CN212668490U

CN212668490U - Movable transportation mechanical arm

Info

Publication number: CN212668490U
Application number: CN202021123457.9U
Authority: CN
Inventors: 姚英泽; 杨惠敏; 王君伟
Original assignee: Northeast Forestry University
Current assignee: Northeast Forestry University
Priority date: 2020-06-17
Filing date: 2020-06-17
Publication date: 2021-03-09
Anticipated expiration: 2030-06-17

Abstract

A movable transportation mechanical arm belongs to the field of mechanical transportation. The utility model discloses a gripper, the rotatory cloud platform of steering wheel, braced frame, the control detects the group, including a motor, an end cap, a controller, and a cover plate, the wheel, bottom plate and rotatory steering wheel, the gripper is installed on the rotatory cloud platform of steering wheel, the rotatory cloud platform of steering wheel is installed on the braced frame top, braced frame installs on the bottom plate, a plurality of motors are two and are arranged side by side parallel mount in the bottom plate bottom, the motor output sets up in the bottom plate outside edge, the wheel is installed on the motor output, the control detects the group and arranges inside braced frame, the output of rotatory steering wheel and the rotation axis. The utility model discloses research and development purpose is higher in order to solve current cargo handling device and put and operator's operation technical requirement to the goods, problem not nimble enough, the utility model discloses a remove transportation arm, simple structure, design benefit, easy dismounting, equipment are firm, are suitable for and use widely.

Description

Movable transportation mechanical arm

Technical Field

The utility model relates to a remove transportation arm belongs to mechanical transportation field.

Background

In the freight production process, the short-distance moving operation needs to be carried out on the freight. The main contents of most goods transportation comprise: 1. stacking the goods, namely performing related operations such as stacking and stacking on the goods; 2. the goods are put in and taken out, and the goods are sent into or taken out from the storage place; 3. the goods is categorised, classify the goods according to the variety, delivery direction, goods owner's demand etc. at above in-process, need carry out transport work many times to the goods, current transport mode is mostly manual work or machinery, the dangerous coefficient of manual handling is high and inefficiency, mechanical handling often needs a large-scale assembly line, perhaps transport machinery needs the operator to get into the inside operation of driving of carrier, the operation degree of difficulty is higher, and the goods of transport need restrict the square goods of putting for the rule, it is higher to put and the shape requirement of goods.

Therefore, it is desirable to provide a mobile transportation robot to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses research and development purpose is higher to the goods is put and the operator operates technical requirement in order to solve current cargo handling device, not nimble problem, has given about in the following the utility model discloses a brief summary to provide about the utility model discloses a basic understanding of some aspects. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.

The technical scheme of the utility model:

the utility model provides a remove transportation arm, including the gripper, the rotatory cloud platform of steering wheel, braced frame, the control detects the group, including a motor, an end cap, a controller, and a cover plate, the motor, the wheel, bottom plate and rotatory steering wheel, the gripper is installed on the rotatory cloud platform of steering wheel, the rotatory cloud platform of steering wheel is installed on the braced frame top, braced frame installs on the bottom plate, a plurality of motors are two and are arranged side by side parallel mount in the bottom plate bottom, the motor output sets up at the bottom plate outside edge, the wheel is installed on the motor output, the control detects the group and arranges inside braced frame, the output of rotatory.

Preferably: control detection group includes STM32 control panel of opening sources, STM32 drive bottom plate, the camera, laser radar, the laser radar mount pad, main control board and battery, STM32 control panel of opening sources is installed at the braced frame top, camera fixed mounting is on braced frame's right side, laser radar passes through the laser radar mount pad and installs on the bottom plate, the main control board is installed at the bottom plate center, the battery is installed on the bottom plate, battery and STM32 control panel of opening sources, the main control board, STM32 drive bottom plate and motor electric connection, STM32 control panel of opening sources and STM32 drive bottom plate electric connection, the main control board is installed at bottom plate central point and is put, STM32 drive bottom plate is installed.

Preferably: the mechanical claw comprises an alloy mechanical claw, a first digital steering engine, a second digital steering engine, a third digital steering engine, a first U-shaped bracket, a fourth digital steering engine, a second U-shaped bracket, a third U-shaped bracket and a fifth digital steering engine, the alloy gripper is connected with a first digital steering engine, the bottom of the alloy gripper is arranged at the output end of a second digital steering engine, the bottom of the second digital steering engine is arranged on the side wall of a third digital steering engine, the output end of the third digital steering engine is fixedly arranged with the side wall of the opening end of a first U-shaped support, the bottom of the first U-shaped support is connected with a fourth digital steering engine, the output end of the fourth digital steering engine is fixedly arranged with the side wall of the opening end of a second U-shaped support, the second U-shaped support is fixedly arranged with the closed end of a third U-shaped support, the opening end of the third U-shaped support is connected with the output end of a fifth digital steering engine, and the fifth digital steering engine is arranged.

Preferably: alloy gripper includes the second swinging arms, the second trace, the driven lever, the mount pad, the drive lever, first trace and first swinging arms, half a circle of external tooth has been processed respectively to the adjacent one end outer lane of drive lever and driven lever, drive lever and driven lever external tooth meshing and articulate on the mount pad, the drive lever and the driven lever other end respectively with first swinging arms and the articulated installation of second swinging arms, first trace one end is articulated to be installed on the mount pad, first trace other end is articulated to be installed at first swinging arms central point, articulated the installing on the mount pad of second trace one end, articulated the installing in second swinging arms central point of second trace other end, the articulated department at drive lever and mount pad of output of first digit steering wheel, the installation is connected with the output of second digit steering wheel and is installed.

Preferably: and cooling fins are arranged on the first digital steering engine, the second digital steering engine, the third digital steering engine, the fourth digital steering engine and the fifth digital steering engine.

The utility model discloses an understanding the problem that the goods snatched the transportation, propose the technical scheme of the utility model be:

The utility model discloses a solve the steering wheel longer time or limit load during operation, have comparatively obvious phenomenon of generating heat, this can bring bigger power consumption to influence continuation of the journey, can directly burn out the problem of gripper even, its technical scheme is:

The utility model discloses following beneficial effect has:

1. the utility model discloses a moving transportation mechanical arm, which is more flexible and convenient for carrying goods, thereby improving the working transportation efficiency;

2. the utility model discloses a mobile transportation mechanical arm, the last fin that is provided with of steering wheel has effectively improved the life of steering wheel, has avoided because the steering wheel has comparatively obvious heating phenomenon during longer time or extreme load work, brings bigger power consumption to influence continuation of the journey, the problem that can directly burn out even;

3. the utility model discloses a remove transportation arm simple structure, design benefit, easy dismounting, equipment are firm, are suitable for and use widely.

4. The utility model discloses a remove transportation arm when snatching the object of desktop height, can realize that mechanical structure's focus is stable for snatch and go on smoothly.

Drawings

FIG. 1 is a front view of a mobile transport robot arm;

FIG. 2 is a right side view of a mobile transport robot arm;

FIG. 3 is a top view of a mobile transport robot arm;

FIG. 4 is a bottom view of a mobile transport robot arm;

FIG. 5 is a perspective view of a mobile transport robot arm;

FIG. 6 is a block diagram of the gripper;

FIG. 7 is a block diagram of an alloy gripper;

in the figure, 1-a mechanical claw, 2-a steering engine rotating holder, 3-a supporting frame, 4-a control detection group, 5-a motor, 6-a wheel, 7-a bottom plate, 8-a rotating steering engine, 9-a radiating fin, 11-an alloy mechanical claw, 12-a first digital steering engine, 13-a second digital steering engine, 14-a third digital steering engine, 15-a first U-shaped bracket, 16-a fourth digital steering engine, 17-a second U-shaped bracket, 18-a third U-shaped bracket, 19-a fifth digital steering engine, 41-an STM32 open source control plate, 42-an STM32 driving bottom plate, 43-a camera, 44-a laser radar, 45-a laser radar mounting seat, 46-a main control plate, 47-a battery, 111-a second swinging rod and 112-a second linkage rod, 113-driven lever, 114-mounting, 115-driving lever, 116-first linkage lever, 117-first oscillating lever.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described below with reference to specific embodiments shown in the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The utility model discloses the connection that mentions divide into fixed connection and can dismantle the connection, fixed connection is for the conventional fixed connection mode such as undetachable connection including but not limited to hem connection, rivet connection, adhesive connection and welded connection, can dismantle the connection including but not limited to conventional dismantlement modes such as threaded connection, buckle connection, pin joint and hinged joint, when not clearly prescribing a limit to concrete connection mode, acquiesces to always can find at least one kind of connected mode in current connected mode and can realize this function, and the technical staff in the art can select by oneself as required. For example: the fixed connection selects welding connection, and the detachable connection selects hinge connection.

The first embodiment is as follows: the embodiment is described by combining fig. 1-7, the mobile transportation mechanical arm of the embodiment comprises a mechanical claw 1, a steering engine rotating pan-tilt 2, a supporting frame 3, a control detection group 4, motors 5, wheels 6, a bottom plate 7 and a rotating steering engine 8, wherein the mechanical claw 1 is installed on the steering engine rotating pan-tilt 2, the steering engine rotating pan-tilt 2 is installed at the top end of the supporting frame 3, the supporting frame 3 is installed on the bottom plate 7, a plurality of motors 5 are installed at the bottom of the bottom plate 7 in parallel in two rows, the output ends of the motors 5 are arranged on the outer edge of the bottom plate 7, the wheels 6 are installed at the output ends of the motors 5, the control detection group 4 is arranged inside the supporting frame 3, the output ends of the rotating steering engine 8 are fixedly connected with a rotating shaft of the steering engine rotating pan-tilt 2, the rotating steering engine 8 drives the steering engine rotating pan-tilt 2 to rotate, install gripper 1 at steering wheel rotation cloud platform 2 and placed in the middle, so not only whole device focus is placed in the middle and leans on down, gripper 1 has bigger operation scope simultaneously, can bring the best centre gripping effect.

The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 7, the mobile transportation mechanical arm of the embodiment, the control detection group 4 includes an STM32 open source control board 41, an STM32 drive base board 42, a camera 43, a laser radar 44, a laser radar mounting base 45, a main control board 46 and a battery 47, the STM32 open source control board 41 is installed on the top of the support frame 3, the camera 43 is fixedly installed on the right side of the support frame 3, the laser radar 44 is installed on the base board 7 through the laser radar mounting base 45, the main control board 46 is installed in the center of the base board 7, the battery 47 is installed on the base board 7, the battery 47 is electrically connected with the STM32 open source control board 41, the main control board 46, the STM32 drive base board 42 and the motor 5, the STM32 open source control board 41 is electrically connected with the STM32 drive base board 42, the main control board 46 is installed in the center of the base board 7, the STM32 drive base board 42, sufficient protection will be taken into account again in the time of not sheltering from, set up laser radar mount pad 45 alone and install laser radar 44 and 2.4G remote control communication receiving terminal in the middle of braced frame 3, cell-phone APP demonstrates laser radar 44 real-time scanning picture, combine to observe through the picture with the real-time conveying of camera 43, judge that the arm is located environment and object of grabbing, laser radar 44 plays the effect of keeping away the barrier, camera 43 plays object identification effect, motor 5 of being connected with wheel 6 is provided with the WIFI module, motor 5 is connected with the cell-phone control end through the WIFI module, realize mobile control, the basis that the laser radar 44 scanning picture and the camera 43 picture of cell-phone end conveying judge as artifical mobile device.

The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 7, and the mobile transportation mechanical arm of the embodiment comprises an alloy mechanical claw 11, a first digital steering engine 12, a second digital steering engine 13, a third digital steering engine 14, a first U-shaped bracket 15, a fourth digital steering engine 16, a second U-shaped bracket 17, a third U-shaped bracket 18 and a fifth digital steering engine 19, wherein the alloy mechanical claw 11 is connected with and mounted with the first digital steering engine 12, the bottom of the alloy mechanical claw 11 is mounted at the output end of the second digital steering engine 13, the bottom of the second digital steering engine 13 is mounted on the side wall of the third digital steering engine 14, the output end of the third digital steering engine 14 is fixedly mounted with one side wall of the opening end of the first U-shaped bracket 15, the bottom of the first U-shaped bracket 15 is connected with the fourth digital steering engine 16, the output end of the fourth digital steering engine 16 is fixedly mounted with one side wall of the opening end of the second U-shaped bracket, the second U-shaped support 17 and the closed end of the third U-shaped support 18 are fixedly installed, the open end of the third U-shaped support 18 is connected with the output end of a fifth digital steering engine 19, the fifth digital steering engine 19 is installed on the steering engine rotating pan-tilt 2, and the second digital steering engine 13, the third digital steering engine 14, the fourth digital steering engine 16 and the fifth digital steering engine 19 rotate to realize multi-angle movement of the whole mechanical claw 1, so that goods can be grabbed more flexibly.

The fourth concrete implementation mode: in the embodiment, the alloy gripper 11 includes a second swing rod 111, a second linkage rod 112, a driven rod 113, a mounting seat 114, a driving rod 115, a first linkage rod 116 and a first swing rod 117, a half circle of outer teeth are respectively machined on outer rings of adjacent ends of the driving rod 115 and the driven rod 113, the driving rod 115 and the driven rod 113 are in outer teeth engagement and hinged on the mounting seat 114, the other ends of the driving rod 115 and the driven rod 113 are respectively hinged with the first swing rod 117 and the second swing rod 111, one end of the first linkage rod 116 is hinged on the mounting seat 114, the other end of the first linkage rod 116 is hinged on a central position of the first swing rod 117, one end of the second linkage rod 112 is hinged on the mounting seat 114, the other end of the second linkage rod 112 is hinged on a central position of the second swing rod 111, an output end of the first digital steering engine 12 is mounted at a hinged position of the driving rod 115 and the mounting seat 114, the mounting seat 114 is connected with the output end of the second digital steering engine 13, the second digital steering engine 13 drives the mounting seat 114 to rotate, the rotation action of the alloy gripper 11 is realized, the first digital steering engine 12 drives the driving rod 115 to rotate, the driving rod 115 is meshed with the external teeth of the driven rod 113, so that the driven rod 113 swings along with the driving rod 115, the driving rod 115 and the driven rod 113 also drive the first swing rod 117 and the second swing rod 111 to swing through the hinging of the first linkage rod 116 and the second linkage rod 112, and the grabbing action of the gripper 11 is realized.

The fifth concrete implementation mode: the embodiment is described with reference to fig. 1 to 7, and the first digital steering engine 12, the second digital steering engine 13, the third digital steering engine 14, the fourth digital steering engine 16 and the fifth digital steering engine 19 of the mobile transportation mechanical arm of the embodiment are provided with the cooling fins 9, so that when the steering engines work for a long time or under a limited load, a relatively obvious heating phenomenon occurs, which brings higher power consumption, thereby affecting endurance and even directly burning out, and in order to slow down and solve the problem, the steering engines are coated with heat dissipation silicone grease and are additionally provided with the cooling fins 9.

The sixth specific implementation mode: in the embodiment, the heat sink 9 is an aluminum alloy heat sink which has a good heat dissipation effect, and the moving transportation robot of the embodiment is described with reference to fig. 1 to 7.

It should be noted that, in the above embodiments, as long as the technical solutions can be aligned and combined without contradiction, those skilled in the art can exhaust all possibilities according to the mathematical knowledge of the alignment and combination, and therefore the present invention does not describe the technical solutions after alignment and combination one by one, but it should be understood that the technical solutions after alignment and combination have been disclosed by the present invention.

This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.

Claims

1. A mobile transportation mechanical arm is characterized in that: the steering engine rotating platform comprises mechanical claws (1), a steering engine rotating platform body (2), a supporting frame (3), a control detection group (4), motors (5), wheels (6), a bottom plate (7) and rotating steering engines (8), wherein the mechanical claws (1) are installed on the steering engine rotating platform body (2), the steering engine rotating platform body (2) is installed on the top end of the supporting frame body (3), the supporting frame body (3) is installed on the bottom plate (7), a plurality of motor (5) columns are parallelly installed on the bottom of the bottom plate (7) side by side, the output ends of the motors (5) are arranged on the outer edge of the bottom plate (7), the wheels (6) are installed on the output ends of the motors (5), the control detection group (4) is arranged inside the supporting frame body (3), the output ends of the rotating steering engines (8) are fixedly connected with rotating shafts of the steering engine rotating platform body (2.

2. The mobile transport robotic arm of claim 1, wherein: the control detection group (4) comprises an STM32 open source control board (41), an STM32 driving bottom board (42), a camera (43), a laser radar (44), a laser radar mounting seat (45), a main control board (46) and a battery (47), the STM32 open source control board (41) is installed at the top of a supporting frame (3), the camera (43) is fixedly installed at the right side of the supporting frame (3), the laser radar (44) is installed on the bottom board (7) through the laser radar mounting seat (45), the main control board (46) is installed at the center of the bottom board (7), the battery (47) is installed on the bottom board (7), the battery (47) is electrically connected with the STM32 open source control board (41), the main control board (46), the STM32 driving bottom board (42) and the motor (5), the STM32 open source control board (41) and the STM32 driving bottom board (42) are electrically connected, the main control board (46) is installed at the center, the STM32 driving bottom plate (42) is installed on the upper end of the main control plate (46).

3. The mobile transport robotic arm of claim 1, wherein: the mechanical claw (1) comprises an alloy mechanical claw (11), a first digital steering engine (12), a second digital steering engine (13), a third digital steering engine (14), a first U-shaped support (15), a fourth digital steering engine (16), a second U-shaped support (17), a third U-shaped support (18) and a fifth digital steering engine (19), the first digital steering engine (12) is connected and installed on the alloy mechanical claw (11), the bottom of the alloy mechanical claw (11) is installed at the output end of the second digital steering engine (13), the bottom of the second digital steering engine (13) is installed on the side wall of the third digital steering engine (14), the output end of the third digital steering engine (14) is fixedly installed with one side wall of an opening end of the first U-shaped support (15), the bottom of the first U-shaped support (15) is connected and installed with the fourth digital steering engine (16), the output end of the fourth digital steering engine (16) is fixedly installed with one side wall of the opening end of the second U-shaped support (17), the second U-shaped support (17) and the closed end of the third U-shaped support (18) are fixedly installed, the open end of the third U-shaped support (18) is connected with the output end of a fifth digital steering engine (19), and the fifth digital steering engine (19) is installed on the steering engine rotating holder (2).

4. A mobile transport robotic arm as claimed in claim 3 wherein: the alloy gripper (11) comprises a second swing rod (111), a second linkage rod (112), a driven rod (113), a mounting seat (114), a driving rod (115), a first linkage rod (116) and a first swing rod (117), wherein a half circle of external teeth are respectively processed on the outer rings of the adjacent ends of the driving rod (115) and the driven rod (113), the driving rod (115) is meshed with the driven rod (113) in an external tooth manner and is hinged on the mounting seat (114), the other ends of the driving rod (115) and the driven rod (113) are respectively hinged with the first swing rod (117) and the second swing rod (111), one end of the first linkage rod (116) is hinged on the mounting seat (114), the other end of the first linkage rod (116) is hinged on the central position of the first swing rod (117), one end of the second linkage rod (112) is hinged on the mounting seat (114), and the other end of the second linkage rod (112) is hinged on the central position of the second swing rod (111), the output end of the first digital steering engine (12) is arranged at the hinged position of the driving rod (115) and the mounting seat (114), and the mounting seat (114) is connected with the output end of the second digital steering engine (13).

5. A mobile transport robotic arm as claimed in claim 3 wherein: and cooling fins (9) are arranged on the first digital steering engine (12), the second digital steering engine (13), the third digital steering engine (14), the fourth digital steering engine (16) and the fifth digital steering engine (19).

6. The mobile transport robot of claim 1 or 5, wherein: the radiating fins (9) are aluminum alloy radiating fins.