CN211254381U

CN211254381U - Three-shaft clamping and carrying robot with ladder climbing mechanism

Info

Publication number: CN211254381U
Application number: CN202021247961.XU
Authority: CN
Inventors: 吴卓兴; 李漓; 陈凯哲; 陈贵童; 黎郡
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2020-08-14
Anticipated expiration: 2030-07-01

Abstract

The utility model relates to a transfer robot is got to triaxial clamp with climb ladder mechanism. The three-axis clamping and transporting robot with the ladder climbing mechanism comprises a rack structure, a ladder climbing structure, a driving structure and a control structure. The frame structure is a hollow structure. The climbing ladder structure comprises a middle frame mechanism, a front leg mechanism and a rear leg mechanism, wherein the middle frame mechanism is located in the rack structure and is arranged in a manner of sliding up and down relative to the rack structure, the front leg mechanism is connected with one end of the middle frame mechanism, the rear leg mechanism is connected with the other end of the middle frame mechanism, the rear leg mechanism comprises a rear wheel and a telescopic arm connected with the rear wheel and the middle frame mechanism, the length direction of the telescopic arm is arranged along the height direction of the rack structure, and the front leg mechanism comprises a front wheel and a front leg arm connected with the front wheel and. The driving structure comprises a first driving mechanism, a second driving mechanism and a third driving mechanism; the control structure is used for controlling the driving structure. The utility model discloses the direction of height at climbing in-process rack construction remains throughout vertical, does not take place to incline, and simple structure, climbing are efficient.

Description

Three-shaft clamping and carrying robot with ladder climbing mechanism

Technical Field

The utility model belongs to the technical field of intelligent robot, especially, relate to a transfer robot is got to triaxial clamp with climb ladder mechanism.

Background

At present, with the development of the world of internet of things, robots begin to play more and more important roles in real life, wherein the application of carrying robots is very wide. The climbing mechanism of the robot is mainly divided into a stepping type, a star wheel type, a crawler type and the like, and different types of climbing mechanisms play different roles and effects under different scenes.

However, the body of the common crawler-type and star-wheel type stair climbing robot can incline during climbing stairs, which is not beneficial to the transportation of objects arranged on the body; the stepping type climbing robot has the defects of complex structure, difficult control and the like.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a transfer robot is got to triaxial clamp with climb ladder mechanism aims at solving how to make the robot realize climbing the ladder to simplify the problem of robot's structure.

In order to achieve the above object, the utility model adopts the following technical scheme: provided is a three-axis gripping transfer robot having a climbing mechanism, including:

the rack structure is in a hollow structure;

the ladder climbing structure comprises a middle frame mechanism, a front leg mechanism and a rear leg mechanism, wherein the middle frame mechanism is positioned in the rack structure and is arranged in a manner of sliding up and down relative to the rack structure, the front leg mechanism is connected with one end of the middle frame mechanism, the rear leg mechanism is connected with the other end of the middle frame mechanism, the rear leg mechanism comprises a rear wheel and a telescopic arm connected with the rear wheel and the middle frame mechanism, the length direction of the telescopic arm is arranged along the height direction of the rack structure, the front leg mechanism comprises a front wheel and a front leg arm connected with the front wheel and the middle frame mechanism, and one end of the front leg arm connected with the front wheel is suspended outside the rack structure;

the driving structure comprises a first driving mechanism for driving the middle frame mechanism and the rack structure to relatively lift up and down, a second driving mechanism for driving the telescopic arm to stretch back and forth and a third driving mechanism for driving the front wheel to rotate; and

a control structure for controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism.

In one embodiment, the front leg arm includes a horizontal arm and a supporting arm, the length direction of the horizontal arm is perpendicular to the height direction of the rack structure, the length direction of the supporting arm is staggered with the length direction of the horizontal arm, one end of the horizontal arm is horizontally and slidably connected with the center frame mechanism, one end of the supporting arm is connected with the other end of the horizontal arm, the other end of the supporting arm extends downwards and is connected with the front wheel, the front wheel is rotatably connected with the supporting arm, and the front leg mechanism further includes a front leg cylinder which is connected with the center frame mechanism and is used for driving the horizontal arm to slide back and forth.

In one embodiment, the telescopic boom comprises a first vertical boom connected with the center frame mechanism and a second vertical boom with one end slidably connected with the first vertical boom, the length direction of the first vertical boom is arranged along the height direction of the rack structure, the length direction of the second vertical boom is parallel to the length direction of the first vertical boom and is arranged along the height direction of the rack structure, the other end of the second vertical boom is rotatably connected with the rear wheel, the second driving mechanism comprises a telescopic cylinder, two ends of the telescopic cylinder are respectively connected with the first vertical boom and the second vertical boom, and the telescopic cylinder is used for driving the second vertical boom to slide up and down relative to the first vertical boom.

In one embodiment, the first driving mechanism comprises a lifting motor connected to the lower end of the frame structure, a synchronous belt horizontally arranged at the lower end of the frame structure and rotatably connected to the upper end of the frame structure, wherein the transmission shaft of the frame structure and one end of the transmission shaft are rotatably connected to the synchronous belt, the synchronous belt is arranged in the height direction of the frame structure, the edge of the middle frame mechanism is meshed with the synchronous belt, one end of the transmission shaft is rotatably connected to an output shaft of the lifting motor, and the other end of the transmission shaft is meshed with the other end of the synchronous belt.

In one embodiment, rack construction includes the chassis that the tiling set up, is located top frame above the chassis and connect the chassis with many support columns of top frame, each the support column interval sets up, the lifting motor with the transmission shaft is all connected the chassis, the one end of hold-in range is rotated and is connected top frame, each the equal sliding connection of support column the edge all around of center frame mechanism, rack construction still includes wheel mechanism, wheel mechanism connects the surface that the chassis set up down, drive structure still includes and is used for the drive wheel mechanism operation's fourth actuating mechanism.

In one embodiment, the rack structure further includes an auxiliary mechanism connected to a surface of the chassis facing downward, the auxiliary mechanism includes an auxiliary supporting wheel, an auxiliary arm and an auxiliary cylinder, one end of the auxiliary arm is rotatably connected to the chassis, the other end of the auxiliary arm is rotatably connected to the auxiliary supporting wheel, one end of the auxiliary cylinder is connected to the chassis, and the other end of the auxiliary cylinder is connected to the auxiliary arm to drive the auxiliary arm to rotate relative to the chassis.

In one embodiment, the frame structure further includes a guide rod disposed adjacent to the telescopic arm, and a pulley mechanism slidably connected to the guide rod, wherein a frame edge of the middle frame mechanism is connected to the pulley mechanism, and the pulley mechanism is used for guiding the middle frame mechanism to slide up and down along the guide rod.

In one embodiment, the three-axis gripping transfer robot with the climbing mechanism further comprises a gripping structure connected with the middle frame mechanism and used for gripping the target object.

In one embodiment, the clamping structure includes a clamping base frame connected to the middle frame mechanism, a clamping base provided on the clamping base frame, a clamping claw for clamping the object, and a turnover mechanism connecting the clamping claw and the clamping base, the turnover mechanism being capable of turning over the clamping claw in a predetermined direction.

In one embodiment, the clamping claw comprises two clamping arms and a clamping cylinder, two ends of the clamping cylinder are respectively connected with the two clamping arms, one ends of the two clamping arms are both connected with the turnover mechanism in a sliding mode, and the clamping cylinder is used for driving the two clamping arms to slide towards each other or back to each other.

The beneficial effects of the utility model reside in that: when climbing, the first driving mechanism drives the middle frame mechanism to slide so as to adjust the height of the front wheel, so that the front wheel is abutted against the table top of the second step, and meanwhile, the second driving mechanism drives the telescopic arm so that the rear wheel is abutted against the table top of the first step; first actuating mechanism continues the drive to make rack construction preceding wheel and rear wheel be strong point and relative center mechanism rebound, highly be more than or equal to the height of second step up to rack construction's the lower extreme, third actuating mechanism drive front wheel rolls forward this moment, thereby makes the whole second step of climbing of rack construction, and the direction of height at climbing in-process rack construction remains vertical throughout, does not take place the slope, and simple structure, climbing are efficient.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a three-dimensional structure view of a three-axis gripping and transporting robot with a climbing mechanism according to an embodiment of the present invention;

fig. 2 is a perspective view of the three-axis gripping and carrying robot with the climbing mechanism of fig. 1 after the middle frame mechanism is adjusted in a sliding manner when climbing is started;

FIG. 3 is a schematic perspective view of the front leg mechanism of FIG. 2 extended out of the frame structure with the front wheels abutting the second step, the rear wheels abutting the first step, and the frame structure moving upward relative to the center frame mechanism;

FIG. 4 is a schematic perspective view of the front wheel of FIG. 3 rolling forward and the frame structure climbing a second step;

FIG. 5 is a perspective view of the frame structure of FIG. 4 positioned generally at a second step;

fig. 6 is a perspective view of a ladder structure of the three-axis gripping and carrying robot having the ladder mechanism of fig. 1;

fig. 7 is a perspective view of a block mechanism of the three-axis gripping and carrying robot having the climbing mechanism of fig. 1;

fig. 8 is a perspective view of a gripping structure of the three-axis gripping and carrying robot having the climbing mechanism of fig. 1;

fig. 9 is a perspective view of a gripper jaw of the gripping structure of fig. 8.

Wherein, in the figures, the respective reference numerals:

100. a three-axis gripping and carrying robot having a climbing mechanism; 10. a frame structure; 11. a top frame; 12. a chassis; 13. a support pillar; 14. a wheel mechanism; 141. a Mecanum wheel; 20. a ladder climbing structure; 21. a middle frame mechanism; 22. a telescopic arm; 221. a first vertical arm; 222. a second vertical arm; 26. a rear leg mechanism; 24. a rear wheel; 23. a front leg mechanism; 231. a horizontal arm; 232. a support arm; 233. a front wheel; 30. a drive structure; 31. a first drive mechanism; 311. a synchronous belt; 312. a lifting motor; 313. a drive shaft; 32. a second drive mechanism; 33. a third drive mechanism; 34. a fourth drive mechanism; 18. a guide bar; 17. a pulley mechanism; 171. bearing strings; 172. a side plate; 40. a gas source; 50. a gripping structure; 51. a gripper jaw; 52. a turnover mechanism; 53. a gripping base; 54. clamping the bottom frame; 101. a first step; 102. a second step; 211. a stringer; 212. a cross beam; 511. a clamp arm; 512. a clamping cylinder; 55. a slide cylinder; 60. an auxiliary mechanism; 61. an auxiliary cylinder; 62. an auxiliary arm; 63. an auxiliary supporting wheel; 35. a front leg cylinder.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 and 3, an embodiment of the present invention provides a three-axis gripping and transporting robot 100 with a climbing mechanism, which can climb a step, that is, the three-axis gripping and transporting robot 100 with the climbing mechanism can climb up a second step 102 from a first step 101 or climb down the first step 101 from the second step 102. Wherein the height of the second step 102 is higher than the height of the first step 101. The three-axis gripping transfer robot with a climbing mechanism 100 includes a frame structure 10, a climbing structure 20, a driving structure 30, and a control structure. The frame structure 10 is a hollow structure and is vertically arranged in the height direction. The climbing ladder structure 20 includes a middle frame mechanism 21 disposed in the frame structure 10 and slidably disposed up and down with respect to the frame structure 10, a front leg mechanism 23 connected to one end of the middle frame mechanism 21, and a rear leg mechanism 26 connected to the other end of the middle frame mechanism 21. Alternatively, the front leg mechanism 23 is located forward of the rear leg mechanism 26 in the traveling direction of the three-axis gripping transfer robot 100 having the climbing mechanism. Alternatively, two front leg mechanisms 23 and two rear leg mechanisms 26 are provided at intervals, respectively. The rear leg mechanism 26 comprises a rear wheel 24 and a telescopic arm 22 connecting the rear wheel 24 and the middle frame mechanism 21, the length direction of the telescopic arm 22 is arranged along the height direction of the frame structure 10, the front leg mechanism 23 comprises a front wheel 233 and a front leg arm connecting the front wheel 233 and the middle frame mechanism 21, and one end of the front leg arm connected with the front wheel 233 is suspended outside the frame structure 10, so that the front wheel 233 can abut against the table top of the second step 102 when climbing starts. Optionally, during climbing, the middle frame mechanism 21 slides a predetermined distance in the height direction, so that the height of the front wheel 233 is greater than or equal to the height of the second step 102, thereby facilitating the front wheel 233 to abut against the table of the second step 102 when the rear wheel 24 abuts against the table of the first step 101. The driving mechanism 30 includes a first driving mechanism 31 for driving the middle frame mechanism 21 to move up and down relative to the frame structure 10, a second driving mechanism 32 for driving the telescopic arm 22 to extend and retract back and forth, and a third driving mechanism 33 for driving the front wheel 233 to rotate. The control structure is used to control the start and stop of the drive structure 30, in particular the first drive mechanism 31, the second drive mechanism 32 and the third drive mechanism 33.

Referring to fig. 2 and 5, when climbing, the first driving mechanism 31 drives the middle frame mechanism 21 to slide to adjust the height of the front wheel 233, so that the front wheel 233 abuts against the table top of the second step 102, and the second driving mechanism 32 drives the telescopic arm 22 to abut against the table top of the first step 101; the first driving mechanism 31 continues to drive, so that the frame structure 10 moves upwards relative to the middle frame mechanism 21 with the front wheels 233 and the rear wheels 24 as supporting points until the height of the lowermost end of the frame structure 10 is greater than or equal to the height of the second step 102, at this time, the third driving mechanism 33 drives the front wheels 233 to roll forwards, so that the frame structure 10 is integrally climbed on the second step 102, the height direction of the frame structure 10 is always vertical in the climbing process, no inclination occurs, the structure is simple, and the climbing efficiency is high.

Referring also to fig. 6, in one embodiment, the front leg arm includes a horizontal arm 231 and a support arm 232. The length direction of the horizontal arm 231 is perpendicular to the height direction of the frame structure 10, alternatively, the length direction of the horizontal arm 231 is parallel to a certain horizontal plane, and the length direction of the horizontal arm 231 is parallel to the driving direction. The horizontal arm 231 horizontally slides reciprocally in the traveling direction with respect to the center frame mechanism 21. The length direction of the supporting arm 232 is staggered with the length direction of the horizontal arm 231, alternatively, one end of the horizontal arm 231 is horizontally connected with the middle frame mechanism 21 in a sliding manner, one end of the supporting arm 232 is connected with the other end of the horizontal arm 231, and the other end of the supporting arm 232 extends downwards and is connected with the front wheel 233. The front wheel 233 is rotatably connected to the support arm 232.

Alternatively, the middle frame mechanism 21 includes two longitudinal beams 211 disposed at intervals and arranged along the traveling direction, and two cross beams 212 respectively located at two ends of the two longitudinal beams 211, and two ends of the two cross beams 212 are respectively connected to the two longitudinal beams 211. The two front leg mechanisms 23 are arranged, the two horizontal arms 231 are respectively connected with the two longitudinal beams 211 in a sliding manner through the guide rail structures, the front leg mechanism 23 further comprises a front leg cylinder 35 which is connected with the middle frame mechanism 21 and used for driving the horizontal arms 231 to slide back and forth, and it can be understood that the supporting arms 232 and the front wheels 233 can be completely contracted in the frame structure 10 through the front leg cylinder 35 arranged on the longitudinal beams 211, so that the three-shaft clamping and carrying robot 100 with the climbing ladder mechanism is compact in overall structure, and when the three-shaft clamping and carrying robot 100 with the climbing ladder mechanism carries out other operations, the front wheels 233 are prevented from being collided and damaged. Optionally, the third drive mechanism 33 is a servo motor.

Alternatively, the three-axis gripping transfer robot 100 having the climbing mechanism can be adapted to the climbing of the second steps 102 of different heights by adjusting the height of the front wheels 233 and the height of the rear wheels 24, respectively.

In one embodiment, the telescopic arm 22 includes a first vertical arm 221 connected to the middle frame mechanism 21 and a second vertical arm 222 having one end slidably connected to the first vertical arm 221, a length direction of the first vertical arm 221 is set along a height direction of the rack structure 10, a length direction of the second vertical arm 222 is parallel to the length direction of the first vertical arm 221 and is set along the height direction of the rack structure 10, and an overall height of the telescopic arm 22 is adjusted by relative sliding between the first vertical arm 221 and the second vertical arm 222. The other end of the second vertical arm 222 is rotatably connected to the rear wheel 24, the second driving mechanism 32 is a telescopic cylinder, and two ends of the telescopic cylinder are respectively connected to the first vertical arm 221 and the second vertical arm 222 and are used for driving the second vertical arm 222 to slide up and down relative to the first vertical arm 221. Optionally, the first vertical arm 221 and the second vertical arm 222 are in a square tube shape, the telescopic cylinder is embedded in the first vertical arm 221, and a piston rod of the telescopic cylinder is connected to the second vertical arm 222.

Referring to fig. 1 and fig. 6, in an embodiment, the first driving mechanism 31 includes a lifting motor 312 connected to a lower end of the frame structure 10, a transmission shaft 313 horizontally disposed at the lower end of the frame structure 10 and rotatably connected to the frame structure 10, and a timing belt 311 having one end rotatably connected to an upper end of the frame structure 10, wherein the timing belt 311 is disposed along a height direction of the frame structure 10, an edge of the middle frame mechanism 21 is engaged with the timing belt 311, one end of the transmission shaft 313 is rotatably connected to an output shaft of the lifting motor 312, and the other end of the transmission shaft 313 is engaged with the other end of the timing belt 311. Optionally, the two timing belts 311 are provided, the two timing belts 311 are respectively engaged with two ends of one of the longitudinal beams 211, and the two timing belts 311 are respectively connected to the lifting motor 312 through two transmission shafts 313, optionally, the two transmission shafts 313 are integrally formed. Further, the other longitudinal beam 211 is also provided with a first driving mechanism 31. The middle frame mechanism 21 and the frame structure 10 are driven to slide up and down relatively by four timing belts 311. Alternatively, the transmission shaft 313 and the lifting motor 312 may be transmitted through a gear pair.

Referring to fig. 1 and fig. 6, in an embodiment, the frame structure 10 includes a bottom chassis 12, a top frame 11, and a plurality of supporting pillars 13, wherein the bottom chassis 12 is disposed in a flat manner, the top frame 11 is disposed above the bottom chassis 12, the supporting pillars 13 are disposed at intervals, the lifting motor 312 and the transmission shaft 313 are both connected to the bottom chassis 12, and one end of the timing belt 311 is rotatably connected to the top frame 11. Each support column 13 is slidably connected to the peripheral edge of the middle frame mechanism 21, optionally, four support columns 13 are symmetrically arranged, and two ends of the longitudinal beam 211 are slidably connected to two corresponding support columns 13 through linear bearings. The frame structure 10 further includes a wheel mechanism 14, the wheel mechanism 14 is connected to a surface of the chassis 12 facing downward, the driving structure 30 further includes a fourth driving mechanism 34 for driving the wheel mechanism 14, and the control structure controls the start and stop of the fourth driving mechanism 34. Optionally, the wheel mechanism 14 includes four symmetrically disposed mecanum wheels 141, and the fourth driving mechanism 34 includes four servo motors for driving the four mecanum wheels 141, respectively, so as to realize omnidirectional movement of the carriage. Alternatively, two mecanum wheels 141 disposed adjacent to front wheels 233 in the direction of travel are independently suspended to allow chassis 12 to accommodate smooth movement in a variety of environments. The four mecanum wheels 141 are provided in pairs, and two pairs are provided in front and rear in the traveling direction.

Referring to fig. 1, fig. 3 and fig. 4, in an embodiment, the frame structure 10 further includes an auxiliary mechanism 60 connected to a lower surface of the chassis 12, the auxiliary mechanism 60 includes an auxiliary supporting wheel 63, an auxiliary arm 62 and an auxiliary cylinder 61, one end of the auxiliary arm 62 is rotatably connected to the chassis 12, the other end of the auxiliary arm 62 is rotatably connected to the auxiliary supporting wheel 63, one end of the auxiliary cylinder 61 is connected to the chassis 12, and the other end of the auxiliary cylinder 61 is connected to the auxiliary arm 62 and drives the auxiliary arm 62 to rotate relative to the chassis 12. Alternatively, before the three-axis gripping transfer robot with a climbing mechanism 100 starts to climb, the auxiliary cylinder 61 drives the auxiliary arm 62 to rotate, so that the auxiliary supporting wheel 63 abuts against the top surface of the first step 101 to provide additional support to the frame, thereby keeping the frame stable, after both the front wheel 233 and the rear wheel 24 leave the contact surface, since the auxiliary supporting wheel 63 is located at the rear end of the center of gravity of the three-axis gripping transfer robot with a climbing mechanism 100, the three-axis gripping transfer robot with a climbing mechanism 100 can stay at the second step 102 after the auxiliary supporting wheel 63 contacts the surface of the second step 102, at which time the rear wheel 24 can leave the first step 101, so that the auxiliary mechanism 60 can improve the smoothness of climbing and the climbing efficiency. Optionally, an auxiliary support wheel 63 is positioned between the two pairs of mecanum wheels 141. Optionally, rear wheels 24 are positioned rearward of corresponding mecanum wheels 141 in the direction of travel of the frame.

Referring to fig. 1 and 7, in one embodiment, the frame structure 10 further includes a guide bar 18 disposed adjacent to the telescopic arm 22 and a pulley mechanism 17 slidably connected to the guide bar 18, and the middle frame mechanism 21 is connected to the pulley mechanism 17. The pulley mechanism 17 includes a plurality of bearing strings 171 and a side plate 172 connecting the bearing strings 171, and the bearing strings 171 are provided with a plurality of bearings abutting against the surface of the guide bar 18, so that the carriage mechanism 21 can be guided by the pulley mechanism 17 to slide smoothly up and down.

Referring to fig. 1, 8 and 9, in one embodiment, the three-axis gripping and transporting robot 100 with a climbing mechanism further includes a gripping structure 50, and the gripping structure 50 is connected to the middle frame mechanism 21 and is used for gripping the target object. It can be understood that the clamping structure 50 moves up and down along with the middle frame mechanism 21, so that the objects with different heights can be clamped, and the clamping range of the clamping structure 50 is increased.

In one embodiment, the gripping structure 50 includes a gripping base frame 54 connected to the middle frame mechanism 21, a gripping base 53 provided on the gripping base frame 54, a gripping claw 51 for gripping the object, and a turning mechanism 52 connecting the gripping claw 51 and the gripping base 53, and the turning mechanism 52 turns in a predetermined direction by a predetermined angle to turn the gripping claw 51, thereby turning the object gripped by the gripping claw 51 to a predetermined position.

Alternatively, the gripping base 53 is slidably disposed on the gripping base frame 54, that is, the gripping base 53 can slide back and forth along the traveling direction, so that the gripping claws 51 grip the target object at different positions. Specifically, the reciprocating sliding of the gripping base 53 can be realized by the cooperation of the timing belt with the servo motor and engaging the gripping base 53 with the timing belt. Further, a pulley mechanism 17 may be provided on the gripping base frame 54 so that the gripping base 53 is guided to slide smoothly by the pulley mechanism 17.

Optionally, the clamping structure 50 further includes a sliding cylinder 55, the tilting mechanism 52 is slidably connected to the clamping base 53, the sliding direction of the tilting mechanism 52 is perpendicular to the driving direction, and the sliding cylinder 55 is configured to drive the tilting mechanism 52 to slide back and forth, so as to expand the clamping range of the clamping jaw 51, and enable the clamping jaw 51 to actively clamp the target objects with different heights and different positions.

In one embodiment, the gripper 51 includes two gripper arms 511, one end of each of which is slidably connected to the turnover mechanism 52, and a gripping cylinder 512, two ends of which are respectively connected to the two gripper arms 511, wherein the gripping cylinder 512 is used for driving the two gripper arms 511 to move towards or away from each other. The object is held between the holding arms 511. Alternatively, the gripping cylinder 512 is located between the two gripping arms 511, and the gripping or releasing of the object can be realized by the gripping cylinder 512. It will be appreciated that the gripper jaw 51 may move back and forth, side to side or up and down to achieve three axial grips on the object.

Referring to fig. 1, in one embodiment, the three-axis gripping and transporting robot 100 with a climbing mechanism further includes an air source 40 disposed on the chassis 12 for providing air power to the stretching cylinder, the auxiliary cylinder 61, the front leg cylinder 35 and the gripping cylinder 512.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A three-axis gripping transfer robot having a climbing mechanism, comprising:

the rack structure is in a hollow structure;

2. The three-axis gripping transfer robot with a climbing mechanism according to claim 1, characterized in that: the foreleg arm includes horizontal arm and support arm, the length direction of horizontal arm with rack construction's direction of height sets up perpendicularly, the length direction of support arm with the length direction of horizontal arm sets up in a staggered way, the horizontal sliding connection of one end of horizontal arm the center mechanism, the one end of support arm is connected the other end of horizontal arm, and the other end downwardly extending of support arm connects the front wheel, the front wheel with the support arm rotates to be connected, foreleg mechanism is still including connecting center mechanism just is used for the drive the reciprocal gliding foreleg cylinder of horizontal arm.

3. The three-axis gripping transfer robot with a climbing mechanism according to claim 1, characterized in that: the telescopic boom comprises a first vertical boom and one end of the first vertical boom, the first vertical boom is connected with the second vertical boom of the first vertical boom, the length direction of the first vertical boom is arranged along the height direction of the frame structure, the length direction of the second vertical boom is parallel to the length direction of the first vertical boom and the second vertical boom is arranged along the height direction of the frame structure, the other end of the second vertical boom is connected with the rear wheel in a rotating mode, the second driving mechanism comprises a telescopic cylinder, two ends of the telescopic cylinder are connected with the first vertical boom and the second vertical boom respectively, and the telescopic cylinder is used for driving the second vertical boom to slide up and down relative to the first vertical boom.

4. The three-axis gripping transfer robot with a climbing mechanism according to claim 1, characterized in that: first actuating mechanism including connecting lifting motor, the level of rack construction's lower extreme set up in rack construction's lower extreme and rotation are connected rack construction's transmission shaft and its one end rotate to be connected the hold-in range of rack construction's upper end, the length direction of hold-in range is followed rack construction's direction of height sets up, just the edge meshing of center mechanism the hold-in range, the one end of transmission shaft is rotated and is connected the output shaft of lifting motor, the other end meshing of transmission shaft the other end of hold-in range.

5. The three-axis gripping transfer robot with a climbing mechanism according to claim 4, wherein: the rack construction includes the chassis that the tiling set up, is located the top frame and the connection of chassis top the chassis with many support columns of top frame, each the support column interval sets up, the lifting motor with the transmission shaft is all connected the chassis, the one end of hold-in range is rotated and is connected the top frame, each the equal sliding connection of support column the edge all around of center frame mechanism, the rack construction still includes wheel mechanism, wheel mechanism connects the surface that the chassis set up down, drive structure still including being used for the drive the fourth actuating mechanism of wheel mechanism operation.

6. The three-axis gripping transfer robot with a climbing mechanism according to claim 5, characterized in that: the rack structure is still including connecting the chassis is the complementary unit on the surface that sets up down, complementary unit includes supplementary fifth wheel, auxiliary arm and supplementary cylinder, the one end of auxiliary arm is rotated and is connected the chassis, the other end of auxiliary arm is rotated and is connected supplementary fifth wheel, the one end of supplementary cylinder is connected the chassis, the other end of supplementary cylinder is connected the auxiliary arm is relative with the drive the auxiliary arm rotates the chassis.

7. The three-axis gripping transfer robot with a climbing mechanism according to claim 5, characterized in that: the frame structure further comprises a guide rod and a pulley mechanism, wherein the guide rod is adjacent to the telescopic arm, the pulley mechanism is connected with the guide rod in a sliding mode, the frame edge of the middle frame mechanism is connected with the pulley mechanism, and the pulley mechanism is used for guiding the middle frame mechanism to slide up and down along the guide rod.

8. The three-axis gripping transfer robot with a climbing mechanism according to any one of claims 1 to 7, wherein: the three-axis clamping and transporting robot with the ladder climbing mechanism further comprises a clamping structure, and the clamping structure is connected with the middle frame mechanism and used for clamping and taking a target object.

9. The three-axis gripping transfer robot with a climbing mechanism according to claim 8, wherein: the clamping structure comprises a clamping bottom frame connected with the middle frame mechanism, a clamping base arranged on the clamping bottom frame, clamping claws used for clamping the target object and a turnover mechanism connected with the clamping claws and the clamping base, and the turnover mechanism can turn over the clamping claws along a preset direction.

10. The three-axis gripping transfer robot with a climbing mechanism according to claim 9, wherein: the clamping claw comprises two clamping arms and a clamping cylinder, two ends of the clamping cylinder are respectively connected with the two clamping arms, one end of each clamping arm is connected with the turnover mechanism in a sliding mode, and the clamping cylinder is used for driving the two clamping arms to slide in opposite directions or back to back.