CN107487603B - Automatic collecting and transporting robot for spherical objects - Google Patents
Automatic collecting and transporting robot for spherical objects Download PDFInfo
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- CN107487603B CN107487603B CN201710627062.9A CN201710627062A CN107487603B CN 107487603 B CN107487603 B CN 107487603B CN 201710627062 A CN201710627062 A CN 201710627062A CN 107487603 B CN107487603 B CN 107487603B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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Abstract
The invention discloses an automatic collection and transportation robot for spherical objects, which comprises: a traveling base; telescopic machanism, it includes: an upper base; at least three upper struts; a connecting rod; a telescopic motor; the storage mechanism comprises a goods shelf and an even number of object placing plates; drive mechanism, it is located the top surface of upper base, it includes: a second scroll bar; a second turbine; a strip plate; the guide plate is a U-shaped groove and is perpendicular to the strip-shaped plate along the width direction of the strip-shaped plate, and one side, close to the strip-shaped plate, of the guide plate is provided with a sliding block matched with the sliding groove; when the upper strut is screwed to the shortest length, one end of the guide plate is in flush communication with the highest point of the topmost object placing plate; when the upper prop is screwed to the longest length, one end of the guide plate is flush and communicated with the lowest point of the bottommost object placing plate. According to the invention, through the synchronous arrangement of the telescopic mechanism and the transmission mechanism, the relative positions of the inclined object placing plate and the guide plate are regulated and controlled to realize rapid and automatic collection and unloading of spherical objects.
Description
Technical Field
The invention relates to the technical field of robots. More particularly, the present invention relates to an automatic collection and transportation robot for spherical objects.
Background
With the continuous development of society, the division of various industries is more and more detailed, especially in the modern mass production, a lot of raw materials, processing parts or finished products need to be transported between workshops or workshops, or in the production process, the products of the previous batch need to be periodically and quantitatively inspected in a spot, and need to be transported to a specified place, and the inspected products need to be transported back to the production line again, so that the automation of transporting and unloading the products is realized.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
Still another object of the present invention is to provide an automatic collection and transportation robot for spherical objects, which can adjust and control the relative positions of the inclined object placing plate and the guide plate by the synchronous arrangement of the telescopic mechanism and the transmission mechanism, so as to realize rapid and automatic collection and unloading of spherical objects.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided an automatic collection and transportation robot for spherical objects, comprising:
a traveling base;
telescopic machanism, it is located walking base top, it includes:
an upper base located above the walking base;
the bottom ends of the three upper pillars are fixedly connected with the upper surface of the walking base, the top ends of the three upper pillars are fixedly connected with the bottom surface of the upper base in a rotating mode, each upper pillar comprises a plurality of loop bars which are sequentially sleeved in a spiral mode from bottom to top from inside to outside, the three upper pillars are arranged along the circumferential direction of the bottom surface of the upper base, belt pulleys with the same size are arranged between the loop bars at the top ends of any two adjacent upper pillars along the circumferential direction of the bottom surface of the upper base in a matching mode, a pair of belt pulleys are driven through a belt, an opening is formed in the top surface of one upper pillar of the upper base, and the opening and the upper pillars are arranged coaxially, so that the top surface part of;
the connecting rod vertically penetrates through the opening and is integrally formed with the top surface of the sleeve rod positioned at the opening, and two first turbines are sleeved on the connecting rod at intervals along the circumferential direction of the connecting rod;
the output end of the telescopic motor is connected with a first worm, and the first worm is meshed with one of the first turbines to drive the connecting rod to rotate;
the storage mechanism comprises a goods shelf arranged on the top surface of the upper base and an even number of object placing plates clamped along the circumferential direction of the inner side wall of the goods shelf, the object placing plates are obliquely arranged, the highest point clamped between any two adjacent object placing plates and the goods shelf and the lowest point are positioned on the same straight line along the vertical direction, the lowest end of the object placing plate positioned above the any two adjacent object placing plates is provided with an inlet, and the topmost end of the object placing plate positioned at the topmost end and the connecting rod are positioned on the same side surface of the goods shelf;
drive mechanism, it is located the top surface of upper base, it includes:
one end of the second worm is meshed with the other first worm wheel on the connecting rod;
the second worm wheel is meshed with the other end of the second worm rod, a first pulley is fixedly arranged at the two ends of the central shaft of the second worm wheel, and a rope is fixed on each first pulley;
the strip-shaped plate is positioned on one side, close to the connecting rod, of the goods shelf and is vertically arranged along the direction far away from the goods shelf, two through holes are formed in the upper end of the strip-shaped plate, a second pulley is arranged in each through hole, and two sliding grooves are formed in the side wall, far away from the second turbine, of one side of the strip-shaped plate in parallel along the length direction of the strip-shaped plate;
the guide plate is a U-shaped groove and is perpendicular to the strip-shaped plate along the width direction of the strip-shaped plate, and one side, close to the strip-shaped plate, of the guide plate is provided with a sliding block matched with the sliding groove; the side wall of one side of the strip-shaped plate, which is far away from the second turbine, is provided with two brackets, each bracket extends to a position right above the guide plate along the direction far away from the strip-shaped plate and is provided with a third pulley, the other ends of the two ropes respectively pass around the second pulley and the third pulley, and the winding ends of the two ropes are connected with the guide plate so as to drive the guide plate to slide up and down along the strip-shaped plate;
when the upper strut is screwed to the shortest length, one end of the guide plate is in flush communication with the highest point of the topmost object placing plate;
when the upper prop is screwed to the longest length, one end of the guide plate is flush and communicated with the lowest point of the bottommost object placing plate.
Preferably, the walking base includes: the device comprises a mounting plate, two driving wheels, two driven wheels and two walking motors, wherein the two driving wheels and the two driven wheels are arranged on the bottom surface of the mounting plate;
further comprising: an upper level device for generating teaching data;
and the control equipment is in communication connection with the superior equipment and used for receiving teaching data, and the control equipment is connected with the walking motor and used for controlling the walking motor to work according to the teaching data.
Preferably, the mounting panel is the rectangle, go up the pillar and be four, four go up the pillar and be located respectively the four corners of mounting panel.
Preferably, the control device is connected with the telescopic motor and used for controlling the telescopic motor to work according to teaching data.
Preferably, the diameter of the first pulley wheel far away from the goods shelf is larger than the diameter of the first pulley wheel close to the goods shelf;
when the upper support is screwed to the shortest length, the direction of the guide plate actor plum shelf is obliquely and upwards arranged, and the included angle between the guide plate actor plum shelf and the horizontal plane is 10-20 degrees;
when the upper support is screwed to the maximum length, the guide plate is obliquely and downwards arranged along the direction far away from the goods shelf, and the included angle between the guide plate and the horizontal plane is 10-20 degrees.
Preferably, the through hole is vertically and downwardly communicated with a guide pipe, the bottom end of the guide pipe is fixedly connected with the object placing plate positioned below, and the side wall of the lower end of the guide pipe is provided with a notch so as to form an outlet with the object placing plate.
Preferably, a plurality of elastic rubber strips are arranged on the inner side wall of the guide pipe at intervals towards the direction of the central axis of the guide pipe.
The invention at least comprises the following beneficial effects:
firstly, the robot for automatically collecting and transporting spherical objects can regulate and control the relative positions of the inclined object placing plate and the guide plate through the synchronous arrangement of the telescopic mechanism and the transmission mechanism to realize quick and automatic collection and unloading of the spherical objects, and during collection and unloading, the conveying efficiency is improved by utilizing the action of gravity, meanwhile, manpower and material resources are greatly saved, the damage of goods caused by transportation is avoided, and the robot for automatically collecting and transporting spherical objects has a simple structure, is easy to control and is low in cost.
Secondly, various operations executed by a walking motor and a telescopic motor of the automatic collection and transportation robot for spherical objects are controlled by a control device, the control device is in communication connection with the walking motor and the telescopic motor of the transportation robot so as to be capable of controlling the walking motor and the telescopic motor to work, a superior device is in communication connection with the control device, the control device obtains teaching data used for teaching the walking motor and the telescopic motor to work from the superior device, the control device controls the walking motor and the telescopic motor to realize the work of the teaching data stored in the control device, and an operator can monitor the transportation robot through the superior device to realize the autonomous work of the transportation robot.
Thirdly, the automatic collecting and transporting robot for spherical objects can control the guide plate to form a certain included angle with the horizontal plane, so that the collection, transportation and unloading of goods are accelerated and facilitated.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic structural view of the robot for automatically collecting and transporting spherical objects according to the present invention;
fig. 2 is a schematic structural view of the walking base of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-2, the present invention provides an automatic collection and transportation robot for spherical objects, comprising:
a traveling base 1;
telescopic machanism, it is located 1 top of walking base, it includes:
an upper base 40 located above the walking base 1;
at least three upper struts 41, the bottom ends of which are fixedly connected with the upper surface of the walking base 1, the top ends of which are rotatably fixedly connected with the bottom surface of the upper base 40, the upper struts 41 include a plurality of loop bars 410 which are sequentially and spirally sleeved from bottom to top and from inside to outside, belt pulleys 42 with the same size are arranged between the loop bars 410 at the top ends of any two adjacent upper struts 41 along the circumferential direction of the bottom surface of the upper base 40, a pair of belt pulleys 42 is driven by a belt, an opening 43 is arranged above the top surface of one of the upper struts 41 on the top surface of the upper base 40, and the opening 43 and the upper struts 41 are coaxially arranged, so that the top surface part of the upper strut 41 shows that the size of the opening 43 is smaller than the size of the top surface of the upper strut 41;
the connecting rod 44 vertically penetrates through the opening 43 and is integrally formed with the top surface of the sleeve rod 410 at the opening 43, and two first turbines 45 are sleeved on the connecting rod 44 at intervals up and down along the circumferential direction of the connecting rod 44;
a telescopic motor 46, an output end of which is connected with a first scroll 47 to drive the first scroll 47 to rotate, wherein the first scroll 47 is engaged with one of the first turbines 45 to drive the connecting rod 44 to rotate;
the storage mechanism comprises a shelf 50 fixedly arranged on the top surface of the upper base 40 and an even number of object placing plates 51 clamped along the circumferential direction of the inner side wall of the shelf 50, the object placing plates 51 are obliquely arranged, the highest point and the lowest point clamped between any two adjacent object placing plates 51 and the shelf 50 are positioned on the same straight line along the vertical direction, namely the two adjacent object placing plates 51, wherein the highest point of one object placing plate 51 and the lowest point of the other object placing plate 51 are positioned on the same straight line along the vertical direction, and the lowest end of the object placing plate 51 positioned above in any two adjacent object placing plates 51 is provided with an inlet 52, wherein the topmost end of the uppermost object placing plate 51 and the connecting rod 44 are positioned on the same side surface of the shelf 50, and the lowest end of the lowermost object placing plate 51 and the connecting rod 44 are positioned on the same side surface of the shelf;
a second scroll 60 having one end engaged with the other first worm wheel 45 of the connecting rod 44, the second scroll 60 being rotatably fixed by a bearing;
a second worm wheel 61 engaged with the other end of the second worm 60, wherein a first pulley 62 is fixedly arranged at each of two ends of the central axis of the second worm wheel 61, a rope 63 is fixed on each first pulley 62, and the second worm wheel 61 is rotatably fixed through a bearing;
the strip-shaped plate 64 is positioned on one side of the shelf 50 close to the connecting rod 44 and is vertically arranged along the direction far away from the shelf 50, two through holes 65 are formed in the upper end of the strip-shaped plate 64, a second pulley 66 is arranged in each through hole 65, and two sliding grooves are formed in the side wall of one side of the strip-shaped plate 64 far away from the second turbine 61 along the length direction of the side wall;
the guide plate 67 is a U-shaped groove, the guide plate 67 is perpendicular to the strip-shaped plate 64 along the width direction of the strip-shaped plate 64, and a sliding block matched with the sliding groove is arranged on one side, close to the strip-shaped plate 64, of the guide plate 67; two supports are arranged on the side wall of the strip-shaped plate 64 far away from the second turbine 61, each support extends to a position right above the guide plate 67 along the direction far away from the strip-shaped plate 64 and is provided with a third pulley, the other ends of the two ropes 63 respectively pass around the second pulley 66 and the third pulley, and the outlet ends of the two ropes are connected with the guide plate 67 so as to drive the guide plate 67 to slide up and down along the strip-shaped plate 64;
when the upper support 41 is screwed to the shortest length, one end of the guide plate 67 is flush with the highest point of the topmost object placing plate 51;
when the upper prop 41 is screwed to the maximum length, one end of the guide plate 67 is flush with the lowest point of the lowermost storage plate 51.
In the above technical solution, the walking base 1 is used for walking along a predetermined walking direction, at least three upper struts 41 are arranged between the upper base 40 and the walking base 1 to support the upper base 40 above the walking base 1, the top ends of the upper struts 41 can be infinitely rotationally fixedly connected around the bottom surface of the upper base 40, specifically can be rotationally fixedly connected between a T-shaped cylinder and a tank body, in order to reduce sliding friction force, one surface of the T-shaped cylinder in contact with the tank body is provided with a plurality of walking wheels, one surface of the tank body in contact with the T-shaped cylinder is provided with a circular slideway for the walking wheels to rotationally walk, and can be coated with a lubricating medium, the screwing directions between the loop bars 410 are consistent, and after the two adjacent loop bars 410 are spirally extended to a certain distance, the loop bars are fixed and cannot be screwed long, and can only be screwed short along opposite directions, at least three upper struts 41 are circumferentially arranged along the bottom surface of the upper base 40 to support the upper base 40 above the walking base 1, wherein, the shelf 50 can be a shelf formed by a plurality of horizontal plates and vertical plates which are mutually butted and fixed, or a shelf formed by a plurality of plate bodies which are fixedly connected in a buckled manner, and is mainly used for forming a space for clamping the object placing plate 51, and preventing spherical objects from falling along the circumferential direction of the spherical objects, in the using process, when spherical objects need to be collected, the telescopic motor 46 is started to control the connecting rod 44 to rotate, so as to drive the upper pillar 41 to be screwed to the shortest length, at the moment, the telescopic motor 46 drives the guide plate 67 to move upwards to one end of the guide plate 67 to be communicated with the highest point of the topmost object placing plate 51 through the second scroll bar 60, the second scroll bar 61, the first pulley 62, the second pulley 66 and the third pulley of the transmission mechanism 6 synchronously, the spherical objects slide to the topmost object placing plate 51 from the other end of the guide plate 67, sequentially pass through the opening 43, are overlapped and leveled downwards along the, the walking base 1 walks to drive the loaded spherical object to a preset position, the telescopic motor 46 is started to control the connecting rod 44 to rotate along the opposite direction, and further drive the upper support 41 to be screwed to be longest in length, at the moment, the telescopic motor 46 drives the guide plate 67 to move downwards to enable one end of the guide plate to be in flush communication with the lowest point of the object placing plate 51 at the lowest end through the second scroll 60, the second scroll 61, the first pulley 62, the second pulley 66 and the third pulley of the transmission mechanism 6 synchronously, the spherical object slides to the guide plate 67 from the object placing plate 51 at the lowest end, and unloading is completed under the same situation. Adopt this kind of scheme can be through the synchronous setting of telescopic machanism and drive mechanism 6, the relative position that thing board 51 and deflector 67 were put in the regulation and control slope realizes quick automatic collection and uninstallation spherical article, when collecting and uninstalling, utilizes the action of gravity, improves conveying efficiency, and the material resources of using manpower sparingly that is very big simultaneously to avoid the transportation to be the goods that causes damage, simple structure and easily control, low cost.
In another technical solution, the walking base 1 includes: the device comprises a mounting plate 10, two driving wheels 11 and two driven wheels 12 arranged on the bottom surface of the mounting plate 10, and two walking motors 13 respectively connected with the two driving wheels 11;
further comprising: an upper level device 2 for generating teaching data;
and the control device 3 is in communication connection with the superior device 3 and is used for receiving teaching data, and the control device 3 is connected with the walking motor 13 and is used for controlling the walking motor 13 to work according to the teaching data. By adopting the scheme, various operations executed by the walking motor 13 of the transport robot are controlled by the control device 3, the control device 3 is in communication connection with the walking motor 13 of the transport robot so as to be capable of controlling the work of the walking motor 13 and further controlling the motion direction and the running displacement of the walking base 1, the superior device 2 is in communication connection with the control device 3, the control device 3 obtains teaching data for teaching the work of the walking motor 13 from the superior device 2, the control device 3 controls the walking motor 13 to realize the work of the teaching data stored in the control device 3, an operator can monitor the transport robot through the superior device 2, namely the control device 3 can control the walking route of the walking base 1 according to the preset time displacement, and the autonomous work of the transport robot is realized.
In another technical solution, the mounting plate 10 is rectangular, the number of the upper support columns 41 is four, and the four upper support columns 41 are respectively located at four corners of the mounting plate 10. With this arrangement, a stable structure can be formed.
In another technical solution, the control device 3 is connected to the telescopic motor 46, and is configured to control the telescopic motor 46 to operate according to teaching data. With this arrangement, various operations performed by the telescopic motor 46 of the transport robot are controlled by the control device 3, the control device 3 is in communication connection with the telescopic motor 46 of the transport robot to be able to control the operation of the telescopic motor 46, thereby controlling the extension and retraction of the upper column 41 and the up-down movement of the guide plate 67, the upper device 2 and the control device 3 are in communication connection with each other, the control device 3 obtains teaching data for teaching the operation of the telescopic motor 46 from the upper device 2, the control device 3 controls the telescopic motor 46 to realize the operation of the teaching data stored in the control device 3, and an operator can monitor the transport robot through the upper device 2 to realize the autonomous operation of the transport robot.
In another embodiment, the diameter of the first pulley 62 away from the shelf 50 is larger than the diameter of the first pulley 62 near the shelf 50;
when the upper support 41 is screwed to the shortest length, the direction of the guide plate 67, i.e. the actor's plum shelf 50, is obliquely and upwards arranged, and the included angle between the guide plate and the horizontal plane is 10-20 degrees;
when the upper support 41 is screwed to the longest length, the guide plate 67 is inclined downward in a direction away from the shelf 50, and the included angle between the guide plate and the horizontal plane is 10-20 degrees. By adopting the scheme, the guide plate 67 can be controlled to form a certain included angle with the horizontal plane, so that the collection, transportation and unloading of goods are accelerated and facilitated.
In another technical scheme, the through hole 65 is vertically communicated with a guide pipe 7 downwards, the bottom end of the guide pipe 7 is fixedly connected with a storage plate 51 positioned below, and the side wall of the lower end of the guide pipe 7 is provided with a notch so as to form an outlet 70 with the storage plate 51. The adoption of the scheme can limit the transmission path of the spherical objects.
In another technical scheme, a plurality of elastic rubber strips are arranged on the inner side wall of the guide pipe 7 at intervals towards the direction of the central axis of the guide pipe 7. By adopting the scheme, the friction force between the spherical object and the inner wall of the guide pipe 7 can be increased, the running speed of the spherical object is reduced, and the spherical object is prevented from being damaged.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the automatic collection and transportation robot for spherical objects of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. The utility model provides a ball spare automatic collection transportation robot which characterized in that includes:
a traveling base;
telescopic machanism, it is located walking base top, it includes:
an upper base located above the walking base;
the bottom ends of the three upper supporting columns are fixedly connected with the upper surface of the walking base, the top ends of the three upper supporting columns are fixedly connected with the bottom surface of the upper base in a rotating mode, each upper supporting column comprises a plurality of loop bars which are sequentially sleeved in a spiral mode from bottom to top from inside to outside, the three upper supporting columns are arranged along the circumferential direction of the bottom surface of the upper base, belt pulleys which are matched in size are arranged between the loop bars at the top ends of any two adjacent upper supporting columns along the circumferential direction of the bottom surface of the upper base, the pair of belt pulleys are driven by a belt, an opening is formed in the top surface of one upper supporting column of the upper base, and the opening and the upper supporting columns are arranged coaxially, so that the;
the connecting rod vertically penetrates through the opening and is integrally formed with the top surface of the sleeve rod positioned at the opening, and two first turbines are sleeved on the connecting rod at intervals along the circumferential direction of the connecting rod;
the output end of the telescopic motor is connected with a first scroll bar which is meshed with one of the first turbines,
so as to drive the connecting rod to rotate;
the storage mechanism comprises a goods shelf arranged on the top surface of the upper base and an even number of object placing plates clamped along the circumferential direction of the inner side wall of the goods shelf, the object placing plates are obliquely arranged, the highest point and the lowest point of any two adjacent object placing plates are positioned on the same straight line along the vertical direction, the lowest end of the object placing plate positioned above the any two adjacent object placing plates is provided with an inlet, and the topmost end of the object placing plate positioned at the topmost end and the connecting rod are positioned on the same side surface of the goods shelf;
drive mechanism, it is located the top surface of upper base, it includes:
one end of the second worm is meshed with the other first worm wheel on the connecting rod;
the second worm wheel is meshed with the other end of the second worm rod, a first pulley is fixedly arranged at the two ends of the central shaft of the second worm wheel, and a rope is fixed on each first pulley;
the strip-shaped plate is positioned on one side, close to the connecting rod, of the goods shelf and is vertically arranged along the direction far away from the goods shelf, two through holes are formed in the upper end of the strip-shaped plate, a second pulley is arranged in each through hole, and two sliding grooves are formed in the side wall, far away from the second turbine, of one side of the strip-shaped plate in parallel along the length direction of the strip-shaped plate;
the guide plate is a U-shaped groove and is perpendicular to the strip-shaped plate along the width direction of the strip-shaped plate, and one side, close to the strip-shaped plate, of the guide plate is provided with a sliding block matched with the sliding groove; the side wall of one side of the strip-shaped plate, which is far away from the second turbine, is provided with two brackets, each bracket extends to the position right above the guide plate along the direction far away from the strip-shaped plate, the free end of each bracket is provided with a third pulley, the other ends of the two ropes respectively pass around the second pulley and the third pulley, and the outlet ends of the two ropes are connected with the guide plate so as to drive the guide plate to slide up and down along the strip-shaped plate;
when the upper strut is spirally contracted to the shortest length, one end of the guide plate is in flush communication with the highest point of the topmost object placing plate;
when the upper prop is spirally extended to the longest length, one end of the guide plate is flush and communicated with the lowest point of the bottommost object placing plate.
2. An automated spherical article collecting and transporting robot as claimed in claim 1, wherein said walking base comprises: the device comprises a mounting plate, two driving wheels, two driven wheels and two walking motors, wherein the two driving wheels and the two driven wheels are arranged on the bottom surface of the mounting plate;
further comprising: an upper level device for generating teaching data;
and the control equipment is in communication connection with the superior equipment and used for receiving teaching data, and the control equipment is connected with the walking motor and used for controlling the walking motor to work according to the teaching data.
3. The robot for automatically collecting and transporting spherical objects according to claim 2, wherein said mounting plate is rectangular, said upper support columns are four, and four upper support columns are located at four corners of said mounting plate.
4. An automated spherical object collecting and transporting robot as claimed in claim 2, wherein said control device is connected to said telescopic motor for controlling the operation of said telescopic motor according to teaching data.
5. An automated spherical item collection and transport robot as recited in claim 1, wherein the diameter of the first pulley distal from said shelf is greater than the diameter of the first pulley proximal to said shelf;
when the upper support is screwed to the shortest length, the guide plate is obliquely and upwards arranged along the direction far away from the goods shelf, and the included angle between the guide plate and the horizontal plane is 10-20 degrees;
when the upper support is screwed to the maximum length, the guide plate is obliquely and downwards arranged along the direction far away from the goods shelf, and the included angle between the guide plate and the horizontal plane is 10-20 degrees.
6. An automatic collection and transportation robot for spherical objects as claimed in claim 1, wherein the through hole is vertically and downwardly communicated with a guide tube, the bottom end of the guide tube is fixedly connected with the object placing plate located below, and the side wall of the lower end of the guide tube has a gap to form an outlet with the object placing plate.
7. An automatic collection and transportation robot for spherical objects as claimed in claim 6, wherein a plurality of elastic rubber strips are provided at intervals on the inner side wall of said guide tube in the direction toward the central axis of said guide tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710627062.9A CN107487603B (en) | 2017-07-28 | 2017-07-28 | Automatic collecting and transporting robot for spherical objects |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710627062.9A CN107487603B (en) | 2017-07-28 | 2017-07-28 | Automatic collecting and transporting robot for spherical objects |
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| CN107487603A CN107487603A (en) | 2017-12-19 |
| CN107487603B true CN107487603B (en) | 2020-04-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201168401Y (en) * | 2008-01-04 | 2008-12-24 | 华南农业大学 | Electric tennis ball picking machine with manipulator |
| US20110241845A1 (en) * | 2010-04-06 | 2011-10-06 | Sullivan Robert P | Automated Material Handling System with Identification Features |
| CN105151622B (en) * | 2015-09-07 | 2017-08-01 | 上海交通大学 | Book automatic pick and place device |
| CN205257304U (en) * | 2015-12-10 | 2016-05-25 | 中国汽车工业工程有限公司 | Automatic work piece transfer device for descaling machine that polishes of bent axle |
| CN105731012B (en) * | 2016-03-14 | 2018-01-05 | 昆明昆船物流信息产业有限公司 | A kind of full-automatic battery being connected between storage production tears code, induction system open |
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