CN108974918A - A kind of mobile robot carried for cargo - Google Patents
A kind of mobile robot carried for cargo Download PDFInfo
- Publication number
- CN108974918A CN108974918A CN201810840817.8A CN201810840817A CN108974918A CN 108974918 A CN108974918 A CN 108974918A CN 201810840817 A CN201810840817 A CN 201810840817A CN 108974918 A CN108974918 A CN 108974918A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- driving wheel
- mobile robot
- railway carriage
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of mobile robot carried for cargo, its collaborative work that can be realized mobile mechanism and mechanical arm, make mobile mechanism can automatic loading and unloading cargo, the operating position of mechanical arm can be adjusted flexibly simultaneously, to meet the needs of different transportation applications, to make conevying efficiency greatly improve, it includes mobile mechanism and the carrying mechanism that is mounted in mobile mechanism, carrying mechanism includes crawl mechanical arm, mobile mechanism includes railway carriage, there are four driving wheels in rectangular layout for the bottom end installation of railway carriage, driving wheel is omni-directional wheel, each driving wheel is connect with driving wheel servo motor, planet wheel decelerator is installed on each driving wheel, there are two grab mechanical arm for the top installation of railway carriage, crawl mechanical arm is revolute robot, the end of crawl mechanical arm is equipped with clamper.
Description
Technical field
The present invention relates to electric business cargos to carry and logistics transportation field more particularly to a kind of moving machine carried for cargo
Device people.
Background technique
Current electric business industry is during logistics transportation, when express delivery warehouse is loaded and unloaded, transported goods, frequently with moving machine
Structure transports cargo, however completes manpower is needed in cargo handling to mobile mechanism, and the mode of manual handling is time-consuming to take
Power, and production efficiency is low, is unable to satisfy the demand of bulky goods carrying.Though having mechanical arm that cargo may be implemented in the prior art
Automatic loading and unloading operation, be greatly improved production efficiency while reducing labor intensity of workers, but traditional mechanical arm pair
The adaptability of different warehouse environments is poor, and operating position is fixed, and during cargo is carried with logistics transportation, needs head
Cargo is first delivered to mechanical arm accessible position by artificial or conveyer belt, then charge and discharge operations are carried out by mechanical arm, it is mechanical
The operating position of arm cannot be adjusted flexibly according to the specific location of cargo.
Summary of the invention
Aiming at the problem that mobile mechanism existing in the prior art cannot achieve automatic loading and unloading cargo and mechanical arm works
The problem of position cannot be adjusted flexibly, and not be able to satisfy the demand of different transportation applications, the present invention provides one kind to remove for cargo
The mobile robot of fortune can be realized the collaborative work of mobile mechanism and mechanical arm, make mobile mechanism can automatic loading and unloading cargo,
The operating position of mechanical arm can be adjusted flexibly simultaneously, to meet the needs of different transportation applications, so that conevying efficiency be made to mention significantly
It is high.
Its technical solution is a kind of such, mobile robot carried for cargo comprising mobile mechanism and crawl
Mechanical arm, the mobile mechanism include railway carriage, and there are four driving wheel in rectangular layout, features for the bottom end installation of the railway carriage
It is, the driving wheel is omni-directional wheel, and each driving wheel is connect with driving wheel servo motor, on each driving wheel
Planet wheel decelerator is installed, the top installation of the railway carriage is joint type there are two mechanical arm, the crawl mechanical arm is grabbed
Robot.
It is further characterized by the driving wheel is Mecanum wheel；
The railway carriage is the quadrilateral being formed by welding by vehicle frame and baffle, and the vehicle frame is made of square tube steel welded connecting, institute
State the steel plate that baffle is 8mm thickness；
The driving wheel servo motor, planetary reduction gear are installed on the inside of the railway carriage, and the planetary reduction gear passes through shaft coupling
Device connects the driving wheel；
Two crawl mechanical arms pass through bearing block respectively and are fixed on the top end face of the railway carriage, and the bearing block is sequentially
Pedestal, large arm, shaft shoulder set, the forearm, rotating circular disk of the mechanical arm are connected, clamper is installed on the rotating circular disk；
First driving device is installed, the first driving device includes worm gear, worm screw, first axle, first watches in the pedestal
Motor is taken, the first axle is connect with the worm gear, and Biserial cylindrical roller bearing, the worm gear are provided with above the worm gear
Lower section be provided with thrust ball bearing, the thrust ball bearing is connect with Lower shaft sleeve, the Biserial cylindrical roller bearing and upper axis
Set connects, and is equipped with connecting shaft above the Biserial cylindrical roller bearing, and the worm screw connect with the first tapered roller bearing,
First tapered roller bearing is connect with bearing (ball) cover and end cap connection, the end cap are connect with first servo motor；
The pedestal is flexibly connected by the connecting shaft with one end of the large arm, and the other end of the large arm passes through the axis
Shoulder set is connect with one end of the forearm, and the connecting shaft and the large arm link position are equipped with the second driving device, described
Third driving device is installed, one end of the forearm is equipped with the 4th driving dress at large arm and shaft shoulder set link position
It sets, the other end of the forearm is equipped with the rotating circular disk；
Second driving device includes the first speed regulating motor, and the third driving device includes the second speed regulating motor, and described the
One speed regulating motor and the second axis connection, second axis are flexibly connected by the second circular cone roller bearing with the connecting shaft, institute
The second speed regulating motor and third axis connection are stated, the third axis is connected by third tapered roller bearing and the shaft shoulder set activity
It connects；
The fourth drive device includes the second servo motor, is equipped with harmonic speed reducer on second servo motor, described
Harmonic speed reducer is fixedly connected by output panel with one end of the 4th axis, and the other end of the 4th axis is fixedly connected with the rotation
Disk.
Using above structure of the invention, can achieve following the utility model has the advantages that mobile mechanism is controlled respectively with servo motor
Four driving wheels, driving wheel use omni-directional wheel, realize mobile Omni-mobile, and run smoothly, mechanism easy to remove is not
Transporting position different in warehouse environment is reached in same express delivery sort process, the driving wheel of mobile mechanism is slowed down using planetary gear
Device carries out the control of speed, and planet wheel decelerator is high-performance deceleration torsion increasing device, more flexible to the control of mobile mechanism, from
And substantially increase the accuracy of mobile mechanism's mobile flexibility and operating position；It is equipped on the top end face of mobile mechanism
Articulated manipulator, articulated manipulator can more flexible crawl cargo, realize cooperateing with for mobile mechanism and mechanical arm
Work, make mobile mechanism can automatic loading and unloading cargo, while the operating position of mechanical arm can be adjusted flexibly, it is different in warehouse to meet
The demand of transportation applications, to substantially increase conevying efficiency.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of mechanical arm main view section view of the invention；
Fig. 3 is the structural schematic diagram of mechanical arm right view section view of the invention；
Fig. 4 is the structural schematic diagram of mobile mechanism's main view of the present invention；
Fig. 5 is the structural schematic diagram of mobile mechanism's top view section view of the present invention.
Specific embodiment
As shown in Figures 1 to 5, a kind of mobile robot carried for cargo comprising mobile mechanism 1 and crawl are mechanical
Arm 2, mobile mechanism 1 include railway carriage 11, and railway carriage 11 is the quadrilateral being made of vehicle frame 111 and baffle 112, and vehicle frame is by square tube steel
It is welded to connect and constitutes, baffle is the steel plate of 8mm thickness, to guarantee that car body has enough bearing capacities；The bottom end of railway carriage 11 is equipped with
Four driving wheels 12 in rectangular layout, four driving wheels 12 bottom end in rectangular layout in railway carriage, further improve movement
The mobile stationarity of mechanism 1, effectively prevents mobile mechanism to turn on one's side；
Driving wheel 12 is Mecanum wheel, and each driving wheel 12 connect with driving wheel servo motor 13, pacifies on each driving wheel 12
Equipped with planet wheel decelerator 14, driving wheel servo motor 13, planetary reduction gear 14 are installed on the inside of railway carriage 11, planetary reduction gear
14 connect driving wheel 12, the model SINAMICSV80 of driving wheel servo motor 13, the model of shaft coupling 15 by shaft coupling 15
For EK1-300；
The top of railway carriage 11 is equipped with crawl mechanical arm 2, and crawl mechanical arm 2 is revolute robot；Grabbing mechanical arm 2 includes two
A, two crawl mechanical arms 2 are centrosymmetrically arranged；Two crawl mechanical arms 2 are fixed on railway carriage 11 by bearing block 16 respectively
On the end face of top, pedestal 21, large arm 22, the shaft shoulder that bearing block 16 is sequentially connected with crawl mechanical arm 2 cover 23, forearm 24, rotational circle
Disk 25 is equipped with clamper 26 on rotating circular disk 25, first driving device is equipped in pedestal 21, first driving device includes snail
211, worm screw 212, first axle 213, first servo motor 214 are taken turns, first axle 213 is connect with worm gear 211, the top of worm gear 211
It is provided with Biserial cylindrical roller bearing 215, the lower section of worm gear 211 is provided with thrust ball bearing 216, and thrust ball bearing 216 is under
Axle sleeve 217 connects, and Biserial cylindrical roller bearing 215 is connect with Upper shaft sleeve 218, the top installation of Biserial cylindrical roller bearing 215
There is connecting shaft 218, worm screw 212 connect with the first tapered roller bearing 219, and the first tapered roller bearing 219 connects with end cap 220
It connects, end cap 220 is connect with first servo motor 214；
Pedestal 21 is flexibly connected by connecting shaft 218 with one end of large arm 22, the other end of large arm 22 by the shaft shoulder cover 23 with it is small
One end of arm 24 connects, and connecting shaft 23 and 24 link position of large arm are equipped with the second driving device, and large arm 24 and shaft shoulder set 23 connect
It connects and third driving device is installed at position, one end of forearm 24 is equipped with fourth drive device, the other end installation of forearm 24
There is rotating circular disk 25；Second driving device includes the first speed regulating motor 221, and third driving device includes the second speed regulating motor 231,
First speed regulating motor 221 is connect with the second axis 222, and the second axis 222 passes through the second circular cone roller bearing 223 and 23 activity of connecting shaft
Connection, the second speed regulating motor 231 are connect with third axis 232, and third axis 232 passes through third tapered roller bearing 233 and shaft shoulder set
23 are flexibly connected；Fourth drive device includes the second servo motor 241, is equipped with harmonic speed reducer on the second servo motor 241
242, harmonic speed reducer 242 is fixedly connected by output panel 243 with one end of the 4th axis 244, and the other end of the 4th axis 244 is fixed
Connect rotating circular disk 25, harmonic speed reducer 242 have it is small in size, advantage with high accuracy is controlled, for general retarder
It is more accurate, to substantially increase the control precision to crawl mechanical arm 2.
It is described that the specific working principle is as follows: applying the present invention to the handling and transport of courier packages in electric business warehouse, uses
Driving wheel servo motor 13 controls four driving wheels 12 respectively and mobile mechanism is driven steadily to move, and is controlled by planetary reduction gear 14
The travel speed of mobile mechanism 1, while by the direction of travel of four Mecanum wheels 12 of control of driving wheel servo motor 13, it is real
Existing Omni-mobile of the mobile mechanism 1 in warehouse；
When using crawl mechanical arm handling goods, first driving device drives turbine and worm device by first servo motor 214
Rotate first axle 213 vertically；Second driving device drives the second axis 222 to realize greatly by the first speed regulating motor 221
The rotation of arm 24；Third driving device drives third axis 232 to realize that the shaft shoulder covers 23 rotation by the second speed regulating motor 231；The
Fourth drive device drives the 4th axis 244 to realize the rotation of forearm 24 by the second servo motor 241, and then drives clamper 26
Rotation.
Claims (9)
1. a kind of mobile robot carried for cargo comprising mobile mechanism and the carrying being mounted in the mobile mechanism
Mechanism, the carrying mechanism include crawl mechanical arm, and the mobile mechanism includes railway carriage, and the bottom end of the railway carriage is equipped with four
A driving wheel in rectangular layout, which is characterized in that the driving wheel is omni-directional wheel, and each driving wheel is watched with driving wheel
Motor connection is taken, planet wheel decelerator is installed on each driving wheel；There are two grippers for the top installation of the railway carriage
Tool arm, the crawl mechanical arm are revolute robot, and the end of the crawl mechanical arm is equipped with clamper.
2. a kind of mobile robot carried for cargo according to claim 1, which is characterized in that the driving wheel is
Mecanum wheel.
3. a kind of mobile robot carried for cargo according to claim 1, which is characterized in that the railway carriage is served as reasons
The quadrilateral that vehicle frame and baffle are constituted, the vehicle frame are made of square tube steel welded connecting, and the baffle is the steel of 8mm thickness
Plate.
4. a kind of mobile robot carried for cargo according to claim 1, which is characterized in that the driving wheel is watched
Take motor, planetary reduction gear is installed on the inside of the railway carriage, the planetary reduction gear connects the driving wheel by shaft coupling.
5. a kind of mobile robot carried for cargo according to claim 1, which is characterized in that two crawls
Mechanical arm passes through bearing block respectively and is fixed on the top end face of the railway carriage, and the bearing block is sequentially connected with the mechanical arm
Pedestal, large arm, shaft shoulder set, forearm, rotating circular disk are equipped with the clamper on the rotating circular disk.
6. a kind of mobile robot carried for cargo according to claim 5, which is characterized in that peace in the pedestal
Equipped with first driving device, the first driving device includes worm gear, worm screw, first axle, first servo motor, the first axle
It is connect with the worm gear, Biserial cylindrical roller bearing is provided with above the worm gear, is provided with thrust below the worm gear
Ball bearing, the thrust ball bearing are connect with Lower shaft sleeve, and the Biserial cylindrical roller bearing is connect with Upper shaft sleeve, the biserial circle
Connecting shaft is installed, the worm screw connect with the first tapered roller bearing, first taper roller above column roller bearing
Bearing is connect with bearing (ball) cover and end cap connection, the end cap are connect with first servo motor.
7. a kind of mobile robot carried for cargo according to claim 6, which is characterized in that the pedestal passes through
The connecting shaft is flexibly connected with one end of the large arm, and the other end of the large arm passes through shaft shoulder set and the forearm
One end connection, the connecting shaft and the large arm link position are equipped with the second driving device, the large arm and the shaft shoulder set
Third driving device is installed at link position, one end of the forearm is equipped with fourth drive device, the forearm it is another
End is equipped with the rotating circular disk.
8. a kind of mobile robot carried for cargo according to claim 7, which is characterized in that second driving
Device includes the first speed regulating motor, and the third driving device includes the second speed regulating motor, first speed regulating motor and second
Axis connection, second axis are flexibly connected by the second circular cone roller bearing with the connecting shaft, second speed regulating motor and
Third axis connection, the third axis are flexibly connected by third tapered roller bearing with shaft shoulder set.
9. a kind of mobile robot carried for cargo according to claim 8, which is characterized in that the 4th driving
Device includes the second servo motor, and harmonic speed reducer is equipped on second servo motor, and the harmonic speed reducer passes through defeated
Placing is fixedly connected with one end of the 4th axis, and the other end of the 4th axis is fixedly connected with the rotating circular disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810840817.8A CN108974918A (en) | 2018-07-27 | 2018-07-27 | A kind of mobile robot carried for cargo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810840817.8A CN108974918A (en) | 2018-07-27 | 2018-07-27 | A kind of mobile robot carried for cargo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108974918A true CN108974918A (en) | 2018-12-11 |
Family
ID=64551866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810840817.8A Pending CN108974918A (en) | 2018-07-27 | 2018-07-27 | A kind of mobile robot carried for cargo |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108974918A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760010A (en) * | 2019-03-18 | 2019-05-17 | 鲁东大学 | A kind of multi-functional carrying robot |
| CN110695976A (en) * | 2019-10-15 | 2020-01-17 | 山东科技大学 | Automatic feeding and discharging manipulator of carrier roller spraying production line |
| CN111113366A (en) * | 2020-01-10 | 2020-05-08 | 杭州程天科技发展有限公司 | Omnidirectional movement general robot carrying mechanical arms |
| CN111908083A (en) * | 2020-08-05 | 2020-11-10 | 苏州精濑光电有限公司 | Product tipping arrangement |
| WO2021062434A3 (en) * | 2019-09-23 | 2021-04-29 | Bruno Mombrinie | Urban air mobility cargo module swapping system |
| CN113844215A (en) * | 2021-09-18 | 2021-12-28 | 山东鸥帆机器人科技有限公司 | Tire dismouting robot |
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| CN207025864U (en) * | 2017-06-22 | 2018-02-23 | 浙江理工大学 | Express sorter device people with image identification function |
| CN107758567A (en) * | 2017-11-10 | 2018-03-06 | 徐州工程学院 | A kind of intelligent mounting-dismounting device for warehouse freezer |
| CN207465220U (en) * | 2017-11-16 | 2018-06-08 | 三峡大学 | Gripping-type manipulator |
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| CN101548904A (en) * | 2009-05-22 | 2009-10-07 | 四川大学 | Robot arm for operation |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760010A (en) * | 2019-03-18 | 2019-05-17 | 鲁东大学 | A kind of multi-functional carrying robot |
| CN109760010B (en) * | 2019-03-18 | 2023-12-22 | 鲁东大学 | Multifunctional transfer robot |
| WO2021062434A3 (en) * | 2019-09-23 | 2021-04-29 | Bruno Mombrinie | Urban air mobility cargo module swapping system |
| CN110695976A (en) * | 2019-10-15 | 2020-01-17 | 山东科技大学 | Automatic feeding and discharging manipulator of carrier roller spraying production line |
| CN111113366A (en) * | 2020-01-10 | 2020-05-08 | 杭州程天科技发展有限公司 | Omnidirectional movement general robot carrying mechanical arms |
| CN111908083A (en) * | 2020-08-05 | 2020-11-10 | 苏州精濑光电有限公司 | Product tipping arrangement |
| CN113844215A (en) * | 2021-09-18 | 2021-12-28 | 山东鸥帆机器人科技有限公司 | Tire dismouting robot |
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Application publication date: 20181211 |