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 PDF

Info

Publication number
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
Authority
WO
WIPO (PCT)
Prior art keywords
fixedly connected
support plate
plate
goods
telescopic rod
Prior art date
Application number
PCT/CN2020/126313
Other languages
English (en)
French (fr)
Inventor
任雯雯
Original Assignee
苏州龙骐自动化科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州龙骐自动化科技有限公司 filed Critical 苏州龙骐自动化科技有限公司
Publication of WO2022077626A1 publication Critical patent/WO2022077626A1/zh

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种转移厂房辐射货物的搬运机器人，包括支撑板（2），支撑板（2）底部设置有支撑机构，支撑机构内侧设置有用于增强装置稳定性的吸附机构，支撑板（2）顶部设置有放置机构，支撑板（2）左右两侧设置有搬运机构，通过设置吸附机构，当装置在进行装货和卸货的过程中，第三伸缩杆（15）推动横板（14）向下移动使吸盘（13）与地面接触，吸盘（13）在真空泵的作用下与地面吸附连接，从而使装置被固定在地面上，大大增强了稳定性，提高了装货和卸货时的安全性，利用第四伸缩杆（20）控制底板（22）进行升降，底板将货物抬起，利用电动滚筒（23）控制货物进行移动，使货物在搬运过程中始终处于水平状态，同时利用第五伸缩杆（31）调节两侧夹板（25）之间的距离，使装置能对不同尺寸的货物进行搬运。

Description

一种转移厂房辐射货物的搬运机器人 技术领域
本发明涉及机器人技术领域，具体是一种转移厂房辐射货物的搬运机器人。
 背景技术
随着科技的不断发展，人类对于机器人科技的发展越来越快，机器人包括的种类很多，有工业机器人、农业机器人、家用机器人、医用机器人、服务型机器人、空间机器人、水下机器人、军用机器人、排险救灾机器人、教育教学机器人、娱乐机器人等。工业机器人广泛应用于工业生产过程中，用以从事重型、或高重复性、或特殊环境之生产加工。在工业生产过程中，人们不可避免的需要对货物进行搬运，而人工搬运不仅劳动强度大，成本高，而且对于辐射类货物也无法进行搬运。
现有的搬运机器人难以实现有落差位置的货物搬运，而且在货物搬运过程中缺乏对货物的保护，导致货物在搬运过程中容易掉落，因此，针对以上现状，迫切需要开发一种转移厂房辐射货物的搬运机器人，以克服当前实际应用中的不足。
 技术问题
在此处键入技术问题描述段落。
 技术解决方案
本发明的目的在于提供一种转移厂房辐射货物的搬运机器人，以解决上述背景技术中提出的问题。
为实现上述目的，本发明提供如下技术方案：
一种转移厂房辐射货物的搬运机器人，包括支撑板，所述支撑板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，所述支撑板顶部设置有放置机构，所述支撑板左右两侧设置有搬运机构。
作为本发明进一步的方案：所述支撑机构包括固定连接设置在支撑板底部的底座，所述底座左右两端前后两侧均设置有与支撑板转动连接的转杆，所述转杆底部固定连接设置有连接块，所述连接块内侧转动连接设置有电动轮，所述底座左右两端内侧均螺栓连接设置有电机，所述电机输出端与主动齿轮连接，所述主动齿轮靠近搬运机构一侧设置有与底座滑动连接的齿条，所述齿条与固定连接设置在转杆外侧的传动齿轮啮合连接。
作为本发明进一步的方案：所述齿条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内侧的导向槽滑动连接。
作为本发明进一步的方案：所述吸附机构包括设置在支撑板内侧的导气槽，所述导气槽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前后两侧的真空泵连接，所述导气槽底部固定连接设置有若干固定管，所述固定管内侧滑动连接设置有活动管，所述活动管底端外侧固定连接设置有横板，所述横板顶端与支撑板之间固定连接设置有第三伸缩杆，所述活动管底部固定连接设置有吸盘。
作为本发明进一步的方案：所述搬运机构包括固定连接设置在支撑板左右两端前后两侧的固定板，所述固定板内侧固定连接设置有第四伸缩杆，所述第四伸缩杆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，两侧所述侧板底部固定连接设置有底板，所述底板顶端转动连接设置有若干电动滚筒，所述侧板远离承载板一侧固定连接设置有若干限位板，前后两侧所述限位板相对一侧均设置有夹板，所述夹板与限位板之间固定连接设置有第五伸缩杆，所述夹板内侧转动连接设置有若干滚轮。
作为本发明进一步的方案：所述放置机构包括设置在支撑板顶部的连接板，所述连接板内侧固定连接设置有传送带，所述连接板前后两侧均设置有与支撑板固定连接的挡板，两侧所述挡板相对一侧均设置有压板，所述压板与支撑板之间固定连接设置有第一伸缩杆。
所述连接板底端与支撑板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与支撑板之间的弹簧，相邻所述弹簧之间设置有与支撑板固定连接的第一磁铁，所述第一磁铁上侧设置有与连接板固定连接的第二磁铁，所述第一磁铁和第二磁铁相对一侧磁性相同。
作为本发明进一步的方案：所述底座顶部固定连接设置有固定块，所述固定块左右两端均铰接设置有第二伸缩杆，所述第二伸缩杆另一端与支撑板铰接。
 有益效果
与现有技术相比，本发明的有益效果是：
1.通过设置支撑机构，利用电机控制齿条进行移动，齿条与设置在转杆外侧的传动齿轮作用可以对装置的移动方向进行改变，使装置在搬运货物时更加灵活，通过设置吸附机构，当装置在进行装货和卸货的过程中，第三伸缩杆推动横板向下移动使吸盘与地面接触，吸盘在真空泵的作用下与地面吸附连接，从而使装置被固定在地面上，大大增强了稳定性，提高了装货和卸货时的安全性；
2.通过设置搬运机构，利用第四伸缩杆控制底板进行升降，底板将货物抬起，利用电动滚筒控制货物进行移动，使货物在搬运过程中始终处于水平状态，同时利用第五伸缩杆调节两侧夹板之间的距离，使装置能对不同尺寸的货物进行搬运；
3.通过设置放置机构，利用第一伸缩杆控制两侧压板之间的距离，使装置能在搬运过程中对货物进行有效的固定，避免货物在搬运过程中发生掉落，增强了货物搬运时的安全性，通过设置缓冲机构，可以降低震动对货物的影响，使货物能始终保持稳定，保证货物的完整性；
4.通过设置第二伸缩杆，控制第二伸缩杆伸缩可以对支撑板的高度进行调节，使装置能实现对有落差位置的货物搬运。
 附图说明
图1为转移厂房辐射货物的搬运机器人的结构示意图。
图2为转移厂房辐射货物的搬运机器人中底座的侧视图。
图3为转移厂房辐射货物的搬运机器人中搬运机构的结构示意图。
图4为图1中A处的放大结构示意图。
图中：1-底座，2-支撑板，3-连接板，4-传送带，5-挡板，6-压板，7-第一伸缩杆，8-固定块，9-第二伸缩杆，10-导气槽，11-固定管，12-活动管，13-吸盘，14-横板，15-第三伸缩杆，16-电机，17-主动齿轮，18-齿条，19-固定板，20-第四伸缩杆，21-侧板，22-底板，23-电动滚筒，24-限位板，25-夹板，26-滚轮，27-转杆，28-传动齿轮，29-连接块，30-电动轮，31-第五伸缩杆，32-限位块，33-弹簧，34-第一磁铁，35-第二磁铁。
 本发明的实施方式
下面结合具体实施方式对本专利的技术方案作进一步详细地说明。
下面详细描述本专利的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本专利，而不能理解为对本专利的限制。
实施例1
请参阅图1-4，本发明实施例中，一种转移厂房辐射货物的搬运机器人，包括支撑板2，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。
实施例2
本实施例中，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，通过设置支撑机构，利用电机6控制齿条22进行移动，齿条22与设置在转杆27外侧的传动齿轮28作用可以对装置的移动方向进行改变，使装置在搬运货物时更加灵活。
本实施例中，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。
本实施例中，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，通过设置吸附机构，当装置在进行装货和卸货的过程中，第三伸缩杆15推动横板14向下移动使吸盘13与地面接触，吸盘13在真空泵的作用下与地面吸附连接，从而使装置被固定在地面上，大大增强了稳定性，提高了装货和卸货时的安全性。
本实施例中，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，通过设置搬运机构，利用第四伸缩杆20控制底板22进行升降，底板将货物抬起，利用电动滚筒23控制货物进行移动，使货物在搬运过程中始终处于水平状态，同时利用第五伸缩杆31调节两侧夹板25之间的距离，使装置能对不同尺寸的货物进行搬运。
本实施例中，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，通过设置放置机构，利用第一伸缩杆7控制两侧压板6之间的距离，使装置能在搬运过程中对货物进行有效的固定，避免货物在搬运过程中发生掉落，增强了货物搬运时的安全性。
本实施例中，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，通过设置缓冲机构，可以降低震动对货物的影响，使货物能始终保持稳定，保证货物的完整性。
本实施例中，所述连接板3左右两侧均固定连接设置有限位块32，所述限位块32与与支撑板2滑动连接。
本实施例中，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，通过设置第二伸缩杆9，控制第二伸缩杆9伸缩可以对支撑板2的高度进行调节，使装置能实现对有落差位置的货物搬运。
本发明的工作原理是：利用电机6控制齿条22进行移动，齿条22与设置在转杆27外侧的传动齿轮28作用可以对装置的移动方向进行改变，使装置在搬运货物时更加灵活，当装置在进行装货和卸货的过程中，第三伸缩杆15推动横板14向下移动使吸盘13与地面接触，吸盘13在真空泵的作用下与地面吸附连接，从而使装置被固定在地面上，大大增强了稳定性，提高了装货和卸货时的安全性，利用第四伸缩杆20控制底板22进行升降，底板将货物抬起，利用电动滚筒23控制货物进行移动，使货物在搬运过程中始终处于水平状态，同时利用第五伸缩杆31调节两侧夹板25之间的距离，使装置能对不同尺寸的货物进行搬运，利用第一伸缩杆7控制两侧压板6之间的距离，使装置能在搬运过程中对货物进行有效的固定，避免货物在搬运过程中发生掉落，增强了货物搬运时的安全性，控制第二伸缩杆9伸缩可以对支撑板2的高度进行调节，使装置能实现对有落差位置的货物搬运。
以上的仅是本发明的优选实施方式，应当指出，对于本领域的技术人员来说，在不脱离本发明构思的前提下，还可以作出若干变形和改进，这些也应该视为本发明的保护范围，这些都不会影响本发明实施的效果和专利的实用性。

Claims (8)

  1. 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。
  2. 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。
  3. 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。
  4. 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）。
  5. 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）。
  6. 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）。
  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。
  8. 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。
PCT/CN2020/126313 2020-10-16 2020-11-04 一种转移厂房辐射货物的搬运机器人 WO2022077626A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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

Publications (1)

Publication Number Publication Date
WO2022077626A1 true WO2022077626A1 (zh) 2022-04-21

Family

ID=74337244

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/126313 WO2022077626A1 (zh) 2020-10-16 2020-11-04 一种转移厂房辐射货物的搬运机器人

Country Status (2)

Country Link
CN (1) CN112265797B (zh)
WO (1) WO2022077626A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116986254A (zh) * 2023-09-27 2023-11-03 江苏英诺威洁具有限公司 一种马桶盖成品转移用运输装置
CN117088157A (zh) * 2023-09-08 2023-11-21 连云港港口集团有限公司铁路运输分公司 一种铁路运输接卸装置

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112758155B (zh) * 2021-02-04 2023-03-14 邵阳学院 一种便于装卸货品的机械推车及其使用方法
CN113023311A (zh) * 2021-02-26 2021-06-25 四川九洲电器集团有限责任公司 一种货物自动摆正机构
CN113942788A (zh) * 2021-09-16 2022-01-18 孙凯旋 一种物流用工业机器人
CN113879749B (zh) * 2021-11-07 2023-08-04 浙江科技学院 一种具有配重智能调节的搬运装置及使用方法
CN113998491B (zh) * 2021-11-16 2023-05-23 山东交通学院 一种港口货物快速装卸的转运装置
CN114162555B (zh) * 2022-01-05 2022-12-02 安徽理工大学 一种视觉跟踪智能搬运机器人及其实现方法
CN114619458A (zh) * 2022-03-24 2022-06-14 武昌理工学院 一种适用于受限空间的多功能救援装置
CN115583472B (zh) * 2022-10-14 2023-04-28 南通爱利特机电制造有限公司 一种可多方向工作的垂直货物输送结构

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017095193A (ja) * 2015-11-18 2017-06-01 ホクショー株式会社 フロアリフト
CN107472932A (zh) * 2017-08-04 2017-12-15 广东美的智能机器人有限公司 装车机和装车系统
CN107600874A (zh) * 2017-09-11 2018-01-19 青岛海通机器人系统有限公司 一种滚筒移载型机器人
CN108974920A (zh) * 2018-08-15 2018-12-11 潍坊科技学院 一种搬运机器人
CN208791099U (zh) * 2018-08-31 2019-04-26 中国人民解放军海军航空大学青岛校区 一种军事器材仓库用货物搬运用升降装置
CN210589249U (zh) * 2019-08-19 2020-05-22 安徽信息工程学院 可移动式智能机器人抓取装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3010955B1 (fr) * 2013-09-26 2015-10-30 Libner Sa Base logistique mobile, plateau de transport de charge de vehicule et vehicule leger pour la realisation d'une telle base
CN205972944U (zh) * 2016-08-26 2017-02-22 苏州市恒顺纸塑有限公司 纸箱运输转运机构
CN108224015A (zh) * 2018-01-14 2018-06-29 宁夏中科天际防雷检测有限公司 一种用于安防的摄像机
CN108232275A (zh) * 2018-01-27 2018-06-29 南京陶特思软件科技有限公司 一种锂电池入壳用托盘的放置装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017095193A (ja) * 2015-11-18 2017-06-01 ホクショー株式会社 フロアリフト
CN107472932A (zh) * 2017-08-04 2017-12-15 广东美的智能机器人有限公司 装车机和装车系统
CN107600874A (zh) * 2017-09-11 2018-01-19 青岛海通机器人系统有限公司 一种滚筒移载型机器人
CN108974920A (zh) * 2018-08-15 2018-12-11 潍坊科技学院 一种搬运机器人
CN208791099U (zh) * 2018-08-31 2019-04-26 中国人民解放军海军航空大学青岛校区 一种军事器材仓库用货物搬运用升降装置
CN210589249U (zh) * 2019-08-19 2020-05-22 安徽信息工程学院 可移动式智能机器人抓取装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117088157A (zh) * 2023-09-08 2023-11-21 连云港港口集团有限公司铁路运输分公司 一种铁路运输接卸装置
CN117088157B (zh) * 2023-09-08 2024-05-07 连云港港口集团有限公司铁路运输分公司 一种铁路运输接卸装置
CN116986254A (zh) * 2023-09-27 2023-11-03 江苏英诺威洁具有限公司 一种马桶盖成品转移用运输装置
CN116986254B (zh) * 2023-09-27 2023-12-22 江苏英诺威洁具有限公司 一种马桶盖成品转移用运输装置

Also Published As

Publication number Publication date
CN112265797B (zh) 2021-11-23
CN112265797A (zh) 2021-01-26

Similar Documents

Publication Publication Date Title
WO2022077626A1 (zh) 一种转移厂房辐射货物的搬运机器人
KR102184901B1 (ko) 금속제품 운반 그리퍼 및 이를 이용한 금속제품 적재 설비
TWI520253B (zh) 基板處理系統及基板傳送方法
CA2562186A1 (en) Handling unit for palletizing
JP2008302487A5 (zh)
JP6256694B2 (ja) コンテナ昇降搬送装置
TW202321131A (zh) 搬運機器人
CN115947098B (zh) 一种可防物料倾倒的搬运机器人
TW200405507A (en) Large area substrate processing system
JP2010214563A (ja) 吸着装置及びワーク搬送装置
JP4933625B2 (ja) 基板搬送システム
JP2016003072A (ja) コンテナ昇降搬送装置
CN208453944U (zh) 一种工件跟踪抓取设备及转运设备
WO2006137407A1 (ja) ワーク収納装置及びワーク収納方法
CN110775632A (zh) 一种立式玻璃搬运机构
CN217075734U (zh) 一种电子商务物流货物收纳装置
JP6762605B2 (ja) 金型分離反転装置
CN211732785U (zh) 一种药品生产用的传送带减震稳定机构
CN210972977U (zh) 一种高透光率太阳能光伏板的上料装置
CN110775633A (zh) 一种玻璃夹取装置
KR101054311B1 (ko) 스페이서바의 적재 및 이송장치
CN210635381U (zh) 一种玻璃搬运装置
CN217263048U (zh) 一种工装搬运装置
CN215248028U (zh) 一种用于转运机器人的运输线
KR102299106B1 (ko) 멀티 암 반송 로봇

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20957404

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20957404

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 09.06.2023)