CN109760010A - A multifunctional handling robot - Google Patents
A multifunctional handling robot Download PDFInfo
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- CN109760010A CN109760010A CN201910201004.9A CN201910201004A CN109760010A CN 109760010 A CN109760010 A CN 109760010A CN 201910201004 A CN201910201004 A CN 201910201004A CN 109760010 A CN109760010 A CN 109760010A
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- 239000012636 effector Substances 0.000 claims abstract description 24
- 238000013519 translation Methods 0.000 claims description 83
- 239000000463 material Substances 0.000 claims description 19
- 230000000630 rising effect Effects 0.000 claims description 18
- 210000000245 forearm Anatomy 0.000 claims description 12
- 210000000707 wrist Anatomy 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000032258 transport Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 5
- 241000237858 Gastropoda Species 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000014616 translation Effects 0.000 description 60
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
本发明提供了一种多功能搬运机器人，包括车架、设于车架内侧的车架驱动部分、分别设于车架上部前端和车架上部后端的顶升部分、设于车架中部的具有可更换末端执行器的抓取部分；顶升部分能够搬运尺寸较大或较重货物，抓取部分则可根据需求更换末端执行器，从而能够抓取不同形状或者重量的物件。本发明带有顶升部分和抓取部分两个结构，与现有搬运机器人相比，增加了一种工作模式，无需更换机器人即可完成顶升和抓取两项工作，具有一定的通用性。
The invention provides a multifunctional transport robot, comprising a frame, a frame driving part arranged on the inner side of the frame, a jacking part respectively arranged at the upper front end and the upper rear end of the frame, and a The grabbing part of the end effector can be replaced; the jacking part can handle large or heavy goods, and the grabbing part can replace the end effector according to the needs, so that it can grab objects of different shapes or weights. The invention has two structures of a lifting part and a grasping part. Compared with the existing handling robot, a working mode is added, and the two tasks of lifting and grasping can be completed without replacing the robot, and it has certain versatility. .
Description
Technical field
The present invention relates to intelligent robot technology field more particularly to a kind of multi-functional carrying robots.
Background technique
Intelligent transfer robot is mainly to realize that the cargo from starting point to target point is carried, current most of conveying robots
The function of people is more single, can only carry a kind of cargo, but in actual factory, it is most of all to be carried in different occasions
In addition different cargos may require that sometimes while carry two different cargos, or need the article on some shelf point
It is dealt into different places, these processes generally can only cooperate completion work by using two or more different types of robots
Make, and station is more, the robot needed is also more, causes robot waste serious.
Summary of the invention
The main object of the present invention is to provide a kind of multi-functional carrying robot, it is intended to solve existing transfer robot function
Single problem.
To achieve the goals above, the technical solution adopted by the present invention is that providing a kind of multi-functional carrying robot, including
Vehicle frame, set on frame inside vehicle frame drive part, be respectively arranged on the jacking part of vehicle frame top front end and vehicle frame upper rear end,
Gripping portion in the middle part of vehicle frame；
Vehicle frame is generally rectangular, including preceding riser, rear riser, left riser, right riser, left motor mounting plate, right motor mounting plate,
Jack partially supported plate, jacking part support column；Vehicle frame drive part includes wheel and wheel drive part；Jacking part includes
Two jacking modules, two sprocket wheels, a chain, a jacking motor, a jacking motor mount；Gripping portion, including
Mechanical arm jacking module, is fixed on mechanical arm translation module at the mechanical arm translation module being fixed on above mechanical arm jacking module
In translatable component on mechanical arm handling module, mechanical arm handling module be multivariant mechanical arm, end connection
There is the end effector that can be replaced, for realizing the function of multi-functional carrying robot crawl different material.
Further, the preceding riser is the L shaped plate positioned at front end, and rear riser is the L shaped plate positioned at rear end, and left riser is one
A to be separately fixed at the L-type plate on preceding riser and rear riser positioned at vehicle frame left end, rear and front end, right riser is one and is located at
Vehicle frame right end, rear and front end are separately fixed at the L-type plate on preceding riser and rear riser, and left motor mounting plate is one and is located at
Frame inside is fixed on the L-type plate on preceding riser and rear riser by left part, rear and front end vertically respectively, in left motor mounting plate
Portion upper end is provided with arcuate socket, and right motor mounting plate is one and is fixed on vertically respectively positioned at frame inside by right part, rear and front end
L-type plate on preceding riser and rear riser jacks there are two partially supported plates, and jacking partially supported plate is that level is fixed on respectively
The L-type plate of vehicle frame front end and vehicle frame rear end jacks there are four the support columns of part, is the threaded solid load-bearing pillar in upper end, and two
It is a jacking part support column be fixed on vertically respectively left motor mounting plate side first half and latter half of, other two jacking portion
Branch's dagger is fixed on the side first half of right motor mounting plate and latter half of vertically respectively.
Further, the wheel drive part includes driving wheel motor, first gear, second gear, drive shaft, driving
Wheel bearing, driving wheel bearing mount, Wheel retainer ring, gear retaining ring；
There are four the driving wheel motors, before the inside for being mounted on left motor mounting plate is bolted in two driving wheel motors
Half part and inside latter half, before the inside for being mounted on right motor mounting plate is bolted in other two driving wheel motor
Half part and inside latter half, there are four first gears, is separately fixed on driving wheel motor axis, and there are four second gears,
It is separately fixed on drive shaft, second gear is meshed with first gear, and second gear side is tightly attached to the axis of drive shaft
On shoulder, the other side is tightly attached on gear retaining ring, and there are four the wheels, and wheel is connected by key on drive shaft, driving wheel
The both ends of axis are respectively placed in the inner ring of driving wheel bearing, and driving wheel bearing inner race is tightly attached on the shaft shoulder of drive shaft, driving wheel
Bearing outer ring is tightly attached on driving wheel bearing mount, and driving wheel bearing mount is fixed on left riser, right riser, left motor peace
In loading board and right motor mounting plate, Wheel retainer ring, gear retaining ring are fixed in the groove on drive shaft.
Further, two jacking modules include jacking module housing, jacking module housing top plate, worm screw, jacking part snail
Rod bearing, worm gear, jacking module internal screw thread multi-diameter shaft, lower deep groove ball bearing, gasket, pushes away jacking module worm bearing mounting base
Power ball bearing, upper deep groove ball bearing, the dust-proof top plate of jacking module, leads rising stem, raising plate, screw rod at U-shaped circle；
The jacking module housing is bolted on jacking part support column, and the lower end plate part for jacking module housing is fixed
On jacking partially supported plate, jacking motor mount is bolted on the lower end plate part of jacking module housing, jacking
Motor is horizontally fixed on jacking motor mount, and steering sprocket key is connected on jacking motor shaft, and chain is meshed with two sprocket wheels；
Jacking module housing top plate is fixed in jacking module housing, and jacking module housing top plate opens that there are two of different sizes logical
Hole and four threaded holes are used to be used for compared with small through hole by leading rising stem, four threaded holes are used for screw thread by screw rod compared with large through-hole
The connection jacking dust-proof top plate of module and jacking module housing top plate；
The worm screw connect with the pivot pin of jacking motor, and worm screw jacking part worm bearing support jacks part worm bearing
Outer ring abuts against in jacking module worm bearing mounting base, and jacking part worm bearing inner ring abuts against on the worm screw shaft shoulder, jacks
Module worm bearing mounting base is fixed in jacking module housing, and worm gear is meshed in the horizontal direction with worm screw；
Worm gear upper surface abuts U-shaped circle lower surface, and U-shaped circle upper surface is tightly attached to deep groove ball bearing inner ring lower end, upper deep-groove ball
The outer ring upper end of bearing abuts against the jacking dust-proof top plate lower surface of module, and the jacking dust-proof top plate of module is threaded in jacking module
Upper surface of outer cover, worm gear lower end surface abut against jacking module internal screw thread multi-diameter shaft shaft shoulder upper surface, lower deep groove ball bearing it is interior
Circle upper end abuts against the shaft shoulder lower end surface of jacking module internal screw thread multi-diameter shaft, and the inner ring lower end of lower deep groove ball bearing abuts against gasket
Upper end, gasket lower end abut against thrust ball bearing upper surface, and thrust ball bearing lower surface abuts against in jacking module housing, screw rod
Across jacking module internal screw thread multi-diameter shaft, screw rod is threadedly coupled with jacking module internal screw thread multi-diameter shaft, and raising plate is welded on screw rod
It leads rising stem for jacking cargo and is vertically arranged, lead and be welded on raising plate lower surface at the top of rising stem, lead rising stem and pass through jacking in top
The through-hole of module housing top plate upper end.
Further, the mechanical arm jacking module includes mechanical arm jacking driving motor, mechanical arm lifting body, mechanical arm
Translation module include mechanical arm translation motor, mechanical arm translation motor mounting base, translation motor shaft coupling, guide rod mounting base,
Mobile station, translation screw rod, guided in translation bar, mechanical arm translate chassis, and mechanical arm handling module includes mechanical arm turret base, machine
Tool arm turntable, mechanical arm shoulder, mechanical arm large arm, mechanical arm ancon, mechanical arm forearm, mechanical wrist, end effector；
Mechanical arm jacking driving motor is lain in a horizontal plane in the arcuate socket in the middle part of left motor mounting plate, and mechanical arm jacks driving motor
Pivot pin is connected on the worm screw in mechanical arm lifting body, mechanical arm lifting body and the jacking modular structure phase in jacking part
Together；
Mechanical arm translation chassis is fixed on the raising plate in mechanical arm lifting body, and mechanical arm translation motor mounting base is fixed on
The upper surface of mechanical arm translation chassis left end, mechanical arm translation motor are bolted in mechanical arm translation motor mounting base, are translated
Screw rod is co-axially mounted by translation motor shaft coupling and mechanical arm translation motor, and there are two guide rod mounting bases, is separately fixed at
Mechanical arm translates the upper surface left and right ends of chassis, and left part, middle part and the right station of guide rod mounting base are provided with through-hole, moves
Left part, middle part and the right station of dynamic platform are provided with through-hole, and translation screw rod passes through in two guide rod mounting bases and mobile station
Portion's through-hole, there are two guided in translation bars, and parallelly distribute on is in translation screw rod two sides, and two guided in translation bar difference pin connections are at two
Guide rod mounting base left part, right part correspondence through-hole in, two guided in translation bars be each passed through mobile station left part, right part it is logical
Hole, mobile station lower surface are contacted with mechanical arm translation chassis by film lubrication, and mobile station is oriented to by translation screw rod at two
It is translated between bar mounting base；
The mechanical arm turret base is fixed on a mobile station, and mechanical arm turntable is fixed on the stretching of mechanical arm turret base top
On rotatable disc, mechanical arm shoulder is fixed on mechanical arm turntable, and mechanical arm large arm one end is connected to turning for mechanical arm shoulder
In dynamic pair, the other end of mechanical arm large arm is connected in the revolute pair of mechanical arm ancon, and one end of mechanical arm forearm is connected to machine
In the rotary shaft in tool elbow portion, the other end of mechanical arm forearm is connected in the revolute pair of mechanical wrist, on mechanical wrist
It is fixed with end effector, movable position is driven by motor each of in mechanical arm handling module.
Further, the jacking module housing is that a lower part is provided with plate part, top is a squarish
Shell jacks and is provided with threaded hole in the lower flat plate of module housing, props up for being threadedly coupled jacking module housing and jacking part
Fagging, the shell for jacking module housing is opened up and down there are two concentric pylone, for jacking the shell one of module housing by worm screw
Side is opened there are four threaded hole, for fixed jacking module worm bearing mounting base.
Further, the wheel is Mecanum wheel, for realizing the all-around mobile of multi-functional carrying robot, jacking
Anti-slip material is provided on plate, slippage occurs in cargo when for preventing multi-functional carrying robot from transporting goods.
Further, the end effector is a pair of of electrical parallel clamping jaw, is mainly used for the lesser material of weight capacity.
Further, the end effector is magnechuck, is mainly used for adsorbing irony class workpiece.
Further, the end effector is vacuum chuck, is mainly used for the more smooth material of absorption surface.
The beneficial effects of the present invention are: overall structure height of the present invention is lower, is conducive to exercise to bottom shelf, jacks goods
Frame ships the shelves to designated position；While the present invention jacks shelf, mechanical arm handling module can grab lesser object
Material is transported together, is realized jacking and two kinds of functions of crawl and is deposited；During present invention jacking shelf transport, mechanical arm is grabbed
Different articles on shelf can be placed into different location according to field demand by modulus block, realize distribution of goods function, or
The article of working site different location is grabbed on shelf, realizes that article picks up function.In addition, the mechanical arm in gripping portion
Module and mechanical arm translation module are jacked, the working range space of mechanical arm handling module is increased.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is chassis structure schematic diagram of the invention；
Fig. 3 is wheel scheme of installation of the invention；
Fig. 4 is jacking part overall schematic of the invention；
Fig. 5 is jacking inside modules schematic diagram of the invention；
Fig. 6 is cross-sectional view at jacking module worm screw of the invention；
Fig. 7 is gripping portion overall structure diagram of the invention；
Fig. 8 is gripping portion schematic diagram of internal structure of the invention；
Fig. 9 is present invention jacking module housing schematic diagram；
Figure 10 is the mechanical arm handling module schematic diagram with magnechuck of the invention；
Figure 11 is electrical parallel clamping jaw schematic diagram of the invention；
Figure 12 is vacuum chuck schematic diagram of the invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, vehicle frame；2, vehicle frame drive part；3, part is jacked；4, gripping portion；1-1, preceding riser；1-2, rear riser；1-3, a left side
Riser；1-4, right riser；1-5, left motor mounting plate；1-6, right motor mounting plate；1-7, jacking partially supported plate；1-8, jacking
Part support column；2-1, driving wheel motor；2-2, first gear；2-3, second gear；2-4, drive shaft；2-5, drive shaft
It holds；2-6, wheel；2-7, Wheel retainer ring；2-8, gear retaining ring；2-9, driving wheel bearing mount；3-1, jacking module housing；
3-2, jacking module housing top plate；3-3, jacking motor mount；3-4, jacking motor；3-5, sprocket wheel；3-6, chain；3-7, snail
Bar；3-8, jacking part worm bearing；3-9, jacking module worm bearing mounting base；3-10, worm gear；In 3-11, jacking module
Threading steps axis；3-12, lower deep groove ball bearing；3-13, gasket；3-14, thrust ball bearing；3-15, U-shaped circle；3-16, upper zanjon
Ball bearing；3-17, the jacking dust-proof top plate of module；3-18, rising stem is led；3-19, raising plate；3-20, screw rod；4-1, mechanical arm jacking
Driving motor；4-2, mechanical arm translation motor；4-3, mechanical arm translation motor mounting base；4-4, translation motor shaft coupling；4-5,
Guide rod mounting base；4-6, mobile station；4-7, translation screw rod；4-8, guided in translation bar；4-9, mechanical arm translate chassis；4-10,
Mechanical arm turret base；4-11, mechanical arm turntable；4-12, mechanical arm shoulder；4-13, mechanical arm large arm；4-14, mechanical elbow
Portion；4-15, mechanical arm forearm；4-16, mechanical wrist；4-17, end effector；401, mechanical arm jacks module；402, machine
Tool arm translation module；403, mechanical arm handling module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, the following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..Based on the implementation in the present invention
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The scope of protection of the invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, and three etc., " multiple degrees of freedom " is meant that at least two freedom degrees, such as two, three
Deng unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral, unless otherwise restricted clearly.For
For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Fig. 1 be overall structure diagram of the invention, including vehicle frame 1, set on frame inside vehicle frame drive part 2, point
Not She Yu vehicle frame top front end and vehicle frame upper rear end jacking part 3, the gripping portion 4 in the middle part of vehicle frame.
Vehicle frame 1 is generally rectangular, including preceding riser 1-1, rear riser 1-2, left riser 1-3, right riser 1-4, left motor peace
Loading board 1-5, right motor mounting plate 1-6, jacking partially supported plate 1-7, jacking part support column 1-8；Vehicle frame drive part 2 includes
Wheel 2-6 and wheel drive part；Jacking part 3 includes two jacking modules, two sprocket wheel 3-5, a chain 3-6, one
Jack motor 3-4, a jacking motor mount 3-3；Gripping portion 4, including mechanical arm jack module 401, are fixed on machinery
The mechanical arm translation module 402 of 401 top of arm jacking module is fixed on the translatable component in mechanical arm translation module 402
Mechanical arm handling module 403, mechanical arm handling module 403 be multivariant mechanical arm, end, which is connected with, can carry out more
The end effector changed, for realizing the function of multi-functional carrying robot crawl different material.
As shown in Fig. 2, preceding riser 1-1 is the L shaped plate positioned at front end, rear riser 1-2 is the L shaped plate positioned at rear end, and a left side is perpendicular
Plate 1-3 is the L-type plate being separately fixed on preceding riser 1-1 and rear riser 1-2 positioned at 1 left end of vehicle frame, rear and front end,
Right riser 1-4 is the L-type being separately fixed on preceding riser 1-1 and rear riser 1-2 positioned at 1 right end of vehicle frame, rear and front end
Plate, left motor mounting plate 1-5 are one and are fixed on preceding riser 1-1 vertically respectively by left part, rear and front end on the inside of vehicle frame 1
With the L-type plate on rear riser 1-2, left motor mounting plate middle part upper end is provided with arcuate socket, and right motor mounting plate 1-6 is a position
The L-type plate on preceding riser 1-1 and rear riser 1-2, jacking portion are fixed on vertically respectively by right part, rear and front end in frame inside
There are two branch fagging 1-7, and jacking partially supported plate 1-7 is the L-type that level is fixed on vehicle frame 1 front end and vehicle frame rear end respectively
Plate jacks there are four part support column 1-8, is the threaded solid load-bearing pillar in upper end, and two jacking part support column 1-8 divide
It is not fixed on the side first half of left motor mounting plate 1-5 and latter half of, other two jacking part support column 1-8 difference vertically
It is fixed on the side first half of right motor mounting plate 1-6 and latter half of vertically.
As shown in Figure 2 and Figure 3, wheel drive part include driving wheel motor 2-1, first gear 2-2, second gear 2-3,
Drive shaft 2-4, driving wheel bearing 2-5, Wheel retainer ring 2-7, gear retaining ring 2-8, driving wheel bearing mount 2-9.
There are four driving wheel motor 2-1, and two driving wheel motor 2-1, which are bolted, is mounted on left motor mounting plate 1-
5 inside first half and inside latter half, other two driving wheel motor 2-1, which is bolted, is mounted on right motor peace
The inside first half and inside latter half of loading board 1-6, there are four first gear 2-2, is separately fixed at driving wheel motor 2-1
On axis, there are four second gear 2-3, is separately fixed on drive shaft 2-4, and second gear 2-3 is nibbled with first gear 2-2 phase
It closes, the side second gear 2-3 is tightly attached on the shaft shoulder of drive shaft 2-4, and the other side is tightly attached on gear retaining ring 2-8, the vehicle
It takes turns there are four 2-6, wheel 2-6 is connected by key on drive shaft 2-4, and the both ends of drive shaft 2-4 are respectively placed in driving wheel
The inner ring of bearing 2-5, driving wheel bearing 2-5 inner ring are tightly attached on the shaft shoulder of drive shaft 2-4, and the outer ring driving wheel bearing 2-5 is tight
It is attached on driving wheel bearing mount 2-9, driving wheel bearing mount 2-9 is fixed on left riser 1-3, right riser 1-4, left motor
On mounting plate -5 and right motor mounting plate 1-6, Wheel retainer ring 2-7, gear retaining ring 2-8 are fixed on the groove on drive shaft 2-4
It is interior.
As shown in Fig. 4, Fig. 5, Fig. 6, two jacking modules include jacking module housing 3-1, jacking module housing top plate 3-
2, worm screw 3-7, jacking part worm bearing 3-8, jacking module worm bearing mounting base 3-9, worm gear 3-10, jacking module in spiral shell
Line multi-diameter shaft 3-11, lower deep groove ball bearing 3-12, gasket 3-13, thrust ball bearing 3-14, U-shaped circle 3-15, upper deep groove ball bearing
3-16, the dust-proof top plate 3-17 of jacking module, rising stem 3-18, raising plate 3-19, screw rod 3-20 are led.
The jacking module housing 3-1 is bolted on jacking part support column 1-8, is jacked and is held level with both hands under module housing
Plate part is fixed on jacking partially supported plate 1-7, and jacking motor mount 3-3 is bolted to jacking module housing 3-1's
On the plate part of lower end, jacking motor 3-4 is horizontally fixed on jacking motor mount 3-3, and sprocket wheel 3-5 key connection is in jacking electricity
On machine 3-4 axis, chain 3-6 is meshed with two sprocket wheel 3-5.
Jacking module housing top plate 3-2 is fixed on jacking module housing 3-1, and jacking module housing top plate 3-2 is provided with two
A through-hole of different sizes and four threaded holes are used to be used for compared with small through hole by leading rising stem by screw rod 3-20 compared with large through-hole
3-18, four threaded holes are for being threadedly coupled the jacking dust-proof top plate 3-17 of module and jacking module housing top plate 3-2.
The worm screw 3-8 is connect with the 3-4 pivot pin of jacking motor, worm screw 3-7 jacking part worm bearing 3-8 support,
The jacking outer ring part worm bearing 3-8 abuts against on jacking module worm bearing mounting base 3-9, jacks part worm bearing 3-8
Inner ring abuts against on the worm screw 3-7 shaft shoulder, and jacking module worm bearing mounting base 3-9 is fixed on jacking module housing 3-1, worm gear
3-10 is meshed in the horizontal direction with worm screw 3-7.
The upper surface worm gear 3-10 abuts the lower surface U-shaped circle 3-15, and the upper surface U-shaped circle 3-15 is tightly attached to deep groove ball bearing 3-
16 inner ring lower ends, the outer ring upper end of upper deep groove ball bearing 3-16 abut against the jacking lower surface module dust-proof top plate 3-17, jack mould
The dust-proof top plate 3-17 of block is threaded in the jacking upper surface module housing 3-1, and the lower end surface worm gear 3-10 abuts against in jacking module
The shaft shoulder upper surface of threading steps axis 3-11, the inner ring upper end of lower deep groove ball bearing 3-12 abut against jacking module internal screw thread ladder
The shaft shoulder lower end surface of axis 3-11, the inner ring lower end of lower deep groove ball bearing 3-12 abut against the upper end gasket 3-13, the lower end gasket 3-13
The upper surface thrust ball bearing 3-14 is abutted against, the lower surface thrust ball bearing 3-14 abuts against on jacking module housing 3-1, screw rod 3-
20 pass through jacking module internal screw thread multi-diameter shaft 3-11, screw rod 3-20 is threadedly coupled with jacking module internal screw thread multi-diameter shaft 3-11, pushes up
Lift slab 3-19 is welded at the top of screw rod 3-20, for jacking cargo, is led rising stem 3-18 and is vertically arranged, lead welding at the top of rising stem 3-18
In the lower surface raising plate 3-19, the through-hole that rising stem 3-18 passes through the jacking upper end module housing top plate 3-2 is led.
As shown in Figure 7, Figure 8, the mechanical arm jacking module 401 includes that mechanical arm jacks driving motor 4-1, mechanical arm top
Rise mechanism；Mechanical arm translation module 402 includes mechanical arm translation motor 4-2, mechanical arm translation motor mounting base 4-3, translation electricity
Machine shaft coupling 4-4, guide rod mounting base 4-5, mobile station 4-6, translation screw rod 4-7, guided in translation bar 4-8, mechanical arm translate bottom
Frame 4-9, mechanical arm handling module 403 include mechanical arm turret base 4-10, mechanical arm turntable 4-11, mechanical arm shoulder 4-12,
Mechanical arm large arm 4-13, mechanical arm ancon 4-14, mechanical arm forearm 4-15, mechanical wrist 4-16, end effector 4-17.
As shown in Figure 1, mechanical arm jacking driving motor 4-1 lies in a horizontal plane in the arcuate socket in the middle part of left motor mounting plate 1-5
Interior, mechanical arm jacking driving motor 4-1 pivot pin is connected on the worm screw in mechanical arm lifting body, mechanical arm lifting body and top
Jacking modular structure in ascending part point is identical.
As shown in Figure 7, Figure 8, mechanical arm translation chassis 4-9 is fixed on the raising plate in mechanical arm lifting body, mechanical
Arm translation motor mounting base 4-3 is fixed on the upper surface of mechanical arm translation chassis 4-9 left end, mechanical arm translation motor 4-2 bolt and connects
It connects on mechanical arm translation motor mounting base 4-3, translation screw rod 4-7 passes through translation motor shaft coupling 4-4 and mechanical arm translation electricity
Machine 4-2 is co-axially mounted, and there are two guide rod mounting base 4-5, is separately fixed at upper surface of mechanical arm translation chassis 4-9 or so two
End, left part, middle part and the right station of guide rod mounting base 4-5 are provided with through-hole, left part, middle part and the right part of mobile station 4-6
Position is provided with through-hole, and translation screw rod 4-7 passes through the middle through-hole of two guide rod mounting base 4-5 and mobile station 4-6, and translation is led
To there are two bar 4-8, parallelly distribute on is oriented in the translation two sides screw rod 4-7, two guided in translation bar 4-8 difference pin connections at two
Bar mounting base 4-5 left part, right part correspondence through-hole in, two guided in translation bar 4-8 are each passed through mobile station 4-6 left part, right part
Through-hole, the lower surface mobile station 4-6 and mechanical arm translation chassis 4-9 contacted by film lubrication, and mobile station 4-6 passes through translation silk
Bar 4-7 is translated between two guide rod mounting base 4-5.
The mechanical arm turret base 4-10 is fixed on a mobile station, and mechanical arm turntable 4-11 is fixed on mechanical arm turntable bottom
On the rotatable disc that the seat top 4-10 is stretched out, mechanical arm shoulder 4-12 is fixed on mechanical arm turntable 4-11, mechanical arm large arm
The one end 4-13 is connected in the revolute pair of mechanical arm shoulder 4-12, and the other end of mechanical arm large arm 4-13 is connected to mechanical arm ancon
In the revolute pair of 4-14, one end of mechanical arm forearm 4-15 is connected in the rotary shaft of mechanical arm ancon 4-14, mechanical arm forearm
The other end of 4-15 is connected in the revolute pair of mechanical wrist 4-16, is fixed with end effector 4- on mechanical wrist 4-16
17, movable position is driven by motor (except vacuum chuck) each of in mechanical arm handling module 403.
As shown in figure 9, jacking module housing 3-1 is that a lower part is provided with plate part, top is a squarish
Shell, jack and be provided with threaded hole in the lower flat plate of module housing 3-1, for being threadedly coupled jacking module housing 3-1 and top
Partially supported plate 1-7 is risen, the shell for jacking module housing 3-1 is opened up and down there are two concentric pylone, for jacking mould by worm screw
The shell side of block shell 3-1 is opened there are four threaded hole, for fixed jacking module worm bearing mounting base 3-9.
As shown in Figure 1, Figure 2, Figure 3 shows, the wheel can be Mecanum wheel, for realizing multi-functional carrying robot
All-around mobile, settable anti-slip material on raising plate 3-19, cargo when for preventing multi-functional carrying robot from transporting goods
There is slippage.
As shown in Figure 10, end effector can be magnechuck, be mainly used for adsorbing irony class workpiece.
As shown in figure 11, end effector is also possible to a pair of of electrical parallel clamping jaw, and it is lesser to be mainly used for weight capacity
Material.
As shown in figure 12, end effector is also possible to vacuum chuck, is mainly used for the more smooth material of absorption surface.
There are two types of loading modes, i.e. jacking cargo and crawl cargo for present invention tool.When need to transport goods size or weight compared with
When reserving greatly and between cargo lower surface and ground the space that enough present invention drive into, the present invention transports goods using jacking part 3
Object can first use manpower or other equipment will if the insufficient space reserved between cargo lower surface and ground is driven into the present invention
Cargo is moved on raising plate 3-19 of the invention；When transport goods size or weight it is smaller and between cargo lower surface and ground it is pre-
When the insufficient space stayed is to allow the present invention to drive into, the present invention transports cargo using gripping portion；In addition shelf are jacked in the present invention
During transport, the different articles on shelf can be placed into live difference according to field demand by mechanical arm handling module 403
Position realizes distribution of goods function, or the article of working site different location is grabbed on shelf, realizes that article picks up function
Energy.
When being transported goods using jacking mode:
Firstly, driving first gear 2-2 to rotate in same direction, to make and first gear as shown in Fig. 2, driving wheel motor 2-1 is rotated forward
The second gear 2-3 of 2-2 engagement is rotated backward (relative to the direction of rotation driving wheel motor 2-1), is connect with second gear 2-3
Drive shaft 2-4 is rotated backward (relative to the direction of rotation driving wheel motor 2-1), and wheel 2-6 is rotated backward therewith (relative to drive
The direction of rotation driving wheel motor 2-1), by controlling the direction of rotation of four driving wheel motor 2-1, i.e., controllable wheel, thus real
Existing all-around mobile of the invention, underface of transporting goods needed for reaching the present invention along certain path.
Secondly, jacking motor 3-4 is rotated forward as shown in Fig. 4, Fig. 5, Fig. 6, made separately by the chain 3-6 engaged with sprocket wheel 3-5
Sprocket wheel 3-5 synchronous rotary in one jacking module realizes that two the synchronous of jacking module rise, due in two jacking modules
Portion's movement is identical, only illustrates wherein any one movement herein.
As shown in Fig. 4, Fig. 5, Fig. 6, jacking motor 3-4 is rotated forward, same therewith with the worm screw 3-7 of jacking motor 3-4 axis connection
Step rotation drives worm gear 3-10 and the jacking module internal screw thread multi-diameter shaft 3-11 to link together with worm gear 3-10 to rotate forward, by
It is welded on screw rod 3-20 in raising plate 3-19, leads and be welded on raising plate 3-19 at the top of rising stem 3-18, and lead rising stem 3-18
Lower end is placed in the relatively small through hole of the jacking upper end module housing top plate 3-2, and the rotary motion of screw rod 3-20 is limited with this, thus
Make and the jacking module internal screw thread multi-diameter shaft 3-11 screw rod 3-20 being threadedly coupled and the jacking welded together with screw rod 3-20
Plate 3-19 is moved straight up, and until raising plate 3-19 jacks up cargo, jacking motor 3-4 stops rotating.
Again, by controlling the direction of rotation of four driving wheel motor 2-1, of the invention determining can be realized and move, make
The present invention reaches target location along certain path.
Motor 3-4 reversion is jacked, the worm screw 3-7 synchronous rotary therewith with jacking motor 3-4 axis connection drives worm gear 3-10
And the jacking module internal screw thread multi-diameter shaft 3-11 reversion to link together with worm gear 3-10, to make and jacking module internal screw thread
The screw rod 3-20 of multi-diameter shaft 3-11 threaded connection and the raising plate 3-19 welded together with screw rod 3-20 are moved straight down,
Cargo is lowered, and until being placed to ground, jacking motor 3-4 stops rotating, and completes goods handling process.
When being transported goods using grasp mode:
Firstly, realizing all-around mobile of the invention by the direction of rotation for controlling four driving wheel motor 2-1, make the present invention
It transports goods needed for being reached along certain path other designated position.
Secondly, gripping portion of the invention is started to work.Mechanical arm jacking module 401 controls mechanical arm translation according to demand
Module 402 and mechanical arm handling module 403 reach the certain altitude (jacking in this module working principle and present invention jacking part
Module is the same, is not described in detail herein).
Again, as shown in Figure 7, Figure 8, mechanical arm translation motor 4-2 is rotated forward, and will be moved by translation motor shaft coupling 4-4
It is transmitted on translation screw rod 4-7, makes to translate screw rod 4-7 synchronous rotation, to drive mobile station 4-6 to move forward, if mechanical arm translates
Motor 4-2 reversion, then mobile station 4-6 is moved back, therefore can drive mechanical arm turret base 4- by control mechanical arm translation motor
10 translations, to realize that designated position is stretched out or be retracted into mechanical arm handling module 403.
Then, the motor work inside mechanical arm turret base 4-10, controls built-in retarder and transmits rotary motion
On the turntable stretched out to mechanical arm pedestal 4-10, thus realize the rotary motion of mechanical arm turntable 4-11 in the horizontal direction,
It is provided with revolute pair between mechanical arm shoulder 4-12 and mechanical arm large arm 4-13, passes through the motor in control mechanical arm large arm 4-13
Mechanical arm large arm 4-13 may be implemented and do pitching movement in vertical direction, the motor work inside mechanical arm ancon 4-14 can make
Mechanical arm ancon 4-14 realizes pitching movement, and the motor being arranged inside mechanical arm forearm 4-15 realizes mechanical arm forearm 4-15 itself
Rotary motion, reach specified position so as to control end effector 4-17.
When end effector 4-17 is electrical parallel clamping jaw, as shown in figure 11, the motor on parallel clamping jaw can control
It rotates forward, two meshing gears is driven to relatively rotate, so that parallel clamping jaw clamped closed, grabs cargo；When end executes
It when device 4-17 is magnechuck, as shown in Figure 10, is powered to magnechuck, so that it may which target goods absorption is got up；Work as end
When actuator 4-17 is vacuum chuck, as shown in figure 12, target goods are adsorbed on vacuum chuck, complete by vacuum pump pumping
Cargo crawl.
Then the present invention is moved to target position along scheduled path, after transfer robot stops movement, mechanical arm top
Rising mould block 401 and mechanical arm translation module 402 move to specific position, and mechanical arm handling module 403 moves simultaneously, end is held
Row device is moved to target point, when end effector 4-17 is electrical parallel clamping jaw, controls the motor reversal on parallel clamping jaw, band
Dynamic two meshing gears, so that parallel clamping jaw unclamps, place goods onto target position backwards to rotating, then of the invention
Gripping portion movement is withdrawn, and transfer robot is removed, and completes the whole process that cargo is grabbed and transported.
The present invention can also be performed material and distribute operating mode, i.e., the underface of the invention for moving to shelf position,
Shelf are jacked up using jacking part, transfer robot is moved according to given line, when the position for moving to material in need
When setting, the material on shelf is grabbed designated position, then transfer robot continues to move to, and goes next by gripping portion work
Distribute material in a position.
Material pickup work mode can also be performed in the present invention, i.e., the underface of the invention for moving to shelf position,
Shelf are jacked up using jacking part, transfer robot is moved according to given line, when moving to material to be picked up
When position, gripping portion work is grabbed material to be picked up on shelf, then transfer robot continues to move to, and goes next
Pick up material in position.
Claims (10)
1. a kind of multi-functional carrying robot, which is characterized in that including following part:
Vehicle frame, generally rectangular, the vehicle frame includes preceding riser, rear riser, left riser, right riser, left motor mounting plate, right electricity
Machine mounting plate, jacking partially supported plate, jacking part support column；
Set on the vehicle frame drive part of the frame inside, including wheel and wheel drive part；
It is respectively arranged on the jacking part of vehicle frame top front end and the vehicle frame upper rear end, including two jackings modules, two
A sprocket wheel, a chain, a jacking motor, a jacking motor mount；
Gripping portion in the middle part of the vehicle frame, including mechanical arm jack module, are fixed in the mechanical arm jacking module
Mechanical arm handling module in the mechanical arm translation module of side, the translatable component being fixed in the mechanical arm translation module,
The mechanical arm handling module is multivariant mechanical arm, and end is connected with the end effector that can be replaced, is used for
Realize the function of the multi-functional carrying robot crawl different material.
2. a kind of multi-functional carrying robot according to claim 1, which is characterized in that the preceding riser is to be located at front end
L shaped plate, it is described after riser be L shaped plate positioned at rear end, the left riser is one and is located at the vehicle frame left end, front and back two
End is separately fixed at the L-type plate on the preceding riser and the rear riser, and the right riser is one and is located at the vehicle frame most
Right end, rear and front end are separately fixed at the L-type plate on the preceding riser and the rear riser, and the left motor mounting plate is one
A L-type being fixed on vertically on the preceding riser and the rear riser respectively positioned at the frame inside by left part, rear and front end
Plate, the left motor mounting plate middle part upper end are provided with arcuate socket, and the right motor mounting plate is one and is located in the vehicle frame
Side is fixed on the L-type plate on the preceding riser and the rear riser, the jacking part by right part, rear and front end vertically respectively
There are two support plates, and the jacking partially supported plate is the L that level is fixed on the vehicle frame front end and the vehicle frame rear end respectively
Template, there are four jacking part support columns, is the threaded solid load-bearing pillar in upper end, and two jacking parts support
Column is fixed on the side first half of the left motor mounting plate and latter half of vertically respectively, other two described jacking part supports
Column is fixed on the side first half of the right motor mounting plate and latter half of vertically respectively.
3. a kind of multi-functional carrying robot according to claim 2, which is characterized in that the wheel drive part includes
Driving wheel motor, first gear, second gear, drive shaft, driving wheel bearing, driving wheel bearing mount, Wheel retainer ring, tooth
Take turns retaining ring；
There are four the driving wheel motors, and two driving wheel motors, which are bolted, is mounted on the left motor mounting plate
Inside first half and inside latter half, other two described driving wheel motor, which is bolted, is mounted on the right electricity
The inside first half and inside latter half of machine mounting plate, there are four the first gears, and the first gear is fixed respectively
On the driving wheel motor axis, there are four the second gears, and the second gear is separately fixed on the drive shaft,
The second gear is meshed with the first gear, and the second gear side is tightly attached on the shaft shoulder of the drive shaft,
The other side is tightly attached on the gear retaining ring, and there are four the wheels, and the wheel is connected by key on the drive shaft,
The both ends of the drive shaft are respectively placed in the inner ring of the driving wheel bearing, and the driving wheel bearing inner race is tightly attached to the drive
On the shaft shoulder of driving wheel axis, the drive shaft bearing outer-ring is tightly attached on the driving wheel bearing mount, the driving wheel bearing
Mounting rack is fixed on the left riser, the right riser, the left motor mounting plate and the right motor mounting plate, the vehicle
Wheel retaining ring, the gear retaining ring are fixed in the groove on the drive shaft.
4. a kind of multi-functional carrying robot according to claim 3, which is characterized in that two jacking modules include
Jack module housing, jacking module housing top plate, worm screw, jacking part worm bearing, jacking module worm bearing mounting base, snail
Wheel, jacking module internal screw thread multi-diameter shaft, lower deep groove ball bearing, gasket, thrust ball bearing, U-shaped circle, upper deep groove ball bearing, jacking
The dust-proof top plate of module leads rising stem, raising plate, screw rod；
The jacking module housing is bolted on the support column of the jacking part, the lower end plate of the jacking module housing
Part is fixed on the jacking partially supported plate, and the jacking motor mount is bolted to the jacking module housing
On the plate part of lower end, the jacking motor is horizontally fixed on the jacking motor mount, and the steering sprocket key is connected to institute
It states on jacking motor shaft, the chain is meshed with two sprocket wheels；
The jacking module housing top plate is fixed in the jacking module housing, there are two the jacking module housing top plate is opened
Through-hole of different sizes and four threaded holes are used to be used to lead liter by described compared with small through hole by the screw rod compared with large through-hole
Bar, four threaded holes are for being threadedly coupled the dust-proof top plate of the jacking module and the jacking module housing top plate；
The worm screw connect with the pivot pin of the jacking motor, and the worm screw is supported with the jacking part worm bearing, described
Jacking part worm bearing outer ring abuts against in the jacking module worm bearing mounting base, in the worm bearing of the jacking part
Circle abuts against on the worm screw shaft shoulder, and the jacking module worm bearing mounting base is fixed in the jacking module housing, institute
Worm gear is stated to be meshed in the horizontal direction with the worm screw；
The worm gear upper surface abuts U-shaped circle lower surface, and U-shaped circle upper surface is tightly attached in the upper deep groove ball bearing
Lower end is enclosed, the outer ring upper end of the upper deep groove ball bearing abuts against the dust-proof top plate lower surface of jacking module, the jacking mould
The dust-proof top plate of block is threaded in the jacking module housing upper surface, and the worm gear lower end surface abuts against in the jacking module
The shaft shoulder upper surface of threading steps axis, the inner ring upper end of the lower deep groove ball bearing abut against the jacking module internal screw thread ladder
The shaft shoulder lower end surface of axis, the inner ring lower end of the lower deep groove ball bearing abut against the gasket upper end, and the gasket lower end abuts
In the thrust ball bearing upper surface, the thrust ball bearing lower surface is abutted against in the jacking module housing, the screw rod
Across the jacking module internal screw thread multi-diameter shaft, the screw rod is threadedly coupled with the jacking module internal screw thread multi-diameter shaft, described
Raising plate is welded at the top of the screw rod, and for jacking cargo, the rising stem of leading is vertically arranged, and described lead is welded at the top of rising stem
The raising plate lower surface, the through-hole led rising stem and pass through the jacking module housing top plate upper end.
5. a kind of multi-functional carrying robot according to claim 4, which is characterized in that the mechanical arm jacks module packet
Mechanical arm jacking driving motor, mechanical arm lifting body are included, the mechanical arm translation module includes mechanical arm translation motor, machinery
Arm translation motor mounting base, translation motor shaft coupling, guide rod mounting base, mobile station translate screw rod, guided in translation bar, machinery
Arm translates chassis, and the mechanical arm handling module includes mechanical arm turret base, mechanical arm turntable, mechanical arm shoulder, mechanical arm
Large arm, mechanical arm ancon, mechanical arm forearm, mechanical wrist, end effector；
The mechanical arm jacking driving motor is lain in a horizontal plane in the arcuate socket in the middle part of the left motor mounting plate, the mechanical arm
Drive motor shaft pin connection is jacked on the worm screw in the mechanical arm lifting body, the mechanical arm lifting body and the top
Jacking modular structure in ascending part point is identical；
The mechanical arm translation chassis is fixed on the raising plate in the mechanical arm lifting body, the mechanical arm translation motor
Mounting base is fixed on the upper surface of the mechanical arm translation chassis left end, the mechanical arm translation motor and is bolted to the machinery
In arm translation motor mounting base, the translation screw rod is coaxial by the translation motor shaft coupling and the mechanical arm translation motor
Installation, there are two the guide rod mounting bases, is separately fixed at the upper surface left and right ends of the mechanical arm translation chassis, described
Left part, middle part and the right station of guide rod mounting base are provided with through-hole, and the left part of the mobile station, middle part and right station are equal
It is provided with through-hole, the translation screw rod passes through the middle through-hole of two the guide rod mounting bases and the mobile station, the translation
There are two guide rods, and parallelly distribute on is in the translation screw rod two sides, and two guided in translation bar difference pin connections are in two institutes
In the correspondence through-hole for stating guide rod mounting base left part, right part, two guided in translation bars be each passed through the mobile station left part,
The through-hole of right part, the mobile station lower surface are contacted with mechanical arm translation chassis by film lubrication, and the mobile station passes through institute
Translation screw rod is stated to translate between two guide rod mounting bases；
The mechanical arm turret base is fixed in the mobile station, and the mechanical arm turntable is fixed on mechanical arm turntable bottom
On the rotatable disc that seat top is stretched out, the mechanical arm shoulder is fixed on the mechanical arm turntable, the mechanical arm large arm
One end is connected in the revolute pair of the mechanical arm shoulder, and the other end of the mechanical arm large arm is connected to turning for mechanical arm ancon
In dynamic pair, one end of the mechanical arm forearm is connected in the rotary shaft of mechanical arm ancon, the other end of the mechanical arm forearm
It is connected in the revolute pair of mechanical wrist, is fixed with the end effector on the machinery wrist, the mechanical arm is grabbed
Movable position is driven by motor each of on modulus block.
6. a kind of multi-functional carrying robot according to claim 5, which is characterized in that the jacking module housing is one
A lower part be provided with plate part, top be a squarish shell, it is described jacking module housing lower flat plate on open
There is threaded hole, for being threadedly coupled jacking module housing and jacking partially supported plate, above and below the shell of the jacking module housing
It opens there are two concentric pylone, for being opened by the shell side of the worm screw, the jacking module housing there are four threaded hole, uses
In the fixation jacking module worm bearing mounting base.
7. a kind of multi-functional carrying robot according to claim 6, which is characterized in that the wheel is Mecanum
Wheel, for realizing the all-around mobile of the multi-functional carrying robot, is provided with anti-slip material on the raising plate, for preventing
There is slippage in cargo when only the multi-functional carrying robot transports goods.
8. a kind of multi-functional carrying robot according to claim 5, which is characterized in that the end effector is a pair
Parallel clamping jaw.
9. a kind of multi-functional carrying robot according to claim 5, which is characterized in that the end effector is electromagnetism
Sucker.
10. a kind of multi-functional carrying robot according to claim 5, which is characterized in that the end effector is true
Suction disk.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910201004.9A CN109760010B (en) | 2019-03-18 | 2019-03-18 | Multifunctional transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910201004.9A CN109760010B (en) | 2019-03-18 | 2019-03-18 | Multifunctional transfer robot |
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| CN109760010A true CN109760010A (en) | 2019-05-17 |
| CN109760010B CN109760010B (en) | 2023-12-22 |
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| CN113753784A (en) * | 2021-08-20 | 2021-12-07 | 武汉理工大学 | a handling robot |
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| CN109760010B (en) | 2023-12-22 |
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Effective date of registration: 20240507 Address after: No. 1305, Building A, Lianchuang No.1, No. 87 Cangyu Road, Yuhua District, Shijiazhuang City, Hebei Province, 050000 Patentee after: Hebei Hongjin Enterprise Management Group Co.,Ltd. Country or region after: China Address before: 264025 No. 186 Hongqi Middle Road, Zhifu District, Shandong, Yantai Patentee before: LUDONG University Country or region before: China |