CN115010007A - Motor and air pump hybrid drive's handling device - Google Patents
Motor and air pump hybrid drive's handling device Download PDFInfo
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- CN115010007A CN115010007A CN202210639424.7A CN202210639424A CN115010007A CN 115010007 A CN115010007 A CN 115010007A CN 202210639424 A CN202210639424 A CN 202210639424A CN 115010007 A CN115010007 A CN 115010007A
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- translation
- lifting
- motor
- rack
- bearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/04—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs the effective length of which is variable in operation, e.g. longitudinally displaceable, extensible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0293—Single lifting units; Only one suction cup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/706—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by other means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a motor and air pump hybrid-driven carrying device which comprises a translation mechanism, a rotating mechanism, a lifting mechanism, a traveling mechanism and a tail end executing mechanism, wherein a translation rack of the translation mechanism is perpendicular to a traveling rack of the traveling mechanism, the translation mechanism, the rotating mechanism, the lifting mechanism and the tail end executing mechanism are all positioned above the traveling mechanism, a translation sliding block of the translation mechanism is fixedly connected with a second bearing outer seat of the rotating mechanism, a rotating sliding block of the rotating mechanism is connected with a lifting sliding block of the lifting mechanism, a lifting gear of the lifting mechanism is meshed with the traveling rack of the traveling mechanism, and an air pump bracket of the tail end executing mechanism is connected with the translation rack of the translation mechanism. According to the invention, through controlling each motor, the tail end actuating mechanism realizes the movement with three degrees of freedom of horizontal movement, vertical movement and fixed shaft rotation, the tail end actuating mechanism is ensured to complete the adsorption and transportation work of goods under different working conditions, and the problems of complex structure and low working efficiency of the existing transportation device are effectively solved.
Description
Technical Field
The invention relates to the technical field of multi-degree-of-freedom carrying devices, in particular to a carrying device driven by a motor and an air pump in a mixed mode.
Background
The multi-degree-of-freedom carrying device is an automatic operation device which replaces manual work with mechanical products to complete cargo transportation tasks. The carrying device replaces manual work to complete heavy manual work so as to realize mechanization and automation, the efficiency is improved, the operation under the harmful environment can protect the personal safety, and therefore, the carrying device is widely applied to cargo transportation in various occasions.
The existing multi-degree-of-freedom conveying devices are mostly two degrees of freedom of plane motion and single-axis rotational degree of freedom, and the devices are widely applied, such as conveying, operation and the like, and need to complete tasks in a plane space, and many of the devices are required to work under extreme conditions, such as large limitation on volume under the working condition of a narrow space. How to realize a larger movement range and faster and accurate control through limited motor drive is a technical problem of a multi-degree-of-freedom movement device driven by a motor. In addition, the existing three-degree-of-freedom device mostly adopts hydraulic drive or pneumatic drive, the range of the adjusting device is small, a hydraulic or pneumatic circulating system is needed, the structure is complex, and the application range is narrow. Therefore, there is a need for a high-performance transportation device with flexible movement, convenient control, strong adaptability, applicable functions and high working efficiency.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a conveying device driven by a motor and an air pump in a mixing way, wherein the tail end actuating mechanism is enabled to realize the motions of three degrees of freedom of horizontal and vertical movement and fixed axis rotation by controlling each motor in a driving mechanism, and the walking mechanism arranged at the bottom can realize all-directional movement, so that a sucker of the tail end actuating mechanism is ensured to finish the adsorption conveying work of goods under different working conditions.
The invention provides a motor and air pump hybrid-driven carrying device which comprises a translation mechanism, a rotating mechanism, a lifting mechanism, a travelling mechanism and a tail end executing mechanism, wherein a translation rack of the translation mechanism is perpendicular to a travelling rack of the travelling mechanism, the translation mechanism, the rotating mechanism, the lifting mechanism and the tail end executing mechanism are all positioned above the travelling mechanism, a translation sliding block of the translation mechanism is fixedly connected with a second bearing outer seat of the rotating mechanism, a rotating sliding block of the rotating mechanism is fixedly connected with a lifting sliding block of the lifting mechanism, a lifting gear of the lifting mechanism is meshed with the travelling rack of the travelling mechanism, an air pump bracket of the tail end executing mechanism is fixedly connected with the translation rack of the translation mechanism, and the translation mechanism comprises a translation rack, a translation ball, a translation pin shaft, a translation gear, The translation mechanism comprises a translation motor bracket, a translation motor and a translation sliding block, wherein a translation ball is arranged in a groove of the translation sliding block, a translation rack is arranged in the translation sliding block in a penetrating way and is in sliding fit with the translation ball, a translation pin shaft penetrates through the translation ball and is fixedly connected with the translation sliding block, the translation motor is fixedly arranged on the translation motor bracket, the translation motor bracket is fixedly connected with the translation sliding block, an output shaft of the translation motor is connected with a translation gear, and the translation gear is meshed with the translation rack; the rotating mechanism comprises a first bearing outer seat, a first bearing inner seat, rotating balls, a rotating pin shaft, a rotating slide block, a supporting rod, a steering engine, a second bearing outer seat, a driving gear, a steering wheel, a second bearing inner seat and a driven gear, wherein the outer ring of the first bearing is sleeved in the first bearing outer seat, the inner ring of the first bearing is sleeved with the first bearing inner seat, the first bearing inner seat is sleeved on a walking rack of the walking mechanism, the first end of the rotating slide block is connected with the first bearing inner seat, the rotating balls are arranged in a groove of the rotating slide block, the walking rack is arranged in the rotating slide block in a penetrating manner and is in sliding fit with the rotating balls, the rotating pin shaft penetrates through the rotating balls and is fixedly connected with the rotating slide block, the second bearing outer seat is fixedly connected with the first bearing outer seat through the supporting rod, the second end of the rotating sliding block is connected with the first bearing inner seat, the outer ring of the second bearing is sleeved in the second bearing outer seat, the second bearing inner seat is sleeved on the inner ring of the second bearing, the second bearing inner seat is sleeved on the traveling rack of the traveling mechanism, the steering engine is fixedly connected with the second bearing outer seat, the output shaft of the steering engine is connected with the driving gear through a steering wheel, and the driving gear is meshed with the driven gear; the lifting mechanism comprises a lifting ball, a lifting pin shaft, a lifting slider, a lifting motor support and a lifting gear, wherein the lifting slider is located under a first bearing outer seat of the rotating mechanism and fixedly connected with the first bearing outer seat, the lifting ball is installed in a groove of the lifting slider, a walking rack is arranged in the lifting slider in a penetrating mode and in sliding fit with the lifting ball, the lifting pin shaft penetrates through the lifting ball and is fixedly connected with the lifting slider, the lifting motor is fixedly installed on the lifting motor support, the lifting motor support is fixedly connected with the side end face of the lifting slider, an output shaft of the lifting motor is connected with the lifting gear, and the lifting gear is meshed with the walking rack of the lifting mechanism.
Preferably, the translation sliding block, the rotating sliding block and the lifting sliding block are all composed of four plates, a rectangular groove is formed in the middle of one plate, the translation gear is in meshing transmission with the translation rack through the rectangular groove, at least four balls are mounted on each plate, the diameter of each ball is larger than the thickness of each plate, threads are arranged at two ends of the pin shaft, and adjacent plates are fixedly connected with nuts at two ends of the pin shaft through screwing and are used for adjusting the fitting degree of the translation balls and the translation rack.
Preferably, through holes are formed in the middle of the first bearing outer seat and the middle of the second bearing outer seat in the rotating mechanism, the first bearing and the second bearing are sleeved in the through holes, the first bearing inner seat and the second bearing inner seat are symmetrically arranged at two ends of the rotating sliding block, and rectangular grooves are formed in the middle of the first bearing inner seat and the middle of the second bearing inner seat and used for being matched with the walking rack.
Preferably, the inner seats of the first bearing and the second bearing are of double-layer plane symmetrical structures, four corners of a first layer of the inner seats of the first bearing and the second bearing are of arc structures and are used for being matched with inner rings of the first bearing and the second bearing, and a second layer of the inner seats of the first bearing and the second bearing is of a regular quadrilateral structure and is used for being fixedly connected with the lifting slide block. The middle of the driven gear is provided with a groove, the walking rack is sleeved in the groove and used for limiting the fixed shaft rotation of the driven gear, and then the driving gear makes circular motion around the driven gear.
Preferably, the tail end executing mechanism comprises an air pump, an air pump support, a vacuum generator, an air pipe and a sucker, wherein the air pump is fixedly installed on the air pump support, the air pump support is fixedly connected with the first end of the translation rack, the output end of the air pump is connected with the first end of the air pipe through the vacuum generator, the second end of the air pipe is connected with the sucker, and the air pump generates negative pressure on the sucker through the vacuum generator to complete the adsorption and grabbing of goods.
Preferably, the traveling mechanism comprises wheels, a wheel core connecting block, a traveling bearing, a wheel shaft, a traveling motor support, a coupler, a traveling motor, a base and a traveling rack, the wheels are connected with the first end of the wheel shaft through the wheel core connecting block, the wheel shaft is sleeved at the third end of the traveling motor support through the traveling bearing, the traveling motor is fixedly installed on the traveling motor support, an output shaft of the traveling motor is connected with the second end of the wheel shaft through the coupler, the traveling motor support is arranged above the base and fixedly connected with the base, the traveling rack is vertically arranged at the top of the base, and the first end of the traveling rack is fixedly connected with the base.
Preferably, the number of the wheels, the wheel core connecting blocks, the walking bearings, the wheel shafts, the walking motor supports, the couplers and the walking motors in the walking mechanism is three, the wheels are uniformly arranged around the base at 120 degrees, and the wheels are omni-directional wheels.
Preferably, the translation rack and the walking rack are both in a hollow rectangular tubular structure.
Preferably, the translation motor, the steering engine, the lifting motor and the walking motor are controlled by a control panel, the control panel realizes Bluetooth communication with a mobile phone through programming, so that the motions of the translation mechanism, the rotating mechanism, the lifting mechanism and the walking mechanism are controlled in real time to realize the all-dimensional movement of the tail end execution mechanism in the space, and the working space of the tail end execution mechanism is a cylinder.
Preferably, the translation rack of the translation mechanism is perpendicular to the walking rack of the walking mechanism, and the translation mechanism, the rotation mechanism, the lifting mechanism and the tail end executing mechanism are all located above the walking mechanism.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the tail end actuating mechanism realizes the movement with three degrees of freedom of horizontal, vertical and fixed axis rotation through controlling the motors in the plate driving mechanism, and the walking mechanism arranged at the bottom can realize all-directional movement, so that the sucking discs of the tail end actuating mechanism can complete the adsorption and transportation work of goods under different working conditions, and the problems of low flexibility, complex structure, low working efficiency and the like of the existing transportation device are effectively solved.
2. According to the invention, the translation mechanism and the lifting mechanism are in gear-rack meshing transmission, so that the rotary motion of the motor is converted into the linear motion of the slider, the transmission efficiency is high, the transmission is stable, the bearing capacity is strong, the whole body is in a modular design, the end actuating mechanism can replace a corresponding end actuator according to the working condition requirement, and the adaptability and the practicability of the carrying device are effectively improved.
3. The invention realizes the Bluetooth communication with the mobile phone through programming by adopting the core controller, controls the motor in real time, realizes the arbitrary movement of the tail end of the actuator in the space, and has the advantages of multiple degrees of freedom, flexibility, strong environmental adaptability, reasonable structure, convenient control, strong adaptability, practical functions, high working efficiency and the like.
Drawings
FIG. 1 is a schematic view of the overall structure of a conveying device driven by a motor and an air pump in a hybrid manner according to the present invention;
FIG. 2 is a schematic view of the overall structure of the translation mechanism and the rotation mechanism of the present invention;
FIG. 3 is an enlarged view of a portion of the translation mechanism of the present invention;
FIG. 4 is an exploded view of the rotary mechanism of the present invention;
FIG. 5 is a partially enlarged view of the rotating mechanism of the present invention;
FIG. 6 is a schematic view of the overall structure of the rotating mechanism and the lifting mechanism of the present invention;
FIG. 7 is a schematic view of the overall structure of the translation mechanism and end effector assembly of the present invention;
fig. 8 is a schematic view of the overall structure of the combination of the translation mechanism and the traveling mechanism in the present invention.
The main reference numbers:
a translation mechanism 1, a translation rack 11, a translation ball 12, a translation pin 13, a translation gear 14, a translation motor bracket 15, a translation motor 16, a translation slider 17, a rotation mechanism 2, a first bearing outer seat 21, a first bearing 22, a first bearing inner seat 23, a rotation ball 24, a rotation pin 25, a rotation slider 26, a support rod 27, a steering engine 28, a second bearing outer seat 29, a driving gear 210, a steering wheel 211, a second bearing 212, a second bearing inner seat 213, a driven gear 214, a lifting mechanism 3, a lifting ball 31, a lifting pin 32, a lifting slider 33, a lifting motor 34, a lifting motor bracket 35, a lifting gear 36, an end actuator 4, an air pump 41, an air pump bracket 42, a vacuum generator 43, an air pipe 44, a suction cup 45, a traveling mechanism 5, a wheel 51, a wheel core connecting block 52, a traveling bearing 53, a wheel shaft 54, a traveling motor bracket 55 and a coupling 56, a walking motor 57, a base 58 and a walking rack 59.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a conveying device driven by a motor and an air pump in a mixed mode, as shown in figure 1, the conveying device comprises a translation mechanism 1, a rotating mechanism 2, a lifting mechanism 3, a tail end executing mechanism 4 and a traveling mechanism 5, wherein a translation rack 11 of the translation mechanism 1 is perpendicular to a traveling rack 59 of the traveling mechanism 5, the translation mechanism 1, the rotating mechanism 2, the lifting mechanism 3 and the tail end executing mechanism 4 are all located above the traveling mechanism 5, a translation sliding block 17 of the translation mechanism 1 is fixedly connected with a second bearing outer seat 29 of the rotating mechanism 2, a rotating sliding block 26 of the rotating mechanism 2 is fixedly connected with a lifting sliding block 33 of the lifting mechanism 3, and a lifting gear 36 of the lifting mechanism 3 is meshed with the traveling rack 59 of the traveling mechanism 5. Air pump support 42 of end actuating mechanism 4 and translation rack 11 fixed connection of translation mechanism 1, the whole modularized design that is of device, and adopt the high strength steel material, ensure holistic rigidity, end actuating mechanism 4 can change corresponding end effector according to the demand, has effectively promoted handling device's adaptability and practicality. The translation motor 16, the steering engine 28, the lifting motor 34 and the walking motor 57 are controlled by control panels, and the control panels realize Bluetooth communication with a mobile phone through programming, so that the motions of the translation mechanism 1, the rotating mechanism 2, the lifting mechanism 3 and the walking mechanism 5 are controlled in real time, the all-directional movement of the tail end executing mechanism 4 in the space is realized, and the working space of the tail end executing mechanism 4 is a cylinder.
As shown in fig. 2, the translation mechanism 1 comprises a translation rack 11, a translation ball 12, a translation pin 13, a translation gear 14, a translation motor bracket 15, a translation motor 16 and a translation slider 17, the translation ball 12 is mounted in a groove of the translation slider 17, translation rack 11 wears to establish in translation slider 17 and with translation ball 12 sliding fit, translation round pin axle 13 passes translation ball 12 and with translation slider 17 fixed connection, translation motor 16 fixed mounting is on translation motor support 15, translation motor support 15 and translation slider 17 fixed connection, translation motor 16's output shaft and translation gear 14 are connected, translation gear 14 and the meshing of translation rack 11, translation round pin axle 13 and translation slider 17 interference fit, slide between translation rack 11 and translation slider 17 and convert the roll connection between translation ball 12 and translation slider 17 into, the moving resistance and frictional loss have been reduced. The translation rack 11 and the walking rack 59 are both in a hollow rectangular tubular structure, and the translation mechanism 1 converts the rotary motion of the translation gear 14 into the linear motion of the translation rack 11, so that the relative movement between the translation sliding block 17 and the translation rack 11 is realized, and the horizontal linear motion of the tail end executing mechanism 4 is realized.
As shown in fig. 3, the translation slider 17, the rotation slider 26 and the lifting slider 33 are formed by enclosing four plates, a rectangular groove is formed in the middle of one plate, the translation gear 14 is in meshing transmission with the translation rack 11 through the rectangular groove, at least four balls are mounted on each plate, the diameter of each ball is larger than the thickness of each plate, threads are arranged at two ends of the pin shaft, and adjacent plates are fixedly connected with nuts mounted at two ends of the pin shaft through screwing and used for adjusting the fitting degree of the translation balls 12 and the translation rack 11.
As shown in fig. 4, the rotating mechanism 2 includes a first bearing outer seat 21, a first bearing 22, a first bearing inner seat 23, rotating balls 24, a rotating pin 25, a rotating slider 26, a support rod 27, a steering engine 28, a second bearing outer seat 29, a driving gear 210, a steering wheel 211, a second bearing 212, a second bearing inner seat 213 and a driven gear 214, an outer ring of the first bearing 22 is sleeved in the first bearing outer seat 21, an inner ring of the first bearing 22 is sleeved with the first bearing inner seat 23, the first bearing inner seat 23 is sleeved on a traveling rack 59 of the traveling mechanism 5, a first end of the rotating slider 26 is connected with the first bearing inner seat 23, the rotating balls 24 are installed in a groove of the rotating slider 26, the traveling rack 59 is inserted in the rotating slider 26 and is in sliding fit with the rotating balls 24, the rotating pin 25 is inserted in the rotating ball 24 and is fixedly connected with the rotating slider 26, the second bearing outer seat 29 is fixedly connected with the first bearing outer seat 21 through the support rod 27, the second end of rotary slide block 26 is connected with first bearing inner base 23, the outer lane suit of second bearing 212 is in second bearing outer base 29, the inner lane suit of second bearing 212 is equipped with second bearing inner base 213, second bearing inner base 213 suit is on running rack 59 of running gear 5, steering wheel 28 and second bearing outer base 29 fixed connection, the output shaft of steering wheel 28 passes through steering wheel 211 and is connected with driving gear 210, driving gear 210 meshes with driven gear 214, relative rotation between first bearing outer base 21 and second bearing outer base 29 and first bearing inner base 23 and second bearing inner base 213 through first bearing 22 and second bearing 212 respectively, realize the axial of end actuating mechanism 4 and rotate.
As shown in fig. 5, through holes are formed in the middle portions of the first bearing outer seat 21 and the second bearing outer seat 29 in the rotating mechanism 2, the first bearing 22 and the second bearing 212 are sleeved in the through holes, rectangular grooves are formed in the middle portions of the first bearing inner seat 23 and the second bearing inner seat 213 which are symmetrically arranged at two ends of the rotating slider 26, and the rectangular grooves are used for being matched with the traveling rack 59. The inner seat 23 of the first bearing and the inner seat 213 of the second bearing are both double-layer plane symmetrical structures, the four corners of the first layer of the inner seat 23 of the first bearing and the four corners of the first layer of the inner seat 213 of the second bearing are arc structures and are used for being matched with the inner rings of the first bearing 22 and the second bearing 212, and the second layer of the inner seat 23 of the first bearing and the inner seat 213 of the second bearing is of a regular quadrilateral structure and is used for being fixedly connected with the lifting slide block 33. The middle of the driven gear 214 is provided with a groove, and the traveling rack 59 is sleeved in the groove and used for limiting the fixed-axis rotation of the driven gear 214, so that the driving gear 210 moves circularly around the driven gear 214.
As shown in fig. 6, the lifting mechanism 3 includes a lifting ball 31, a lifting pin shaft 32, a lifting slider 33, a lifting motor 34, a lifting motor bracket 35 and a lifting gear 36, the lifting slider 33 is located right below the first bearing outer seat 21 of the rotating mechanism 2 and fixedly connected therewith, the lifting ball 31 is installed in a groove of the lifting slider 33, a traveling rack 59 is inserted in the lifting slider 33 and slidably fitted with the lifting ball 31, the lifting pin shaft 32 passes through the lifting ball 31 and is fixedly connected with the lifting slider 33, the lifting motor 34 is fixedly installed on the lifting motor bracket 35, the lifting motor bracket 35 is fixedly connected with a side end face of the lifting slider 33, an output shaft of the lifting motor 34 is connected with the lifting gear 36, the lifting gear 36 is engaged with the traveling rack 59 of the traveling mechanism 5, the lifting mechanism 3 converts the rotating motion of the lifting gear 36 into the linear motion of the traveling rack 59, thereby realizing the relative movement between the lifting slide block 33 and the walking rack 59 and realizing the vertical linear motion of the tail end executing mechanism 4.
As shown in fig. 7, the end effector 4 includes an air pump 41, an air pump bracket 42, a vacuum generator 43, an air pipe 44 and a suction cup 45, the air pump 41 is fixedly mounted on the air pump bracket 42, the air pump bracket 42 is fixedly connected with the first end of the translation rack 11, the output end of the air pump 41 is connected with the first end of the air pipe 44 through the vacuum generator 43, the second end of the air pipe 44 is connected with the suction cup 45, and the air pump 41 generates negative pressure on the suction cup 45 through the vacuum generator 43 to complete the suction and grabbing of the goods.
As shown in fig. 8, the traveling mechanism 5 includes a wheel 51, a wheel core connection block 52, a traveling bearing 53, a wheel axle 54, a traveling motor support 55, a coupler 56, a traveling motor 57, a base 58 and a traveling rack 59, the wheel 51 is connected with a first end of the wheel axle 54 through the wheel core connection block 52, the wheel axle 54 is sleeved at a third end of the traveling motor support 55 through the traveling bearing 53, the traveling motor 57 is fixedly installed on the traveling motor support 55, an output shaft of the traveling motor 57 is connected with a second end of the wheel axle 54 through the coupler 56, the traveling motor support 55 is arranged above and fixedly connected with the base 58, the traveling rack 59 is vertically arranged at the top of the base 58, and a first end of the traveling rack 59 is fixedly connected with the base 58. The number of wheels 51, wheel core connecting blocks 52, walking bearings 53, wheel shafts 54, walking motor supports 55, couplers 56 and walking motors 57 in the walking mechanism 5 is three, the wheels 51 are uniformly arranged around the base 58 at 120 degrees, and the wheels 51 are omni wheels, so that omni-directional movement is realized.
The following describes a conveying apparatus driven by a motor and an air pump 41 in combination according to an embodiment of the present invention:
when the device is used for carrying goods, the translation mechanism 1, the rotating mechanism 2, the lifting mechanism 3, the tail end executing mechanism 4 and the travelling mechanism 5 are ensured to be installed perfectly, and to be distributed reasonably and smoothly.
Example (b):
as shown in fig. 1 to 8, the translation slider 17 of the translation mechanism 1 is fixedly connected to the second bearing outer mount 29 of the rotation mechanism 2, the rotation slider 26 of the rotation mechanism 2 is fixedly connected to the lifting slider 33 of the lifting mechanism 3, and the lifting gear 36 of the lifting mechanism 3 is engaged with the traveling rack 59 of the traveling mechanism 5.
The operation process of the embodiment is realized as follows:
firstly, when the traveling mechanism 5 works, the translation mechanism 1, the rotation mechanism 2, the lifting mechanism 3 and the end executing mechanism 4 are all in standby positions, the wheel shaft 54 is sleeved at the third end of the traveling motor support 55 through the traveling bearing 53, the traveling motor 57 is fixedly installed on the traveling motor support 55, the output shaft of the traveling motor 57 is connected with the second end of the wheel shaft 54 through the coupler 56, the traveling motor support 55 is arranged above the base 58 and fixedly connected with the base 58, the traveling rack 59 is vertically arranged at the top of the base 58, and the first end of the traveling rack 59 is fixedly connected with the base 58. The running gear 5 starts to work, so that the carrying device moves to the working position according to the position of the goods, under the control of the control board, for example, under the control of a core control board, the running motor 57 drives the wheel shaft 54 to rotate through the coupling 56, so that the wheel shaft 54 drives the wheels 51 to rotate, and the carrying device moves to a specific position through the mutual matching rotation of the three wheels 51.
Then, the lifting mechanism 3 starts to work, the output shaft of the lifting motor 34 in the lifting mechanism 3 is connected with the lifting gear 36, the lifting gear 36 is meshed with the walking rack 59 of the walking mechanism 5, and the lifting mechanism 3 converts the rotary motion of the lifting gear 36 into the linear motion of the walking rack 59, so that the relative movement between the lifting slider 33 and the walking rack 59 is realized, and the vertical linear motion of the carrying device is realized.
Then, the rotating mechanism 2 starts to work, the output shaft of the steering engine 28 drives the driving gear 210 to move through the steering wheel 211, the driving gear 210 drives the driven gear 214 meshed with the driving gear 210 to rotate, the walking rack 59 limits the fixed-shaft rotation of the driven gear 214, so that the driving gear 210 makes a circular motion around the driven gear 214, and the driving gear 210 drives the first bearing outer seat 21 and the second bearing outer seat 29 to make a relative rotation around the first bearing inner seat 23 and the second bearing inner seat 213 through the first bearing 22 and the second bearing 212 respectively, thereby realizing the axial rotating motion of the carrying device.
Then, the translation mechanism 1 starts to work, an output shaft of the translation motor 16 is connected with the translation gear 14, the translation gear 14 is meshed with the translation rack 11, the translation pin shaft 13 is in interference fit with the translation slider 17, sliding between the translation rack 11 and the translation slider 17 is converted into rolling connection between the translation ball 12 and the translation slider 17, and the translation mechanism 1 converts the rotary motion of the translation gear 14 into linear motion of the translation rack 11, so that the relative movement between the translation slider 17 and the translation rack 11 is realized, and the horizontal linear motion of the carrying device is realized.
Finally, the end executing mechanism 4 starts to work, the air pump 41 is fixedly installed on the air pump support 42, the air pump support 42 is fixedly connected with the first end of the translation rack 11, the output end of the air pump 41 is connected with the first end of the air pipe 44 through the vacuum generator 43, the second end of the air pipe 44 is connected with the suction cup 45, and the air pump 41 generates negative pressure on the suction cup 45 through the vacuum generator 43 to complete the adsorption and grabbing of the goods.
The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. A motor and air pump hybrid-driven carrying device is characterized by comprising a translation mechanism, a rotating mechanism, a lifting mechanism, a traveling mechanism and a tail end executing mechanism, wherein a translation sliding block of the translation mechanism is fixedly connected with a second bearing outer seat of the rotating mechanism, a rotating sliding block of the rotating mechanism is fixedly connected with a lifting sliding block of the lifting mechanism, a lifting gear of the lifting mechanism is meshed with a traveling rack of the traveling mechanism, an air pump bracket of the tail end executing mechanism is fixedly connected with a translation rack of the translation mechanism,
the translation mechanism comprises a translation rack, a translation ball, a translation pin shaft, a translation gear, a translation motor bracket, a translation motor and a translation slider, wherein the translation ball is arranged in a groove of the translation slider, the translation rack is arranged in the translation slider in a penetrating way and is in sliding fit with the translation ball, the translation pin shaft penetrates through the translation ball and is fixedly connected with the translation slider, the translation motor is fixedly arranged on the translation motor bracket, the translation motor bracket is fixedly connected with the translation slider, an output shaft of the translation motor is connected with the translation gear, and the translation gear is meshed with the translation rack;
the rotating mechanism comprises a first bearing outer seat, a first bearing inner seat, a rotating ball, a rotating pin shaft, a rotating slide block, a supporting rod, a steering engine, a second bearing outer seat, a driving gear, a steering wheel, a second bearing inner seat and a driven gear, wherein the outer ring of the first bearing is sleeved in the first bearing outer seat, the inner ring of the first bearing is sleeved with the first bearing inner seat, the first bearing inner seat is sleeved on a walking rack of the walking mechanism, the first end of the rotating slide block is connected with the first bearing inner seat, the rotating ball is arranged in a groove of the rotating slide block, the walking rack is arranged in the rotating slide block in a penetrating manner and is in sliding fit with the rotating ball, the rotating pin shaft penetrates through the rotating ball and is fixedly connected with the rotating slide block, the second bearing outer seat is fixedly connected with the first bearing outer seat through the supporting rod, the second end of the rotating sliding block is connected with the first bearing inner seat, the outer ring of the second bearing is sleeved in the second bearing outer seat, the second bearing inner seat is sleeved on the inner ring of the second bearing, the second bearing inner seat is sleeved on the traveling rack of the traveling mechanism, the steering engine is fixedly connected with the second bearing outer seat, the output shaft of the steering engine is connected with the driving gear through a steering wheel, and the driving gear is meshed with the driven gear;
the lifting mechanism comprises a lifting ball, a lifting pin shaft, a lifting slider, a lifting motor support and a lifting gear, wherein the lifting slider is located under a first bearing outer seat of the rotating mechanism and fixedly connected with the first bearing outer seat, the lifting ball is installed in a groove of the lifting slider, a walking rack is arranged in the lifting slider in a penetrating mode and in sliding fit with the lifting ball, the lifting pin shaft penetrates through the lifting ball and is fixedly connected with the lifting slider, the lifting motor is fixedly installed on the lifting motor support, the lifting motor support is fixedly connected with the side end face of the lifting slider, an output shaft of the lifting motor is connected with the lifting gear, and the lifting gear is meshed with the walking rack of the lifting mechanism.
2. The carrying device driven by the motor and the air pump in a mixed mode is characterized in that the translation sliding block, the rotation sliding block and the lifting sliding block are formed by enclosing four plates, a rectangular groove is formed in the middle of one plate, the translation gear is in meshed transmission with the translation rack through the rectangular groove, at least four balls are mounted on each plate, the diameter of each ball is larger than the thickness of the corresponding plate, threads are arranged at two ends of each pin shaft, and adjacent plates are fixedly connected with nuts mounted at two ends of each pin shaft in a screwing mode and used for adjusting the fitting degree of the translation balls and the translation rack.
3. The carrying device driven by the motor and the air pump in a mixed mode is characterized in that a through hole is formed in the middle of each of a first bearing outer seat and a second bearing outer seat in the rotating mechanism, the first bearing and the second bearing are sleeved in the through holes, the first bearing inner seat and the second bearing inner seat are symmetrically arranged at two ends of the rotating sliding block, and rectangular grooves are formed in the middle of each of the first bearing inner seat and the second bearing inner seat and are used for being matched with the traveling rack.
4. The carrying device driven by the motor and the air pump in a mixed mode according to claim 3, wherein the first bearing inner seat and the second bearing inner seat are of a double-layer plane symmetrical structure, four corners of a first layer of the first bearing inner seat and four corners of a second layer of the second bearing inner seat are of arc structures and are used for being matched with inner rings of the first bearing and the second bearing, and a second layer of the first bearing inner seat and the second bearing inner seat are of regular quadrilateral structures and are used for being fixedly connected with the lifting sliding block. The middle of the driven gear is provided with a groove, the walking rack is sleeved in the groove and used for limiting the fixed shaft rotation of the driven gear, and then the driving gear makes circular motion around the driven gear.
5. The motor and air pump hybrid driven carrying device according to claim 1, wherein the end actuator comprises an air pump, an air pump support, a vacuum generator, an air pipe and a suction cup, the air pump is fixedly mounted on the air pump support, the air pump support is fixedly connected with the first end of the translation rack, an output end of the air pump is connected with the first end of the air pipe through the vacuum generator, a second end of the air pipe is connected with the suction cup, and the air pump generates negative pressure on the suction cup through the vacuum generator to complete the adsorption and the grabbing of goods.
6. The carrying device driven by the combination of the motor and the air pump according to claim 1, wherein the traveling mechanism comprises a wheel, a wheel core connecting block, a traveling bearing, a wheel shaft, a traveling motor support, a coupler, a traveling motor, a base and a traveling rack, the wheel is connected with a first end of the wheel shaft through the wheel core connecting block, the wheel shaft is sleeved at a third end of the traveling motor support through the traveling bearing, the traveling motor is fixedly mounted on the traveling motor support, an output shaft of the traveling motor is connected with a second end of the wheel shaft through the coupler, the traveling motor support is arranged above the base and is fixedly connected with the base, the traveling rack is vertically arranged at the top of the base, and the first end of the traveling rack is fixedly connected with the base.
7. The carrying device driven by the motor and the air pump in a mixed mode according to claim 1, wherein the number of wheels, wheel core connecting blocks, walking bearings, wheel shafts, walking motor supports, couplers and walking motors in the walking mechanism is three, and the three wheels, the wheel core connecting blocks, the walking bearings, the wheel shafts, the walking motor supports, the couplers and the walking motors are arranged on the periphery of the base at equal intervals of 120 degrees.
8. The motor and air pump hybrid driven handling device of claim 1, wherein the translation rack and the walking rack are both hollow rectangular tubular structures.
9. The carrying device driven by the motor and the air pump in a mixed mode according to any one of claims 1 to 6, wherein the translation motor, the steering engine, the lifting motor and the walking motor are all controlled by a control board, the control board realizes Bluetooth communication with a mobile phone through programming, so that the motions of the translation mechanism, the rotating mechanism, the lifting mechanism and the walking mechanism are controlled in real time, the all-directional movement of the tail end executing mechanism in space is realized, and the working space of the tail end executing mechanism is a cylinder.
10. The conveying device driven by the motor and the air pump in a mixing mode according to claim 1, wherein a translation rack of the translation mechanism is perpendicular to a walking rack of the walking mechanism, and the translation mechanism, the rotation mechanism, the lifting mechanism and the tail end executing mechanism are located above the walking mechanism.
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| CN202210639424.7A CN115010007B (en) | 2022-06-07 | 2022-06-07 | Motor and air pump hybrid drive's handling device |
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| CN202210639424.7A CN115010007B (en) | 2022-06-07 | 2022-06-07 | Motor and air pump hybrid drive's handling device |
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| CN115010007A true CN115010007A (en) | 2022-09-06 |
| CN115010007B CN115010007B (en) | 2023-05-05 |
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| CN1138885A (en) * | 1994-11-22 | 1996-12-25 | 株木建设株式会社 | Appts. for transferring ready-mixed concrete |
| CN207003149U (en) * | 2017-08-03 | 2018-02-13 | 福建绿叶机器人科技有限公司 | One kind forwards control device and forwards control system automatically automatically |
| CN213865101U (en) * | 2020-11-30 | 2021-08-03 | 江西雄力建筑有限公司 | Small-size hoist device is used in municipal building construction |
| CN113860191A (en) * | 2021-10-27 | 2021-12-31 | 沈阳鑫博立恩石油钻探设备制造有限公司 | Drilling tool hanging row operation machine |
| DE102020210393A1 (en) * | 2020-08-14 | 2022-02-17 | HIEBER GmbH Ideen aus Stahl | Holding and/or handling device for heavy workpieces |
| CN114476974A (en) * | 2021-12-31 | 2022-05-13 | 泰州市腾达建筑工程机械有限公司 | Column cantilever crane with adjustable maximum stroke |
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2022
- 2022-06-07 CN CN202210639424.7A patent/CN115010007B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1138885A (en) * | 1994-11-22 | 1996-12-25 | 株木建设株式会社 | Appts. for transferring ready-mixed concrete |
| CN207003149U (en) * | 2017-08-03 | 2018-02-13 | 福建绿叶机器人科技有限公司 | One kind forwards control device and forwards control system automatically automatically |
| DE102020210393A1 (en) * | 2020-08-14 | 2022-02-17 | HIEBER GmbH Ideen aus Stahl | Holding and/or handling device for heavy workpieces |
| CN213865101U (en) * | 2020-11-30 | 2021-08-03 | 江西雄力建筑有限公司 | Small-size hoist device is used in municipal building construction |
| CN113860191A (en) * | 2021-10-27 | 2021-12-31 | 沈阳鑫博立恩石油钻探设备制造有限公司 | Drilling tool hanging row operation machine |
| CN114476974A (en) * | 2021-12-31 | 2022-05-13 | 泰州市腾达建筑工程机械有限公司 | Column cantilever crane with adjustable maximum stroke |
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| CN115010007B (en) | 2023-05-05 |
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