CN207451076U - A kind of novel automatic transporter - Google Patents
A kind of novel automatic transporter Download PDFInfo
- Publication number
- CN207451076U CN207451076U CN201721595072.0U CN201721595072U CN207451076U CN 207451076 U CN207451076 U CN 207451076U CN 201721595072 U CN201721595072 U CN 201721595072U CN 207451076 U CN207451076 U CN 207451076U
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- steering engine
- motor
- screw
- novel automatic
- upper plate
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Abstract
The utility model discloses a kind of novel automatic transporters, it includes chassis, the lower surface on chassis is provided with motion, the upper surface on chassis is provided with control module and upper-lower position on device, mechanical arm grasping mechanism is provided in upper-lower position on device, motion, upper-lower position on device and mechanical arm grasping mechanism are electrically connected respectively with control module.The utility model can be according to the height and orientation of setting adjust automatically handgrip, and automatically controls movement, realizes automatic transportation, reduces human intervention, drastically increase the conevying efficiency of article.
Description
Technical field
The utility model is related to machinery and automation fields, and in particular to a kind of novel automatic transporter.
Background technology
At present, various mechanical transport devices emerge in an endless stream, but function is all relatively simple, and design is simple, conevying efficiency phase
To low, it can not also meet growing short-distance transport demand.For different article, machinery knot existing at present
Structure can't complete the full-automatic process of crawl transport well.It is narrow space, toxic such as in some special environment
When evil environment or manpower lack, current transport establishment is difficult to tackle, and the degree of automation is high not enough, carries article
Position is accurate not enough.The automated machine device can greatly use manpower and material resources sparingly, and improve the work efficiency of article conveying,
Reduce the cost of article conveying.
Utility model content
For above-mentioned deficiency of the prior art, a kind of novel automatic transporter provided by the utility model solves
The problem of existing article transport means efficiency is low.
In order to reach foregoing invention purpose, the technical solution adopted in the utility model is：
A kind of novel automatic transporter is provided, including chassis, the lower surface on chassis is provided with motion, chassis
Upper surface be provided with control module and upper-lower position on device, mechanical arm grasping mechanism is provided in upper-lower position on device, move
Mechanism, upper-lower position on device and mechanical arm grasping mechanism are electrically connected respectively with control module.
Further, chassis includes lower plate, and the upper end of lower plate is movably set with upper plate；Control module includes processing
Unit, the power supply being connected with processing unit and the motor driver for being connected to processing unit output terminal.
Further, upper plate is movably arranged on the upper end of lower plate by floating bearing, and the lower surface of lower plate is also set
The first electric machine support is equipped with, torsion motor is provided on the first electric machine support, the rotation axis for reversing motor is connected with upper plate,
Allow torsion motor that upper plate is driven to be rotated compared with lower plate；Torsion motor is electrically connected with motor driver.
Further, motion includes the front wheel carrier and two motor racks that are arranged on lower plate lower surface；On front wheel carrier
It is provided with front-wheel；Direct current generator is both provided on each motor rack, trailing wheel is both provided on each direct current generator；Each direct current
Machine is electrically connected respectively with motor driver.
Further, upper-lower position on device includes being arranged on an at least root post for upper plate upper surface, the upper end of column
Head cover is provided with, sliding block is provided between head cover and upper plate；The upper end of head cover is provided with the second electric machine support, the second motor branch
Stepper motor is provided on frame, the shaft of stepper motor passes through the screw of head cover and sliding block by shaft coupling connection one；Head cover
Lower surface is provided at least one guide rail parallel with screw and through sliding block；The spiral shell to match with screw is provided in sliding block
It is female so that the rotation of screw can move up and down with movable slider；Stepper motor is electrically connected with motor driver.
Further, mechanical arm grasping mechanism includes the first steering engine frame being arranged on sliding block, is set on the first steering engine frame
There is the first steering engine, mechanical principal arm is provided on the first steering engine, the second steering engine frame is provided on mechanical principal arm, is set on the second steering engine frame
The second steering engine is equipped with, front end handgrip is provided on the second steering engine；First steering engine, the second steering engine and front end handgrip drive respectively with motor
Dynamic device electrical connection.
Further, the lower end of screw connects a bearing by being interference fitted, and bearing is arranged on upper plate；Column is set
It is set for 3 and in equilateral triangle distribution；Column is rod iron；Guide rail is arranged to 2 and is located at the both sides of screw respectively.
The beneficial effects of the utility model are：The chassis of the utility model can rotate, and motion can be moved,
Upper-lower position on device can drive mechanical arm grasping mechanism to move up and down, and the first steering engine and the second steering engine can cause front end handgrip
It is rotated to different directions, convenient for efficiently capturing transport article.The utility model by the driving energy of control module automatically with
With search, the obstacle avoidance under different environmental conditions carries out tracking according to certain route, improves this automatic carriage
Work accommodation ability and transportational process be smoothed out, accurately achieve destination locations.Multiple degrees of freedom front end handgrip increases
In space, different position picks and places possibility.The mechanical arm grasping mechanism of multiple degree of freedom adds it and is starting and end position
Flexibility improves the Grasping skill of article, adds the efficiency of transport, can greatly automate its transportational process.This
Utility model can be carried out automatically controlling in the case where economy is high, significantly enhance the efficiency of transport article, also real
Show being precisely controlled for whole process, reduce human intervention.
Description of the drawings
Fig. 1 is the stereochemical structure front view of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the oblique top view of stereochemical structure of the utility model.
Wherein：1st, stepper motor；2nd, the second electric machine support；3rd, motor is reversed；4th, shaft coupling；5th, screw；6th, the second steering engine；
7th, the first electric machine support；8th, head cover；9th, column；10th, upper plate；11st, lower plate；12nd, front wheel carrier；13rd, front-wheel；14th, trailing wheel；
15th, motor rack；16th, direct current generator；17th, front end handgrip；18th, sliding block；19th, guide rail；20th, the first steering engine frame；21st, the first steering engine；
22nd, mechanical principal arm；23rd, the second steering engine frame.
Specific embodiment
Specific embodiment of the present utility model is described below, in order to facilitate understanding by those skilled in the art
The utility model, it should be apparent that the utility model is not limited to the scope of specific embodiment, to the common skill of the art
For art personnel, if various change appended claim limit and the spirit and scope of definite the utility model in,
These variations are it will be apparent that all utilize the innovation and creation of the utility model design in the row of protection.
As shown in Figure 1, Figure 2 and Figure 3, which includes chassis, and the lower surface on chassis is provided with fortune
Motivation structure, the upper surface on chassis are provided with control module and upper-lower position on device, and being provided with mechanical arm in upper-lower position on device grabs
Mechanism is taken, motion, upper-lower position on device and mechanical arm grasping mechanism are electrically connected respectively with control module.
Chassis includes lower plate 11, and the upper end of lower plate 11 is movably set with upper plate 10；It is single that control module includes processing
Member, the power supply being connected with processing unit and the motor driver for being connected to processing unit output terminal.
Upper plate 10 is movably arranged on the upper end of lower plate 11 by floating bearing, and the lower surface of lower plate 11 is additionally provided with
First electric machine support 7, torsion motor 3 is provided on the first electric machine support 7, and the rotation axis of torsion motor 3 is connected with upper plate 10
It connects so that torsion motor 3 can drive upper plate 10 to be rotated compared with lower plate 11；Torsion motor 3 is electrically connected with motor driver
It connects.
Motion includes the front wheel carrier 12 and two motor racks 15 that are arranged on 11 lower surface of lower plate；It is set on front wheel carrier 12
It is equipped with front-wheel 13；Direct current generator 16 is both provided on each motor rack 15, trailing wheel 14 is both provided on each direct current generator 16；Often
A direct current generator 16 is electrically connected respectively with motor driver.
At least a root post 9, the upper end of column 9 that upper-lower position on device includes being arranged on 10 upper surface of upper plate are provided with
Head cover 8 is provided with sliding block 18 between head cover 8 and upper plate 10；The upper end of head cover 8 is provided with the second electric machine support 2, the second motor
Stepper motor 1 is provided on stent 2, the shaft of stepper motor 1 passes through the silk of head cover 8 and sliding block 18 by the connection of shaft coupling 4 one
Bar 5；The lower surface of head cover 8 is provided at least one guide rail 19 parallel with screw 5 and through sliding block 18；It is provided in sliding block 18
The nut to match with screw 5 so that the rotation of screw 5 can move up and down with movable slider 18；Stepper motor 1 drives with motor
Device is electrically connected.
Mechanical arm grasping mechanism includes being arranged on the first steering engine frame 20 on sliding block 18, and the is provided on the first steering engine frame 20
One steering engine 21 is provided with mechanical principal arm 22 on first steering engine 21, the second steering engine frame 23, the second steering engine is provided on mechanical principal arm 22
The second steering engine 6 is provided on frame 23, front end handgrip 17 is provided on the second steering engine 6；First steering engine 21, the second steering engine 6 and front end
Handgrip 17 is electrically connected respectively with motor driver.
The lower end of screw 5 connects a bearing by being interference fitted, and bearing is arranged on upper plate 10；Column 9 is arranged to 3
And it is set in equilateral triangle distribution；Column 9 is rod iron；Guide rail 19 is arranged to 2 and is located at the both sides of screw 5 respectively.
In one embodiment of the utility model, adiuno microcontrollers may be employed in processing unit, and power supply includes electric power storage
Pond and decompression board, convenient for powering to all parts.Stepper motor 1 drives screw 5 to rotate by shaft coupling 4, and the bottom of screw 5 leads to
It crosses bearing to be connected with upper plate 10 so that screw 5 will not be in contact with upper plate 10, and upper plate is damaged when screw 5 being avoided to rotate
10, simultaneously because 5 whole height of screw will not change, the nut being matched therewith when rotating will move up and down, and then
Realize sliding block 18 up and down motion, sliding block 18 move up and down while, guide rail 19 can anti-limited slip block 18 rotate, improve sliding block 18
Positioning accuracy.Upper plate 10 is connected with the inner ring of floating bearing, and lower plate 11 is connected with the outer ring of floating bearing so that upper bottom
Plate 10 can be rotated relative to lower plate 11, and the shaft of torsion motor 3 can be meshed by the inner ring with floating bearing in realization
The rotation of bottom plate 10, upper plate 10 can also set ring flange in lower surface, and realization is engaged with reversing motor 3 by ring flange
The rotation of upper plate 10, and then realize the left rotation and right rotation positioning of mechanical arm grasping mechanism.
Two trailing wheels 14 of motion individually set a direct current generator 16 so that whole device is during exercise
It is more convenient to turn to, while trailing wheel 14 is enabled, by 16 self-locking of direct current generator, to prevent from slipping when that need not move, and improves steady
It is qualitative；First steering engine 21 and the second steering engine 6 drive front end handgrip 17 to be rotated around the axial different directions of mechanical principal arm 22 respectively, just
In the orientation of adjustment front end handgrip 17 so that front end handgrip 17 possesses the movement in three directions, adds the flexible of crawl article
Degree, improves crawl efficiency.
The front-wheel 13 of the utility model could be provided as universal wheel so that it is easier to turn to fortune under the drive of trailing wheel 14
It is dynamic, improve the flexibility of motion.
When the utility model is used, adiuno microcontrollers can be turned according to the driven by program of setting by motor driver
Current signal is turned to, is conveyed to each controlled end, realizes automatic transportation；The distance of head cover 8 to upper plate 10 can be according to reality
Border demand is changed by replacing the length of column 9, screw 5 and guide rail 19.
In conclusion the utility model can carry out automatically controlling, automatic transportation, automatic controlled height and angle are realized,
And article is captured automatically, the efficiency of transport article is significantly enhanced, reduces human intervention.
Claims (7)
1. a kind of novel automatic transporter, it is characterised in that：Including chassis, the lower surface on the chassis is provided with fitness machine
Structure, the upper surface on the chassis are provided with control module and upper-lower position on device, machinery are provided in the upper-lower position on device
Arm grasping mechanism, the motion, upper-lower position on device and mechanical arm grasping mechanism are electrically connected respectively with control module.
2. novel automatic transporter according to claim 1, it is characterised in that：The chassis includes lower plate
(11), the upper end of the lower plate (11) is movably set with upper plate (10)；The control module includes processing unit, and described
Power supply that processing unit is connected and the motor driver for being connected to the processing unit output terminal.
3. novel automatic transporter according to claim 2, it is characterised in that：The upper plate (10) passes through revolution
Bearing is movably arranged on the upper end of lower plate (11), and the lower surface of the lower plate (11) is additionally provided with the first electric machine support (7),
Torsion motor (3), the rotation axis of the torsion motor (3) and the upper plate are provided on first electric machine support (7)
(10) it is connected so that torsion motor (3) can drive upper plate (10) to be rotated compared with lower plate (11)；The torsion motor
(3) it is electrically connected with the motor driver.
4. novel automatic transporter according to claim 2, it is characterised in that：The motion includes being arranged on
The front wheel carrier (12) of lower plate (11) lower surface and two motor racks (15)；Front-wheel is provided on the front wheel carrier (12)
(13)；Direct current generator (16) is both provided on each motor rack (15), is both provided on each direct current generator (16)
Trailing wheel (14)；Each direct current generator (16) is electrically connected respectively with the motor driver.
5. novel automatic transporter according to claim 2, it is characterised in that：The upper-lower position on device includes setting
At least root post (9) in the upper plate (10) upper surface is put, the upper end of the column (9) is provided with head cover (8), described
Sliding block (18) is provided between head cover (8) and upper plate (10)；The upper end of the head cover (8) is provided with the second electric machine support (2),
Stepper motor (1) is provided on second electric machine support (2), the shaft of the stepper motor (1) is connected by shaft coupling (4)
One passes through the screw (5) of the head cover (8) and sliding block (18)；The lower surface of the head cover (8) be provided at least one with it is described
Screw (5) is parallel and passes through the guide rail (19) of the sliding block (18)；It is provided with and the screw (5) phase in the sliding block (18)
The nut matched somebody with somebody so that the rotation of screw (5) can move up and down with movable slider (18)；The stepper motor (1) and the motor
Driver is electrically connected.
6. novel automatic transporter according to claim 5, it is characterised in that：The mechanical arm grasping mechanism includes
The first steering engine frame (20) being arranged on the sliding block (18) is provided with the first steering engine (21) on the first steering engine frame (20),
Mechanical principal arm (22) is provided on first steering engine (21), the second steering engine frame (23) is provided on the machinery principal arm (22),
The second steering engine (6) is provided on the second steering engine frame (23), front end handgrip (17) is provided on second steering engine (6)；Institute
The first steering engine (21), the second steering engine (6) and front end handgrip (17) is stated to be electrically connected with the motor driver respectively.
7. novel automatic transporter according to claim 5, it is characterised in that：The lower end of the screw (5) passes through
Interference fit one bearing of connection, the bearing are arranged on the upper plate (10)；The column (9) be arranged to 3 and in etc.
Side Triangle-Profile is set；The column (9) is rod iron；The guide rail (19) is arranged to 2 and respectively positioned at the two of screw (5)
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721595072.0U CN207451076U (en) | 2017-11-24 | 2017-11-24 | A kind of novel automatic transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721595072.0U CN207451076U (en) | 2017-11-24 | 2017-11-24 | A kind of novel automatic transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207451076U true CN207451076U (en) | 2018-06-05 |
Family
ID=62278427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721595072.0U Expired - Fee Related CN207451076U (en) | 2017-11-24 | 2017-11-24 | A kind of novel automatic transporter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207451076U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792659A (en) * | 2017-11-24 | 2018-03-13 | 四川大学 | A kind of novel automatic conveying arrangement |
-
2017
- 2017-11-24 CN CN201721595072.0U patent/CN207451076U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792659A (en) * | 2017-11-24 | 2018-03-13 | 四川大学 | A kind of novel automatic conveying arrangement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180605 Termination date: 20201124 |