阅读说明：本技术 链式物料运输对接机器人 (Chain type material transportation butt joint robot ) 是由 昝学彦 李飞军 李家钧 邓瑶 蒋干胜 徐波 于 2021-02-04 设计创作，主要内容包括：本发明提供的链式物料运输对接机器人包括机体、行走装置和链式输送装置；链式输送装置沿第一轴心可转动地安装在机体的上部,第一轴心的延伸方向垂直于链式输送装置的运输方向；机体的内部空间的上方设有空间入口；链式输送装置可沿第一轴心从遮挡位置摆动至上翻位置,处于遮挡位置的链式输送装置遮挡空间入口,处于上翻位置的链式输送装置解除对空间入口的遮挡。链式输送装置以可上翻掀开的形式安装到机体的上部,当链式输送装置处于遮挡位置,底板则对空间入口进行有效的密封遮挡,从而对内部装置有效保护；当需要检修内部设备时,掀开链式输送装置即可使内部空间外露,从而便于工作人员进行检修工作。(The chain type material transportation butt joint robot provided by the invention comprises a machine body, a walking device and a chain type conveying device; the chain type conveying device is rotatably arranged at the upper part of the machine body along a first axis, and the extending direction of the first axis is vertical to the conveying direction of the chain type conveying device; a space inlet is arranged above the inner space of the machine body; the chain type conveying device can swing from the shielding position to the upturning position along the first axis, the chain type conveying device at the shielding position shields the space inlet, and the chain type conveying device at the upturning position releases shielding of the space inlet. The chain type conveying device is arranged on the upper part of the machine body in a mode of being capable of being turned upwards, and when the chain type conveying device is located at a shielding position, the bottom plate effectively seals and shields the space inlet, so that the internal device is effectively protected; when the internal equipment needs to be overhauled, the internal space can be exposed by opening the chain type conveying device, so that the maintenance work of workers is facilitated.)

1. The chain type material transportation butt joint robot comprises a robot body and a walking device, wherein the walking device is arranged at the bottom of the robot body;

the method is characterized in that:

the chain type material transportation butt joint robot further comprises a chain type conveying device;

the chain type conveying device is rotatably arranged at the upper part of the machine body along a first axis, and the extending direction of the first axis is vertical to the conveying direction of the chain type conveying device;

an inner space is arranged in the machine body, and a space inlet of the inner space is arranged above the inner space of the machine body;

the chain type conveying device can swing from a shielding position to an upturning position along the first axis, the chain type conveying device in the shielding position shields the space entrance, and the chain type conveying device in the upturning position releases shielding of the space entrance.

2. The chain type material transporting docking robot of claim 1, wherein:

the chain type conveying device comprises a first transmission shaft, a second transmission shaft and at least two groups of chain conveying mechanisms arranged between the first transmission shaft and the second transmission shaft;

the first transmission shaft is disposed at the first axis.

3. The chain type material transporting docking robot of claim 2, wherein:

the chain type material transportation butt joint robot further comprises a transportation driving unit and a transmission mechanism;

the transport drive unit is disposed in the interior space, and the transmission mechanism is disposed between the transport drive unit and the first transmission shaft.

4. The chain type material transporting docking robot of claim 2, wherein:

the chain type conveying device comprises a bottom plate and at least two connecting frames, the first transmission shaft and the second transmission shaft are respectively and rotatably connected to two extending ends of the connecting frames in the conveying direction, and the bottom plate is connected to the lower sides of the connecting frames;

when the chain type conveying device is located at the shielding position, the bottom plate shields the space inlet.

5. The chain type material transporting docking robot of claim 4, wherein:

the connecting frame comprises a horizontal plate extending along the transportation direction and two side baffles;

the chain conveying mechanism comprises a first chain wheel, a second chain wheel and a conveying chain, the first chain wheel is installed on the first transmission shaft, the second chain wheel is installed on the second transmission shaft, and the conveying chain is connected between the first chain wheel and the second chain wheel;

in the extending direction of the first axle center, the first chain wheel, the second chain wheel and the conveying chain are all arranged between two side baffles;

in the vertical direction, the lower part of the chain of the conveying chain is positioned between the horizontal plate and the bottom plate, and the upper part of the chain of the conveying chain is positioned above the horizontal plate.

6. The chain type material transporting docking robot of claim 5, wherein:

a first limiting piece is arranged on the horizontal plate, and a second limiting piece is arranged on the bottom plate;

in the extending direction of the first axis, the first limiting part limits the upper part of the chain, and the second limiting part limits the lower part of the chain.

7. The chain type material transporting docking robot of claim 4, wherein:

in the transport direction, the mounting position of the second transmission shaft on the connecting frame is adjustable.

8. The chain type material transporting docking robot of claim 2, wherein:

the chain conveying device comprises three groups of chain conveying mechanisms.

9. The chain type material transporting docking robot according to any one of claims 2 to 8, wherein:

the machine body is provided with guide side walls, the guide side walls are higher than the chain type conveying device at the shielding position, and the two guide side walls are respectively positioned at two sides of the chain type conveying device;

a transport passage extending in the transport direction is formed between the two guide side walls.

10. The chain type material transporting docking robot of claim 9, wherein:

chain material transport butt joint robot is still including setting up correlation sensor on the direction lateral wall, transportation channel is located correlation sensor's detection range.

Technical Field

The invention relates to the technical field of material transportation equipment, in particular to a chain type material transportation butt joint robot.

Background

In the field of automatic transportation, a conveying chain is adopted to deal with the transportation condition of a large load, and the conveying chain is also applied to a walkable docking robot. The existing chain type material transportation butt joint robot comprises a robot body, a walking device and a chain conveying mechanism, wherein the walking device is arranged at the bottom of the robot body, and the chain conveying mechanism is arranged on the upper portion of the robot body. Electric control device, battery and other devices of chain material transportation butt joint robot set up in the inner space of organism, and the inner space is located chain conveying mechanism's below and the space entry of inner space up.

The existing chain type material transportation butt joint robot has the problems that the electric control device, a battery and other devices cannot be protected due to the arrangement, and a space inlet is not shielded for convenient maintenance; if the shielding member is provided below the conveying chain to protect the internal device, there is a problem that it is difficult to disassemble and assemble the device.

Disclosure of Invention

The invention aims to provide a chain type material transportation butt joint robot which is convenient to overhaul and can effectively protect an internal device.

The chain type material transportation butt joint robot comprises a robot body and a walking device, wherein the walking device is arranged at the bottom of the robot body; the chain type material transportation butt joint robot also comprises a chain type conveying device; the chain type conveying device is rotatably arranged at the upper part of the machine body along a first axis, and the extending direction of the first axis is vertical to the conveying direction of the chain type conveying device; an inner space is arranged in the machine body, and a space inlet of the inner space is arranged above the inner space of the machine body; the chain type conveying device can swing from the shielding position to the upturning position along the first axis, the chain type conveying device at the shielding position shields the space inlet, and the chain type conveying device at the upturning position releases shielding of the space inlet.

According to the scheme, the chain type conveying device is arranged on the upper part of the machine body in an upturning mode, the bottom plate can be fixedly arranged at the bottom of the chain type conveying mechanism, and when the chain type conveying device is located at a shielding position, the bottom plate effectively seals and shields the space entrance, so that the internal device is effectively protected; when the internal equipment needs to be overhauled, the internal space can be exposed by opening the chain type conveying device, so that the maintenance work of workers is facilitated.

The chain type conveying device comprises a first transmission shaft, a second transmission shaft and at least two groups of chain conveying mechanisms arranged between the first transmission shaft and the second transmission shaft; the first transmission shaft is arranged at the first axle center.

It is from top to bottom seen that chain conveying mechanism's transmission is realized to first transmission shaft, and first transmission shaft sets up in primary shaft center department, and chain conveying device's last pendulum axle center also is located primary shaft center department, and this setting makes chain conveying device's last pendulum can go on under the prerequisite that does not dismantle chain conveying mechanism and do not influence chain conveying mechanism, reduces the maintenance operation degree of difficulty, and the staff of further being convenient for overhauls the work.

The chain type material transportation butt joint robot further comprises a transportation driving unit and a transmission mechanism; the transport drive unit is arranged in the interior space, and the transmission mechanism is arranged between the transport drive unit and the first transmission shaft.

It is thus clear that owing to lift chain conveyor and not change the position of first transmission shaft, the position of first transmission shaft is fixed for the organism promptly, consequently transports drive unit and sets up to make in the inner space and arrange more rationally, transports drive unit simultaneously and obtains sheltering from the protection, has still reduced the volume of chain material transport machine.

The chain type conveying device comprises a bottom plate and at least two connecting frames, wherein in the conveying direction, a first transmission shaft and a second transmission shaft are respectively and rotatably connected to two extending ends of the connecting frames, and the bottom plate is connected to the lower sides of the connecting frames; when the chain type conveying device is in the shielding position, the bottom plate shields the space inlet.

From top to bottom, the bottom plate not only carries out effectual sheltering from to inner space, and the bottom plate is whole to be located the below of conveying chain, and its dismouting does not produce with chain conveying mechanism and interferes, has the characteristics of easy dismouting.

The connecting frame comprises a horizontal plate extending along the transportation direction and two side baffles; the chain conveying mechanism comprises a first chain wheel, a second chain wheel and a conveying chain, the first chain wheel is arranged on the first transmission shaft, the second chain wheel is arranged on the second transmission shaft, and the conveying chain is connected between the first chain wheel and the second chain wheel; in the extending direction of the first axle center, the first chain wheel, the second chain wheel and the conveying chain are all arranged between the two side baffles; in the vertical direction, the lower part of the chain of the conveying chain is positioned between the horizontal plate and the bottom plate, and the upper part of the chain of the conveying chain is positioned above the horizontal plate.

Therefore, under the matching of the connecting frame and the bottom plate, only the upper part of the chain of the conveying chain is exposed, and the rest parts are protected by the connecting frame and the bottom plate, so that the service life of the chain conveying mechanism is prolonged, and the operation stability of the chain conveying mechanism is ensured.

The further proposal is that a first limit piece is arranged on the horizontal plate, and a second limit piece is arranged on the bottom plate; in the extending direction of the first axis, the first limiting part limits the upper part of the chain, and the second limiting part limits the lower part of the chain.

Therefore, the vibration of the conveying chain can be reduced by the arrangement, and the stability of the chain conveying mechanism is effectively improved.

The further proposal is that the mounting position of the second transmission shaft on the connecting frame is adjustable in the transportation direction.

As can be seen, this arrangement allows the chain to be adjusted to a suitable tension to improve stability during transport.

Further, the chain conveying device comprises three groups of chain conveying mechanisms.

It is from top to bottom seen that this setting makes chain material transport butt joint robot be adapted to and transport the carrier or the goods of different width, and the suitability improves, promotes bearing capacity simultaneously.

The machine body is provided with guide side walls, the guide side walls are higher than the chain type conveying device at the shielding position, and the two guide side walls are respectively positioned at two sides of the chain type conveying device; a transport channel extending in the transport direction is formed between the two guide side walls.

Still further scheme is, chain material transport butt joint robot still includes the correlation sensor of setting on the direction lateral wall, and transportation channel is located correlation sensor's detection range.

Therefore, the arrangement can effectively guide the goods entering the transportation channel and ensure the butt joint effect; the goods arriving at the transportation channel are also detected, so that the system finishes the judgment of the goods position, and further the subsequent automatic transportation step is effectively carried out.

Drawings

Fig. 1 is a structural view of a first embodiment of a chained material transfer docking robot of the present invention.

Fig. 2 is a structural diagram of a hidden part of a first embodiment of the chain type material transportation butt-joint robot of the invention.

Fig. 3 is a structural view of a chain type material transportation butting robot of a first embodiment of the chain type conveying device in an upturned position.

Fig. 4 is an exploded view showing the structure of the chain type conveying device in the first embodiment of the chain type material transfer butt robot of the invention.

Fig. 5 is an exploded view showing the link and the chain transfer mechanism in the first embodiment of the chained material transfer interfacing robot of the present invention.

Fig. 6 is an enlarged view of a portion a in fig. 3.

Fig. 7 is a schematic structural view of a chain type conveying device in a second embodiment of the chain type material transportation butt joint robot of the invention.

Detailed Description

First embodiment of chain type material transportation butt joint robot

Referring to fig. 1 to 3, the chain type material transporting and docking robot provided by the present invention is a docking robot, and a transporting passage 300 penetrating along a transporting direction (illustrated x-axis direction) is provided above the docking robot. The chain type material transportation butt joint robot mainly comprises a machine body 1, a walking device 2, a chain type conveying device 3, an internal device 81, a battery 82 and a butt sensor 9. Running gear 2 sets up in the bottom of organism 1, and running gear 2 includes differential drive, and the bottom of organism 1 still is provided with universal wheelset. The chain type conveying device 3 is located on the upper portion of the machine body 1, the chain type conveying device 3 comprises three groups of chain conveying mechanisms 4 located below the conveying channel 300, the chain conveying mechanisms 4 extend along the x-axis direction, and the three groups of chain conveying mechanisms 4 are sequentially arranged along the y-axis direction.

As can be seen from fig. 3, the chain conveyor 3 is rotatably mounted on the machine body 1 along a first axis 301. Since the first axis 301 is located at the side of the chain conveyor 3, when the chain conveyor 3 rotates along the first axis 301, the chain conveyor 3 swings upward or downward relative to the machine body 1. The chain type conveying device 3 in fig. 3 is in an upturned position, at this time, the internal space 100 of the machine body 1 is exposed, both the internal device 81 and the battery 82 are installed in the internal space 100 of the machine body 1, the machine body 1 is provided with a space inlet 101 of the internal space 100 above the internal space 100, and when the chain type conveying device 3 is in the upturned position, a worker can overhaul the internal device 81 and the battery 82 through the space inlet 101. Referring to fig. 1 again, the chain conveyor 3 in fig. 1 is in the blocking position, the chain conveyor 3 can swing between the upper position and the blocking position along the first axis 301, when the chain conveyor 3 is in the blocking position, the chain conveyor 3 is in the horizontal state, i.e. the transportation working state, and at this time, the chain conveyor 3 blocks the space entrance 101 from above.

Referring to fig. 4, the chain conveyor 3 includes a first transmission shaft 311, a second transmission shaft 312, three sets of chain conveying mechanisms 4, three connecting frames 32, a bottom plate 33, and a cover plate 34. The three connecting frames 32 are sequentially arranged along the y-axis direction, the connecting frames 32 extend into a long shape along the x-axis direction, the first transmission shaft 311 and the second transmission shaft 312 are respectively and rotatably installed at two extending ends of the connecting frames 32, and the first transmission shaft 311 and the second transmission shaft 312 penetrate through the three connecting frames 32.

The three sets of chain conveyors 4 each cooperate with a connecting frame 32. The connecting frame 32 includes a horizontal plate 321 extending along the x-axis direction and two side guards 322, the side guards 322 are bent and extended from the horizontal plate 321, and the side guards 322 are perpendicular to the horizontal plate 321. A protective space 320 is formed below the horizontal plate 321 between the two side guards 322.

In the x-axis direction, a first end of the side baffle 322 is provided with a fixedly arranged first bearing seat 361, and the first transmission shaft 311 is matched with a bearing on the first bearing seat 361 so as to be rotatably arranged on the side baffle 322; the second end of the side guard 322 is provided with a second bearing seat 362, the second bearing seat 362 is mounted to the side guard 322 by a connecting plate 35 having an elongated bolt hole 350, so that the position of the second bearing seat 362 in the x-axis direction is adjustable, and the second transmission shaft 312 is engaged with a bearing on the second bearing seat 362 to be rotatably mounted on the side guard 322.

The chain conveying mechanism 4 includes a first sprocket 41, a second sprocket 42, and a conveying chain 43, the first sprocket 41 is mounted on the first transmission shaft 311, the second sprocket 42 is mounted on the second transmission shaft 312, and the conveying chain 43 is connected between the first sprocket 41 and the second sprocket 42. In the extending direction of the first shaft core 301, the first sprocket 41, the second sprocket 42, and the conveying chain 43 are disposed between the two side fences 322. In the vertical direction, the chain lower part 432 of the conveyor chain 43 is located in the protection space 320, and when the bottom plate 33 is mounted to the lower side of the connecting frame 3, the bottom plate 33 blocks the chain lower part 432 from below, and the chain upper part 431 of the conveyor chain 43 is located above the horizontal plate 321.

Referring to fig. 4 and 5, the bottom plate 33 is detachably mounted to the lower sides of the three coupling brackets 32, and the cover plate 34 is detachably mounted to the upper sides of the three coupling brackets 32. The bottom of the side barrier 322 is provided with a plurality of engaging protrusions 323, the bottom plate 33 is provided with a plurality of engaging holes 331, and the engaging protrusions 323 can be inserted into the engaging holes 331.

The horizontal plate 321 is provided with a first limiting member 61, the bottom plate 33 is provided with a second limiting member 62, the first limiting member 61 and the second limiting member 62 are both elongated and extend along the x-axis direction, the cross sections of the first limiting member 61 and the second limiting member 62 in the x-axis direction are both convex, the first limiting member 61 is provided with a first limiting portion 610 protruding upwards, and the second limiting member 62 is provided with a second limiting portion 620 protruding upwards. Since the projection of the conveying chain 43 in the x-axis direction is in an H shape, no matter the lower side of the chain upper part 431 or the lower side of the chain lower part 432 is provided with a concave position, the first limiting part 610 sinks into the concave position on the lower side of the chain upper part 431, and the second limiting part 620 sinks into the concave position on the lower side of the chain lower part 432, so that the swinging of the conveying chain 43 in the y-axis direction is limited, and the stability of the conveying chain 43 is ensured.

In the x direction, the front end of the side shield 322 is provided with a connecting seat 328, the front end of the cover plate 34 is provided with a front shield portion 349, and a screw can pass through a through hole of the front shield portion 349 and then be matched with a screw hole on the connecting seat 328. Three elongated notches 341 are formed in the cover plate 34, and the upper chain portion 431 protrudes from the elongated notches 341 to the outside of the cover plate 34. In addition, two handle members 342 are mounted on the front flap 349 to facilitate the lifting of the chain conveyor 3 by the worker.

The up-and-down swing of the chain conveyor 3 does not affect the transmission of the chain conveyor 4. Referring to fig. 2, 3 and 6, the chain type material transporting butt robot further includes a transporting driving unit 51 and a transmission mechanism 52, the transporting driving unit 51 is disposed in the internal space 100, the driving unit 51 is a driving motor, the transmission mechanism 52 is a chain transmission mechanism, the transmission mechanism 52 is disposed on the machine body 1 but outside the internal space 100, the transmission mechanism 52 includes a driving wheel 521, a driven wheel 522 and a transmission chain (not shown in the figure), an output shaft of the driving unit 51 penetrates through a shell panel of the machine body 1 and is connected with the driving wheel 521, and the driven wheel 522 is mounted on the first transmission shaft 311. The driving unit 51 is started and drives the first transmission shaft 311 to rotate through the transmission mechanism 52, so as to drive the three sets of chain conveying mechanisms 4 to operate.

In addition, the machine body 1 further includes a connecting seat 121, and the first transmission shaft 311 rotatably passes through the side baffle 322 and the connecting seat 121 in sequence. The connecting seat 121 is provided with a limiting pin 122 protruding along the y-axis direction, the side baffle 322 is further provided with an arc line groove 329 penetrating along the y-axis direction and extending along an arc line at the periphery of the first transmission shaft 311, the limiting pin 122 is located in the arc line groove 329, and the limiting pin 122 and the arc line groove 329 are matched to limit the swing amplitude of the chain type conveying device 3 to about 90 degrees, namely, the chain type conveying device 3 can swing upwards to a vertical upturning position from a horizontal shielding position. Since the chain conveying mechanism 4 is driven by the first transmission shaft 311, and the connecting frame 32 is rotatably connected to the first transmission shaft 311, when the chain conveying device 3 swings up and down, it corresponds to that the whole chain conveying mechanism 4 is relative to the first transmission shaft 311 along the first transmission shaft 311, and therefore, the vertical swing of the chain conveying device 3 does not affect the transmission of the transport drive unit 51, the transmission mechanism 52, and the chain conveying mechanism 4.

The chain type conveying device 3 is arranged on the upper part of the machine body 1 in an upturned and liftable mode, the bottom plate 33 is fixedly arranged at the bottom of the chain type conveying device 3, and when the chain type conveying device 3 is located at a shielding position, the bottom plate 33 effectively seals and shields the space entrance 101, so that the internal devices are effectively protected; when the internal equipment needs to be overhauled, the installation space 100 can be exposed by opening the chain type conveying device 3, so that the overhaul work of workers is facilitated. The entire bottom plate 33 is located below the conveying chain 43, and the assembly and disassembly thereof are not interfered by the chain conveying mechanism 4, and the bottom plate has a feature of easy assembly and disassembly.

In addition, referring to fig. 1 again, the machine body 1 is provided with guide side walls 19, the guide side walls 19 are higher than the chain conveyor 3 in the shielding position, the two guide side walls 19 are respectively located at two sides of the chain conveyor 3, and the transportation channel 300 is located between the two guide side walls 19. Two sets of correlation sensors 9 are once set up on guide sidewall 19 in the x axle direction, and transportation passageway 300 is located the detection range of correlation sensor 9, and two sets of correlation sensors 9 are used for carrying out position detection to the entering of goods and sending out respectively.

Second embodiment of chain type material transportation butt joint robot

Referring to fig. 7, in the present embodiment, the first transmission shaft 991 is not disposed at the first axis 901, the third transmission shaft 993 is disposed at the first axis 901, the second transmission mechanism 91 is disposed between the first transmission shaft 993 and the third transmission shaft 991, and the second transmission mechanism 91 is a transmission gear set.

In addition, in the present embodiment, only two sets of chain conveying mechanisms 92 are provided between the first transmission shaft 991 and the second transmission shaft 992. In addition, the second transmission can also be a chain transmission or a belt transmission.

The embodiment also enables the up-and-down swing of the chain conveyor 3 not to affect the transmission of the chain conveyor 4.

In other embodiments, the chain conveyor does not have a base plate as in the first embodiment, and the body has a cover detachably mounted at the entrance of the space, so that the internal space is exposed by the worker lifting the cover after the chain conveyor reaches the upturned position.

In other embodiments, the transport drive unit and the transmission are arranged in a chain conveyor. In the horizontal direction perpendicular to the conveying direction, a certain space is formed between the chain conveying mechanisms, a conveying driving unit and a transmission mechanism with small volume can be selected, and the conveying driving unit and the transmission mechanism are arranged in the space between the chain conveying mechanisms.

Finally, it should be emphasized that the above-described preferred embodiments of the present invention are merely examples of implementations, rather than limitations, and that many variations and modifications of the invention are possible to those skilled in the art, without departing from the spirit and scope of the invention.