CN221719535U - Mechanical transmission system of loading and unloading robot - Google Patents

Abstract

The utility model relates to the technical field of mechanical transmission of loading and unloading equipment, and specifically to a mechanical transmission system of a loading and unloading robot, comprising a front conveying arm and a rear conveying arm, wherein the front conveying arm and the rear conveying arm are connected via a universal head; the front conveying arm is provided with a power assembly, wherein the power assembly comprises a rotary tray, and the rotary tray is rotatably arranged on a vehicle body; the rotary tray is provided with a front rocker and a rear rocker; the rear conveying arm is provided with a fixed conveyor belt assembly and a movable conveyor belt assembly, wherein the rear end of the universal head is connected to a bracket of the movable conveyor belt assembly; the conveyor belt of the movable conveyor belt assembly and the conveyor belt of the fixed conveyor belt assembly are arranged alternately. The utility model has the advantages of smooth movement of the front conveying arm, reliable power, and flexible adjustment.

Description

Mechanical transmission system of loading and unloading robot

Technical Field

The utility model relates to the technical field of mechanical transmission of loading and unloading equipment, in particular to a mechanical transmission system of a loading and unloading robot.

Background Art

The loading and unloading of goods is an important part of warehousing logistics and determines the efficiency of logistics. In the traditional way, the handling of goods is done manually, but the cost of manual handling is high and the efficiency is low. In order to improve work efficiency and reduce the cost of loading and unloading goods, the current technology in this field has gradually developed in the direction of loading and unloading robots. However, in the process of realizing the loading and unloading of goods by loading and unloading robots, the robotic arms need to be adjusted at multiple angles, so the supply of mechanical power is a core technical problem that must be solved. At the same time, for loading and unloading equipment with more than two robotic arms, the relative motion problem between the front and rear robotic arms needs to be solved and the stability and reliability of the swing of the relevant robotic arms need to be ensured. The applicant has carried out relevant technical research and development projects with Guangxi China Tobacco Industry Co., Ltd., combined the research and development advantages of all parties to solve the above-mentioned technical problems, and processed a prototype "automatic loading and unloading robot".

Summary of the invention

In view of the above shortcomings, the utility model provides a mechanical transmission system for a loading and unloading robot with good mechanical transmission effect.

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

The mechanical transmission system of the loading and unloading robot comprises a vehicle body, a front conveying arm and a rear conveying arm, wherein the front conveying arm and the rear conveying arm are connected via a universal head; the front conveying arm is provided with a power assembly, wherein the power assembly comprises a rotary tray, and the rotary tray is rotatably arranged on the vehicle body; a front rocker and a rear rocker are arranged on the rotary tray; one end of the front rocker and the rear rocker are movably connected to the front conveying arm respectively; the up and down swing adjustment of the front conveying arm is realized by the synergistic force of the front rocker and the rear rocker; the left and right azimuth adjustment of the front conveying arm is realized by the rotation of the rotary tray;

The rear conveying arm is provided with a fixed conveyor belt assembly and a movable conveyor belt assembly, the rear end of the universal head is connected to the bracket of the movable conveyor belt assembly; the conveyor belt of the movable conveyor belt assembly and the conveyor belt of the fixed conveyor belt assembly are arranged alternately.

Optionally, a movable rod is provided on each side of the bracket of the movable conveyor belt assembly, and a plurality of guide groove blocks are provided on the body of the rear conveying arm corresponding to the movable rod; the movable conveyor belt assembly is movably connected to the body of the rear conveying arm through the movable rod.

Optionally, the movable conveyor belt assembly is provided with more than two conveyor belts, and the transmission rollers of the conveyor belts are arranged on the bracket of the movable conveyor belt assembly; the fixed conveyor belt assembly is provided with more than two conveyor belts, and the transmission rollers of the conveyor belts are arranged on the body of the rear conveying arm; the conveyor belts of the movable conveyor belt assembly and the conveyor belts of the fixed conveyor belt assembly are arranged alternately with each other.

Optionally, it also includes a lifting hydraulic cylinder; the lifting hydraulic cylinder is movably arranged on the rotating tray and is arranged between the front rocker arm and the rear rocker arm; the top of the lifting hydraulic cylinder is movably connected to the front conveying arm.

Optionally, the front rocker is movably connected to the front conveying arm via a connecting rod.

Optionally, it also includes a driving shaft, which is arranged on the vehicle body through a bearing bracket; the right side of the driving shaft is connected to the rear rocker arm, and the left side is connected to the second rear rocker arm; the upper ends of the rear rocker arm and the second rear rocker arm are respectively movably connected to the two sides of the rear part of the front conveying arm.

Optionally, it also includes a support shaft, which is transversely fixed to the rear of the front conveying arm; the upper ends of the rear rocker arm and the second rear rocker arm are rotatably connected to the two ends of the support shaft respectively; the middle part of the support shaft is connected to the rear conveying arm through the universal joint.

Optionally, it also includes a first bracket and a second bracket; the first bracket and the second bracket are respectively combined between the two side plates of the front conveying arm; the upper end of the front rocker is rotatably connected to the first bracket; the upper end of the lifting hydraulic cylinder is rotatably connected to the second bracket.

Optionally, the rotary tray is arranged below the rear side of the front conveying arm.

Optionally, the crawler drive motor of the front conveying arm is arranged on the second bracket; the first drive motor, the second drive motor and the third drive motor are also arranged on the rotating tray; the first drive motor, the second drive motor and the third drive motor provide driving force for the rotating tray, the rear rocker arm and the front rocker arm respectively.

Compared with the prior art, the beneficial effects of the utility model are:

This power system is particularly suitable for loading and unloading robots with a long front conveying arm. By fixedly connecting the rear conveying arm to the vehicle body and flexibly connecting the front conveying arm to the rear conveying arm, flexible adjustment of the front conveying arm to various positions, shapes and angles is achieved. It has better applicability to various actual working environments and better material conveying effects, and significantly reduces the phenomenon of unsmooth material conveying caused by the unadjustable or inflexible adjustment of the position of the conveying arm and the shelf in actual operations. The rear conveying arm of the utility model adopts a combination design of a fixed conveyor belt assembly and a movable conveyor belt assembly, which meets the needs of the front conveying arm to swing relative to the rear conveying arm in various positions without affecting the rear-stage material conveying.

The power assembly of the utility model can realize effective power control of the long-arm front conveying arm. Because the power assembly is arranged at the rear lower part of the front conveying arm, it solves the problem that the adjustment of the front conveying arm in the material conveying process requires stable and large driving force without losing the flexibility required for action adjustment. It has good use effect and strong power reliability.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for describing the embodiments are briefly introduced below.

Figure 1 is a perspective schematic diagram of the right side of the utility model;

Figure 2 is a perspective schematic diagram of the left side of the utility model;

FIG3 is a schematic diagram of the internal structure of FIG2;

FIG4 is a schematic diagram of the structure of the lower left viewing angle of FIG3 ;

FIG5 is a schematic diagram of the structure of the utility model from the upper right side perspective;

FIG6 is a schematic diagram of the utility model at the rear right side view of the rotary tray;

FIG7 is a schematic diagram of the structure of FIG6 after removing the rear rocker;

FIG8 is a schematic diagram of the structure of FIG7 after removing the drive motor;

9 is a schematic diagram of the three-dimensional structure of the rear conveying arm of the utility model;

10 is a schematic diagram of the partial internal structure of the rear conveying arm of the utility model;

11 is a schematic diagram of the rear three-dimensional structure of the rear conveying arm of the utility model;

FIG. 12 is a schematic diagram of the partial internal structure of the rear side of the rear conveying arm of the present invention.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

In the description of the present utility model, it should be noted that the terms "inside", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present utility model.

In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

As shown in Figs. 1 to 8, the mechanical transmission system of the loading and unloading robot includes a vehicle body, a front conveying arm 1 and a rear conveying arm 8, wherein the front conveying arm 1 and the rear conveying arm 8 are connected via a universal head 17. In this embodiment, the rear lower end of the rear conveying arm 8 is connected to the vehicle body, and then its front side relies on the universal head 17 to provide partial support force; the front conveying arm 1 is provided with a power assembly, and the power assembly includes a rotary tray 4, and the rotary tray 4 is rotatably arranged on the vehicle body through a rotary disk 5. In this embodiment, the rotary tray 4 is arranged below the rear side of the front conveying arm 1, and when in use, it is driven by a first driving motor 19 to rotate, and the left and right positions of the front conveying arm 1 are swung and adjusted by the rotation of the rotary tray 4; the rotary tray 4 is provided with a front rocker 201 and a rear rocker 6; the front rocker 201 is arranged on the rotary tray 4 through a rotating shaft bracket 10. One end of the front rocker 201 and the rear rocker 6 are movably connected to the front conveying arm 1 respectively; in this embodiment, the center of gravity and rigid mechanics of the front conveying arm 1 are taken into consideration, and the following scheme is adopted: as shown in FIG4, it can be seen that the first bracket 14 and the second bracket 21 are also included; the first bracket 14 and the second bracket 21 are respectively combined between the two side plates of the front conveying arm 1, which play a role in strengthening rigidity. At the same time, the crawler drive motor of the front conveying arm 1 is arranged on the second bracket 21. The purpose of this design is to bias the center of gravity of the front conveying arm 1 to the rear side and improve the driving stability. The upper end of the front rocker 201 is rotatably connected to the first bracket 14; it also includes a lifting hydraulic cylinder 3; as shown in FIG1, the lifting hydraulic cylinder 3 is movably arranged on the rotary tray 3 and is arranged between the front rocker 201 and the rear rocker 6; the upper end of the lifting hydraulic cylinder 3 is rotatably connected to the second bracket 21. The up and down swing adjustment of the front conveying arm is achieved through the coordinated force of the front rocker arm 201 and the rear rocker arm 6; for example, when the front conveying arm 1 is swung upward, the rear rocker arm 6 applies a force in the rearward and downward direction to the front conveying arm 1 (the swing will not be very large), and at this time, the front rocker arm 201 applies an upward force to the front conveying arm 1. At this time, the lifting hydraulic cylinder 3 also extends, playing the role of a balancing cylinder, and assisting in lifting the front conveying arm 1.

Optionally, as can be seen from FIG. 2 , in this embodiment, the front rocker arm 201 is movably connected to the front conveying arm 1 via a connecting rod 2 , thereby better achieving the lifting effect on the front conveying arm 1 .

Optionally, it also includes a driving shaft 11, which is arranged on the vehicle body through a bearing bracket 20; the right side of the driving shaft 11 is connected to the rear rocker arm 6, and the left side thereof is connected to the second rear rocker arm 12; the upper ends of the rear rocker arm 6 and the second rear rocker arm 12 are respectively movably connected to the two sides of the rear part of the front conveying arm. In this embodiment, as shown in Figure 5, it also includes a support shaft 13, which is transversely fixed to the rear part of the front conveying arm 1; the upper ends of the rear rocker arm 6 and the second rear rocker arm 12 are respectively rotatably connected to the two ends of the support shaft 13; the middle part of the support shaft 13 is connected to the rear conveying arm 8 through the universal joint 17. In this embodiment, because the rear conveying arm 8 is fixed on the vehicle body, the conveyor belt on the rear conveying arm 8 adopts a movable conveyor belt assembly 16, that is, the movable conveyor belt assembly 16 is used as a movable combination and the rear conveying arm 8 adopts a movable groove to realize a movable setting, and the rear end of the universal head 17 is connected to the bracket of the movable conveyor belt assembly 16, thereby realizing that the front conveying arm 1 can realize multi-angle and multi-position activities relative to the rear conveying arm 8. Optionally, a second drive motor 18 and a third drive motor 15 are also provided on the rotary tray 4; the second drive motor 18 and the third drive motor 15 provide driving force for the rear rocker 6 and the front rocker 201 respectively.

In order to ensure that the front conveying arm 1 can achieve smooth all-round and multi-angle swing, the rear conveying arm 8 of this embodiment adopts the following scheme: as shown in Figures 9 to 12, the rear conveying arm 8 is provided with a fixed conveyor belt assembly and a movable conveyor belt assembly, and the rear end of the universal head 17 is connected to the bracket 28 of the movable conveyor belt assembly; the conveyor belt of the movable conveyor belt assembly and the conveyor belt of the fixed conveyor belt assembly are arranged alternately. In this embodiment, the movable conveyor belt assembly is arranged in front of the fixed conveyor belt assembly, and as shown in Figure 9, the conveyor belt 22 of the movable conveyor belt assembly is provided with two, and of course, more than two can be provided in other embodiments, and then the two sides of the front drive roller body 30 of the conveyor belt 22 are respectively fixed to the C-shaped channel steel 27 on both sides through the support plate 29; then the outer side of the C-shaped channel steel 27 is fixed with a moving rod 26; and the rear drive roller body 33 of the conveyor belt 22 is fixed to the C-shaped channel steel 27 through the support plate 34; the rear conveyor A plurality of guide slot blocks 25 are provided on the body of the arm 8 corresponding to the moving rod 26. The moving rod 26 can be displaced on the guide slot blocks 25, thereby realizing the horizontal movement of the movable conveyor belt assembly as a whole relative to the rear conveying arm 8. The rear end of the universal head 17 is connected to the bracket 28 of the movable conveyor belt assembly. Therefore, when the front conveying arm 1 swings in all directions, it can ensure that the front conveying arm 1 and the rear conveying arm 8 are connected to each other uninterruptedly, that is, the front and rear transmission is kept smooth, without affecting the swing flexibility of the front conveying arm 1.

In order to ensure the stability of the cargo transportation on the rear conveying arm 8 during the movement of the movable conveyor belt assembly, the fixed conveyor belt assembly is provided with more than two conveyor belts 23. In the present embodiment, three conveyor belts are provided. As can be seen from FIG9 , the conveyor belts 23 and the conveyor belts 22 are alternately provided, and then a smooth steel plate 24 is provided in the area of the conveyor belt 23 and corresponding to the conveyor belt 22, while the front drive roller body 32 and the rear drive roller body 31 of the conveyor belt 23 are provided on the body of the rear conveying arm 8. Therefore, when the conveyor belt 22 is displaced, the normal transportation of the cargo on the rear conveying arm 8 will not be affected.

Claims (10)

1. Loading and unloading robot mechanical transmission system, including the automobile body, its characterized in that: the device also comprises a front conveying arm and a rear conveying arm, wherein the front conveying arm and the rear conveying arm are connected through a universal head; the front conveying arm is provided with a power assembly, the power assembly comprises a rotary tray, and the rotary tray is rotatably arranged on the vehicle body; the rotary tray is provided with a front rocker and a rear rocker; one end of the front rocker and one end of the rear rocker are respectively and movably connected with the front conveying arm; the front rocker and the rear rocker cooperate with each other to realize the up-down and front-back swing adjustment of the front conveying arm; the left and right direction adjustment of the front conveying arm is realized through the rotation of the rotary tray;

The rear conveying arm is provided with a fixed conveying belt assembly and a movable conveying belt assembly, and the rear end of the universal head is connected with a bracket of the movable conveying belt assembly; the conveyor belts of the movable conveyor belt assembly are alternately arranged with the conveyor belts of the fixed conveyor belt assembly.

2. The robotic handling mechanical transmission system of claim 1, wherein: the two sides of the bracket of the movable conveying belt component are respectively provided with a movable rod, and a plurality of guide groove blocks are arranged on the vehicle body of the rear conveying arm corresponding to the movable rods; the movable conveying belt component is movably connected with the vehicle body of the rear conveying arm through the movable rod.

3. The robotic handling mechanical transmission system of claim 1, wherein: the conveyor belt of the movable conveyor belt assembly is provided with more than 2 conveyor belts, and the transmission roller bodies of the conveyor belts are arranged on the support of the movable conveyor belt assembly; the conveying belt of the fixed conveying belt assembly is provided with more than 2 conveying belts, and the transmission roller bodies of the conveying belts are arranged on the vehicle body of the rear conveying arm; the conveyor belts of the movable conveyor belt assembly and the conveyor belts of the fixed conveyor belt assembly are alternately arranged with each other.

4. The robotic handling mechanical transmission system of claim 1, wherein: the lifting hydraulic cylinder is also included; the lifting hydraulic cylinder is movably arranged on the rotary tray and is arranged between the front rocker and the rear rocker; the top of the lifting hydraulic cylinder is movably connected with the front conveying arm.

5. The robotic handling mechanical transmission system of claim 1, wherein: the front rocker is movably connected with the front conveying arm through a connecting rod.

6. The robotic handling mechanical transmission system of claim 1, wherein: the vehicle further comprises a driving shaft lever, wherein the driving shaft lever is arranged on the vehicle body through a bearing bracket; the right side of the driving shaft lever is connected with the rear rocker, and the left side of the driving shaft lever is connected with a second rear rocker; the upper ends of the rear rocker and the second rear rocker are respectively and movably connected with two sides of the rear part of the front conveying arm.

7. The robotic handling mechanical transmission system of claim 6, wherein: the support shaft is transversely fixed at the rear part of the front conveying arm; the upper ends of the rear rocker and the second rear rocker are respectively and rotatably connected with two ends of the supporting shaft; the middle part of the supporting shaft is connected with the rear conveying arm through a universal joint.

8. The robotic handling mechanical transmission system as defined in claim 4, wherein: the device also comprises a first bracket and a second bracket; the first bracket and the second bracket are respectively combined between two side plates of the front conveying arm; the upper end of the front rocker is rotatably connected with the first bracket; the upper end of the lifting hydraulic cylinder is rotatably connected with the second bracket.

9. The robotic handling mechanical transmission system of claim 1, wherein: the rotary tray is arranged below the rear side of the front conveying arm.

10. The robotic handling mechanical transmission system of claim 8, wherein: the crawler driving motor of the front conveying arm is arranged on the second bracket; the rotary tray is also provided with a first driving motor, a second driving motor and a third driving motor; the first driving motor, the second driving motor and the third driving motor respectively provide driving forces for the rotary tray, the rear rocker and the front rocker.