Automatically-controlled compartment manipulator

By designing an automatically controlled car robot, using a combined structure of shovel plate and axle rod, the problem that traditional robots cannot shovel and clamp difficult objects is solved, and more efficient and safe object handling and operation are achieved.

CN119795126APending Publication Date: 2025-04-11ZHENGZHOU RAILWAY VOCATIONAL & TECH COLLEGE
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Patent Information

Application Number
CN202510033291.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-09
Publication Date
2025-04-11

AI Technical Summary

Technical Problem

Traditional robots cannot shovel objects through shovel boards, especially those that are not easy to clamp, making it difficult for the robots to effectively carry and operate.

Method used

An automatic control car robot is designed, adopting a structure of two shovel plates, each shovel plate is fixed with a shaft in the front and rear directions. The shaft is formed into a circular box structure through the barrier edge, convex column and rotating rod. It can realize the shoveling and stable clamping of objects through the rotation of the shaft and the merger and separation of the shovel plates.

Benefits of technology

It realizes the problem that the robot cannot pick up the object through the shovel plate, and prevents the problem that the robot cannot pick up the object when it is not easy to clamp, improving the handling and operation efficiency and safety of the robot.

✦ Generated by Eureka AI based on patent content.

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Abstract

The invention relates to a manipulator mounted on a carriage, in particular to an automatically-controlled carriage manipulator. Comprising two shovel plates, the two shovel plates are arranged left and right, each shovel plate is fixedly provided with a shaft rod in the front-back direction, the two shaft rods are rotationally connected to the two blocking edges respectively, and the two shovel plates and the two blocking edges form a circular box. And stoppers are fixed at the front end and the rear end of the shaft rod. And convex columns are fixed to the front sides of the two blocking edges correspondingly, rotating rods are fixed to the two blocking heads located on the front sides correspondingly, and the two rotating rods are located below the two convex columns correspondingly. A fixing base is fixed to the blocking edge, a pressing piece is vertically connected to the fixing base in a sliding mode, the pressing piece is pressed on the upper side of the shovel plate and located above the shaft rod, a first telescopic rod is fixed to the fixing base, and the movable end of the first telescopic rod is fixed to the upper portion of the pressing piece. Objects can be conveniently shoveled through the shoveling plate, and the objects are prevented from being not prone to being clamped.
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Description

Technical Field

[0001] The present invention relates to a manipulator mounted on a carriage, more specifically to an automatically controlled carriage manipulator. Background Art

[0002] Carriage manipulators refer to mechanical arm devices used for automated or semi-automated handling and manipulation, and are commonly found in logistics, manufacturing and other fields. These manipulators can perform multiple functions such as grasping, handling, and assembly to improve work efficiency and safety. However, traditional manipulators cannot scoop up objects through the shovel plate, and it is not easy to lift objects that are difficult to clamp. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides an automatically controlled carriage manipulator, which has the beneficial effect of being able to conveniently scoop up objects through a shovel plate to prevent the objects from being difficult to clamp.

[0004] An automatically controlled carriage manipulator comprises two shovel plates, which are arranged on the left and right. A shaft rod in the front-rear direction is fixed on each shovel plate. The two shaft rods are rotatably connected to two stop edges respectively. The two shovel plates and the two stop edges form a circular box.

[0005] Stop heads are fixed at both the front and rear ends of the shaft rod.

[0006] The front sides of the two stop edges are both fixed with convex columns, and the two stop heads located at the front sides are both fixed with rotating rods, and the two rotating rods are respectively located below the two convex columns.

[0007] A fixed seat is fixed on the stop edge, a pressing piece is vertically slidably connected to the fixed seat, the pressing piece presses on the upper side of the shovel plate, the pressing piece is located above the shaft, a telescopic rod 1 is fixed on the fixed seat, and the movable end of the telescopic rod 1 is fixed on the upper part of the pressing piece.

[0008] A convex rod is fixed on each of the blocking edges, a short shaft is fixed on the upper side of each convex rod, the two short shafts are rotatably connected to the seat block, a blocking ring is fixed on each short shaft, and the blocking ring blocks the upper side of the seat block.

[0009] A main rod is fixed on the seat block, a rack is slidably connected to the main rod, gears are fixed to the upper ends of the two short shafts, the racks mesh with the two gears, a telescopic rod 2 is fixed on the main rod, and the movable end of the telescopic rod 2 is fixed on the rack.

[0010] A perforated plate is fixed on the upper part of the main rod, and a plurality of circular through holes are arranged on the perforated plate.

[0011] A side rod is fixed on one side of the seat block, a vertical column is fixed on the upper side of the side rod, a lifting seat is vertically slidably connected to the vertical column, a motor is fixed on the upper part of the vertical column, a lead screw is fixed on the output shaft of the motor, and the lead screw cooperates with the lifting seat through a thread.

[0012] It also includes a square seat, on which two adjacent vertical surfaces are fixed track rods, each track rod is slidably connected to two clamping rods, a rubber arc rod is fixed in the middle of each clamping rod, and the clamping rod is located above the two shovel plates.

[0013] A column is fixed in the middle of each track rod, an L-shaped frame is vertically slidably connected to the two columns, a sliding column is fixed on the L-shaped frame, the sliding column is vertically slidably connected to the square seat, a telescopic rod three is fixed on the square seat, the movable end of the telescopic rod three is fixed on the L-shaped frame, two oblique rods are hinged at both ends of the L-shaped frame, and the four oblique rods are respectively hinged at the ends of the four clamping rods.

[0014] The beneficial effects of the automatic controlled carriage manipulator of the present invention are:

[0015] The object can be easily scooped up through the shovel plate to prevent the object from being difficult to clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0017] Figure 1 A schematic diagram of the structure of an automatically controlled carriage manipulator Figure 1 ;

[0018] Figure 2 A schematic diagram of the structure of an automatically controlled carriage manipulator Figure 2 ;

[0019] Figure 3 A schematic diagram of the structure of an automatically controlled carriage manipulator Figure 3 ;

[0020] Figure 4 A schematic diagram of the structure of an automatically controlled carriage manipulator Figure 4 ;

[0021] Figure 5 The structure of the shovel board Figure 1 ;

[0022] Figure 6 The structure of the shovel board Figure 2 ;

[0023] Figure 7 The main rod structure Figure 1 ;

[0024] Figure 8 The main rod structure Figure 2 ;

[0025] Fig. 9 is a schematic diagram of the structure of the side rod;

[0026] Fig.10 The structure of the square seat Figure 1 ;

[0027] Fig.11 The structure of the square seat Figure 2 ;

[0028] In the figure: a shovel plate 101; a stopper edge 102; a boss 103; a rotating rod 104; a stopper head 105; a shaft rod 106; a pressing piece 107; a fixing seat 108; a telescopic rod 109;

[0029] Main rod 201; orifice plate 202; gear 203; convex rod 204; retaining ring 205; telescopic rod 206; rack 207; short shaft 208; seat block 209;

[0030] Side rod 301; lead screw 302; motor 303; vertical column 304; lifting seat 305;

[0031] Square seat 401; telescopic rod three 402; sliding column 403; L-shaped frame 404; rubber arc rod 405; clamping rod 406; track rod 407; oblique rod 408; column 409. DETAILED DESCRIPTION

[0032] like Figure 5-6 As shown, this example can prevent the robot arm from being unable to pick up the object when the object is difficult to grasp.

[0033] Since the automatically controlled carriage manipulator includes two shovel plates 101, the two shovel plates 101 are arranged on the left and right, and each shovel plate 101 is welded with a shaft rod 106 in the front and rear directions, and the two shaft rods 106 are respectively rotatably connected to the two retaining edges 102, the two shovel plates 101 and the two retaining edges 102 form a circular box, the two shovel plates 101 can be separated from each other, and then the two shovel plates 101 are placed on the ground, and then the two shovel plates 101 are driven close to each other to shovel up the object to prevent the manipulator from being unable to pick up the object when the object is difficult to clamp; the shovel plate 101 can be rotated by the shaft rod 106, so that the shovel plate 101 is tilted to pour out the shoveled soil or dust.

[0034] like Figure 5-6 As shown, this example can achieve the effect of preventing the shaft 106 from being separated from the stop edge 102 .

[0035] Since stoppers 105 are welded to both the front and rear ends of the shaft rod 106 , the stoppers 105 can prevent the shaft rod 106 from being separated from the stop edge 102 .

[0036] like Figure 5-6 As shown, this example can prevent the shovel plate 101 from rotating at an excessive angle.

[0037] Since the front sides of the two blocking edges 102 are welded with protruding columns 103, and the two blocking heads 105 located on the front sides are welded with rotating rods 104, and the two rotating rods 104 are respectively located under the two protruding columns 103, when the shovel plate 101 rotates through the shaft rod 106, the rotating rod 104 will also rotate accordingly. When the rotating rod 104 contacts the protruding columns 103, it cannot continue to rotate, preventing the shovel plate 101 from rotating too large an angle.

[0038] like Figure 5-6 As shown, this example can achieve the effect of preventing the shovel plate 101 from rotating randomly.

[0039] Since the retaining edge 102 is connected to a fixed seat 108 by screws, a pressing piece 107 is vertically slidably connected to the fixed seat 108, and the pressing piece 107 is pressed on the upper side of the shovel plate 101. The pressing piece 107 is located above the shaft 106. A telescopic rod 109 is connected to the fixed seat 108 by screws, and the movable end of the telescopic rod 109 is connected to the upper part of the pressing piece 107 by screws. When the telescopic rod 109 is extended or retracted, the pressing piece 107 can be driven to slide vertically on the fixed seat 108, and then the pressing piece 107 can be driven to press against the shovel plate 101, so as to fix the shovel plate 101 when needed to prevent the shovel plate 101 from rotating at will.

[0040] like Figure 5-8 As shown, this example can achieve the effect of driving the two shovel blades 101 to merge and scoop up the object.

[0041] Since each of the retaining edges 102 is welded with a protruding rod 204, and each of the protruding rods 204 is welded with a short shaft 208 on the upper side, the two short shafts 208 are rotatably connected to the seat block 209, and each of the short shafts 208 is welded with a retaining ring 205, and the retaining ring 205 is blocked on the upper side of the seat block 209, so that the shovel plate 101 and the retaining edge 102 can be connected to the short shaft 208 through the protruding rod 204, so that the two shovel plates 101 can be rotated through the two short shafts 208 respectively, thereby driving the two shovel plates 101 to open or merge. After the two shovel plates 101 are opened, the two shovel plates 101 are placed on both sides of the object on the ground, and then the two shovel plates 101 are driven to merge to shovel up the object.

[0042] like Figure 7-8 As shown, this example can achieve the effect of driving the two shovel plates 101 to open or merge.

[0043] Since the main rod 201 is welded on the seat block 209, a rack 207 is slidably connected to the main rod 201, the upper ends of the two short shafts 208 are connected to the gears 203, the racks 207 are meshed with the two gears 203, and the main rod 201 is connected to the telescopic rod 206 by screws, and the movable end of the telescopic rod 206 is connected to the rack 207 by screws. When the telescopic rod 206 is extended or retracted, the rack 207 can be driven to slide back and forth on the main rod 201, and then the two gears 203 are driven to rotate through the rack 207, and then the two short shafts 208 are driven to rotate on the seat block 209, and then the two shovel plates 101 are driven to open or merge.

[0044] like Figure 7-8 As shown, this example can facilitate the placement of objects into the carriage through the robotic arm and the robotic hand.

[0045] Since a perforated plate 202 is welded to the upper part of the main rod 201, a plurality of circular through holes are arranged on the perforated plate 202, screws can be inserted into the plurality of circular through holes on the perforated plate 202, and the perforated plate 202 can be fixed to the robotic arm on the carriage, and then the carriage manipulator is connected to the robotic arm on the carriage, and the robotic arm is a robotic arm in the prior art, so that it is convenient to put objects into the carriage through the robotic arm and the manipulator.

[0046] like Figure 7-9 As shown, this example can achieve the effect of driving the lifting seat 305 to rise and fall and slide on the vertical column 304.

[0047] A side rod 301 is welded to one side of the seat block 209, a vertical column 304 is welded to the upper side of the side rod 301, a lifting seat 305 is vertically slidably connected to the vertical column 304, a motor 303 is connected to the upper part of the vertical column 304 via screws, a lead screw 302 is connected to the output shaft of the motor 303, the lead screw 302 cooperates with the lifting seat 305 via threads, the lead screw 302 can be driven to rotate by the motor 303, and then the lifting seat 305 can be driven to rise and fall and slide on the vertical column 304.

[0048] like Figure 10-11 As shown, this example can achieve the effect of preventing objects from moving randomly on the two shovel plates 101 .

[0049] Since the automatically controlled carriage manipulator also includes a square seat 401, track rods 407 are welded on two adjacent vertical surfaces of the square seat 401, and each track rod 407 is slidably connected to two clamping rods 406, and the middle part of each clamping rod 406 is bonded with a rubber arc rod 405, and the clamping rod 406 is located above the two shovel plates 101. The two clamping rods 406 on each track rod 407 can be close to or away from each other, and the four clamping rods 406 form a rectangular frame structure, and then the four clamping rods 406 are driven to approach each other so that the rectangular frame becomes smaller and smaller. When the two shovel plates 101 shovel the goods, the lifting seat 305 is driven to descend and drive the two track rods 407 and the four clamping rods 406 to move downward, and then the rectangular frame is put on the outside of the object, and then the four clamping rods 406 are driven to approach each other so that the four rubber arc rods 405 are in contact with the object in four directions respectively, thereby stabilizing the shoveled object to prevent the object from moving at will on the two shovel plates 101.

[0050] like Figure 10-11 As shown, this example can achieve the effect of controlling the size of the rectangular frame surrounded by the four clamping rods 406 .

[0051] Since a column 409 is welded to the middle part of each of the track rods 407, the L-shaped frame 404 is vertically slidably connected to the two columns 409, and a sliding column 403 is welded to the L-shaped frame 404. The sliding column 403 is vertically slidably connected to the square base 401. The square base 401 is connected to a telescopic rod three 402 by screws, and the movable end of the telescopic rod three 402 is connected to the L-shaped frame 404 by screws. Two oblique rods 408 are hinged at both ends of the L-shaped frame 404, and the four oblique rods 408 are respectively hinged at the ends of four clamping rods 406. The sliding column 403 is driven to slide vertically on the square base 401 through the telescopic movement of the telescopic rod three 402, thereby driving the L-shaped frame 404 to rise and fall and slide on the two columns 409, and then driving the four clamping rods 406 to approach or move away through the four oblique rods 408, thereby controlling the size of the rectangular frame surrounded by the four clamping rods 406.

Claims

1. An automatically controlled carriage manipulator, comprising two shovel plates (101), characterized in that: The two shovel plates (101) are arranged on the left and right, and each shovel plate (101) is fixed with a shaft rod (106) in the front-back direction. The two shaft rods (106) are rotatably connected to the two blocking edges (102) respectively, and the two shovel plates (101) and the two blocking edges (102) form a circular box.

2. The automatic controlled carriage manipulator according to claim 1, characterized in that: Stoppers (105) are fixed to both the front and rear ends of the shaft rod (106).

3. The automatic controlled carriage manipulator according to claim 2 is characterized in that: The front sides of the two stop edges (102) are both fixed with convex columns (103), and the two stop heads (105) located at the front sides are both fixed with rotating rods (104), and the two rotating rods (104) are respectively located below the two convex columns (103).

4. The automatic controlled carriage manipulator according to claim 3 is characterized in that: A fixed seat (108) is fixed on the blocking edge (102), a pressing piece (107) is vertically slidably connected to the fixed seat (108), the pressing piece (107) is pressed on the upper side of the shovel plate (101), the pressing piece (107) is located above the shaft (106), a telescopic rod (109) is fixed on the fixed seat (108), and the movable end of the telescopic rod (109) is fixed on the upper part of the pressing piece (107).

5. The automatic controlled carriage manipulator according to claim 4, characterized in that: A protruding rod (204) is fixed on each of the blocking edges (102), a short shaft (208) is fixed on the upper side of each of the protruding rods (204), the two short shafts (208) are rotatably connected to a seat block (209), a retaining ring (205) is fixed on each of the short shafts (208), and the retaining ring (205) is retained on the upper side of the seat block (209).

6. The automatic controlled carriage manipulator according to claim 5, characterized in that: A main rod (201) is fixed on the seat block (209), a rack (207) is slidably connected to the main rod (201), gears (203) are fixed to the upper ends of the two short shafts (208), the racks (207) are meshed with the two gears (203), a telescopic rod 2 (206) is fixed on the main rod (201), and the movable end of the telescopic rod 2 (206) is fixed on the rack (207).

7. The automatic controlled carriage manipulator according to claim 6, characterized in that: A perforated plate (202) is fixed to the upper portion of the main rod (201), and a plurality of circular through holes are arranged on the perforated plate (202).

8. The automatic controlled carriage manipulator according to claim 7, characterized in that: A side rod (301) is fixed to one side of the seat block (209), a vertical column (304) is fixed to the upper side of the side rod (301), a lifting seat (305) is vertically slidably connected to the vertical column (304), a motor (303) is fixed to the upper part of the vertical column (304), a lead screw (302) is fixed to the output shaft of the motor (303), and the lead screw (302) is matched with the lifting seat (305) through a thread.

9. The automatic controlled carriage manipulator according to claim 8, characterized in that: It also includes a square seat (401), two adjacent vertical surfaces of the square seat (401) are fixed with track rods (407), each track rod (407) is slidably connected to two clamping rods (406), the middle part of each clamping rod (406) is fixed with a rubber arc rod (405), the clamping rod (406) is located above the two shovel plates (101), and one of the track rods (407) is fixed on the lifting seat (305).

10. The automatic controlled carriage manipulator according to claim 9, characterized in that: A column (409) is fixed in the middle of each track rod (407), an L-shaped frame (404) is vertically slidably connected to the two columns (409), a sliding column (403) is fixed on the L-shaped frame (404), the sliding column (403) is vertically slidably connected to the square seat (401), a telescopic rod three (402) is fixed on the square seat (401), the movable end of the telescopic rod three (402) is fixed on the L-shaped frame (404), and two oblique rods (408) are hinged at both ends of the L-shaped frame (404), and the four oblique rods (408) are respectively hinged to the ends of four clamping rods (406).