WO2023039993A1

WO2023039993A1 - Transfer robot

Info

Publication number: WO2023039993A1
Application number: PCT/CN2021/125698
Authority: WO
Inventors: 吴艳争; 方青岭; 王家洪; 郑水龙
Original assignee: 杭州大中泊奥科技股份有限公司
Priority date: 2021-09-18
Filing date: 2021-10-22
Publication date: 2023-03-23
Also published as: ZA202209464B; CN113802896A

Abstract

Disclosed in the present invention is a transfer robot, comprising a first transfer assembly and a second transfer assembly. The first transfer assembly and the second transfer assembly are adjustably connected together by means of a connecting mechanism. Rotating gears meshed with each other are disposed on the first transfer assembly, rotating gears meshed with each other are arranged on the second transfer assembly, and clamping arms are mounted on the rotating gears. The present invention has the following beneficial effects: the clamping arms on both the first transfer assembly and the second transfer assembly are mounted using rotating gear meshing, an angle between two adjacent clamping arms can be adjusted by means of rotation of the gears, and in the process of clamping and fixing a car wheel, the clamping effect on the car wheel is improved, such that the car wheel does not easily slip after clamping.

Description

Handling robot

technical field

The invention relates to the field of vehicle handling, in particular to a handling robot.

Background technique

All need to use handling machine in present intelligent three-dimensional garage, patent announcement document CN105839964B provides a kind of car handling robot, but this kind of car handling machine only has clamping wheel device (reference number in document is 2)

The clamp bar on the top (the reference number in the document is 204) can be relatively rotated to adjust the angle between the two clamp bars, and the comb teeth on the comb device (the reference number in the document is 4) (the document The reference number in the middle is 406, which is actually the pole carrying the tire) is always in a parallel state, so this robot only has a clamping wheel device that can adjust the clamping of the car wheel, so the clamping effect of this robot on the car wheel relatively poor.

Contents of the invention

Aiming at the above problems, the present invention proposes a handling robot.

The technical scheme that the present invention takes is as follows:

A handling robot, comprising a first handling assembly and a second handling assembly, the first handling assembly and the second handling assembly are adjustably connected together through a connection mechanism, and the first handling assembly is provided with Rotating gears, the second transport assembly is provided with rotating gears meshing with each other, and clamping arms are installed on the rotating gears.

In this kind of handling robot, the clamping arms on the first transporting component and the second transporting component are installed in the way of rotating gear meshing, and the angle between two adjacent clamping arms can be adjusted by the rotation of the gears. During the process of tightening and fixing the car wheels, the clamping effect on the car wheels is better, and the car wheels are not easy to slip after clamping.

Optionally, both the first conveying assembly and the second conveying assembly are provided with clamping motors, and the clamping motors cooperate with the rotating gears.

The function of the clamping motor is to drive the rotating gear to rotate to adjust the angle between the two clamping arms.

Optionally, a laser range finder is also included, and the laser range finder is installed on the first transport component.

The function of the laser range finder is to measure the distance between the first handling assembly and the second handling assembly, because the first handling assembly and the second handling assembly are adjustable and fixed together through the connection mechanism, so it can be adjusted according to the length of the vehicle at any time. Adjust for better clamping to secure your vehicle.

Optionally, a traveling wheel set is also included, and the traveling wheel set is installed on both the first conveying assembly and the second conveying assembly.

The function of the traveling wheel set is to move the first conveying assembly or the second conveying assembly.

Optionally, the traveling wheel set includes a frame, a transmission gear, a rotating shaft, a reduction motor and a traveling wheel, the traveling wheels are installed on the frame through the rotating shaft, the reduction motor and the rotating shaft are linked through a transmission gear, and the There are guide wheels.

The shelf is equipped with guide wheels, which can ensure that the walking wheel set will not be deflected when moving. The specific walking wheels are made of polyurethane material, which can reduce shock and noise.

Optionally, an automobile chassis ranging sensor is arranged on the traveling wheel set.

The automobile chassis distance measuring sensor on the walking wheel set senses the distance between the automobile chassis and the first handling assembly (or the second handling assembly). When there is no air in the tire of the automobile (or when the air content is low), it will As a result, the distance between the chassis of the automobile and the first transporting component is reduced, and when the safe distance is exceeded, the traveling wheel set will stop, which can improve the safety during the transporting process.

Optionally, a roller table is rotatably installed on the clamping arm.

The roller table is a round roller that can rotate, and the roller table can be rotated, so that the roller table on the clamping arm is in contact with the wheel when the two clamping arms are clamping the wheel, so what happens between the wheel and the roller table is rolling. Friction, which minimizes the friction of the clamping arm when clamping the wheel. And if there is direct contact between the clamping arm and the wheel, what occurs between the clamping arm and the wheel is sliding friction, which will cause greater wear and tear to the clamping arm on the one hand, and greater stress on the gear.

Optionally, the connection mechanism includes a rack, a locking gear and a clutch, one end of the rack is fixed on the first transport component, the other end meshes with the locking gear, and the locking gear is mounted on the clutch.

The function of setting the clutch is to lock the rack and the locking gear together. After the rack and the locking gear are locked together, the distance between the first handling assembly and the second handling assembly cannot be changed, while the rack and the locking gear When unlocked, the distance between the first handling component and the second handling component can change relatively. When the distance between the first transport component and the second transport component is relatively fixed, the two become a rigid whole, and the spacing will not change due to the jamming of the first transport component or the second transport component during the transport process. A locker is formed between the concrete clutch and the rack and the locking gear.

Optionally, a fixed frame is also included, the clutch is arranged on the fixed frame, and the fixed frame is arranged on the second transport assembly.

Optionally, the first transport component and the second transport component are provided with drag chains.

Specifically, a power supply connection device is also provided on the first transport component.

The beneficial effect of the present invention is that: the gripping arms on the first handling assembly and the second handling assembly are installed in the manner of rotating gear engagement, and the angle between two adjacent gripping arms can be adjusted by the rotation of the gears. During the process of clamping and fixing the car wheels, the clamping effect on the car wheels is better, and the car wheels are not easy to slip after clamping.

Description of drawings

Fig. 1 is a schematic diagram of a handling robot;

Fig. 2 is a schematic diagram of the structure of the walking assembly;

Fig. 3 is a schematic diagram of the state when the clamping arm rotates;

Fig. 4 is a schematic diagram when the clamping arm clamps the wheel;

Fig. 5 is a schematic diagram of the structure of the locker.

Each reference mark among the figure is: 1, walking wheel set; 101, guide wheel; 102, walking wheel; 103, rotating shaft; 104, reduction motor; 105, transmission gear; 202, second handling assembly; 3, clamping arm; 301, roller table; 4, rotating gear; 5, locker; 501, rack; 502, locking gear; 503, clutch; 504, fixed Frame; 6. Drag chain; 7. Laser rangefinder; 8. Power access device; 9. Clamping motor; 10. Wheels.

Detailed ways

Below in conjunction with each accompanying drawing, the present invention is described in detail.

As shown in Figure 1, a handling robot includes a first handling assembly 201 and a second handling assembly 202, the first handling assembly 201 and the second handling assembly 202 are adjustably connected together by a connecting mechanism, the first handling assembly 201 is provided with rotating gears 4 that mesh with each other, and the second transport assembly 202 is provided with rotating gears 4 that are meshed with each other. The rotating gears 4 are equipped with clamping arms 3 .

In this type of handling robot, the clamping arms 3 on the first transporting assembly 201 and the second transporting assembly 202 are installed in a way that the rotating gear 4 is meshed, and the angle between two adjacent clamping arms 3 can be adjusted by the rotation of the gears. To adjust, in the process of clamping and fixing the automobile wheel 10, the clamping effect to the automobile wheel 10 is better, and the automobile wheel 10 is not easy to slip after clamping.

As shown in accompanying

drawings

1 , 3 and 4 , both the first transport assembly 201 and the second transport assembly 202 are provided with a clamping motor 9 , and the clamping motor 9 cooperates with the rotating gear 4 .

The direction indicated by the arrow in accompanying drawing 3 is the rotation direction of the clamping arm.

The function of the clamping motor 9 is to drive the rotating gear 4 to rotate to adjust the angle between the two clamping arms 3 .

As shown in FIG. 1 , a laser range finder 7 is also included, and the laser range finder 7 is installed on the first transport assembly 201 .

The effect of the laser range finder 7 is to measure the distance between the first handling assembly 201 and the second handling assembly 202, because the first handling assembly 201 and the second handling assembly 202 are adjustablely connected and fixed together by a connecting mechanism, so any time It can be adjusted according to the length of the vehicle to better clamp and fix the vehicle.

As shown in FIG. 1 , a traveling wheel set 1 is also included, and the traveling wheel set 1 is installed on the first conveying assembly 201 and the second conveying assembly 202 .

The function of the traveling wheel set 1 is to move the first conveying assembly 201 or the second conveying assembly 202 .

As shown in accompanying drawing 1 and accompanying drawing 2, walking wheel set 1 comprises frame 107, transmission gear 105, rotating shaft 103, reduction motor 104 and traveling wheel 102, and traveling wheel 102 is installed on the frame 107 by rotating shaft 103, and reduction motor 104 and The rotating shafts 103 are linked by transmission gears, and guide wheels 101 are installed on the frame 107 .

The frame 107 is provided with guide wheels 101, which can ensure that the walking wheel set 1 will not deflect when moving. The concrete traveling wheel 102 adopts the traveling wheel 102 of polyurethane material, and the traveling wheel 102 of this material can absorb shock and reduce noise.

As shown in FIG. 2 , a distance measuring sensor 106 is arranged on the traveling wheel set 1 .

The distance measuring sensor 106 on the road wheel set 1 is to inductively detect the distance between the automobile chassis and the first handling assembly 201 (or the second handling assembly 202), when there is no air in the tire of the automobile (or when the air content is low) , will cause the distance between the chassis of the vehicle and the first transport assembly 201 to be reduced, which can improve the safety during the transport process.

As shown in accompanying

drawings

1 , 3 and 4 , a roller table 301 is rotatably installed on the clamping arm 3 .

The roller table 301 is a rotatable round roller, which can be rotated on the roller table 301, so that the roller table 301 on the clamping arm 3 of the two clamping arms 3 contacts the wheel 10 during the process of clamping the wheel 10, so the wheel 10 Rolling friction occurs with the roller table 301 , which can reduce the friction force of the clamping arm 3 in the process of clamping the wheel 10 to the greatest extent. And if there is direct contact between the clamping arm 3 and the wheel 10, what takes place between the clamping arm 3 and the wheel 10 is sliding friction, which will cause greater wear and tear to the clamping arm 3, and secondly, will cause wear to the gear. greater stress.

Specifically referring to accompanying drawing 4, each holding arm 3 is provided with an inclined surface slope, and 2 roller tables 301 are installed on this inclined surface slope, and 2 roller tables 301 are parallel to each other, and because the inclined surface gradient exists, two holding arms are in During the process of clamping the wheels, the wheels can be clamped smoothly to ensure that the wheels can slide on the clamping arm smoothly, and the combination of inclined slope and rotating roller table can ensure that the wheels can be clamped smoothly during the process of clamping the wheels. Sliding friction is minimized.

As shown in Figure 5, the connection mechanism includes a rack 501, a locking gear 502, and a clutch 503. One end of the rack 501 is connected to the first transport assembly 201, the clutch 503 is fixedly arranged, the other end of the locking gear 502 is engaged, and the locking gear 502 Installed on the clutch 503.

The function of setting the clutch 503 is to lock the rack 501 and the locking gear 502 together. After the rack 501 and the locking gear 502 are locked together, the distance between the first transport assembly 201 and the second transport assembly 202 will not be changed. , and when the rack 501 and the locking gear 502 are not locked, the distance between the first conveying assembly 201 and the second conveying assembly 202 can change relatively. When the distance between the first transporting component 201 and the second transporting component 202 is relatively fixed, the two become a rigid whole, and the spacing will not change due to jamming during the transporting process. Specifically, a locker 5 is formed between the clutch 503 , the rack 501 and the locking gear 502 .

As shown in FIG. 1 and FIG. 5 , it also includes a fixed frame 504 on which the clutch 503 is arranged, and the fixed frame 504 is arranged on the second transport assembly 202 .

As shown in FIG. 1 , drag chains 6 are provided on the first conveying assembly 201 and the second conveying assembly 202 .

Specifically, the first transport component 201 is also provided with a power supply connection device 8 . ,

Specifically, in the handling robot provided in this embodiment, the entire handling robot protrudes 75 mm from the ground, so that it can handle a car with a chassis height greater than 80 mm.

Moreover, since the distance between the first transporting assembly and the second transporting assembly of the transporting robot in this embodiment can be adjusted, this type of transporting robot can transport a vehicle with a wheelbase of 2000 mm to 3300 mm.

The above is only a preferred embodiment of the present invention, and does not therefore limit the scope of patent protection of the present invention. All equivalent transformations made by using the description of the present invention, directly or indirectly used in other related technical fields, are all included in the same way. within the protection scope of the present invention.

Claims

A handling robot, characterized in that it includes a first handling assembly and a second handling assembly, the first handling assembly and the second handling assembly are adjustably connected together through a connection mechanism, and the first handling assembly is provided with Rotating gears that mesh with each other, the second transport component is provided with rotating gears that mesh with each other, and clamping arms are installed on each of the rotating gears.
The transporting robot according to claim 1, characterized in that, both the first transporting assembly and the second transporting assembly are provided with clamping motors, and the clamping motors cooperate with the rotating gears.
The handling robot according to claim 1, further comprising a laser range finder, and the laser range finder is installed on the first handling component.
The transportation robot according to claim 1, further comprising a walking wheel set, and the first transportation assembly and the second transportation assembly are equipped with the walking wheel sets.
The handling robot as claimed in claim 4, wherein the traveling wheel set comprises a frame, a transmission gear, a rotating shaft, a reduction motor and a traveling wheel, and the traveling wheels are installed on the frame through the rotating shaft, and between the reducing motor and the rotating shaft Through transmission gear linkage, guide wheels are installed on the shelf.
The transfer robot according to claim 4, characterized in that, the vehicle chassis ranging sensor is arranged on the walking wheel set.
The transfer robot according to claim 1, wherein a roller table is rotatably mounted on the clamping arm.
The handling robot according to claim 1, wherein the connecting mechanism comprises a rack, a locking gear and a clutch, one end of the rack is fixed on the first handling assembly, and the other end is engaged with the locking gear, The locking gear is mounted on the clutch.
The transport robot according to claim 8, further comprising a fixed frame, the clutch is arranged on the fixed frame, and the fixed frame is arranged on the second transport assembly.
The transport robot according to claim 1, characterized in that, the first transport assembly and the second transport assembly are provided with drag chains.