-05 Rectangular coordinate rail carry loads and unloads robot Active CN205709709U (en)

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Application Number Priority Date Filing Date Title
CN201620402503.6U CN205709709U (en) 2016-05-05 2016-05-05 Rectangular coordinate rail carry loads and unloads robot

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Application Number Priority Date Filing Date Title
CN201620402503.6U CN205709709U (en) 2016-05-05 2016-05-05 Rectangular coordinate rail carry loads and unloads robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105731311A (en) * 2016-05-05 2016-07-06 朱红蔚 Rectangular coordinates rail carrying loading and unloading robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105731311A (en) * 2016-05-05 2016-07-06 朱红蔚 Rectangular coordinates rail carrying loading and unloading robot

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