CN111975744A - Multi-dimensional expansion robot - Google Patents
Multi-dimensional expansion robot Download PDFInfo
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- CN111975744A CN111975744A CN202010931043.7A CN202010931043A CN111975744A CN 111975744 A CN111975744 A CN 111975744A CN 202010931043 A CN202010931043 A CN 202010931043A CN 111975744 A CN111975744 A CN 111975744A
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- 230000007246 mechanism Effects 0.000 claims abstract description 159
- 239000000463 material Substances 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 10
- 239000012636 effector Substances 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a multi-dimensional expanding robot, and belongs to an industrial robot. The technical scheme adopted by the invention is as follows: comprises a circular track, a circular driving device, a linear extension mechanism, a linear moving mechanism and a tail end executing mechanism; the circular track is provided with a hoisting mounting frame, the hoisting mounting frame is fixed at least three points of the circular track, and the hoisting mounting frame is fixed above a factory building or at a suspended mounting and fixing position; a traveling mechanism and a gear driving mechanism are arranged between the circular driving device and the circular track, the traveling mechanism circularly travels and moves along the track surface on the circular track, and the gear driving mechanism drives the circular driving device to rotate around the center of the circular track on the circular track. The robot is arranged above a factory building or on the top of other hoisting supports, and the problems of arm spread limitation and high occupancy rate of basic space of a grabbing robot, an assembling and producing robot and a material handling robot are solved.
Description
Technical Field
The invention relates to a multi-dimensional expanding robot, and belongs to an industrial robot.
Background
With the proposal of policies and guidelines such as intelligent manufacturing and new and old kinetic energy conversion, the automation, informatization and intellectualization of mechanical equipment become research hotspots in the industrial field. Hoisting, carrying, assembling and sorting are important links in the industrial fields of production, manufacturing, storage, transportation and the like, and currently, a truss type mechanism and an industrial serial/parallel robot are mostly adopted. The truss type mechanism comprises an overhead crane, a shore bridge, a cantilever crane and the like, and all the truss type mechanisms adopt linear motion mechanisms, so that the problems of high space occupancy rate, small space running range, poor flexibility, low efficiency and the like are generally existed; the industrial serial/parallel robot has multiple degrees of freedom of 2-8 and the like, has the advantages of rich space pose, high flexibility, high positioning precision and the like, and has relatively small bearing capacity and high cost.
Disclosure of Invention
The invention provides a multi-dimensional expanding robot, which solves the problems of arm exhibition limitation, high basic space occupancy rate and the like of a grabbing robot, an assembling and producing robot and a material handling robot in the current industrial operation environment.
In order to achieve the purpose, the invention adopts the technical scheme that:
the multi-dimensional expanding robot comprises a circular track, a circular driving device, a linear extending mechanism, a linear moving mechanism and a tail end executing mechanism;
the circular track is provided with a hoisting mounting frame, the hoisting mounting frame is fixed at least three points of the circular track, and the hoisting mounting frame is fixed above a factory building or at a suspended mounting and fixing position;
a traveling mechanism and a gear driving mechanism are arranged between the circular driving device and the circular track, the traveling mechanism circularly travels and moves along the track surface on the circular track, and the gear driving mechanism drives the circular driving device to rotate around the center of the circular track on the circular track;
the linear extending mechanism is fixed on the circular driving device and rotates along with the circular driving device by taking the circular track as the center;
the linear moving mechanism is fixed on the linear extending mechanism, the tail end executing mechanism is arranged on the linear moving mechanism, and the linear moving mechanism drives the tail end executing mechanism to move along the linear extending mechanism.
Preferably, the hoisting mounting frame is a cross, a hoisting plate extends downwards from the end part of the cross, and the bottom of the hoisting plate extends inwards to form a supporting plate for fixing the bottom of the circular track.
Preferably, the rotating frame is arranged below the hoisting mounting frame, the hoisting mounting frame is provided with a rotating motor, an output shaft of the rotating motor is connected to a rotating center of the rotating frame, the circular driving device comprises a circular rack arranged on the side surface of the circular track, two groups of driving gears meshed with the circular rack, a traveling mechanism and the rotating frame, the traveling mechanism and the driving gears are arranged at the end part of the rotating frame, and the rotating frame rotates to drive the driving gears to move on the circular track surface along the circular rack and the traveling mechanism.
Preferably, the travelling mechanisms comprise travelling frames and supporting travelling wheels, the supporting travelling wheels are installed on the travelling frames, each travelling frame is provided with two supporting travelling wheels, the travelling frames are fixed at the end positions of the rotating frames, the rail surface of the circular rail is a circular ring surface at the upper part, the supporting travelling wheels circularly run along the circular ring surface, at least two groups of travelling mechanisms are arranged on the rotating frames, and the travelling mechanisms support the rotating frames (5), the fixed connecting mechanisms and materials for pre-execution operation.
Preferably, the linear extension mechanism is fixed at the lower part of the rotating frame, the linear extension mechanism is provided with a two-stage or multi-stage linear moving mechanism, the linear moving mechanism is a linear driving mechanism, and the tail end actuating mechanism is arranged on the linear moving mechanism.
Preferably, a first-stage telescopic arm is arranged on the linear stretching mechanism, a first-stage linear moving mechanism is arranged between the telescopic arm and the linear stretching mechanism, the first-stage linear moving mechanism drives the telescopic arm to move back and forth along the linear stretching mechanism, a second-stage linear moving mechanism is arranged below the telescopic arm, the tail end executing mechanism is arranged on the second-stage linear moving mechanism, and the second-stage linear moving mechanism drives the tail end executing mechanism to move back and forth along the telescopic arm.
Preferably, the linear driving mechanism is one of a gear rack transmission pair, a lead screw nut transmission pair, a synchronous belt transmission pair and a hydraulic cylinder type pushing mechanism.
Preferably, the end effector is fixed to an end effector base, and the end effector base is attached to a moving member of the linear movement mechanism.
The robot disclosed by the invention integrates multiple degrees of freedom of circular rotation motion, linear movement and a tail end executing mechanism, has the advantages of low space occupancy rate, large operation space, abundant space poses, strong expansibility, simple and easy mechanical structure, flexible motion, reliable operation and the like, is suitable for industrial fields of assembly, hoisting and carrying, sorting and the like, replaces or lightens the labor intensity of operators, improves the operation efficiency and safety and the like.
The robot is arranged above a factory building or on the top of other hoisting supports, and the problems of arm spread limitation and high occupancy rate of basic space of a grabbing robot, an assembling and producing robot and a material handling robot are solved. The robot can cover a 360-degree circumferential space with the maximum extension length of the extension mechanism as the radius, the working range of the robot is greatly widened, and the robot is better supported to execute wider operation tasks. The robot can easily realize the working condition requirement of multi-dimensional large-space expansion extension, effectively assist the robot to realize wider and wider functions, improve the operation performance and efficiency and reduce the labor intensity.
Drawings
Figure 1 is a perspective view of the first embodiment of the present invention,
figure 2 is a perspective view of the second embodiment of the present invention,
figure 3 is a diagram of the turret and walking mechanism of the present invention,
fig. 4 is a cutaway view of the linear-extension mechanism and the linear-movement mechanism of the present invention.
Reference numerals:
1. hoisting mounting frame, 2, circular track, 3, circular rack, 4, driving gear, 5, rotating frame, 6, supporting walking wheel, 7, linear extension mechanism, 8, primary linear moving mechanism, 9, secondary linear moving mechanism, 10, telescopic arm, 11, terminal actuating mechanism, 12, terminal actuating mechanism base, 13, walking frame, 14, driving gear mounting frame, 15, hanger plate, 16, supporting plate, 17, track surface 18 rotating motor 19 driving motor.
Detailed Description
The following further illustrates the specific structure of the present invention:
the invention discloses a method for explaining the structure installation relationship and the function of each part:
the device comprises a hoisting mounting frame, a circular track, a circular driving device, a linear extending mechanism, a linear moving mechanism and a tail end executing mechanism.
Hoisting the mounting frame: the hoisting installation frame is used for installing and fixing the multidimensional extension robot and is fixed above the inside of a factory building or on the top of an open hoisting support in a hoisting installation mode. The hoisting mounting frame is a cross, the four end parts of the cross extend downwards to form hoisting plates, and the bottom parts of the hoisting plates extend inwards to form supporting plates to support and fix the bottom parts of the circular rails.
The circular track is a circular ring-shaped track, the circular track is positioned below the hoisting mounting frame, and the supporting plate extending from the hoisting mounting frame supports the lower side surface of the circular track and is fixed. The circular track is a track and a supporting mechanism for the operation of the circular driving device.
The circular driving device comprises a rotating frame, a traveling mechanism and a gear driving mechanism. The rotating frame is arranged below the hoisting mounting frame, the hoisting mounting frame is provided with a rotating motor, an output shaft of the rotating motor is connected to the rotating center of the rotating frame, and the rotation of the rotating motor controls the running speed of the circular driving device and the rotating position of the rotating frame on the circular track.
The gear driving mechanism comprises a circular rack on the side surface of the circular track and two groups of driving gears meshed with the circular rack, the driving gears are installed on the gear installation rack, the gear installation rack is fixed at the end part of the rotating frame, the rotating motor output shaft rotates to drive the rotating frame to rotate, and the rotating frame rotates to drive the driving gears and the circular rack to perform meshing motion.
The walking mechanism comprises a walking frame and supporting walking wheels, the supporting walking wheels are mounted on the walking frame, and each walking frame is provided with two supporting walking wheels for improving the bearing capacity and walking stability of the supporting walking wheels. The walking frame is fixed on the gear mounting frame at the end part of the rotating frame. The track surface of the circular track is a circular ring surface at the upper part, and the circular track rotates to drive the supporting walking wheels to walk along the circular ring surface and circularly circulate. When the rotating frame is in a linear structure, two ends of the rotating frame are respectively provided with the travelling mechanisms, and the two groups of travelling mechanisms are symmetrically arranged relative to the rotating center of the rotating frame so as to realize the balance of the weight of the mechanism of which the travelling mechanisms support the rotating frame and are fixedly connected.
The walking mechanism is used for supporting the weight of the rotating frame and the weight of the object clamped by the linear extending mechanism, the linear moving mechanism, the tail end executing mechanism 11 and the tail end executing mechanism at the lower part of the rotating frame; and secondly, the circular walking function is realized, and the movement of the circular space of the tail end executing mechanism for clamping the object is completed.
The linear extending mechanism is fixed at least two points at the lower part of the rotating frame to realize rigid fixation. The outermost end of the linear extending mechanism extends out of the edge of the circular track.
The section of the linear extension mechanism is rectangular, a chute is arranged in the linear extension mechanism to form a first-stage telescopic arm, and a first-stage linear moving mechanism is arranged between the telescopic arm and the linear extension mechanism. The first-stage linear moving mechanism is a screw nut transmission pair, one end or two ends of a screw are fixed in a chute of the linear extending mechanism through a bearing, and a driving motor is arranged at the end part of the inner side of the linear extending mechanism.
The transmission nut is fixedly arranged on the one-stage telescopic arm and matched with the lead screw, and the rotating motor rotates to drive the lead screw to rotate, so that the transmission nut and the one-stage telescopic arm are driven to move, and telescopic motion of the one-stage telescopic arm is realized.
The second-stage linear moving mechanism is also a lead screw nut transmission mechanism and is arranged below the telescopic arm, the tail end actuating mechanism is arranged on a transmission nut of the second-stage linear moving mechanism, a driving motor of the second-stage linear moving mechanism drives the lead screw to rotate, and the transmission nut moves along the axial direction of the lead screw along with the rotation of the lead screw and drives the tail end actuating mechanism to move back and forth along the first-stage telescopic arm.
The primary linear moving mechanism can be one of a gear rack transmission pair, a lead screw nut transmission pair, a synchronous belt transmission pair and a hydraulic cylinder type pushing mechanism. The secondary linear moving mechanism can be in various transmission modes such as a screw nut, a synchronous belt, a rodless cylinder and the like.
The linear moving mechanism and the telescopic arm can realize two-stage telescopic of the multi-dimensional expansion robot operation space, and the operation range is enlarged.
The tail end actuating mechanism is fixed on the tail end actuating mechanism base, can be used as a basic connecting seat of various robots, and solves the problem that the base space of the intensive installation robot occupies firstly. The end effector base is mounted on the drive nut of the linear motion mechanism.
The tail end executing mechanism has various forms, can be a mechanical arm (shown in figure 1), a hoisting hoist, an industrial clamping jaw and the like, can be randomly selected according to the selection principle of the tail end executing mechanism and the function requirements of the multi-dimensional expanding robot, and can be conveniently connected and installed by providing various interface modes for the moving end of the linear moving mechanism.
The operation process of the invention is explained by taking the handling as an example, when an industrial field needs to handle a known object to a specified position, the rotating motor drives the rotating frame to rotate, and the linear extending mechanism on the rotating frame rotates to a position above a material to be handled and at least below the implementation direction of the linear extending mechanism. At the moment, if the material position exceeds the range of the linear extension mechanism, the second-stage linear moving mechanism drives the tail end actuating mechanism to move to the position above the material, and if the second-stage linear moving mechanism drives the tail end actuating mechanism to be insufficient to reach the material position, the first-stage linear moving mechanism drives the first-stage telescopic arm to extend out, so that the tail end actuating mechanism reaches the position above the material.
The tail end executing mechanism grabs and lifts the materials, then the rotating motor rotates, the two-stage linear moving mechanism or the one-stage linear moving mechanism works synchronously or asynchronously, the materials are carried to a required position, and the whole carrying process is completed.
Claims (8)
1. A multi-dimensional expanding robot is characterized by comprising a hoisting mounting frame (1), a circular track (2), a circular driving device, a linear extending mechanism (7), a linear moving mechanism and a tail end executing mechanism (11);
the circular track (2) is fixed on the hoisting mounting frame (1), and the hoisting mounting frame (1) is fixed above a factory building or at the top of other hoisting supports;
a traveling mechanism and a gear driving mechanism are arranged between the circular driving device and the circular track (2), the traveling mechanism circularly travels and moves along a track surface (17) on the circular track (2), and the gear driving mechanism drives the circular driving device to rotate around the center of the circular track (2) on the circular rack (3);
the linear extension mechanism (7) is fixed on the circular driving device, and the linear extension mechanism (7) rotates along with the circular driving device around the center of the circular track (2);
the linear moving mechanism is fixed on the linear extending mechanism (7), the tail end executing mechanism (11) is arranged on the linear moving mechanism, and the linear moving mechanism drives the tail end executing mechanism (11) to move along the linear extending mechanism (7).
2. The multi-dimensional expanding robot as claimed in claim 1, wherein the hoisting mounting frame (1) is a plurality of supporting connecting frames, the end parts of the connecting frames extend downwards to form hoisting plates, and the bottoms of the hoisting plates extend inwards to form supporting plates fixed on the bottoms of the circular rails (2).
3. The multidimensional expanding robot is characterized in that the circular driving device comprises a rotating frame (5), a travelling mechanism and a gear driving mechanism, the gear driving mechanism comprises a circular tooth track (3) on the side surface of the circular track (2) and two groups of driving gears (4) meshed with the circular tooth track (3), the rotating frame (5) is arranged below the hoisting mounting frame (1), the hoisting mounting frame (1) is provided with a rotating motor (18), an output shaft of the rotating motor is connected to the rotating center of the rotating frame (5), the travelling mechanism and the driving gears (4) are arranged at the end part of the rotating frame (5), and the rotating frame (5) rotates to drive the driving gears (4) to move circumferentially along the circular tooth track (3).
4. The multidimensional expansion robot as claimed in claim 3, wherein the traveling mechanisms comprise traveling frames (13) and supporting traveling wheels (6), the supporting traveling wheels (6) are mounted on the traveling frames (13), each traveling frame is provided with two supporting traveling wheels (6), the traveling frames are fixed at the end positions of the rotating frames (5), the track surface (17) of the circular track (2) is a circular ring surface of the upper part, the supporting traveling wheels (6) circularly run on the circular ring surface along with the rotating frames (5), at least two groups of traveling mechanisms are arranged on the rotating frames (5), and the traveling mechanisms support the rotating frames (5), the fixed connecting mechanisms and materials for pre-operation.
5. The multi-dimensional expanding robot as claimed in claim 3, wherein the linear extending mechanism (7) is fixed at the lower part of the rotating frame (5), the linear extending mechanism (7) is provided with a linear moving mechanism, the linear moving mechanism is a linear driving mechanism, and the end actuator (11) is arranged on the linear moving mechanism.
6. The multidimensional expansion robot as claimed in claim 5, wherein a primary telescopic arm (10) is arranged on the linear extension mechanism (7), a primary linear moving mechanism (8) is arranged between the telescopic arm (10) and the linear extension mechanism (7), the primary linear moving mechanism (8) drives the telescopic arm (10) to move back and forth along the linear extension mechanism (7), a secondary linear moving mechanism (9) is arranged below the telescopic arm (10), the tail end actuator (11) is arranged on the secondary linear moving mechanism (9), and the secondary linear moving mechanism (9) drives the tail end actuator (11) to move back and forth along the telescopic arm (10).
7. The multi-dimensional expanding robot as claimed in claim 5, wherein the linear driving mechanism is one of a rack-and-pinion transmission pair, a lead screw nut transmission pair, a synchronous belt transmission pair and a hydraulic cylinder type pushing mechanism.
8. A multidimensional scaling robot according to claim 5, characterized in that the end effector (11) is fixed to an end effector base (12), the end effector base (12) being mounted on the moving part of the secondary linear movement mechanism (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010931043.7A CN111975744B (en) | 2020-09-07 | 2020-09-07 | Multi-dimensional expansion robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010931043.7A CN111975744B (en) | 2020-09-07 | 2020-09-07 | Multi-dimensional expansion robot |
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| CN111975744A true CN111975744A (en) | 2020-11-24 |
| CN111975744B CN111975744B (en) | 2024-06-14 |
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| CN202010931043.7A Active CN111975744B (en) | 2020-09-07 | 2020-09-07 | Multi-dimensional expansion robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113003226A (en) * | 2021-02-08 | 2021-06-22 | 山东交通学院 | Automatic carton sealing and stacking equipment |
| CN113562407A (en) * | 2021-07-14 | 2021-10-29 | 吴承康 | Feeding equipment for numerical control machining with annular one-by-one feeding structure |
| CN113580189A (en) * | 2021-09-29 | 2021-11-02 | 湖南力云智能科技有限公司 | Manipulator with pile up mechanism of taking |
| CN116675102A (en) * | 2023-05-05 | 2023-09-01 | 江苏金贸建设集团有限公司 | Stable assembled building wallboard hoist device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204700890U (en) * | 2015-06-30 | 2015-10-14 | 佛山市新恒萃材料科技有限公司 | A kind of multi-purpose robot |
| US20190366556A1 (en) * | 2017-08-10 | 2019-12-05 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| CN212601804U (en) * | 2020-09-07 | 2021-02-26 | 枣庄学院 | Multi-dimensional expansion robot |
-
2020
- 2020-09-07 CN CN202010931043.7A patent/CN111975744B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204700890U (en) * | 2015-06-30 | 2015-10-14 | 佛山市新恒萃材料科技有限公司 | A kind of multi-purpose robot |
| US20190366556A1 (en) * | 2017-08-10 | 2019-12-05 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| CN212601804U (en) * | 2020-09-07 | 2021-02-26 | 枣庄学院 | Multi-dimensional expansion robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113003226A (en) * | 2021-02-08 | 2021-06-22 | 山东交通学院 | Automatic carton sealing and stacking equipment |
| CN113562407A (en) * | 2021-07-14 | 2021-10-29 | 吴承康 | Feeding equipment for numerical control machining with annular one-by-one feeding structure |
| CN113580189A (en) * | 2021-09-29 | 2021-11-02 | 湖南力云智能科技有限公司 | Manipulator with pile up mechanism of taking |
| CN116675102A (en) * | 2023-05-05 | 2023-09-01 | 江苏金贸建设集团有限公司 | Stable assembled building wallboard hoist device |
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| Publication number | Publication date |
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| CN111975744B (en) | 2024-06-14 |
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