CN213352440U - Digital carrying intelligent robot - Google Patents
Digital carrying intelligent robot Download PDFInfo
- Publication number
- CN213352440U CN213352440U CN202021931218.6U CN202021931218U CN213352440U CN 213352440 U CN213352440 U CN 213352440U CN 202021931218 U CN202021931218 U CN 202021931218U CN 213352440 U CN213352440 U CN 213352440U
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- climbing
- swing
- frame
- transport
- gear
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- 230000009194 climbing Effects 0.000 claims abstract description 156
- 230000005540 biological transmission Effects 0.000 claims description 23
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000008034 disappearance Effects 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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Abstract
The utility model discloses a digital transport intelligent robot includes: the lifting device comprises a driving base, a driving motor fixedly installed in the driving base, a driving shaft inserted with the driving motor, driving wheels sleeved with the driving shaft, a climbing support fixedly installed on the driving base, a swinging arm fixedly connected with the climbing support, and a carrying clamp fixedly connected with the swinging arm. The utility model relates to a swing gear train drives the swing of swing arm, drives through swing motor and goes up tooth group and rotate with lower tooth group, and then accomplishes the swing that drives the swing arm, and then has replaced the tradition and drive the swing arm through the cylinder and swing, and then when driving the swing arm motion, can not appear causing intelligent robot's clamp because of the restriction of the flexible distance of cylinder to get the range limited, and then cause the clamp to get the phenomenon of angle disappearance.
Description
Technical Field
The utility model relates to an intelligent robot specifically is a digital transport intelligent robot.
Background
An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions. Because of this, we say that this is a true robot, although their appearance may be different.
The intelligent robot is provided with various internal information sensors and external information sensors, such as vision, hearing, touch and smell. In addition to having a receptor, it has an effector as a means of acting on the surrounding environment. This is the muscle or tendon, or self-paced motor, which moves the hands, feet, long nose, tentacles, etc.
The utility model provides a digital transport intelligent robot and current transfer robot drives the swing arm through the cylinder and swings basically when carrying article, and then accomplishes the clamp that changes the swing arm and get the angle, and when using the cylinder to drive the swing arm and swing, because the cylinder has the range of extension, when driving the swing arm motion, causes intelligent robot's clamp easily to get the range limited, and then causes to get the phenomenon of pressing from both sides the angle disappearance.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model provides a digital transport intelligent robot to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a digital carrier intelligent robot, comprising:
the lifting device comprises a driving base, a driving motor fixedly installed in the driving base, a driving shaft inserted with the driving motor, driving wheels sleeved with the driving shaft, a climbing support fixedly installed on the driving base, a swinging arm fixedly connected with the climbing support, and a carrying clamp fixedly connected with the swinging arm;
the climbing support comprises a first-stage climbing frame, a second-stage climbing frame movably connected with the first-stage climbing frame, and a hoisting frame movably connected with the second-stage climbing frame; a swinging gear set is fixedly arranged in the hoisting frame;
the swing gear set comprises a swing motor, a swing input gear shaft inserted with the swing motor, and an upper gear set and a lower gear set meshed with the swing input gear shaft; go up the tooth group and the same unit that the tooth group set up for two sets of symmetries down, every group the same unit include with swing gear that swing input tooth axle meshing is pegged graft swing gear's swing tooth axle, with swing pinion meshing's swing drive gear, with swing pinion meshing's swing meshing gear, and peg graft swing meshing gear and with swing arm fixed connection's swinging arm.
In a further embodiment, a climbing rack is fixedly arranged on the side part of the primary climbing frame; the top of the first-stage climbing frame is fixedly provided with a climbing limiting frame, and two sides of the climbing limiting frame are provided with climbing limiting wheels; the second-stage climbing frame is connected with the climbing limiting wheel in a butt joint mode.
In a further embodiment, the top of the secondary climbing frame is provided with an upper climbing wheel, and the bottom of the secondary climbing frame is provided with a lower climbing wheel; a climbing sling is arranged between the upper climbing lifting wheel and the lower climbing lifting wheel; a hoisting wheel motor is arranged on the side part of the lower climbing hoisting wheel; the bottom of the second-stage climbing frame is also provided with a climbing gear set matched with the climbing rack, and the second-stage climbing frame is designed mainly to enable the second-stage climbing frame to ascend along the first-stage climbing frame and further adjust the clamping height, so that clamping and carrying work at different positions is completed.
In a further embodiment, the climbing gear set comprises a climbing mount fixedly connected with the secondary climbing mount, a climbing motor fixedly connected with the climbing mount, a climbing input toothed shaft plugged with the climbing motor, a climbing transmission gear meshed with the climbing input toothed shaft, a climbing transmission toothed shaft plugged with the climbing transmission gear, and a climbing engagement gear meshed with the climbing transmission toothed shaft and the climbing rack. The climbing gear group is designed to mainly drive the second-level climbing frame to move along the first-level climbing frame, so that the whole height of the conveying clamp is adjusted, and the work of the non-position workpiece clamp is completed.
In a further embodiment, two ends of the hoisting frame are also fixedly provided with hoisting limit frames, and hoisting limit wheels are arranged on two sides of each hoisting limit frame; the lifting limiting wheel is abutted with the secondary climbing frame; the lifting frame is connected with one side of the climbing sling and is designed to move along the second-stage lifting frame, so that the position of the conveying clamp is changed.
In a further embodiment, the swing arm comprises two groups of identical swing units which are arranged in parallel and fixedly connected with the swing gear set, and a hinge frame hinged with the two groups of identical swing units, each group of identical swing units comprises a primary arm fixedly connected with the swing gear set, a secondary arm inserted with the primary arm, an extension cylinder hinged with the primary arm, and an extension telescopic rod inserted with the extension cylinder and hinged with the secondary arm; the first-stage arms in the same swing units are respectively and fixedly connected with the swing rods in the upper tooth group and the lower tooth group, and the swing arms are designed to mainly drive the conveying clamp to change the clamping angle and the clamping height, so that the clamping and conveying work of the workpiece is completed.
In a further embodiment, the transport fixture includes with articulated frame fixed connection's transport connecting rod, with transport connecting rod fixed connection's transport casing, set up transport cylinder in the transport casing, peg graft the transport telescopic link of transport cylinder, with the articulated piece of transport telescopic link fixed connection's transport, and with the articulated two sets of clamp of articulated piece of transport are got the unit, and every group is got the unit and is included with the articulated transport articulated rod of articulated piece of transport, with the articulated transport articulated rod and with the transport casing rotates the transport clamping bar of being connected, and fixed mounting be in the transport cushion of transport clamping bar tip.
Has the advantages that: the utility model discloses a digital transport intelligent robot, the utility model relates to a swing gear train drives the swing of swing arm, drives through swing motor and goes up tooth group and rotate with lower tooth group, and then accomplishes the swing that drives the swing arm, and then has replaced the tradition and has driven the swing arm through the cylinder and swing, and then when driving the swing arm motion, can not appear causing intelligent robot's clamp because of the restriction of cylinder telescopic distance to get the range limited, and then cause the clamp to get the phenomenon of angle disappearance.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the climbing support of the present invention.
Fig. 3 is a schematic view of the climbing gear set of the present invention.
Fig. 4 is a schematic view of the swing gear set of the present invention.
Fig. 5 is a schematic view of a swing arm of the present invention.
Fig. 6 is a schematic view of the carrying jig of the present invention.
The reference signs are: drive base 1, drive wheels 2, climb bracket 3, primary climb rack 31, climb rack 311, climb limit rack 312, climb limit wheel 313, climb gear set 32, climb motor 321, climb mount 322, climb input gear shaft 323, climb transmission gear 324, climb transmission gear shaft 325, climb meshing gear 326, lower climb hanging wheel 33, climb sling 34, swing gear set 35, swing motor 351, swing input gear shaft 352, swing gear 353, swing transmission gear 354, swing gear shaft 355, swing meshing gear 356, swing rod 357, secondary climb rack 36, hoist rack 37, hoist limit rack 371, hoist limit wheel 372, climb hanging wheel 39, swing arm 4, primary arm 41, secondary arm 42, extension cylinder 43, extension telescopic rod 44, hinge rack 45, transport clamp 5, transport connection rod 51, transport cylinder 52, transport telescopic rod 53, transport hinged block 54, transport block 54, A carrying hinge rod 55, a carrying clamping rod 56 and a carrying cushion block 57.
Detailed Description
Through research and analysis of the applicant, the reason for the problem (the swing amplitude of the swing arm of the existing transfer robot is limited) is that when the existing transfer robot transfers articles, the swing arm is basically driven to swing by the air cylinder, so as to change the clamping angle of the swing arm, and when the swing arm is driven to swing by the air cylinder, because the air cylinder has the extension amplitude, when the swing arm is driven to move, the clamping amplitude of the intelligent robot is easily limited, so that the phenomenon that the clamping angle is lost is caused, and the swing gear set of the utility model drives the swing arm to swing, and drives the upper tooth group and the lower tooth group to rotate by the swing motor, so as to complete the swing of the swing arm, thereby replacing the traditional swing arm driven by the air cylinder to swing, so as to drive the swing arm to move, the phenomenon that the clamping range of the intelligent robot is limited due to the limitation of the telescopic distance of the cylinder and further the clamping angle is lost can not occur.
A digital carrier intelligent robot, comprising: drive base 1, drive wheels 2, climb bracket 3, primary climb rack 31, climb rack 311, climb limit rack 312, climb limit wheel 313, climb gear set 32, climb motor 321, climb mount 322, climb input gear shaft 323, climb transmission gear 324, climb transmission gear shaft 325, climb meshing gear 326, lower climb hanging wheel 33, climb sling 34, swing gear set 35, swing motor 351, swing input gear shaft 352, swing gear 353, swing transmission gear 354, swing gear shaft 355, swing meshing gear 356, swing rod 357, secondary climb rack 36, hang rack 37, hang limit rack 371, hang limit wheel 372, climb hanging wheel 39, swing arm 4, primary arm 41, secondary arm 42, extend cylinder 43, extend telescopic rod 44, hinge rack 45, carry clamp 5, carry connecting rod 51, carry cylinder 52, carry telescopic rod 53, and carry clamp 5, A conveying hinge block 54, a conveying hinge rod 55, a conveying clamping rod 56 and a conveying cushion block 57.
A digital carrier intelligent robot, comprising: the device comprises a driving base 1, a driving motor fixedly installed in the driving base 1, a driving shaft inserted into the driving motor, a driving wheel 2 sleeved with the driving shaft, a climbing support 3 fixedly installed on the driving base 1, a swing arm 4 fixedly connected with the climbing support 3, and a conveying clamp 5 fixedly connected with the swing arm 4;
the climbing support 3 comprises a primary climbing frame 31, a secondary climbing frame 36 movably connected with the primary climbing frame 31, and a lifting frame 37 movably connected with the secondary climbing frame 36; a swing gear 353 group 35 is fixedly arranged in the hoisting frame 37;
the swing gear 353 group 35 comprises a swing motor 351, a swing input gear shaft 352 inserted with the swing motor 351, and an upper gear group and a lower gear group meshed with the swing input gear shaft; the upper tooth group and the lower tooth group are two groups of same units which are symmetrically arranged, each group of same units comprises a swing gear 353 engaged with the swing input gear 352, a swing gear shaft 355 inserted with the swing gear 353, a swing transmission gear 354 engaged with the swing gear shaft 355, a swing engaged gear 356 engaged with the swing transmission gear 354, and a swing rod 357 inserted with the swing engaged gear 356 and fixedly connected with the swing arm 4.
A climbing rack 311 is fixedly arranged on the side part of the first-stage climbing frame 31; the top of the first-stage climbing frame 31 is fixedly provided with a climbing limiting frame 312, and two sides of the climbing limiting frame 312 are provided with climbing limiting wheels 313; the secondary climbing frame 36 is abutted against the climbing limiting wheel 313.
An upper climbing lifting wheel 39 is arranged at the top of the second-stage climbing frame 36, and a lower climbing lifting wheel 33 is arranged at the bottom of the second-stage climbing frame 36; a climbing sling 34 is arranged between the upper climbing lifting wheel 39 and the lower climbing lifting wheel 33; a hoisting wheel motor is arranged on the side part of the lower climbing hoisting wheel 33; the bottom of the second-stage climbing frame 36 is further provided with a climbing gear group 32 matched with the climbing rack 311, and the second-stage climbing frame 36 is designed mainly to enable the second-stage climbing frame 36 to ascend along the first-stage climbing frame 31, so that the clamping height can be adjusted, and the clamping and carrying work at different positions can be completed.
The climbing gear group 32 comprises a climbing fixing frame 322 fixedly connected with the secondary climbing frame 36, a climbing motor 321 fixedly connected with the climbing fixing frame 322, a climbing input gear shaft 323 inserted in the climbing motor 321, a climbing transmission gear 324 engaged with the climbing input gear shaft 323, a climbing transmission gear shaft 325 inserted in the climbing transmission gear 324, and a climbing engagement gear 326 engaged with the climbing transmission gear shaft 325 and engaged with the climbing rack 311. The climbing gear set 32 is designed to drive the second-stage climbing frame 36 to move along the first-stage climbing frame 31, so as to adjust the overall height of the carrying clamp 5, and further complete the work of the workpiece clamp in an out-of-position state.
Two ends of the hoisting frame 37 are also fixedly provided with hoisting limit frames 371, and hoisting limit wheels 372 are arranged on two sides of the hoisting limit frames 371; the lifting limiting wheel 372 is abutted against the secondary climbing frame 36; the lifting frame 37 is connected to one side of the climbing slings 34, and the lifting frame 37 is designed to move along the second-stage lifting frame 36, so as to complete the position change of the carrying clamp 5.
The swing arm 4 comprises two groups of identical swing units which are arranged in parallel and fixedly connected with the swing gear 353 groups 35, and a hinge frame 45 hinged with the two groups of identical swing units, wherein each group of identical swing units comprises a primary arm 41 fixedly connected with the swing gear 353 groups 35, a secondary arm 42 inserted with the primary arm 41, an extension cylinder 43 hinged with the primary arm 41, and an extension telescopic rod 44 inserted with the extension cylinder 43 and hinged with the secondary arm 42; the first-stage arm 41 in the same swing unit is respectively and fixedly connected with the swing rod 357 in the upper tooth group and the lower tooth group, and the swing arm 4 is designed to mainly drive the carrying clamp 5 to change the clamping angle and the clamping height, so as to complete the clamping and carrying work of the workpiece.
The carrying clamp 5 comprises a carrying connecting rod 51 fixedly connected with an articulated frame 45, a carrying shell fixedly connected with the carrying connecting rod 51, a carrying cylinder 52 arranged in the carrying shell, a carrying telescopic rod 53 connected with the carrying cylinder 52 in an inserting mode, a carrying articulated block 54 fixedly connected with the carrying telescopic rod 53, and two groups of clamping units hinged to the carrying articulated block 54, wherein each group of clamping units comprises a carrying articulated rod 55 hinged to the carrying articulated block 54, a carrying clamping rod 56 hinged to the carrying articulated rod 55 and rotatably connected with the carrying shell, and a carrying cushion block 57 fixedly mounted at the end part of the carrying clamping rod 56.
Description of the working principle: when the carrying robot needs to carry articles, the climbing gear set 32 drives the second-stage climbing rack 36 to move along the first-stage climbing rack 31, so that the position of the second-stage climbing rack 36 is changed, the climbing motor 321 works at the moment, the climbing input gear shaft 323 is driven to rotate, the climbing transmission gear 324 is driven to rotate, the climbing transmission gear shaft 325 is driven to rotate, the climbing meshing gear 326 is driven to rotate, the second-stage climbing rack 36 is driven to abut against the climbing limiting wheel 313 to perform lifting work, and the carrying robot stops working after moving to the adaptive position;
at this time, the hoisting wheel motor works to drive the climbing sling 34 to move, and further drive the hoisting frame 37 to move along the second-stage climbing frame 36 until the second-stage climbing frame moves to the adaptive position, and then the working is stopped;
at this time, the hundred-degree gear set works to drive the swing arm 4 to swing, and at this time, the swing motor 351 works to drive the swing input gear shaft 352 to rotate, and further drive the swing gear 353 to rotate, and further drive the swing gear shaft 355 to rotate, and further drive the swing transmission wheel to rotate, and further drive the swing meshing gear 356 to rotate, and further drive the swing rod 357 to rotate, so that the swing arm 4 is driven to swing, and the work is stopped until the swing arm 4 moves to an adaptive position;
the swing arm 4 works to drive the carrying clamp 5 to change the clamping angle, and the extension cylinder 43 works to drive the extension telescopic rod 44 to extend and contract; when the extension range of the extension telescopic rods 44 in the two groups of swing units is different, the hinge brackets 45 have different angles, so that the carrying clamp 5 is driven to change the angle, and the angle change of the carrying clamp 5 is further completed;
at this moment, the article is clamped by the conveying clamp 5, the conveying cylinder 52 works at this moment, the conveying telescopic rod 53 is driven to stretch, the conveying hinge rod 55 is driven to swing, the conveying clamp rod 56 is driven to swing, two groups of conveying clamp rods 56 are driven to move closely, the conveying cushion blocks 57 are driven to clamp the article, the clamp work on the article is completed, the driving motor works, the driving shaft is driven to rotate, the driving wheels 2 are driven to rotate, and the conveying work on the article is completed.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides a digital transport intelligent robot which characterized by includes:
the lifting device comprises a driving base, a driving motor fixedly installed in the driving base, a driving shaft inserted with the driving motor, driving wheels sleeved with the driving shaft, a climbing support fixedly installed on the driving base, a swinging arm fixedly connected with the climbing support, and a carrying clamp fixedly connected with the swinging arm;
the climbing support comprises a first-stage climbing frame, a second-stage climbing frame movably connected with the first-stage climbing frame, and a hoisting frame movably connected with the second-stage climbing frame; a swinging gear set is fixedly arranged in the hoisting frame;
the swing gear set comprises a swing motor, a swing input gear shaft inserted with the swing motor, and an upper gear set and a lower gear set meshed with the swing input gear shaft; go up the tooth group and the same unit that the tooth group set up for two sets of symmetries down, every group the same unit include with swing gear that swing input tooth axle meshing is pegged graft swing gear's swing tooth axle, with swing pinion meshing's swing drive gear, with swing pinion meshing's swing meshing gear, and peg graft swing meshing gear and with swing arm fixed connection's swinging arm.
2. The intelligent digital handling robot as claimed in claim 1, wherein: a climbing rack is fixedly arranged on the side part of the first-stage climbing frame; the top of the first-stage climbing frame is fixedly provided with a climbing limiting frame, and two sides of the climbing limiting frame are provided with climbing limiting wheels; the second-stage climbing frame is connected with the climbing limiting wheel in a butt joint mode.
3. The intelligent digital handling robot as claimed in claim 1, wherein: the top of the second-stage climbing frame is provided with an upper climbing lifting wheel, and the bottom of the second-stage climbing frame is provided with a lower climbing lifting wheel; a climbing sling is arranged between the upper climbing lifting wheel and the lower climbing lifting wheel; a hoisting wheel motor is arranged on the side part of the lower climbing hoisting wheel; and a climbing gear set matched with the climbing rack is further arranged at the bottom of the secondary climbing frame.
4. The intelligent digital handling robot of claim 3, wherein: the climbing gear set comprises a climbing fixing frame fixedly connected with the secondary climbing frame, a climbing motor fixedly connected with the climbing fixing frame, a climbing input gear shaft inserted with the climbing motor, a climbing transmission gear meshed with the climbing input gear shaft, a climbing transmission gear shaft inserted with the climbing transmission gear, and a climbing meshing gear meshed with the climbing transmission gear shaft and the climbing rack.
5. The intelligent digital handling robot as claimed in claim 1, wherein: two ends of the hoisting frame are also fixedly provided with hoisting limit frames, and hoisting limit wheels are arranged on two sides of the hoisting limit frames; the lifting limiting wheel is abutted with the secondary climbing frame; the lifting frame is connected with one side of the climbing sling.
6. The intelligent digital handling robot as claimed in claim 1, wherein: the swing arm comprises two groups of identical swing units which are arranged in parallel and fixedly connected with the swing gear set, and a hinge frame hinged with the two groups of identical swing units, each group of identical swing units comprises a primary arm fixedly connected with the swing gear set, a secondary arm inserted with the primary arm, an extension cylinder hinged with the primary arm, and an extension telescopic rod inserted with the extension cylinder and hinged with the secondary arm; and the primary arms in the same swing unit are respectively and fixedly connected with the swing rods in the upper tooth group and the lower tooth group.
7. The intelligent digital handling robot as claimed in claim 1, wherein: the transport anchor clamps include with articulated frame fixed connection's transport connecting rod, with transport connecting rod fixed connection's transport casing sets up transport cylinder in the transport casing is pegged graft the transport telescopic link of transport cylinder, with the articulated piece of transport telescopic link fixed connection's transport, and with the unit is got to the articulated two sets of clamps of the articulated piece of transport, every group press from both sides get the unit include with the articulated transport articulated rod of the articulated piece of transport, with the transport articulated rod articulated and with the transport casing rotates the transport clamping bar of connecting, and fixed mounting be in the transport cushion of transport clamping bar tip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021931218.6U CN213352440U (en) | 2020-09-07 | 2020-09-07 | Digital carrying intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021931218.6U CN213352440U (en) | 2020-09-07 | 2020-09-07 | Digital carrying intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213352440U true CN213352440U (en) | 2021-06-04 |
Family
ID=76149499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021931218.6U Expired - Fee Related CN213352440U (en) | 2020-09-07 | 2020-09-07 | Digital carrying intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213352440U (en) |
-
2020
- 2020-09-07 CN CN202021931218.6U patent/CN213352440U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210604 |
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| CF01 | Termination of patent right due to non-payment of annual fee |