CN213165393U - Modularized mobile transfer robot - Google Patents

Abstract

The utility model relates to the technical field of carrying devices, in particular to a modular mobile carrying robot, which comprises a driving module, a clamping module and a lifting module, wherein the two ends of the bottom of the clamping module are provided with the driving module, and one side of each driving module is provided with the lifting module; the driving module comprises a chassis frame, a driving wheel, a plurality of universal supporting wheels and clamping module mounting holes, the driving wheel is arranged between the two universal supporting wheels, the universal supporting wheels are symmetrically connected to the two sides of the chassis frame, and the clamping module mounting holes are formed in the chassis frame; the clamping module is used for controlling the lifting arm to clamp and move left and right; the lifting module is arranged below the clamping module and used for controlling the lifting of the lifting arm; the modularized arrangement is adopted, so that the structural design is more compact, each functional module can be independently assembled and debugged, installation space and matching holes are reserved among different modules, the assembly efficiency is improved, and the storage space is saved.

Description

Modularized mobile transfer robot

Technical Field

The utility model relates to a handling device technical field specifically is a modularization removes transfer robot.

Background

The transfer robot is equipment applied to the field of automatic material transfer and has the advantages of high automation degree, flexible application, safety, reliability, high efficiency, convenience in maintenance and the like. In application environments such as warehouse factories, a large amount of manpower is saved, the labor intensity of workers is reduced, artificial errors or damage to machines is reduced, the safety performance is high, and meanwhile, great contribution is made to the carrying efficiency of the factories. Most of the existing carrying robots are integrally designed, and in the assembling and transporting processes, the assembling time and the transporting cost are greatly increased, so that the time and space waste is caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a modular mobile transfer robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a modular mobile transfer robot comprises a driving module, clamping modules and lifting modules, wherein the driving modules are arranged at two ends of the bottom of each clamping module, and the lifting modules are arranged on one side of each driving module;

the driving module comprises a chassis frame, a driving wheel, a plurality of universal supporting wheels and clamping module mounting holes, the driving wheel is arranged between the two universal supporting wheels, the universal supporting wheels are symmetrically connected to the two sides of the chassis frame, and the clamping module mounting holes are formed in the chassis frame;

the clamping module comprises a plurality of lead screws, a plurality of cross beams, a plurality of servo motors, a plurality of nuts, a plurality of lifting module installation guide rails, a plurality of synchronous belts, a transmission fixed block and a plurality of lifting module installation plates, the nuts are connected to the lead screws, one end of each lead screw is connected with the servo motors through the synchronous belts and belt pulleys, the other end of each lead screw is connected with the transmission fixed block, the lead screws, the servo motors, the nuts, the synchronous belts and the transmission fixed block are arranged inside the cross beams, the lifting module installation guide rails are arranged on the lower sides of the cross beams, and the plurality of lifting module installation plates are arranged on the lower sides of the;

lifting module includes lifting gear, lifting rack, the goods fixed plate, many lifing arms and a plurality of guide rail slider, be provided with the connecting plate between two lifing arms, and guide rail slider sets up on the connecting plate, the lifing arm is connected with the lifting module installation guide rail through guide rail slider and lifting module mounting panel, lifting gear and lifting rack all set up the below at the crossbeam, lifting gear and lifting rack meshing are connected, the below of lifing arm is provided with the goods fixed plate.

Preferably, two ends of the clamping module are connected with the clamping module mounting holes on the driving module.

Preferably, the chassis frame is provided with a driving structure connected with the driving wheel.

Preferably, the power device lifting module comprises a power device, the power device is arranged on the lower side of the connecting plate, and the lifting arm is connected with the power device through a lifting gear and a lifting rack.

Preferably, both sides of the transmission fixing block are provided with guide rods, and the nut is provided with through holes connected with the guide rods.

Compared with the prior art, the beneficial effects of the utility model are that: the driving module is used for driving the clamping module and the lifting module which are arranged on the driving module to move on the ground; the clamping module is used for controlling the lifting arm to clamp and move left and right; the lifting module is arranged below the clamping module and used for controlling the lifting of the lifting arm; the modularized arrangement is adopted, the structural design is more compact, each functional module can be independently assembled and debugged, mounting space and matching holes are reserved between different modules, the assembly efficiency is improved, the storage space is saved, when a single module breaks down, the module can be quickly replaced, the maintenance man-hour is saved, the complete machine failure rate is reduced, and the equipment durability is improved.

Drawings

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

FIG. 2 is an overall front view of the present invention;

FIG. 3 is an overall side view of the present invention;

fig. 4 is a schematic structural diagram of the driving module of the present invention;

fig. 5 is a side view of the drive module of the present invention;

fig. 6 is a partial schematic view of the gripping module of the present invention;

fig. 7 is a top view of the gripping module of the present invention;

fig. 8 is a schematic structural view of the lifting module of the present invention;

fig. 9 is a side view of the lift module of the present invention.

In the figure: 1. a drive module; 11. a chassis frame; 12. a drive wheel; 13. a universal support wheel; 14. clamping module mounting holes; 2. a clamping module; 21. a screw rod; 22. a cross beam; 23. a servo motor; 24. a nut; 25. the lifting module is provided with a guide rail; 26. a synchronous belt; 27. a transmission fixing block; 28. a lifting module mounting plate; 3. a lifting module; 31. a lifting gear; 32. a lifting rack; 33. a cargo securing plate; 34. a lifting arm; 35. a guide rail slide block.

Detailed Description

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

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

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 "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 according to specific situations by those skilled in the art.

Referring to fig. 1-9, the present invention provides a technical solution: a modular mobile carrying robot comprises driving modules 1, clamping modules 2 and lifting modules 3, wherein the driving modules 1 are arranged at two ends of the bottom of each clamping module 2, and the lifting modules 3 are arranged on one side of each driving module 1;

the driving module 1 comprises a chassis frame 11, a driving wheel 12, a plurality of universal supporting wheels 13 and clamping module mounting holes 14, wherein the driving wheel 12 is arranged between the two universal supporting wheels 13, the universal supporting wheels 13 are symmetrically connected to two sides of the chassis frame 11, and the clamping module mounting holes 14 are arranged on the chassis frame 11;

the clamping module 2 comprises a plurality of screw rods 21, a plurality of cross beams 22, a plurality of servo motors 23, a plurality of nuts 24, a plurality of lifting module mounting guide rails 25, a plurality of synchronous belts 26, a transmission fixing block 27 and a plurality of lifting module mounting plates 28, the nuts 24 are connected on the screw rods 21, one end of each screw rod 21 is connected with the servo motors 23 through the synchronous belts 26 and belt wheels, the other end of each screw rod 21 is connected with the transmission fixing block 27, the screw rods 21, the servo motors 23, the nuts 24, the synchronous belts 26 and the transmission fixing block 27 are arranged inside the cross beams 22, the lifting module mounting guide rails 25 are arranged on the lower sides of the cross beams 22, and a plurality of lifting module mounting plates 28 are arranged on the lower sides of the;

the lifting module 3 comprises a lifting gear 31, a lifting rack 32, a cargo fixing plate 33, a plurality of lifting arms 34 and a plurality of guide rail sliders 35, a connecting plate is arranged between the two lifting arms 34, the guide rail sliders 35 are arranged on the connecting plate, the lifting arms 34 are connected with the lifting module mounting guide rail 25 through the guide rail sliders 35 and the lifting module mounting plate 28, the lifting gear 31 and the lifting rack 32 are arranged below the cross beam 22, the lifting gear 31 is meshed with the lifting rack 32, and the cargo fixing plate 33 is arranged below the lifting arms 34.

The two ends of the clamping module 2 are connected with the clamping module mounting holes 14 on the driving module 1.

The chassis frame 11 is provided with a driving structure connected with a driving wheel 12.

The power unit lifting module 3 comprises a power unit which is arranged at the lower side of the connecting plate, and the lifting arm 34 is connected with the power unit through a lifting gear 31 and a lifting rack 32.

Guide rods are arranged on two sides of the transmission fixing block 27, and through holes connected with the guide rods are formed in the nuts 24.

The working principle is as follows: when in use, the driving module 1, the clamping module 2 and the lifting module 3 can be independently assembled and debugged, after each module unit is debugged respectively, the clamping module 2 is firstly lifted and placed on a cross beam frame at the top of the driving module 1 and is fixed at the top ends of the driving modules 1 at two sides through screws and clamping module mounting holes 14, then the lifting module 3 is aligned with a lifting module mounting plate 28 below a cross beam 22, the lifting module mounting plate 28 is connected with a guide rail slide block 35 through the screws, the device can advance, retreat, turn and rotate in place through the rotation of a driving wheel 12, a servo motor 23 works, a screw rod 21 is driven to rotate through a belt wheel and a synchronous belt 26, a nut 24 starts to move left and right to drive a goods fixing plate 33 to move to clamp goods, and then a driving device drives a lifting gear 31 to rotate, the lifting gear 31 drives the lifting rack 32 to move, and the lifting rack 32 drives the lifting arm 34 to lift and descend, so that the goods clamped on the goods fixing plate 33 are driven to lift and descend.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides a modularization removes transfer robot, includes drive module (1), presss from both sides and gets module (2) and lift module (3), its characterized in that: the two ends of the bottom of the clamping module (2) are respectively provided with a driving module (1), and one side of each driving module (1) is provided with a lifting module (3);

the driving module (1) comprises a chassis frame (11), a driving wheel (12), a plurality of universal supporting wheels (13) and clamping module mounting holes (14), the driving wheel (12) is arranged between the two universal supporting wheels (13), the universal supporting wheels (13) are symmetrically connected to two sides of the chassis frame (11), and the clamping module mounting holes (14) are formed in the chassis frame (11);

the clamping module (2) comprises a plurality of screw rods (21), a plurality of cross beams (22), a plurality of servo motors (23), a plurality of nuts (24), a plurality of lifting module mounting guide rails (25), a plurality of synchronous belts (26), a transmission fixing block (27) and a plurality of lifting module mounting plates (28), wherein the nuts (24) are connected on the screw rods (21), one end of each screw rod (21) is connected with the servo motors (23) through the synchronous belts (26) and belt wheels, the other end of each screw rod (21) is connected with the transmission fixing block (27), the screw rod (21), the servo motor (23), the nut (24), the synchronous belt (26) and the transmission fixing block (27) are all arranged inside the cross beam (22), the lifting module mounting guide rails (25) are arranged on the lower side of the cross beam (22), and a plurality of lifting module mounting plates (28) are arranged on the lower side of each lifting module mounting guide rail (25);

lifting module (3) are including lifting gear (31), lifting rack (32), goods fixed plate (33), many lifting arm (34) and a plurality of guide rail slider (35), be provided with the connecting plate between two lifting arm (34), and guide rail slider (35) set up on the connecting plate, lifting arm (34) are connected with lifting module installation guide rail (25) through guide rail slider (35) and lifting module mounting panel (28), lifting gear (31) and lifting rack (32) all set up the below in crossbeam (22), lifting gear (31) and lifting rack (32) meshing are connected, the below of lifting arm (34) is provided with goods fixed plate (33).

2. The modular mobile handling robot of claim 1, wherein: two ends of the clamping module (2) are connected with clamping module mounting holes (14) on the driving module (1).

3. The modular mobile handling robot of claim 1, wherein: the chassis frame (11) is provided with a driving structure connected with a driving wheel (12).

4. The modular mobile handling robot of claim 1, wherein: the power device lifting module (3) comprises a power device, the power device is arranged on the lower side of the connecting plate, and the lifting arm (34) is connected with the power device through a lifting gear (31) and a lifting rack (32).

5. The modular mobile handling robot of claim 1, wherein: guide rods are arranged on two sides of the transmission fixing block (27), and through holes connected with the guide rods are formed in the nuts (24).

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