WO2020042687A1

WO2020042687A1 - Unloading robot for industrial production

Info

Publication number: WO2020042687A1
Application number: PCT/CN2019/088483
Authority: WO
Inventors: 吴艳
Original assignee: 南京禹智智能科技有限公司
Priority date: 2018-08-30
Filing date: 2019-05-27
Publication date: 2020-03-05
Also published as: CN110282408A; CN109051718A; CN109051718B; CN110282408B

Abstract

Disclosed in the present invention is an unloading robot for industrial production, comprising a main body. A storage battery is fixed inside the rear side of the main body, a first longitudinal rotation shaft is rotatably mounted on the front side of the main body, and a moving plate is fixed at the lower end of the main body; a first transverse rotation shaft, a first lifter, and a second longitudinal rotation shaft are sequentially provided on the upper side of the first longitudinal rotation shaft from bottom to top; a first electric telescopic rod is rotatably mounted on the second longitudinal rotation shaft; an unloading box is fixed at the front end of the first electric telescopic rod; a collecting claw is rotatably mounted on the unloading box; and a motor is fixed on the upper end of the rear side of the moving plate; rollers and a second lifter are provided at the four corners and the middle of the lower end of the moving plate; a support frame is fixed at the lower end of the second lifter. The present invention is used for unloading a material required for industrial production; the device can move by means of the moving plate and the rollers, and the material can be unloaded from a carrying device by means of the unloading box and the collecting claw.

Description

Unloading robot for industrial production

Technical field

The invention relates to the technical field related to industrial production robots, and in particular relates to an unloading robot for industrial production.

Background technique

At present, in order to improve production efficiency, more and more manufacturers and enterprises have begun to install and use robots. In industrial production, various robots have been applied to various processes. Accordingly, these robots are also moving. Improve production efficiency or improve product quality.

However, in terms of production material discharge, the current unloading device adopts a clamping structure that can clamp and unload the material bundled into a block. When the material is a small block, granular or even powder material, the current The unloading device obviously cannot meet the production needs, and the current unloading devices cannot move directly or indirectly. They need to push the device to move. During the unloading process, there are obvious hidden dangers. Therefore, an industrial production needs to be designed. Use a discharge robot to solve the above problems.

technical problem

The object of the present invention is to provide a discharging robot for industrial production, in order to solve the difficulty that the discharging device proposed in the background art mentioned above is difficult to unload small block, granular, or even powdery materials, and the discharging device requires manual direct operation, which is safe. Hidden problems.

Technical solutions

To achieve the above object, the present invention provides the following technical solution: An unloading robot for industrial production includes a main body, a battery is fixed inside the rear side of the main body, a first longitudinal rotation shaft is rotatably installed on the front side, and a moving disk is fixed on the lower end. A first lateral rotary shaft, a first elevator, and a second longitudinal rotary shaft are sequentially arranged from the bottom to the upper side of the first longitudinal rotary shaft. A first electric telescopic rod is rotatably mounted on the second longitudinal rotary shaft. An unloading box is fixed at the front end of an electric telescopic rod, and a receiving claw is rotatably installed on the unloading box. The rear end of the receiving claw is abutted with the front end of the unloading box, and the upper end of the rear side of the moving plate is fixed. The motor is provided with rollers and a second elevator at the four corners and the middle of the lower end of the moving plate, and a support frame is fixed at the lower end of the second elevator.

Preferably, a third vertical rotating shaft is fixed on the left and right sides of the unloading box, a second electric telescopic rod is fixed on the front side of the third vertical rotating shaft, and left and right sides of the rear end face of the receiving claw are fixed. A connecting rod whose rear end is connected with the front end of the second electric telescopic rod.

Preferably, a third electric telescopic rod is fixed inside the discharge box, a push plate is fixed on the front side of the third electric telescopic rod, and limiting blocks are fixed on the left and right sides of the discharging box. The block is arranged outside the second electric telescopic rod and matches with the second electric telescopic rod.

Preferably, the support frame is set in an I-shape.

Preferably, a damper is fixed at the lower end of the moving plate, the roller is fixed to the lower side of the moving plate through the damper, the roller on the front side is set as a directional wheel, the roller on the rear side is set as a steering wheel, and the rear A trapezoidal arm is provided on the inner side of the two rollers, and a lateral rod is rotatably installed at the rear end of the trapezoidal arm. A rack and pinion steering gear is rotatably installed between the two transverse levers. A sleeve is sleeved on the outside.

Preferably, one side of the motor is rotatably connected to the sleeve through a gear and a transmission belt.

Preferably, a rotation axis motor is provided on the first vertical rotation axis, the first horizontal rotation axis, and the second vertical rotation axis. The rotation axis motor, the third vertical rotation axis, the first elevator, the second elevator, the first electric telescopic rod, the first The two electric telescopic rods, the third electric telescopic rod, the rack and pinion steering gear, and the motor are all connected to the battery through a wire.

Beneficial effect

Compared with the prior art, the beneficial effects of the present invention are:

1. Set the receiving claw and unloading box. When the production efficiency needs to be unloaded, the robot moves to the carrying device and the battery is powered by the first longitudinal axis, the first transverse axis, the first elevator and the second longitudinal axis. Insert the unloading box into the lower end of the material pile, drive the collecting claw to collect the material through the third longitudinal axis and the second electric telescopic rod, and the rear end of the receiving claw fits with the front end of the unloading box, so that the robot can , Granular and powdery materials to collect.

2. Set up a moving plate, motor and roller. Powered by the battery, the motor will drive the roller to rotate, so that the robot can move. When the material is unloaded and collected by the receiving claw and the unloading box, the supporting frame is lowered by the second elevator, and the main body Hold up to keep the roller off the ground, reducing the sway of the robot during material unloading and collection.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

2 is an external view of a support frame according to an embodiment of the present invention;

3 is an external view of an unloading box according to an embodiment of the present invention;

4 is a sectional view of a discharge box according to an embodiment of the present invention;

5 is a top view of a steering device according to an embodiment of the present invention.

In the picture: 1. Receiving claw; 2. Unloading box; 3. First electric telescopic rod; 4. Second longitudinal shaft; 5. First elevator; 6. First transverse shaft; 7. First longitudinal shaft; 8, sleeve; 9, main body; 10, moving plate; 11, support frame; 12, second lift; 13, roller; 14, shock absorber; 15, trapezoidal arm; 16, battery; 17, push plate; 18 , Rack and pinion steering gear; 19, horizontal tie rod; 20, third electric telescopic rod; 21, connecting rod; 22, second electric telescopic rod; 23, limit block; 24, electric motor; 25, third longitudinal rotary shaft.

Embodiments of the invention

In order to solve the problem that the unloading device proposed in the background technology is difficult to unload small block, granular, or even powdery materials, and the unloading device requires manual direct operation, there is a problem of hidden safety hazards. An embodiment of the present invention provides an unloading device for industrial production. Feeding robot. In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

Please refer to FIG. 1, this embodiment provides an unloading robot for industrial production, which includes a main body 9, a battery 16 is fixed inside the rear side of the main body 9, a first longitudinal rotation shaft 7 is rotatably installed on the front side, and a moving disk is fixed on the lower end. 10. The upper side of the first vertical rotating shaft 7 is provided with a first horizontal rotating shaft 6, a first elevator 5 and a second vertical rotating shaft 4 in order from bottom to top, and a first electric telescopic rod 3 is rotatably installed on the second vertical rotating shaft 4. A discharging box 2 is fixed at the front end of the first electric telescopic rod 3, and a receiving claw 1 is rotatably mounted on the discharging box 2. The rear end of the receiving claw 1 is abutted with the front end of the discharging box 2 and the upper end of the rear side of the moving plate 10 An electric motor 24 is fixed, rollers 13 and a second lifter 12 are provided at the four corners of the lower end of the moving plate 10 and the middle, and a support frame 11 is fixed at the lower end of the second lifter 12.

In this embodiment, in the unloading operation, the battery 16 is first turned on, and power is supplied to each motor, the elevator and the telescopic rod. The shaft motor drives the first longitudinal shaft 7 to rotate, so that the first elevator 5 rotates in the radial direction and the shaft motor Drive the first horizontal rotary shaft 6 to rotate, so that the first lifter 5 rotates in the axial direction. The first lifter 5 lifts the unloading box 2, and the second longitudinal rotating shaft 4 changes the first lifter 5 and the unloading box 2. The included angle is used to facilitate the docking of the unloading box 2 and the unloading material. After the unloading box 2 is docked with the unloading material, the material is unloaded and collected by the receiving claw 1 and the unloading box 2, and after the receiving claw 1 The end is attached to the front end of the discharge box 2 so that the robot can collect block, granular and powdery materials.

The moving plate 10, the motor 24 and the roller 13 are provided, and the battery 16 is used to supply power, so that the motor 24 drives the roller 13 to rotate, so that the robot can move. When the material is unloaded and collected by the receiving claw 1 and the unloading box 2, the second elevator is used. 12 Lower the support frame 11 to support the main body 9 so that the roller 13 is separated from the ground, thereby reducing the shaking of the robot during material unloading and collection.

Example 2

Please refer to FIG. 3-4, which is further improved on the basis of Embodiment 1: the left and right sides of the unloading box 2 are fixed with a third vertical rotating shaft 25, and a second electric telescopic rod is fixed on the front side of the third vertical rotating shaft 25 22, the connecting rod 21 is fixed on the left and right sides of the rear end face of the receiving claw 1, the rear end of the connecting rod 21 is connected to the front end of the second electric telescopic rod 22, and the third electric telescopic rod 20 is fixed inside the unloading box 2. A push plate 17 is fixed on the front side of the third electric telescopic rod 20, and limiting blocks 23 are fixed on the left and right sides of the unloading box 2. The limiting blocks 23 are disposed outside the second electric telescopic rod 22 and are in contact with the second electric telescopic rod. 22 matches.

In this embodiment, after the unloading box 2 is docked with the unloaded material, the unloading box 2 is inserted into the lower end of the material stack, the receiving claw 1 is extended by the second electric telescopic rod 22, and the receiving claw is received by the third longitudinal rotating shaft 25. The material claw 1 is rotated to reduce the height of the material claw 1, and then the material claw 1 is collected and unloaded by the third longitudinal rotating shaft 25, and the rear end of the material claw 1 and the front end of the discharge box 2 are fitted to prevent the material from scattering. , Set a limit block 23 to limit the rotation interval of the third vertical rotating shaft 25, ensure that the rear end of the receiving claw 1 fits with the front end of the discharging box 2, and ensure that the receiving claw 1 is located at the front end of the discharging box 2 so that the collection interval Maximize, when the material in the unloading box 2 needs to be unloaded, the receiving claw 1 is rotated by the third longitudinal rotating shaft 25 to move it away from the front end of the unloading box 2 and then driven by the third electric telescopic rod 20 The plate 17 pushes the material out of the unloading box 2.

Example 3

Please refer to FIG. 1, FIG. 2 and FIG. 5, which are further improved on the basis of Embodiment 1. The support frame 11 is set in an I-shape, the lower end of the moving plate 10 is fixed with a shock absorber 14, and the roller 13 passes the shock absorber. 14 is fixed to the lower side of the moving plate 10, the front roller 13 is provided as a directional wheel, the rear roller 13 is provided as a steering wheel, and two trapezoidal arms 13 on the rear side are provided with trapezoidal arms 15, and the rear end of the trapezoidal arm 15 is rotatably installed transversely. Pull rod 19, a rack and pinion steering gear 18 is rotatably installed between the two transverse pull rods 19, a sleeve 8 is sleeved on the outside of the rack and pinion steering gear 18, and one side of the motor 24 is rotatably connected to the sleeve 8 through a gear and a transmission belt .

In this embodiment, the support frame 11 is set in an I-shape. When the support frame 11 is lowered, the main body 9 is supported so that the roller 13 leaves the ground. The I-shaped support frame 11 can support a larger area while ensuring support. It is stable and the vibration damper 14 can reduce the bumps and vibrations of the robot when it is moving.

A motor 24 is provided to drive the sleeve 8 to rotate through gears and transmission belts, thereby rotating the roller 13 to advance the device; when the robot needs to turn, power is supplied by the battery 16 to rotate the gears and racks in the rack and pinion steering gear 18 The relative movement causes the rack of the rack and pinion steering gear 18 to move left and right in the sleeve 8, and the trapezoidal arm 15 is driven to rotate by the transverse tie rod 19, and then the roller 13 is steered.

Example 4

Please refer to Figs. 1-5. Further improvements are made on the basis of the embodiment 1: the first vertical rotating shaft 7, the first horizontal rotating shaft 6, and the second vertical rotating shaft 4 are provided with a rotating shaft motor, a rotating shaft motor, and a third vertical rotating shaft 25. The first elevator 5, the second elevator 12, the first electric telescopic rod 3, the second electric telescopic rod 22, the third electric telescopic rod 20, the rack and pinion steering gear 18, and the electric motor 24 are all connected to the battery 16 through wires.

In this embodiment, the battery 16 can be used to rotate the shaft motor, the third vertical shaft 25, the first elevator 5, the second elevator 12, the first electric telescopic rod 3, the second electric telescopic rod 22, the third electric telescopic rod 20, The rack and pinion steering gear 18 and the electric motor 24 provide power to ensure the operation of the robot. At the same time, the infrared sensor is fixed on the above structure, and an infrared remote control is provided. The specific model of the infrared sensor and infrared remote control is 7ML1830-2AN enables workers to operate the robot remotely, ensuring the safety of workers.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "vertical", "upper", "downward", and "horizontal" are based on the orientations or positional relationships shown in the drawings, only for the purpose of It is convenient to describe the present invention and simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, "first," "second," and "third" are used for descriptive purposes only, and should not be interpreted as indicating or implying relative importance.

In the description of the present invention, it should also be noted that the terms "setting", "installation", "connected", and "connected" should be understood in a broad sense, unless it is otherwise explicitly specified and limited, for example, it may be a fixed connection, or It can be a detachable connection or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, or it can be connected through an intermediate medium, it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and replacements of these embodiments can be made without departing from the principle and spirit of the present invention. And variations, the scope of the invention is defined by the appended claims and their equivalents.

Claims

An unloading robot for industrial production includes a main body (9), which is characterized in that: a battery (16) is fixed inside the rear side of the main body (9), a first longitudinal rotation shaft (7) is rotatably installed on the front side, and a lower end A moving disk (10) is fixed, and a first horizontal rotary shaft (6), a first elevator (5), and a second vertical rotary shaft (4) are sequentially arranged from the bottom to the upper side of the first vertical rotary shaft (7), A first electric telescopic rod (3) is rotatably mounted on the second longitudinal rotating shaft (4), and a discharge box (2) is fixed at the front end of the first electric telescopic rod (3). A receiving claw (1) is rotatably mounted on the upper side, the rear end of the receiving claw (1) is abutted with the front end of the discharging box (2), and a motor (24) is fixed on the upper end of the rear side of the moving plate (10). The four corners and the middle of the lower end of the moving plate (10) are provided with rollers (13) and a second elevator (12), and a lower end of the second elevator (12) is fixed with a support frame (11).
The unloading robot for industrial production according to claim 1, characterized in that: the left and right sides of the unloading box (2) are fixed with a third longitudinal axis (25), and the third longitudinal axis (25) ) A second electric telescopic rod (22) is fixed on the front side, and connecting rods (21) are fixed on the left and right sides of the rear end face of the receiving claw (1). The front ends of two electric telescopic rods (22) are connected.
The unloading robot for industrial production according to claim 1, wherein a third electric telescopic rod (20) is fixed inside the unloading box (2), and the third electric telescopic rod (20) ) A push plate (17) is fixed on the front side, and a limiting block (23) is fixed on the left and right sides of the unloading box (2), and the limiting block (23) is arranged outside the second electric telescopic rod (22) And matches the second electric telescopic rod (22).
The unloading robot for industrial production according to claim 1, wherein the support frame (11) is set in an I-shape.
The unloading robot for industrial production according to claim 1, characterized in that a shock absorber (14) is fixed at the lower end of the moving plate (10), and the roller (13) passes the shock absorber (14) ) Fixed on the lower side of the moving plate (10), the rollers (13) on the front side are set as orientation wheels, the rollers (13) on the rear side are set as steering wheels, and the inside of the two rollers (13) on the rear side are provided with A trapezoidal arm (15), a rear end of the trapezoidal arm (15) is rotatably mounted with a transverse tie rod (19), and a rack and pinion steering gear (18) is rotatably mounted between the two transverse tie rods (19). A sleeve (8) is sleeved on the outside of the rack and pinion steering gear (18).
The unloading robot for industrial production according to claim 5, characterized in that one side of the motor (24) is rotatably connected to the sleeve (8) through a gear and a transmission belt.
The unloading robot for industrial production according to claim 1, characterized in that: a rotating shaft motor is provided on the first vertical rotating shaft (7), the first horizontal rotating shaft (6) and the second vertical rotating shaft (4). , The shaft motor, the third vertical shaft (25), the first elevator (5), the second elevator (12), the first electric telescopic rod (3), the second electric telescopic rod (22), and the third electric telescopic The lever (20), the rack and pinion steering gear (18), and the electric motor (24) are all connected to the battery (16) through wires.