CN210210453U

CN210210453U - Automatic feeding and discharging robot for logistics warehouse

Info

Publication number: CN210210453U
Application number: CN201921255820.XU
Authority: CN
Inventors: Yonghong Lyu; 吕永红
Original assignee: Taiyuan New Kinetic Energy Technology Logistics Co Ltd
Current assignee: Taiyuan New Kinetic Energy Technology Logistics Co Ltd
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2020-03-31
Anticipated expiration: 2029-08-06

Abstract

The utility model discloses an automatic loading and unloading robot for logistics warehouse, the top of the bottom plate is symmetrically provided with two support rods, the middle plate is horizontally arranged above the bottom plate, the bottom surface of the middle plate is fixedly connected with the top end of each support rod, the rotating plate is rotationally arranged above the middle plate, the first rotating motor is arranged in the middle of the top of the bottom plate, the top of the first rotating motor is provided with a rotating shaft, the upper end of the rotating shaft is connected with the bottom of the rotating plate, the left side of the top of the rotating plate is provided with a support, the top of the support is hinged with a first connecting rod, the top of the first connecting rod is hinged with a second connecting rod, the right side of the top of the rotating plate is hinged with a first air cylinder, the upper end of the first air cylinder is hinged with the right end of the second connecting rod, the left end of the second connecting rod is hinged with a third connecting rod, the middle part of the third, the lower end of the third cylinder is provided with a clamping device. The utility model discloses it is efficient to carry goods, and the centre gripping goods is stable.

Description

Automatic feeding and discharging robot for logistics warehouse

Technical Field

The utility model relates to a robot field especially relates to an automatic unloading robot of going up for commodity circulation warehouse.

Background

Currently, a robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The arm of the execution mechanism of the robot, i.e. the robot body, generally adopts a spatial open-chain link mechanism, wherein the kinematic pair is often called as a joint, and the number of joints is generally the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. The warehouse is composed of a warehouse for storing goods, a transportation and transmission facility (such as a crane, an elevator, a slide and the like), a conveying pipeline and equipment for entering and exiting the warehouse, a fire-fighting facility, a management room and the like, and when goods stored in the warehouse are transported for sale, the goods need to be transported out of the warehouse.

At present, the defects of time and labor waste, low carrying speed and high carrying cost in the process of carrying goods manually exist, so that the automatic loading and unloading robot for the logistics warehouse, which is time-saving, labor-saving, high in carrying speed and low in carrying cost, needs to be researched and developed urgently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unloading robot in automation for commodity circulation warehouse to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a unloading robot in automation for commodity circulation warehouse, including clamping device, bottom plate, bracing piece, pivot, intermediate lamella, support, commentaries on classics board, first connecting rod, second connecting rod, third connecting rod.

The bottom plate top symmetry is equipped with two spinal branch vaulting poles, and the bottom plate top is located to the intermediate lamella level, and the bottom surface of intermediate lamella and the top rigid coupling of every spinal branch vaulting pole, and the rotatory board that changes that is equipped with in intermediate lamella top is equipped with first rotating electrical machines in the middle of the bottom plate top, and first rotating electrical machines top is equipped with the pivot, and the pivot upper end is connected bottom the board with changeing, changes board top left side and is equipped with the support.

The support top articulates there is first connecting rod, and the top of first connecting rod articulates there is the second connecting rod, and changes board top right side and articulate and be connected with first cylinder, and first cylinder upper end is articulated with second connecting rod right-hand member, and second connecting rod left end articulates there is the third connecting rod, and the middle part of third connecting rod articulates with second connecting rod middle part has the second cylinder, and the lower extreme of third connecting rod is equipped with the second rotating electrical machines, and the bottom of second rotating electrical machines is equipped with the third cylinder, and the lower extreme of third cylinder is equipped with clamping device.

Clamping device includes mounting panel, die clamping cylinder, dustcoat, pull rod, fly leaf, auxiliary connecting rod, splint, connecting rod, the top surface of mounting panel is equipped with the platelike dustcoat of U-shaped, and the both sides board bottom of dustcoat all with the mounting panel rigid coupling, the roof of dustcoat and the output rigid coupling of third cylinder, the symmetry is equipped with two die clamping cylinder in the dustcoat, and every die clamping cylinder's output horizontally connected has the pull rod, the equal swivelling joint in end of pull rod has the fly leaf, the middle part and the mounting panel round pin hub connection of fly leaf, and the bottom of fly leaf is located the below of mounting panel and swivelling joint has splint, and the top of splint is through auxiliary connecting rod and fly leaf bottom swivelling joint, it has the connecting rod still to sell hub connection on the fly.

Furthermore, the top surface of intermediate lamella is equipped with annular spout, and annular spout and commentaries on classics board coaxial setting, just the bottom surface annular of commentaries on classics board distributes and has the slider, and every slider all slides and locates in the annular spout.

Further, dustcoat, mounting panel are the metal sheet, and the thickness of dustcoat is not less than 3cm, weld between dustcoat and the mounting panel.

Further, the top of fly leaf is equipped with the bar hole, the end of pull rod is equipped with the draw-in groove, and the fly leaf is located the draw-in groove, and is equipped with the pin rod in the draw-in groove, and the pin rod passes the bar hole on the fly leaf.

Further, two fly leaf bottoms splint are arc platelike, and the concave surface of splint all sets up inwards.

Further, the upper and lower both ends of splint are equallyd divide and are distributed and have the rectangle breach, all install the round bar in every breach, the cover is equipped with the elastic rubber circle on the round bar.

The utility model has the advantages that:

(1) the utility model discloses a go up unloading robot in automation for commodity circulation warehouse has been set up, including clamping device, bottom plate, bracing piece, pivot, intermediate lamella, support, commentaries on classics board, first connecting rod, second connecting rod, third connecting rod, the transport speed is high, simple structure.

(2) The utility model discloses the clamping device who sets up, including mounting panel, die clamping cylinder, dustcoat, pull rod, fly leaf, auxiliary connecting rod, splint, connecting rod, it is convenient to press from both sides tight work piece, and the centre gripping is stable, and convenient operation effectively improves work efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural view of the clamping device of the present invention;

fig. 3 is a schematic view of the splint structure of the present invention.

In the figure: the device comprises a clamping device 1, a bottom plate 2, a supporting rod 3, a first rotating motor 4, a rotating shaft 5, an intermediate plate 6, a sliding block 7, a support 8, a rotating plate 9, a first air cylinder 10, a first connecting rod 11, a second connecting rod 12, a second air cylinder 13, a third connecting rod 14, a second rotating motor 15, a third air cylinder 16 and an elastic rubber ring 17.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, an automatic loading and unloading robot for a logistics warehouse includes a clamping device 1, a bottom plate 2, a support rod 3, a rotating shaft 5, a middle plate 6, a support 8, a rotating plate 9, a first connecting rod 11, a second connecting rod 12, and a third connecting rod 14.

2 top symmetries of bottom plate are equipped with two spinal

branch vaulting poles

3, and 2 tops of bottom plate are located to intermediate lamella 6 level, and the bottom surface of intermediate lamella 6 and the top rigid coupling of every spinal branch vaulting

pole

3, and 6 top rotations of intermediate lamella are equipped with commentaries on classics board 9, are equipped with first rotating electrical machines 4 in the middle of 2 tops of bottom plate, and 4 tops of first rotating electrical machines are equipped with

pivot

5, and 5 upper ends of pivot are connected with commentaries on classics board 9 bottoms, change board 9 top left side and be equipped with support 8.

The top of the support 8 is hinged with a first connecting rod 11, the top of the first connecting rod 11 is hinged with a second connecting rod 12, the right side of the top of the rotating plate 9 is hinged with a first air cylinder 10, the upper end of the first air cylinder 10 is hinged with the right end of the second connecting rod 12, the left end of the second connecting rod 12 is hinged with a third connecting rod 14, the middle of the third connecting rod 14 is hinged with the middle of the second connecting rod 12 to form a second air cylinder 13, the lower end of the third connecting rod 14 is provided with a second rotating motor 15, the bottom of the second rotating motor 15 is provided with a third air cylinder 16, and the lower end of the third air cylinder 16 is provided with a.

The clamping device 1 comprises a mounting plate 101, a clamping cylinder 102, an outer cover 103, a pull rod 104, a movable plate 105, an auxiliary connecting rod 106, a clamping plate 107 and a connecting rod 108, wherein the top surface of the mounting plate 101 is provided with the U-shaped plate-shaped outer cover 103, the bottom ends of two side plates of the outer cover 103 are fixedly connected with the mounting plate 101, the top plate of the outer cover 103 is fixedly connected with the output end of the third cylinder 16, two clamping cylinders 102 are symmetrically arranged in the outer cover 103, the output end of each clamping cylinder 102 is horizontally connected with a pull rod 104, the tail ends of the pull rods 104 are rotatably connected with a movable plate 105, the middle part of the movable plate 105 is connected with the mounting plate 101 through a pin shaft, and the bottom end of the movable plate 105 is located below the mounting plate 101 and is rotatably connected with a clamp plate 107, and the top end of the clamping plate 107 is rotatably connected with the bottom end of the movable plate 105 through the auxiliary connecting rod 106, the movable plate 105 is further connected with a connecting rod 108 through a pin shaft, and the other end of the connecting rod 108 is rotatably connected with the bottom end of the mounting plate 101.

Further, the top surface of intermediate lamella 6 is equipped with annular spout, and annular spout and commentaries on classics board 9 coaxial setting, just the bottom surface annular of commentaries on classics board 9 distributes and has slider 7, and every slider 7 all slides and locates in the annular spout.

Further, the outer cover 103 and the mounting plate 101 are both metal plates, the thickness of the outer cover 103 is not less than 3cm, and the outer cover 103 and the mounting plate 101 are welded; the structure is more stable.

Further, the top of movable plate 105 is equipped with the bar hole, the end of pull rod 104 is equipped with the draw-in groove, and movable plate 105 is located the draw-in groove, and is equipped with the pin rod in the draw-in groove, and the pin rod passes the bar hole on the movable plate 105.

Further, the clamping plates 107 at the bottom ends of the two movable plates 105 are both arc-shaped plate-shaped, and the concave surfaces of the clamping plates 107 are both arranged inwards; the clamping is firmer.

Further, rectangular notches are uniformly distributed at the upper end and the lower end of the clamping plate 107, a round rod is mounted in each notch, and an elastic rubber ring 17 is sleeved on each round rod; so that the clamping is more stable and the clamped goods are prevented from being damaged.

When using, when needs transport goods, the workman places this device beside the goods, the extension of the first cylinder of control, and the cylinder is first to drive second connecting rod anticlockwise rotation, and the second connecting rod drives third connecting rod and second cylinder and rotates downwards, and the device is rotated downwards on it in the third connecting rod drive. And the second cylinder is controlled to extend, and the second cylinder can drive the third connecting rod to rotate clockwise. And after the position of the clamping device is adjusted, controlling the second air cylinder and the first air cylinder to stop extending. The second rotating motor is controlled to rotate, the second rotating motor drives the third air cylinder to rotate, the third air cylinder drives the clamping device to rotate, after the clamping angle of the clamping device is adjusted, the second rotating motor is controlled to stop rotating, the extension of the third air cylinder is controlled, the third air cylinder drives the clamping device to move towards the goods, when the goods are located between the two clamping plates, the third air cylinder is controlled to stop extending, then the clamping air cylinder is controlled to work, the movable plate rotates anticlockwise, the goods are clamped by the two clamping plates, when the goods are clamped, the first rotating motor is controlled to rotate, the first rotating motor drives the rotating plate to rotate through the rotating shaft, the rotating plate drives the upper part of the rotating plate to rotate simultaneously, and the clamping device drives the goods to rotate. When the goods rotated to the carrier on, the first rotating electrical machines stop rotating of control, control die clamping cylinder retracted to initial condition, and two splint loosen the goods this moment, and the workman transports the goods again.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A unloading robot in automation for commodity circulation warehouse, its characterized in that: comprises a clamping device (1), a bottom plate (2), a supporting rod (3), a rotating shaft (5), an intermediate plate (6), a support (8), a rotating plate (9), a first connecting rod (11), a second connecting rod (12) and a third connecting rod (14);

the top of the bottom plate (2) is symmetrically provided with two support rods (3), the middle plate (6) is horizontally arranged above the bottom plate (2), the bottom surface of the middle plate (6) is fixedly connected with the top end of each support rod (3), the rotating plate (9) is rotatably arranged above the middle plate (6), the middle of the top of the bottom plate (2) is provided with the first rotating motor (4), the top of the first rotating motor (4) is provided with the rotating shaft (5), the upper end of the rotating shaft (5) is connected with the bottom of the rotating plate (9), and the left side of the top of the rotating plate (9) is provided with the support (8);

a first connecting rod (11) is hinged to the top of the support (8), a second connecting rod (12) is hinged to the top of the first connecting rod (11), a first cylinder (10) is hinged to the right side of the top of the rotating plate (9), the upper end of the first cylinder (10) is hinged to the right end of the second connecting rod (12), a third connecting rod (14) is hinged to the left end of the second connecting rod (12), a second cylinder (13) is hinged to the middle of the third connecting rod (14) and the middle of the second connecting rod (12), a second rotating motor (15) is arranged at the lower end of the third connecting rod (14), a third cylinder (16) is arranged at the bottom of the second rotating motor (15), and a clamping device (1) is arranged at the lower end of the third cylinder (16);

the clamping device (1) comprises a mounting plate (101), clamping cylinders (102), an outer cover (103), a pull rod (104), movable plates (105), an auxiliary connecting rod (106), a clamping plate (107) and a connecting rod (108), wherein the top surface of the mounting plate (101) is provided with the outer cover (103) in a U-shaped plate shape, the bottom ends of two side plates of the outer cover (103) are fixedly connected with the mounting plate (101), the top plate of the outer cover (103) is fixedly connected with the output end of a third cylinder (16), the outer cover (103) is internally and symmetrically provided with the two clamping cylinders (102), the output end of each clamping cylinder (102) is horizontally connected with the pull rod (104), the tail ends of the pull rods (104) are respectively and rotatably connected with the movable plates (105), the middle parts of the movable plates (105) are connected with the mounting plate (101) through pin shafts, the bottom ends of the movable plates (105) are positioned, and the top of splint (107) is through supplementary connecting rod (106) and fly leaf (105) bottom swivelling joint, still round pin hub connection has connecting rod (108) on fly leaf (105), the other end of connecting rod (108) and the bottom swivelling joint of mounting panel (101).

2. The automatic loading and unloading robot for the logistics warehouse of claim 1, wherein: the top surface of intermediate lamella (6) is equipped with annular spout, and annular spout and commentaries on classics board (9) coaxial setting, just the bottom surface annular of commentaries on classics board (9) distributes and has slider (7), and every slider (7) all slide and locate in the annular spout.

3. The automatic loading and unloading robot for the logistics warehouse of claim 1, wherein: dustcoat (103), mounting panel (101) are the metal sheet, and the thickness of dustcoat (103) is not less than 3cm, weld between dustcoat (103) and mounting panel (101).

4. The automatic loading and unloading robot for the logistics warehouse of claim 1, wherein: the top of fly leaf (105) is equipped with the bar hole, the end of pull rod (104) is equipped with the draw-in groove, and fly leaf (105) are located the draw-in groove, and are equipped with the pin rod in the draw-in groove, and the pin rod passes the bar hole on fly leaf (105).

5. The automatic loading and unloading robot for the logistics warehouse of claim 1, wherein: the bottom ends of the two movable plates (105) are arc-shaped plates, and concave surfaces of the clamping plates (107) are arranged inwards.

6. The automatic loading and unloading robot for the logistics warehouse of claim 1, wherein: cloth is equallyd divide at the upper and lower both ends of splint (107) has the rectangle breach, all installs the round bar in every breach, the cover is equipped with elastic rubber circle (17) on the round bar.