WO2022077626A1 - 一种转移厂房辐射货物的搬运机器人 - Google Patents
一种转移厂房辐射货物的搬运机器人 Download PDFInfo
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- WO2022077626A1 WO2022077626A1 PCT/CN2020/126313 CN2020126313W WO2022077626A1 WO 2022077626 A1 WO2022077626 A1 WO 2022077626A1 CN 2020126313 W CN2020126313 W CN 2020126313W WO 2022077626 A1 WO2022077626 A1 WO 2022077626A1
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- WIPO (PCT)
- Prior art keywords
- fixedly connected
- support plate
- plate
- goods
- telescopic rod
- Prior art date
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- 230000005855 radiation Effects 0.000 title claims abstract description 17
- 238000012546 transfer Methods 0.000 title abstract description 4
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 230000002708 enhancing effect Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 4
- 230000007723 transport mechanism Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 16
- 230000009471 action Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/007—Means for moving conveyor frames and control arrangements therefor
- B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G13/00—Roller-ways
- B65G13/11—Roller frames
- B65G13/12—Roller frames adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/002—Pivotably mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/20—Earthquake protection
Definitions
- the invention relates to the technical field of robots, in particular to a handling robot for transferring radiation goods in a workshop.
- robots There are many types of robots, including industrial robots, agricultural robots, household robots, medical robots, service robots, space robots, underwater robots, and military robots. , disaster relief robots, education and teaching robots, entertainment robots, etc.
- Industrial robots are widely used in industrial production processes to engage in heavy-duty, or high-repetition, or special-environment production and processing. In the process of industrial production, people inevitably need to handle the goods, and manual handling is not only labor-intensive and costly, but also cannot handle radiation-type goods.
- the purpose of the present invention is to provide a handling robot for transferring radiation goods in a workshop, so as to solve the above-mentioned problems in the background art.
- the present invention provides the following technical solutions:
- a handling robot for transferring radiation goods in a workshop comprising a support plate, a support mechanism is arranged at the bottom of the support plate, an adsorption mechanism for enhancing the stability of the device is arranged inside the support mechanism, and a placement mechanism is arranged on the top of the support plate, The left and right sides of the support plate are provided with conveying mechanisms.
- the support mechanism includes a base fixedly connected to the bottom of the support plate, the left and right ends of the base are provided with rotating rods that are rotatably connected to the support plate, and the bottom of the rotating rod is fixedly connected
- a connecting block is provided, the inner side of the connecting block is rotatably connected with a motorized wheel, the inner side of the left and right ends of the base is bolted and provided with a motor, the output end of the motor is connected with the driving gear, and the driving gear is close to the side of the conveying mechanism
- a rack is provided in sliding connection with the base, and the rack is in meshing connection with a transmission gear fixedly connected to the outside of the rotating rod.
- the upper and lower sides of the rack are fixedly connected with guide blocks, and the guide blocks are slidably connected with the guide grooves provided on the inner side of the support plate.
- the adsorption mechanism includes an air guide groove arranged on the inner side of the support plate, an air outlet pipe is provided on both the front and rear sides of the air guide groove, and the output end of the air outlet pipe is connected with bolts and arranged at the front and rear of the support plate
- the vacuum pumps on both sides are connected, a plurality of fixed pipes are fixedly connected at the bottom of the air guide groove, a movable pipe is slidably connected on the inner side of the fixed pipe, and a horizontal plate is fixed and connected on the outer side of the bottom end of the movable pipe.
- a third telescopic rod is fixedly connected between the top end and the support plate, and a suction cup is fixedly connected at the bottom of the movable tube.
- the conveying mechanism includes fixed plates fixedly connected to the left and right ends of the support plate, front and rear sides, a fourth telescopic rod is fixedly connected to the inner side of the fixed plate, and the other end of the fourth telescopic rod It is fixedly connected with the slider, the outer side of the slider on the same side is fixedly connected with a side plate, the bottom of the side plate on both sides is fixedly connected with a bottom plate, the top of the bottom plate is rotated and connected with a number of electric rollers, the side plate A number of limit plates are fixedly connected on one side away from the bearing plate, and splints are arranged on opposite sides of the limit plates on the front and rear sides. A fifth telescopic rod is fixedly connected between the splint and the limit plate. The inner side of the splint is rotatably connected with a number of rollers.
- the placing mechanism includes a connecting plate arranged on the top of the support plate, a conveyor belt is fixedly connected to the inner side of the connecting plate, and baffle plates fixedly connected to the support plate are arranged on both the front and rear sides of the connecting plate A pressure plate is arranged on the opposite side of the baffles on both sides, and a first telescopic rod is fixedly connected between the pressure plate and the support plate.
- a buffer mechanism is arranged between the bottom end of the connecting plate and the supporting plate, and the buffering mechanism includes a number of springs fixedly connected between the connecting plate and the supporting plate, and adjacent springs are arranged fixedly connected to the supporting plate.
- the upper side of the first magnet is provided with a second magnet that is fixedly connected to the connecting plate, and the opposite sides of the first magnet and the second magnet have the same magnetic properties.
- the top of the base is fixedly connected with a fixing block, and the left and right ends of the fixing block are hingedly provided with a second telescopic rod, and the other end of the second telescopic rod is hinged with the support plate.
- the motor is used to control the rack to move.
- the action of the rack and the transmission gear arranged on the outside of the rotating rod can change the moving direction of the device, making the device more flexible when handling goods.
- the third telescopic rod pushes the horizontal plate to move down so that the suction cup is in contact with the ground, and the suction cup is connected with the ground under the action of the vacuum pump, so that the device is fixed on the ground, greatly enhancing the improved stability and improved safety during loading and unloading;
- the fourth telescopic rod is used to control the bottom plate to lift, the bottom plate lifts the goods, and the electric drum is used to control the goods to move, so that the goods are always in a horizontal state during the handling process, and the fifth telescopic rod is used to adjust the two.
- the distance between the side clamps enables the device to handle goods of different sizes;
- the first telescopic rod is used to control the distance between the two sides of the pressing plates, so that the device can effectively fix the goods during the handling process, avoid the falling of the goods during the handling process, and enhance the handling of the goods.
- the buffer mechanism By setting the buffer mechanism, the impact of vibration on the goods can be reduced, so that the goods can always remain stable and ensure the integrity of the goods;
- the height of the support plate can be adjusted by controlling the expansion and contraction of the second telescopic rod, so that the device can realize the transportation of goods with a drop position.
- FIG. 1 is a schematic structural diagram of a handling robot for transferring radiation goods in a workshop.
- Fig. 2 is a side view of the base in the handling robot for transferring the radiation cargo in the workshop.
- FIG. 3 is a schematic structural diagram of a handling mechanism in a handling robot for transferring radiation goods in a factory building.
- FIG. 4 is an enlarged schematic view of the structure at A in FIG. 1 .
- a handling robot for transferring radiation goods in a workshop includes a support plate 2 , a support mechanism is arranged at the bottom of the support plate 2 , and a support mechanism is arranged inside the support mechanism for enhancing the stability of the device.
- the top of the support plate 2 is provided with a placement mechanism, and the left and right sides of the support plate 2 are provided with a transport mechanism.
- the support mechanism includes a base 1 fixedly connected to the bottom of the support plate 2 , and the left and right ends of the base 1 are provided with rotating rods 27 rotatably connected to the support plate 2 .
- the bottom is fixedly connected with a connecting block 29, the inner side of the connecting block 29 is rotatably connected with an electric wheel 30, the inner sides of the left and right ends of the base 1 are bolted and provided with a motor 16, and the output end of the motor 16 is connected with the driving gear 17
- the drive gear 17 is provided with a rack 18 that is slidably connected to the base 1 on the side of the driving gear 17 close to the conveying mechanism.
- the motor 6 is used to control the rack 22 to move, and the rack 22 interacts with the transmission gear 28 disposed outside the rotating rod 27 to change the moving direction of the device, making the device more flexible when handling goods.
- the upper and lower sides of the rack 22 are fixedly connected with guide blocks, and the guide blocks are slidably connected with the guide grooves provided on the inner side of the support plate 2 .
- the adsorption mechanism includes an air guide groove 10 arranged on the inner side of the support plate 2 , and air outlet pipes are provided on both the front and rear sides of the air guide groove 10 , and the output end of the air outlet pipe is connected with bolts and arranged on the support plate. 2.
- the vacuum pumps on the front and rear sides are connected.
- a number of fixed pipes 11 are fixedly connected at the bottom of the air guide groove 10.
- the inner side of the fixed pipe 11 is slidably connected with a movable pipe 12.
- the outer side of the bottom end of the movable pipe 12 is fixedly connected with a The horizontal plate 14, a third telescopic rod 15 is fixedly connected between the top of the horizontal plate 14 and the support plate 2, and the bottom of the movable tube 12 is fixedly connected with a suction cup 13.
- the suction mechanism By setting the suction mechanism, when the device is loading During the process of unloading and unloading, the third telescopic rod 15 pushes the horizontal plate 14 to move downward so that the suction cup 13 is in contact with the ground. improved safety during loading and unloading.
- the conveying mechanism includes fixing plates 19 fixedly connected to the left and right ends of the support plate 2 on the front and rear sides.
- the inner side of the fixing plate 19 is fixedly connected with a fourth telescopic rod 20.
- the fourth telescopic rod The other end of 20 is fixedly connected with the slider, the outer side of the slider on the same side is fixedly connected with a side plate 21, the bottom of the side plates 21 on both sides is fixedly connected with a bottom plate 22, and the top of the bottom plate 22 is rotatably connected with a number of In the electric drum 23, the side plate 21 is fixedly connected with a plurality of limit plates 24 on the side away from the bearing plate 2.
- the opposite sides of the limit plates 24 on the front and rear sides are provided with clamp plates 25.
- the clamp plates 25 are connected to the limit plates 24.
- a fifth telescopic rod 31 is fixedly connected between the plates 24, and a number of rollers 26 are rotatably connected to the inner side of the splint 25.
- the fourth telescopic rod 20 is used to control the bottom plate 22 to move up and down, and the bottom plate lifts the goods
- the electric drum 23 is used to control the movement of the goods, so that the goods are always in a horizontal state during the handling process, and at the same time, the fifth telescopic rod 31 is used to adjust the distance between the splints 25 on both sides, so that the device can handle goods of different sizes.
- the placing mechanism includes a connecting plate 3 arranged on the top of the support plate 2 , the inner side of the connecting plate 3 is fixedly connected with a conveyor belt 4 , and both the front and rear sides of the connecting plate 3 are fixed with the support plate 2 .
- the connected baffles 5, the opposite sides of the baffles 5 on both sides are provided with a pressure plate 6, and a first telescopic rod 7 is fixedly connected between the pressure plate 6 and the support plate 2.
- the telescopic rod 7 controls the distance between the pressing plates 6 on both sides, so that the device can effectively fix the goods during the handling process, prevent the goods from falling during the handling process, and enhance the safety of the goods during handling.
- a buffer mechanism is provided between the bottom end of the connecting plate 3 and the supporting plate 2, and the buffering mechanism includes a plurality of springs 33 fixedly connected between the connecting plate 3 and the supporting plate 2, adjacent to the A first magnet 34 fixedly connected to the support plate 2 is disposed between the springs 33 , and a second magnet 35 fixedly connected to the connecting plate 3 is disposed on the upper side of the first magnet 34 .
- the first magnet 34 and the second magnet 35 The opposite side has the same magnetism.
- the left and right sides of the connecting plate 3 are fixedly connected with a limit block 32 , and the limit block 32 is slidably connected with the support plate 2 .
- the top of the base 1 is fixedly connected with a fixing block 8 , and the left and right ends of the fixing block 8 are hingedly provided with a second telescopic rod 9 , and the other end of the second telescopic rod 9 is hinged with the support plate 2 .
- the second telescopic rod 9 By setting the second telescopic rod 9, the height of the support plate 2 can be adjusted by controlling the expansion and contraction of the second telescopic rod 9, so that the device can realize the transportation of goods with a drop position.
- the working principle of the present invention is as follows: the motor 6 is used to control the rack 22 to move, and the rack 22 interacts with the transmission gear 28 arranged on the outside of the rotating rod 27 to change the moving direction of the device, so that the device is more flexible when handling goods,
- the third telescopic rod 15 pushes the horizontal plate 14 to move down so that the suction cup 13 is in contact with the ground, and the suction cup 13 is adsorbed and connected to the ground under the action of the vacuum pump, so that the device is fixed on the ground It greatly enhances the stability and improves the safety during loading and unloading.
- the fourth telescopic rod 20 is used to control the bottom plate 22 to move up and down, the bottom plate lifts the goods, and the electric drum 23 is used to control the movement of the goods, so that the goods can be moved during the transportation.
- the fifth telescopic rod 31 is used to adjust the distance between the two side plates 25, so that the device can carry goods of different sizes
- the first telescopic rod 7 is used to control the distance between the two sides of the platens 6. , so that the device can effectively fix the goods during the handling process, prevent the goods from falling during the handling process, and enhance the safety of the goods during handling.
- Controlling the expansion and contraction of the second telescopic rod 9 can adjust the height of the support plate 2 , so that the device can realize the handling of goods with a drop position.
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- Mechanical Engineering (AREA)
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Abstract
Description
Claims (8)
- 一种转移厂房辐射货物的搬运机器人,包括支撑板(2),其特征在于,所述支撑板(2)底部设置有支撑机构,所述支撑机构内侧设置有用于增强装置稳定性的吸附机构,所述支撑板(2)顶部设置有放置机构,所述支撑板(2)左右两侧设置有搬运机构。
- 根据权利要求1所述的转移厂房辐射货物的搬运机器人,其特征在于,所述支撑机构包括固定连接设置在支撑板(2)底部的底座(1),所述底座(1)左右两端前后两侧均设置有与支撑板(2)转动连接的转杆(27),所述转杆(27)底部固定连接设置有连接块(29),所述连接块(29)内侧转动连接设置有电动轮(30),所述底座(1)左右两端内侧均螺栓连接设置有电机(16),所述电机(16)输出端与主动齿轮(17)连接,所述主动齿轮(17)靠近搬运机构一侧设置有与底座(1)滑动连接的齿条(18),所述齿条(18)与固定连接设置在转杆(27)外侧的传动齿轮(28)啮合连接。
- 根据权利要求2所述的转移厂房辐射货物的搬运机器人,其特征在于,所述齿条(22)上下两侧均固定连接设置有导向块,所述导向块与设置在支撑板(2)内侧的导向槽滑动连接。
- 根据权利要求3所述的转移厂房辐射货物的搬运机器人,其特征在于,所述吸附机构包括设置在支撑板(2)内侧的导气槽(10),所述导气槽(10)前后两侧均设置有出气管,所述出气管输出端与螺栓连接设置在支撑板(2)前后两侧的真空泵连接,所述导气槽(10)底部固定连接设置有若干固定管(11),所述固定管(11)内侧滑动连接设置有活动管(12),所述活动管(12)底端外侧固定连接设置有横板(14),所述横板(14)顶端与支撑板(2)之间固定连接设置有第三伸缩杆(15),所述活动管(12)底部固定连接设置有吸盘(13)。
- 根据权利要求4所述的转移厂房辐射货物的搬运机器人,其特征在于,所述搬运机构包括固定连接设置在支撑板(2)左右两端前后两侧的固定板(19),所述固定板(19)内侧固定连接设置有第四伸缩杆(20),所述第四伸缩杆(20)另一端与滑块固定连接,相同一侧所述滑块外侧固定连接设置有侧板(21),两侧所述侧板(21)底部固定连接设置有底板(22),所述底板(22)顶端转动连接设置有若干电动滚筒(23),所述侧板(21)远离承载板(2)一侧固定连接设置有若干限位板(24),前后两侧所述限位板(24)相对一侧均设置有夹板(25),所述夹板(25)与限位板(24)之间固定连接设置有第五伸缩杆(31),所述夹板(25)内侧转动连接设置有若干滚轮(26)。
- 根据权利要求1所述的转移厂房辐射货物的搬运机器人,其特征在于,所述放置机构包括设置在支撑板(2)顶部的连接板(3),所述连接板(3)内侧固定连接设置有传送带(4),所述连接板(3)前后两侧均设置有与支撑板(2)固定连接的挡板(5),两侧所述挡板(5)相对一侧均设置有压板(6),所述压板(6)与支撑板(2)之间固定连接设置有第一伸缩杆(7)。
- 根据权利要求6所述的转移厂房辐射货物的搬运机器人,其特征在于,所述连接板(3)底端与支撑板(2)之间设置有缓冲机构,所述缓冲机构包括若干固定连接设置在连接板(3)与支撑板(2)之间的弹簧(33),相邻所述弹簧(33)之间设置有与支撑板(2)固定连接的第一磁铁(34),所述第一磁铁(34)上侧设置有与连接板(3)固定连接的第二磁铁(35),所述第一磁铁(34)和第二磁铁(35)相对一侧磁性相同。
- 根据权利要求3所述的转移厂房辐射货物的搬运机器人,其特征在于,所述底座(1)顶部固定连接设置有固定块(8),所述固定块(8)左右两端均铰接设置有第二伸缩杆(9),所述第二伸缩杆(9)另一端与支撑板(2)铰接。
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CN202011108467.X | 2020-10-16 | ||
CN202011108467.XA CN112265797B (zh) | 2020-10-16 | 2020-10-16 | 一种转移厂房辐射货物的搬运机器人 |
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