CN112775926A

CN112775926A - Three-shaft clamping and carrying robot with ladder climbing mechanism

Info

Publication number: CN112775926A
Application number: CN202011562732.1A
Authority: CN
Inventors: 郑秀丽; 程有娥
Original assignee: Zhejiang Industry and Trade Vocational College
Current assignee: Zhejiang Industry and Trade Vocational College
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-05-11

Abstract

The invention discloses a three-axis clamping and transporting robot with a ladder climbing mechanism, and relates to the technical field of robots; the lifting device is arranged at the top of the base and comprises a guide pillar, a guide sleeve, a circular gear and a clamping tooth, the top of the base is fixedly connected with the bottom of the guide pillar, the guide pillar is sleeved inside the guide sleeve and is in sliding connection with the inner wall of the guide sleeve, a plurality of clamping teeth are arranged on the inner side surface of the guide sleeve, a first motor is arranged inside the base, an output shaft of the first motor is in transmission connection with a driving bevel gear, the driving bevel gear is in mutual meshing with a driven bevel gear, an output shaft of the driven bevel gear is in transmission connection with the circular gear, and the circular gear is in mutual meshing with the clamping tooth.

Description

Three-shaft clamping and carrying robot with ladder climbing mechanism

Technical Field

The invention relates to the technical field of robots, in particular to a three-axis clamping and transporting robot with a ladder climbing mechanism.

Background

With the rapid development of science and technology, many things which are difficult to be completed by human beings are gradually handed to machines to complete, especially in dangerous areas and in fields where human strength cannot be achieved, robots begin to play an increasingly important role in real life, wherein a transfer robot plays an important role in life.

Common transfer robots are divided into crawler-type robots, star wheel-type robots and stepping robots, the star wheel-type robots are prone to tilting in the climbing process and not beneficial to transporting articles, the stepping robots have the defects of complex structures, difficulty in control and the like, clamping devices of the transfer robots can only be fixed at one position and cannot be lifted, rotated and displaced, and flexibility is low.

Disclosure of Invention

The present invention is directed to a three-axis gripping and transporting robot with a climbing mechanism, so as to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a three-axis clamping and transporting robot with climbing ladder mechanism, includes base, roof, fixed plate, elevating gear, lateral displacement device, presss from both sides and gets device and mobile device, the top of base is equipped with elevating gear, elevating gear includes guide pillar, guide pin bushing, circular gear and latch, the top of base and the bottom fixed connection of guide pillar, the guide pillar cover is in the inside of guide pin bushing, and with the inner wall sliding connection of guide pin bushing, the inside surface of guide pin bushing is equipped with a plurality of latches, the inside of base is equipped with first motor, the output shaft of first motor is connected with initiative conical gear transmission, initiative conical gear and driven conical gear intermeshing, driven conical gear's output shaft and circular gear transmission are connected, circular gear and latch intermeshing.

As a further scheme of the invention: the top of guide pin bushing and roof fixed connection, the inside of roof is equipped with electronic slide rail, the inside of electronic slide rail is equipped with the slider, slider and electronic slide rail sliding connection, the top and the connecting plate fixed connection of slider, the bottom of connecting plate is through the top fixed connection of connecting rod with fixed frame.

As a still further scheme of the invention: the inner part of the fixed frame is provided with a second motor, an output shaft of the second motor penetrates through the surface of the fixed frame and is fixedly connected with the top of the rotating disc, the bottom of the rotating disc is fixedly connected with the support, and the inner part of the support is provided with a transverse displacement device.

As a still further scheme of the invention: the transverse displacement device comprises a bidirectional screw rod, a third motor and a first nut, the inner walls of the left side and the right side of the support are rotatably connected with the bidirectional screw rod, the threads on the bidirectional screw rod are symmetrical and opposite, the first nut is symmetrically arranged on the bidirectional screw rod, the right side of the support is fixedly connected with the third motor, and an output shaft of the third motor is in transmission connection with the bidirectional screw rod.

As a still further scheme of the invention: the bottom of first nut is equipped with to press from both sides and gets the device, it includes fixed plate, cavity, lead screw, second nut, fourth motor and arm lock to press from both sides to get the device, the top fixed connection of spliced pole and fixed plate is passed through to the bottom of first nut.

As a still further scheme of the invention: the utility model discloses a lead screw, including fixed plate, cavity, lead screw, right side, output and lead screw transmission, the cavity has been seted up to the inside of fixed plate, the inside of cavity is equipped with the lead screw, the right side of cavity is equipped with the fourth motor, the output and the lead screw transmission of fourth motor are connected, be equipped with the second nut on the lead screw, lead screw and second nut threaded connection, the bottom and the arm lock fixed connection of second nut, the bottom and another arm lock fixed connection of fixed plate.

As a still further scheme of the invention: the left and right sides of base is equipped with mobile device respectively, mobile device includes track, first assistance driving wheel, second assistance driving wheel and action wheel, first assistance driving wheel is in the leftmost side, and the action wheel is in the rightmost side, and the second is assisted the driving wheel and is connected at the intermediate position, and all is connected with the track transmission, the track tilt up between second assistance driving wheel and the action wheel, the action wheel makes first assistance driving wheel and second assistance driving wheel rotate through the track.

Compared with the prior art, the invention has the beneficial effects that: the crawler belt and the driving wheel are added, so that the stair can be climbed through the crawler belt, and the stability is good; the lifting device is added, so that the clamping device can be lifted, and the carrying is convenient; the distance between the clamping devices can be rotationally clamped and regulated, so that the transfer robot is more flexible and is convenient to carry and convey.

Drawings

Fig. 1 is a schematic configuration diagram of a three-axis gripping and carrying robot having a climbing mechanism.

Fig. 2 is an enlarged view of a portion a of the three-axis gripping and carrying robot having the climbing mechanism.

Fig. 3 is a side view of a circular gear in the three-axis gripping and carrying robot having the climbing mechanism.

Fig. 4 is a schematic structural view of an electric slide rail in a three-axis gripping and carrying robot having a climbing mechanism.

Fig. 5 is a schematic view showing the structure of a moving device in a three-axis gripping and carrying robot having a climbing mechanism.

Fig. 6 is a front view of the three-axis gripping transfer robot having the climbing mechanism.

In the figure: 1-base, 2-guide post, 3-guide sleeve, 4-round gear, 5-latch, 6-first motor, 7-driving bevel gear, 8-driven bevel gear, 9-top plate, 10-electric slide rail, 11-connecting plate, 12-slide block, 13-second motor, 14-rotating disk, 15-bracket, 16-bidirectional screw rod, 17-third motor, 18-first nut, 19-fixing plate, 20-cavity, 21-screw rod, 22-second nut, 23-fourth motor, 24-clamping arm, 25-crawler, 26-first auxiliary wheel, 27-second auxiliary wheel, 28-driving wheel and 29-fixing frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1 to 6, in embodiment 1 of the present invention, a three-axis clamping and transporting robot with a climbing mechanism includes a base 1, a top plate 9, a fixing plate 19, a lifting device, a lateral displacement device, a clamping device and a moving device, where the lifting device is disposed at the top of the base 1, so that the clamping device can lift and lower, and is more flexible, the lifting device includes a guide pillar 2, a guide sleeve 3, a circular gear 4 and a latch 5, the top of the base 1 is fixedly connected to the bottom of the guide pillar 2, the guide pillar 2 is sleeved inside the guide sleeve 3 and slidably connected to the inner wall of the guide sleeve 3, a plurality of latches 5 are disposed on the inner side surface of the guide sleeve 3, a first motor 6 is disposed inside the base 1, an output shaft of the first motor 6 is in transmission connection with a driving bevel gear 7, and the driving bevel gear 7 is engaged with a driven bevel gear 8, an output shaft of the driven bevel gear 8 is in transmission connection with the circular gear 4, and the circular gear 4 is meshed with the clamping teeth 5.

Example 2

Referring to fig. 1 to 6, the main differences between the embodiment 2 and the embodiment 1 are: the top of the guide sleeve 3 is fixedly connected with a top plate 9, an electric slide rail 10 is arranged inside the top plate 9, a slide block 12 is arranged inside the electric slide rail 10, the slide block 12 is connected with the electric slide rail 10 in a sliding manner, the top of the slide block 12 is fixedly connected with a connecting plate 11, the purpose is to change the position of the clamping device by moving the connecting plate 11, so that clamping is facilitated, the bottom of the connecting plate 11 is fixedly connected with the top of a fixed frame 29 through a connecting rod, a second motor 13 is arranged inside the fixed frame 29, an output shaft of the second motor 13 penetrates through the surface of the fixed frame 29 and is fixedly connected with the top of a rotating disk 14, so that the clamping device can rotate, and the carrying and the gravity center adjustment are;

the bottom of the rotating disc 14 is fixedly connected with a support 15, a transverse displacement device is arranged inside the support 15 and comprises a bidirectional screw rod 16, a third motor 17 and a first nut 18, inner walls of the left side and the right side of the support 15 are rotatably connected with the bidirectional screw rod 16, threads on the bidirectional screw rod 16 are symmetrically opposite, the bidirectional screw rod 16 is symmetrically provided with the first nut 18, the right side of the support 15 is fixedly connected with the third motor 17, an output shaft of the third motor 17 is in transmission connection with the bidirectional screw rod 16, and the bottom of the first nut 18 is provided with a clamping device for transporting goods;

the clamping device comprises a fixing plate 19, a cavity 20, a screw rod 21, a second nut 22, a fourth motor 23 and clamping arms 24, the bottom of the first nut 18 is fixedly connected with the top of the fixing plate 19 through a connecting column, the cavity 20 is formed in the fixing plate 19, the screw rod 21 is arranged in the cavity 20, the fourth motor 23 is arranged on the right side of the cavity 20, the output end of the fourth motor 23 is in transmission connection with the screw rod 21, the second nut 22 is arranged on the screw rod 21, the screw rod 21 is in threaded connection with the second nut 22, the bottom of the second nut 22 is fixedly connected with the clamping arms 24, the distance between the clamping arms 24 is adjusted, the clamping arms are adapted to goods of different sizes, the bottom of the fixing plate 19 is fixedly connected with the other clamping arms 24, the left side and the right side of the base 1 are respectively provided with a moving device, the stair climbing device comprises a crawler 25, a stair and, First auxiliary wheel 26, second auxiliary wheel 27 and drive wheel 28, first auxiliary wheel 26 is at the leftmost side, and drive wheel 28 is at the rightmost side, and second auxiliary wheel 27 is in the intermediate position, and all is connected with the transmission of track 25, track 25 tilt up between second auxiliary wheel 27 and the drive wheel 28, the step of strideing across that can be better, drive wheel 28 makes first auxiliary wheel 26 and second auxiliary wheel 27 rotate through track 25.

The working principle of the invention is as follows: firstly, a first motor 6 is started, an output shaft of the first motor 6 enables a driving bevel gear 7 to rotate, the driving bevel gear 7 enables a driven bevel gear 8 to rotate, the driven bevel gear 8 enables a circular gear 4 to rotate, the circular gear 4 and a latch 5 are meshed with each other, so that the height of a guide sleeve 3 can be adjusted by rotating the circular gear 4, after the height is adjusted, an electric slide rail 10 is started, a connecting plate 11 moves on the electric slide rail 10, after the transverse position is adjusted, a fourth motor 23 is started, the fourth motor 23 enables a screw rod 21 to rotate, a second nut 22 drives a clamping arm 24 to move until the clamping arm 24 clamps goods, then the guide sleeve 3 is lifted upwards, then a second motor 13 is started, the second motor 13 enables a rotating disk 14 and a support 15 to rotate, the position of a clamping device is adjusted, then a third motor 17 is started, the third motor 17 enables a bidirectional screw rod 16 to rotate, first nut 18 is close to each other or is separated, adjusts the distance of getting between the device of getting, is convenient for stabilize the focus, transport goods and place the goods, and when needs climbing stair, action wheel 28 makes first auxiliary wheel 26 and the rotation of second auxiliary wheel 27, scrambles on stair through track 25.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A three-axis clamping and transporting robot with a climbing mechanism is characterized by comprising a base (1), a top plate (9), a fixing plate (19), a lifting device, a transverse displacement device, a clamping device and a moving device, wherein the lifting device is arranged at the top of the base (1), the lifting device comprises a guide pillar (2), a guide sleeve (3), a circular gear (4) and clamping teeth (5), the top of the base (1) is fixedly connected with the bottom of the guide pillar (2), the guide pillar (2) is sleeved inside the guide sleeve (3) and is in sliding connection with the inner wall of the guide sleeve (3), a plurality of clamping teeth (5) are arranged on the inner side surface of the guide sleeve (3), a first motor (6) is arranged inside the base (1), an output shaft of the first motor (6) is in transmission connection with a driving bevel gear (7), the driving bevel gear (7) is meshed with a driven bevel gear (8), an output shaft of the driven conical gear (8) is in transmission connection with the circular gear (4), and the circular gear (4) is meshed with the clamping teeth (5).

2. The three-axis clamping and transporting robot with the climbing mechanism is characterized in that the top of the guide sleeve (3) is fixedly connected with a top plate (9), an electric sliding rail (10) is arranged inside the top plate (9), a sliding block (12) is arranged inside the electric sliding rail (10), the sliding block (12) is slidably connected with the electric sliding rail (10), the top of the sliding block (12) is fixedly connected with a connecting plate (11), and the bottom of the connecting plate (11) is fixedly connected with the top of a fixed frame (29) through a connecting rod.

3. The three-axis gripping transfer robot with a climbing mechanism according to claim 2, wherein the fixed frame (29) is provided inside with a second motor (13), the output shaft of the second motor (13) penetrates the surface of the fixed frame (29) and is fixedly connected with the top of the rotating disc (14), the bottom of the rotating disc (14) is fixedly connected with the bracket (15), and the inside of the bracket (15) is provided with a lateral displacement device.

4. The three-axis gripping and carrying robot with the climbing mechanism according to claim 3, wherein the lateral displacement device comprises a bidirectional screw (16), a third motor (17) and a first nut (18), the inner walls of the left and right sides of the bracket (15) are rotatably connected with the bidirectional screw (16), the threads on the bidirectional screw (16) are symmetrically opposite, the first nut (18) is symmetrically arranged on the bidirectional screw (16), the right side of the bracket (15) is fixedly connected with the third motor (17), and the output shaft of the third motor (17) is in transmission connection with the bidirectional screw (16).

5. The three-axis gripping transfer robot with the climbing mechanism according to claim 4, wherein the bottom of the first nut (18) is provided with a gripping device, the gripping device comprises a fixed plate (19), a cavity (20), a screw (21), a second nut (22), a fourth motor (23) and a gripping arm (24), and the bottom of the first nut (18) is fixedly connected with the top of the fixed plate (19) through a connecting column.

6. The three-axis clamping and transporting robot with the climbing mechanism according to claim 1 or 5, wherein a cavity (20) is formed in the fixing plate (19), a lead screw (21) is arranged in the cavity (20), a fourth motor (23) is arranged on the right side of the cavity (20), an output end of the fourth motor (23) is in transmission connection with the lead screw (21), a second nut (22) is arranged on the lead screw (21), the lead screw (21) is in threaded connection with the second nut (22), the bottom of the second nut (22) is fixedly connected with one clamping arm (24), and the bottom of the fixing plate (19) is fixedly connected with the other clamping arm (24).

7. The three-axis gripping transfer robot with the climbing mechanism according to claim 1, wherein the base (1) is provided with moving means on each of the left and right sides thereof, the moving means includes a crawler (25), a first auxiliary wheel (26), a second auxiliary wheel (27) and a driving wheel (28), the first auxiliary wheel (26) is on the leftmost side, the driving wheel (28) is on the rightmost side, the second auxiliary wheel (27) is in a middle position, and both are in transmission connection with the crawler (25), the crawler (25) between the second auxiliary wheel (27) and the driving wheel (28) is inclined upward, and the driving wheel (28) rotates the first auxiliary wheel (26) and the second auxiliary wheel (27) through the crawler (25).