阅读说明：本技术 一种具有防滑功能的搬运机器人 (Transfer robot with antiskid function ) 是由 张斌 于 2020-05-11 设计创作，主要内容包括：本发明涉及一种具有防滑功能的搬运机器人,包括主体,还包括限位机构和四个移动机构,限位机构包括转动轴、第一齿轮、第二齿轮、支撑板、两个第一轴承、两个定位杆和两个传动组件,移动机构包括固定套管、升降杆、动力装置、移动轮和驱动组件,传动组件包括支撑套管、支撑杆、弹簧、传动杆、丝杆、滚珠丝杠轴承和第二轴承,驱动组件包括气缸、连接环和两个支撑盘,该具有防滑功能的搬运机器人中,通过限位机构可以对货物进行固定,降低了货物发生滑落的几率,提高了搬运机器人的稳定性,通过移动机构不仅驱动搬运机器人移动,同时可以调节搬运机器水平状态,降低了货物发生滑落的几率,进一步提高了搬运机器人的稳定性。(The invention relates to a transfer robot with an anti-skid function, which comprises a main body, a limiting mechanism and four moving mechanisms, wherein the limiting mechanism comprises a rotating shaft, a first gear, a second gear, a supporting plate, two first bearings, two positioning rods and two transmission assemblies, the moving mechanisms comprise a fixed sleeve, a lifting rod, a power device, a moving wheel and a driving assembly, the transmission assembly comprises a supporting sleeve, a supporting rod, a spring, a transmission rod, a screw rod, a ball screw bearing and a second bearing, the driving assembly comprises an air cylinder, a connecting ring and two supporting plates, in the transfer robot with the anti-skid function, cargos can be fixed through the limiting mechanism, the probability of falling of the cargos is reduced, the stability of the transfer robot is improved, the transfer robot is driven to move through the moving mechanism, and the horizontal state of the transfer robot can be adjusted at the same time, the probability of falling of the goods is reduced, and the stability of the transfer robot is further improved.)

1. A transfer robot with an anti-skid function comprises a main body (7), wherein a cavity is formed in the main body (7), and the transfer robot is characterized by further comprising a limiting mechanism and four moving mechanisms, wherein the limiting mechanism is arranged on the main body (7), and the four moving mechanisms are respectively arranged at two ends of two sides of the main body (7);

the limiting mechanism comprises a rotating shaft (11), a first gear (13), a second gear (18), a supporting plate (2), two first bearings (10), two positioning rods (4) and two transmission assemblies, the top plate is arranged at the top of the main body (7), the top plate is connected with the top of the main body (7) through the two transmission assemblies, the rotating shaft (11) is parallel to the supporting plate (2), the rotating shaft (11) is arranged in the main body (7), two ends of the rotating shaft (11) are respectively connected with the inner walls of two sides of the main body (7) through the first bearings (10), the positioning rods (4) are perpendicular to the supporting plate (2), the top ends of the two positioning rods (4) are respectively and fixedly connected with two ends of the rotating shaft (11), the first gear (13) is fixedly connected with the middle of the rotating shaft (11), and the second gear (18) is connected with the two transmission assemblies, the first gear (13) is meshed with a second gear (18);

moving mechanism includes fixed sleeving (9), lifter (8), power device (22), removes wheel (6) and drive assembly, the axis of fixed sleeving (9) is perpendicular with backup pad (2), fixed sleeving (9) and main part (7) fixed connection, lifter (8) and fixed sleeving (9) coaxial setting, fixed sleeving (9) are passed in lifter (8), lifter (8) and fixed sleeving (9) sliding connection, the one end of keeping away from backup pad (2) of lifter (8) all is connected with power device (22) and removal wheel (6), power device (22) are connected with removal wheel (6) transmission, drive assembly sets up the one side in fixed sleeving (9), drive assembly is connected with the one end that is close to backup pad (2) of lifter (8).

2. The transfer robot having the non-slip function according to claim 1, wherein a PLC and a level sensor are provided inside the main body (7), and the level sensor is electrically connected to the PLC.

3. The transfer robot having the anti-slip function according to claim 1, wherein the transmission assembly comprises a support sleeve (12), a support rod (1), a spring (15), a transmission rod (19), a screw (20), a ball screw bearing (17) and a second bearing (16), the screw (20) is parallel to the rotation shaft (11), one end of the screw (20) is connected to the inner wall of one side of the main body (7) through the second bearing (16), the other end of the screw (20) is fixedly connected to the second gear (18), the thread directions of the two screws (20) are opposite, the ball screw bearing (17) is connected to the screw (20), the axis of the support sleeve (12) is perpendicular to the support plate (2), the support sleeve (12) is fixedly connected to the top of the main body (7), and the support sleeve (12) is coaxially arranged with the support rod (1), the utility model discloses a bracing piece, including bracing piece (1), bracing piece and bracing piece (12), the one end and backup pad (2) fixed connection of bracing piece (1), the other end of bracing piece (1) passes through transfer line (19) and is articulated with ball bearing (17), spring (15) cover is established on bracing piece (1), bracing piece (12) pass through spring (15) and backup pad (2) fixed connection, spring (15) are in compression state.

4. The transfer robot having the anti-slip function according to claim 3, wherein the screw (20) is coated with grease.

5. The non-slip transfer robot as claimed in claim 1, wherein the driving assembly comprises a cylinder (5), a connecting ring (3) and two supporting plates (21), the connecting ring (3) is sleeved on one end of the lifting rod (8) close to the supporting plate (2), the connecting ring (3) is slidably connected with the lifting rod (8), the two supporting plates (21) are respectively arranged at two sides of the connecting ring (3), the supporting plates (21) are fixedly connected with the lifting rod (8), the connecting ring (3) is slidably connected with the supporting plates (21), the axis of the cylinder (5) is parallel to the lifting rod (8), the cylinder body of the cylinder (5) is fixedly connected with the main body (7), and the top end of the air rod of the cylinder (5) is fixedly connected with the connecting ring (3).

6. The non-slip transfer robot as claimed in claim 5, wherein at least two balls (14) are uniformly distributed on the sides of the two support plates (21) close to each other, and the support plates (21) are in rolling connection with the connection ring (3) through the balls (14).

7. The non-slip transfer robot as claimed in claim 1, wherein the main body (7) is made of stainless steel.

8. The transfer robot having an antiskid function according to claim 1, wherein the support plate (2) is coated with a wear-resistant coating.

9. The transfer robot having the non-slip function according to claim 1, wherein the main body (7) is coated with a corrosion-resistant coating.

10. The non-slip transfer robot as claimed in claim 1, wherein a side of the support plate (2) remote from the main body (7) is provided with non-slip threads.

Technical Field

The invention relates to the field of intelligent robots, in particular to a transfer robot with an anti-skidding function.

Background

An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions. Because of this, we say that this is a true robot, although their appearance may be different.

The transfer robot is as one kind of intelligent robot, and at the in-process of its work, the goods of placing on the transfer robot does not have the fixed measure, causes the goods to take place the landing easily, has reduced transfer robot's stability, moreover, if ground is uneven, will lead to transfer robot to take place the slope, leads to transfer robot to go up the goods equally easily and takes place the landing, has further reduced transfer robot's stability.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the carrying robot with the anti-skidding function is provided.

The technical scheme adopted by the invention for solving the technical problems is as follows: a carrying robot with an anti-skid function comprises a main body, a limiting mechanism and four moving mechanisms, wherein a cavity is formed in the main body, the limiting mechanism is arranged on the main body, and the four moving mechanisms are respectively arranged at two ends of two sides of the main body;

the limiting mechanism comprises a rotating shaft, a first gear, a second gear, a supporting plate, two first bearings, two positioning rods and two transmission assemblies, the top plate is arranged at the top of the main body, the top plate is connected with the top of the main body through the two transmission assemblies, the rotating shaft is parallel to the supporting plate, the rotating shaft is arranged in the main body, two ends of the rotating shaft are respectively connected with the inner walls of two sides of the main body through the first bearings, the positioning rods are perpendicular to the supporting plate, the top ends of the two positioning rods are respectively fixedly connected with two ends of the rotating shaft, the first gear is fixedly connected with the middle of the rotating shaft, the second gear is connected with the two transmission assemblies, and the first gear is meshed with the second gear;

the moving mechanism comprises a fixed sleeve, a lifting rod, a power device, a moving wheel and a driving assembly, the axis of the fixed sleeve is perpendicular to the support plate, the fixed sleeve is fixedly connected with the main body, the lifting rod is coaxially arranged with the fixed sleeve, the lifting rod penetrates through the fixed sleeve, the lifting rod is connected with the fixed sleeve in a sliding mode, one end, away from the support plate, of the lifting rod is connected with the power device and the moving wheel, the power device is connected with the moving wheel in a transmission mode, the driving assembly is arranged on one side of the fixed sleeve, and the driving assembly is connected with one end, close to the support plate, of the lifting rod.

Preferably, in order to improve the automation degree of the transfer robot, a PLC and a level sensor electrically connected to the PLC are provided inside the main body.

Preferably, in order to provide power for the rotating shaft, the transmission assembly comprises a support sleeve, a support rod, a spring, a transmission rod, a screw rod, a ball screw bearing and a second bearing, the screw rod is parallel to the rotating shaft, one end of the screw rod is connected with the inner wall of one side of the main body through the second bearing, the other end of the screw rod is fixedly connected with the second gear, the thread directions of the two screw rods are opposite, the ball screw bearing is connected with the screw rod, the axis of the support sleeve is vertical to the support plate, the support sleeve is fixedly connected with the top of the main body, the support sleeve is coaxially arranged with the support rod, the support rod penetrates through the support sleeve, the support rod is slidably connected with the support sleeve, one end of the support rod is fixedly connected with the support plate, the other end of the support rod is hinged with, the supporting sleeve is fixedly connected with the supporting plate through a spring, and the spring is in a compressed state.

Preferably, the lead screw is coated with grease in order to reduce wear of the lead screw.

Preferably, in order to provide power for the lifting rod, the driving assembly comprises an air cylinder, a connecting ring and two supporting disks, the connecting ring is sleeved on one end, close to the supporting plate, of the lifting rod, the connecting ring is in sliding connection with the lifting rod, the two supporting disks are respectively arranged on two sides of the connecting ring, the supporting disks are fixedly connected with the lifting rod, the connecting ring is in sliding connection with the supporting disks, the axis of the air cylinder is parallel to the lifting rod, the cylinder body of the air cylinder is fixedly connected with the main body, and the top end of the air rod of the air cylinder is fixedly connected with the connecting ring.

Preferably, in order to improve the smoothness of the rotation of the lifting rod, at least two balls are uniformly distributed on the sides, close to each other, of the two supporting discs, and the supporting discs are in rolling connection with the connecting rings through the balls.

Preferably, the main body is made of stainless steel in order to prolong the service life of the main body.

Preferably, the support plate is coated with a wear resistant coating in order to extend the service life of the support plate.

Preferably, the body is coated with an anti-corrosive coating in order to extend the service life of the body.

Preferably, in order to improve the anti-skid performance of the support plate, the side of the support plate far away from the main body is provided with anti-skid grains.

The anti-skid transfer robot has the advantages that goods can be fixed through the limiting mechanism, the probability of slipping of the goods is reduced, and the stability of the transfer robot is improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural view of a transfer robot having an anti-slip function according to the present invention;

fig. 2 is a schematic structural view of a stopper mechanism of the transfer robot having an anti-slip function according to the present invention;

fig. 3 is a schematic structural view of a moving mechanism of the transfer robot with an antiskid function of the present invention;

fig. 4 is a schematic structural view of a driving assembly of the transfer robot having the anti-skid function of the present invention;

in the figure: 1. the device comprises a support rod, 2 a support plate, 3 a connecting ring, 4 a positioning rod, 5 a cylinder, 6 a moving wheel, 7 a main body, 8 a lifting rod, 9 a fixed sleeve, 10 a first bearing, 11 a rotating shaft, 12 a support sleeve, 13 a first gear, 14 balls, 15 springs, 16 a second bearing, 17 a ball screw bearing, 18 a second gear, 19 a transmission rod, 20 a screw rod, 21 a support plate and 22 a power device.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1, a transfer robot with an anti-skid function includes a main body 7, a cavity is provided inside the main body 7, and the transfer robot further includes a limiting mechanism and four moving mechanisms, wherein the limiting mechanism is provided on the main body 7, and the four moving mechanisms are respectively provided on two ends of two sides of the main body 7;

the goods can be fixed through the limiting mechanism, the probability of slipping of the goods is reduced, the stability of the transfer robot is improved, and moreover, the transfer robot is driven to move through the moving mechanism, the horizontal state of the transfer robot can be adjusted, the probability of slipping of the goods is reduced, and the stability of the transfer robot is further improved;

as shown in fig. 2, the limiting mechanism includes a rotating shaft 11, a first gear 13, a second gear 18, a supporting plate 2, two first bearings 10, two positioning rods 4 and two transmission assemblies, the top plate is disposed on the top of the main body 7, the top plate is connected to the top of the main body 7 through the two transmission assemblies, the rotating shaft 11 is parallel to the supporting plate 2, the rotating shaft 11 is disposed inside the main body 7, two ends of the rotating shaft 11 are connected to inner walls of two sides of the main body 7 through the first bearings 10, the positioning rods 4 are perpendicular to the supporting plate 2, top ends of the two positioning rods 4 are fixedly connected to two ends of the rotating shaft 11, the first gear 13 is fixedly connected to the middle of the rotating shaft 11, the second gear 18 is connected to both transmission assemblies, and the first gear 13 is engaged with the second gear 18;

as shown in fig. 3, the moving mechanism includes a fixed sleeve 9, a lifting rod 8, a power device 22, a moving wheel 6 and a driving assembly, the axis of the fixed sleeve 9 is perpendicular to the support plate 2, the fixed sleeve 9 is fixedly connected with the main body 7, the lifting rod 8 is coaxially arranged with the fixed sleeve 9, the lifting rod 8 passes through the fixed sleeve 9, the lifting rod 8 is slidably connected with the fixed sleeve 9, one end of the lifting rod 8, which is far away from the support plate 2, is connected with both the power device 22 and the moving wheel 6, the power device 22 is in transmission connection with the moving wheel 6, the driving assembly is arranged on one side of the fixed sleeve 9, and the driving assembly is connected with one end of the lifting rod 8, which is close to the support plate 2;

under the supporting action of the fixed sleeve 9, not only the stability of the lifting rod 8 is improved, but also the stability of the moving wheel 6 is improved, the moving wheel 6 is driven to rotate by the power device 22, the moving convenience of the transfer robot is improved by the moving wheel 6, meanwhile, the lifting rod 8 can rotate around the axis of the lifting rod 8, the moving wheel 6 can be steered, the steering convenience of the transfer robot is improved, the power is provided by the driving component, the lifting rod 8 is lifted along the fixed sleeve 9, the lifting of the moving wheel 6 is realized, the height of the main body 7 is adjusted by the moving wheel 6, when the main body 7 is detected to incline, the horizontal state of the main body 7 can be adjusted, the probability of goods falling is reduced, the stability of the transfer robot is improved, the transfer robot moves to the lower part of the goods, the main body 7 is driven to ascend by the lifting rod 8, then lift the goods through backup pad 2, then make backup pad 2 remove to the direction that is close to main part 7 through the gravity of goods, then under drive assembly's effect, through the rotation of first gear 13 of second gear 18 drive, under the supporting role of first bearing 10, the stability of axis of rotation 11 has been improved, then under the drive action of axis of rotation 11, through first gear 13 drive locating lever 4 rotation axis of rotation 11 top, then fix the goods from both sides through locating lever 4, the probability that the goods takes place the landing has been reduced, when needs unload, main part 7 descends, then reset through drive assembly drive backup pad 2, make locating lever 4 can rotate the below of axis of rotation 11, make transfer robot remove from the goods below.

Preferably, in order to improve the automation degree of the transfer robot, a PLC and a level sensor electrically connected to the PLC are provided inside the main body 7;

the PLC programmable logic controller adopts a programmable memory for storing program therein, executing logic operation, sequence control, timing, counting and arithmetic operation and other user-oriented instructions, and controls various types of machinery or production processes by digital or analog input/output, and is a computer specially used for industrial control, and its hardware structure is basically the same as that of microcomputer, and is generally used for data processing and instruction receiving and outputting, and can be used for implementing central control, and can be used for controlling operation of transfer robot by PLC, and at the same time can detect horizontal state of transfer robot by means of level sensor, so that it can raise automation degree of transfer robot.

As shown in fig. 2, the transmission assembly includes a support sleeve 12, a support rod 1, a spring 15, a transmission rod 19, a lead screw 20, a ball screw bearing 17 and a second bearing 16, the lead screw 20 is parallel to the rotation shaft 11, one end of the lead screw 20 is connected to the inner wall of one side of the main body 7 through the second bearing 16, the other end of the lead screw 20 is fixedly connected to a second gear 18, the thread directions of the two lead screws 20 are opposite, the ball screw bearing 17 is connected to the lead screw 20, the axis of the support sleeve 12 is perpendicular to the support plate 2, the support sleeve 12 is fixedly connected to the top of the main body 7, the support sleeve 12 is coaxially arranged with the support rod 1, the support rod 1 passes through the support sleeve 12, the support rod 1 is slidably connected to the support sleeve 12, one end of the support rod 1 is fixedly connected to the support plate 2, and the other end of the support rod, the spring 15 is sleeved on the support rod 1, the support sleeve 12 is fixedly connected with the support plate 2 through the spring 15, and the spring 15 is in a compressed state;

when the transfer robot supports the goods, the gravity of the goods enables the supporting plate 2 to descend, the supporting plate 2 drives the supporting rod 1 to move downwards along the supporting sleeve 12, the transmission rod 19 drives the ball screw bearing 17 to move along the screw rod 20, the stability of the screw rod 20 is improved through the second bearing 16, the ball screw bearing 17 drives the screw rod 20 to rotate, the screw rod 20 drives the second gear 18 to rotate in the forward direction, the positioning rod 4 rotates above the rotating shaft 11, when the transfer robot starts unloading, the main body 7 descends, the supporting plate 2 is driven to reset through the spring 15, the second gear 18 rotates in the reverse direction, the positioning rod 4 rotates below the rotating shaft 11, meanwhile, under the buffer effect of the spring 15, the vibration reduction effect on the supporting plate 2 is achieved, and the probability of damage of the goods is reduced.

Preferably, in order to reduce the wear of the screw rod 20, the screw rod 20 is coated with grease;

the friction between the screw rod 20 and the ball screw bearing 17 is reduced by the grease, and the wear of the screw rod 20 is reduced.

As shown in fig. 4, the driving assembly includes a cylinder 5, a connecting ring 3 and two supporting discs 21, the connecting ring 3 is sleeved on one end of the lifting rod 8 close to the supporting plate 2, the connecting ring 3 is slidably connected with the lifting rod 8, the two supporting discs 21 are respectively arranged on two sides of the connecting ring 3, the supporting discs 21 are fixedly connected with the lifting rod 8, the connecting ring 3 is slidably connected with the supporting discs 21, the axis of the cylinder 5 is parallel to the lifting rod 8, the cylinder body of the cylinder 5 is fixedly connected with the main body 7, and the top end of the gas rod of the cylinder 5 is fixedly connected with the connecting ring 3;

under the limiting displacement of two supporting disks 21, improved the stability that go-between 3 and lifter 8 are connected, go-between 3 goes up and down through 5 drive of cylinder, then go up and down through go-between 3 drive lifter 8, then move wheel 6 through the 8 drives of lifter and go up and down, realized the regulation to 7 horizontality of main part, simultaneously through the sliding connection between go-between 3 and the lifter 8, improved 8 pivoted smooth and easy degrees of lifter, improved the convenient degree that transfer robot turned to.

Preferably, in order to improve the smoothness of the rotation of the lifting rod 8, at least two balls 14 are uniformly distributed on the sides of the two supporting discs 21 close to each other, and the supporting discs 21 are in rolling connection with the connecting ring 3 through the balls 14;

the friction force between the support disc 21 and the connection ring 3 is reduced by the balls 14, and the smoothness of the rotation of the lifting rod 8 is improved.

Preferably, in order to prolong the service life of the main body 7, the main body 7 is made of stainless steel;

because the stainless steel has better corrosion resistance, the corrosion speed of the main body 7 is slowed down, and the service life of the main body 7 is prolonged.

Preferably, in order to prolong the service life of the support plate 2, the support plate 2 is coated with a wear-resistant coating;

the wear-resistant coating slows down the wear speed of the support plate 2 and prolongs the service life of the support plate 2.

Preferably, in order to prolong the service life of the main body 7, the main body 7 is coated with an anti-corrosion coating;

the corrosion speed of the main body 7 is slowed down through the anti-corrosion coating, and the service life of the main body 7 is prolonged.

Preferably, in order to improve the anti-skid performance of the support plate 2, the side of the support plate 2 far away from the main body 7 is provided with anti-skid grains;

the friction force between the goods and the supporting plate 2 is increased through the anti-slip lines, and the probability of slipping of the goods is reduced.

The lifting rod 8 is lifted along the fixed sleeve 9 by providing power through the driving component, the lifting of the moving wheel 6 is realized, the height of the main body 7 is adjusted through the moving wheel 6, when the main body 7 is detected to incline, the horizontal state of the main body 7 can be adjusted, the probability of falling of goods is reduced, the stability of the transfer robot is improved, the transfer robot moves to the lower part of the goods, the main body 7 is driven to ascend through the lifting rod 8, the goods are lifted up through the supporting plate 2, the supporting plate 2 is driven to move towards the direction close to the main body 7 through the gravity of the goods, the first gear 13 is driven to rotate through the second gear 18 under the action of the transmission component, the stability of the rotating shaft 11 is improved under the supporting action of the first bearing 10, the positioning rod 4 is driven to rotate to the upper part of the rotating shaft 11 through the first gear 13 under the transmission action of the rotating shaft 11, the goods are fixed from two sides through the positioning rod 4, and the probability of falling of the goods is reduced.

Compared with the prior art, in this transfer robot with antiskid function, can fix the goods through stop gear, the probability that the goods takes place the landing has been reduced, transfer robot's stability has been improved, compare with current stop gear, this stop gear has still realized the cushioning effect to the goods, the probability that the goods takes place the damage has been reduced, moreover, not only do this, not only drive transfer robot through moving mechanism and remove, can adjust transfer robot horizontality simultaneously, the probability that the goods takes place the landing has been reduced, transfer robot's stability has further been improved, compare with current moving mechanism, each moving mechanism can provide power alone, make transfer robot realize four-wheel drive, the stability that transfer robot removed has been improved.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.