CN108792606B - Clamping and lifting conveying type carrying robot and carrying method thereof - Google Patents
Clamping and lifting conveying type carrying robot and carrying method thereof Download PDFInfo
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- CN108792606B CN108792606B CN201810837897.1A CN201810837897A CN108792606B CN 108792606 B CN108792606 B CN 108792606B CN 201810837897 A CN201810837897 A CN 201810837897A CN 108792606 B CN108792606 B CN 108792606B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 133
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- 238000000429 assembly Methods 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 13
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- 235000004443 Ricinus communis Nutrition 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
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- 241001131688 Coracias garrulus Species 0.000 description 58
- 244000126211 Hericium coralloides Species 0.000 description 3
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0294—Vehicle bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention provides a clamping and lifting conveying type carrying robot and a carrying method thereof, wherein the clamping and lifting conveying type carrying robot comprises a chassis assembly, a clamping and lifting mechanism and a conveying mechanism; the clamping and lifting mechanism is arranged at the front part and/or the rear part of the chassis assembly, and the conveying mechanism is respectively arranged at the left side and the right side of the clamping and lifting mechanism; the clamping and lifting mechanism comprises a moving frame, a roller swing arm assembly, a reversing assembly and a push-pull assembly, and one end of the roller swing arm assembly is rotatably connected with the moving frame; the reversing assembly comprises a reversing bracket, an elastic member and a pull rod, wherein the reversing bracket is in sliding connection with the roller swing arm assemblies positioned on two sides of the reversing bracket, the reversing bracket is connected with the movable frame through the elastic member, and the reversing bracket is in sliding connection with the chassis assembly through the pull rod; the push-pull assembly drives the moving frame. By adopting the technical scheme of the invention, the structure is simple, three actions of integral expansion, swing arm rotation and structure lifting are realized by adopting one driving device, the complexity of the system is reduced, the equipment cost is reduced, and the reliability is high.
Description
Technical Field
The present invention relates to a transfer robot, and more particularly, to a pinch-lift transfer robot and a transfer method of the pinch-lift transfer robot.
Background
The working process of the existing automobile carrying robot for the parking lot is as follows: the user stops the automobile to the appointed position of the entrance, and the robot lifts and conveys the automobile from the ground of the entrance to the robot conveying medium; then the robot automatically runs to the vicinity of the appointed parking space in the garage and places the automobile on the parking space. The prior art mainly comprises the following three types: 1) Comb-tooth type automobile carrying robot transfers automobiles from a comb-shaped frame of an access opening to a comb-shaped frame of the robot through a comb-tooth exchange mode, and finally the robot automatically runs to a parking space in a garage and transfers the automobiles to the comb-shaped frame of the parking space in the garage, so that automobile storage is realized. 2) The platform type automobile carrying robot carries and transfers an automobile carrying plate placed at an entrance and carrying the automobile to a parking space in a garage to realize automobile storage. 3) The roller robot adopts a swing arm clamping and lifting mechanism composed of a set of double motors, and a vehicle body adopts a Mecanum wheel driving structure.
However, all three robots have defects, which are mainly represented by:
(1) Comb-tooth type automobile carrying robot defect: every parking stall and access & exit all need have a set of comb type frame device, and the construction volume is great. The car is parked on the comb-shaped frame, which occupies more height in the warehouse.
(2) Table-board type automobile carrying robot defect: each parking space must be equipped with a vehicle carrying board. When the vehicle is stored continuously, the entrance and the exit need to be placed continuously; when the vehicle is continuously fetched, the access opening needs to realize the recovery of the empty plate. The system itself needs to consume a certain time to the processing of carrying the sweep medium, influences the access car efficiency. The automobile is parked on the automobile carrying plate, and the automobile carrying plate occupies more height in the warehouse.
(3) Aiming at the roller robot, the clamping lifting mechanism adopted by the technology needs to adopt 2 motors, and the power control is complex; the Mecanum wheel is arranged in the center of the vehicle body, has high requirements on the size of a driving wheel and a motor, and is difficult to reach the existing conditions; and the robot can only realize one-way vehicle access.
Disclosure of Invention
Aiming at the technical problems, the invention discloses a clamping and lifting conveying type carrying robot and a carrying method thereof, wherein three actions of integral expansion, swing arm rotation and structure lifting are realized by only adopting one driving device, so that the complexity of a system is greatly reduced, and the equipment cost is reduced.
In this regard, the invention adopts the following technical scheme:
a clamping and lifting conveying type carrying robot comprises a chassis assembly, a clamping and lifting mechanism and a conveying mechanism; the chassis assembly is positioned at the bottom of the clamping and lifting conveying type carrying robot, the clamping and lifting mechanism is arranged at the front part and/or the rear part of the chassis assembly, and the conveying mechanisms are respectively positioned at the left side and the right side of the clamping and lifting mechanism. The clamping and lifting mechanism is a mechanism for realizing the actions of stretching, clamping and lifting and the like. The left side, the right side, the front part and the rear part are relative.
The clamping and lifting mechanism comprises a moving frame, a roller swing arm assembly, a reversing assembly and a push-pull assembly, wherein one end of the roller swing arm assembly is rotatably connected with the moving frame; the reversing assembly comprises a reversing bracket, an elastic member and a pull rod, wherein the reversing bracket is in sliding connection with the roller swing arm assemblies positioned on two sides of the reversing bracket, the reversing bracket is connected with the movable frame through the elastic member, and the reversing bracket is in sliding connection with the chassis assembly through the pull rod; the push-pull assembly drives the moving frame to move, so that the reversing support is driven to move through the pull rod, and then the roller swing arm assembly is driven to rotate. Further, a sliding component is arranged at the bottom of the movable frame; further preferably, the sliding member is a follower wheel or a castor wheel.
The invention is further improved in that the roller swing arm assembly comprises a swing arm bracket and a swing arm roller; the swing arm support is rotationally connected with the movable frame, the swing arm support is provided with a bent special-shaped slotted hole, and two ends of the reversing support are in sliding connection with the special-shaped slotted hole through reversing guide wheels; the swing arm roller is connected with the swing arm bracket. Further, the number of the roller swing arm assemblies is two, and the two roller swing arm assemblies are respectively positioned at two sides of the reversing support. Further preferably, the swing arm roller is connected with the swing arm bracket through a roller shaft. Further, the swing arm support is connected with the movable frame through the inch sleeve and the swing arm rotating shaft.
By adopting the technical scheme, the clamping and lifting mechanism can realize the actions of extending, clamping and lifting and the like. The working principle of the extending action is as follows: at the beginning, the swing arm bracket extends to the left side and the right side of the movable frame; the linear movement driving device drives the push-pull rod to move, so that the moving frame and the attached structure thereof extend outwards, and when the moving frame extends to a certain stroke, the other end of the push-pull rod slides to reach the stroke limit; the linear movement driving device continues to drive the reversing support to push forward, the pull rod pulls the reversing support and compresses the elastic component, and the reversing guide wheels stir the swing arm support to rotate until the swing arm support stretches forward due to the fact that the two ends of the reversing support are matched with the special-shaped slotted holes through the reversing guide wheels and the guiding of the bent special-shaped slotted holes.
The working principle of the clamping and lifting action is as follows: the linear movement driving device drives in the reverse direction to push the push-pull rod so that the movable frame and the attached structure thereof shrink towards the vehicle body. In the process, the stretched pull rod is gradually released, the reversing support stretches out under the action of the elasticity of the elastic component, and the reversing guide wheel toggles the swing arm support to rotate through the cooperation of the reversing guide wheel and the special-shaped slotted hole and the guiding of the bent special-shaped slotted hole. Under the drive of the linear movement driving device, the movable frame is driven to move towards the middle part, and meanwhile, the swing arm support rotates from a forward extending state to be unfolded in a straight line towards the two sides of the movable frame and is contacted with an object to be lifted; along with the movement of the robot, the clamping and lifting mechanism is gradually retracted under the drive of the linear movement driving device, and the object to be clamped and lifted is pulled to the conveying mechanism to be separated from the ground.
The invention is further improved in that the swing arm support is connected with the movable frame through the inch sleeve, the swing arm rotating shaft and the movable frame.
The invention is further improved in that the chassis component is provided with a lifting block for lifting the swing arm roller component; preferably, the lifting block is located between the swing arm roller assembly and the push-pull assembly. By adopting the technical scheme, the lifting block plays a role in assisting the swing arm roller to move upwards and plays a certain supporting role at the same time.
The invention is further improved in that the bending angle of the special-shaped slotted hole is more than or equal to 90 degrees and less than 180 degrees. Further, the bending angle of the special-shaped slotted hole is 135 degrees.
The invention is further improved in that the push-pull assembly comprises a push-pull rod and a linear movement driving device, one end of the push-pull rod is connected with the movement frame, the other end of the push-pull rod is connected with the linear movement driving device, and the linear movement driving device pushes and pulls the movement frame through the push-pull rod.
The invention further improves that the linear movement driving component is a chain driving component, a linear motor driving component, an electric push rod driving component or a ball screw driving component which are arranged on the chassis component.
The chassis frame is provided with a pull rod guide rail, and the pull rod is connected with the pull rod guide rail in a sliding way through a pull rod guide wheel.
The invention is further improved in that the linear movement driving component is a chain driving component; the device comprises a driving motor, a loop chain power shaft, a fourth sprocket and a sprocket with a shaft; the driving motor drives the loop chain power shaft to rotate through the fourth chain wheel, the loop chain power shaft drives the belt shaft chain wheel, and the belt shaft chain wheel drives the moving frame to move through the push-pull rod.
The invention is further improved in that the loop chain power shaft is provided with a third sprocket, and the fourth sprocket is connected with the third sprocket through a second chain; the outer side of the loop chain power shaft is provided with a loop chain sprocket, one end of the chassis frame, which is close to the pull rod, is provided with a shaft sprocket, and the open loop chain group penetrates through the shaft sprocket and the loop chain sprocket and is connected through a loop chain connecting plate to form a closed loop chain group; the loop chain connecting plate is connected with the other end of the push-pull rod.
The invention further improves that the chain wheel with the shaft is connected with the chassis frame through a first chain wheel seat, and the chain wheel is connected with a chain power shaft and fixed on the chassis frame through a second chain wheel seat.
The invention is further improved in that one end of the pull rod is fixedly connected with the reversing bracket, and the other end of the pull rod penetrates through the pull rod guide sleeve arranged on the movable frame and is in sliding connection with the chassis frame of the chassis assembly.
The invention is further improved in that the chassis assembly comprises a chassis frame, a pull rod guide rail is arranged on the chassis frame, and the pull rod is in sliding connection with the pull rod guide rail through a pull rod guide wheel.
A further development of the invention consists in that the elastic member comprises an elastic part and a spring seat mounted together, the elastic part being connected to the reversing bracket, the spring seat being connected to the moving frame.
Further, the elastic component is a gas spring, a compression spring or an extension spring.
In a further improvement of the invention, the clamping and lifting conveying type carrying robot comprises a sensor assembly, wherein the sensor assembly is arranged above the robot body and is positioned outside the conveying mechanism.
The invention is further improved in that the number of the chassis frames is two, and the two chassis frames are connected through a composite hinge mechanism; the compound hinge mechanism comprises a hinge plate, wherein the hinge plate is provided with a first joint bearing and a inch sleeve, and the first joint bearing and the inch sleeve are fixedly connected with the hinge plate through a bearing pressing plate respectively. Further, the two chassis frames are respectively positioned at the front part and the rear part of the clamping and lifting conveying type carrying robot.
The invention is further improved in that the chassis frame is provided with a universal wheel set and two omnibearing traveling driving wheels; the universal wheel set comprises a wheel set mounting plate, a castor mounting plate, universal casters, a hinge reversing block, two sets of hinge shafts and a supporting shaft; the two sets of hinge shafts are mutually perpendicular, and the supporting shafts and the caster mounting plates are respectively connected to the hinge reversing blocks through the sets of hinge shafts to form universal joint type connection. Further, the support shaft is fixedly connected with the wheel set mounting plate; the universal casters are symmetrically arranged below the caster mounting plate. Further preferably, the universal wheel group and the two omnibearing walking driving wheels form a triangle together. Further preferably, spring casters are further arranged on two sides of the universal wheel set.
Furthermore, the omnibearing walking driving wheel is a driving steering wheel, a Mecanum wheel or a differential wheel.
The invention is further improved in that the conveying mechanism is a belt conveying mechanism or a roller conveying mechanism; the sensor assembly includes at least one of a laser navigation device, an obstacle detection sensor.
The invention is further improved in that the conveying mechanism comprises a transmission shaft, a conveying roller, a conveying motor, a first sprocket, a second sprocket, a first chain and a conveying belt, wherein the transmission shaft is fixed on a chassis frame through a bearing seat, and two ends of the transmission shaft are coaxially connected with the conveying roller through a coupler; the conveying motor is arranged on the chassis frame, the first sprocket is connected with the conveying motor, the second sprocket is arranged on the transmission shaft, the first sprocket and the second sprocket are connected through a first chain, and the conveying belt is arranged on the conveying roller to form an annular rotary conveying line.
The invention also discloses a carrying method of the clamp lifting conveying type carrying robot, which comprises the following steps:
the clamping and lifting conveying type carrying robot moves straight against the automobile, the push-pull assembly pushes out the clamping and lifting mechanism, and the clamping and lifting mechanism stretches out and enters the bottom of the automobile;
the clamping and lifting mechanism continues to extend to drive the pull rod to reach the stroke end, the pull rod tightens the reversing support, and the reversing support drives the roller swing arm assembly to rotate and furl; the reversing bracket simultaneously compresses the elastic component;
the push-pull assembly pulls the clamping and lifting mechanism to be gradually retracted, and meanwhile, the reversing support drives the roller swing arm assembly to be unfolded in a straight shape under the drive of the elastic component, and the clamping and lifting mechanism continues to be retracted, so that a first group of tires of the automobile are tightly attached to the swing arm roller in an unfolded state;
the robot continues to move straight, and simultaneously, the clamping and lifting mechanism gradually withdraws to enable the first group of tires to be in contact with the conveying mechanism and pull the first group of tires onto the conveying mechanism;
the clamping and lifting mechanism stretches out again to drive the pull rod to reach the stroke end, the pull rod tightens the reversing support, and the reversing support drives the roller swing arm assembly to rotate and furl; the reversing bracket simultaneously compresses the elastic component;
the push-pull assembly pulls the clamping and lifting mechanism to be gradually retracted, and meanwhile, the reversing support drives the roller swing arm assembly to be unfolded in a straight shape under the drive of the elastic component, the conveying mechanism works, and the clamping and lifting mechanism continues to be retracted, so that a second group of tires of the automobile are tightly attached to the swing arm roller in an unfolded state;
the robot continues to move straight, the conveyor belt continues to rotate, and simultaneously, the clamping and lifting mechanism continues to retract, so that the second group of tires are contacted with the conveying mechanism, the second group of tires are pulled onto the conveying mechanism, the clamping and lifting mechanism is reset, and the step of carrying the vehicle is completed. Preferably, the conveying mechanism is a conveying belt.
Further, the carrying method further comprises a step of unloading:
the clamping and lifting conveying type carrying robot moves straight, meanwhile, the conveying mechanism works, a first group of tires of the automobile are tightly attached to the swing arm roller in a straight unfolding state, the push-pull assembly pushes out the clamping and lifting mechanism, meanwhile, the conveying mechanism works, and the first group of tires fall to the ground; wherein the conveying direction of the conveying mechanism of the unloading is opposite to the conveying direction during the loading, and the conveying direction is also opposite to the conveying direction during the loading;
the clamping and lifting mechanism drives the pull rod to reach the stroke end, the pull rod tightens the reversing support, and the reversing support drives the roller swing arm assembly to rotate and fold; the reversing bracket simultaneously compresses the elastic component;
the robot continues to move straight, and the conveying mechanism continues to work; when the swing arm roller leaves the first group of tires, the push-pull assembly pulls the clamping and lifting mechanism, the clamping and lifting mechanism is gradually retracted, and meanwhile, the reversing support drives the roller swing arm assembly to be unfolded under the driving of the elastic component;
the robot continues to move straight, and the conveying mechanism continues to work, and the clamping and lifting mechanism continues to retract under the pulling of the push-pull assembly, so that a second group of tires of the automobile are tightly attached to the swing arm roller in the unfolded state; the push-pull assembly pushes out the clamping and lifting mechanism, and the second group of tires fall on the ground; and the clamping and lifting mechanism is retracted, the swing arm roller is reset and unfolded, and the unloading step is completed.
Compared with the prior art, the invention has the beneficial effects that:
firstly, by adopting the technical scheme of the invention, the structure is simple, and the three actions of integral expansion, swing arm rotation and structure lifting are realized by adopting only one driving component through the cooperation of the reversing guide wheels and the special-shaped slotted holes and the guiding of the bent special-shaped slotted holes; compared with a common structure that one motor executes one action, the system complexity is greatly reduced, and the equipment cost is reduced; and the reliability is high.
Secondly, by adopting the technical scheme of the invention, the chassis wheel train arrangement structure can effectively ensure that each wheel is tightly attached to the ground, can well control the stress distribution of the vehicle body, effectively solve the problem of vehicle body tilting possibly caused by gravity center deviation, and simultaneously avoid the phenomenon of wheel skidding.
Drawings
Figure 1 is an isometric view of one embodiment of the invention.
Fig. 2 is a front view of an embodiment of the present invention.
Fig. 3 is a side view of an embodiment of the present invention.
Fig. 4 is a top view of an embodiment of the present invention.
Figure 5 is an isometric view of one embodiment of the invention.
Fig. 6 is an enlarged view of the partial view i of fig. 5.
Fig. 7 is an enlarged view of the partial view ii of fig. 5.
Fig. 8 is an enlarged view of the partial view iii of fig. 5.
Fig. 9 is an exploded view of a compound hinge mechanism according to one embodiment of the present invention.
Figure 10 is an isometric view of a universal wheel assembly in accordance with an embodiment of the present invention.
Fig. 11 is a top structural view of an embodiment of the present invention.
Fig. 12 is an enlarged view of a partial view iv of fig. 11 when the swing bracket is deployed to both sides in accordance with the state 1 of the embodiment of the present invention.
Fig. 13 is an enlarged view of a partial view iv of fig. 11 during rotation of the swing bracket according to embodiment 2 of the present invention.
Fig. 14 is an enlarged view of the partial view iv of fig. 11 with the swing bracket extended in state 3 according to one embodiment of the present invention.
Fig. 15 is an enlarged view of the partial view v of fig. 11 rotated 90 ° according to an embodiment of the present invention, showing the position of the shaped slot hole of the swing arm bracket engaged with the reversing guide wheel.
Fig. 16 to 19 are schematic diagrams of the working of the clamping and lifting mechanism of the present invention at each travel point under driving.
Fig. 20 is a schematic view of the chassis assembly of the present invention, wherein point a is a universal wheel set, point B, C is a drive steering wheel, and D, E is a spring caster.
Fig. 21 to 27 are schematic diagrams of a process of carrying a car by a robot according to the present invention.
The reference numerals include:
1-a chassis assembly, 2-a clamping and lifting mechanism, 3-a conveying mechanism and 4-a sensor assembly;
11-chassis frames, 12-driving steering wheels, 13-spring casters, 14-composite hinge mechanisms, 141-hinge plates, 142-knuckle bearings, 143-inch sleeves, 144-bearing pressing plates, 15-universal wheel sets, 151-wheel set mounting plates, 152-caster mounting plates, 153-universal casters, 154-hinge reversing blocks, 155-hinge shafts and 156-supporting shafts;
211-a moving frame, 212-a follower wheel, 213-a pull rod guide sleeve;
221-swing arm brackets, 222-swing arm rollers, 223-roller shafts, 224-swing arm rotating shafts and 225-special-shaped slotted holes;
231-reversing bracket, 232-reversing guide wheel, 233-elastic component, 234-spring seat, 235-pull rod and 236-pull rod guide wheel;
241-push-pull rod, 242-knuckle bearing;
251-first loop chain sprocket seat, 252-open loop chain group, 253-loop chain connecting plate, 254-loop chain sprocket, 255-belt shaft sprocket;
261-a loop chain power shaft, 262-a third sprocket, 263-a second chain, 264-a fourth sprocket, 265-a drive motor;
271-lifting blocks, 272-tie bar guide rails;
31-conveyor belt, 32-conveyor roller, 33-transmission shaft, 34-bearing seat, 35-coupling, 36-first sprocket, 37-second sprocket, 38-first chain, 39-conveying motor;
41-laser navigation device, 42-obstacle detection sensor.
Detailed Description
Preferred embodiments of the present invention are described in further detail below.
Example 1
As shown in fig. 1 to 15, a clamp lifting conveying type carrying robot comprises a chassis assembly 1, a clamp lifting mechanism 2, a conveying mechanism 3 and a sensor assembly 4; the clamping and lifting mechanism 2 is arranged at the front part and the rear part of the chassis assembly 1, and the conveying mechanism 3 is respectively arranged at the left side and the right side of the clamping and lifting mechanism 2; the sensor assemblies 4 are arranged above the vehicle body, are positioned outside the conveying mechanism 3, and are distributed on two sides of the vehicle body.
Preferably, as shown in fig. 6, the lifting mechanism 2 includes a moving frame 211, a reversing frame 231, a swing arm frame 221, a swing arm roller 222, an elastic member, a pull rod 235, a push-pull rod 241, and a linear movement driving device; the two swing arm brackets 221 are respectively connected with the moving frame 211 in a rotating way and are positioned at two sides of the reversing bracket 231, the swing arm brackets 221 are provided with bent special-shaped slotted holes 225, and two ends of the reversing bracket 231 are connected with the special-shaped slotted holes 225 in a matching way through reversing guide wheels 232; the swing arm roller 222 is connected with the swing arm bracket 221 through a roller shaft 223; the swing arm cylinder 222 has a plurality of specifications. The swing arm bracket 221 is connected to the moving frame 211 through a swing arm rotation shaft 224.
In this embodiment, the elastic member includes an elastic member 233 and a spring seat 234 mounted together, and the elastic member 233 may be a gas spring, a compression spring, or an extension spring. As shown in fig. 5 and 6, one end of the elastic member 233 is fixedly connected to the reversing frame 231, and the other end is fixedly connected to the moving frame 211 through a spring seat 234; one end of the pull rod 235 is fixedly connected with the reversing bracket 231, and the other end of the pull rod 235 passes through the pull rod guide sleeve 213 fixed on the moving frame 211 and is in sliding connection with the chassis frame 11 of the chassis assembly 1; the chassis frame 11 is provided with a pull rod guide rail 272, and the pull rod 235 is matched with the pull rod guide rail 272 through a group of pull rod guide wheels 236 fixed at the tail end to realize sliding connection.
As shown in fig. 5 and 6, the linear movement driving assembly is arranged on the chassis frame 11, one end of the push-pull rod 241 is connected with the movement frame 211 through a second joint bearing 242, and the other end of the push-pull rod 241 is connected with the linear movement driving assembly; the push-pull rods 241 are two groups and are respectively positioned at two sides of the pull rod 235.
As shown in fig. 6, the chassis frame 11 is provided with a lifting block 271 for lifting the swing arm roller, and preferably, the lifting block 271 is located between the swing arm bracket 221 and the linear movement driving assembly. Wherein, the front end surface of the lifting block 271 is an inclined surface. The bottom of the moving frame 211 is provided with a plurality of groups of follower wheels 212, and the follower wheels 212 may also be universal casters.
In this example, the angle of the bent shape of the shaped slot 225 is greater than or equal to 90 ° and less than 180 °, in this example, 135 °.
Further, as shown in fig. 1, the sensor assembly 4 of the present example includes a laser navigation device 41, an obstacle detection sensor 42.
Further, as shown in fig. 5 and 6, the linear movement driving assembly in this example is a chain driving assembly, and may also be a linear motor driving assembly, an electric push rod driving assembly or a ball screw driving assembly. The chain driving assembly comprises a driving motor 265, a loop chain power shaft 261 and an open loop chain group 252, wherein the driving motor 265 is in transmission connection with the loop chain power shaft 261, the output end of the driving motor 265 is connected with a fourth chain wheel 264, the loop chain power shaft 261 is provided with a third chain wheel 262, and the fourth chain wheel 264 is connected with the third chain wheel 262 through a second chain 263; the outer side of the loop chain power shaft 261 is provided with a second loop chain sprocket seat, the loop chain sprocket 254 is arranged on the second loop chain sprocket seat, one end of the chassis frame 11 close to the pull rod 235 is provided with a shaft sprocket 255, and the shaft sprocket 255 is arranged on the first loop chain sprocket seat 251. The open loop chain group 252 passes through the belt shaft sprocket 255 and the loop chain sprocket 254 and is connected by the loop chain connecting plate 253 to form a closed loop chain group; the loop link 253 is connected to the other end of the push-pull rod 241. The belt sprocket 255 is connected to the chassis frame 11 through a first endless chain sprocket seat 251, and the endless chain sprocket 254 is connected to an endless chain power shaft 261 and is fixed to the chassis frame 11 through a second endless chain sprocket seat.
In this embodiment, the working principle of the swing arm bracket is as follows:
1) As shown in fig. 16, the reversing frame 231 is horizontally constrained and can only move along a path consisting of a, b, c, d points. B. The thick solid line path formed by the three points C, D is a path formed by matching the reversing guide wheels 232 at the two sides of the reversing support 231 with the bent shaped special-shaped slotted holes 225 of the swing arm support 221, and the reversing guide wheels 232 can roll in the path at will. The point a is a rotation point formed by the swing arm bracket 221 and the swing arm rotation shaft 224. When the diverting bracket 231 is at the position a, the diverting guide wheel 232 is at the point D of the swing arm bracket 221, and the swing arm bracket 221 cannot be rotated. The forces exerted on the swing arm support 221 are only converted into axial support forces of the reversing support 231.
2) As shown in fig. 17, when the diverting bracket 231 moves to position b, the diverting guide wheel 232 moves to point C of the swing arm bracket 221, the swing arm bracket 221 angle remains unchanged, but at this time the swing arm bracket 221 cannot withstand the lever force because it will translate into a radial force in the ab direction of the diverting bracket 231.
3) As shown in fig. 18, when the diverting bracket 231 moves to the position c, the diverting guide wheel 232 moves to the point B of the swing arm bracket 221, and the swing arm bracket 221 undergoes an angle change of 45 degrees.
4) As shown in fig. 19, when the diverting bracket 231 moves to the position d, the diverting guide wheel 232 returns to the point C of the swing arm bracket 221, and the swing arm bracket 221 undergoes an angular change of 90 degrees. The swing arm bracket 221 is folded.
Further, when the angle of the bent shape of the shaped slot 225 is 90 °, the working principle of the swing arm bracket 221 is basically the same.
Further, when the angle of the bent shape of the shaped slot 225 is 189 °, the working principle of the swing arm bracket 221 is basically the same. The working principle of the clamping and lifting mechanism is that:
1) As shown in fig. 12 and 6, the driving motor 265 is reversed, and the moving frame 211 and its accompanying structure are extended outwards by the transmission action of the fourth sprocket 264, the second chain 263, the third sprocket 262, the endless chain power shaft 261, the endless chain sprocket 254, the open loop chain group 252, the endless chain connecting plate 253, and the push-pull rod 241 in sequence.
2) When the moving frame 211 is extended to a certain stroke, the drawbar guide 236 reaches a stroke limit. The driving motor 265 continues to rotate reversely, the pull rod 235 pulls the reversing support 231 and compresses the elastic component 233, the reversing guide wheel 232 pulls the swing arm support 221 to rotate around the swing arm rotating shaft 224, and the swing arm support 221 is turned through the state shown in fig. 13 and finally becomes the state shown in fig. 14.
The working principle of the clamping and lifting mechanism is that:
1) As shown in fig. 14 and 6, the driving motor 265 rotates forward, and the moving frame 211 and its accompanying structure are contracted toward the vehicle body by the driving action of the fourth sprocket 264, the second chain 263, the third sprocket 262, the endless chain power shaft 261, the endless chain sprocket 254, the open-loop chain group 252, the endless chain connecting plate 253, and the push-pull rod 241 in this order. In the process, the stretched pull rod 235 is gradually released, the reversing bracket 231 stretches out under the elastic action of the elastic component 233, and the reversing guide wheel 232 toggles the swing arm bracket 221 to rotate around the swing arm rotating shaft 224.
2) The moving frame 221 goes through the three states shown in fig. 14, 13 and 12, and finally, the moving frame 211 and the accompanying structure thereof are lifted up due to the upward guiding action of the lifting block 271 on the swing arm roller 222, and the follower wheel 212 is separated from the ground.
In this case, to the working process of pressing from both sides the mechanism of lifting, including actions such as whole flexible, swing arm rotation, structure rise, as long as a driving motor just can realize that prior art adopts a motor to carry out the function of action, the structure of this case is simpler, and system control is convenient, easy, reliable, the cost is reduced.
In addition, the chassis assembly 1 may be provided with the grip-and-lift mechanism 2 only at the front or rear, i.e., the grip-and-lift mechanism 2 at one side, according to actual needs.
Example 2
On the basis of the embodiment 1, as shown in fig. 1 to 5 and 8 to 9, the chassis assembly 1 in this embodiment includes two chassis frames 11 located at front and rear portions of a vehicle body, and the two chassis frames 11 are connected by a composite hinge mechanism 14. The compound hinge mechanism 14 comprises a hinge plate 141, wherein first joint bearings 142 and a inch sleeve 143 are respectively arranged at shaft holes at two ends of the hinge plate 141, and the first joint bearings 142 and the inch sleeve 143 are respectively fixedly connected with the hinge plate 141 through bearing pressing plates 144 and screws.
As shown in fig. 1-3, 5 and 10, two driving steering wheels 12, a set of universal wheel sets 15 and two spring casters 13 are mounted at the bottom of the chassis frame 11. The universal wheel set 15 comprises a wheel set mounting plate 151, a castor mounting plate 152, universal casters 153, a hinge reversing block 154, two sets of hinge shafts 155 and a supporting shaft 156; the two sets of hinge shafts 155 are perpendicular to each other, and the supporting shaft 156 and the caster mounting plate 152 are respectively connected to the hinge reversing block 154 through the two sets of hinge shafts 155 to form a universal joint type connection; the support shaft 156 is vertically welded on the wheel set mounting plate 151; three casters 153 are symmetrically provided on the caster mounting plate 152; triangle is formed between the universal wheel set 15 and the two driving steering wheels 12, and the two spring casters 13 are positioned on two sides of the universal wheel set 15. Preferably, the two spring casters 13 and the universal wheel set 15 are in a straight line and are parallel to the connecting line of the two driving steering wheels 12.
As shown in fig. 20, a schematic diagram of the chassis assembly of this example is shown. Wherein the point A is a universal wheel group 15, the points B and C are driving steering wheels 12, and the points D and E are spring casters 13. When the gear train structure consisting of only A, B, C three points exists, one surface is determined based on the three points, and the driving wheels at the two points B, C are necessarily grounded. But only the structure in this case has a certain disadvantage in that a vehicle body tilting problem may occur when the center of the cargo is shifted beyond the triangular shadow area composed of three points A, B, C. Therefore, the spring universal castor with two points D, E is added, the problem that the vehicle body tilts possibly caused by gravity center deviation can be effectively solved, meanwhile, the grabbing force of the B, C-point driving steering wheel cannot be changed, the stress distribution of the vehicle body can be well controlled, and meanwhile, the phenomenon of wheel slipping is avoided.
Example 3
On the basis of the embodiment 2, as shown in fig. 5 and 7, the conveying mechanism 3 of the present example comprises a transmission shaft 33, a conveying roller 32, a conveying motor 39, a first sprocket 36, a second sprocket 37, a first chain 38 and a conveying belt 31, wherein the transmission shaft 33 is fixed by a bearing seat 34 arranged on the chassis frame 11, and two ends of the transmission shaft 33 are coaxially connected with the conveying roller 32 by a coupling 35; the conveying motor 39 is arranged on the chassis frame 11, the second chain wheel 37 is connected with the conveying motor 39, the first chain wheel 36 is arranged on the transmission shaft 33, the first chain wheel 36 and the second chain wheel 37 are in transmission connection through a first chain 38, and the conveying belt 31 is arranged on the plurality of conveying rollers 32 to form a circular rotary conveying line.
Example 4
As shown in fig. 1 to 27, the vehicle is transported by using the lift-and-transfer robot of embodiment 1, and the transport method includes the steps of:
step S1, as shown in FIG. 14, the clamping and lifting conveying type carrying robot moves straight towards the automobile, the push-pull assembly pushes out the clamping and lifting mechanism 2, and the clamping and lifting mechanism 2 stretches out, namely the swing arm bracket 221 and the swing arm roller 222 stretch out and enter the bottom of the automobile;
step S2, as shown in FIG. 21, the clamping and lifting conveying type carrying robot enters a parking space, and senses the parking space through a sensor assembly 4 until one end of a conveying mechanism 3 is in contact with a first group of tires of an automobile;
step S3, the clamping and lifting mechanism 2 continues to extend to drive the pull rod 235 to reach the stroke end, the pull rod 235 tightens the reversing support 231, and the reversing support 231 drives the roller swing arm assembly to rotate and retract; the reversing stent 231 simultaneously compresses the elastic member 233;
step S4, as shown in FIG. 22, the push-pull assembly pulls the clamping and lifting mechanism 2, the clamping and lifting mechanism 2 is gradually retracted, and meanwhile, the reversing bracket 231 drives the roller swing arm assembly to be unfolded in a straight line under the drive of the elastic component; as shown in fig. 23, the grip lifting mechanism 2 continues to retract, causing the first group of tires of the vehicle to come into close proximity with the swing arm roller 222 in the deployed state;
step S5, the robot continues to move straight, as shown in FIG. 24, the clamping and lifting mechanism 2 is gradually retracted under the drive of the linear movement driving device, the rolling of the swing arm roller 222 and the conveying action of the conveying mechanism 3 form approaching motion, and the clamping force generated by the rolling of the swing arm roller 222 and the action between the conveying mechanisms 3 of the first group of tires of the automobile is lifted; as shown in fig. 25, the robot continues to travel straight while the gripper mechanism 2 continues to retract and pull the first set of tires onto the conveyor 3;
preferably, the chassis frame 11 is provided with a lifting block 271, when the swing arm roller 222 touches the lifting block 271, under the guiding effect of the lifting block 271 in an obliquely upward direction, the swing arm roller 222 generates vertical displacement, the swing arm roller 222 and the conveying mechanism 3 generate clamping and lifting effects on the automobile tire, and the automobile tire is completely clamped and lifted on the conveying mechanism 3;
step S6, as shown in FIG. 26, the clamping and lifting mechanism 2 stretches out again to drive the pull rod 235 to reach the stroke end, the pull rod 235 tightens the reversing support 231, and the reversing support 231 drives the roller swing arm assembly to rotate and fold; the reversing stent 231 simultaneously compresses the elastic member 233;
step S7, the push-pull assembly pulls the clamping and lifting mechanism 2, the clamping and lifting mechanism 2 is gradually retracted, meanwhile, the reversing bracket 231 drives the roller swing arm assembly to be unfolded in a straight shape under the drive of the elastic component, the conveying mechanism 3 rotates, and the clamping and lifting mechanism 2 is continuously retracted, so that a second group of tires of the automobile are tightly attached to the swing arm roller 222 in an unfolded state;
in step S8, as shown in fig. 27, the robot continues to move straight, the conveyor 3 continues to rotate, and at the same time, the gripper 2 continues to retract, bringing the second group of tires into contact with the rotating conveyor 3, and pulling the second group of tires onto the conveyor 3, the gripper 2 resets, and the step of transporting is completed.
The robot unloading step of this embodiment is opposite to the picking up process. Specifically, the method comprises the following steps:
the clamping and lifting conveying type carrying robot moves straight, meanwhile, the conveying mechanism 3 rotates to enable a first group of tires of an automobile to be tightly attached to the swing arm roller 222 in a straight unfolding state, the push-pull assembly pushes out the clamping and lifting mechanism 2, meanwhile, the conveying mechanism 3 continues to rotate reversely, and the first group of tires fall on the ground;
the clamping and lifting mechanism 2 drives the pull rod 235 to reach the stroke end, the pull rod 235 tightens the reversing support 231, and the reversing support 231 drives the roller swing arm assembly to rotate and retract; the reversing bracket 231 simultaneously compresses the elastic member;
the robot continues to move straight, and simultaneously the conveying mechanism 3 continues to rotate reversely; when the swing arm roller 222 leaves the first group of tires, the push-pull assembly pulls the clamping and lifting mechanism 2, the clamping and lifting mechanism 2 is gradually retracted, and meanwhile, the reversing bracket 231 drives the roller swing arm assembly to be unfolded under the drive of the elastic component;
the robot continues to go straight, meanwhile, the conveying mechanism 3 continues to rotate reversely, and the clamping and lifting mechanism 2 continues to retract under the pulling of the push-pull assembly, so that a second group of tires of the automobile are tightly attached to the swing arm roller 222 in the unfolded state; the push-pull assembly pushes out the clamping and lifting mechanism 2, and the second group of tires fall on the ground; and the clamping and lifting mechanism 2 is retracted, the swing arm roller 222 is reset and unfolded, and the unloading step is completed.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (5)
1. The utility model provides a press from both sides and hold conveying formula transfer robot which characterized in that: comprises a chassis assembly (1), a clamping and lifting mechanism (2) and a conveying mechanism (3); the clamping and lifting mechanisms (2) are arranged at the front part and the rear part of the chassis assembly (1), and the conveying mechanisms (3) are respectively arranged at the left side and the right side of the clamping and lifting mechanisms (2);
the clamping and lifting mechanism (2) comprises a moving frame (211), a roller swing arm assembly, a reversing assembly and a push-pull assembly, wherein one end of the roller swing arm assembly is rotatably connected with the moving frame (211); the reversing assembly comprises a reversing support (231), an elastic member and a pull rod (235), wherein the reversing support (231) is in sliding connection with the roller swing arm assemblies positioned on two sides of the reversing support, the reversing support (231) is connected with the moving frame (211) through the elastic member, and the reversing support (231) is in sliding connection with the chassis assembly (1) through the pull rod (235); the push-pull assembly drives a moving frame (211);
the roller swing arm assembly comprises a swing arm bracket (221) and a swing arm roller (222); the swing arm support (221) is rotationally connected with the movable frame (211), the swing arm support (221) is provided with a bent special-shaped slotted hole (225), and two ends of the reversing support (231) are in sliding connection with the special-shaped slotted hole (225) through reversing guide wheels (232); the swing arm roller (222) is connected with the swing arm bracket (221);
the bending angle of the special-shaped slotted hole (225) is more than 90 degrees and less than 180 degrees;
one end of the pull rod (235) is fixedly connected with the reversing bracket (231), and the other end of the pull rod passes through the pull rod guide sleeve (213) arranged on the moving frame (211) and is in sliding connection with the chassis frame (11) of the chassis assembly (1);
the chassis assembly (1) comprises a chassis frame (11), wherein a pull rod guide rail (272) is arranged on the chassis frame (11), and the pull rod (235) is in sliding connection with the pull rod guide rail (272) through a pull rod guide wheel (236);
the elastic member comprises an elastic part (233) and a spring seat (234) which are installed together, the elastic part (233) is connected with the reversing bracket (231), and the spring seat (234) is connected with the moving frame (211);
the linear movement driving assembly is arranged on the chassis frame (11), one end of the push-pull rod (241) is connected with the movement frame (211) through a second joint bearing (242), and the other end of the push-pull rod (241) is connected with the linear movement driving assembly; the push-pull rods (241) are two groups and are respectively positioned at two sides of the pull rod (235);
the linear movement driving assembly is a chain driving assembly, the chain driving assembly comprises a driving motor (265), a loop chain power shaft (261) and an open loop chain group (252), the driving motor (265) is in transmission connection with the loop chain power shaft (261), the output end of the driving motor (265) is connected with a fourth sprocket (264), the loop chain power shaft (261) is provided with a third sprocket (262), and the fourth sprocket (264) is connected with the third sprocket (262) through a second chain (263); the outer side of the loop chain power shaft (261) is provided with a second loop chain sprocket seat, a loop chain sprocket (254) is arranged on the second loop chain sprocket seat, one end of the chassis frame (11) close to the pull rod (235) is provided with a shaft sprocket (255), and the shaft sprocket (255) is arranged on the first loop chain sprocket seat (251); the open loop chain group (252) passes through the belt shaft chain wheel (255) and the loop chain wheel (254) and is connected through the loop chain connecting plate (253) to form a closed loop chain group; the loop chain connecting plate (253) is connected with the other end of the push-pull rod (241);
the extending process of the clamping and lifting mechanism (2) comprises the following steps:
the driving motor (265) is reversely rotated and sequentially passes through the transmission action of a fourth chain wheel (264), a second chain (263), a third chain wheel (262), a loop chain power shaft (261), a loop chain wheel (254), an open loop chain group (252), a loop chain connecting plate (253) and a push-pull rod (241), so that the movable frame (211) and an attached structure thereof extend outwards;
when the moving frame (211) extends to a certain stroke, the pull rod guide wheel (236) reaches the stroke limit; the driving motor (265) continuously rotates reversely, the pull rod (235) pulls the reversing support (231) and compresses the elastic component (233), and the reversing guide wheel (232) pulls the swing arm support (221) to enable the swing arm support (221) to rotate around the swing arm rotating shaft (224).
2. The gripper-lift-transfer-type transfer robot of claim 1, wherein: the clamping and lifting conveying type carrying robot comprises a sensor assembly (4), wherein the sensor assembly (4) is arranged above a robot body and is positioned on the outer side of the conveying mechanism (3).
3. The pinch-lift transfer robot according to any one of claims 1-2, wherein: two chassis frames (11) are arranged, and the two chassis frames (11) are connected through a composite hinge mechanism (14); the compound hinge mechanism (14) comprises a hinge plate (141), wherein the hinge plate (141) is provided with a first joint bearing (142) and a inch sleeve (143), and the first joint bearing (142) and the inch sleeve (143) are fixedly connected with the hinge plate (141) through bearing pressing plates (144) respectively.
4. A gripper-lift-transfer robot according to claim 3, wherein: the chassis frame (11) is provided with a universal wheel set (15) and two omnibearing walking driving wheels; the universal wheel set (15) comprises a wheel set mounting plate (151), a castor mounting plate (152), universal casters (153), a hinge reversing block (154), two sets of hinge shafts (155) and a supporting shaft (156); the two sets of hinge shafts (155) are mutually perpendicular, and the supporting shafts (156) and the caster mounting plates (152) are respectively connected to the hinge reversing blocks (154) through one set of hinge shafts (155) to form universal joint type connection; the supporting shaft (156) is fixedly connected with the wheel set mounting plate (151); the universal casters (153) are symmetrically arranged below the caster mounting plate (152); the universal wheel set (15) and the two omnibearing walking driving wheels form a triangle together.
5. A method of transporting a gripper-lift transport robot according to any one of claims 1 to 4, comprising the steps of:
the clamping and lifting conveying type carrying robot moves straight against the automobile, the push-pull assembly pushes out the clamping and lifting mechanism (2), and the clamping and lifting mechanism (2) stretches out and enters the bottom of the automobile;
the clamping and lifting mechanism (2) continues to extend to drive the pull rod (235) to reach the stroke end, the pull rod (235) tightens the reversing support (231), and the reversing support (231) drives the roller swing arm assembly to rotate and retract; the reversing bracket (231) simultaneously compresses the elastic component;
the push-pull assembly pulls the clamping and lifting mechanism (2), the clamping and lifting mechanism (2) is gradually retracted, meanwhile, the reversing support (231) drives the roller swing arm assembly to be unfolded in a straight shape under the driving of the elastic component, and the clamping and lifting mechanism (2) is continuously retracted, so that a first group of tires of an automobile are tightly attached to the swing arm roller (222) in an unfolded state;
the robot continues to move straight, and simultaneously, the clamping and lifting mechanism (2) gradually withdraws to enable the first group of tires to be in contact with the conveying mechanism (3) and pull the first group of tires onto the conveying mechanism (3);
the clamping and lifting mechanism (2) stretches out again to drive the pull rod (235) to reach the stroke end, the pull rod (235) tightens the reversing support (231), and the reversing support (231) drives the roller swing arm assembly to rotate and retract; the reversing bracket (231) simultaneously compresses the elastic component;
the push-pull assembly pulls the clamping and lifting mechanism (2), the clamping and lifting mechanism (2) is gradually retracted, meanwhile, the reversing support (231) drives the roller swing arm assembly to be unfolded in a straight shape under the driving of the elastic component, the conveying mechanism (3) works, and the clamping and lifting mechanism (2) continues to retract, so that a second group of tires of an automobile are tightly attached to the swing arm roller (222) in an unfolded state;
the robot continues to move straight, the conveying mechanism (3) continues to work, meanwhile, the clamping and lifting mechanism (2) continues to retract, the second group of tires are contacted with the conveying mechanism (3), the second group of tires are pulled onto the conveying mechanism (3), the clamping and lifting mechanism (2) is reset, and the step of carrying vehicles is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810837897.1A CN108792606B (en) | 2018-07-26 | 2018-07-26 | Clamping and lifting conveying type carrying robot and carrying method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810837897.1A CN108792606B (en) | 2018-07-26 | 2018-07-26 | Clamping and lifting conveying type carrying robot and carrying method thereof |
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| CN108792606B true CN108792606B (en) | 2024-01-02 |
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| CN108792606A (en) | 2018-11-13 |
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