CN115303987B - Movable grabbing robot - Google Patents

Movable grabbing robot Download PDF

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Publication number
CN115303987B
CN115303987B CN202211036004.6A CN202211036004A CN115303987B CN 115303987 B CN115303987 B CN 115303987B CN 202211036004 A CN202211036004 A CN 202211036004A CN 115303987 B CN115303987 B CN 115303987B
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CN
China
Prior art keywords
pulley
frame
rope
fixed
movable
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Active
Application number
CN202211036004.6A
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Chinese (zh)
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CN115303987A (en
Inventor
田彩军
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Changzhou Komen Intelligent Equipment Co ltd
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Changzhou Komen Intelligent Equipment Co ltd
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Priority to CN202211036004.6A priority Critical patent/CN115303987B/en
Publication of CN115303987A publication Critical patent/CN115303987A/en
Application granted granted Critical
Publication of CN115303987B publication Critical patent/CN115303987B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/061—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks characterised by having a lifting jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07554—Counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07586—Suspension or mounting of wheels on chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
    • F16F15/0232—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means with at least one gas spring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/06—Fluid filling or discharging
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/10—Enclosure elements, e.g. for protection
    • F16F2230/105—Flexible, e.g. bellows or bladder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/22—Pumps

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of robots, and discloses a movable grabbing robot which solves the problems that the service life of the existing grabbing robot is low and goods are easy to damage, and comprises a frame, wherein a plurality of obstacle avoidance driving wheel sets are arranged at the bottom end of the frame, an air pump, a battery counterweight assembly and an intelligent controller are fixedly arranged at one side of the top end of the frame, a grabbing mechanism and a U-shaped fixing frame are arranged at one side of the frame, the U-shaped fixing frame is connected with the grabbing mechanism in a matched manner through a lifting mechanism, an anti-falling auxiliary buffer mechanism is arranged at the bottom end, close to one side of the grabbing mechanism, of the frame, and the intelligent controller is electrically connected with the air pump, the battery counterweight assembly, the grabbing mechanism, the lifting mechanism and the anti-falling auxiliary buffer mechanism; can be convenient for remove through this grabbing robot to be convenient for transport the goods, can reduce elevator motor's load simultaneously, improve life, can protect the goods, avoid the goods to drop and take place to damage.

Description

Movable grabbing robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a movable grabbing robot.
Background
The robot has high efficiency, good safety performance and high precision of production and processing. Gripping robots are commonly used in production to grip and transport goods.
The existing grabbing robot is usually fixed at a certain position, the grabbed goods are placed on the transfer trolley to realize the transfer of the goods, the process is required to be carried out through a plurality of steps, the process is complicated, the lifting motor of the existing grabbing robot is easy to load too much to influence the service life when grabbing heavy goods, meanwhile, the existing grabbing robot lacks a protection device for the goods, and the goods are easy to drop to damage the goods.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the movable grabbing robot, which effectively solves the problems that the prior grabbing robot has a low service life and is easy to damage goods.
In order to achieve the above purpose, the present invention provides the following technical solutions: the movable grabbing robot comprises a frame, wherein a plurality of obstacle avoidance driving wheel sets are arranged at the bottom end of the frame, an air pump, a battery counterweight assembly and an intelligent controller are fixedly arranged on one side of the top end of the frame, a grabbing mechanism is arranged at the middle position of one side of the frame away from the intelligent controller, a U-shaped fixing frame is arranged at the top end of one side of the frame, which is close to the grabbing mechanism, the U-shaped fixing frame is connected with the grabbing mechanism in a matched manner through a lifting mechanism, an anti-falling auxiliary buffer mechanism is arranged at the bottom end of one side, which is close to the grabbing mechanism, of the frame, and the intelligent controller is electrically connected with the air pump, the battery counterweight assembly, the grabbing mechanism, the lifting mechanism and the anti-falling auxiliary buffer mechanism;
The grabbing mechanism consists of a supporting plate, a first servo motor, a screw rod, a plurality of limiting guide rails, a first clamping plate and a second clamping plate, wherein a driving installation groove matched with the screw rod, the limiting guide rails, the first clamping plate and the second clamping plate is formed in the bottom end of the supporting plate;
the lifting mechanism consists of a servo motor II, a rope pulley I, a traction rope I and a pulley block, wherein the rope pulley I is fixedly connected to an output shaft of the servo motor II, the pulley block is connected between the U-shaped fixing frame and the grabbing mechanism, the traction rope I is connected between the rope pulley I and the pulley block, and the pulley block consists of a fixed pulley block and a movable pulley block;
The anti-falling auxiliary buffering mechanism comprises an auxiliary supporting bottom plate, a buffering air bag assembly, a wear-resisting pad, a movable supporting seat, an auxiliary supporting wheel assembly and a linkage type traction adjusting assembly, wherein the auxiliary supporting bottom plate is connected with a frame through the movable supporting seat and the linkage type traction adjusting assembly, an air bag placing groove is formed in the top end of the auxiliary supporting bottom plate, the buffering air bag assembly is located inside the air bag placing groove, the wear-resisting pad is fixedly connected to the top end of the buffering air bag assembly, the auxiliary supporting wheel assembly is connected to the side edge of the auxiliary supporting bottom plate and is matched and connected with the linkage type traction adjusting assembly, the buffering air bag assembly is matched and connected with an air pump, the auxiliary supporting wheel assembly comprises a rotary supporting arm, a universal wheel, a movable shaft and a tension spring, the rotary supporting arm is connected with the frame through the movable shaft, the universal wheel is fixedly connected to the bottom end of the rotary supporting arm, the tension spring is connected between the rotary supporting arm and the frame, the linkage type traction adjusting assembly comprises a third rope wheel, a second guide wheel and a limit stop, and a second guide wheel are arranged on one side of the auxiliary supporting bottom plate, and the second guide rope is connected between the second rope and the rotary supporting arm.
Preferably, the fixed pulley block is composed of a fixed pulley mounting frame, a fixed pulley hook, a large pulley I and a small pulley I, wherein the fixed pulley hook is connected to the top end of the fixed pulley mounting frame, and the large pulley I and the small pulley I are both connected to the inside of the fixed pulley mounting frame.
Preferably, the movable pulley block comprises a movable pulley mounting frame, a movable pulley hook I, a movable pulley hook II, a large pulley II and a small pulley II, wherein the movable pulley hook I is connected to the top end of the movable pulley mounting frame, the movable pulley hook II is connected to the bottom end of the movable pulley mounting frame, and the large pulley II and the small pulley II are connected to the inside of the movable pulley mounting frame.
Preferably, a first supporting hook is fixedly arranged at the top end inside the U-shaped fixing frame and connected with the fixed pulley hook through a first lifting rope, a second supporting hook is fixedly arranged at the top end of the supporting plate and connected with the movable pulley hook through a second lifting rope.
Preferably, a first reinforcing rope is fixedly arranged on one side of the frame, a plurality of second reinforcing ropes are fixedly arranged on the other side of the frame, and a through hole matched with the lifting mechanism is formed in one side of the top end of the frame.
Preferably, the side at mechanism top is fixed and is provided with the spacing guide bar that alternates in the frame, and the top of spacing guide bar is fixed and is provided with the stopper, and one side of first grip block and second grip block is all fixed and is provided with the blotter, and the bottom of first grip block and second grip block all is provided with spacing supporting component.
Preferably, the spacing supporting component comprises fixed cover, flexible backup pad, electric putter and connecting block, and fixed cover fixed connection is in the bottom of first grip block and second grip block, and flexible backup pad alternates in fixed cover, and connecting block fixed connection is in the one end of flexible backup pad bottom, and electric putter connects between fixed cover and connecting block.
Compared with the prior art, the invention has the beneficial effects that:
(1) In operation, the grabbing mechanism formed by the supporting plate, the first servo motor, the screw rod, the limiting guide rails, the first clamping plate and the second clamping plate can facilitate grabbing and transferring the goods, the efficiency of grabbing and transferring the goods is improved, and the lifting mechanism formed by the second servo motor, the first rope wheel, the first traction rope and the pulley block can reduce the load of the motor when lifting the goods, so that damage to the second servo motor is avoided;
(2) The utility model discloses a cargo is prevented to the goods after snatching, can carry out auxiliary stay through setting up the spacing supporting component that comprises fixed cover, flexible backup pad, electric putter and connecting block, avoids the goods to drop, can realize the buffering to the goods when the goods accident drops through setting up the supplementary buffer gear of preventing that comprises auxiliary stay bottom plate, buffering gasbag subassembly, wear pad, movable supporting seat, auxiliary stay wheel subassembly and coordinated type traction adjustment subassembly, avoids the goods to directly pound to ground and cause the damage.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic diagram of a mobile gripping robot according to the present invention;
FIG. 2 is a schematic diagram of a mobile gripping robot according to a second embodiment of the present invention;
FIG. 3 is a schematic view of the elevating mechanism of the present invention;
FIG. 4 is a schematic view of the grabbing mechanism of the present invention;
FIG. 5 is a schematic view of a spacing support assembly according to the present invention;
FIG. 6 is an enlarged view of a portion of the invention at A in FIG. 1;
FIG. 7 is an enlarged view of a portion of the invention at B in FIG. 2;
FIG. 8 is a schematic view of the structure of the auxiliary anti-falling buffer mechanism of the present invention;
In the figure: 1. a frame; 2. obstacle avoidance driving wheel sets; 3. an air pump; 4. a battery weight assembly; 5. an intelligent controller; 6. a grabbing mechanism; 7. a U-shaped fixing frame; 8. a lifting mechanism; 9. an anti-falling auxiliary buffer mechanism; 10. a support plate; 11. a servo motor I; 12. a screw rod; 13. a spacing guide rail; 14. a first clamping plate; 15. a second clamping plate; 16. a servo motor II; 17. a rope pulley I; 18. a first traction rope; 19. pulley block; 20. a fixed pulley block; 21. a movable pulley block; 22. a fixed pulley mounting rack; 23. a fixed pulley hook; 24. a large pulley I; 25. a small pulley I; 26. a movable pulley mounting rack; 27. a movable pulley hook I; 28. a movable pulley hook II; 29. a large pulley II; 30. a small pulley II; 31. a reinforcing rope I; 32. reinforcing the second rope; 33. a through hole; 34. a limit guide rod; 35. a limiting block; 36. a cushion pad; 37. a limit support assembly; 38. a first supporting hook; 39. a hanging rope I; 40. a second supporting hook; 41. a hanging rope II; 42. a fixed sleeve; 43. a telescopic support plate; 44. an electric push rod; 45. a connecting block; 46. an auxiliary supporting base plate; 47. a cushion airbag assembly; 48. a wear pad; 49. a movable supporting seat; 50. an auxiliary support wheel assembly; 51. a linkage traction adjustment assembly; 52. an air bag placing groove; 53. rotating the support arm; 54. a universal wheel; 55. a movable shaft; 56. a tension spring; 57. a servo motor III; 58. a rope pulley II; 59. a traction rope II; 60. a first guide wheel; 61. a second guide wheel; 62. and a limit stop.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The first embodiment is given by fig. 1 to 4, the mobile grabbing robot of the invention comprises a frame 1, a plurality of obstacle avoidance driving wheel sets 2 are arranged at the bottom end of the frame 1, an air pump 3, a battery counterweight component 4 and an intelligent controller 5 are fixedly arranged at one side of the top end of the frame 1, a grabbing mechanism 6 is arranged at the middle position of one side of the frame 1 far away from the intelligent controller 5, a U-shaped fixing frame 7 is arranged at the top end of one side of the frame 1 near the grabbing mechanism 6, the U-shaped fixing frame 7 is connected with the grabbing mechanism 6 in a matched manner through a lifting mechanism 8, an anti-falling auxiliary buffer mechanism 9 is arranged at the bottom end of one side of the frame 1 near the grabbing mechanism 6, and the intelligent controller 5 is electrically connected with the air pump 3, the battery counterweight component 4, the grabbing mechanism 6, the lifting mechanism 8 and the anti-falling auxiliary buffer mechanism 9;
The grabbing mechanism 6 is used for grabbing goods, the lifting mechanism 8 is used for driving the goods to ascend after grabbing, and the whole robot is driven to move through the obstacle avoidance driving wheel set 2, so that the goods can be transported.
The grabbing mechanism 6 is composed of a supporting plate 10, a first servo motor 11, a screw rod 12, a plurality of limiting guide rails 13, a first clamping plate 14 and a second clamping plate 15, wherein a driving installation groove matched with the screw rod 12, the limiting guide rails 13, the first clamping plate 14 and the second clamping plate 15 is formed in the bottom end of the supporting plate 10, the screw rod 12 and the limiting guide rails 13 are connected to the inside of the driving installation groove, the first clamping plate 14 and the second clamping plate 15 are sleeved on the screw rod 12 and the limiting guide rails 13, and the first servo motor 11 is fixedly connected to one end of the supporting plate 10 and is matched and connected with the screw rod 12;
When the grabbing mechanism 6 works, the first servo motor 11 drives the screw rod 12 to rotate, the screw rod 12 drives the first clamping plate 14 and the second clamping plate 15 to move in opposite directions, and goods are clamped through the first clamping plate 14 and the second clamping plate 15.
The lifting mechanism 8 consists of a servo motor II 16, a rope pulley I17, a traction rope I18 and a pulley block 19, wherein the rope pulley I17 is fixedly connected with an output shaft of the servo motor II 16, the pulley block 19 is connected between the U-shaped fixing frame 7 and the grabbing mechanism 6, the traction rope I18 is connected between the rope pulley I17 and the pulley block 19, and the pulley block 19 consists of a fixed pulley block 20 and a movable pulley block 21;
After the goods are clamped, the first rope pulley 17 is driven to rotate through the second servo motor 16, the first traction rope 18 is wound through the first rope pulley 17, the goods are lifted through the pulley block 19, the pulling force can be reduced, the load of the second servo motor 16 is reduced, and therefore the service life of the second servo motor 16 is prolonged.
In the second embodiment, as shown in fig. 2 to 5, the fixed pulley block 20 is composed of a fixed pulley mounting frame 22, a fixed pulley hook 23, a large pulley first 24 and a small pulley first 25, the fixed pulley hook 23 is connected to the top end of the fixed pulley mounting frame 22, the large pulley first 24 and the small pulley first 25 are both connected to the inside of the fixed pulley mounting frame 22, the movable pulley block 21 is composed of a movable pulley mounting frame 26, a movable pulley hook first 27, a movable pulley hook second 28, a large pulley second 29 and a small pulley second 30, the movable pulley hook first 27 is connected to the top end of the movable pulley mounting frame 26, the movable pulley hook second 28 is connected to the bottom end of the movable pulley mounting frame 26, the large pulley second 29 and the small pulley second 30 are both connected to the inside of the movable pulley mounting frame 26, a support hook first 38 is fixedly arranged at the top end of the inside of the U-shaped mounting frame 7, the support hook first 38 is connected to the fixed pulley hook 23 through a lifting rope first 39, a support hook second 40 is fixedly arranged at the top end of the support plate 10, and the support hook second 40 is connected to the movable pulley hook second 28 through a lifting rope second 41;
When the second servo motor 16 works, the first traction rope 18 is used for lifting the movable pulley block 21, and the fixed pulley block 20 and the movable pulley block 21 are matched for use, so that the tension of the second servo motor 16 is twenty percent of the whole load, the labor-saving function is realized, the movable pulley block 21 is lifted along with the first traction rope 18 in the process of lifting or descending cargoes, and the position of the fixed pulley block 20 is kept motionless.
In the third embodiment, as shown in fig. 1 to 5, a first reinforcing rope 31 is fixedly arranged on one side of the frame 1, a plurality of second reinforcing ropes 32 are fixedly arranged on the other side of the frame 1, a through hole 33 matched with the lifting mechanism 8 is formed in one side of the top end of the frame 1, a limit guide rod 34 penetrating through the frame 1 is fixedly arranged on the side edge of the top end of the grabbing mechanism 6, a limit block 35 is fixedly arranged on the top end of the limit guide rod 34, a buffer cushion 36 is fixedly arranged on one side of each of the first clamping plate 14 and the second clamping plate 15, a limit supporting component 37 is arranged at the bottom ends of each of the first clamping plate 14 and the second clamping plate 15, the limit supporting component 37 is composed of a fixing sleeve 42, a telescopic supporting plate 43, an electric push rod 44 and a connecting block 45, the fixing sleeve 42 is fixedly connected to the bottom ends of the first clamping plate 14 and the second clamping plate 15, the telescopic supporting plate 43 penetrates through the fixing sleeve 42, the connecting block 45 is fixedly connected to one end of the bottom of the telescopic supporting plate 43, and the electric push rod 44 is connected between the fixing sleeve 42 and the connecting block 45;
snatch mechanism 6 in the lift in-process, spacing guide bar 34 is at the inside vertical motion of frame 1 all the time to realized snatching the spacing of mechanism 6, after snatching mechanism 6 lifting, electric putter 44 starts, promotes connecting block 45 through electric putter 44, and connecting block 45 drives flexible backup pad 43 and slides in fixed cover 42 inside to flexible backup pad 43 is located the bottom of goods, realizes the spacing support to the goods, avoids causing dropping of goods.
In the fourth embodiment, as shown in fig. 1, fig. 2, fig. 6, fig. 7 and fig. 8, the anti-falling auxiliary buffer mechanism 9 is composed of an auxiliary supporting bottom plate 46, a buffer air bag assembly 47, a wear-resisting pad 48, a movable supporting seat 49, an auxiliary supporting wheel assembly 50 and a linkage type traction adjusting assembly 51, the auxiliary supporting bottom plate 46 is connected with the frame 1 through the movable supporting seat 49 and the linkage type traction adjusting assembly 51, an air bag placing groove 52 is formed in the top end of the auxiliary supporting bottom plate 46, the buffer air bag assembly 47 is located in the air bag placing groove 52, the wear-resisting pad 48 is fixedly connected to the top end of the buffer air bag assembly 47, the auxiliary supporting wheel assembly 50 is connected to the side edge of the auxiliary supporting bottom plate 46 and is connected with the linkage type traction adjusting assembly 51 in a matched manner, the buffer air bag assembly 47 is connected with the air pump 3 in a matched manner, the auxiliary supporting wheel assembly 50 is composed of a rotary supporting arm 53, a universal wheel 54, a movable shaft 55 and a tension spring 56, the rotary supporting arm 53 is connected with the frame 1 through the movable shaft 55, the universal wheel 54 is fixedly connected with the bottom end of the rotary supporting arm 53, a tension spring 56 is connected between the rotary supporting arm 53 and the frame 1, the traction adjusting assembly 51 is composed of a third rope 57, a second rope 58 and a second rope 58 are connected with a second rope 60, a second rope 60 is connected with the second rope 61, a second rope 61 is connected with the second rope 61, and a second rope 61 is connected between the second rope 61 and the second rope 61, and the second rope 61 is provided with the second rope 61, and the second rope 61 is connected with the second rope 61 and the second 60, and the second rope 61 is connected to the second rope 61 and the second 60 is the second 60 and the fourth rope is the fifth, and the fourth, and the fifth, and the 5, and the fourth, is;
after grabbing goods, the air pump 3 inflates the buffer air bag assembly 47, the buffer air bag assembly 47 bulges after inflation, thereby the goods can be buffered when accidentally falling, the goods are prevented from being damaged, in addition, the anti-falling auxiliary buffer mechanism 9 is integrally folded and contracted, firstly, the buffer air bag assembly 47 is exhausted and contracted, then the servo motor III 57 drives the rope pulley II 58 to rotate, the rope pulley II 58 is used for contracting the traction rope II 59, the first guide wheel 60 and the second guide wheel 61 are arranged, when the traction rope II 59 is pulled, the rotary support arm 53 is pulled firstly, the rotary support arm 53 rotates and is parallel to the auxiliary support bottom plate 46, the rotary support arm 53 can be limited through the limit stop 62, the tension spring 56 is stretched at the moment, after the rotary support arm 53 is attached to the limit stop 62, the position of the first guide wheel 60 is stressed, the whole auxiliary support bottom plate 46 is driven to rotate around the movable support seat 49, the auxiliary support bottom plate 46 is in a vertical state and is attached to the frame 1, the anti-falling auxiliary buffer mechanism 9 is contracted, when the anti-falling auxiliary buffer mechanism 9 is unfolded, the servo motor III reverses the servo motor 46, the auxiliary support bottom plate 46 drives the auxiliary support bottom plate 46 to rotate through the reset support arm to rotate, and the reset support arm 53 is contacted with the ground through the reset support arm 54, and the reset function is realized.
In operation, the grabbing mechanism formed by the supporting plate, the first servo motor, the screw rod, the limiting guide rails, the first clamping plate and the second clamping plate can facilitate grabbing and transferring of cargoes, the efficiency of grabbing and transferring the cargoes is improved, and the lifting mechanism formed by the second servo motor, the first rope wheel, the first traction rope and the pulley block can reduce the load of the motor when the cargoes are lifted, so that damage to the second servo motor is avoided; can carry out auxiliary stay to the goods after snatching through setting up spacing supporting component that comprises fixed cover, flexible backup pad, electric putter and connecting block, avoid the goods to drop, can realize the buffering to the goods when the goods accident drops through setting up the supplementary buffer gear of preventing that constitutes by supplementary supporting baseplate, buffering gasbag subassembly, wear pad, movable supporting seat, supplementary supporting wheel subassembly and coordinated type traction adjustment subassembly, avoid the goods directly to pound to the ground and cause the damage.

Claims (7)

1. The utility model provides a portable robot that snatchs, includes frame (1), its characterized in that: the device is characterized in that a plurality of obstacle avoidance driving wheel sets (2) are arranged at the bottom end of the frame (1), an air pump (3), a battery counterweight assembly (4) and an intelligent controller (5) are fixedly arranged at one side of the top end of the frame (1), a grabbing mechanism (6) is arranged at the middle position of one side of the frame (1) away from the intelligent controller (5), a U-shaped fixing frame (7) is arranged at the top end of one side of the frame (1) close to the grabbing mechanism (6), the U-shaped fixing frame (7) is connected with the grabbing mechanism (6) in a matched mode through a lifting mechanism (8), an anti-falling auxiliary buffer mechanism (9) is arranged at the bottom end of one side of the frame (1) close to the grabbing mechanism (6), and the intelligent controller (5) is electrically connected with the air pump (3), the battery counterweight assembly (4), the grabbing mechanism (6), the lifting mechanism (8) and the anti-falling auxiliary buffer mechanism (9).
The grabbing mechanism (6) is composed of a supporting plate (10), a first servo motor (11), a screw rod (12), a plurality of limiting guide rails (13), a first clamping plate (14) and a second clamping plate (15), a driving installation groove matched with the screw rod (12), the limiting guide rails (13), the first clamping plate (14) and the second clamping plate (15) is formed in the bottom end of the supporting plate (10), the screw rod (12) and the limiting guide rails (13) are connected in the driving installation groove, the first clamping plate (14) and the second clamping plate (15) are sleeved on the screw rod (12) and the limiting guide rails (13), and the first servo motor (11) is fixedly connected to one end of the supporting plate (10) and is connected with the screw rod (12) in a matched mode;
The lifting mechanism (8) is composed of a servo motor II (16), a rope pulley I (17), a traction rope I (18) and a pulley block (19), wherein the rope pulley I (17) is fixedly connected with an output shaft of the servo motor II (16), the pulley block (19) is connected between the U-shaped fixing frame (7) and the grabbing mechanism (6), the traction rope I (18) is connected between the rope pulley I (17) and the pulley block (19), and the pulley block (19) is composed of a fixed pulley block (20) and a movable pulley block (21);
The anti-falling auxiliary buffer mechanism (9) is composed of an auxiliary supporting bottom plate (46), a buffer air bag component (47), a wear-resisting pad (48), a movable supporting seat (49), an auxiliary supporting wheel component (50) and a linkage type traction adjusting component (51), wherein the auxiliary supporting bottom plate (46) is connected with a frame (1) through the movable supporting seat (49) and the linkage type traction adjusting component (51), an air bag placing groove (52) is formed in the top end of the auxiliary supporting bottom plate (46), the buffer air bag component (47) is located in the air bag placing groove (52), the wear-resisting pad (48) is fixedly connected to the top end of the buffer air bag component (47), the auxiliary supporting wheel component (50) is connected to the side edge of the auxiliary supporting bottom plate (46) and is connected with the linkage type traction adjusting component (51) in a matched mode, the buffer air bag component (47) is connected with the air pump (3) in a matched mode, the auxiliary supporting wheel component (50) is composed of a rotary supporting arm (53), a universal wheel (54), a movable shaft (55) and a tension spring (56) are connected with the frame (1) through the movable shaft (55), the universal wheel (54) is fixedly connected to the bottom end of the rotary supporting arm (53) between the rotary supporting arm (53) and the tension spring (56), the linkage type traction adjusting assembly (51) is composed of a servo motor III (57), a rope wheel II (58) and a traction rope II (59), one side of the auxiliary supporting bottom plate (46) is provided with a guide wheel I (60), a guide wheel II (61) and a limit stop (62), and the traction rope II (59) is connected between the rope wheel II (58), the guide wheel I (60), the guide wheel II (61) and the rotary supporting arm (53).
2. The mobile gripping robot of claim 1, wherein: the fixed pulley block (20) is composed of a fixed pulley mounting frame (22), a fixed pulley hook (23), a large pulley I (24) and a small pulley I (25), wherein the fixed pulley hook (23) is connected to the top end of the fixed pulley mounting frame (22), and the large pulley I (24) and the small pulley I (25) are connected to the inside of the fixed pulley mounting frame (22).
3. A mobile gripping robot according to claim 2, characterized in that: the movable pulley block (21) is composed of a movable pulley mounting frame (26), a movable pulley hook I (27), a movable pulley hook II (28), a large pulley II (29) and a small pulley II (30), wherein the movable pulley hook I (27) is connected to the top end of the movable pulley mounting frame (26), the movable pulley hook II (28) is connected to the bottom end of the movable pulley mounting frame (26), and the large pulley II (29) and the small pulley II (30) are connected to the inside of the movable pulley mounting frame (26).
4. A mobile gripping robot according to claim 3, characterized in that: the top of U type mount (7) inside is fixed and is provided with support couple one (38), and support couple one (38) is connected with fixed pulley couple (23) through lifting rope one (39), and the top of backup pad (10) is fixed and is provided with support couple two (40), and support couple two (40) are connected with movable pulley couple two (28) through lifting rope two (41).
5. The mobile gripping robot of claim 1, wherein: one side of the frame (1) is fixedly provided with a first reinforcing rope (31), the other side of the frame (1) is fixedly provided with a plurality of second reinforcing ropes (32), and one side of the top end of the frame (1) is provided with a through hole (33) matched with the lifting mechanism (8).
6. The mobile gripping robot of claim 1, wherein: the side at mechanism (6) top is fixed and is provided with spacing guide bar (34) that alternates in frame (1), and the top of spacing guide bar (34) is fixed and is provided with stopper (35), and one side of first grip block (14) and second grip block (15) is all fixed and is provided with blotter (36), and the bottom of first grip block (14) and second grip block (15) all is provided with spacing supporting component (37).
7. The mobile gripping robot of claim 6, wherein: spacing supporting component (37) comprises fixed cover (42), flexible backup pad (43), electric putter (44) and connecting block (45), and fixed cover (42) fixed connection is in the bottom of first grip block (14) and second grip block (15), and flexible backup pad (43) alternate in fixed cover (42), and connecting block (45) fixed connection is in the one end of flexible backup pad (43) bottom, and electric putter (44) are connected between fixed cover (42) and connecting block (45).
CN202211036004.6A 2022-08-27 2022-08-27 Movable grabbing robot Active CN115303987B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202729746U (en) * 2012-07-31 2013-02-13 苏州富士德物流设备有限公司 Overspeed protective device of stacker cargo-carrying platform
CN111874834A (en) * 2020-08-04 2020-11-03 赵琪芸 Intelligent transfer robot for logistics
CN113319885A (en) * 2021-05-28 2021-08-31 南京驭逡通信科技有限公司 Machine-building intelligence snatchs robot
CN113493174A (en) * 2021-06-02 2021-10-12 广州月鑫石油科技有限公司 Hydraulic equipment with buffering and damping functions
CN214780550U (en) * 2021-05-27 2021-11-19 辽宁厚能科技股份有限公司 Anti-damage lithium battery forklift
CN113682938A (en) * 2021-07-21 2021-11-23 青岛博海建设集团有限公司 Can realize building cement building block handling device of horizontal regulation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202729746U (en) * 2012-07-31 2013-02-13 苏州富士德物流设备有限公司 Overspeed protective device of stacker cargo-carrying platform
CN111874834A (en) * 2020-08-04 2020-11-03 赵琪芸 Intelligent transfer robot for logistics
CN214780550U (en) * 2021-05-27 2021-11-19 辽宁厚能科技股份有限公司 Anti-damage lithium battery forklift
CN113319885A (en) * 2021-05-28 2021-08-31 南京驭逡通信科技有限公司 Machine-building intelligence snatchs robot
CN113493174A (en) * 2021-06-02 2021-10-12 广州月鑫石油科技有限公司 Hydraulic equipment with buffering and damping functions
CN113682938A (en) * 2021-07-21 2021-11-23 青岛博海建设集团有限公司 Can realize building cement building block handling device of horizontal regulation

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