CN210850253U

CN210850253U - Traction device of composite robot

Info

Publication number: CN210850253U
Application number: CN201921632150.9U
Authority: CN
Inventors: 毛磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-09-28
Filing date: 2019-09-28
Publication date: 2020-06-26
Anticipated expiration: 2029-09-28

Abstract

The utility model discloses a traction device of a composite robot, which comprises a corresponding traction trolley and a goods box, wherein the traction trolley is connected with a support plate, an oil cylinder, a limit switch and a controller, the support plate is connected with a swing shaft through a first ball bearing, the oil cylinder drives the swing shaft, and a pressure rod is connected with a driving pressure plate through a second connecting plate; two sides of the supporting plate are connected with a guide rod through a guide cylinder, the guide rod is provided with a return spring and a fixed pressing plate, the fixed pressing plate is connected with a fixed inserted rod, the fixed pressing plate is connected with a fixed connecting plate, and the pressing plate correspondingly drives the fixed connecting plate; the controller is connected with the limit switch and the oil cylinder in a control way; the cargo box is connected with a pulling plate, and the pulling plate is provided with a jack corresponding to the inserted link. The utility model has the advantages that: the position of the pulling plate is sensed through the limit switch, the fixed pressing plate is rotated manually, the inserting rod is aligned to the corresponding jack, then the swing shaft is driven by the oil cylinder to swing, the inserting rod is inserted into the jack internal fixation cargo box, consignment operation is carried out, and consignment use of various cargos is met.

Description

Traction device of composite robot

Technical Field

The utility model relates to an intelligent robot technical field especially relates to a draw gear of compound type robot.

Background

The multiplexing robot is one of mobile robots, the content of the multiplexing robot covers knowledge fields of multiple subjects such as machinery, automobiles, electronics, automatic control, computers, sensing technologies and the like, and as a new comprehensive technology, the multiplexing robot can be widely applied to the technical fields of automatic material trucks of factories, fixed-field carriers and the like, can also be applied to complex and severe working environments, and has good civil and military application prospects.

In the fortune material of mill, multiplexing type robot is used as a neotype machinery gradually, and in the transportation, current robot generally adopts claw formula manipulator or centre gripping formula manipulator to carry out the consignment, in case the shape of the goods that transport or the device that holds of goods change the back, this kind of mode will not be suitable for, if use the hopper when feeding, above-mentioned manipulator will unable use, and this just needs a neotype device for using.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a traction device of a composite robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a traction device of a composite robot is characterized in that: the hydraulic driving device comprises a traction trolley, wherein a support plate is fixedly connected to the traction trolley, a swing shaft is connected to the support plate through a first ball bearing, two ends of the swing shaft are respectively connected with a first connecting plate and a second connecting plate, an oil cylinder is also fixedly connected to the traction trolley, the oil cylinder is correspondingly connected with the first connecting plate in a driving mode, a pressing rod is installed on the lower side of the second connecting plate, and the pressing rod is connected with a driving pressing plate through a second ball bearing;

the two sides of the supporting plate are respectively provided with a fixing plate, each fixing plate is connected with a vertically arranged guide cylinder, each guide cylinder is internally and movably connected with a guide rod, each guide rod is sleeved with a return spring, the top of each guide rod is connected with a fixed pressing plate, each return spring is correspondingly arranged between the corresponding guide cylinder and the corresponding fixed pressing plate, each fixed pressing plate is connected with a fixed inserted rod, a fixed connecting plate is connected between the two fixed pressing plates, and the driving pressing plates correspondingly drive the fixed connecting plates;

a limit switch is arranged on the traction trolley on the front side of the supporting plate, a controller is also arranged on the traction trolley, and the controller controls and connects the limit switch and the oil cylinder;

the goods box is characterized by further comprising a mounting plate fixedly connected to the goods box, wherein a pulling plate is arranged on the mounting plate, two jacks are arranged on the pulling plate, and each jack corresponds to a corresponding insertion rod to be in inserting connection.

On the basis of the above scheme, the following technical scheme can be adopted:

the traction trolley is provided with a base plate, the oil cylinder is arranged on the base plate, the first connecting plate is fixedly connected with a hinge seat, and a piston rod of the oil cylinder is in joint fit with the hinge seat.

And each limiting block is matched with the corresponding guide cylinder in a limiting way.

And each guide cylinder is not provided with a linear bearing, and the guide rod is connected in the corresponding guide cylinder through the corresponding linear bearing.

The fixed connecting plate is connected to the transverse central axis of the fixed pressing plate, and each inserted bar is arranged on the outer side of the traction trolley.

The utility model has the advantages that: this device senses the position of arm-tie through limit switch, and the small tractor stop movement rotates fixed pressing plate through the manual work for the inserted bar aims at corresponding jack, then swings through hydro-cylinder drive pendulum shaft, makes the inserted bar insert in the jack, and restart small tractor draws the goods to fall the assigned position, then withdraws the inserted bar, accomplishes the delivery operation, and this device satisfies the delivery use of various goods, and production efficiency is high.

Drawings

Fig. 1 is a schematic diagram of the basic structure of the present invention;

fig. 2 is a schematic view of the configuration of the wagon of fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 and 2, the utility model provides a pair of draw gear of composite robot, including trailer wagon 1, trailer wagon 1 adopts the dolly that current composite robot is commonly used, and it is prior art, and it includes the sweep, at four wheels of the downside installation of sweep, still installs portable power source and driving motor at the downside of sweep, and corresponding wheel is connected in the driving motor drive. A square mounting plate is connected to the longitudinal central axis of a front side plate of the traction trolley 1 through a screw, a limit switch 18 is mounted on the mounting plate, and the limit switch 18 is a photoelectric switch adopted in the prior art.

A supporting plate 2 is welded on the longitudinal central axis of the traction trolley 1, the supporting plate 2 is a rectangular plate, and the supporting plate 2 is arranged on the rear side of the limit switch 18. The upper side of the supporting plate 2 is provided with a through hole, the first ball bearing 3 is connected in the through hole, the supporting plate 2 is also provided with a locking screw, the locking screw correspondingly locks the first ball bearing 3, and the locking screw is arranged at the top of the supporting plate 2 and is not shown in the figure. A swing shaft 4 is connected in the first ball bearing 3, the swing shaft 4 penetrates through the first ball bearing 3, and two ends of the swing shaft 4 are respectively arranged on two sides of the supporting plate 2. Connect first connecting plate 5 and second connecting plate 6 respectively at the both ends of balance staff 4, first connecting plate 5 and second connecting plate 6 are square board, and the equal level setting of first connecting plate 5 and second connecting plate 6.

A base plate 25 is connected on the traction trolley 1 at the rear side of the supporting plate 2 through a screw, and an oil cylinder 7 with a piston rod vertically arranged upwards is arranged on the base plate 25. The hydro-cylinder 7 corresponds the setting at the downside of first connecting plate 5, passes through the articulated seat of screw connection in the bottom of first connecting plate 5, and articulated seat is conventional structure, and the piston rod of hydro-cylinder 7 sets up with articulated seat, and the piston rod of hydro-cylinder 7 is through the round pin hub connection on articulated seat. A press rod 8 is connected to the lower side of the second connecting plate 6 through a screw, and the press rod 8 is connected with a driving press plate 10 through a second ball bearing 9.

Two symmetrically arranged fixing plates 11 are welded on two sides of the supporting plate 2, and the fixing plates 11 are horizontally arranged on a square plate. Each fixing plate 11 is provided with a through hole, a guide cylinder 12 which is vertically arranged is arranged in the through hole, a linear bearing is arranged in each guide cylinder 12, the linear bearing is not shown in the figure, each guide cylinder 12 is internally connected with a guide rod 13 through the corresponding linear bearing in a guiding manner, a limiting block 24 is arranged on the lower side of each guide rod 13, and each limiting block 24 is in limiting fit with the corresponding guide cylinder 12. Each guide rod 13 is sleeved with a return spring 14, and each return spring 14 is arranged on the upper side of the corresponding fixing plate 11. The top of each guide rod 13 is connected with a fixed pressing plate 15, each return spring 14 is correspondingly arranged between the corresponding guide cylinder 12 and the fixed pressing plate 15, each fixed pressing plate 15 is connected with a fixed inserted bar 17, and the two inserted bars 17 are arranged on the outer side of the traction trolley 1. Fixed even board 16 is connected through the screw between two fixed pressing plates 15, and drive pressing plate 10 corresponds fixed even board 16 of drive, and fixed even board 16 is connected in fixed pressing plate 15 horizontal axis department, and fixed even board 16, two fixed pressing plates 15 and two fixed plates 11 constitute the quadrangle, and fixed even board 16 and two fixed pressing plates 15 connect the back, can rotate around two guide arms 13.

The traction trolley 1 is also provided with a controller 23, the controller 23 is the prior art and adopts a conventional PLC controller, and the controller 23 controls and connects the limit switch 18 and the oil cylinder 7;

still include mounting panel 20 of fixed connection on cargo tank 19, mounting panel 20 also is the rectangle dress structure of making up, the arm-tie 21 that welding level set up on mounting panel 20, be equipped with two jacks 22 on arm-tie 21, jack 22 is circular through-hole, every jack 22 all corresponds the grafting cooperation with corresponding inserted bar 17, arm-tie 21 highly be higher than limit switch 18 when using, when traction trolley 1 moves the front side of cargo tank 19, limit switch 18 senses arm-tie 21, controller 23 control traction trolley 1 stops. The fixed pressing plate 15 is manually rotated, so that the inserting rods 17 are aligned to the corresponding inserting holes 22, the oil cylinder 7 drives the swing shaft 4 to swing, the inserting rods 17 are inserted into the inserting holes 22, the traction trolley 1 is started to pull down the goods to the designated position, the oil cylinder 7 drives the retracting inserting rods 17, and accordingly the consignment operation is completed.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only preferred examples of the present invention, and is not intended to limit the present invention, and that the present invention can have various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A traction device of a composite robot is characterized in that: the device comprises a traction trolley (1), a support plate (2) is fixedly connected to the traction trolley (1), a swing shaft (4) is connected to the support plate (2) through a first ball bearing (3), a first connecting plate (5) and a second connecting plate (6) are respectively connected to two ends of the swing shaft (4), an oil cylinder (7) is further fixedly connected to the traction trolley (1), the oil cylinder (7) is correspondingly connected with the first connecting plate (5) in a driving mode, a pressure rod (8) is installed on the lower side of the second connecting plate (6), and the pressure rod (8) is connected with a driving pressure plate (10) through a second ball bearing (9);

the two sides of the supporting plate (2) are respectively provided with a fixing plate (11), each fixing plate (11) is connected with a guide cylinder (12) which is vertically arranged, each guide cylinder (12) is internally and respectively connected with a guide rod (13) in a guiding manner, each guide rod (13) is sleeved with a return spring (14), the top of each guide rod (13) is connected with a fixed pressing plate (15), each return spring (14) is correspondingly arranged between the corresponding guide cylinder (12) and the fixed pressing plate (15), each fixed pressing plate (15) is connected with a fixed inserted rod (17), a fixed connecting plate (16) is connected between the two fixed pressing plates (15), and the driving pressing plate (10) correspondingly drives the fixed connecting plate (16);

a limit switch (18) is arranged on the traction trolley (1) on the front side of the support plate (2), a controller (23) is also arranged on the traction trolley (1), and the controller (23) controls and connects the limit switch (18) and the oil cylinder (7);

still include mounting panel (20) of fixed connection on cargo tank (19), be equipped with arm-tie (21) on mounting panel (20), be equipped with two jack (22) on arm-tie (21), every jack (22) all corresponds with corresponding inserted bar (17) and pegs graft the cooperation.

2. The traction apparatus of a composite robot according to claim 1, wherein: a base plate (25) is installed on the traction trolley (1), the oil cylinder (7) is installed on the base plate (25), the first connecting plate (5) is fixedly connected with a hinged seat, and a piston rod of the oil cylinder (7) is in joint fit with the hinged seat.

3. The traction apparatus of a composite robot according to claim 1, wherein: and the lower side of each guide rod (13) is provided with a limiting block (24), and each limiting block (24) is in limiting fit with the corresponding guide cylinder (12).

4. The traction apparatus of a composite robot according to claim 1 or 3, wherein: each guide cylinder (12) is not provided with a linear bearing, and the guide rod (13) is connected in the corresponding guide cylinder (12) through the corresponding linear bearing.

5. The traction apparatus of a composite robot according to claim 1, wherein: the fixed connecting plate (16) is connected to the transverse central axis of the fixed pressing plate (15), and each inserting rod (17) is arranged on the outer side of the traction trolley (1).