A box pushing and compacting device for a loading and unloading robot
Patent Information
- Application Number
- CN202522033405.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-22
- Publication Date
- 2026-09-18
- Estimated Expiration
- 2035-09-22
AI Technical Summary
[0004]本实用新型为克服上述现有技术中推箱压紧机构为适配不同尺寸箱体导致作业效率低的问题，提供一种用于装卸机器人的推箱压紧装置，能够保持两个方向传动的连续性，从而提高作业效率，同时还能减少单个驱动机构的负载，提高装置使用寿命
一、本实用新型的用于装卸机器人的推箱压紧装置，推板组件沿第一方向移动能够用于推动箱体压紧，推板组件的移动端沿第二方向移动能够调整推板组件伸出的长度，从而适用于不同尺寸箱体的需求，通过第一驱动组件和第二驱动组件分别驱动推板组件沿第一方向和第二方向移动，从而根据箱体的尺寸调整推板组件的位置和伸出长度。一方面，由于设有沿第一方向的传动轴和传动模块，因此推板组件沿第一方向移动的过程中能够保持在第二方向上的传动连接，使得调整推板组件的伸出长度无需回到初始位置，作业效率更高。另一方面，第一驱动件和第二驱动件均相对机架固定连接，因此第一驱动件无需运载第二驱动件移动，减轻了第一驱动件的负载，能够减少装置的制造、安装和维护成本。
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Figure CN224767840U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automation equipment technology, and more specifically, to a box-pushing and clamping device for a loading and unloading robot. Background Technology
[0002] With the rapid development of automated equipment, the logistics industry has steadily entered the automation stage, and loading and unloading robots are widely used in the transportation processes of material warehousing and outbound. When loading boxes, they need to be pushed and pressed together to reduce gaps and make full use of space. A pressing mechanism is usually installed at the execution end of the loading and unloading robot. During stacking, the moving end of the pressing mechanism pushes the boxes together. The size of the moving end of the pressing mechanism needs to be adapted to the size of the box. If the moving end of the pressing mechanism extends too far, it can easily interfere with the movement of other boxes already stacked inside; if the moving end of the pressing mechanism extends too short, it will affect the pushing and pressing effect. Therefore, if a pressing mechanism with a fixed extension length is used, different pressing mechanisms need to be used for different box sizes, resulting in low operational efficiency.
[0003] Existing technologies also include clamping mechanisms with adjustable extension lengths. These mechanisms move in a first direction to press the housing into place, and move in a second direction to adjust the extension length. Because the clamping mechanism needs two degrees of freedom of movement, two corresponding drive mechanisms are required. If one drive mechanism is located at the moving end of the other, the bottom drive mechanism bears a higher load. If the two drive mechanisms are separate, it is difficult to maintain the continuity of transmission in both directions. For example, transmission might be continuous only in the first direction, and in the second direction, transmission might only occur at specific positions in the first direction, while transmission in the second direction would be interrupted at other positions in the first direction. This means that each adjustment of the clamping mechanism's extension length requires returning it to the initial position, which affects operational efficiency. Utility Model Content
[0004] To overcome the problem of low operating efficiency caused by the box-pushing and pressing mechanism in the prior art being unable to adapt to boxes of different sizes, this utility model provides a box-pushing and pressing device for loading and unloading robots, which can maintain the continuity of transmission in two directions, thereby improving operating efficiency, while also reducing the load on a single drive mechanism and increasing the service life of the device.
[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a box-pushing and clamping device for a loading and unloading robot, comprising: Push plate assembly; A first driving mechanism, comprising a first driving member and a first transmission assembly, wherein the output end of the first driving member is connected to the first transmission assembly, and the first transmission assembly is connected to the push plate assembly to drive the push plate assembly to move along a first direction thereby pushing the housing; The second driving mechanism includes a second driving member and a second transmission assembly. The second transmission assembly includes a transmission shaft and a transmission module movable along the transmission shaft in a first direction. The output end of the second driving member is driven to the transmission shaft to drive the transmission shaft to rotate. The transmission module is driven to the transmission shaft, and the output end of the transmission module is driven to the moving end of the push plate assembly to drive the moving end of the push plate assembly to move along a second direction. The fixed end of the transmission module is connected to the fixed end of the push plate assembly. It also includes a frame, the first transmission assembly and the second transmission assembly are both connected to the frame, and the first drive member and the second drive member are both fixedly disposed relative to the frame.
[0006] In the technical solution of this utility model, the push plate assembly can be used to push the box to press by moving along the first direction, and the moving end of the push plate assembly can be adjusted to adjust the extension length of the push plate assembly by moving along the second direction, thereby adapting to the needs of boxes of different sizes. The push plate assembly is driven to move along the first direction and the second direction by the first drive assembly and the second drive assembly respectively, thereby adjusting the position and extension length of the push plate assembly according to the size of the box. On the one hand, since there is a drive shaft and a drive module along the first direction, the push plate assembly can maintain the transmission connection in the second direction during the movement of the push plate assembly along the first direction, so that adjusting the extension length of the push plate assembly does not require returning to the initial position, thus improving work efficiency. On the other hand, both the first drive component and the second drive component are fixedly connected to the frame, so the first drive component does not need to carry the second drive component to move, reducing the load on the first drive component and reducing the manufacturing, installation and maintenance costs of the device.
[0007] Furthermore, the transmission shaft includes a non-circular shaft, the transmission module includes a non-circular bore wheel and a base, the non-circular shaft is rotatably connected to the frame, the non-circular bore wheel is slidably sleeved on the non-circular shaft along a first direction and can rotate together with the non-circular shaft, the base is fixedly connected to the fixed end of the push plate assembly, the non-circular bore wheel is rotatably connected to the base, the non-circular shaft is drive-connected to the output end of the second drive member, and the non-circular bore wheel is drive-connected to the push plate assembly.
[0008] In this solution, the power of the second driving component is transmitted to the push plate assembly through the irregular shaft and irregular hole wheel of the second transmission assembly. When the push plate assembly moves along the first direction, the irregular hole wheel also moves along the irregular shaft along the first direction with the push plate assembly, which can maintain the power transmission of the second driving component in the first direction. When the second driving component drives the push plate assembly to move along the second direction, the push plate assembly does not need to return to the initial position, resulting in higher work efficiency.
[0009] Furthermore, the irregular shaft is a square shaft, and the irregular hole wheel has a square hole.
[0010] In this scheme, a square shaft is matched with a directional hole to allow the irregularly shaped wheel to move along the first direction on the irregularly shaped shaft and rotate together.
[0011] Furthermore, the second transmission assembly also includes a first gear, a first rack, a worm gear, a worm, and a transition gear. The worm is coaxially and fixedly connected to the output end of the second drive member. The worm gear is driven by the worm. The transition gear is coaxially and fixedly connected to the worm gear. The first gear is driven by the transition gear. The first rack is driven by the first gear. The first gear is coaxially and fixedly connected to the transmission shaft. The first rack extends along a second direction and is connected to the push plate assembly.
[0012] In this design, the push plate assembly is moved along the second direction by a gear and rack structure.
[0013] Furthermore, the push plate assembly includes a first slider, a first slide rail, and a push plate body. One end of the first slider is fixedly connected to the moving end of the first transmission assembly, and the other end of the first slider is slidably connected to the first slide rail along a second direction. The first slide rail is fixedly connected to the push plate body.
[0014] In this solution, the push plate assembly and the moving end of the first transmission assembly are fixed by the first slider. The first transmission assembly can drive the push plate assembly to move in the first direction by driving the first slider. The first slide rail moves in the second direction relative to the first slider, so that the push plate body can move in the first and second directions.
[0015] Furthermore, it also includes a sliding assembly, which includes a second slider and a second slide rail. The second slide rail extends along a first direction and is fixedly connected to the frame. One end of the second slider is slidably connected to the second slide rail, and the other end of the second slider is fixedly connected to the first slider.
[0016] In this design, the sliding component guides the push plate assembly in the first direction and provides some support to the push plate assembly in the vertical direction.
[0017] Furthermore, the first slider is fixedly connected to the push plate body via the base.
[0018] In this solution, the push plate assembly is fixedly connected to the irregular hole wheel in the first direction via the base, so that the push rod assembly moves synchronously with the irregular hole wheel in the first direction, ensuring stable and reliable power transmission.
[0019] Furthermore, the first transmission assembly includes a first chain and at least one pair of first sprockets, both of which are rotatably connected to the frame. The first chain is sleeved on the pair of first sprockets along a first direction. The push plate assembly is connected to the first chain. The output end of the first drive member is drively connected to one of the first sprockets.
[0020] In this scheme, the first driving component drives the push plate assembly to move along the first direction via chain transmission.
[0021] Furthermore, the first transmission assembly also includes at least one tensioning wheel, which is rotatably connected to the frame and engages with the first chain.
[0022] In this solution, a tensioning wheel is used to reduce chain loosening and improve the positioning accuracy of the chain drive.
[0023] Furthermore, the first transmission assembly is provided in pairs and is located on both sides of the frame along the first direction. Multiple linkage shafts are rotatably connected to the frame, and the two ends of the linkage shafts are respectively connected to the first transmission assemblies on both sides, so that the first drive mechanism can drive the pair of first transmission assemblies simultaneously.
[0024] In this scheme, by setting a pair of first transmission components, the movement of the push plate assembly can be more stably supported, and the pair of first transmission components can move synchronously through the linkage shaft.
[0025] Furthermore, the sliding components are provided in pairs and are respectively located on both sides of the frame along the first direction.
[0026] In this design, a pair of sliding components can provide more stable support and guidance for the push plate assembly.
[0027] Compared with the prior art, the beneficial effects of this utility model are: I. This utility model discloses a box-pushing and clamping device for a loading and unloading robot. The push plate assembly, moving along a first direction, can push and clamp the box. The moving end of the push plate assembly, moving along a second direction, can adjust the extension length of the push plate assembly, thus adapting to the needs of boxes of different sizes. A first drive assembly and a second drive assembly drive the push plate assembly to move along the first and second directions respectively, thereby adjusting the position and extension length of the push plate assembly according to the size of the box. On one hand, because a drive shaft and drive module are provided along the first direction, the push plate assembly can maintain a transmission connection in the second direction during its movement along the first direction, so adjusting the extension length of the push plate assembly does not require returning to the initial position, resulting in higher work efficiency. On the other hand, both the first and second drive components are fixedly connected to the frame, so the first drive component does not need to carry the second drive component, reducing the load on the first drive component and reducing the manufacturing, installation, and maintenance costs of the device.
[0028] II. The box-pushing and clamping device for loading and unloading robots of this utility model transmits the power of the second driving component to the push plate assembly through the irregular shaft and irregular hole wheel and the second transmission assembly. When the push plate assembly moves along the first direction, the irregular hole wheel also moves along the irregular shaft along the first direction with the push plate assembly, which can maintain the power transmission of the second driving component in the first direction. When the second driving component drives the push plate assembly to move along the second direction, the push plate assembly does not need to return to the initial position, resulting in higher work efficiency. Attached Figure Description
[0029] Figure 1 This is a schematic diagram of the overall structure of the box-pushing and clamping device for a loading and unloading robot according to this utility model; Figure 2 yes Figure 1 Enlarged view of point A; Figure 3 yes Figure 1 A schematic diagram of the overall structure from another perspective at the bottom; Figure 4 yes Figure 3 Enlarged view of point B; Figure 5 yes Figure 3 Enlarged view of point C; Figure 6 yes Figure 1 A schematic diagram of the overall structure from another perspective; Figure 7 yes Figure 6 Enlarged view of point D.
[0030] In the attached diagram: 1. Push plate assembly; 11. First slider; 12. First slide rail; 13. Push plate body; 2. First driving component; 3. First transmission assembly; 31. First chain; 32. First sprocket; 33. Tensioner wheel; 4. Second driving component; 5. Second transmission assembly; 51. Transmission shaft; 52. Transmission module; 521. Irregular hole wheel; 522. Base; 53. First gear; 54. First rack; 55. Worm gear; 56. Worm; 57. Transition gear; 6. Frame; 7. Sliding assembly; 71. Second slider; 72. Second slide rail; 8. Linkage shaft. Detailed Implementation
[0031] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.
[0032] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.
[0033] The technical solution of this utility model will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings: Example 1 refer to Figure 1This embodiment discloses a box-pushing and pressing device for a loading and unloading robot, including a push plate assembly 1, a first driving mechanism and a second driving mechanism. The first driving mechanism includes a first driving member 2 and a first transmission assembly 3. The output end of the first driving member 2 is drivenly connected to the first transmission assembly 3. The first transmission assembly 3 is drivenly connected to the push plate assembly 1 to drive the push plate assembly 1 to move along a first direction, thereby pushing the box. The second driving mechanism includes a second driving member 4 and a second transmission assembly 5. The second transmission assembly 5 includes a transmission shaft 51 and a transmission module 52 that can move along the transmission shaft 51 in the first direction. The output end of the second driving member 4 is drivenly connected to the transmission shaft 51 to drive the transmission shaft 51 to rotate. The transmission module 52 is drivenly connected to the transmission shaft 51. The output end of the transmission module 52 is drivenly connected to the moving end of the push plate assembly 1 to drive the moving end of the push plate assembly 1 to move along a second direction. The fixed end of the transmission module 52 is connected to the fixed end of the push plate assembly 1. The device also includes a frame 6. The first transmission assembly 3 and the second transmission assembly 5 are both connected to the frame 6. The first driving member 2 and the second driving member 4 are both fixedly arranged relative to the frame 6.
[0034] In this embodiment, the push plate assembly 1 can be moved along the first direction to push the box to press, and the moving end of the push plate assembly 1 can be moved along the second direction to adjust the extension length of the push plate assembly 1, thereby adapting to the needs of boxes of different sizes. The push plate assembly 1 is driven to move along the first and second directions by the first drive assembly and the second drive assembly respectively, thereby adjusting the position and extension length of the push plate assembly 1 according to the size of the box. On the one hand, since there is a drive shaft 51 and a drive module 52 along the first direction, the push plate assembly 1 can maintain the drive connection in the second direction during the movement of the push plate assembly 1 along the first direction, so that adjusting the extension length of the push plate assembly 1 does not require returning to the initial position, resulting in higher work efficiency. On the other hand, the first drive member 2 and the second drive member 4 are both fixedly connected to the frame 6, so the first drive member 2 does not need to carry the second drive member 4 to move, reducing the load on the first drive member 2 and reducing the manufacturing, installation and maintenance costs of the device.
[0035] In existing technologies, to design a device with two degrees of freedom of movement in two directions, one drive mechanism is usually placed at the moving end of the other drive mechanism, thus forming a two-way drive movement structure. However, this arrangement places a large load on the bottom drive mechanism. In this embodiment, both drive mechanisms are fixed relative to the frame 6, and each drive mechanism is driven separately, effectively reducing the load borne by a single drive mechanism.
[0036] In practical use, the box-pushing and clamping device for loading and unloading robots disclosed in this embodiment can be set at the execution end of the loading and unloading robot. The frame 6, the first drive member 2 and the second drive member 4 can all be fixedly connected to the loading and unloading robot, so that the first drive member 2 and the second drive member 4 are fixedly set relative to the frame 6.
[0037] refer to Figure 1 , Figure 3 and Figure 4 The drive shaft 51 includes a non-circular shaft, and the drive module 52 includes a non-circular hole wheel 521 and a base 522. The non-circular shaft is rotatably connected to the frame 6. The non-circular hole wheel 521 is slidably sleeved on the non-circular shaft along the first direction and can rotate together with the non-circular shaft. The base 522 is fixedly connected to the fixed end of the push plate assembly 1. The non-circular hole wheel 521 is rotatably connected to the base 522. The non-circular shaft is driven to the output end of the second drive member 4. The non-circular hole wheel 521 is driven to the push plate assembly 1.
[0038] In this embodiment, the power of the second driving member 4 is transmitted to the push plate assembly 1 via the irregular shaft and irregular hole wheel 521 of the second transmission assembly 5. When the push plate assembly 1 moves along the first direction, the irregular hole wheel 521 also moves along the irregular shaft along the first direction with the push plate assembly 1, thus maintaining the power transmission of the second driving member 4 in the first direction. When the second driving member 4 drives the push plate assembly 1 to move along the second direction, the push plate assembly 1 does not need to return to its initial position, resulting in higher operating efficiency. The cross-section of the irregular shaft can be a rectangular cross-section, and the irregular hole wheel 521 has a hole at its axial center that matches the irregular shaft. The irregular hole wheel 521 drives the push plate assembly 1 through a subsequent transmission structure, thereby driving the push plate assembly 1 to move along the second direction. The irregular shaft can be connected to the output end of the second driving mechanism via worm gear transmission, gear transmission, or a combination thereof. In this embodiment, the irregular shaft is a square shaft, and the irregular hole wheel 521 has a square hole. In other embodiments, the irregular shaft can also be other non-circular shapes.
[0039] refer to Figure 4 , Figure 6 and Figure 7The second transmission assembly 5 further includes a first gear 53, a first rack 54, a worm gear 55, a worm 56, and a transition gear 57. The worm 56 is coaxially and fixedly connected to the output end of the second drive component 4. The worm gear 55 is driven by the worm 56. The transition gear 57 is coaxially and fixedly connected to the worm gear 55. The first gear 53 is driven by the transition gear 57. The first rack 54 is driven by the first gear 53. The first gear 53 is coaxially and fixedly connected to the transmission shaft 51. The first rack 54 extends along the second direction and is connected to the push plate assembly 1. The push plate assembly 1 is driven to move along the second direction through the worm gear and rack structure. Other gears can also be meshed between the first gear 53 and the first rack 54, and other gears can also be meshed between the transition gear 57 and the first gear.
[0040] refer to Figure 3 and Figure 5 The push plate assembly 1 includes a first slider 11, a first slide rail 12 and a push plate body 13. One end of the first slider 11 is fixedly connected to the moving end of the first transmission assembly 3, and the other end of the first slider 11 is slidably connected to the first slide rail 12 along the second direction. The first slide rail 12 is fixedly connected to the push plate body 13.
[0041] In this embodiment, the push plate assembly 1 and the moving end of the first transmission assembly 3 are fixed by the first slider 11. The first transmission assembly 3 drives the push plate assembly 1 to move along the first direction by driving the first slider 11. The first slide rail 12 moves relative to the first slider 11 in the second direction. The first slide rail 12 carries the push plate body 13 and moves in the second direction. Therefore, the push plate body 13 can move in the first and second directions, thereby realizing the adjustment of the extension length of the push plate assembly 1 in the second direction and the pushing and pressing function in the first direction. Specifically, the bottom of the push plate body 13 is fixedly connected to the first slide rail 12 extending along the first direction, and the first slider 11 is fixed to the moving end of the first transmission assembly 3. The first slider 11 and the first slide rail 12 can slide relative to each other, thereby realizing the movement and adjustment of the position of the push plate body 13 along the second direction.
[0042] refer to Figure 3 and Figure 4 The box-pushing and clamping device for the loading and unloading robot in this embodiment further includes a sliding assembly 7. The sliding assembly 7 includes a second slider 71 and a second slide rail 72. The second slide rail 72 extends along a first direction and is fixedly connected to the frame 6. One end of the second slider 71 is slidably connected to the second slide rail 72, and the other end of the second slider 71 is fixedly connected to the first slider 11. In this embodiment, the sliding assembly 7 can guide the push plate assembly 1 in the first direction and provide some support for the push plate assembly 1 in the vertical direction.
[0043] refer to Figure 3 and Figure 4The first slider 11 is fixedly connected to the push plate body 13 via the base 522. The first slider 11 is fixedly connected to the base 522. The base 522 is fixedly connected to the irregular hole wheel 521 in the first direction. The base 522 and the irregular hole wheel 521 are rotatably connected around an axis parallel to the first direction.
[0044] In this embodiment, the push plate assembly 1 is fixedly connected to the irregular hole wheel 521 in the first direction via the base 522, so that the push rod assembly moves synchronously with the irregular hole wheel 521 in the first direction, ensuring stable and reliable power transmission. An intermediate gear can also be provided between the first gear 53 and the first rack 54 for indirect transmission. The intermediate gear can be rotatably connected to the base 522.
[0045] In this embodiment, the phrase "two components fixed in the first direction" means that the two components can move synchronously in the first direction without relative displacement, but relative movement in other directions is not excluded. Specifically, in this embodiment, the irregularly shaped wheel 521 is rotatably connected to the base 522, with the axis of rotation parallel to the first direction, and a bearing can be provided between them. Limiting structures are provided at both ends of the irregularly shaped wheel 521 near the base 522 to fix them in the first direction. Gears are fixedly provided at the ends of the irregularly shaped wheel 521 or the irregularly shaped shaft. The output end of the second driving component 4 is connected to the irregularly shaped wheel 521 or the irregularly shaped shaft through a first-stage worm gear transmission and a second-stage gear transmission, thus enabling the irregularly shaped rotating shaft and the irregularly shaped wheel 521 to rotate through the second driving mechanism.
[0046] refer to Figure 1 and Figure 4 A pair of sliding components 7 are provided, respectively located on both sides of the frame 6 along the first direction. In this embodiment, by providing a pair of sliding components 7, the pusher assembly 1 can be given more stable support and guidance. Figure 1 As shown in the example, a pair of first transmission components 3 can be arranged on the outer sides of the frame 6, and a pair of sliding components 7 can be arranged on the inner sides of the frame 6.
[0047] Example 2 refer to Figure 1 and Figure 2 This embodiment is similar to Embodiment 1, except that in this embodiment, reference is used. Figure 1In this embodiment, the first transmission assembly 3 includes a first chain 31 and a pair of first sprockets 32. The pair of first sprockets 32 are arranged along a first direction on the side of the frame 6, and both first sprockets 32 are rotatably connected to the frame 6. The first chain 31 is sleeved on the pair of first sprockets 32 along the first direction. The push plate assembly 1 is connected to the first chain 31, and the output end of the first drive member 2 is drively connected to one of the first sprockets 32. The first drive member 2 drives the push plate assembly 1 to move along the first direction through chain transmission. (Reference) Figure 2 In this embodiment, the output end of the first drive member 2 is also connected to the first sprocket 32 through a chain drive mechanism.
[0048] In other embodiments, the first transmission component 3 may also be a belt drive mechanism or other mechanism that can achieve the same function.
[0049] refer to Figure 1 and Figure 2 In this embodiment, the first transmission assembly 3 further includes at least one tensioning wheel 33, which is rotatably connected to the frame 6 and meshes with the first chain 31. The tensioning wheel 33 reduces chain looseness and improves the positional accuracy of the chain drive. The number of tensioning wheels 33 can be adjusted according to the actual arrangement. For example, in this embodiment, multiple tensioning wheels 33 are provided, each positioned on the inner or outer side of the first chain 31, close to the first sprocket 32.
[0050] Example 3 refer to Figure 3 and Figure 4 This embodiment is similar to Embodiment 1, except that in this embodiment, the first transmission assembly 3 is provided in pairs and is located on both sides of the frame 6 along the first direction. The frame 6 is rotatably connected to multiple linkage shafts 8, and the two ends of the linkage shafts 8 are respectively connected to the first transmission assemblies 3 on both sides, so that the first drive mechanism can drive the pair of first transmission assemblies 3 simultaneously. By setting a pair of first transmission assemblies 3, the movement of the push plate assembly 1 can be more stably supported, and the pair of first transmission assemblies 3 can move synchronously through the linkage shafts 8. Specifically, the first transmission assembly 3 includes a first chain 31 and a first sprocket 32. The two ends of the linkage shaft 8 are respectively fixedly connected to the first sprockets 32 on both sides, so that the pair of first transmission assemblies 3 can be driven synchronously. In this embodiment, the output end of the second transmission assembly 5 is sequentially connected to the irregular shaft through a worm gear mechanism and a gear transmission mechanism.
[0051] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.
Claims
1. A pusher box compactor for a load handling robot, characterized by: include: Push plate assembly (1); The first driving mechanism includes a first driving member (2) and a first transmission assembly (3). The output end of the first driving member (2) is connected to the first transmission assembly (3). The first transmission assembly (3) is connected to the push plate assembly (1) to drive the push plate assembly (1) to move along the first direction and thus push the box. The second driving mechanism includes a second driving member (4) and a second transmission assembly (5); the second transmission assembly (5) includes a transmission shaft (51) and a transmission module (52) movable along the transmission shaft (51) in a first direction; the output end of the second driving member (4) is connected to the transmission shaft (51) to drive the transmission shaft (51) to rotate; the transmission module (52) is connected to the transmission shaft (51); the output end of the transmission module (52) is connected to the moving end of the push plate assembly (1) to drive the moving end of the push plate assembly (1) to move along a second direction; the fixed end of the transmission module (52) is connected to the fixed end of the push plate assembly (1). It also includes a frame (6), the first transmission assembly (3) and the second transmission assembly (5) are both connected to the frame (6), and the first drive member (2) and the second drive member (4) are both fixedly arranged relative to the frame (6).
2. The box pushing and compacting device for a loading and unloading robot according to claim 1, characterized in that: The drive shaft (51) includes a non-circular shaft, and the drive module (52) includes a non-circular hole wheel (521) and a base (522). The non-circular shaft is rotatably connected to the frame (6). The non-circular hole wheel (521) is slidably sleeved on the non-circular shaft along a first direction and can rotate together with the non-circular shaft. The base (522) is fixedly connected to the fixed end of the push plate assembly (1). The non-circular hole wheel (521) is rotatably connected to the base (522). The non-circular shaft is drivenly connected to the output end of the second drive member (4). The non-circular hole wheel (521) is drivenly connected to the push plate assembly (1).
3. The box pushing and compacting device for a loading and unloading robot according to claim 2, characterized in that: The irregular shaft is a square shaft, and the irregular hole wheel (521) has a square hole.
4. The box pushing and compacting device for loading and unloading robots according to claim 1, characterized in that: The second transmission assembly (5) further includes a first gear (53), a first rack (54), a worm gear (55), a worm (56), and a transition gear (57). The worm (56) is coaxially and fixedly connected to the output end of the second drive member (4). The worm gear (55) is driven by the worm (56). The transition gear (57) is coaxially and fixedly connected to the worm gear (55). The first gear (53) is driven by the transition gear (57). The first rack (54) is driven by the first gear (53). The first gear (53) is coaxially and fixedly connected to the transmission shaft (51). The first rack (54) extends along the second direction and is connected to the push plate assembly (1).
5. The box-pushing and clamping device for a loading and unloading robot according to claim 2, characterized in that: The push plate assembly (1) includes a first slider (11), a first slide rail (12) and a push plate body (13). One end of the first slider (11) is fixedly connected to the moving end of the first transmission assembly (3), and the other end of the first slider (11) is slidably connected to the first slide rail (12) in a second direction. The first slide rail (12) is fixedly connected to the push plate body (13).
6. The box-pushing and clamping device for a loading and unloading robot according to claim 5, characterized in that: It also includes a sliding assembly (7), which includes a second slider (71) and a second slide rail (72). The second slide rail (72) extends along a first direction and is fixedly connected to the frame (6). One end of the second slider (71) is slidably connected to the second slide rail (72), and the other end of the second slider (71) is fixedly connected to the first slider (11).
7. The box pushing and compacting device for loading and unloading robots according to claim 5, characterized in that: The first slider (11) is fixedly connected to the push plate body (13) via the base (522).
8. The box pushing and compacting device for loading and unloading robots according to claim 1, characterized in that: The first transmission assembly (3) includes a first chain (31) and at least one pair of first sprockets (32). Both of the first sprockets (32) are rotatably connected to the frame (6). The first chain (31) is sleeved on the pair of first sprockets (32) along a first direction. The push plate assembly (1) is connected to the first chain (31). The output end of the first drive member (2) is connected to one of the first sprockets (32) in a transmission connection.
9. The box pushing and compacting device for a loading and unloading robot according to claim 8, characterized in that: The first transmission assembly (3) further includes at least one tensioning wheel (33), which is rotatably connected to the frame (6) and engages with the first chain (31).
10. The box pushing and compacting device for loading and unloading robots according to claim 1, characterized in that: The first transmission assembly (3) is provided in pairs and is located on both sides of the frame (6) along the first direction. Multiple linkage shafts (8) are rotatably connected on the frame (6). The two ends of the linkage shafts (8) are respectively connected to the first transmission assemblies (3) on both sides, so that the first drive mechanism can drive the pair of first transmission assemblies (3) at the same time.