CN102658542A - Rail type intelligent machine transporting truck - Google Patents
Rail type intelligent machine transporting truck Download PDFInfo
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- CN102658542A CN102658542A CN2012101526513A CN201210152651A CN102658542A CN 102658542 A CN102658542 A CN 102658542A CN 2012101526513 A CN2012101526513 A CN 2012101526513A CN 201210152651 A CN201210152651 A CN 201210152651A CN 102658542 A CN102658542 A CN 102658542A
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Abstract
The invention discloses a rail type intelligent machine transporting truck, comprising a frame, idler wheels located on the frame, a storage box located at the top of the frame, a supporting board, a lifting mechanism connected between the supporting board and the frame, a primary rotation board, a primary rotation mechanism connected between the primary rotation board and the supporting board, a primary translation board, a primary translation mechanism connected between the primary translation board and the primary rotation board, a secondary rotation board, a secondary rotation mechanism connected between the secondary rotation board and the primary translation board, a secondary translation board, a secondary translation mechanism connected between the secondary translation board and the secondary rotation board, and an executing mechanism connected on the secondary translation board, wherein a storage box is placed in the storage box. The rail type intelligent machine transporting truck provided by the invention replaces the conventional manual goods carrying manner, so that the human labor is reduced, and the production efficiency is improved. With the adoption of the two levels of rotation mechanisms and the two levels of translation mechanisms, the rail type intelligent machine transporting truck can expand the journey and increase the freedom degree. The rail type intelligent machine transporting truck can check more goods due to the vehicular storage box, so that the working efficiency is improved.
Description
Technical field
The present invention relates to a kind of rail mounted intelligence conveying robot car, can be used for the arrangement of warehouse article carrying and article.
Background technology
Build in science and technology under the historical background of high speed development, what automated production was more and more faster comes among the life, especially need for the management of articles from the storeroom.The goods major part is that volume is big, weight big, the surface is dirty in the present warehouse; The working environment in warehouse is relatively poor, is unfavorable for that people work, as being stained with greasy dirt above the parts many in the workshop of factory; Also retain some burrs above the part that has, be unfavorable for a dead lift.Simultaneously, goods is put and also need be consumed suitable a part of manpower in the warehouse, and efficient is not high.Therefore, a kind of novel transfer robot that can replace manual work to accomplish warehouse carrying work of people's exigence.
Rail mounted intelligence conveying robot car; A kind of as transfer robot; Can catch different sizes and difform goods through opening of mechanical paw, like some irregular machine components, goods, the cylindric and spherical body of packing moulding and the article that some are scrappy etc. with tightening.Rail mounted intelligence conveying robot car more and more receives people's attention as a kind of robot apparatus that in the warehouse, carries out transport operation.The present invention is primarily aimed at current demand, provides a kind of ability to substitute artificial rail mounted intelligence conveying robot car.
Summary of the invention
Technical problem to be solved by this invention provide a kind of be motive force with the motor, be the warehouse carrying implement robot vehicle of transmission mechanism with the gears engaged.This robot vehicle can be used for the carrying of articles from the storeroom and deposits, and replaces human work.
The technical scheme that the present invention adopted is: a kind of rail mounted intelligence conveying robot car comprises: vehicle frame, be positioned at the roller on the vehicle frame, and be positioned at the storage tank at vehicle frame top, place parcel tray in the said storage tank; Gripper shoe is connected the elevating mechanism between gripper shoe and the vehicle frame; The one-level rotor plate is connected the one-level rotating mechanism between one-level rotor plate and the gripper shoe; The one-level translation plates is connected the one-level translation mechanism between one-level translation plates and the one-level rotor plate; The secondary rotor plate is connected the secondary rotating mechanism between secondary rotor plate and the one-level translation plates; The secondary translation plates is connected the secondary translation mechanism between secondary translation plates and the secondary rotor plate; Be connected the executing agency on the secondary translation plates.
The technique effect that the present invention realized is: in the warehouse; The present invention is through motor driven gear mechanism and linkage, realize goods gripping, carry and deposit, be the replacement device that existing manual is transported goods; Reduce people's manual labor, improved production efficiency.This money rail mounted intelligence conveying robot car can also be regulated the height of mechanical paw workbench through elevating mechanism, thereby can realize the storage place of article carrying to different height from freight handling to the full process automatization production of depositing.Through the two-stage rotating mechanism, can realize omnibearing flexible rotation, remedied the deficiency that vehicle frame can not rotate on ground.Through the two-stage translation mechanism, make the robot vehicle stroke further enlarge, and also have very strong stability.Vehicle-mounted storage tank makes car consign more goods, accomplishes that a labor escapes more.
Description of drawings
Through the more specifically explanation of the preferred embodiments of the present invention shown in the accompanying drawing, above-mentioned and other purpose, characteristic and advantage of the present invention will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part.Painstakingly do not draw accompanying drawing, focus on illustrating purport of the present invention by actual size equal proportion convergent-divergent.
Fig. 1-Fig. 4 is the rail mounted intelligence conveying robot car overall structure sketch map shown in the different angles.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated.
Rail mounted intelligence conveying robot car of the present invention; Mainly comprise with the lower part: vehicle frame 1; Be positioned at the roller 10 on the vehicle frame 1, said roller 10 is driven through gear reduction box by motor, unmarked motor and gear reduction box among the figure; Be positioned at the storage tank 11 at vehicle frame 1 top, place parcel tray 12 in the said storage tank 11; Gripper shoe 2 is connected the elevating mechanism 3 between vehicle frame 1 and the gripper shoe 2; One-level rotor plate 4 is connected the one-level rotating mechanism 40 between one-level rotor plate 4 and the gripper shoe 2; One-level translation plates 5 is connected the one-level translation mechanism 50 between one-level translation plates 5 and the one-level rotor plate 4; Secondary rotor plate 6 is connected the secondary rotating mechanism 60 between secondary rotor plate 6 and the one-level translation plates 5; Secondary translation plates 7 is connected the secondary translation mechanism 70 between secondary translation plates 7 and the secondary rotor plate 6; Be connected the executing agency 8 on the secondary translation plates 7.Below will be elaborated to each mechanism respectively.
Referring to Fig. 1, Fig. 2; Said elevating mechanism 3 comprises: " X " type connecting rod secondary 31 that forms by being rotationally connected in the middle part of two connecting rods; According to the actual height demand, two secondary above (for example three pairs among the figure) said " X " type connecting rod secondary 31 is in turn connected to form " X " type link assembly; Bottom one end that is somebody's turn to do " X " type link assembly is fixedly attached to vehicle frame 1 top, and the other end is slidingly connected on the drop shot 32 and is connected to the output of up-down linear electric motors 33, and drop shot 32 and up-down linear electric motors 33 all are fixed on vehicle frame 1 top; Top one end of " X " type link assembly is fixed to the bottom of gripper shoe 2, and the other end is slidingly connected on the upper slide bar 34, and upper slide bar 34 is fixed on the bottom of gripper shoe 2.Above-mentioned elevating mechanism 3 forms the scissors jack structure.
Referring to Fig. 2, said one-level rotating mechanism 40 comprises the one-level rotating shaft 41 that is fixed on gripper shoe 2 tops, and one-level rotor plate 4 is rotatably connected in the one-level rotating shaft 41; Be fixed on the one-level internal gear 42 of one-level rotor plate 4 bottoms, with the one-level transmitting gear 43 of said one-level internal gear 42 engagements; The one-level that is fixedly connected with said one-level transmitting gear 43 is rotated electric rotating machine 44, and said one-level is rotated electric rotating machine 44 and is fixed on the gripper shoe 2.
Continuation is referring to Fig. 2, and said secondary rotating mechanism 60 comprises the secondary rotating shaft 61 that is fixed on one-level translation plates 5 tops, and secondary rotor plate 6 is rotatably connected in the secondary rotating shaft 61; Be fixed on the secondary internal gear 62 of secondary rotor plate 6 bottoms, with the secondary transmitting gear 63 of said secondary internal gear 62 engagements; The secondary that is fixedly connected with said secondary transmitting gear 63 rotates electric rotating machine 64, and said secondary rotates electric rotating machine 64 and is fixed on the one-level translation plates 5.
Referring to Fig. 3; Said one-level translation mechanism 50 comprises the one-level cylindrical guide 51 that is fixed on one-level rotor plate 4 tops, the one-level slide block 52 that is fixed on one-level translation plates 5 bottoms and cooperates with one-level cylindrical guide 51, and said one-level slide block 52 is slidingly arranged on the one-level cylindrical guide 51; Also comprise the one-level translation tooth bar 53 that is fixed on one-level rotor plate 4 tops, with the one-level shiftable gear 54 of one-level translation tooth bar 53 engagements; The one-level translation electric rotating machine 55 that is fixedly connected with one-level shiftable gear 54, said one-level translation electric rotating machine 55 is fixed on the one-level translation plates 5.
Continuation is referring to Fig. 3, and said secondary translation mechanism 70 comprises the secondary slide rail 71 that is opened in secondary rotor plate 6 tops, is fixed on secondary translation plates 7 bottoms and is slidingly arranged in the secondary slide block 72 in the secondary slide rail 71; Be fixed on the secondary translation linear electric motors 73 on the secondary rotor plate 6, the output shaft of said secondary translation linear electric motors 73 and secondary translation plates 7 are fixing.
Referring to Fig. 4; Said executing agency 8 comprises two mechanical claws 81 that are rotatably connected on secondary translation plates 7 tops; Be fixed on the execution linear electric motors 82 at secondary translation plates 7 tops; The output shaft of said execution linear electric motors 82 is fixed to branch plectrum 83, and plectrum 83 was rotationally connected respectively to every mechanical claw 81 through two braces 84 in said minute.
This rail mounted intelligence conveying robot car has the following free degree: (1) robot vehicle orbital motion: the motor that is installed in vehicle frame 1 rear portion drives trailing wheel through gear reduction box and rotates, and makes robot vehicle (perhaps backward) motion forward.(2) executing agency action: when the output shaft of carrying out linear electric motors 82 stretches out, divide plectrum 83 forward, brace 84 is to two lateral movements, mechanical claw 81 opens; When carrying out the output shaft withdrawal of linear electric motors 82, divide plectrum 83 backward, brace 84 is to intermediary movements, mechanical claw 81 closes up, can realize the clamping of parcel tray 12 this moment.(3) the robot vehicle upper body moves forward and backward: one-level translation electric rotating machine 55 drives one-level shiftable gear 54 motion on one-level translation tooth bar 53, thereby makes 5 relative one-level rotor plate 4 translations of one-level translation plates; Perhaps, also can make secondary translation linear electric motors 73 promote 7 relative secondary rotor plate 6 translations of secondary translation plates, this makes to move forward robot vehicle stroke is further crosses expansion, and also has very strong stability.(4) robot vehicle rotates: one-level is rotated electric rotating machine 44 and is driven one-level transmitting gear 43, rotates thereby promote one-level rotor plate 4 relative gripper shoes 2; Perhaps, also can make secondary rotate electric rotating machine 64 and drive secondary transmitting gear 63, rotate thereby promote secondary rotor plate 6 relative one-level translation plates 5; Make robot vehicle comprehensive; Rotate more flexibly, can make executing agency's left-right rotation, realized that each orientation parcel tray obtains and places.(5) robot vehicle scissors jack goes up and down: the other end that up-down linear electric motors 33 promote " X " type link assembly bottom slides on drop shot 32, drives gripper shoe 2 relative vehicle frames 1 and goes up and down, and has realized the up-down of mechanical claw 81.
The typical operation of above-mentioned robot vehicle is: opening power, and the first step, the locus of the relative mechanical claw 81 of judgement parcel tray, rear wheel drive robot vehicle orbital motion is near parcel tray; Second the step, elevating mechanism 3 make mechanical claw 81 move to parcel tray be complementary the height, one-level rotating mechanism 40 and/or secondary rotating mechanism 60 driving device claws 81 go to proper angle; The 3rd step; Mechanical claw 81 opens; One-level translation mechanism 50 and/or secondary translation mechanism 70 promotion mechanical claws 81 stretch out and near parcel tray, mechanical claw 81 closures are also caught parcel trays, and one-level translation mechanism 50 and/or secondary translation mechanism 70 drive mechanical claws 81 and parcel tray withdrawal; The 4th step; Drive mechanical claw 81 and parcel tray up-down through elevating mechanism 3, one-level translation mechanism 50 and/or secondary translation mechanism 70 drive mechanical claw 81 and parcel tray translations, and one-level rotating mechanism 40 and/or secondary rotating mechanism 60 drive motion mode or aggregate motion mode alone such as mechanical claws 81 and parcel tray rotation; Carry out the pose conversion; Be positioned at storage tank until parcel tray, mechanical claw 81 opens, and parcel tray is placed on storage tank; The 5th step repeated above first to fourth step, collected the parcel tray of predetermined quantity until storage tank, and rear wheel drive robot vehicle orbital motion is to the target location; The 6th step, carry out the pose conversion, mechanical claw 81 is caught parcel tray, carries out the pose conversion again, and mechanical claw 81 is put parcel tray to the target location and is opened, and carries out this step repeatedly, places until all parcel trays to finish.For different situations, the interchangeable operating sequence.This money rail mounted intelligence conveying robot car can go up and down and travel mechanism moves forward and backward and the left-right rotation of rotating mechanism through the scissors jack, is placed on any assigned address in space to goods, and vehicle-mounted storage tank makes car consign more goods, accomplishes that a labor escapes more.
Though the present invention with preferred embodiment openly as above; But it is not to be used for limiting claim; Any those skilled in the art are not breaking away from the spirit and scope of the present invention; Can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that claim of the present invention was defined.
Claims (7)
1. rail mounted intelligence conveying robot car is characterized in that comprising: vehicle frame, be positioned at the roller on the vehicle frame, and be positioned at the storage tank at vehicle frame top, place parcel tray in the said storage tank; Gripper shoe is connected the elevating mechanism between gripper shoe and the vehicle frame; The one-level rotor plate is connected the one-level rotating mechanism between one-level rotor plate and the gripper shoe; The one-level translation plates is connected the one-level translation mechanism between one-level translation plates and the one-level rotor plate; The secondary rotor plate is connected the secondary rotating mechanism between secondary rotor plate and the one-level translation plates; The secondary translation plates is connected the secondary translation mechanism between secondary translation plates and the secondary rotor plate; Be connected the executing agency on the secondary translation plates.
2. rail mounted intelligence conveying robot car as claimed in claim 1; It is characterized in that; Said elevating mechanism comprises: by " X " type connecting rod pair that two connecting rod middle parts are rotationally connected and form, two secondary the above " X " type connecting rod pair are in turn connected to form " X " type link assembly; Bottom one end that is somebody's turn to do " X " type link assembly is fixedly attached to the vehicle frame top, and the other end is slidingly connected on the drop shot and is connected to the output of up-down linear electric motors, and drop shot and up-down linear electric motors all are fixed on the vehicle frame top; Top one end of " X " type link assembly is fixed to the bottom of gripper shoe, and the other end is slidingly connected on the upper slide bar, and upper slide bar is fixed on the bottom of gripper shoe.
3. rail mounted intelligence conveying robot car as claimed in claim 1 is characterized in that said one-level rotating mechanism comprises the one-level rotating shaft that is fixed on the gripper shoe top, and the one-level rotor plate is rotatably connected in the one-level rotating shaft; Be fixed on the one-level internal gear of one-level rotor plate bottom, with the one-level transmitting gear of said one-level internal gear engagement; The one-level that is fixedly connected with said one-level transmitting gear is rotated electric rotating machine, and said one-level is rotated electric rotating machine and is fixed on the gripper shoe.
4. rail mounted intelligence conveying robot car as claimed in claim 1 is characterized in that said secondary rotating mechanism comprises the secondary rotating shaft that is fixed on one-level translation plates top, and the secondary rotor plate is rotatably connected in the secondary rotating shaft; Be fixed on the secondary internal gear of secondary rotor plate bottom, with the secondary transmitting gear of said secondary internal gear engagement; The secondary that is fixedly connected with said secondary transmitting gear rotates electric rotating machine, and said secondary rotates electric rotating machine and is fixed on the one-level translation plates.
5. rail mounted intelligence conveying robot car as claimed in claim 1; It is characterized in that; Said one-level translation mechanism comprises the one-level cylindrical guide that is fixed on one-level rotor plate top, the one-level slide block that is fixed on one-level translation plates bottom and cooperates with the one-level cylindrical guide, and said one-level slide block is slidingly arranged on the one-level cylindrical guide; Also comprise the one-level translation tooth bar that is fixed on one-level rotor plate top, with the one-level shiftable gear of one-level translation tooth bar engagement; The one-level translation electric rotating machine that is fixedly connected with the one-level shiftable gear, said one-level translation electric rotating machine is fixed on the one-level translation plates.
6. rail mounted as claimed in claim 1 intelligence conveying robot car is characterized in that, said secondary translation mechanism comprises the secondary slide rail that is opened in secondary rotor plate top, is fixed on secondary translation plates bottom and is slidingly arranged in the secondary slide block in the secondary slide rail; Be fixed on the secondary translation linear electric motors on the secondary rotor plate, the output shaft and the secondary translation plates of said secondary translation linear electric motors are fixed.
7. rail mounted intelligence conveying robot car as claimed in claim 1; It is characterized in that; Said executing agency comprises two mechanical claws that are rotatably connected on secondary translation plates top; Be fixed on the execution linear electric motors at secondary translation plates top, the output shaft of said execution linear electric motors is fixed to the branch plectrum, and plectrum was rotationally connected respectively to every mechanical claw through two braces in said minute.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101526513A CN102658542A (en) | 2012-05-07 | 2012-05-07 | Rail type intelligent machine transporting truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101526513A CN102658542A (en) | 2012-05-07 | 2012-05-07 | Rail type intelligent machine transporting truck |
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| CN102658542A true CN102658542A (en) | 2012-09-12 |
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| CN2012101526513A Pending CN102658542A (en) | 2012-05-07 | 2012-05-07 | Rail type intelligent machine transporting truck |
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| CN105366259A (en) * | 2015-11-08 | 2016-03-02 | 西北农林科技大学 | Automatic seedling plate van based on double-chain transmission |
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| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
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Application publication date: 20120912 |