CN206123627U - Intelligent transfer robot - Google Patents
Intelligent transfer robot Download PDFInfo
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- CN206123627U CN206123627U CN201620981500.2U CN201620981500U CN206123627U CN 206123627 U CN206123627 U CN 206123627U CN 201620981500 U CN201620981500 U CN 201620981500U CN 206123627 U CN206123627 U CN 206123627U
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- fixedly connected
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- transfer robot
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Abstract
The utility model discloses an intelligent transfer robot, including moving the seat, be connected with the mechanical hand of transport on the removal seat. The utility model adopts the above technical scheme technological effect below having: the walking is steady, and mobile location is accurate, and the bearing capacity is big, has brake function, and the collection turns to and walks as an organic wholely, can adapt to narrow and small place, and working range is big, the nos dead angle of work, and the snatch can the reinforce, can realize the high -speed of goods and carry, can realize carrying at a high speed of goods that weight 50kg controlled.
Description
Technical field
This utility model is related to robotics, more particularly to a kind of Intelligent transfer robot.
Background technology
With the continuous development of intelligent robot technology, the field involved by robot is more and more extensive, in package packing machine
Industry, existing transfer robot is mostly fixed on one place, it is impossible to move freely work.The machinery of other existing robot
Handss
Working range is little, and work has dead angle, while transporting velocity is slow.
Utility model content
The technical problems to be solved in the utility model is for problem above, there is provided a kind of smooth running, running fix essence
Really, bearing capacity is big, with brake function, integrates steering and walking, adapts to narrow and small place, and working range is big, work
Without dead angle, snatch ability is strong, can realize the intelligence that the high speed of goods is carried
Transfer robot.
In order to solve the above problems, this utility model is employed the following technical solutions：A kind of Intelligent transfer robot, including shifting
Dynamic seat, is connected with conveying robot on Mobile base.
The following is further improvement of the utility model：
Mobile base includes chassis, and tray bottom is rotatably connected to two main driving wheels and two followers, two main transmissions
The line between line and two follower axle center between wheel axle center is arranged in a crossed manner.
Further improve：
The chassis is provided with the second reducing motors for driving main driving wheel to walk, and second reducing motors are respectively with two
Individual main driving wheel is connected.
Further improve：
Second reducing motors are connected by the first chain with one of main driving wheel, and second reducing motors are by the
Three chains are connected with another main driving wheel.
Further improve：
Chassis is provided with and drives two main driving wheels and two followers while carrying out the first reducing motors of 360 ° of steerings.
Further improve：
Connected by the second chain drive between two main driving wheels and two followers, the second chain slows down by first
Motor is connected, and first reducing motors are used to drive two main driving wheels and two followers to do divertical motion simultaneously.
Further improve：
The main driving wheel includes columnar inner pedestal, and the outer sheath of inner pedestal is equipped with outer bearing carrier, inner bearing
Seat is passed by the two ends of outer bearing carrier, and inner pedestal is rotated by bearing with outer bearing carrier and is connected, and the outside of outer bearing carrier is fixed
Fixed plate is connected with, the upper end of outer bearing carrier is provided with gland；
Steering sprocket wheel is fixedly connected with the outside of the outer bearing carrier；
The end of the inner pedestal is fixedly connected with adapter sleeve, and the axis of inner pedestal is vertical with the axis of adapter sleeve to be set
Put；
The two ends of adapter sleeve are rotatably connected to respectively a roller.
Further improve：
Power transmission shaft, the axis of power transmission shaft and the axis weight of inner pedestal are rotatably connected to by bearing in the inner pedestal
Close, the two ends of power transmission shaft pass respectively by inner pedestal, one end of power transmission shaft is fixedly connected with drive sprocket, power transmission shaft it is another
End is fixedly connected with the first cone pinion through adapter sleeve.
Further improve：
Two axle beds are fixedly connected with the adapter sleeve, a first axle, first axle are rotatably connected in each axle bed
On be connected with electromagnetic clutch, first axle is connected by electromagnetic clutch with roller；
The roller includes steel ring, and the outer sheath of steel ring hangs layer, steel disk is fixedly connected with the inside of steel ring equipped with polyurethane,
The center of steel disk is fixedly connected with bearing chamber, and the second axle, one end of the second axle are rotatably connected to by bearing in bearing room
It is connected with electromagnetic clutch, the other end of the second axle is fixedly connected by end cap with bearing chamber.
Further improve：
Conveying robot includes the leading screw being vertically arranged, and the outer sheath of leading screw is equipped with supporting plate, and supporting plate can up and down be transported along leading screw
Dynamic, supporting plate top is rotatably connected to handling arm, and the end of handling arm is connected with sucker by cylinder.
Further improve：
The outer sheath of leading screw is equipped with sleeve, and supporting plate is fixedly connected with sleeve, and screw-threaded shaft elevator, leading screw liter are connected with leading screw
Drop machine and sleeve connection, screw-threaded shaft elevator can move up and down along leading screw with moving sleeve and then drive supporting plate to move up and down along leading screw；
The outside of the sleeve is rotated with handling arm by bearing near the position of splint upper surface and is connected, and bearing is sleeved on
The outside of sleeve；
Handling arm lower section is provided with circular orbit, and track is fixedly connected on the upper surface of supporting plate；
The outside of sleeve is located at the position of handling arm upper surface and is set with large bevel gear, and large bevel gear is fixed with handling arm and connected
Connect, cone pinion is engaged with large bevel gear, motor is connected with cone pinion, motor is fixedly connected with sleeve.
This utility model has following technique effect using above-mentioned technical proposal：Smooth running, running fix is accurate, carries
Power is big, with brake function, integrates steering and walking, adapts to narrow and small place, and working range is big, works without dead angle,
Snatch ability is strong, and the high speed that can realize goods is carried, and the high speed that can realize the goods of weight 50kg or so is carried.
It is described further to originally new with reference to the accompanying drawings and examples.
Description of the drawings
Accompanying drawing 1 is the structural representation of Mobile base in this utility model；
Accompanying drawing 2 is another structural representation of the present utility model；
Accompanying drawing 3 is the top view of accompanying drawing 1；
Accompanying drawing 4 is the structural representation of universal wheel in this utility model；
Accompanying drawing 5 is the structural representation of roller；
Accompanying drawing 6 is the left view of accompanying drawing 5；
Accompanying drawing 7 is the structural representation of conveying robot in this utility model；
Accompanying drawing 8 is structural representation of the present utility model.
In figure：1- drive sprockets；2- power transmission shafts；3- inner pedestals；4- turns to sprocket wheel；5- glands；6- outer bearing carriers；7- is electric
Magnet clutch；8- rollers；9- axle beds；10- first axles；11- end caps；12- cone pinions；
13- bearing chambers；14- polyurethane hangs layer；The axles of 15- second；16- large bevel gears；17- fixed plates；18- adapter sleeves；19-
Steel ring；20- steel disks；21- chassis；22- main driving wheels；23- followers；The expansion tightening wheels of 24- first；The expansion tightening wheels of 25- second；26-
Three expansion tightening wheels；27- directive wheels；28- Mobile bases；29- conveying robots；
B1- bolts；B2- first reducing motors；B3- second reducing motors；The chains of B4- first；The chains of B5- second；B6-
3rd chain；1a- suckers；2a- cylinders；3a- supporting plates；4a- handling arm；5a- cone pinions；6a- large bevel gears；7a- motors；
8a- screw-threaded shaft elevators；9a- leading screws；10a- sleeves；11a- tracks；12a- conveyer belts；13a- bearings；M- goods.
Specific embodiment
Embodiment, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 8, a kind of Intelligent transfer robot, including movement
Seat 28, is connected with conveying robot 29 on Mobile base 28, the Mobile base 28 includes chassis 21, and the bottom of chassis 21 turns
It is dynamic to be connected with two main driving wheels 22 and two followers 23, the line and two followers between two axle center of main driving wheel 22
Line between 23 axle center is arranged in a crossed manner.
The chassis 21 is provided with second reducing motors B3 for driving main driving wheel 22 to walk, second reducing motors B3
Be connected with one of main driving wheel 22 by the first chain B4, second reducing motors B3 by the 3rd chain B6 with it is another
Individual main driving wheel 22 is connected.
The 3rd expansion tightening wheel 26 and directive wheel 27 are connected with 3rd chain B6.
The first expansion tightening wheel 24 is connected with first chain B4.
It is connected by the second chain B5 between two main driving wheels 22 and two followers 23, the second chain B5 passes through
First reducing motors B2 are connected, and first reducing motors B2 are used to drive two main driving wheels 22 and two followers 23 simultaneously
Do divertical motion.Second chain B5 can drive two main driving wheels 22 and two followers 23 while carrying out 360 ° of steerings.
As Figure 4-Figure 6, the main driving wheel 22 includes columnar inner pedestal 3, and the outer sheath of inner pedestal 3 is equipped with
Outer bearing carrier 6, inner pedestal 3 is passed by the two ends of outer bearing carrier 6, and inner pedestal 3 is rotated by bearing with outer bearing carrier 6 and connected
Connect, the outside of outer bearing carrier 6 is fixedly connected with fixed plate 17, and the upper end of outer bearing carrier 6 is provided with gland 5.
The outside of the outer bearing carrier 6 is fixedly connected with steering sprocket wheel 4.
The end of the inner pedestal 3 is fixedly connected with adapter sleeve 18, the axis of inner pedestal 3 and the axis of adapter sleeve 18
It is vertically arranged.
The two ends of adapter sleeve 18 are rotatably connected to respectively a roller 8.
Power transmission shaft 2, the axis of power transmission shaft 2 and the axle of inner pedestal 3 are rotatably connected to by bearing in the inner pedestal 3
Line overlaps, and the two ends of power transmission shaft 2 are passed respectively by inner pedestal 3, and one end of power transmission shaft 2 is fixedly connected with drive sprocket 1, transmission
The other end of axle 2 is fixedly connected with the first cone pinion 12 through adapter sleeve 18.
Two axle beds 9 are fixedly connected with the adapter sleeve 18, in each axle bed 9 first axle 10 are rotatably connected to,
Electromagnetic clutch 7 is connected with first axle 10, first axle 10 is connected by electromagnetic clutch 7 with roller 8.
The roller 8 includes steel ring 19, and the outer sheath of steel ring 19 hangs layer 14 equipped with polyurethane, and the inner side of steel ring 19 is fixed and connected
It is connected to steel disk 20, the center of steel disk 20 is fixedly connected with bearing chamber 13, bearing chamber 13 and is rotatably connected to the by bearing
Two axles 15, one end of the second axle 15 is connected with electromagnetic clutch 7, and the other end of the second axle 15 is consolidated by end cap 11 with bearing chamber 13
Fixed connection.
The first large bevel gear 16, the first large bevel gear are fixedly connected with two first axles 10 in wherein one first axle 10
16 are connected with the first cone pinion 12, are connected between the first axle 10 of the first large bevel gear 16 and axle bed 9 and pass through bearing
Rotate connection.
Power transmission shaft 2 is not installed in the follower 23 and the inner pedestal 3 that the difference of main driving wheel 22 is follower 23,
First cone pinion 12 is not installed on power transmission shaft 2, the first large bevel gear 16 is not installed in first axle 10.
Second reducing motors B3 are connected by the first chain B4 with the transmission of drive sprocket 1 of one of main driving wheel 22
Connect, second reducing motors B3 are connected by the 3rd chain B6 with the drive sprocket 1 of another main driving wheel 22.
It is fixedly connected by bolt B 1 between the fixed plate 17 of outer bearing carrier 6 and chassis 21.
As shown in fig. 7, the conveying robot 29 includes the leading screw 9a being vertically arranged, the outer sheath of leading screw 9a is equipped with sleeve
One end of 10a, sleeve 10a is fixedly connected with gas supporting plate 3a, is connected with screw-threaded shaft elevator 8a on leading screw 9a, screw-threaded shaft elevator 8a with
Sleeve 10a connects, and screw-threaded shaft elevator 8a can move up and down along leading screw 9a with moving sleeve 10a and then band takes offence supporting plate 3a along leading screw 9a
Move up and down.
The outside of the sleeve 10a is rotatably connected to handling arm near the position of gas supporting plate 3a upper surfaces by bearing 13a
4a, bearing 13a is sleeved on the outside of sleeve 10a.
Handling arm 4a lower section is provided with circular orbit 11a, and track 11a is fixedly connected on the upper surface of gas supporting plate 3a.
The end of handling arm 4a is connected with sucker 1a by cylinder 2a.
The outside of sleeve 10a is located at the position of handling arm 4a upper surface and is set with large bevel gear 6a, large bevel gear 6a with remove
Fortune arm 4a is fixedly connected, and cone pinion 5a is engaged with large bevel gear 6a, is connected with motor 7a on cone pinion 5a, motor 7a with
Sleeve 10a is fixedly connected.
The conveying robot also includes conveyer belt 12a.
During work, second reducing motors B3 impart power to the drive sprocket 1 in main driving wheel 22 by chain, pass through
Drive sprocket 1 transfers power to power transmission shaft 2, and power transmission shaft 2 transfers power to a side wheel 8, and then drives roller 8 to move；The
One reducing motor B2 drives the second chain B5 to be connected with first reducing motors B2, and first reducing motors B2 pass through the second chain
B5 drives main driving wheel 22 and the steering sprocket wheel 4 in follower 23 to rotate, and turns to sprocket wheel 4 and drives inner pedestal 3 to rotate, and then band
Dynamic main driving wheel 22 realizes that 360 ° of rotations complete to turn to follower 23；Pass through screw-threaded shaft elevator 8a when conveying robot 29 works
The band supporting plate 3a that takes offence is elevated to differing heights, and then drives handling arm 4a to be elevated to differing heights, and by sucker 1a goods is captured
M, motor 7a drive handling arm 4a to turn an angle and be placed on conveyer belt by goods M by cone pinion 5a, large bevel gear 6a
On 12a.
Claims (10)
1. a kind of Intelligent transfer robot, it is characterised in that：Including Mobile base（28）, Mobile base（28）
On be connected with conveying robot（29）.
2. a kind of Intelligent transfer robot according to claim 1, it is characterised in that：Mobile base（28）Including chassis
（21）, it is characterised in that：Chassis（21）Lower rotation is connected with two main driving wheels（22）And two followers（23）, two masters
Drive（22）Line and two followers between axle center（23）Line between axle center is arranged in a crossed manner.
3. a kind of Intelligent transfer robot according to claim 2, it is characterised in that：The chassis（21）Be provided with for
Drive main driving wheel（22）The second reducing motors of walking（B3）, second reducing motors（B3）Respectively with two main driving wheels（22）
It is connected.
4. a kind of Intelligent transfer robot according to claim 2, it is characterised in that：Second reducing motors（B3）By
One chain（B4）With one of main driving wheel（22）It is connected, second reducing motors（B3）By the 3rd chain（B6）With it is another
One main driving wheel（22）It is connected.
5. a kind of Intelligent transfer robot according to claim 3, it is characterised in that：Chassis（21）It is provided with driving two
Main driving wheel（22）And two followers（23）The first reducing motors of 360 ° of steerings are carried out simultaneously（B2）.
6. a kind of Intelligent transfer robot according to claim 4, it is characterised in that：Two main driving wheels（22）With two
Follower（23）Between pass through the second chain（B5）It is connected, the second chain（B5）By first reducing motors（B2）Transmission connects
Connect, first reducing motors（B2）For driving two main driving wheels simultaneously（22）With two followers（23）Do divertical motion.
7. a kind of Intelligent transfer robot according to claim 5, it is characterised in that：The main driving wheel（22）Including circle
The inner pedestal of tubular（3）, inner pedestal（3）Outer sheath be equipped with outer bearing carrier（6）, inner pedestal（3）By outer bearing carrier（6）
Two ends pass, inner pedestal（3）With outer bearing carrier（6）Rotated by bearing and connected, outer bearing carrier（6）Outside be fixedly connected
There is fixed plate（17）, outer bearing carrier（6）Upper end be provided with gland（5）；
The outer bearing carrier（6）Outside be fixedly connected with steering sprocket wheel（4）；
The inner pedestal（3）End be fixedly connected with adapter sleeve（18）, inner pedestal（3）Axis and adapter sleeve（18）'s
Axis is vertically arranged；
Adapter sleeve（18）Two ends be rotatably connected to a roller respectively（8）.
8. a kind of Intelligent transfer robot according to claim 7, it is characterised in that：The inner pedestal（3）Inside pass through
Bearing is rotatably connected to power transmission shaft（2）, power transmission shaft（2）Axis and inner pedestal（3）Dead in line, power transmission shaft（2）Two
End is respectively by inner pedestal（3）Pass, power transmission shaft（2）One end be fixedly connected with drive sprocket（1）, power transmission shaft（2）It is another
End is through adapter sleeve（18）It is fixedly connected with the first cone pinion（12）.
9. a kind of Intelligent transfer robot according to claim 7, it is characterised in that：The adapter sleeve（18）Interior fixation is even
It is connected to two axle beds（9）, each axle bed（9）Inside it is rotatably connected to a first axle（10）, first axle（10）On be connected with electromagnetism
Clutch（7）, first axle（10）By electromagnetic clutch（7）With roller（8）It is connected；
The roller（8）Including steel ring（19）, steel ring（19）Outer sheath equipped with polyurethane hang layer（14）, steel ring（19）Inner side
It is fixedly connected with steel disk（20）, steel disk（20）Center be fixedly connected with bearing chamber（13）, bearing chamber（13）It is interior by axle
Hold and be rotatably connected to the second axle（15）, the second axle（15）One end and electromagnetic clutch（7）Connection, the second axle（15）The other end
By end cap（11）With bearing chamber（13）It is fixedly connected.
10. a kind of Intelligent transfer robot according to claim 1, it is characterised in that：Conveying robot（29）
Including the leading screw being vertically arranged（9a）, it is characterised in that：Leading screw（9a）Outer sheath be equipped with supporting plate（3a）, supporting plate（3a）Can
Along leading screw（9a）Move up and down, supporting plate（3a）Top is rotatably connected to handling arm（4a）, handling arm（4a）End pass through cylinder
（2a）It is connected with sucker（1a）；
Leading screw（9a）Outer sheath be equipped with sleeve（10a）, supporting plate（3a）With sleeve（10a）It is fixedly connected, leading screw（9a）Upper connection
There is screw-threaded shaft elevator（8a）, screw-threaded shaft elevator（8a）With sleeve（10a）Connection, screw-threaded shaft elevator（8a）Can be with moving sleeve（10a）
Along leading screw（9a）Move up and down and then drive supporting plate（3a）Along leading screw（9a）Move up and down；
The sleeve（10a）Outside near supporting plate（3a）The position of upper surface passes through bearing（13a）With handling arm（4a）Rotate
Connection, bearing（13a）It is sleeved on sleeve（10a）Outside；
Handling arm（4a）Lower section is provided with circular orbit（11a）, track（11a）It is fixedly connected on supporting plate（3a）Upper surface on；
Sleeve（10a）Outside be located at handling arm（4a）The position of upper surface is set with large bevel gear（6a）, large bevel gear（6a）
With handling arm（4a）It is fixedly connected, large bevel gear（6a）On be engaged with cone pinion（5a）, cone pinion（5a）On be connected with electricity
Machine（7a）, motor（7a）With sleeve（10a）It is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620981500.2U CN206123627U (en) | 2016-08-30 | 2016-08-30 | Intelligent transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620981500.2U CN206123627U (en) | 2016-08-30 | 2016-08-30 | Intelligent transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123627U true CN206123627U (en) | 2017-04-26 |
Family
ID=58565135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620981500.2U Active CN206123627U (en) | 2016-08-30 | 2016-08-30 | Intelligent transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123627U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239472A (en) * | 2016-08-30 | 2016-12-21 | 安丘博阳机械制造有限公司 | Intelligent transfer robot |
-
2016
- 2016-08-30 CN CN201620981500.2U patent/CN206123627U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239472A (en) * | 2016-08-30 | 2016-12-21 | 安丘博阳机械制造有限公司 | Intelligent transfer robot |
| CN106239472B (en) * | 2016-08-30 | 2019-08-09 | 安丘博阳机械制造有限公司 | Intelligent transfer robot |
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