CN205466165U - Three degree of freedom series -parallel connection formula omnidirectional movement transfer robots - Google Patents

Abstract

The utility model discloses a three degree of freedom series -parallel connection formula omnidirectional movement transfer robots, including omnidirectional movement chassis, main slewer, elevating gear, parallel operation arm, terminal slewer and holder. The omnidirectional movement chassis is used for carrying out the walking and turns to the task, elevating gear is connected with the omnidirectional movement chassis through main slewer, the parallel operation arm of installing at the elevating gear top is connected with the holder through terminal slewer for the operation gesture of adjustment holder. The utility model discloses a body adopts series -parallel connection formula structure, has the rigidity height, bearing capacity is strong, movement accuracy is high and operation space advantage such as big, the holder has six mobilities and the three independent motion degree of freedom, and the motion flexibility is high, three drive formula omnidirectional movement chassis, walking task such as can realize that convenient execution is advanced, is retreated, is rotated left or right, structural design is equitable, and the antidumping can the reinforce. Furthermore, the utility model discloses still have the convenience controlled, to characteristics such as the adaptability of road conditions are strong.

Description

Three-degree-of-freedom hybrid omnidirectional mobile handling robot

technical field

The utility model relates to a robot in the field of automation equipment, in particular to a three-degree-of-freedom mixed-type omnidirectional mobile handling robot with three independent motion degrees of freedom.

Background technique

With rising labor prices, the "demographic dividend" of China's manufacturing industry is disappearing. The international economic situation is complex and changeable, the world economy is deeply adjusted, developed countries are promoting "reindustrialization" and "manufacturing return", and the trend of global high-end manufacturing competition is becoming increasingly obvious. The robot density in China's manufacturing industry is far lower than the global average, and the robot industry has a lot of room for development. The technical level of industrial robots determines the precision, accuracy and efficiency of manufacturing production, and the depth and breadth of its application has become an important symbol to measure a country's manufacturing level and technological level. However, a closer look at the status quo of the manufacturing industry shows that the road to automation in China's manufacturing industry is not smooth, and there are great deficiencies in the fields of materials and key components, which are restricted by foreign technology. Upgrading traditional industries with modern and automated equipment and promoting technological dividends to replace demographic dividends has become an inevitable choice for the optimization and upgrading of China's manufacturing industry and sustained economic growth. Machine replacement has become an important measure to promote the transformation and upgrading of traditional manufacturing industry. Upgrade traditional industries with modern and automated equipment, promote technological dividends to replace demographic dividends, and become the source of power for new industrial optimization and upgrading and sustained economic growth. It is of great significance for technological progress, improvement of labor force quality, improvement of enterprise production efficiency, promotion of industrial structure adjustment, and promotion of industrial transformation and development mode.

Handling robots are industrial robots that can perform automated handling operations. The handling robot can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, which greatly reduces the heavy physical labor of humans. At present, there are more than 100,000 handling robots in use in the world, which are widely used in machine tool loading and unloading, stamping machine automatic production lines, automatic assembly lines, palletizing and handling, automatic handling of containers, etc.; high-speed handling robots replace human labor and are also widely used In the automated production lines of industries such as light industry, medicine, food, and electronics, operations such as sorting, packaging, and packaging often require end-effectors to perform high-speed operations in space. The lower the accuracy will be reduced, and the degrees of freedom are usually only three or less, the operating space is small, and the movement flexibility is not high. With the development of the industrial level, users from all walks of life have more and more demands on handling robots, and their performance requirements are getting higher and higher. Some developed countries have set the maximum limit of manual handling, and those exceeding the limit must be completed by handling robots. Handling robots have become an important part of the modern machinery manufacturing production system.

Generally speaking, handling robots can be divided into three types according to different structural forms: series type, parallel type, and hybrid type with both series and parallel. The tandem type has a long history of development and is widely used. It is the mainstream mechanical structure of industrial robots, but the movement speed is subject to certain restrictions. At present, most of the known palletizing robots are complex motion trajectories with double coupling input and nonlinear output. The working space is composed of multiple arcs. The fulcrum bears a lot of force, and it is generally necessary to add a balance weight to reduce the burden on the motor. The number of parts is large, the structure is complex, and adjustment is difficult. The rigidity of the robot body is poor, high-speed motion cannot be achieved, and failures are prone to occur. At the same time, the waist structure of general palletizing robots often has the problem of difficult wiring. When the robot rotates around the waist as a whole, the rotation range of the waist wires cannot be very large. Moreover, the stacking operation leads to problems such as heavy weight, poor rigidity, large inertia, and joint error accumulation of the tandem robot arm. The dynamic performance of the mechanism is poor, and it is difficult to meet the requirements of high-speed handling and stacking. Due to the advantages of fast action frequency, high positioning accuracy and high rigidity, the parallel type has attracted more and more attention. Due to the low rigidity of the serial handling robot, the parallel handling robot has a small working space and is difficult to control, while the hybrid handling robot has the characteristics of both series and parallel connection, and has great application prospects in the field of industrial robots.

Regarding the development of the handling robot, many technical implementation schemes have also been proposed in the existing domestic patent documents. For example, the Chinese patent application number 201510175254.1 discloses "a four-degree-of-freedom high-speed handling robot". The Chinese patent application number 201510128794.4 discloses "a three-degree-of-freedom handling robot with a movable support", which is difficult to grab low-position goods, and the up and down movement method is single, and the reliability is low; the Chinese patent application number 201110283347.8 Disclosed "a nine-degree-of-motion robot mechanism", which uses nine linear actuators to control the activities of the series device, which is similar to the principle of the series structure, and does not solve the shortcomings of the series robot, and the scope of application is limited; the application number is 201420386357.3 The Chinese patent discloses a kind of omnidirectional handling robot, which adopts the mecanum wheel to realize the omnidirectional movement of the robot, but does not have the grabbing function, so it can only carry the goods; the Chinese patent application number 201310405360.5 discloses "a Five-degree-of-freedom hybrid industrial robot "has a large working space, high flexibility and compact structure, which can realize various engineering operations such as handling, spraying, assembly, etc., but it is not movable and is only suitable for fixed production lines, and cannot change the work at will. State, the application number is 201410348473.0 and other Chinese patents also have similar shortcomings; the Chinese patent application number is 201410826350.3 discloses "a kind of multi-degree-of-freedom controllable mechanism type hybrid handling robot", the handling robot installs the multi-link mechanism on Work is carried out on a movable platform, but the multi-link mechanism is relatively complex, difficult to implement, difficult to assemble and control, and the handling speed is slow. The mobile platform can only move in one direction, which is not suitable for operations with more complicated working conditions. To sum up, the structure of the existing industrial handling robot still has room for improvement, and it cannot realize all-round movement, and the adaptability to the working environment needs to be improved. The existing omnidirectional mobile inspection robot with mecanum wheels is a transport device used to carry power inspection equipment. It is used in the inspection tasks of various electric equipment devices, and can carry inspection equipment forward, backward and turn. , but the lateral translation and in-situ rotation are difficult, and four separately controlled travel motors are required to coordinate and complete, which has the problems of power waste and high cost.

The three-degree-of-freedom mixed-type omnidirectional mobile handling robot involved in the utility model can realize omnidirectional and multi-position cargo grasping, has a compact structure, and can move, rotate and adjust attitudes in a large range, and grasps quickly , simple control, strong adaptability to many poor road conditions, can overcome the technical defects of existing industrial handling robots, and is more suitable for popularization.

Utility model content

The purpose of this utility model is to provide a three-degree-of-freedom mixed handling robot for the deficiencies of the prior art. Most of the driving motors are installed on the frame, which can solve the problem that the motor of the traditional open-chain series robot is installed at the hinge. , leading to problems such as bulky arms, poor rigidity, large inertia, and accumulated joint errors, so that the handling robot has better dynamic performance, can better meet the requirements of high-speed and heavy-load handling operations, and can overcome the defects of the prior art.

The technical problems to be solved by the utility model are realized by the following technical solutions.

A three-degree-of-freedom hybrid omnidirectional mobile handling robot includes an omnidirectional mobile chassis, a main rotary device, a lifting device, a parallel working arm, an end rotary device, and a gripper. Wherein, the lifting device is located directly above the omnidirectional mobile chassis, and is connected with the omnidirectional mobile chassis through the main slewing device; the parallel working arm is located on one side of the lifting device, and its upper end is fixed on the lifting device The lower end of the parallel working arm is connected with the holder through the end turning device.

The omnidirectional mobile chassis used for carrying and moving walking includes a vehicle frame, a running device, a front reversing device and a rear reversing device. Wherein, the vehicle frame has an elliptical structure and is used to install the main slewing device, running device, front reversing device and rear reversing device; the running device is used to drive the omnidirectional mobile chassis to walk, and the walking The device is arranged on the short axis of the ellipse of the frame, and is located below the frame; the front reversing device and the rear reversing device are arranged on the long axis of the ellipse of the frame, and is located below the frame, for realizing Omnidirectional movement of the chassis to steer left or right.

The traveling device includes a left traveling wheel, a right traveling wheel, a traveling reduction motor and a drive shaft. Wherein, the left traveling wheel and the right traveling wheel are located on the left and right sides of the vehicle frame respectively, and are connected with the drive shaft through splines; Provide driving power for the left travel wheel and the right travel wheel, and the output end of the travel deceleration motor is a spline hole output structure; the drive shaft is connected with the output end of the travel deceleration motor through a spline, and the drive shaft is located at On the minor axis of the ellipse of the vehicle frame, and fixedly installed on the vehicle frame through the bearing seat.

The front reversing device includes a front reversing motor and front reversing wheels. The front reversing wheel is connected with the vehicle frame through a bearing seat, and the drive shaft of the front reversing wheel is connected with the output end of the front reversing motor through a spline; the front reversing motor is fixed on the The bottom of the frame provides power for the front reversing wheels. The rear reversing device includes a rear reversing motor and a rear reversing wheel. The rear reversing wheel is connected with the vehicle frame through a bearing seat, and the drive shaft of the rear reversing wheel is connected with the output end of the rear reversing motor through a spline; the rear reversing motor is fixed on the The bottom of the frame provides power for the rear reversing wheels. Both the front reversing motor and the rear reversing motor are coaxial geared motors.

The left traveling wheel, the right traveling wheel, the front reversing wheel and the rear reversing wheel are all three rows of omnidirectional wheels, and the left traveling wheel, the right traveling wheel, the front reversing wheel and the rear reversing wheel There are three rows of staggered hub teeth and driven wheels on the hub.

The main rotary device is used to drive the lifting device and the parallel working arm installed on the top of the lifting device to rotate left or right. The main rotary device includes a rotary reduction motor, a rotary drive gear, a rotary driven gear shaft, Cylindrical roller bearings, roller thrust bearings, end covers and slewing cages. Wherein, the rotary deceleration motor is fixed on the bottom of the vehicle frame by screws to provide rotary power for the rotary drive gear; the rotary drive gear is installed on the output shaft of the rotary deceleration motor, and is connected with the output shaft of the rotary It is connected by a flat key; the rotary driven gear shaft is connected to the vehicle frame through two cylindrical roller bearings and a roller thrust bearing, and the driven gear on the top of the rotary driven gear shaft is connected to the rotary drive The gears are meshed; the roller thrust bearing is located below the cylindrical roller bearing, and is fixed in the vehicle frame through the bearing end cover, and the bearing end cover is fixed on the bottom of the vehicle frame by screws; it protects and The slewing cover of the dustproof effect is sleeved on the outside of the slewing drive gear and the slewing driven gear shaft, and is fixedly connected with the vehicle frame by screws.

The parallel working arm is used to support the end rotating device and the holder and adjust the working attitude of the end rotating device and the holder. The parallel working arm includes a fixed platform, a left lead screw module, a right lead screw module, a second 1st chain, 2nd branch, 3rd branch, 4th branch and motion platform. Wherein, the fixed platform is fixedly installed on the top of the lifting device, and the left lead screw module and the right lead screw module are symmetrically arranged below the fixed platform; The modules are connected by a spiral pair, the lower ends of the first branch chain and the second branch chain are fixedly connected with the motion platform; the upper ends of the third branch chain and the fourth branch chain are connected with the right screw module by a spiral pair, The lower ends of the third branch chain and the fourth branch chain are fixedly connected with the motion platform.

The left lead screw module includes a left motor, a left double screw screw and a left bearing seat, which is used to adjust the distance between the upper ends of the first branch chain and the second branch chain. The left motor used to provide power for the left double screw screw is fixed under the fixed platform through screws, and is connected with the left double screw screw through a coupling. Both ends of the left double screw screw pass through the left bearing The seat is fixedly installed under the fixed platform. The right lead screw module includes a right motor, a right double screw screw and a right bearing seat, and the right motor used to provide power for the right double screw screw is fixed under the fixed platform by screws, and is connected with the right double screw screw Connected by a shaft coupling, both ends of the right double-screw lead screw are fixedly installed under the fixed platform through the right bearing seat. The front ends of the left double helix lead screw and the right double helix lead screw are left-handed threads, and the rear ends of the left double helix lead screw and the right double helix lead screw are right-handed threads.

The first branch chain is composed of a first slider nut, a first rotating pair, a first connecting rod and a first universal joint. Wherein, the first slider nut is connected with the left double-helix lead screw through a right-hand thread, and the top of the first slider nut is kept in surface contact with the bottom plane of the fixed platform, so as to limit the rotation of the first slider nut around its axis; The upper end of the first connecting rod is connected with the first slider nut through the first rotating pair, and the lower end of the first connecting rod is connected with the motion platform through the first universal joint; the axis of the first rotating pair Parallel to an axis of the cross shaft of the first universal joint.

The second branch chain is composed of a second slider nut, a second rotating pair, a second connecting rod and a second universal joint, and the second slider nut is connected with the left double screw screw through a left-hand thread , and the top of the second slider nut is in surface contact with the bottom plane of the fixed platform to limit the rotation of the second slider nut around its axis; the upper end of the second connecting rod is connected to the second slider through the second rotating pair The block nuts are connected, and the lower end of the second connecting rod is connected with the motion platform through the second universal joint; the axis of the second rotating pair is parallel to the two axes of the cross shaft of the second universal joint.

The third branch chain is composed of the third slider nut, the third rotating pair, the third connecting rod and the third universal joint, and the third slider nut is connected with the right double-helix lead screw through the right-hand thread. connected, and the top of the third slider nut is in surface contact with the bottom plane of the fixed platform to limit the rotation of the third slider nut around its axis; the upper end of the third connecting rod is connected to the third The slider nut is connected, and the lower end of the third connecting rod is connected with the motion platform through the third universal joint; the axis of the third rotating pair is parallel to the three axes of the cross shaft of the third universal joint.

The fourth branch chain is composed of the fourth slider nut, the fourth rotating pair, the fourth connecting rod and the fourth universal joint, and the fourth slider nut is connected with the right double screw screw through a left-hand thread , and the top of the fourth slider nut is in surface contact with the bottom plane of the fixed platform to limit the rotation of the fourth slider nut around its axis; the upper end of the fourth connecting rod is connected to the fourth slider through the fourth rotating pair The block nuts are connected, and the lower end of the fourth connecting rod is connected with the motion platform through the fourth universal joint; the axis of the fourth rotating pair is parallel to the four axes of the cross shaft of the fourth universal joint. The lengths of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are equal.

The axis of the first rotation pair is parallel to the axis of the second rotation pair, the axis of the third rotation pair is parallel to the axis of the fourth rotation pair, and the axis of the first rotation pair is parallel to the axis of the third rotation pair. The axes of the revolving pairs are parallel.

The lifting device is used to adjust the height of the parallel working arms, and the lifting device includes a guide sleeve, a guide column, a lifting screw, a lifting nut, a lifting motor, a corrugated dust-proof pipe and a fixed sleeve. Wherein, there are two guide sleeves and two guide posts, the bottom of the guide sleeve is fixed on the top of the rotary driven gear shaft by screws, the guide post is placed in the guide sleeve, and the guide The top of the column and the fixed platform of the parallel working arm are fixedly connected by screws; the lifting nut is located on the top of the guide sleeve and is fixedly connected with the guide sleeve; the lifting motor is fixedly installed on the top of the fixed platform, Provide power for the rotation of the lifting screw; the upper end of the lifting screw is connected with the lifting motor through a coupling, and the lower end of the lifting screw is connected with the lifting nut through threads; the fixed sleeve is fixedly installed on the guide On the outside of the casing, a corrugated dust-proof pipe with telescopic function is placed outside the guide column, and the upper end of the corrugated dust-proof pipe is fixedly connected with the fixed platform, and the lower end of the corrugated dust-proof pipe is fixedly connected with the fixed sleeve.

The end turning device is used to drive the holder to rotate, and cooperate with the parallel working arm to adjust the inclination angle of the holder. The said end turning device comprises an end turning motor, an end turning reducer, an end driving gear, an end driven gear shaft and a fixed ring. The output shaft of the terminal rotary motor is connected to the input end of the terminal rotary reducer to provide rotary power for the terminal driving gear; the terminal rotary reducer is fixedly installed on one side of the motion platform of the parallel working arm, and the terminal drive The gear is installed on the output shaft of the terminal rotary reducer, and is connected with the output shaft of the terminal rotary reducer through a flat key; the terminal driven gear shaft is installed on the moving platform of the parallel working arm, and passes through the moving platform Bearings are connected; the end driving gear is kept meshed with the driven gear on the top of the end driven gear shaft, and the end driven gear shaft is a hollow gear shaft; the fixed ring is located on the end driven gear shaft The lower end is connected with the end driven gear shaft through locking screws.

The clamper includes a clamping cylinder, a left splint, a right splint, a claw cylinder and claws, and is used for clamping objects to be carried. The clamping cylinder is located under the fixed ring of the end slewing device to provide clamping power for the left splint and the right splint, and the clamping cylinder adopts a double-guide double-cylinder cylinder. The clamping cylinder and the fixing ring are connected by screws, and a left output plate and a right output plate are respectively arranged at the left and right ends of the clamping cylinder. The left splint is located at the left end of the clamping cylinder, and is fixed on the left output plate of the clamping cylinder by screws; the right splint is located at the right end of the clamping cylinder, and is fixed on the clamping cylinder by screws on the right output plate of the tight cylinder. The claw cylinder is installed on the outside of the right splint to provide power for the movement of the claw. The upper end of the hook cylinder is connected with the right splint through a hinge, and the lower end of the hook cylinder is connected with the hook through a hinge. The hook is located under the right splint and connected with the right splint through a hinge. When the gripper performs the task of clamping the items to be transported, the hook claws are used to support the bottom of the items to be transported, and play the role of bottom support and anti-skid.

When in use, the front reversing wheel or the rear reversing wheel can be treated to carry objects by controlling the travel reduction motor, the front reversing motor and the rear reversing motor according to the needs of actual use. Then, by controlling the rotary deceleration motor and the lifting motor, the position of the gripper is adjusted to be above the item to be transported. Then, drive the left and right motors in the parallel working arm and the end-rotation motor in the end-rotation device to fine-tune the inclination angle of the holder; drive the clamping cylinder to adjust the distance between the left splint and the right splint, so that the claw cylinder shrinks to ensure The dropout is open. Then drive the lifting motor to lower the gripper, or synchronously drive the left motor and the right motor to make the first slider nut, the second slider nut, the third slider nut and the fourth slider nut move inward synchronously to achieve clamping device down. Finally, drive the clamping cylinder to make the left splint and right splint clamp the goods to be carried, and drive the claw cylinder to close the claws to support the objects to be carried. After the grabbing task is completed, first drive the lifting motor to raise the gripper together with the items to be carried, and also drive the left motor and right motor synchronously to make the first slider nut, the second slider nut, the third slider nut and the fourth slider nut The slider nut moves outward synchronously to realize the rise of the gripper together with the items to be carried; then control the rotary gear motor to make the gripper and the items to be transported rotate 90° to the left or right around the axis of the lifting screw before walking Or steering tasks, in order to handle the anti-overturning ability of the robot in the walking process and the stability in the handling process.

In the utility model, the left motor and the right motor that provide power for the parallel working arm are all installed on the fixed platform, and the movement joints of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain have no power, Increase the rigidity of the robot and improve the carrying capacity; the left and right rotary motion of the parallel working arm and the lifting device is driven by the main rotary device installed on the frame, which realizes the high rigidity, high load and high precision operation functions of the gripper. The holder can not only realize large-scale rotary motion around the axis of the lifting screw, vertical lifting motion and rotation around any horizontal axis, but also can realize rotation around the axis of the end driven gear shaft; in omnidirectional Under the action of the mobile chassis, the utility model can also realize forward, backward, leftward rotation and rightward rotation on the walking ground; The reversing wheels all adopt three rows of omnidirectional wheels, so that the utility model moves more steadily during walking, and there is no dead zone between the driven wheels when walking, and the adaptability to poor road conditions is stronger. In addition to the movement of the omnidirectional mobile chassis, the body of the utility model has six degrees of motion, with a total of three independent degrees of freedom in space, one translation and two rotations. The handling requirements of robots with multiple degrees of freedom, high flexibility and multiple postures. The vehicle frame of the utility model adopts an elliptical structure, and the distance between the front reversing wheel and the rear reversing wheel is small, which is convenient for the operation of the clamper; After the holder completes the clamping task, turn left or right 90° and then perform the walking or turning task, which can greatly improve the anti-overturning ability of the handling robot during walking and improve the stability of the handling robot's movement .

The beneficial effect of the utility model is that, compared with the existing technology, the body of the utility model adopts a hybrid structure, which has the advantages of high rigidity, strong bearing capacity, high motion precision and large working space; the gripper has six Three degrees of activity, with a total of three independent degrees of freedom of movement, one translation and two rotations, and high movement flexibility; the three-drive omnidirectional mobile chassis of the utility model can realize convenient execution of forward, backward, left or right rotation And other walking tasks, the structure design is reasonable, and the anti-overturning ability is strong. In addition, the utility model also has the characteristics of compact structure, convenient operation and the like.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a structural schematic diagram of the utility model after removing the corrugated dust-proof pipe, the fixed sleeve and the rotary cover;

Fig. 3 is a structural schematic diagram of the omnidirectional mobile chassis of the present invention;

Fig. 4 is a schematic diagram of assembly of the main rotary device of the present invention;

Fig. 5 is the structural representation of the parallel working arm of the present utility model;

Fig. 6 is a schematic structural view of the clamper of the present invention.

detailed description

In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific embodiments and illustrations.

As shown in Figures 1 and 2, a three-degree-of-freedom hybrid omnidirectional mobile handling robot includes an omnidirectional mobile chassis 1, a main rotary device 2, a lifting device 3, a parallel working arm 4, an end rotary device 5 and a gripper. Holder 6. Wherein, the lifting device 3 is located directly above the omnidirectional mobile chassis 1, and is connected with the omnidirectional mobile chassis 1 through the main turning device 2; the parallel working arm 4 is located on one side of the lifting device 3, and its The upper end of the upper end is fixed on the top of the lifting device 3, and the lower end of the parallel working arm 4 is connected with the holder 6 through the end turning device 5.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the omnidirectional mobile chassis 1 for carrying and moving includes a vehicle frame 11 , a running device 12 , a front reversing device 13 and a rear reversing device 14 . Wherein, the vehicle frame 11 has an elliptical structure, and is used to install the main turning device 2, the traveling device 12, the front reversing device 13 and the rear reversing device 14; the described traveling device 12 is used to drive the omnidirectional mobile chassis 1 walking, the walking device 12 is arranged on the short axis of the ellipse of the vehicle frame 11, and is located below the vehicle frame 11; the front reversing device 13 and the rear reversing device 14 are arranged On the axis, and located below the vehicle frame 11, it is used to realize the steering of the omnidirectional mobile chassis 1 to the left or right.

As shown in FIGS. 1 , 2 , 3 and 4 , the traveling device 12 includes a left traveling wheel 121 , a right traveling wheel 122 , a traveling reduction motor 123 and a drive shaft 124 . Wherein, the left traveling wheel 121 and the right traveling wheel 122 are located on the left and right sides of the vehicle frame 11 respectively, and are connected with the driving shaft 124 through splines; the traveling reduction motor 123 is fixedly mounted on the vehicle frame by bolts The bottom of 11 is used to provide drive power for the left travel wheel 121 and the right travel wheel 122, and the output end of the travel reduction motor 123 is a spline hole output structure; the output end of the drive shaft 124 and the travel reduction motor 123 passes through The drive shaft 124 is located on the minor axis of the ellipse of the vehicle frame 11, and is fixedly installed on the vehicle frame 11 through a bearing seat.

As shown in FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 , the front reversing device 13 includes a front reversing motor 131 and a front reversing wheel 132 . The front reversing wheel 132 is connected with the vehicle frame 11 through a bearing seat, and the drive shaft of the front reversing wheel 132 is connected with the output end of the front reversing motor 131 by a spline; It is fixedly installed on the bottom of the vehicle frame 11 by screws to provide power for the front reversing wheels 132 to reversing. The rear reversing device 14 includes a rear reversing motor 141 and a rear reversing wheel 142 . The rear reversing wheel 142 is connected with the vehicle frame 11 through a bearing seat, and the drive shaft of the rear reversing wheel 142 is connected with the output end of the rear reversing motor 141 through a spline; It is fixedly installed on the bottom of the vehicle frame 11 by screws to provide power for the rear reversing wheels 142 to reversing. Both the front reversing motor 131 and the rear reversing motor 141 are coaxial geared motors.

As shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the left traveling wheel 121, the right traveling wheel 122, the front reversing wheel 132 and the rear reversing wheel 142 are all three rows of omnidirectional wheels, and The wheel hubs of the left traveling wheel 121, the right traveling wheel 122, the front reversing wheel 132 and the rear reversing wheel 142 are all provided with three rows of staggered hub teeth 15 and driven wheels 16.

As shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the main rotary device 2 is used to drive the lifting device 3 and the parallel working arm 4 installed on the top of the lifting device 3 to rotate left or right, and the The main rotary device 2 includes a rotary reduction motor 21, a rotary drive gear 22, a rotary driven gear shaft 23, a cylindrical roller bearing 24, a roller thrust bearing 25, a bearing end cover 26 and a rotary cover 27. Wherein, the rotary deceleration motor 21 is fixedly installed on the bottom of the vehicle frame 11 by screws to provide rotary power for the rotary drive gear 22; the rotary drive gear 22 is installed on the output shaft of the rotary deceleration motor 21, and The output shaft of the reduction motor 21 is connected by a flat key; the said rotary driven gear shaft 23 is connected with the vehicle frame 11 through two cylindrical roller bearings 24 and one roller thrust bearing 25, and the said rotary driven gear shaft The driven gear at the top of the gear shaft 23 meshes with the rotary drive gear 22; the roller thrust bearing 25 is located below the cylindrical roller bearing 24, and is fixed in the vehicle frame 11 by a bearing end cover 26, and the described The bearing end cover 26 is fixedly installed on the bottom of the vehicle frame 11 by screws; the slewing cover 27 which plays a protective and dustproof role is set on the outside of the slewing drive gear 22 and the slewing driven gear shaft 23, and is fixed to the vehicle frame 11 by screws. even.

As shown in Fig. 1, Fig. 2 and Fig. 5, the parallel working arm 4 is used to support the end turning device 5 and the gripper 6 and adjust the working attitude of the end turning device 5 and the gripper 6. The working arm 4 includes a fixed platform 41 , a left lead screw module 42 , a right lead screw module 43 , a first branch chain 44 , a second branch chain 45 , a third branch chain 46 , a fourth branch chain 47 and a moving platform 48 . Wherein, the fixed platform 41 is fixedly installed on the top of the lifting device 3, and the left screw module 42 and the right screw module 43 are symmetrically arranged below the fixed platform 41; the first branch chain 44, the second branch chain The upper end of 45 is connected with the left lead screw module 42 by a screw pair, and the lower ends of the first branch chain 44 and the second branch chain 45 are fixedly connected with the motion platform 48; the third branch chain 46 and the fourth branch chain 47 The upper end of the upper end is connected with the right lead screw module 43 by a screw pair, and the lower ends of the third branch chain 46 and the fourth branch chain 47 are fixedly connected with the motion platform 48.

As shown in Figure 1, Figure 2 and Figure 5, the left lead screw module 42 includes a left motor 421, a left double screw screw 422 and a left bearing seat 423 for adjusting the first branch chain 44 and the second branch chain 45 upper end spacing. The left motor 421 that is used to provide power for the left double screw screw 422 is fixed below the fixed platform 41 by screws, and is connected with the left double screw screw 422 through a coupling, and the left double screw screw 422 is two Both ends are fixedly installed under the fixed platform 41 through the left bearing seat 423. The right screw module 43 includes a right motor 431, a right double screw screw 432 and a right bearing seat 433, and the right motor 431 for providing power for the right double screw screw 432 is fixed under the fixed platform 41 by screws. And it is connected with the right double screw screw 432 through a shaft coupling, and both ends of the right double screw screw 432 are fixedly installed under the fixed platform 41 through the right bearing seat 433 . The front ends of the left double helix lead screw 422 and the right double helix lead screw 432 are left-handed threads, and the rear ends of the left double helix lead screw 422 and the right double helix lead screw 432 are right-handed threads.

As shown in FIG. 1 , FIG. 2 and FIG. 5 , the first branch chain 44 is composed of a first slider nut 441 , a first rotating pair 442 , a first connecting rod 443 and a first universal joint 444 . Wherein, the first slider nut 441 is connected with the left double screw screw 422 through a right-handed thread, and the top of the first slider nut 441 is in surface contact with the bottom plane of the fixed platform 41 to limit the first slider nut 441. Rotate around its axis; the upper end of the first connecting rod 443 is connected with the first slider nut 441 through the first rotating pair 442, and the lower end of the first connecting rod 443 is connected with the motion platform 48 through the first universal joint 444 Connection; the axis of the first rotating pair 442 is parallel to an axis of the cross shaft of the first universal joint 444 .

As shown in Figure 1, Figure 2 and Figure 5, the second branch chain 45 is composed of a second slider nut 451, a second rotating pair 452, a second connecting rod 453 and a second universal joint 454, the described The second slider nut 451 is connected with the left double screw screw 422 through a left-hand thread, and the top of the second slider nut 451 is in surface contact with the bottom plane of the fixed platform 41, so as to limit the rotation of the second slider nut 451 Its axis rotates; the upper end of the second connecting rod 453 is connected with the second slider nut 451 through the second rotating pair 452, and the lower end of the second connecting rod 453 is connected with the motion platform 48 through the second universal joint 454 ; The axis of the second rotary pair 452 is parallel to the two axes of the cross shaft of the second universal joint 454 .

As shown in Fig. 1, Fig. 2 and Fig. 5, the third branch chain 46 is composed of a third slider nut 461, a third rotating pair 462, a third connecting rod 463 and a third universal joint 464. The third slider nut 461 is connected with the right double screw screw 432 through a right-hand thread, and the top of the third slider nut 461 is in surface contact with the bottom plane of the fixed platform 41 to limit the third slider nut 461 Rotate around its axis; the upper end of the third connecting rod 463 is connected with the third slider nut 461 through the third rotating pair 462, and the lower end of the third connecting rod 463 is connected with the motion platform 48 through the third universal joint 464 Connection; the axis of the third rotary pair 462 is parallel to the three axes of the cross shaft of the third universal joint 464 .

As shown in Figure 1, Figure 2 and Figure 5, the fourth branch chain 47 is composed of a fourth slider nut 471, a fourth rotating pair 472, a fourth connecting rod 473 and a fourth universal joint 474, the described The fourth slider nut 471 is connected with the right double screw screw 432 through a left-hand thread, and the top of the fourth slider nut 471 is in surface contact with the bottom plane of the fixed platform 41, so as to limit the fourth slider nut 471 to rotate Its axis rotates; the upper end of the fourth connecting rod 473 is connected with the fourth slider nut 471 through the fourth rotating pair 472, and the lower end of the fourth connecting rod 473 is connected with the motion platform 48 through the fourth universal joint 474 ; The axis of the fourth rotating pair 472 is parallel to the four axes of the cross shaft of the fourth universal joint 474 . The first connecting rod 44 is equal in length to the second connecting rod 45 , the third connecting rod 46 and the fourth connecting rod 47 .

As shown in Figures 1, 2 and 5, the axis of the first rotating pair 442 is parallel to the axis of the second rotating pair 452, and the axis of the third rotating pair 462 is parallel to that of the fourth rotating pair 472. The axes are parallel, and the axis of the first rotating pair 442 is parallel to the axis of the third rotating pair 462 .

As shown in Figures 1 and 2, the lifting device 3 is used to adjust the height of the parallel working arm 4, and the lifting device 3 includes a guide sleeve 31, a guide column 32, a lifting screw 33, a lifting nut 34, Lifting motor 35, corrugated dust-proof pipe 36 and fixed sleeve 37. Wherein, there are two guide sleeves 31 and two guide posts 32, the bottom of the guide sleeve 31 is fixed on the top of the rotary driven gear shaft 23 by screws, and the guide post 32 is placed on the guide Inside the casing 31, and the top of the guide column 32 is fixedly connected with the fixed platform 41 of the parallel working arm 4 by screws; Described lifting motor 35 is fixedly installed on the top of fixed platform 41, provides power for the rotation of lifting screw 33; The upper end of described lifting screw 33 is connected with lifting motor 35 by coupling, and the lifting screw 33 The lower end is connected with the lifting nut 34 by threads; the fixed sleeve 37 is fixedly installed on the outside of the guide sleeve 31, and the corrugated dust-proof tube 36 with telescopic function is sleeved on the outside of the guide column 32, and the corrugated dust-proof tube 36 The upper end of the upper end is fixedly connected with the fixed platform 41, and the lower end of the corrugated dust-proof pipe 36 is fixedly connected with the fixed sleeve 37.

As shown in FIG. 1 , FIG. 2 and FIG. 6 , the end turning device 5 is used to drive the gripper 6 to rotate, and cooperate with the parallel working arm 4 to adjust the inclination angle of the gripper 6 . The end turning device 5 includes an end turning motor 51 , an end turning reducer 52 , an end driving gear 53 , an end driven gear shaft 54 and a fixing ring 55 . The output shaft of the terminal rotary motor 51 is connected to the input end of the terminal rotary reducer 52 to provide rotary power for the terminal driving gear 53; the terminal rotary reducer 52 is fixedly installed on the motion platform 48 of the parallel working arm 4 On one side, the terminal driving gear 53 is installed on the output shaft of the terminal rotary reducer 52, and is connected with the output shaft of the terminal rotary reducer 52 through a flat key; the terminal driven gear shaft 54 is installed on the parallel working arm 4 on the motion platform 48, and is connected with the motion platform 48 by a bearing; the driven gear at the top of the terminal driving gear 53 and the terminal driven gear shaft 54 keeps meshing, and the terminal driven gear shaft 54 is Hollow gear shaft; the fixed ring 55 is located at the lower end of the end driven gear shaft 54, and is connected with the end driven gear shaft 54 through locking screws.

As shown in Figures 1, 2 and 6, the gripper 6 includes a clamping cylinder 61, a left clamping plate 62, a right clamping plate 63, a claw cylinder 64 and a claw 65, for clamping items to be carried. The clamping cylinder 61 is located below the fixed ring 55 of the end turning device 5, and provides clamping power for the left splint 62 and the right splint 63, and the clamping cylinder 61 is a double-guide double-cylinder cylinder. The clamping cylinder 61 is connected with the fixing ring 55 through screws, and a left output plate 611 and a right output plate 612 are respectively provided at the left and right ends of the clamping cylinder 61 . The left clamping plate 62 is located at the left end of the clamping cylinder 61, and is fixedly mounted on the left output plate 611 of the clamping cylinder 61 by screws; the right clamping plate 63 is located at the right side of the clamping cylinder 61, and It is fixedly installed on the right output plate 612 of the clamping cylinder 61 by screws. The claw cylinder 64 is installed on the outside of the right clamping plate 63 to provide power for the movement of the claw 65 . The upper end of the claw cylinder 64 is connected with the right clamping plate 63 by a hinge, and the lower end of the claw cylinder 64 is connected with the claw 65 by a hinge. The hook 65 is located under the right clamping plate 63 and connected with the right clamping plate 63 through a hinge. When the clamper 6 performs the task of clamping the item to be transported, the hook claw 65 is used to support the bottom of the item to be transported, and plays the role of bottom support and anti-skid.

During use, according to the needs of actual use, by controlling the travel reduction motor 123 in the traveling device 12, the front reversing motor 131 in the front reversing device 13, and the rear reversing motor 141 in the rear reversing device 14, the front The reversing wheels 132 or the rear reversing wheels 142 are facing the items to be carried. Then, the position of the gripper 6 is adjusted to be above the article to be transported by controlling the slewing deceleration motor 21 in the main slewing device 2 and the lifting motor 35 in the lifting device 3 . Then, drive the left motor 421 in the parallel working arm 4, the right motor 431 and the terminal rotary motor 51 in the terminal rotary device 5 to fine-tune the inclination angle of the holder 6; The spacing makes the claw cylinder 64 contract, ensuring that the claw 65 is in an open state. Then drive the lifting motor 35 to lower the gripper 6, or synchronously drive the left motor 421 and the right motor 431 to make the first slider nut 441, the second slider nut 451, the third slider nut 461 and the fourth slider nut 471 The synchronous inward movement further realizes that the clamper 6 descends. Finally, drive the clamping cylinder 61 to make the left splint 62 and the right splint 63 clamp the belt to carry the article, and at the same time make the hook cylinder 64 extend, and the hook 65 is closed to support the article to be carried.

After the grabbing task is completed, first drive the lifting motor 35 to make the clamper 6 rise together with the item to be transported, and then control the rotary deceleration motor 21 in the main slewing device 2 to make the clamper 6 and the item to be transported go around the lifting screw 33 The axis of the robot is turned 90° to the left or right before performing the walking or turning task to ensure the anti-overturning ability of the robot during walking and the stability during the handling process.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of protection claimed by the utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (5)

1. a Three-freedom-degree hybrid formula Omni-mobile transfer robot, including Omni-mobile chassis, main slewing equipment, lowering or hoisting gear, parallel operation arm, end slewing equipment and clamper, it is characterized in that: described lowering or hoisting gear is positioned at the surface on Omni-mobile chassis, and is connected with Omni-mobile chassis by main slewing equipment；Described parallel operation arm is positioned at the side of lowering or hoisting gear, and its upper end is fixed on the top of lowering or hoisting gear, and the lower end of described parallel operation arm is connected with clamper by end slewing equipment；

Described Omni-mobile chassis includes vehicle frame, running gear, front reversing arrangement and rear reversing arrangement, and described vehicle frame ovalize structure, described running gear is arranged on the ellipse short shaft line of vehicle frame, and is positioned at the lower section of vehicle frame；Described front reversing arrangement, rear reversing arrangement are arranged on the transverse line of vehicle frame, and are positioned at the lower section of vehicle frame；

Described running gear includes left lateral travelling wheel, right lateral travelling wheel, walking reducing motor and drive shaft, and described left lateral travelling wheel, right lateral travelling wheel lay respectively at the left and right sides of vehicle frame, and are all connected by spline with drive shaft；Described walking reducing motor is mounted by means of bolts on the bottom of vehicle frame, and the outfan of described walking reducing motor is splined hole export structure；Described drive shaft is connected by spline with the outfan of walking reducing motor, and described drive shaft is positioned on the ellipse short shaft line of vehicle frame, and is fixedly mounted on vehicle frame by bearing block；

Described front reversing arrangement includes front reversing motor and front reverse wheel, described front reverse wheel is connected with vehicle frame by bearing block, described front reversing motor is fixedly mounted on the bottom of vehicle frame by screw, and the drive shaft of described front reverse wheel is connected by spline with the outfan of front reversing motor；

Described rear reversing arrangement includes rear reversing motor and rear reverse wheel, described rear reverse wheel is connected with vehicle frame by bearing block, described rear reversing motor is fixedly mounted on the bottom of vehicle frame by screw, and the drive shaft of described rear reverse wheel is connected by spline with the outfan of rear reversing motor；

Described main slewing equipment includes that rotary decelerating motor, revolution drive gear, revolution driven gear shaft, cylinder roller bearing, roller thrust bearing, bearing (ball) cover and revolving hood；Described rotary decelerating motor is fixedly mounted on the bottom of vehicle frame by screw, and described revolution is driven gear to be arranged on the output shaft of rotary decelerating motor, and is connected by flat key with the output shaft of rotary decelerating motor；Described revolution driven gear shaft is connected with vehicle frame by two cylinder roller bearings, a roller thrust bearing, and the driven gear at described revolution driven gear shaft top drives gear to be meshed with revolution；Described roller thrust bearing is positioned at the lower section of cylinder roller bearing, and is fixed in vehicle frame by bearing (ball) cover, and described bearing (ball) cover is fixedly mounted on the bottom of vehicle frame by screw；The described revolution enclosure is arranged on revolution and drives gear, the outside of revolution driven gear shaft, and is fixedly connected with vehicle frame by screw；

Described parallel operation arm includes fixed platform, left leading screw module, right leading screw module, the first side chain, the second side chain, the 3rd side chain, the 4th side chain and motion platform；Described fixed platform is fixedly mounted on the top of lowering or hoisting gear, and left leading screw module and right leading screw module symmetry are arranged in the lower section of fixed platform；Described the first side chain, the upper end of the second side chain are connected by screw pair with left leading screw module, and the first side chain, the lower end of the second side chain are fixedly connected with motion platform；Described the 3rd side chain, the upper end of the 4th side chain are connected by screw pair with right leading screw module, and the 3rd side chain, the lower end of the 4th side chain are fixedly connected with motion platform；

Described left leading screw module includes left motor, left Double helix leading screw and left shaft holder, described left motor is fixed by screws in the lower section of fixed platform, and be connected by shaft coupling with left Double helix leading screw, described left Double helix leading screw two ends are all fixedly mounted on the lower section of fixed platform by left shaft holder；Described right leading screw module includes right motor, right Double helix leading screw and right bearing seat, described right motor is fixed by screws in the lower section of fixed platform, and be connected by shaft coupling with right Double helix leading screw, described right Double helix leading screw two ends are all fixedly mounted on the lower section of fixed platform by right bearing seat；Described left Double helix leading screw, the front end of right Double helix leading screw are left hand thread, and described left Double helix leading screw, the rear end of right Double helix leading screw are right-handed thread；

The first described side chain is made up of the first slider nut, the first revolute pair, first connecting rod and the first universal joint, the first described slider nut is connected by right-handed thread with left Double helix leading screw, and the top of the first slider nut contacts with the holding face, baseplane of fixed platform；The upper end of described first connecting rod is connected with the first slider nut by the first revolute pair, and the lower end of first connecting rod is connected with motion platform by the first universal joint；One axis of the axis of the first described revolute pair and the cross axle of the first universal joint is parallel；

The second described side chain is made up of the second slider nut, the second revolute pair, second connecting rod and the second universal joint, the second described slider nut is connected by left hand thread with left Double helix leading screw, and the top of the second slider nut contacts with the holding face, baseplane of fixed platform；The upper end of described second connecting rod is connected with the second slider nut by the second revolute pair, and the lower end of second connecting rod is connected with motion platform by the second universal joint；One axis of the axis of the second described revolute pair and the cross axle of the second universal joint is parallel；

The 3rd described side chain is made up of the 3rd slider nut, the 3rd revolute pair, third connecting rod and the 3rd universal joint, the 3rd described slider nut is connected by right-handed thread with right Double helix leading screw, and the top of the 3rd slider nut contacts with the holding face, baseplane of fixed platform；The upper end of described third connecting rod is connected with the 3rd slider nut by the 3rd revolute pair, and the lower end of third connecting rod is connected with motion platform by the 3rd universal joint；One article of axis of the axis of the 3rd described revolute pair and the cross axle of the 3rd universal joint is parallel；

The 4th described side chain is made up of Four-slider nut, the 4th revolute pair, fourth link and the 4th universal joint, described Four-slider nut is connected by left hand thread with right Double helix leading screw, and the top of Four-slider nut contacts with the holding face, baseplane of fixed platform；The upper end of described fourth link is connected with Four-slider nut by the 4th revolute pair, and the lower end of fourth link is connected with motion platform by the 4th universal joint；One article of axis of the axis of the 4th described revolute pair and the cross axle of the 4th universal joint is parallel；

Described first connecting rod and second connecting rod, third connecting rod, fourth link length equal；

Described lowering or hoisting gear includes guide thimble, lead, elevating screw, lifting nut, lifting motor, ripple Dustproof pipe and fixed sleeving, described guide thimble, lead all have two, the bottom of described guide thimble is fixedly mounted on the top of revolution driven gear shaft by screw, described lead is placed in guide thimble, and the fixed platform of the top of lead and parallel operation arm is fixedly connected with by screw；Described lifting nut is positioned at the top of guide thimble, and is fixedly connected with guide thimble；Described lifting motor is fixedly mounted on the top of fixed platform；The upper end of described elevating screw is connected by shaft coupling with lifting motor, and the lower end of elevating screw is connected by screw thread with lifting nut；Described fixed sleeving is fixedly mounted on the outside of guide thimble, and described ripple Dustproof pipe is enclosed within the outside of lead, and the upper end of described ripple Dustproof pipe is fixedly connected with fixed platform, and the lower end of ripple Dustproof pipe is fixedly connected with fixed sleeving；

Described end slewing equipment includes end turning motor, end rotary reducer, end driving gear, end driven gear shaft and retainer ring, the output shaft of described end turning motor is connected with the input of end rotary reducer, and described end rotary reducer is fixedly mounted on the side of the motion platform of parallel operation arm；Described end driving gear is arranged on the output shaft of end rotary reducer, and is connected by flat key with the output shaft of end rotary reducer；Described end driven gear shaft is arranged on the motion platform of parallel operation arm, and is connected by bearing with motion platform；Described retainer ring is positioned at the lower end of end driven gear shaft, and is connected by lock-screw with end driven gear shaft；

Described clamper includes clamping cylinder, left clamping plate, right clamping plate, hook pawl cylinder and hooks pawl, described clamping cylinder is positioned at the lower section of the retainer ring of end slewing equipment, and be connected by screw with retainer ring, left output board, right output board it is respectively arranged at two ends with in the left and right of described clamping cylinder；Described left clamping plate are positioned at the left-hand end of clamping cylinder, and are fixedly mounted on the left output board of clamping cylinder by screw；Described right clamping plate are positioned at the right-hand end of clamping cylinder, and are fixedly mounted on the right output board of clamping cylinder by screw；The described pawl cylinder that hooks is positioned at the outside of right clamping plate, and the upper end hooking pawl cylinder is connected by hinge with right clamping plate, and the lower end hooking pawl cylinder is connected by hinge with hooking pawl；The described pawl that hooks is positioned at the lower section of right clamping plate, and is connected by hinge with right clamping plate.

A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterised in that: described front reversing motor, rear reversing motor are coaxial-type reducing motor.

A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterized in that: the axis of the first described revolute pair and the axis of the second revolute pair are parallel, the axis of the 3rd described revolute pair and the axis of the 4th revolute pair are parallel, and the axis of the first described revolute pair and the axis of the 3rd revolute pair are parallel.

A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterised in that: described clamping cylinder uses double guide-bar two-container cylinder.

A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterized in that: described left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and rear reverse wheel is three row's omni-directional wheels, and is equipped with wheel hub tooth and the driven pulley of three row's interlaced arrangement on the wheel hub of described left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and rear reverse wheel.