CN210476963U

CN210476963U - Material handling robot

Info

Publication number: CN210476963U
Application number: CN201921321956.6U
Authority: CN
Inventors: 王喜社; 蒙振鹏; 杨龙; 刘钟源; 魏德强; 吕汝金
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2020-05-08
Anticipated expiration: 2029-08-15

Abstract

The utility model discloses a material handling robot, including the robot base, install the rotary crank mechanism on the robot base, install link mechanism on rotary crank mechanism and install the tongs mechanism on link mechanism, the revolute pair on a horizontal plane has respectively on rotary crank mechanism and the link mechanism, cooperation tongs mechanism, make up into the mechanical structure that can diversely snatch the object, thereby realize snatching the function of object respectively toward different position in same position, and can adjust the height of tongs mechanism through link mechanism, snatch with the accuracy of realization to the object of co-altitude. The utility model discloses a set up rotary crank mechanism, link mechanism and tongs mechanism, realized snatching the function of object respectively toward different position in same position, removed the robot from and because of the time that the diversified removal of needs and the position of proofreading and correct cost when snatching the object, improved the efficiency of snatching the object greatly.

Description

Material handling robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a material handling robot.

Background

A material handling robot is an intelligent mobile robot that can perform material handling tasks. The robot can autonomously walk in a specified field, get tasks, autonomously find and identify materials specified by the tasks, carry the materials to a specified storage place according to the sequence required by the tasks, and place the materials according to the required position and direction. The material handling robot has the functions of site target position identification, autonomous path planning, autonomous movement, two-dimensional code reading, material color identification or shape identification, object grabbing and handling and the like.

The existing material handling robot can grab an object to be handled only before moving the object, or can grab the object in a few directions only at one position, and the operation mode efficiency is low.

SUMMERY OF THE UTILITY MODEL

Not enough more than, the utility model provides a material handling robot can snatch the object toward different position respectively at same position to improve the efficiency of snatching the object.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a materials handling robot, comprising a robot base, further comprising: the rotary crank mechanism comprises a first steering engine and a bearing sleeve, the first steering engine is installed on the robot base and is connected with a top cover of the bearing sleeve through a first steering engine turntable, and a cantilever beam is installed on the outer side wall of the bearing sleeve; the connecting rod mechanism comprises a second steering engine, a third steering engine, a fourth steering engine and a steering engine support, the second steering engine is installed on the cantilever beam, the second steering engine is provided with a horizontally arranged second steering engine turntable, the third steering engine is installed on the second steering engine turntable, the third steering engine is provided with a vertically arranged third steering engine turntable, the third steering engine turntable is installed at the rear end of the steering engine support, the fourth steering engine is provided with a vertically arranged fourth steering engine turntable, and the fourth steering engine turntable is installed at the front end of the steering engine support; and the gripper mechanism is arranged on the fourth steering engine and used for gripping an object.

Furthermore, the rotary crank mechanism further comprises a supporting vertical frame, the supporting vertical frame is installed on the robot base, the first steering engine is installed on the supporting vertical frame, and a thrust ball bearing is installed between the supporting vertical frame and the bearing sleeve.

Furthermore, the gripper mechanism comprises a fifth steering engine, a mounting rack, a gear arm, a paw mounting rod and an adjusting connecting rod; the mounting frame is connected with the fourth steering engine, the fifth steering engine is mounted on the mounting frame, and a fifth steering engine turntable is arranged on the fifth steering engine; the number of the gear arms is two, one of the gear arms is mounted on the fifth steering engine turntable, the other gear arm is rotatably mounted on the mounting rack, and gear teeth of the two gear arms are meshed; the number of the claws is two, one claw is connected with one gear arm through a claw mounting rod, one end of the claw mounting rod is rotatably connected with the gear arm, and the other end of the claw mounting rod is fixedly connected with the claw; the gripper mounting rod is connected with the end part of the gripper is connected with the mounting frame through the adjusting connecting rod, one end of the adjusting connecting rod is rotatably connected with the mounting frame, and the other end of the adjusting connecting rod is rotatably connected with the gripper mounting rod.

Further, each paw comprises a plurality of paw units, and the paw units are connected to form a convex structure.

Further, the gripper unit in each gripper is 3 to 5 pieces.

Furthermore, a vertical groove is formed between every two adjacent paw units in each paw.

Furthermore, a plurality of Mecanum wheels driven by motors are arranged on the bottom surface of the robot base.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model has the advantages that by arranging the rotary crank mechanism, the connecting rod machine and the gripper mechanism, the function of respectively gripping objects in different directions at the same position can be realized, the time spent on moving and correcting the position in multiple directions when the robot grips the objects is saved, and the efficiency of gripping the objects is greatly improved;

2. the utility model discloses a specific tongs mechanism can adapt to snatching of the object of different shapes, size, and snatchs firmly, is difficult for droing.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention with the top cover removed;

fig. 3 is a schematic top view of the present invention (top cover not shown);

FIG. 4 is a schematic structural view of a rotary crank mechanism (top cover not shown);

FIG. 5 is a schematic assembly view (partially cut away) of a first steering engine, bearing housing, and thrust ball bearing;

FIG. 6 is a schematic structural view of a link mechanism;

fig. 7 is a schematic structural view of the gripper mechanism.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "inside" and the like are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are conventionally placed when used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 7, a preferred embodiment of the present invention provides a material handling robot, which mainly includes a robot base 1, a rotating crank mechanism, a link mechanism and a gripper mechanism.

As shown in fig. 1 to 3, the bottom surface of the robot base 1 is provided with 4 mecanum wheels 17 driven by a motor 18, the motor 18 is preferably a stepping motor, and the motor 18 is fixedly installed on the bottom surface of the robot base 1 for driving the mecanum wheels 17 to realize omnidirectional movement.

With reference to fig. 1 to 5, the rotary crank mechanism includes a first steering engine 2 and a bearing housing 3, the first steering engine 2 is installed on the robot base 1, the first steering engine 2 is connected with a top cover 31 of the bearing housing 3 through a first steering engine turntable 21, specifically, the first steering engine turntable 21 is fixed with the top cover 31 through a bolt, and a cantilever beam 4 is installed on the outer side wall of the bearing housing 3. The first steering engine 2 drives the first steering engine turntable 21 to rotate to drive the top cover 31 of the bearing sleeve 3 to rotate together, the bearing sleeve 3 also rotates together, and the cantilever beam 4 arranged on the outer side wall of the bearing sleeve 3 also rotates together. In a preferred embodiment, the rotary crank mechanism further comprises a supporting stand 9, the supporting stand 9 is installed on the robot base 1, the upper portion of the supporting stand 9 is located in the bearing sleeve 3, the first steering engine 2 is installed on the supporting stand 9 at the moment, a thrust ball bearing 10 is installed between the supporting stand 9 and the bearing sleeve 3, specifically, the upper portion of the thrust ball bearing 10 is fixed to the supporting stand 9, the lower portion of the thrust ball bearing 10 is fixed to the bearing sleeve 3, the thrust ball bearing 10 is arranged, on one hand, the stress of the top cover 31 can be more uniform and stable, on the other hand, the thrust ball bearing 10 has smaller friction damping generated by rotary motion, and therefore the rotation is smoother.

With reference to fig. 1 to 3 and 6, the link mechanism includes a second steering engine 5, a third steering engine 6, a fourth steering engine 7 and a steering engine support 8. Second steering wheel 5 is installed on cantilever beam 4, second steering wheel 5 can rotate along with cantilever beam 4 together, second steering wheel 5 is equipped with the second steering wheel carousel 51 that the level set up, third steering wheel 6 is installed on second steering wheel carousel 51, when second steering wheel 5 drive second steering wheel carousel 51 rotates, third steering wheel 6 rotates along with second steering wheel carousel 51 together, third steering wheel 6 is equipped with the third steering wheel carousel 61 of vertical setting, third steering wheel carousel 61 is installed on the rear end of steering wheel support 8, fourth steering wheel 7 is equipped with the fourth steering wheel carousel 71 of vertical setting, fourth steering wheel carousel 71 is installed on the front end of steering wheel support 8. When the third steering engine 6 drives the third steering engine turntable 61 to rotate, the steering engine support 8 can be driven to swing around the rotating shaft of the third steering engine turntable 61; when the temperature is higher than the set temperature. When the fourth steering engine 7 drives the fourth steering engine turntable 71 to rotate, the fourth steering engine 7 rotates around the rotating shaft of the fourth steering engine turntable 71.

The gripper mechanism is mounted on the fourth steering engine 7 for gripping an object, and specifically, referring to fig. 1 to 3 and 7, the gripper mechanism includes a fifth steering engine 11, a mounting frame 12, a gear arm 16, a gripper 13, a gripper mounting rod 14, and an adjusting link 15. The mounting rack 12 is connected with the fourth steering engine 7 and can rotate together with the fourth steering engine 7. A fifth steering engine 11 is mounted on the mounting frame 12, and the fifth steering engine 11 is provided with a fifth steering engine turntable 111. Two gear arms 16 are provided, wherein one gear arm 16 is installed on the fifth steering engine turntable 111, the other gear arm 16 is rotatably installed on the installation frame 12, specifically, on a horizontally arranged flat plate of the installation frame 12, and the gear teeth of the two gear arms 16 are engaged with each other. Two claws 13 are provided, one claw 13 is connected with a gear arm 16 through a claw mounting rod 14, one end of the claw mounting rod 14 is rotatably connected with the gear arm 16, and the other end is fixedly connected with the claw 13; the tip that hand claw installation pole 14 is connected with hand claw 13 is connected with mounting bracket 12 through adjusting connecting rod 15, and adjusting connecting rod 15 one end is rotated with mounting bracket 12 and is connected, and the other end rotates with hand claw installation pole 14 and is connected. When the fifth steering engine 11 drives the fifth steering engine turntable 111 to rotate, the gear arm 16 mounted on the fifth steering engine turntable 111 is driven, the gear arm 16 rotates to drive the other gear arm 16, at this time, the two gear arms 16 move in the opposite direction or in the opposite direction, and in the movement of the two gear arms 16, the paw mounting rod 14 and the adjusting connecting rod 15 are driven to move, and at this time, the two paws 13 open or close. When the two claws 13 are closed, the object can be grabbed, and when the claws are opened, the object can be released.

In the preferred embodiment, each gripper 13 comprises 4 gripper units 131, the 4 gripper units 131 are connected to form a convex structure, and the angle between two adjacent gripper units 131 in each gripper 13 is 150 ° to 170 °. Because the shapes and weights of the objects to be grabbed may be different, even very different, the conventional hand grab is difficult to adapt to the grabbing of different objects. The utility model discloses in, the inner contour of hand claw 13 is a kind of curved polygon structure for some of polygon, consequently can be effectively to snatching of the object of multiple shapes such as circular, square and integrated configuration. A vertical groove 132 is formed between two adjacent gripper units 131 in each gripper 13. The conventional gripper is difficult to grip an object with an edge (such as a square object), mainly because the edge has too small a contact area between the gripper and the object, and it is difficult to provide enough gripping force. For objects such as square structures, vertical grooves 132 are formed between two adjacent claw units 131 in the claws 13, so that edges and corners of the objects are in contact with the grooves 132 conveniently, contact edges are increased, friction damping effect of the grippers and the objects is increased, and the objects are not prone to falling off in the gripping process.

During the implementation, first steering wheel 2 can drive bearing housing 3 and the cantilever beam 4 on it rotates, and second steering wheel 5 can drive third steering wheel 6 and the steering wheel support 8 on it rotates, therefore, have the revolute pair on a horizontal plane respectively on rotary crank mechanism and the link mechanism, cooperation tongs mechanism, make up into the mechanical structure that can diversely snatch the object, thereby realize snatching the function of object respectively toward different position in same position, it utilizes rotary crank mechanism's adjustability, can realize 360 rotations, and combine link mechanism further to improve rotatable graduation and realize, the time that diversified removal and correction position spent when having removed the robot and snatching the object under the conventional mode from, the efficiency of snatching the object has been improved greatly. The third steering engine 6 drives the steering engine support 8 to swing, and the fourth steering engine 7 drives the gripper mechanism to rotate, so that the height of the gripper mechanism can be adjusted, and objects with different heights can be accurately gripped. The utility model discloses a set up specific tongs mechanism, through setting up specific hand claw, adapt to the snatching of the object of different shapes, size, and snatch firmly, be difficult for droing.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A materials handling robot, including robot base (1), its characterized in that still includes:

the rotary crank mechanism comprises a first steering engine (2) and a bearing sleeve (3), the first steering engine (2) is installed on the robot base (1), the first steering engine (2) is connected with a top cover (31) of the bearing sleeve (3) through a first steering engine turntable (21), and a cantilever beam (4) is installed on the outer side wall of the bearing sleeve (3);

the connecting rod mechanism comprises a second steering engine (5), a third steering engine (6), a fourth steering engine (7) and a steering engine support (8), the second steering engine (5) is installed on the cantilever beam (4), the second steering engine (5) is provided with a second steering engine turntable (51) which is horizontally arranged, the third steering engine (6) is installed on the second steering engine turntable (51), the third steering engine (6) is provided with a vertically-arranged third steering engine turntable (61), the third steering engine turntable (61) is installed at the rear end of the steering engine support (8), the fourth steering engine (7) is provided with a vertically-arranged fourth steering engine turntable (71), and the fourth steering engine turntable (71) is installed at the front end of the steering engine support (8);

and the gripper mechanism is arranged on the fourth steering engine (7) and is used for gripping an object.

2. The materials handling robot of claim 1, wherein: the rotary crank mechanism further comprises a supporting vertical frame (9), the supporting vertical frame (9) is installed on the robot base (1), the first steering engine (2) is installed on the supporting vertical frame (9), and a thrust ball bearing (10) is installed between the supporting vertical frame (9) and the bearing sleeve (3).

3. The materials handling robot of claim 1, wherein: the gripper mechanism comprises a fifth steering engine (11), a mounting rack (12), a gear arm (16), a paw (13), a paw mounting rod (14) and an adjusting connecting rod (15); the mounting rack (12) is connected with the fourth steering engine (7), the fifth steering engine (11) is mounted on the mounting rack (12), and the fifth steering engine (11) is provided with a fifth steering engine turntable (111); the number of the gear arms (16) is two, one of the gear arms (16) is mounted on the fifth steering engine turntable (111), the other gear arm (16) is rotatably mounted on the mounting rack (12), and gear teeth of the two gear arms (16) are meshed; the number of the claws (13) is two, one claw (13) is connected with one gear arm (16) through one claw mounting rod (14), one end of the claw mounting rod (14) is rotatably connected with the gear arm (16), and the other end of the claw mounting rod is fixedly connected with the claw (13); the gripper mounting rod (14) is connected with the end part of the gripper (13) is connected with the mounting rack (12) through the adjusting connecting rod (15), one end of the adjusting connecting rod (15) is rotatably connected with the mounting rack (12), and the other end of the adjusting connecting rod is rotatably connected with the gripper mounting rod (14).

4. The materials handling robot of claim 3, wherein: each paw (13) comprises a plurality of paw units (131), and the paw units (131) are connected to form a convex structure.

5. The materials handling robot of claim 4, wherein: the gripper unit (131) in each gripper (13) is 3-5 pieces.

6. The materials handling robot of claim 4, wherein: vertical grooves (132) are formed between two adjacent paw units (131) in each paw (13).

7. The materials handling robot of claim 1, wherein: the bottom surface of the robot base (1) is provided with a plurality of Mecanum wheels (17) driven by a motor (18).