CN108217183A - Offset shovel base device, the convolution that can be vertically moved up or down stack robot and method for carrying - Google Patents
Offset shovel base device, the convolution that can be vertically moved up or down stack robot and method for carrying Download PDFInfo
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- CN108217183A CN108217183A CN201810048275.0A CN201810048275A CN108217183A CN 108217183 A CN108217183 A CN 108217183A CN 201810048275 A CN201810048275 A CN 201810048275A CN 108217183 A CN108217183 A CN 108217183A
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- Prior art keywords
- gear
- scoop
- convolution
- shovel base
- mechanisms
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Classifications
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
Abstract
The invention discloses a kind of offset shovel base devices, the convolution that can be vertically moved up or down stacks robot and method for carrying, the robot includes control device, offset shovel base device, claw device, circle round swinging arm device, vertical lift device, shovel base device and underpan walking device, the offset shovel base device is arranged on the middle part of underpan walking device, the shovel base device is arranged on underpan walking device close to the position at rear portion, the vertical lift device is arranged on the forepart of underpan walking device, the convolution swinging arm device is arranged in vertical lift device, the claw device is fixedly connected with the end for the swinging arm device that circles round, the claw device, circle round swinging arm device, vertical lift device, shovel base device, underpan walking device and offset shovel base device are connect respectively with control device.The robot of the present invention has the function of to stablize gripping, spin storehouse, quickly launch, suitable for the carrying task of all kinds of irregular middle-size and small-size objects.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of offset shovel base device, the convolution stacker that can be vertically moved up or down
Device people and method for carrying belong to robot device's technical field.
Background technology
Robot is to automatically control being commonly called as machine, automatically controls machine and includes all simulation human behaviors or thought and mould
Intend the machinery (such as robot dog, Doraemon etc.) of other biological.There are many classification and dispute to the definition of robot in the narrow sense,
Some computer programs or even also referred to as robot.In contemporary industry, robot refers to the man-made machine that can perform task automatically
Device, to replace or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, meter
Calculation machine and artificial intelligence, materialogy and bionic product, scientific circles are to the research and development of this direction at present.
Invention content
First purpose of the present invention is to provide for a kind of offset shovel base device, which can greatly improve machine
Task efficiency.
Second object of the present invention is that providing a kind of convolution being vertically moved up or down stacks robot, which has
Stablize gripping, the function that spin is stacked and quickly launched, suitable for the carrying task of middle-size and small-size object, picked up with existing object
Robot is taken to compare, has many advantages, such as that applied widely, movement is flexible, stacking is quick, loading capacity is big, dispensing is accurate.
Third object of the present invention is to provide a kind of object transport method based on above-mentioned robot.
First purpose of the present invention can be reached by adopting the following technical scheme that：
Offset shovel base device, including the first scoop mechanism, transverse-moving mechanism and elevating mechanism, the elevating mechanism respectively with
First scoop mechanism is connected with transverse-moving mechanism, for the first scoop mechanism and transverse-moving mechanism to be driven to be carried out at the same time elevating movement, the
Direction of motion when one scoop mechanism and transverse-moving mechanism lift is opposite.
Further, the first scoop mechanism includes scoop cross bar, two blocks of scoop side plates and two connection montants, described
Two blocks of scoop side plates and two connection montants are symmetrical arranged, and two blocks of scoop side plates and two connection montants are an a pair
Should, two blocks of scoop side plates are fixedly connected respectively with scoop cross bar, and two connection montants are fixedly connected respectively with scoop cross bar, and point
It is not connect with elevating mechanism.
Further, the transverse-moving mechanism includes the first motor, first gear, second gear, third gear, the 4th tooth
Wheel, the first universal wheel, the second universal wheel, the first cross bar, the second cross bar and the first montant；
First cross bar and the second cross bar are symmetrical arranged, and second cross bar is fixedly connected with the first montant, and described
One montant is connect with elevating mechanism；
First motor is arranged on the outside of the first cross bar, and passes through the first drive shaft and connect with first gear；
The first gear, second gear, third gear, the 4th gear, the first universal wheel and the second universal wheel are arranged on
Between first cross bar and the second cross bar, and first gear, second gear, third gear and the 4th gear engage successively, and described
Two gears are fixedly connected with the first universal wheel, and the 4th gear is fixedly connected with the second universal wheel.
Further, the elevating mechanism includes the second motor, the 5th gear, the 6th gear, the 7th gear, octadentate
Wheel, the 9th gear, the tenth gear, the first rack, the second rack, the first sliding rail and the second sliding rail, second motor pass through
Two drive shafts are connect with the 5th gear, and the 5th gear engages respectively with the 6th gear, the 7th gear, and the 6th gear leads to
Transmission shaft to be crossed to connect with eighth gear, the eighth gear, the 9th gear and the first rack engage successively, the 7th gear,
Tenth gear and the second rack engage successively, and the first scoop mechanism is fixedly connected with the first rack, and are slided with the first sliding rail
Dynamic connection, the transverse-moving mechanism is fixedly connected with the second rack, and is slidably connected with the second sliding rail.
Second object of the present invention can be reached by adopting the following technical scheme that：
The convolution that can be vertically moved up or down stacks robot, including control device, claw device, convolution swinging arm device, vertical liter
Falling unit, shovel base device, underpan walking device and above-mentioned offset shovel base device, the offset shovel base device setting
At the middle part of underpan walking device, the shovel base device is arranged on underpan walking device close to the position at rear portion, described vertical
Lifting gear is arranged on the forepart of underpan walking device, and the convolution swinging arm device is arranged in vertical lift device, the pawl
Sub-device is fixedly connected with the end for the swinging arm device that circles round, the claw device, convolution swinging arm device, vertical lift device, shovel
Base device, underpan walking device and offset shovel base device are connect respectively with control device.
Further, the claw device include the first driving mechanism, the first transmission mechanism and clamping device, described first
Driving mechanism, the first transmission mechanism and clamping device are sequentially connected.
Further, the convolution swinging arm device includes two the second driving mechanisms, two cyclotron mechanisms and two swing arms,
Described two second driving mechanisms, two cyclotron mechanisms and two swing arms be symmetrical arranged, and two the second driving mechanisms, two
Cyclotron mechanism and two swing arms are to correspond, and each second driving mechanism is connected with corresponding cyclotron mechanism, each to circle round
Mechanism is connected with corresponding swing arm, and the end of two cyclotron mechanisms is used for fixed jaw sub-device.
Further, the vertical lift device includes two third driving mechanisms and two vertical lifting mechanisms, described
Two third driving mechanisms and two vertical lifting mechanisms are symmetrical arranged, and two third driving mechanisms and two vertical lifts
Mechanism is to correspond, and each third driving mechanism is connected with corresponding vertical lifting mechanism, described two vertical conveyors
Structure carries out vertical displacement movement for drive convolution swinging arm device.
Further, the shovel base device includes the 4th driving mechanism, the second transmission mechanism, the second scoop mechanism and two
A four-bar mechanism, the 4th driving mechanism are connect with the second transmission mechanism, and second transmission mechanism shovels respectively with second
Clamp mechanism, two four-bar mechanism connections, the second scoop mechanism are connect respectively with two four-bar mechanisms, and described two four
Link mechanism is symmetrical arranged.
Further, the underpan walking device include four the 5th driving mechanisms, four omni-directional wheels, two encoders,
Two follower rail bars, two inboard track bars and locating rod, four the 5th driving mechanisms and four omni-directional wheels are an a pair
Should, and each 5th driving mechanism is connected with corresponding omni-directional wheel；
The both sides of two of which omni-directional wheel are connect respectively with a wherein follower rail bar, wherein an inboard track bar,
Form one group of omni-directional wheel group, the both sides of other two omni-directional wheel are respectively with an other follower rail bar, in addition an outside is led
Rail bar connects, and forms another group of omni-directional wheel group, two groups of omni-directional wheel groups are symmetrical arranged；
One of encoder is disposed therein on the outside of an omni-directional wheel of one group of omni-directional wheel group, and corresponding with the omni-directional wheel
The connection of the 5th driving mechanism, another encoder is arranged on the outside of an omni-directional wheel of another set omni-directional wheel group, and with
The corresponding 5th driving mechanism connection of the omni-directional wheel；
The both ends of the locating rod are fixedly connected respectively in the middle part of two inboard track bars.
Third object of the present invention can be reached by adopting the following technical scheme that：
Object transport method based on above-mentioned robot, the method includes：
Underpan walking device is travelled to the pedestal for needing to scoop up, and is declined shovel base device, is carried out and scoop up pedestal
Prepare；
Underpan walking device continues to move forward, and shovel base device is made to shovel into pedestal, and pedestal is scooped up and is circled round again to chassis
It is placed on running gear；
Underpan walking device is travelled to object, and claw device grips an object, via convolution swinging arm device by object
Convolution is to placing on pedestal, and after placement, convolution swinging arm device circles round claw device to original position, underpan walking device travel again to
Before the object of next gripping, claw device continues to grip object；
After the object placed on pedestal reaches the quantity of setting, claw device grips next object, and makes vertically to rise
Falling unit rises, and convolution swinging arm device is driven to the height of setting, convolution swinging arm device circles round claw device to pedestal
Continue place object, and so on, after the object placed on pedestal is stacked to the height of setting, underpan walking device travel to
It is specified to launch place；
Shovel base device is put down, while underpan walking device moves forward, shovel base device is made to leave pedestal, completes object
The dispensing of body.
The present invention has following advantageous effect relative to the prior art：
1st, pedestal is placed on underpan walking device by robot of the invention by shoveling base device, is pressed from both sides by claw device
Object is taken, avoiding device via convolution circles round object to placing on pedestal, when the object placed on pedestal reaches the number of setting
After amount, the swinging arm device that circles round is risen to the height of setting by vertical lift device, convolution swinging arm device returns claw device
It is threaded to continue to place object on pedestal, claw device grips next object, when the object stacked on pedestal reaches the height of setting
After degree, underpan walking device travels to specified dispensing place, then is put down pedestal and its object of placement by shoveling base device,
Have the function of to stablize gripping, spin stacking and quickly launch, suitable for the carrying task of middle-size and small-size object, with existing object
Body pickup robot is compared, mobile flexible with applied widely, stacks quick, and loading capacity is big, launches the advantages that accurate.
2nd, in addition robot of the invention devises an offset shovel base device, the scoop machine on offset shovel base device
Direction of motion when structure and transverse-moving mechanism lift on the contrary, improve the service efficiency of elevating mechanism, and do not have between each other in this way
There is interference, and by offset shovel base device and shovel base device, robot can carry two pedestals, greatly increase simultaneously
Working efficiency；It in some complex road conditions, does not need to turn greatly, when only needing small left and right transverse shifting, on offset shovel base device
The work of elevating mechanism that scoop mechanism and transverse-moving mechanism share, makes scoop mechanism continue to rise, at the same transverse-moving mechanism drop to
Ground contacts, and transverse-moving mechanism work makes fuselage or so transverse shifting so that robot motion is flexible.
Description of the drawings
Fig. 1 is that the convolution being vertically moved up or down of the embodiment of the present invention 1 stacks robot structure diagram.
Fig. 2 is the dimensional structure diagram of one of angle of the offset shovel base device of the embodiment of the present invention 1.
Fig. 3 is the dimensional structure diagram of another angle of the offset shovel base device of the embodiment of the present invention 1.
Fig. 4 be the embodiment of the present invention 1 offset shovel base device in transverse-moving mechanism connect with elevating mechanism one of them
The schematic diagram of angle.
Fig. 5 be the embodiment of the present invention 1 offset shovel base device in transverse-moving mechanism connect with elevating mechanism another
The schematic diagram of angle.
Fig. 6 is the claw device dimensional structure diagram of the embodiment of the present invention 1.
Fig. 7 is the convolution swinging arm device of the embodiment of the present invention 1 and the correlation schematic diagram of vertical lift device.
Fig. 8 is the shovel base device positive structure schematic of the embodiment of the present invention 1.
Fig. 9 is the shovel base device side structure schematic diagram of the embodiment of the present invention 1.
Figure 10 is the shovel base device dimensional structure diagram of the embodiment of the present invention 1.
Figure 11 is the underpan walking device dimensional structure diagram of the embodiment of the present invention 1.
Wherein, 1- offset shovels base device, the first scoops of 101- mechanism, 1011- the first scoop cross bars, 1012- scoops side
Plate, 1013- connection montants, 102- transverse-moving mechanisms, the first motors of 10201-, 10202- first gears, 10203- second gears,
10204- third gears, the 4th gears of 10205-, the first universal wheels of 10206-, the second universal wheels of 10207-, 10208- first are horizontal
Bar, the second cross bars of 10209-, the first montants of 10210-, the first drive shafts of 10211-, the first transmission shafts of 10212-, 10213- second
Transmission shaft, 10214- third transmission shafts, 103- elevating mechanisms, the second motors of 10301-, the 5th gears of 10302-, 10303- the 6th
Gear, the 7th gears of 10304-, 10305- eighth gears, the 9th gears of 10306-, the tenth gears of 10307-, the first teeth of 10308-
Item, the second racks of 10309-, the first sliding rails of 10310-, the second sliding rails of 10311-, the second drive shafts of 10312-, 10313- the 4th are passed
Moving axis, the second montants of 10314-, 10315- third montants, the 5th transmission shafts of 10316-, the 6th transmission shafts of 10317-, 10318-
Four montants, the 5th montants of 10319-, the 7th transmission shafts of 10320-, 10321- third cross bars, the 4th cross bars of 10322-, 10323-
One steel plate, the second steel plates of 10324-, the lateral fixed blocks of 10325- first, the lateral fixed blocks of 10326- second, 10327- connecting plates,
The 6th montants of 10328-, the 7th montants of 10329-, 2- claw devices, the first driving mechanisms of 201-, 2011- third motors, 2012-
Third drive shaft, the first transmission mechanisms of 202-, the 11st gears of 2021-, the 12nd gears of 2022-, the 13rd gears of 2023-,
The 8th transmission shafts of 2024-, the 9th transmission shafts of 2025-, 203- clamping devices, the first supporting rods of 2031-, the second supporting rods of 2032-,
The first blade tooths of 2033-, the second blade tooths of 2034-, the first carrier bars of 204-, the second carrier bars of 205-, 206- guide rods, 207- first are solid
Dead axle, 3- convolution swinging arm devices, the second driving mechanisms of 301-, the 4th motors of 3011-, the 5th motors of 3012-, 3013- 4 wheel drivens
Moving axis, the 5th drive shafts of 3014-, 302- cyclotron mechanisms, the 14th gears of 3021-, the 15th gears of 3022-, 3023- the 16th
Gear, the first sprocket wheels of 3024-, the second sprocket wheels of 3025-, the first chains of 3026-, the tenth transmission shafts of 3027-, 3028- the 11st are passed
Moving axis, 303- swing arms, 304- inboard, upright fixed links, 305- reinforcing bars, 306- the first stable connection bars, 307- second are connected surely
Fixed pole, 308- third stable connection bars, 309- hexagon prisms, 17 gears of 310-, the tenth octadentate wheels of 311-, 312- the 12nd are driven
Axis, 4- vertical lift devices, 401- third driving mechanisms, the 6th motors of 4011-, the 6th drive shafts of 4012-, 402- vertical lifts
Mechanism, 4021- third sprocket wheels, the 4th sprocket wheels of 4022-, the second chains of 4023-, 4024- straight guides, the 4th stable connections of 403-
Bar, 404- left side vertical fixed plates, 405- right vertical fixed plates, fixinig plate on the inside of 406-, fixinig plate on the outside of 407-, 408- the
13 transmission shafts, 5- shovel base devices, the 4th driving mechanisms of 501-, the 7th drive shafts of 5011-, the second transmission mechanisms of 502-,
The 19th gears of 5021-, the 20th gears of 5022-, the 21st gears of 5023-, the 22nd gears of 5024-, 5025- second
13 gears, the 24th gears of 5026-, the 25th gears of 5027-, the 26th gears of 5028-, 5029- the 27th
Gear, the second scoops of 503- mechanism, 5031- the second scoop cross bars, 5032- vertical bars, 5033- horizon bars, the one 90 degree of 5034-
Gusset, 5035- the second an angle of 90 degrees faggings, 5036- steel bars, 504- four-bar mechanisms, 5041- first connecting rods, 5042- second connect
Bar, 5043- third connecting rods, 5044- fourth links, the first gaskets of 5045-, 5046- horizontal steel plates, 6- underpan walking devices,
The 5th driving mechanisms of 601-, the 8th drive shafts of 6011-, 602- omni-directional wheels, 603- encoders, 604- follower rail bars, in 605-
Side rails bar, 606- locating rods, the second fixing axles of 607-, 608- connecting rods.
Specific embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Embodiment 1：
As shown in Figure 1, present embodiments providing a kind of convolution being vertically moved up or down stacks robot, which includes horizontal stroke
Move shovel base device 1, claw device 2, convolution swinging arm device 3, vertical lift device 4, shovel base device 5, underpan walking device 6
And control device (not shown), the offset shovel base device 1 are arranged on the middle part of underpan walking device 6, shovel pedestal
Device 3 is arranged on underpan walking device 6 close to the position at rear portion, before vertical lift device 4 is arranged on underpan walking device 6
Portion, convolution swinging arm device 3 are arranged in vertical lift device 4, and claw device is fixedly connected with the end for the swinging arm device 3 that circles round,
Offset shovel base device 1, claw device 2, convolution swinging arm device 3, vertical lift device 4, shovel base device 5 and chassis walking dress
6 are put to connect with control device respectively.
As shown in Figure 1 to 4, the offset shovel base device 1 includes the first scoop mechanism 101, transverse-moving mechanism 102 and rises
Descending mechanism 103, elevating mechanism 103 are connect respectively with the first scoop mechanism 101 and transverse-moving mechanism 102, for driving the first scoop
Mechanism 101 and transverse-moving mechanism 102 are carried out at the same time elevating movement, movement when the first scoop mechanism 101 and transverse-moving mechanism 102 lift
Direction is opposite.
Further, the first scoop mechanism 101 includes 1011, two blocks of scoop side plates 1012 of the first scoop cross bar and two companies
Montant 1013 is connect, two blocks of scoop side plates 1011 and two connection montants 1012 are symmetrical set, and two blocks of scoop side plates
1012 and two connection montants 1013 be to correspond, two blocks of scoop side plates 1012 fix respectively with the first scoop cross bar 1011
Connection, is fixedly connected especially by screw, and two connection montants 1012 are fixedly connected respectively with the first scoop cross bar 1011, specifically
It is bolted to connection.
Further, transverse-moving mechanism 102 includes the first motor 10201, first gear 10202, second gear 10203, the
Three gears 10204, the 4th gear 10205, the first universal wheel 10206, the second universal wheel 10207, the first cross bar 10208, second
10209 and first montant 10210 of cross bar；First cross bar 10208 and the second cross bar 10209 are symmetrical arranged, the second cross bar 10209 with
First montant 10210 is fixedly connected, and the first motor 10201 is arranged on the outside of the first cross bar 10208, and passes through the first drive shaft
10211 connect with first gear 10202, first gear 10202, second gear 10103, third gear 10204, the 4th gear
10205th, the first universal wheel 10206 and the second universal wheel 10207 are arranged between the first cross bar 10208 and the second cross bar 10209,
And first gear 10202, second gear 10103,10204 and the 4th gear 10205 of third gear engage successively, second gear
10103 are fixedly connected with the first universal wheel 10206, and the 4th gear 10205 is fixedly connected with the second universal wheel 10207, wherein the
One gear 10202 is driving gear, and third gear 10204 is driven gear, and 10103 and the 4th gear 10205 of second gear is
For attached gear, the first universal wheel 10206 is active universal wheel, and the second universal wheel 10207 is driven universal wheel.
In the present embodiment, the both ends of the first drive shaft 10211 connect respectively with the first cross bar 10208, the second cross bar 10209
Connect, 10103 and first universal wheel 10206 of second gear by the first transmission shaft 10212 respectively with the first cross bar 10208, second
Cross bar 10209 connects, third gear 10204 by second driving shaft 10213 respectively with the first cross bar 10208, the second cross bar
10209 connections, the 4th gear 10205 and the second universal wheel 10207 by third transmission shaft 10214 respectively with the first cross bar
10208th, the second cross bar 10209 connects.
Further, elevating mechanism 103 includes the second motor 10301, the 5th gear 10302, the 6th gear 10303, the
Seven gears 10304, eighth gear 10305, the 9th gear 10306, the tenth gear 10307, the first rack 10308, the second rack
10309th, the first sliding rail 10310 and the second sliding rail 10311, the second motor 10301 pass through the second drive shaft 10312 and the 5th gear
10302 connections, the 5th gear 10302 engages respectively with the 6th gear 10303, the 7th gear 10304, wherein the 5th gear
10302 are located at centre, and the 6th gear 10303 and the 7th gear 10304 are located at upper and lower side respectively, and the 6th gear 10303 passes through the
Four transmission shafts 10313 are connect with eighth gear 10305, eighth gear 10305, the 9th gear 10306 and the first rack 10308 according to
Secondary engagement, the 7th gear 10304, the tenth gear 10307 and the second rack 10309 engage successively.
In the present embodiment, there are two eighth gears 10305, there are two the 9th gears 10306, the first rack 10308 has
Two, the first sliding rail 10310 has two, connects montants 1013 with two of corresponding first scoop mechanism 101, wherein a company
It connects in montant 1013 and its corresponding eighth gear 10305, the first rack 10308, the first sliding rail 10310, connects montant 1013
It is fixedly connected with eighth gear 10305, and is slidably connected with the first sliding rail 10310；First montant 10210 of transverse-moving mechanism 102
It is fixedly connected with the second rack 10309, and is slidably connected with the second sliding rail 10311；7th gear 10304 and the 9th gear
Gearratio between 10306 is 1：5, torque can be improved, improves object (pedestal) weight that can be scooped up.
During work, the second motor 10301 output power imparts power to the 5th gear by the second drive shaft 10312
10302, the 5th gear 10302 is driven to rotate, the 5th gear 10302 drives the 6th gear 10303, the 7th gear respectively again
10304 rotations, the 6th gear 10303 impart power to eighth gear 10305 by the 4th transmission shaft 10313, eighth gear
10305 the 9th gears 10306 of drive rotate, and the 9th gear 10306 rises the first rack 10308, so as to make 3 edge of connection montant
10310 vertical ascent of the first sliding rail, the first scoop cross bar 1011 vertical ascent therewith scoops up object；Meanwhile the 7th gear
10304 the 9th gears 10306 of drive rotate, and the tenth gear 10307 declines the second rack 10309, so as to make the first montant
10210 vertically decline along the second sliding rail 10311, the first cross bar 10208 and the vertical decline therewith of the second cross bar 10209；Similarly,
When the first scoop cross bar 1011 vertically declines, 10209 vertical ascent of the first cross bar 10208 and the second cross bar, it is seen that the first shovel
Direction of motion when clamp mechanism 101 and transverse-moving mechanism 102 lift on the contrary, improve the service efficiency of the second motor 10301 in this way,
And it does not interfere between each other.
In order to enable the 5th gear 10302, the 6th gear 10303, the 7th gear 10304 and the tenth gear 10307 steady
Fixed work, the elevating mechanism 103 of the present embodiment further include the second montant 10314 and third montant 10315, the second montant 10314
It is symmetrical set with third montant 10315, the 5th gear 10302, the 6th gear 10303, the 7th gear 10304, the tenth tooth
The 10307, second rack 10309 of wheel and the first montant 10210 are arranged between the second montant 10314 and third montant 10315, the
The both ends of four transmission shafts 10313 are each passed through the second montant 10314 and third montant 10315 is connect with eighth gear 10305, the
Two motors 10301 are arranged on the outside of the second montant 10314, and the both ends of the second drive shaft 10312 are each passed through the second montant
10314 and third montant 10315, the 7th gear 10304 by the 5th transmission shaft 10316 respectively with the second montant 10314, third
Montant 10315 connects, the tenth gear 10307 by the 6th transmission shaft 10317 respectively with the second montant 10314, third montant
10315 connections.
In order to enable 10306 steady operation of eighth gear 10305 and the 9th gear, the elevating mechanism 103 of the present embodiment
Further include two the 4th montants 10318 and two the 5th montants 10319, two the 4th montants 10318 and two the 5th montants
10319 be to be symmetrical set, and two the 4th montants, 10318, two the 5th montants, 10319, two eighth gears 10305
It is to correspond with two the 9th gears 10306, the 4th montant 10318 and its corresponding 5th montant wherein
10319th, in eighth gear 10305, the 9th gear 10306, it is perpendicular that 10305 and the 9th gear 10306 of eighth gear is arranged on the 4th
Between 10318 and the 5th montant 10319 of bar, wherein one end of the 4th transmission shaft 10313 passes through the 4th montant 10318 and the 5th perpendicular
Bar 10319, the 9th gear 10306 are connected by the 7th transmission shaft 10320 with the 4th montant 10318, the 5th montant 10319 respectively
It connects.
In the present embodiment, the second montant 10314,10315, two the 4th montants 10318 of third montant and two the 5th
Montant 10319 is each attached on a third cross bar 10321.
In order to fix the first sliding rail 10310, the elevating mechanism 103 of the present embodiment further includes 10322, two pieces of the 4th cross bar
First 10323, two piece second of steel plate steel plate 10324, two first transverse direction fixed block 10325 and two second lateral fixed blocks
10326, two piece of first steel plate 10323 and two piece of second steel plate 10324 are fixed on the 4th cross bar 10322, two piece of first steel plate
10323 are fixedly connected respectively with two the 4th montants 10318, two piece of second steel plate 10324 respectively with two the 5th montants 10319
It is fixedly connected, the lateral fixed block 10325 of two piece of first 10323, two piece second of steel plate steel plate 10324, two first and two the
Two lateral fixed blocks 10326 are symmetrical set, and two piece of first steel plate, 10323, two piece of second steel plate 10324, two the
One lateral lateral fixed block 10326, two the first racks, 10308, two the first sliding rails of fixed block 10325, two second
10310th, two connection montants 1013 are to correspond；One piece of first steel plate 10323 and its corresponding second steel plate wherein
10324th, first lateral the 10325, second transverse direction of fixed block fixed block 10326, the first rack 10308, the first sliding rail 10310, company
It connects in montant 1013, the first steel plate 10323 is located at outside, and the second steel plate 10324 is located inside, the first lateral fixed block 10325
It is located at upper and lower respectively with the second lateral fixed block 10326, passes through first between the first steel plate 10323 and the second steel plate 10324
The lateral lateral fixed block 10326 of fixed block 10325, second is fixedly connected, the first rack 10308, the first sliding rail 10310 and connection
Montant 1013 is arranged between the first steel plate 10323 and the second steel plate 10324, and it is laterally solid that the first sliding rail 10310 is fixed on first
Determine on the lateral fixed block 10326 of block 10325 and second.
In order to fix the second sliding rail 10311, the elevating mechanism 103 of the present embodiment further includes connecting plate the 10327, the 6th and erects
10328 and the 7th montant 10329 of bar, connecting plate 10327 are connect respectively with the 6th montant 10328 and the 7th montant 10329, and second
10309 and second sliding rail 10311 of rack is arranged between the 6th montant 10328 and the 7th montant 10329, and the second sliding rail
10311 are fixed on connecting plate 10327, and the 6th montant 10328 is fixedly connected with the second montant 10314, the 7th montant 10329 with
Third montant 10315 is fixedly connected.
As shown in Figure 1 and Figure 5, the claw device 2 includes the first driving mechanism 201, the first transmission mechanism 202 and clamping
Mechanism 203, the first driving mechanism 201, the first transmission mechanism 202 and clamping device 203 are sequentially connected, in order to be clearly seen each machine
Relationship between structure, Fig. 5 are illustrated that the view by overturning, skilled artisans appreciate that the change of each mechanism position
Change.
Further, the first driving mechanism 201 includes third motor 2011, and the first transmission mechanism 202 includes the 11st tooth
The 2021, the 12nd gear 2022 of wheel and the 13rd gear 2023, third motor 2011 pass through third drive shaft 2012 and the 11st
Gear 2021 connects, and the 11st gear 2021, the 12nd gear 2022 and the 13rd gear 2023 are set gradually from right to left, and
11st gear 2021, the 12nd gear 2022 and the 13rd gear 2023 engage successively.
In the present embodiment, the 11st gear 2021 is the gear of 12 teeth, the 12nd gear 2022 and the 13rd gear
2023 be the gear of 36 teeth, using 1：3 gearratio drive gear and then drive 203 opening and closing of clamping device, it is possible to increase turn round
Square makes 203 snap-in force bigger of clamping device, and respectively there are one nylon spacers for dress for the upper and lower of third drive shaft 2012.
Further, clamping device 203 includes the first supporting rod 2031 and the second supporting rod 2032, the first supporting rod 2031
It is symmetrical arranged with the second supporting rod 2032, the 12nd gear 2022 is connected by the 8th transmission shaft 2024 and the first supporting rod 2031
Connect, and the first supporting rod 2031 is fixed on the 12nd gear 2022, the 13rd gear 2023 by the 9th transmission shaft 2025 with
Second supporting rod 2032 connects, and the second supporting rod 2032 is fixed on the 13rd gear 2023；Preferably, the first supporting rod
2031 inside is equipped with the first blade tooth 2033, and the inside of the second supporting rod 2032 is equipped with the second blade tooth 2034.
In the present embodiment, the first supporting rod 2031 and the second supporting rod 2032 are C-shaped rod, the first blade tooth 2033 and
Two blade tooths 2034 are hexagonal metal-toothed, and the first blade tooth 2033 and the second blade tooth 2034 are 12, and be uniformly distributed, each pawl
The height of tooth differs, and distribution is serrated.
In order to make the 11st gear 2021, the 12nd gear 2022, the 13rd gear 2023, the first supporting rod 2031 and
Two supporting rods, 2032 steady operation, the claw device 2 of the present embodiment further include the first carrier bar 204, the second carrier bar 205 and two
Root guide rod 206, the first carrier bar 204 and the second carrier bar 205 are setting up and down, and the first carrier bar 204 and the second carrier bar 205
Between be fixedly connected by four pair of first fixing axle 207, wherein two pair of first fixing axle 207 and the first fixing axle of two further pairs
207 is symmetrical, is fixed on by screw on the square hole of the first carrier bar 204 and the second carrier bar 205, the 11st gear
2021st, the 12nd gear 2022, the 13rd gear 2023, the first supporting rod 2031 and the second supporting rod 2032 are arranged on a carrying
Between 204 and second carrier bar 205 of bar, third drive shaft 2012, the 8th transmission shaft 2024, the 9th transmission shaft 2025 both ends point
It Chuan Guo not the first carrier bar 204 and the second carrier bar 205；Two guide rods 206 are fixed respectively with the both sides of the second carrier bar 205 to be connected
It connects, and is fixedly connected with the end for the swinging arm device 3 that circles round.
In the present embodiment, the first carrier bar 204, the second carrier bar 205 and two guide rods 206 are L-type fixed link, the
One fixing axle 207 is hexagonal fixing axle.
During work, third motor 2011 drives the 11st gear 2021 to rotate by third drive shaft 2012, the 11st tooth
2021 the 12nd gear 2022 of drive of wheel and the 13rd gear 2023 move toward one another, and drive the first supporting rod 2031 and second immediately
Supporting rod 2032 moves toward one another, and realizes that the opening and closing similar to face act, and are distributed in a supporting rod 2031 and the
The first blade tooth 2033 and the second blade tooth 2034 of two supporting rods, 2032 inside pass through the first supporting rod 2031 and the second supporting rod
2032 opening and closing, bite object, complete to crawl in kind, and clamping device is controlled by the way of the engagement of single motor drive gear
203 opening and closing compared with Dual-motors Driving, have synchronism height, compact-sized steady without additionally using bi-motor Synchronization Control
Fixed, the first supporting rod 2031 can synchronous symmetric motion with the second supporting rod 2032.
As shown in Figure 1 and Figure 7, the convolution swinging arm device 3 includes two the second driving mechanisms, 301, two cyclotron mechanisms
302 and two swing arms 303, two the second driving mechanisms, 301, two cyclotron mechanisms 302 and two swing arms 303 are symmetrical sets
It puts, and two the second driving mechanisms, 301, two cyclotron mechanisms 302 and two swing arms 303 are to correspond, each second drives
Motivation structure 301 is connected with corresponding cyclotron mechanism 302, and each cyclotron mechanism 302 is connected with corresponding swing arm 303, two convolutions
The end of mechanism 302 is used for fixed jaw sub-device 2.
The vertical lift device 4 includes two third driving mechanisms 401 and two vertical lifting mechanisms 402, two the
Three driving mechanisms 401 and two vertical lifting mechanisms 402 are symmetrical set, and two third driving mechanisms 401 and two
Vertical lifting mechanism 402 is to correspond, and each third driving mechanism 401 is connected with corresponding vertical lifting mechanism 402, and two
A vertical lifting mechanism 402 carries out vertical displacement movement for drive convolution swinging arm device 3.
In wherein second driving mechanism 301 and its corresponding cyclotron mechanism 302, swing arm 303, the second driving mechanism
301 include the 4th motor 3011 and the 5th motor 3012, and the cyclotron mechanism 302 includes the 14th gear 3021, the 15th tooth
The 3022, the 16th gear 3023, the first sprocket wheel 3024, the second sprocket wheel 3025 and the first chain 3026 are taken turns, the 4th motor 3011 is logical
It crosses the 4th drive shaft 3013 to connect with the 14th gear 3021, the 5th motor 3012 passes through the 5th drive shaft 3014 and the 15th tooth
3022 connection of wheel, the 14th gear 3021, the 15th gear 3022 and the 16th gear 3023 engage successively, the 14th gear
3021 and the 15th gear 3022 is drive gear, and the 16th gear 3023 is driven gear, and the 16th gear 3023 passes through the
Ten transmission shafts 3027 are connect with the first end of the first sprocket wheel 3024, swing arm 303, and the first sprocket wheel 3024 and the second sprocket wheel 3025 are distinguished
It is engaged with the inside of the first chain 3026, the second end of swing arm 303 is connected by the 11st transmission shaft 3028 and the second sprocket wheel 3025
It connects, and the first end of swing arm 303 is fixed on the 16th gear 3023, the second sprocket wheel 3025 is used for fixed jaw sub-device 2；Work
When, the 4th motor 3011 drives the 14th gear 3021 to rotate by the 4th drive shaft 3013, and the 5th motor 3012 passes through the 5th
Drive shaft 3014 drives the 15th gear 3022 to rotate, in the collective effect of the 14th gear 3021 and the 15th gear 3022
Under, so as to enable 3023 quick rotation of the 16th gear, drive circumferentially 300 degree of the scale oscillation of swing arm 303, swing arm 303
During swing, the first sprocket wheel 3024 is motionless, 3026 symmetric motion of the first chain, and the second sprocket wheel 3025 is driven to rotate, makes claw device 2
Realization moves in parallel, the simple operation of the entire swinging arm device 3 that circles round.
In the present embodiment, the 14th gear 3021 is the gear of 12 teeth, and the 15th gear 3022 is 36 teeth
Gear, the 16th gear 3023 are the gear of 60 gears, the first sprocket wheel 3024 and the chain that the second sprocket wheel 3025 is 24 teeth
Wheel.
In order to enable two 302 steady operations of cyclotron mechanism, the convolution swinging arm device 3 of the present embodiment is further included in two
Side 304, two reinforcing bars 305 of vertical fixed link, the first stable connection bar 306, the second stable connection bar 307 connect surely with third
Fixed pole 308, two inboard, upright fixed links 304 and two reinforcing bars 305 are symmetrical set, and two inboard, uprights are fixed
304, two reinforcing bars 305 of bar and two cyclotron mechanisms 302 are to correspond；The first of two inboard, upright fixed links 304
End is separately fixed on the first sprocket wheel 3024, passes through the first stable connection between the second end of two inboard, upright fixed links 304
Bar 306 is fixedly connected, and two the 4th motors 3011 are separately positioned on the inside of two inboard, upright fixed links 304, and 4 wheel driven
Moving axis 3013 passes through inboard, upright fixed link 304；Pass through the second stable connection bar 307 between the first end of two reinforcing bars 305
It is fixedly connected, is fixedly connected between the second end of two reinforcing bars 305 by third stable connection bar 308, and the tenth transmission shaft
3027 pass through reinforcing bar 305, and two reinforcing bars 305 are also fixedly connected with two swing arms 303 respectively by more hexagon prisms 309,
To realize the effect reinforced to swing arm 303.
In order to which two cyclotron mechanisms 302 is made preferably to be driven, the convolution swinging arm device 3 of the present embodiment further includes the 17th tooth
310 and the tenth octadentate wheel 311 of wheel, the 17th gear 310 are arranged on 304 and first sprocket wheel 3024 of inboard, upright fixed link on the right
Between, and the 17th gear 310 is connect with the tenth transmission shaft 3027 on the right, the tenth octadentate wheel 311 is arranged on the inside on the right
Vertically between fixed link 304 and rocking arm 303, and the tenth octadentate wheel 311 is consolidated by the 12nd transmission shaft 312 with inboard, upright respectively
Fixed pole 304, rocking arm 303 connect, and the 17th gear 310 and the tenth octadentate wheel 311 engage.
In the present embodiment, the 17th gear 310 is the gear of 36 teeth, and the tenth octadentate wheel 311 is thin for 60 teeth
Gear.
In a wherein third driving mechanism 401 and its corresponding vertical lifting mechanism 402, third driving mechanism 401
Including the 6th motor 4011, vertical lifting mechanism 402 includes third sprocket wheel 4021, the 4th sprocket wheel 4022,4023 and of the second chain
Straight guide 4024, the 6th motor 4011 are connect by the 6th drive shaft 4012 with third sprocket wheel 4021, third sprocket wheel 4021 and
Four sprocket wheels 4022 are located at upper and lower respectively, and 4021 and the 4th sprocket wheel 4022 of third sprocket wheel and the inside of the second chain 4023 are nibbled
It closes, the bottom end of the section and straight guide 4024 of the second chain 4023 is fixed, and the top of straight guide 4024 passes through the tenth transmission shaft
3027 connect with the 16th gear 3023, and the 5th motor 3012 is arranged on the outside of straight guide 4024, the 5th drive shaft 3014
Across the straight guide 4024；During work, the 6th motor 4011 drives third sprocket wheel 4021 to rotate by the 6th drive shaft 4012, makes
Second chain 4023 and the 4th sprocket wheel 4022 rotate simultaneously, so as to which straight guide 4024 be driven to be lifted convolution swinging arm device 3
Movement, using vertical chain-type lifting structure, while chain drive is relative to rack pinion, has efficient, and load is high,
The features such as convenient for safeguarding.
In order to enable two 402 steady operations of vertical lifting mechanism, the vertical lift device 4 of the present embodiment further includes
Fixinig plate 406 on the inside of four 403, two pieces of stable connection bar, 404, two pieces of left side vertical fixed plate, 405, two pieces of right vertical fixed plates
With two pieces of outside fixinig plates 407, two pieces of left side vertical fixed plates 404 and two pieces of right vertical fixed plates 405 are front and rear symmetrically sets
It puts, two pieces of inside fixinig plates 406 and two pieces of outside fixinig plates 407 are symmetrical set, the inside fixinig plate 406 on the left side and outer
Side fixinig plate 407 fixes the interior outside of two pieces of left side vertical fixed plates 404, and the inside fixinig plate 406 on the right and outside are fixed
Piece 407 fixes the interior outside of two pieces of right vertical fixed plates 405, left side vertical fixed plate 404 and right vertical fixed plate 403
Between be fixedly connected by the 4th stable connection bar 403, and left side vertical fixed plate 404 and right vertical fixed plate 403 are set
Meter is identical, and by taking right vertical fixed plate 405 as an example, entire vertical lifting mechanism 402 is arranged on two pieces of right verticals and fixes
Between plate 405, i.e., straight guide 4024 is embedded in gap, is hardly taken up space when bottoming out, and space availability ratio is high, the
The both ends of six drive shafts 4012 pass through two pieces of right vertical fixed plates 405, and the 4th sprocket wheel 4022 passes through the 13rd transmission shaft
408408 connect respectively with two pieces of right vertical fixed plates 405.
As shown in Fig. 1, Fig. 8~Figure 10, the shovel base device 5 includes the 4th driving mechanism 501, the second transmission mechanism
502nd, the second scoop mechanism 503 and two four-bar mechanisms 504, the 4th driving mechanism 504 are connect with the second transmission mechanism 502,
Second transmission mechanism 502 is connect respectively with the second scoop mechanism 503, two four-bar mechanisms 504, and the second scoop mechanism 503 divides
It is not connect with two four-bar mechanisms 504, two four-bar mechanisms 504 are symmetrical set.
Further, the 4th driving mechanism 501 includes the 7th motor (not shown), and the second transmission mechanism 502 includes
19th gear 5021, the 20th gear 5022, the 21st gear 5023, the 22nd gear 5024, the 23rd gear
5025th, the 24th gear 5026, the 25th gear 5027, the 26th gear 5028 and the 27th gear 5029, the
20 gears 5022, the 21st gear 5023, the 22nd gear 5024, the 23rd gear 5025 are respectively with the 24th
Gear 5026, the 25th gear 5027, the 26th gear 5028, the 27th gear 5029 are symmetrical, the 7th motor
Pass through the 7th drive shaft 5011 and the 19th gear 5021, the 20th gear 5022, the 21st gear 5023, the 24th tooth
The 5026, the 25th gear 5027 of wheel connects, wherein the 19th gear 5021 is arranged on the middle part of the 7th drive shaft 5011, second
Ten gears 5022 and the 21st gear 5023 are arranged on the left part of the 7th drive shaft 5011, the 24th gear 5026 and second
15 gears 5027 are arranged on the right part of the 7th drive shaft 5011, the 21st gear 5023, the 22nd gear 5024 and
23 gears 5025 engage successively, the 25th gear 5027, the 26th gear 5028 and the 27th gear 5029 according to
Secondary engagement；Using single motor Driven by Coaxial, power output is uniform, is not in that bi-motor exports unbalanced phenomenon, ensures machine
Structure both sides movement it is symmetrical with it is synchronous.
Further, the second scoop mechanism 503 includes 5031, two vertical bars 5032 of the second scoop cross bar and two levels
Bar 5033, two vertical bars 5032 and two horizon bars 5033 are symmetrical set, and the second scoop cross bar 5031 passes through respectively
First an angle of 90 degrees fagging 5034 and two vertical bars 5032 are hinged, and two vertical bars 5032 pass through the second an angle of 90 degrees fagging respectively
5035 and two horizon bars 5033 it is hinged, entire second scoop mechanism, 503 shape is Z-shaped, and in order to keep stable, the second scoop is horizontal
Two middle side parts of bar 5031 are also connect by steel bar 5036 with the middle part of two vertical bars 5032；20th gear 5022 and second
14 gears 5026 are separately positioned on the inside of two horizon bars 5033, the 23rd gear 5025 and the 27th gear 5029
It is separately positioned on the outside of two horizon bars 5033.
Further, the structure of two four-bar mechanisms 504 is identical, by taking the four-bar mechanism 504 on the right as an example, including
One connecting rod 5041, second connecting rod 5042, third connecting rod 5043 and fourth link 5044, first connecting rod 5041, second connecting rod 5042,
Third connecting rod 5043 and fourth link 5044 surround the parallelogram of a closing, wherein first connecting rod 5041 and second connecting rod
5042 are located at upper and lower respectively, and third connecting rod 5043 and fourth link 5044 are located at forward and backward side, use parallelogram respectively
Link mechanism, movement locus are arc line shaped, and the barrier that may extend across certain altitude carries out object dispensing stacking, while parallel four
Side shape link mechanism bearing capacity is strong, and job stability is high；By axis connection between arbitrary two connecting rods, axis is equipped with the first pad
Piece 5045 can avoid two bar direct frictions；In order to keep stable, between the second connecting rod 5041 of two four-bar mechanisms 504
It is fixedly connected by horizontal steel plate 5046.
For shoveling the left-hand component of base device 5, the left end of the 7th drive shaft 5011 connects across horizon bar 5033 and first
The 5041, the 22nd gear 5024 of bar is connect by axis with horizon bar 5033, first connecting rod 5041 respectively, the 23rd gear
5025 are connect by axis with horizon bar 5033, first connecting rod 5041, third connecting rod 5043 respectively, and the 23rd gear 5025 is solid
It is scheduled on third connecting rod 5043, first connecting rod 5041 and fourth link 5044 are connected by the axis between them and horizon bar 5033
It connects.
For shoveling the right-hand component of base device 5, the right end of the 7th drive shaft 5011 connects across horizon bar 5033 and first
The 5041, the 26th gear 5028 of bar is connect by axis with horizon bar 5033, first connecting rod 5041 respectively, the 27th gear
5029 are connect by axis with horizon bar 5033, first connecting rod 5041, third connecting rod 5043 respectively, and the 27th gear 5029 is solid
It is scheduled on third connecting rod 5043, first connecting rod 5041 and fourth link 5044 are connected by the axis between them and horizon bar 5033
It connects.
In the present embodiment, the 19th gear 5021, the 21st gear 5023, the 22nd gear the 5024, the 20th
Five gears 5027 and the 26th gear 5028 are the gear of 12 teeth, the 20th gear 5022 and the 24th gear 5026
For the gear of 24 teeth, the 23rd gear 5025 and the gear that the 27th gear 5029 is 36 teeth, the second scoop
Cross bar 5031 is l-shaped rod, and vertical bar 5032 and horizon bar 5033 are C-shaped rod, and the first gasket 5045 is nylon spacer.
During work, the 7th motor drives the 19th gear 5021 to rotate by the 7th drive shaft 5011, the 19th gear
5021 drive the 20th gear 5022, the 21st gear 5023, the 22nd gear 5024, the 23rd gear 5025 successively
Rotation, while the 24th gear 5026, the 25th gear 5027, the 26th gear 5028 and the 27th are driven successively
Gear 5029 rotates, and drives the first connecting rod 5041, third connecting rod 5043 and fourth link 5044 of four-bar mechanism 504 around second
Connecting rod 5042 rotates, and completes the process that the second scoop mechanism 503 scoops up object (pedestal).
As shown in Fig. 1 and Figure 11, the underpan walking device 6 includes four the 5th driving mechanisms, 601, four omni-directional wheels
602, two 604, two, follower rail bar inboard track bars 605 of encoder 603, two and locating rod 606, four the 5th drivings
Mechanism 601 and four omni-directional wheels 602 are to correspond, and each 5th driving mechanism 601 connects with corresponding omni-directional wheel 602
It connects.
In wherein the 5th driving mechanism 601 and its corresponding omni-directional wheel 602, the 5th driving mechanism 601 includes the
Eight motor (not shown)s, the 8th motor are connect by the 8th drive shaft 6011 with omni-directional wheel 602, that is, pass through the 8th drive shaft
6011 driving omni-directional wheels 602 rotate, so as to which underpan walking device 6 be made to travel forward or backward, 6011 inner sleeve of the 8th drive shaft
There is the second gasket to reduce friction, wherein the second gasket is nylon spacer.
The both sides of two of which omni-directional wheel 602 respectively with a wherein follower rail bar 604, wherein an inboard track bar
605 connections, form one group of omni-directional wheel group, the both sides of other two omni-directional wheel 602 respectively with an other follower rail bar 604,
An other follower rail bar 605 connects, and forms another group of omni-directional wheel group, and two groups of omni-directional wheel groups are symmetrical set, and outside is led
It is fixed between rail bar 604 and inboard track bar 605 by two second fixing axles 607, wherein the second fixing axle 607 is consolidated for hexagonal
Dead axle.
Two encoders 603 are disposed therein one of one group of omni-directional wheel group as inductor, one of encoder 603
The outside of omni-directional wheel 602, and the 5th driving mechanism 601 corresponding with the omni-directional wheel connects, specifically with the 5th driving mechanism 601
8th drive shaft 6011 connects, another encoder 603 is arranged on outside an omni-directional wheel 602 of another set omni-directional wheel group
Side, and the 5th driving mechanism 601 corresponding with the omni-directional wheel connects, specifically with the 8th drive shaft of the 5th driving mechanism 601
6011 connections.
Middle part of the both ends of locating rod 606 respectively with two inboard track bars 605 is fixedly connected, for position laterally away from
From in order to make locating rod 606 more firm, connecting rod 608 is further fixed in locating rod 606.
The control device can be provided in the controller in robot, which is integrated with microprocessor (such as list
Piece machine), motor driver etc..
The present embodiment additionally provides a kind of object transport method, and this method is realized based on above-mentioned robot, including following step
Suddenly：
S1, underpan walking device 6 are travelled to the pedestal (not shown) for needing to scoop up, and are made under shovel base device 5
Drop, carries out the preparation for scooping up pedestal；
S2, underpan walking device 6 continue to move forward, and shovel base device is made to shovel into pedestal, pedestal is scooped up circle round again to
It is placed on underpan walking device；
S3, underpan walking device 6 are travelled to object, and claw device 2 grips an object, via convolution swinging arm device 3
Object is circled round to placing on pedestal, after placement, convolution swinging arm device 3 circles round claw device 2 to original position, underpan walking device
6 travel again to the object of next gripping, and claw device 2 continues to grip object；
S4, after the object placed on pedestal reaches quantity (such as seven) of setting, claw device 2 grips next object
Body, and vertical lift device 4 is made to increase drives convolution swinging arm device 3 to the height of setting, and convolution swinging arm device 3 is by claw
Device 2 circles round to continuing on pedestal to place object, and so on, after the object placed on pedestal is stacked to the height of setting,
Underpan walking device 6 is travelled to specified dispensing place；
S5, shovel base device 5 is put down, while underpan walking device 6 moves forward, shovel base device 5 is made to leave pedestal,
Complete the dispensing of object.
In above process, the first scoop mechanism 101 in offset shovel base device 1 can be in the drive of elevating mechanism 103
Decline carries out shovel pedestal, while transverse-moving mechanism 102 rises；When elevating mechanism 103 drives the first scoop mechanism 101 to rise,
Simultaneously transverse-moving mechanism 102 decline, but the first scoop mechanism 101 it is automatically controlled it is lower do not rise to highest, i.e. transverse-moving mechanism 102 does not have yet
Drop to universal wheel to contact with ground, meet job requirement in this case, do not interfere, even if transverse-moving mechanism 102 and ground
Face contacts, but the wheel used is universal wheel, so interference is little, such robot can just carry two pedestals simultaneously, significantly
Increase working efficiency；In some complex road conditions, do not need to turn greatly, when only needing small left and right transverse shifting, the first scoop mechanism 101
The elevating mechanism 103 shared with transverse-moving mechanism 102 works, and the first scoop mechanism 101 is made to continue to rise, while transverse-moving mechanism 102
It drops to and is contacted with ground, transverse-moving mechanism 102 drives the rotation of its universal wheel, makes fuselage or so transverse shifting so that robot transports
It is dynamic flexible；And the pedestal of the first scoop mechanism 101 shovel is unable to piled products, but launch process is similar with shovel base device 5, it is seen that
Secondary scoop mechanism is in first scoop mechanism 101 of offset shovel base device 1, based on the second scoop mechanism 503 for shoveling base device 5
Scoop mechanism.
In conclusion pedestal is placed on underpan walking device by the robot of the present invention by shoveling base device, pass through pawl
Sub-device grips object, and avoiding device via convolution circles round object to placing on pedestal, when the object placed on pedestal reaches
After the quantity of setting, the height of setting is risen to by the vertical lift device swinging arm device that will circle round, convolution swinging arm device is by pawl
Sub-device is circled round to continuing on pedestal to place object, and claw device grips next object, when the object stacked on pedestal reaches
After the height of setting, underpan walking device is travelled to specified dispensing place, then by shoveling base device by pedestal and its placement
Object is put down, and is had the function of to stablize gripping, spin stacking and quickly be launched, the carrying suitable for middle-size and small-size object is appointed
Business, it is mobile flexible with applied widely compared with existing object pickup robot, stack quick, loading capacity is big, launches
The advantages that accurate；Meanwhile in addition robot devises an offset shovel base device, the scoop mechanism on offset shovel base device
Direction of motion when being lifted with transverse-moving mechanism on the contrary, improve the service efficiency of elevating mechanism, and do not have between each other in this way
Interference, and by offset shovel base device and shovel base device, robot can carry two pedestals, greatly increase work simultaneously
Make efficiency；In some complex road conditions, do not need to turn greatly, when only needing small left and right transverse shifting, the shovel on offset shovel base device
The elevating mechanism work that clamp mechanism and transverse-moving mechanism share, makes scoop mechanism continue to rise, while transverse-moving mechanism drops to and ground
Face contacts, and transverse-moving mechanism work makes fuselage or so transverse shifting so that robot motion is flexible.
The above, patent preferred embodiment only of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the range disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (10)
1. offset shovel base device, it is characterised in that：Including the first scoop mechanism, transverse-moving mechanism and elevating mechanism, the lifting
Mechanism is connect respectively with the first scoop mechanism and transverse-moving mechanism, for the first scoop mechanism and transverse-moving mechanism to be driven to be carried out at the same time liter
Direction of motion when drop movement, the first scoop mechanism and transverse-moving mechanism lift is opposite.
2. offset shovel base device according to claim 1, it is characterised in that：It is horizontal that the first scoop mechanism includes scoop
Bar, two blocks of scoop side plates and two connection montants, two blocks of scoop side plates and two connection montants are symmetrical arranged, and two pieces
Scoop side plate and two connection montants are to correspond, and two blocks of scoop side plates are fixedly connected respectively with scoop cross bar, two companies
Montant is connect to be fixedly connected with scoop cross bar respectively, and connect with elevating mechanism respectively.
3. offset shovel base device according to claim 1, it is characterised in that：The transverse-moving mechanism include the first motor,
First gear, second gear, third gear, the 4th gear, the first universal wheel, the second universal wheel, the first cross bar, the second cross bar and
First montant；
First cross bar and the second cross bar are symmetrical arranged, and second cross bar is fixedly connected with the first montant, and described first is perpendicular
Bar is connect with elevating mechanism；
First motor is arranged on the outside of the first cross bar, and passes through the first drive shaft and connect with first gear；
The first gear, second gear, third gear, the 4th gear, the first universal wheel and the second universal wheel are arranged on first
Between cross bar and the second cross bar, and first gear, second gear, third gear and the 4th gear engage successively, second tooth
Wheel is fixedly connected with the first universal wheel, and the 4th gear is fixedly connected with the second universal wheel.
4. offset shovel base device according to claim 1, it is characterised in that：The elevating mechanism include the second motor,
5th gear, the 6th gear, the 7th gear, eighth gear, the 9th gear, the tenth gear, the first rack, the second rack, first
Sliding rail and the second sliding rail, second motor are connect by the second drive shaft with the 5th gear, and the 5th gear is respectively with
Six gears, the engagement of the 7th gear, the 6th gear are connect by transmission shaft with eighth gear, the eighth gear, the 9th tooth
Wheel and the first rack engage successively, and the 7th gear, the tenth gear and the second rack engage successively, the first scoop mechanism
It is fixedly connected with the first rack, and is slidably connected with the first sliding rail, the transverse-moving mechanism is fixedly connected with the second rack, and with
Two sliding rails are slidably connected.
5. the convolution that can be vertically moved up or down stacks robot, it is characterised in that：Including control device, claw device, convolution swing arm dress
It puts, vertical lift device, shovel base device, underpan walking device and claim 1-4 any one of them offset shovel pedestals
Device, the offset shovel base device are arranged on the middle part of underpan walking device, and the shovel base device is arranged on chassis walking
For device close to the position at rear portion, the vertical lift device is arranged on the forepart of underpan walking device, the convolution swinging arm device
It is arranged in vertical lift device, the claw device is fixedly connected with the end for the swinging arm device that circles round, and the claw device returns
Swing arm assembly, vertical lift device, shovel base device, underpan walking device and offset shovel base device respectively with control device
Connection.
6. the convolution according to claim 5 being vertically moved up or down stacks robot, it is characterised in that：The claw device packet
Include the first driving mechanism, the first transmission mechanism and clamping device, first driving mechanism, the first transmission mechanism and clamping device
It is sequentially connected.
7. the convolution according to claim 5 being vertically moved up or down stacks robot, it is characterised in that：The convolution swing arm dress
It puts including two the second driving mechanisms, two cyclotron mechanisms and two swing arms, described two second driving mechanisms, two convolution machines
Structure and two swing arms are symmetrical arranged, and two the second driving mechanisms, two cyclotron mechanisms and two swing arms are to correspond,
Each second driving mechanism is connected with corresponding cyclotron mechanism, and each cyclotron mechanism is connected with corresponding swing arm, two convolution machines
The end of structure is used for fixed jaw sub-device.
8. the convolution according to claim 5 being vertically moved up or down stacks robot, it is characterised in that：The vertical lift dress
It puts including two third driving mechanisms and two vertical lifting mechanisms, described two third driving mechanisms and two vertical conveyors
Structure is symmetrical arranged, and two third driving mechanisms and two vertical lifting mechanisms are to correspond, each third driving machine
Structure is connected with corresponding vertical lifting mechanism, and described two vertical lifting mechanisms are vertically risen for drive convolution swinging arm device
Drop movement.
9. the convolution according to claim 5 being vertically moved up or down stacks robot, it is characterised in that：The shovel base device
Including the 4th driving mechanism, the second transmission mechanism, the second scoop mechanism and two four-bar mechanisms, the 4th driving mechanism with
Second transmission mechanism connects, and second transmission mechanism connect respectively with the second scoop mechanism, two four-bar mechanisms, and described the
Two scoop mechanisms are connect respectively with two four-bar mechanisms, and described two four-bar mechanisms are symmetrical arranged.
10. the object transport method based on any one of the claim 5-9 robots, it is characterised in that：The method includes：
Underpan walking device is travelled to the pedestal for needing to scoop up, and is declined shovel base device, is carried out the preparation for scooping up pedestal；
Underpan walking device continues to move forward, and shovel base device is made to shovel into pedestal, and pedestal is scooped up to be circled round again to chassis and is walked
It is placed on device；
Underpan walking device is travelled to object, and claw device grips an object, and object circles round via convolution swinging arm device
It is placed on to pedestal, after placement, convolution swinging arm device circles round claw device to original position, and underpan walking device is travelled again to next
Before the object of a gripping, claw device continues to grip object；
After the object placed on pedestal reaches the quantity of setting, claw device grips next object, and fills vertical lift
Rising is put, convolution swinging arm device is driven to the height of setting, convolution swinging arm device circles round claw device to continuing on pedestal
Object is placed, and so on, after the object placed on pedestal is stacked to the height of setting, underpan walking device is travelled to specified
Launch place；
Shovel base device is put down, while underpan walking device moves forward, shovel base device is made to leave pedestal, completes object
It launches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108217183B (en) | 2023-06-27 |
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