CN214164811U - High-lifting composite mobile robot - Google Patents
High-lifting composite mobile robot Download PDFInfo
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- CN214164811U CN214164811U CN202120092121.9U CN202120092121U CN214164811U CN 214164811 U CN214164811 U CN 214164811U CN 202120092121 U CN202120092121 U CN 202120092121U CN 214164811 U CN214164811 U CN 214164811U
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- lifting mechanism
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Abstract
The utility model discloses a high compound mobile robot that lifts belongs to the robotechnology field, including robot chassis and six manipulators, the upper surface on robot chassis is mounting platform, the last lifting mechanism that is equipped with of mounting platform, the inside on robot chassis is equipped with control module, lifting mechanism includes lifting frame, lifting mechanism bearing plate and lifts motor power, six manipulators are installed on lifting mechanism bearing plate, lifting mechanism bearing plate's rear side is equipped with spacing sensor separation blade, lifting frame's top spanes there is the support mount, it installs in robot chassis to lift motor power. Through mobile robot chassis, lifting mechanism and six mechanical hand integrated design, replace manual operation lift truck and manual drive electronic heap high fork truck and carry out high altitude storehouse position operation, full-automatic realization composite mobile robot high lift access storehouse position material, work such as automatic for producing line distribution material.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to compound mobile robot lifts.
Background
Robots are machine devices that perform work automatically, can accept human commands, run preprogrammed programs, and perform their scheduled actions according to principles defined by artificial intelligence techniques, and have the task of assisting or replacing human work, such as production, construction, or hazardous work.
The traditional storing, taking and delivering of production workshop warehouses and production line materials are mostly realized by adopting a mode of manually pushing a lift truck to operate or manually driving a stacking forklift to fork and take the materials, the materials are taken and put, the high-altitude operation is realized, the working efficiency is low, and the risk coefficient is high.
The above-mentioned implementation has the following disadvantages: 1. the lift truck operated by manual pushing or the forklift driven by manual pushing has low efficiency and high error rate, and the enterprise recruits more personnel, so that the labor cost is high; 2. the workshop warehouse takes materials and the production line materials are not delivered timely, so that the condition that the production line is short of materials and stops production can be caused, and the production efficiency is influenced; 3. the conventional electric stacking forklift introduced by a production enterprise has high cost and large occupied space, and the turnover in a narrow tunnel type warehouse is not flexible, so that the turnover of materials is not facilitated; 4. the repeated work of picking and placing materials in high altitude can easily cause the fatigue of personnel, and the condition of industrial accidents is possible to occur, so that the company has the personnel risk.
SUMMERY OF THE UTILITY MODEL
To solve the problems set forth in the background art described above. The utility model provides a high compound mobile robot that lifts through mobile robot chassis, lifting mechanism and six manipulator integrated design, replaces manual operation lift truck and the electronic high fork truck of piling of manual drive to carry out high altitude storehouse position operation, and full-automatic realization compound mobile robot high lift access warehouse storehouse position material is given work such as production line delivery material automatically.
In order to achieve the above object, the utility model provides a following technical scheme:
a high-lifting composite mobile robot comprises a robot chassis and six-shaft mechanical arms, wherein the upper surface of the robot chassis is a mounting platform, a lifting mechanism is arranged on the mounting platform, a control module is arranged in the robot chassis and connected with the lifting mechanism, the lifting mechanism comprises a lifting frame, a lifting mechanism bearing plate and a lifting power motor, slide rails are arranged on two sides of the lifting frame, slide blocks are arranged on the slide rails in a matched sliding mode, the lifting mechanism bearing plate slides in a matched mode through the slide blocks and the slide rails, the six-shaft mechanical arms are arranged on the lifting mechanism bearing plate, a limiting sensor separation blade is arranged on the rear side of the lifting mechanism bearing plate, a supporting and fixing frame spans across the top of the lifting frame, the lifting power motor is arranged in the robot chassis, and an output shaft of the lifting power motor is movably connected with a lead screw through a connecting component, the other end of the screw rod is movably connected with the supporting and fixing frame.
Preferably, coupling assembling includes the shaft coupling of being connected with the output shaft that lifts driving motor, be equipped with lead screw fixed bearing A on the shaft coupling, be equipped with the screw-nut fixing base on the screw-nut fixed bearing A, be equipped with screw-nut on the screw-nut fixing base, after the screw-nut was passed to the one end of lead screw, just fixed on the screw-nut fixing base through screw-nut.
Preferably, the both sides of mounting platform are equipped with the triangle fixing base of fixing the frame of lifting respectively, one side and the mounting platform of triangle fixing base are fixed mutually, and the opposite side and the mounting platform of triangle fixing base are fixed mutually.
Preferably, the upper side of the lifting rack is provided with an upper stroke limit sensor, and the lower side of the lifting rack is provided with a lower stroke limit sensor.
Preferably, the two sides in the robot chassis are provided with movable casters, and one side of each movable caster is provided with a driving motor for driving the caster.
Preferably, the support fixing frame is provided with a screw rod fixing bearing seat B, and the other end of the screw rod is fixed on the support fixing frame through the screw rod fixing bearing seat B.
Preferably, auxiliary casters are mounted at four corners of the bottom of the robot chassis.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the composite mobile robot of the utility model lifts the six-axis manipulator to the high warehouse position through the high lifting mechanism to grab the materials, and can automatically run back and forth between a plurality of production lines to automatically distribute raw materials and finished products for production line off-line transportation, thereby solving the defect that the traditional conveying line cannot flexibly transport the materials, and replacing a manually operated lift truck and a manually driven electric high-lift forklift to carry out high-altitude operation;
2. the high-lifting composite mobile robot can flexibly change lines and operate, can be switched to different production lines for material distribution at will, and has high flexibility and strong adaptability;
3. the automatic material conveying system can automatically run according to the production beat of the production line, randomly dispatch and timely convey materials, avoid the phenomenon that the production line is short of materials and stops the production line, and improve the production efficiency to the maximum extent;
4. the elevator can be automatically controlled, materials can be transported across floors, the limitation that the electric forklift is manually driven to enter and exit the elevator is broken through, and the turnover efficiency of the materials between the floors is improved to the maximum extent;
5. can replace manual work for 24 hours without interruption, reduce the labor cost and the personnel using risk of enterprises, and really realize personnel reduction and efficiency improvement.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic bottom structure diagram of an embodiment of the present invention;
fig. 3 is another angle structure diagram of the embodiment of the present invention;
fig. 4 is a schematic view of an internal structure of a robot chassis according to an embodiment of the present invention;
fig. 5 is a partially enlarged view of fig. 4.
In the figure: 1. a robot chassis; 2. a six-axis manipulator; 3. a control module; 4. lifting the frame; 5. lifting a mechanism bearing plate; 6. lifting the power motor; 7. a slide rail; 8. a slider; 9. a limit sensor catch; 10. supporting the fixed frame; 11. a screw rod; 12. a coupling; 13. the screw rod fixes the bearing seat A; 14. a lead screw nut fixing seat; 15. a feed screw nut; 16. a triangular fixed seat; 17. moving the caster; 18. a drive motor; 19. the screw rod fixes the bearing seat B; 20. an auxiliary caster; 21. an upper travel limit sensor; 22. a lower stroke limit sensor.
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.
Referring to fig. 1-5, the present invention provides the following technical solutions: a high-lifting composite mobile robot comprises a robot chassis 1 and six-axis mechanical arms 2, wherein the upper surface of the robot chassis 1 is an installation platform, a lifting mechanism is arranged on the installation platform, a control module 3 is arranged in the robot chassis 1, the control module 3 is connected with the lifting mechanism, the lifting mechanism comprises a lifting rack 4, a lifting mechanism bearing plate 5 and a lifting power motor 6, slide rails 7 are arranged on two sides of the lifting rack 4, slide blocks 8 are arranged on the slide rails 7 in a matching and sliding mode, the lifting mechanism bearing plate 5 slides in a matching mode with the slide rails 7 through the slide blocks 8, the six-axis mechanical arms 2 are installed on the lifting mechanism bearing plate 5, a limiting sensor blocking piece 9 is arranged on the rear side of the lifting mechanism bearing plate 5, a supporting and fixing frame 10 spans across the top of the lifting rack 4, the lifting power motor 6 is installed in the robot chassis 1, the output shaft of the lifting power motor 6 is movably connected with a screw rod 11 through a connecting assembly, and the other end of the screw rod 11 is movably connected with a supporting and fixing frame 10.
Specifically, coupling assembling includes the shaft coupling 12 with the output shaft that lifts motor power 6, be equipped with lead screw fixed bearing A13 on the shaft coupling 12, be equipped with screw-nut fixing base 14 on the screw-nut fixed bearing A13, be equipped with screw-nut 15 on the screw-nut fixing base 14, after screw-nut 15 was passed to the one end of lead screw 11, and fixed on screw-nut fixing base 14 through screw-nut 15.
Specifically, the both sides of mounting platform are equipped with respectively and will lift the triangle fixing base 16 that frame 4 is fixed, one side and the mounting platform of triangle fixing base 16 are fixed mutually, and the opposite side and the mounting platform of triangle fixing base 16 are fixed mutually. Adopt 16 designs of triangle fixing base to make holistic intensity more firm, installation, dismantlement convenience moreover.
Specifically, an upper stroke limit sensor 21 is arranged on the upper side of the lifting frame 4, and a lower stroke limit sensor 22 is arranged on the lower side of the lifting frame 4.
Specifically, both sides of the interior of the robot chassis 1 are provided with movable casters 17, and one side of each movable caster 17 is provided with a driving motor 18 for driving the caster. The driving motor 18 is fixed inside the robot chassis 1 through a motor base.
Specifically, the support fixing frame 10 is provided with a lead screw fixing bearing seat B19, and the other end of the lead screw 11 is fixed on the support fixing frame 10 through a lead screw fixing bearing seat B19.
Specifically, auxiliary casters 20 are mounted at four corners of the bottom of the robot chassis 1. The auxiliary casters 20 are installed as driven casters at four corners of the robot chassis 1 behind the front legs of the caster 17, thereby making the robot more stable in driving.
The utility model discloses a theory of operation and use flow: when the high-lift composite mobile robot autonomously moves to a material shelf position of a warehouse at a loading point, the composite robot control module 3 controls the lifting power motor 6 to ascend, the lifting power motor 6 drives the screw rod 11 to rotate through the coupling 12 connected with the screw rod, at the moment, the screw rod nut 15 drives the lifting mechanism bearing plate 5 to linearly move upwards, when the limit sensor retaining sheet 9 fixed on the lifting mechanism bearing plate 5 senses the upper stroke limit sensor 21, the lifting mechanism stops, at the moment, the six-axis manipulator 2 is at the highest position, the six-axis manipulator can directly grab materials on the high-altitude shelf, and the six-axis manipulator 2 finishes material taking; the composite robot control module 3 controls the lifting power motor 6 to descend, the composite robot stops when the limit sensor blocking piece 9 senses the lower stroke limit sensor 22, the six-axis manipulator 2 is located at the lowest position at the moment, the high-altitude goods shelf material grabbing work is completed, and meanwhile, when the high-lifting composite mobile robot autonomously moves to a material placing platform position material placing point, the six-axis manipulator 2 places materials on a ground material placing platform, the whole process achieves unmanned full-automatic driving, automatic material grabbing and other works.
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 (7)
1. The utility model provides a compound mobile robot lifts, includes robot chassis (1) and six mechanical arms (2), its characterized in that: the upper surface of the robot chassis (1) is an installation platform, a lifting mechanism is arranged on the installation platform, a control module (3) is arranged in the robot chassis (1), the control module (3) is connected with the lifting mechanism, the lifting mechanism comprises a lifting rack (4), a lifting mechanism bearing plate (5) and a lifting power motor (6), slide rails (7) are arranged on two sides of the lifting rack (4), sliders (8) are arranged on the slide rails (7) in a matched sliding manner, the lifting mechanism bearing plate (5) is matched with the slide rails (7) in a sliding manner through the sliders (8), the six-axis manipulator (2) is arranged on the lifting mechanism bearing plate (5), a limit sensor catch (9) is arranged on the rear side of the lifting mechanism bearing plate (5), and a support fixing frame (10) spans across the top of the lifting rack (4), the lifting power motor (6) is installed in the robot chassis (1), an output shaft of the lifting power motor (6) is movably connected with a screw rod (11) through a connecting assembly, and the other end of the screw rod (11) is movably connected with a supporting and fixing frame (10).
2. The high lift compound mobile robot of claim 1, wherein: coupling assembling includes shaft coupling (12) with the output shaft of lifting motor power (6), be equipped with lead screw fixed bearing seat A (13) on shaft coupling (12), be equipped with screw-nut fixing base (14) on screw-nut fixed bearing seat A (13), be equipped with screw-nut (15) on screw-nut fixing base (14), the one end of lead screw (11) is passed behind screw-nut (15), and is fixed on screw-nut fixing base (14) through screw-nut (15).
3. The high lift compound mobile robot of claim 1, wherein: the both sides of mounting platform are equipped with respectively will lift triangle fixing base (16) that frame (4) are fixed, one side and the mounting platform of triangle fixing base (16) are fixed mutually, and the opposite side and the mounting platform of triangle fixing base (16) are fixed mutually.
4. The high lift compound mobile robot of claim 1, wherein: the upper side of the lifting rack (4) is provided with an upper stroke limit sensor (21), and the lower side of the lifting rack (4) is provided with a lower stroke limit sensor (22).
5. The high lift compound mobile robot of claim 1, wherein: the robot is characterized in that movable casters (17) are arranged on two sides in the robot chassis (1), and a driving motor (18) for driving the casters is arranged on one side of each movable caster (17).
6. The high lift compound mobile robot of claim 1, wherein: the support fixing frame (10) is provided with a screw rod fixing bearing seat B (19), and the other end of the screw rod (11) is fixed on the support fixing frame (10) through the screw rod fixing bearing seat B (19).
7. The high lift compound mobile robot of claim 1, wherein: auxiliary trundles (20) are arranged at four corners of the bottom of the robot chassis (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120092121.9U CN214164811U (en) | 2021-01-14 | 2021-01-14 | High-lifting composite mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120092121.9U CN214164811U (en) | 2021-01-14 | 2021-01-14 | High-lifting composite mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214164811U true CN214164811U (en) | 2021-09-10 |
Family
ID=77593122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120092121.9U Active CN214164811U (en) | 2021-01-14 | 2021-01-14 | High-lifting composite mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214164811U (en) |
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2021
- 2021-01-14 CN CN202120092121.9U patent/CN214164811U/en active Active
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