CN115010007B

CN115010007B - Motor and air pump hybrid drive's handling device

Info

Publication number: CN115010007B
Application number: CN202210639424.7A
Authority: CN
Inventors: 史亚鹏; 李信杰; 许梦凯; 陈馨; 刘桂江; 俞滨; 巴凯先
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2023-05-05
Anticipated expiration: 2042-06-07
Also published as: CN115010007A

Abstract

The invention provides a carrying device driven by a motor and an air pump in a mixed mode, which comprises a translation mechanism, a rotating mechanism, a lifting mechanism, a traveling mechanism and an 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 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, the 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 end executing mechanism is connected with the translation rack of the translation mechanism. According to the invention, through controlling the motors, the tail end executing mechanism realizes the movements of three degrees of freedom of horizontal movement, vertical movement and fixed axis rotation, so that the tail end executing mechanism is ensured to finish the adsorption and carrying work of cargoes under different working conditions, and the problems of complex structure and low working efficiency of the conventional carrying device are effectively solved.

Description

Motor and air pump hybrid drive's handling device

Technical Field

The invention relates to the technical field of multi-degree-of-freedom conveying devices, in particular to a conveying device driven by a motor and an air pump in a mixing mode.

Background

The multi-degree-of-freedom carrying device refers to an automatic operation device for completing a cargo transportation task by replacing a manual work with a mechanical product. The carrying device replaces manual labor to finish heavy physical labor so as to realize mechanization and automation, improve efficiency, and protect personal safety when operated in a harmful environment, so that the carrying device is widely applied to cargo transportation in various occasions.

The conventional multi-degree-of-freedom carrying device is mainly two degrees of freedom of planar motion and one-axis rotation, and the device has wide application, such as carrying, operation, task completion in planar space and the like, and many devices are required to work under extreme conditions, such as a narrow space working condition, and have large volume limitation. How to realize a larger movement range and faster and accurate control through limited motor driving is a technical problem of a motor-driven multi-degree-of-freedom carrying movement device. In addition, the existing three-degree-of-freedom device is driven by hydraulic or pneumatic pressure, the range of the adjusting device is small, a hydraulic or pneumatic circulation system is needed, the structure is complex, and the application range is narrow. Therefore, it is necessary to provide a high-performance handling device which is flexible in movement, convenient to control, strong in adaptability, applicable in functions and high in working efficiency.

Disclosure of Invention

Aiming at the problems existing in the prior art, the invention provides a carrying device driven by a motor and an air pump in a mixed way, wherein the tail end executing mechanism can realize the motion of three degrees of freedom of horizontal, vertical movement and fixed axis rotation through each motor in a control panel driving mechanism, and a travelling mechanism arranged at the bottom can realize the omnibearing movement, so that the sucking disc of the tail end executing mechanism can be ensured to finish the adsorption carrying work of cargoes under different working conditions.

The invention provides a carrying device driven by a motor and an air pump in a mixing way, which comprises a translation mechanism, a rotating mechanism, a lifting mechanism, a traveling mechanism and an end actuating mechanism, wherein the translation rack of the translation mechanism is perpendicular to the traveling rack of the traveling mechanism, the translation mechanism, the rotating mechanism, the lifting mechanism and the end actuating 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, the rotating sliding block of the rotating mechanism is fixedly connected with the lifting sliding block of the lifting mechanism, a lifting gear of the lifting mechanism is meshed with the traveling rack of the traveling mechanism, an air pump bracket of the end actuating mechanism is fixedly connected with the translation rack of the translation mechanism, the translation mechanism comprises a translation rack, a translation rolling ball, a translation rolling pin, a translation gear, a translation motor bracket, a translation rolling ball and a translation rolling ball, wherein the translation rolling ball passes through the translation rolling ball and is fixedly connected with the translation rolling ball, the translation rolling ball motor is fixedly connected with the translation rolling ball, the translation rolling ball is fixedly arranged on the translation rolling ball, the translation rolling ball is fixedly connected with the translation rolling ball, and the translation rolling ball is fixedly connected with the translation rolling ball; the rotary mechanism comprises a first bearing outer seat, a first bearing inner seat, rotary balls, rotary pins, a rotary sliding block, a supporting rod, a steering engine, a second bearing outer seat, a driving gear, a rudder disk, 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 travelling rack of the travelling mechanism, the first end of the rotary sliding block is connected with the first bearing inner seat, the rotary balls are installed in grooves of the rotary sliding block, the travelling rack is arranged in the rotary sliding block in a penetrating manner and is fixedly connected with the rotary sliding block, the second bearing outer seat is fixedly connected with the first bearing outer seat through the supporting rod, the second end of the rotary 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 outer ring is provided with a second bearing gear sleeve, the second bearing inner ring of the rotary sliding block is fixedly connected with the driving gear is meshed with the driving gear, and the driven gear is fixedly connected with the driving gear seat, and the driving gear is meshed with the driving gear; the lifting mechanism comprises lifting balls, lifting pins, lifting sliding blocks, lifting motors, lifting motor supports and lifting gears, wherein the lifting sliding blocks are located under a first bearing outer seat of the rotating mechanism and are fixedly connected with the first bearing outer seat, the lifting balls are installed in grooves of the lifting sliding blocks, the walking racks penetrate through the lifting sliding blocks and are in sliding fit with the lifting balls, the lifting pins penetrate through the lifting balls and are fixedly connected with the lifting sliding blocks, the lifting motors are fixedly installed on the lifting motor supports, the lifting motor supports are fixedly connected with side end faces of the lifting sliding blocks, output shafts of the lifting motors are connected with the lifting gears, and the lifting gears are meshed with the walking racks of the walking mechanism.

Preferably, the translation slider, the rotation slider and the lifting slider are each composed of 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 diameters of the balls are larger than the thickness of the plate, threads are arranged at two ends of each pin, and adjacent plates are fixedly connected through nuts mounted at two ends of each pin in a screwing mode and used for adjusting the fitting degree of the translation balls and the translation rack.

Preferably, through holes are formed in the middle parts of the first bearing outer seat and 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 parts of the first bearing inner seat and the second bearing inner seat and are used for being matched with the walking racks.

Preferably, the first bearing inner seat and the second bearing inner seat are both of double-layer symmetrical structures, four corners of a first layer of the first bearing inner seat and a first layer of the second bearing inner seat are of circular 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 is of a regular quadrilateral structure and is used for being fixedly connected with the lifting sliding block. The middle part of the driven gear is provided with a groove, and the walking rack is sleeved in the groove and used for limiting the driven gear to rotate along the fixed shaft, so that the driving gear moves circumferentially around the driven gear.

Preferably, the end actuating 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 pump is connected with the sucker, and the air pump is used for generating negative pressure on the sucker through the vacuum generator so as to complete the adsorption grabbing of cargoes.

Preferably, the travelling mechanism comprises wheels, a wheel core connecting block, a travelling bearing, an axle, a travelling motor support, a coupler, a travelling motor, a base and a travelling rack, wherein the wheels are connected with the first end of the axle through the wheel core connecting block, the axle is sleeved with the third end of the travelling motor support through the travelling bearing, the travelling motor is fixedly installed on the travelling motor support, an output shaft of the travelling motor is connected with the second end of the axle through the coupler, the travelling motor support is arranged above the base and is fixedly connected with the base, the travelling rack is vertically arranged at the top of the base, and the first end of the travelling rack is fixedly connected with the base.

Preferably, the number of wheels, the wheel core connecting blocks, the walking bearings, the wheel shafts, the walking motor supports, the couplings 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-wheels.

Preferably, the translation rack and the walking rack are both hollow rectangular tubular structures.

Preferably, the translation motor, the steering engine, the lifting motor and the walking motor are controlled by a control board, and the control board realizes Bluetooth communication with a mobile phone through programming, so that the movement of the translation mechanism, the rotating mechanism, the lifting mechanism and the walking mechanism is controlled in real time, the omnibearing movement of the end actuating mechanism in space is realized, and the working space of the end actuating 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 end actuating mechanism are all located above the walking mechanism.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, through each motor in the control panel driving mechanism, the end actuating mechanism can realize three degrees of freedom of movement of horizontal, vertical and fixed axis rotation, and the travelling mechanism arranged at the bottom can realize omnibearing movement, so that the sucking disc of the end actuating mechanism can be ensured to finish the adsorption and carrying work of cargoes under different working conditions, and the problems of low flexibility, complex structure, low working efficiency and the like of the conventional carrying device are effectively solved.

2. The translation mechanism and the lifting mechanism adopt gear-rack meshing transmission, the rotary motion of the motor is converted into linear motion of the sliding block, the transmission efficiency is high, the transmission is stable, the bearing capacity is strong, the whole end actuator is of a modularized design, and the end actuator can replace the corresponding end actuator according to working condition requirements, so that the adaptability and the practicability of the carrying device are effectively improved.

3. The invention realizes the Bluetooth communication with the mobile phone by adopting the core controller through programming, controls the motor in real time, realizes the random movement of the tail end of the actuator in space, and has the advantages of multiple degrees of freedom, strong flexibility and environmental adaptability, reasonable structure, convenient control, strong adaptability, practical function, high working efficiency and the like.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a motor and air pump hybrid drive handling device of the present invention;

FIG. 2 is a schematic diagram of the overall structure of the translation mechanism and 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 an enlarged partial schematic view of the rotary mechanism of the present invention;

FIG. 6 is a schematic view of the overall structure of the rotation 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 of the present invention in combination;

fig. 8 is a schematic diagram of the overall structure of the translational mechanism and the walking mechanism of the present invention.

The main reference numerals:

the steering gear comprises a translation mechanism 1, a translation rack 11, a translation ball 12, a translation pin shaft 13, a translation gear 14, a translation motor bracket 15, a translation motor 16, a translation sliding block 17, a rotating mechanism 2, a first bearing outer seat 21, a first bearing 22, a first bearing inner seat 23, a rotating ball 24, a rotating pin shaft 25, a rotating sliding block 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 shaft 32, a lifting sliding block 33, a lifting motor 34, a lifting motor bracket 35, a lifting gear 36, an end effector 4, an air pump 41, an air pump bracket 42, a vacuum generator 43, an air pipe 44, a sucker 45, a walking mechanism 5, wheels 51, a wheel core connecting block 52, a walking bearing 53, an axle 54, a walking motor bracket 55, a coupling 56, a walking motor 57, a base 58, a walking rack 59.

Detailed Description

In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.

The invention provides a motor and air pump hybrid drive carrying device, which is shown in fig. 1, and comprises a translation mechanism 1, a rotating mechanism 2, a lifting mechanism 3, an end actuating 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 end actuating mechanism 4 are all positioned 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 rotation 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. The air pump support 42 of the end actuating mechanism 4 is fixedly connected with the translation rack 11 of the translation mechanism 1, the whole device is of modularized design, and is made of high-strength steel, so that the whole rigidity is ensured, the corresponding end effector can be replaced according to the requirement by the end actuating mechanism 4, and the adaptability and the practicability of the carrying device are effectively improved. The translation motor 16, the steering engine 28, the lifting motor 34 and the walking motor 57 are all controlled by a control board, the control board realizes Bluetooth communication with a mobile phone through programming, so that the movement of the translation mechanism 1, the rotating mechanism 2, the lifting mechanism 3 and the walking mechanism 5 is controlled in real time, the omnibearing movement of the end actuating mechanism 4 in space is realized, and the working space of the end actuating 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 sliding block 17, the translation ball 12 is installed in a groove of the translation sliding block 17, the translation rack 11 is arranged in the translation sliding block 17 in a penetrating manner and is in sliding fit with the translation ball 12, the translation pin 13 passes through the translation ball 12 and is fixedly connected with the translation sliding block 17, the translation motor 16 is fixedly installed on the translation motor bracket 15, the translation motor bracket 15 is fixedly connected with the translation sliding block 17, 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 13 is in interference fit with the translation sliding block 17, and the sliding between the translation rack 11 and the translation sliding block 17 is converted into rolling connection between the translation ball 12 and the translation sliding block 17, so that the movement resistance and friction loss are reduced. The translation rack 11 and the walking rack 59 are hollow rectangular tubular structures, and the translation mechanism 1 converts the rotation motion of the translation gear 14 into the 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 end effector 4 is realized.

As shown in fig. 3, the translation sliding block 17, the rotation sliding block 26 and the lifting sliding block 33 are formed by enclosing four plates, a rectangular groove is formed in the middle of one plate, the translation gear 14 is meshed 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 the plate, threads are arranged at two ends of a pin shaft, and adjacent plates are fixedly connected through nuts mounted at two ends of the pin shaft in a screwing manner and used for adjusting the fit degree of the translation balls 12 and the translation rack 11.

As shown in fig. 4, the rotating mechanism 2 comprises a first bearing outer seat 21, a first bearing 22, a first bearing inner seat 23, a rotary ball 24, a rotary pin 25, a rotary sliding block 26, a supporting 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, wherein the outer ring of the first bearing 22 is sleeved in the first bearing outer seat 21, the 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 running rack 59 of the running mechanism 5, a first end of the rotary sliding block 26 is connected with the first bearing inner seat 23, the rotary ball 24 is installed in a groove of the rotary sliding block 26, the running rack 59 is arranged in the rotary sliding block 26 in a penetrating manner and is in sliding fit with the rotary ball 24, the rotary pin 25 passes through the rotary sliding block 24 and is fixedly connected with the rotary sliding block 26, the second bearing outer seat 29 is fixedly connected with the first bearing outer seat 21 through the supporting rod 27, a second end of the rotary sliding block 26 is connected with the first bearing inner seat 23, the second end of the second bearing 212 is sleeved in the second bearing outer seat 29, the first bearing outer seat 29 is sleeved with the second bearing inner seat 29, the first bearing inner seat 212 is provided with the second end of the second bearing inner seat 212 is sleeved with the second end of the second bearing outer seat 29, the rotary ball 213 is connected with the first bearing outer seat 213 is arranged in a sliding manner, the first end of the rotary sliding seat 213 is meshed with the first end of the first bearing seat 29 is meshed with the first bearing outer seat 29 by the bearing seat 213, and the second end of the first bearing seat is respectively, and the end of the rotary bearing seat is meshed with the first end of the first bearing seat is arranged in a 4 with the outer seat 213, and the end of the rotary bearing seat is meshed with the rotary bearing seat is 21, and is meshed with the rotary bearing, and the rotary bearing is 21, and the rotary bearing, and the 2 is shown and the 2, and the 2 is 2.

As shown in fig. 5, in the rotating mechanism 2, through holes are formed in the middle parts of the first bearing outer seat 21 and the second bearing outer seat 29, the first bearing 22 and the second bearing 212 are sleeved in the through holes, and rectangular grooves are formed in the middle parts of the first bearing inner seat 23 and the second bearing inner seat 213 symmetrically arranged at two ends of the rotating slide block 26 and are used for being matched with the travelling rack 59. The first bearing inner seat 23 and the second bearing inner seat 213 are both of a double-layer symmetrical structure, four corners of a first layer of the first bearing inner seat 23 and the second bearing inner seat 213 are of an arc structure and are used for being matched with inner rings of the first bearing 22 and the second bearing 212, and a second layer of the first bearing inner seat 23 and the second bearing inner seat 213 is of a regular quadrilateral structure and is used for being fixedly connected with the lifting sliding block 33. A groove is formed in the middle of the driven gear 214, and the walking rack 59 is sleeved in the groove and used for limiting the fixed shaft 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 comprises a lifting ball 31, a lifting pin shaft 32, a lifting sliding block 33, a lifting motor 34, a lifting motor support 35 and a lifting gear 36, wherein the lifting sliding block 33 is positioned under the first bearing outer seat 21 of the rotating mechanism 2 and is fixedly connected with the lifting sliding block, the lifting ball 31 is installed in a groove of the lifting sliding block 33, a walking rack 59 is arranged in the lifting sliding block 33 in a penetrating manner and is in sliding fit with the lifting ball 31, the lifting pin shaft 32 passes through the lifting ball 31 and is fixedly connected with the lifting sliding block 33, the lifting motor 34 is fixedly installed on the lifting motor support 35, the lifting motor support 35 is fixedly connected with the side end face of the lifting sliding block 33, an output shaft of the lifting motor 34 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 rotation motion of the lifting gear 36 into the linear motion of the walking rack 59, thereby realizing the relative movement between the lifting sliding 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 a first end of the translation rack 11, an output end of the air pump 41 is connected with the first end of the air pipe 44 through the vacuum generator 43, a 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 grabbing of cargoes.

As shown in fig. 8, the traveling mechanism 5 includes wheels 51, a wheel core connecting block 52, a traveling bearing 53, an axle 54, a traveling motor support 55, a coupler 56, a traveling motor 57, a base 58 and a traveling rack 59, the wheels 51 are connected with a first end of the axle 54 through the wheel core connecting block 52, the axle 54 is sleeved on a third end of the traveling motor support 55 through the traveling bearing 53, the traveling motor 57 is fixedly mounted on the traveling motor support 55, an output shaft of the traveling motor 57 is connected with a second end of the axle 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 number of wheels 51, wheel core connecting blocks 52, traveling bearings 53, wheel shafts 54, traveling motor supports 55, couplers 56 and traveling motors 57 in the traveling mechanism 5 is three, the wheels 51 are omni-directional wheels and are uniformly arranged around a base 58 at 120 degrees, and omni-directional movement is achieved.

The following describes a carrying device with a hybrid drive of a motor and an air pump 41 according to the present invention with reference to the embodiment:

when the invention is used for carrying goods, the translation mechanism 1, the rotation mechanism 2, the lifting mechanism 3, the end actuating mechanism 4 and the travelling mechanism 5 are ensured to be well installed, and the arrangement is reasonable and smooth to operate.

Examples:

as shown in fig. 1 to 8, the translation slider 17 of the translation mechanism 1 is fixedly connected to the second bearing outer seat 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 procedure of this embodiment is implemented as follows:

firstly, when the traveling mechanism 5 works, the translation mechanism 1, the rotation mechanism 2, the lifting mechanism 3 and the end actuating mechanism 4 are all in standby positions, the wheel shaft 54 is sleeved at the third end of the traveling motor bracket 55 through the traveling bearing 53, the traveling motor 57 is fixedly arranged on the traveling motor bracket 55, an output shaft of the traveling motor 57 is connected with the second end of the wheel shaft 54 through the coupling 56, the traveling motor bracket 55 is arranged above the base 58 and is 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 mechanism 5 starts to work, so that the carrying device moves to a working position according to the position of the goods, and 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, an 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 rotation motion of the lifting gear 36 into the linear motion of the walking rack 59, so that the relative movement between the lifting slide block 33 and the walking rack 59 is realized, and the vertical linear motion of the conveying device is realized.

Then, the rotation 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 driven gear 214 to rotate fixedly, so that the driving gear 210 performs 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 perform 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, and axial rotation of the conveying device is realized.

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, the translation mechanism 1 converts rotary motion of the translation gear 14 into linear motion of the translation rack 11, and therefore relative movement between the translation slider 17 and the translation rack 11 is achieved, and horizontal linear motion of the conveying device is achieved.

Finally, the end actuating mechanism 4 starts to work, the air pump 41 is fixedly arranged 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 sucker 45, and the air pump 41 generates negative pressure on the sucker 45 through the vacuum generator 43 to finish the adsorption grabbing of cargoes.

The above examples are only illustrative of 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 by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a motor and air pump hybrid drive's handling device, its characterized in that includes translation mechanism, rotary mechanism, elevating system, running gear and end actuating mechanism, translation slider of translation mechanism with rotary mechanism's second bearing outer seat fixed connection, rotary mechanism's rotary slider with elevating system's elevating slider fixed connection, elevating system's elevating gear with running gear's running gear meshing, end actuating mechanism's air pump support with translation rack fixed connection of 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 sliding block, wherein the translation ball is installed in a groove of the translation sliding block, the translation rack is arranged in the translation sliding block in a penetrating manner 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 sliding block, the translation motor is fixedly installed 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 the translation gear, and the translation gear is meshed with the translation rack;

the rotary mechanism comprises a first bearing outer seat, a first bearing inner seat, a rotary ball, a rotary pin shaft, a rotary sliding block, a supporting rod, a steering engine, a second bearing outer seat, a driving gear, a rudder disk, 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 travelling rack of the travelling mechanism, the first end of the rotary sliding block is connected with the first bearing inner seat, the rotary ball is installed in a groove of the rotary sliding block, the travelling rack is arranged in the rotary sliding block in a penetrating manner and is in sliding fit with the rotary ball, the rotary pin shaft passes through the rotary ball and is fixedly connected with the rotary sliding block, the second bearing outer seat is fixedly connected with the first bearing outer seat through the supporting rod, the second end of the rotary sliding block is sleeved in the second bearing inner seat, the first bearing outer seat is sleeved in the second bearing outer seat, the first bearing inner ring is provided with the second bearing inner ring of the driving gear is meshed with the driving gear, and the driven gear is fixedly connected with the driving gear;

the lifting mechanism comprises lifting balls, lifting pins, lifting sliding blocks, lifting motors, lifting motor supports and lifting gears, wherein the lifting sliding blocks are located under a first bearing outer seat of the rotating mechanism and are fixedly connected with the first bearing outer seat, the lifting balls are installed in grooves of the lifting sliding blocks, the walking racks penetrate through the lifting sliding blocks and are in sliding fit with the lifting balls, the lifting pins penetrate through the lifting balls and are fixedly connected with the lifting sliding blocks, the lifting motors are fixedly installed on the lifting motor supports, the lifting motor supports are fixedly connected with side end faces of the lifting sliding blocks, an output shaft of each lifting motor is connected with the lifting gears, and the lifting gears are meshed with the walking racks of the walking mechanism.

2. The carrying device driven by a motor and an air pump in a mixed mode according to claim 1, wherein the translation sliding block, the rotation sliding block and the lifting sliding block are formed by encircling 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 plate, threads are arranged at two ends of a pin shaft, and adjacent plates are fixedly connected through nuts mounted at two ends of the pin shaft in a screwing mode and used for adjusting the fit degree of the translation balls and the translation rack.

3. The carrying device driven by a motor and an air pump according to claim 1, wherein through holes are formed in the middle parts 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 parts of the first bearing inner seat and the second bearing inner seat and are used for being matched with the walking rack.

4. The carrying device driven by a motor and an air pump 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 the second bearing inner seat are of circular 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 is of a regular quadrilateral structure and is used for being fixedly connected with the lifting sliding block; the middle part of the driven gear is provided with a groove, and the walking rack is sleeved in the groove and used for limiting the driven gear to rotate along the fixed shaft, so that the driving gear moves circumferentially around the driven gear.

5. The carrying device driven by a motor and an air pump in a mixed mode according to claim 1, wherein the end actuating mechanism comprises an air pump, an air pump support, a vacuum generator, an air pipe and a sucker, 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 adsorption grabbing of goods.

6. The carrying device driven by a motor and an air pump in a mixed mode according to claim 1, wherein the traveling mechanism comprises wheels, a wheel core connecting block, a traveling bearing, an axle, 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 axle through the wheel core connecting block, the axle 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 axle 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 device for transporting the hybrid drive of the motor and the air pump according to claim 6, wherein the number of the wheels, the wheel core connecting blocks, the walking bearings, the wheel shafts, the walking motor supports, the couplings and the walking motors in the walking mechanism is three, and the wheels, the wheel core connecting blocks, the walking bearings, the wheel shafts, the walking motor supports, the couplings and the walking motors are arranged at the periphery of the base at equal intervals of 120 degrees.

8. The motor and pump hybrid drive carrier of claim 1, wherein the translating rack and the traveling rack are each of a hollow rectangular tubular structure.

9. The hybrid-driven transporting device of the motor and the air pump according to claim 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 is programmed to realize bluetooth communication with a mobile phone, so as to control the movement of the translation mechanism, the rotation mechanism, the lifting mechanism and the walking mechanism in real time, realize the omnibearing movement of the end actuating mechanism in space, and the working space of the end actuating mechanism is a cylinder.

10. The motor and pump hybrid drive carrier of claim 1, wherein the translating rack of the translating mechanism is perpendicular to the traveling rack of the traveling mechanism, and the translating mechanism, the rotating mechanism, the lifting mechanism, and the end effector are all located above the traveling mechanism.