CN214643589U

CN214643589U - Workpiece loading and unloading tooling system adopting intelligent omnidirectional mobile robot

Info

Publication number: CN214643589U
Application number: CN202120433199.2U
Authority: CN
Inventors: 杨金; 华鑫
Original assignee: Yuda Industrial Equipment Suzhou Co ltd
Current assignee: Yuda Industrial Equipment Suzhou Co ltd
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-11-09
Anticipated expiration: 2031-02-26

Abstract

The utility model discloses an adopt intelligence omnidirectional movement robot's last lower workpiece tool equipment system, including a plurality of frock framves with can be at the omnidirectional trolley of round trip movement between frock frame. The omnidirectional trolley comprises a chassis, the upper end face of the chassis upwards extends to form a surrounding plate, a placing cavity is formed between the surrounding plate and the chassis, a driving walking wheel rotating driving device is arranged in the placing cavity, a scissor type lifting device is further arranged in the placing cavity, the upper end of the scissor type lifting device is hinged to a lower top plate capable of moving up and down under the driving of the scissor type lifting device, four fine adjustment lifting devices which are arranged in a rectangular mode are installed on the upper end face of the lower top plate, an upper top plate is fixed on the upper end of the fine adjustment lifting device, and the upper top plate can be abutted to a tool. Realize the accurate upper and lower piece of frock.

Description

Workpiece loading and unloading tooling system adopting intelligent omnidirectional mobile robot

Technical Field

The utility model relates to an adopt intelligence omnidirectional movement robot's upper and lower workpiece handling system.

Background

In the automobile assembly production process, a tool is often adopted, and due to the fact that the tool is large in size, when the tool is erected on a tool frame, a travelling crane is generally needed to be used for hoisting, a great deal of inconvenience is brought to use, and an operator is needed to be trained professionally. AGV (automated Guided vehicles), also known as automated Guided vehicles, laser Guided vehicles. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV, the automatic guided vehicle can ensure that the system can automatically run along a preset route under the condition of no need of manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. AGV carts are widely used in the warehousing industry, manufacturing industry, post offices, libraries, ports and docks, airports, tobacco, medicine, food, chemical and hazardous locations, and specialty industries. However, the size and the weight of the tool are large, so that the problem of how to accurately and stably lift the tool to the tool rack is to be solved.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model aims to provide an upper workpiece and lower workpiece tooling system adopting an intelligent omnidirectional mobile robot.

In order to achieve the above purpose, the utility model discloses a technical scheme is: adopt intelligence omnidirectional movement robot's upper and lower workpiece handling system, include a plurality of frock framves and can be at the omnidirectional trolley of round trip movement between the frock frame, its characterized in that: the omnidirectional trolley comprises a chassis, the upper end face of the chassis upwards extends to form a surrounding plate, a placing cavity is formed between the surrounding plate and the chassis, a driving device for driving walking wheels to rotate is arranged in the placing cavity, a scissor type lifting device is further arranged in the placing cavity, the upper end of the scissor type lifting device is hinged to a lower top plate capable of moving up and down under the driving of the scissor type lifting device, four fine adjustment lifting devices which are arranged in a rectangular mode are installed on the upper end face of the lower top plate, an upper top plate is fixed to the upper end of the fine adjustment lifting device, and the upper top plate can be abutted to a tool.

The beneficial effects of the utility model reside in that: the omnidirectional trolley can walk under the action of the driving device to drive the tool to move. And a scissor type lifting device is arranged in the placing cavity, the lower top plate can be pushed to lift stably and at a large distance, a fine adjustment lifting device is arranged on the lower top plate, the upper top plate can lift in a small range from left to right in the fine adjustment lifting device, and the upper top plate can be inclined according to different heights adjusted by the four fine adjustment lifting devices. Realize the accurate upper and lower piece of frock.

Further, cut fork elevating gear including cutting the flexible pneumatic cylinder of fork crane and drive fork crane, the casing and the chassis of pneumatic cylinder are articulated, its hydraulic stem with cut the fork crane and articulate, it still is provided with the hydraulic drive spare for the pneumatic cylinder oil feed to place the intracavity. The hydraulic cylinder drives the scissor lifting frame to lift, the acting force is large, and the bearing weight is large.

Further, the scissor type lifting frame comprises two groups of support frames which are synchronously telescopic in the vertical direction, a connecting shaft is further fixed between the two support frames, and a hydraulic rod of the hydraulic cylinder is hinged with the connecting shaft.

Further, each group of support frames comprises a first lifting arm and a second lifting arm, the middle parts of the first lifting arm and the second lifting arm are hinged, the upper end and the lower end of the first lifting arm are hinged with the lower top plate and the base plate respectively, and the upper end and the lower end of the second lifting arm can horizontally slide along the lower top plate and the base plate respectively.

Further, fine setting elevating gear is including fixing the mount pad on roof down, the mount pad internal rotation is connected with the worm wheel and with worm wheel meshed worm, worm one end is run through the mount pad and can be dismantled and be connected with its pivoted hand wheel of drive, it has the jacking lead screw that can follow it and reciprocate still to run through in the worm wheel, the inner wall of worm wheel is provided with the internal thread, the outer wall of jacking lead screw is provided with rather than threaded connection's external screw thread, the upper end of jacking lead screw is run through the mount pad and is connected with flange, flange concreties with last roof. A gap is reserved between the jacking screw rod and the inner wall of the turbine, the jacking screw rod can swing in the turbine, and the upper top plate can deviate within a certain range.

Further, a convex block extends upwards from the worm extending out of the mounting seat, and the hand wheel is sleeved on the worm and provided with a sliding groove corresponding to the convex block. Only one hand wheel is needed, and the hand wheel can be detached from the worm and used for respectively adjusting the four worms.

Furthermore, the walking wheels are arranged at four corners of the chassis and are Mecanum wheels, so that the function of all-directional movement can be realized more flexibly and conveniently, the movement precision can reach 0.02mm, and the butt joint precision and the adjustment precision of the jacked tool and an external object can be accurately adjusted. The driving device corresponds the setting with the walking wheel, driving device includes direct current servo motor and speed reducer, direct current servo motor passes through speed reducer drive walking wheel and rotates, it still is provided with the lithium ion battery group for direct current servo motor power supply to place the intracavity.

Furthermore, an organ cover is arranged between the upper top plate and the enclosing plate, one end of the organ cover is fixedly connected with the lower end face of the upper top plate, and the other end of the organ cover is fixedly connected with the enclosing plate. The organ cover protects the placing cavity and prevents dust or foreign matters from influencing the device in the placing cavity.

Furthermore, the outer wall of the enclosing plate is provided with an anti-collision rubber strip, so that the impact damage of the vehicle body is reduced.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention;

fig. 2 is a side view of an embodiment of the present invention;

fig. 3 is a top view of a bottom plate in an embodiment of the present invention;

fig. 4 is a schematic structural view of a scissor lift device according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of the fine adjustment of the lifting mechanism of the embodiment of the present invention;

fig. 6 is an enlarged view a of fig. 1.

In the figure:

1-chassis, 2-coaming, 3-walking wheels, 4-scissor type lifting device, 41-scissor type lifting frame, 411-first lifting arm, 412-second lifting arm, 4121-roller, 42-hydraulic cylinder, 43-hydraulic driving piece, 5-lower top plate, 6-fine adjustment lifting device, 61-mounting seat, 62-worm wheel, 63-worm, 631-lug, 64-hand wheel, 65-jacking screw rod, 66-connecting flange, 7-upper top plate, 81-direct current servo motor, 82-speed reducer, 83-lithium ion battery pack, 9-organ cover and 10-anti-collision rubber strip.

Detailed Description

The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.

Examples

Referring to fig. 1-6, the workpiece loading and unloading system using the intelligent omnidirectional mobile robot of the present invention includes a plurality of tool racks and an omnidirectional trolley capable of moving back and forth between the tool racks.

The omnidirectional trolley comprises a chassis 1, a coaming 2 extends upwards from the upper end of the chassis 1, and a placing cavity is formed between the coaming 2 and the chassis 1. A driving device for driving the walking wheels 3 to rotate is arranged in the placing cavity. The walking wheels are arranged at four corners of the chassis 1 and are Mecanum wheels, and the Mecanum wheels can realize the function of omnibearing movement more flexibly and conveniently. Drive arrangement corresponds the setting with the walking wheel, and drive arrangement includes DC servo motor 81 and speed reducer 82, and DC servo motor 81 passes through speed reducer 82 drive walking wheel and rotates, places the intracavity and still is provided with the lithium ion battery group 83 for DC servo motor 81 power supply.

A scissor type lifting device 4 is further arranged in the placing cavity, and the upper end of the scissor type lifting device 4 is hinged with a lower top plate which can move up and down under the driving of the scissor type lifting device. Cut fork elevating gear 4 and cut fork crane 41 and drive the flexible pneumatic cylinder 42 of fork crane 41 including cutting the fork, the casing of pneumatic cylinder 42 is articulated with chassis 1, and its hydraulic stem is articulated with cutting fork crane 41, places the intracavity and still is provided with the hydraulic drive piece 43 for the pneumatic cylinder 42 fuel feeding. The hydraulic drive 43 includes a hydraulic tank and a hydraulic pump fixed within the placement chamber. The hydraulic cylinder 42 drives the scissor lifting frame to lift, the acting force is large, and the bearing weight is large.

The scissor type lifting frame 41 comprises two groups of support frames which are synchronously telescopic in the vertical direction, a connecting shaft is further fixed between the two support frames, and a hydraulic rod of the hydraulic cylinder 42 is hinged with the connecting shaft. Each group of support frames comprises a first lifting arm 411 and a second lifting arm 412, the middle parts of the first lifting arm 411 are hinged, the upper end and the lower end of the first lifting arm 411 are hinged with the lower top plate and the chassis 1 respectively, and the upper end and the lower end of the second lifting arm 412 can horizontally slide along the lower top plate and the chassis 1 respectively. The upper and lower ends of the second lifting arm 412 are rotatably connected with rollers 4121, and the lower top plate and the chassis 1 are horizontally provided with a slideway for the rollers 4121 to roll.

Four fine-tuning lifting devices 6 which are arranged in a rectangular shape are installed on the upper end face of the lower top plate, an upper top plate 7 is fixed at the upper end of each fine-tuning lifting device 6, and the upper top plate 7 can be abutted to a tool. The fine adjustment lifting device 6 comprises a mounting seat 61 fixed on the lower top plate, a worm wheel 62 and a worm 63 meshed with the worm wheel 62 are connected in the mounting seat 61 in a rotating mode, the worm 63 is connected with the mounting seat 61 in a rotating mode, threads matched with the worm wheel are arranged on the portion, located in the mounting seat 61, of the worm 63, the outer surface of the worm wheel is provided with helical teeth, and when the worm 63 rotates, the worm wheel can be driven to rotate. One end of the worm 63 penetrates through the mounting seat 61 and is detachably connected with a hand wheel 64 for driving the worm 63 to rotate, a jacking screw rod 65 capable of moving up and down along the worm is further penetrated through the worm wheel 62, an internal thread is arranged on the inner wall of the worm wheel 62, an external thread connected with the outer wall of the jacking screw rod 65 is arranged on the outer wall of the jacking screw rod, a connecting flange 66 is connected to the upper end of the jacking screw rod 65 through the mounting seat 61, and the connecting flange 66 is fixedly connected with the upper top plate 7. A gap is reserved between the jacking screw rod 65 and the inner wall of the turbine, and the jacking screw rod can swing in the turbine to realize the offset of the upper top plate 7 in a certain range.

A projection 631 extends upwards from the worm 63 extending out of the mounting seat 61, and the hand wheel 64 is sleeved on the worm 63 and is provided with a sliding groove corresponding to the projection 631. Only one hand wheel 64 is required, which is detachable from the worm 63 for the respective adjustment of the four worm 63.

This omnidirectional trolley can walk under the drive arrangement effect, drives the frock and removes. And set up scissors fork elevating gear 4 in placing the intracavity, can promote down the roof stable and big distance go up and down, be provided with fine setting elevating gear 6 on the roof down, go up roof 7 can be about fine setting elevating gear 6 the lift of low range to according to the different heights that four fine setting elevating gear 6 adjusted, realize going up the slope of roof 7. Realize the accurate upper and lower piece of frock.

An organ cover 9 is arranged between the upper top plate 7 and the coaming 2, one end of the organ cover 9 is fixedly connected with the lower end face of the upper top plate 7, and the other end of the organ cover is fixedly connected with the coaming 2. The organ cover 9 protects the placing cavity and prevents dust or foreign matters from influencing devices in the placing cavity.

The outer wall of bounding wall 2 is provided with crashproof adhesive tape 10, reduces the striking damage of automobile body.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, so as not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.

Claims

1. Adopt intelligence omnidirectional movement robot's upper and lower workpiece handling system, include a plurality of frock framves and can be at the omnidirectional trolley of round trip movement between the frock frame, its characterized in that: the omnidirectional trolley comprises a chassis, the upper end face of the chassis upwards extends to form a surrounding plate, a placing cavity is formed between the surrounding plate and the chassis, a driving device for driving walking wheels to rotate is arranged in the placing cavity, a scissor type lifting device is further arranged in the placing cavity, the upper end of the scissor type lifting device is hinged to a lower top plate capable of moving up and down under the driving of the scissor type lifting device, four fine adjustment lifting devices which are arranged in a rectangular mode are installed on the upper end face of the lower top plate, an upper top plate is fixed to the upper end of the fine adjustment lifting device, and the upper top plate can be abutted to a tool.

2. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 1, wherein: cut fork elevating gear and cut the flexible pneumatic cylinder of fork crane including cutting the fork crane and drive, the casing and the chassis of pneumatic cylinder are articulated, its hydraulic stem with it is articulated to cut the fork crane, it still is provided with the hydraulic drive spare to the pneumatic cylinder fuel feeding to place the intracavity.

3. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 2, wherein: the scissor type lifting frame comprises two groups of supporting frames which are synchronously telescopic in the vertical direction, a connecting shaft is further fixed between the two supporting frames, and a hydraulic rod of the hydraulic cylinder is hinged with the connecting shaft.

4. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 3, wherein: each group of support frame all includes middle part articulated first lifing arm and second lifing arm, the upper and lower both ends of first lifing arm are articulated with roof and chassis down respectively, the upper and lower both ends of second lifing arm can follow roof and chassis horizontal slip down respectively.

5. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 1, wherein: fine setting elevating gear is including fixing the mount pad on roof down, the mount pad internal rotation be connected with the worm wheel and with worm wheel meshed worm, worm one end is run through the mount pad and can be dismantled its pivoted hand wheel of drive, it has the jacking lead screw that can follow it and reciprocate still to run through in the worm wheel, the inner wall of worm wheel is provided with the internal thread, the outer wall of jacking lead screw is provided with the external screw thread rather than threaded connection, the upper end of jacking lead screw is run through the mount pad and is connected with flange, flange concreties with last roof.

6. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 5, wherein: the worm extending out of the mounting seat extends upwards to form a convex block, and the hand wheel is sleeved on the worm and is provided with a sliding groove which is arranged corresponding to the convex block.

7. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 1, wherein: the walking wheel sets up in four angles departments on the chassis and is the mecanum wheel, drive arrangement corresponds the setting with the walking wheel, drive arrangement includes direct current servo motor and speed reducer, direct current servo motor passes through speed reducer drive walking wheel and rotates, it still is provided with the lithium ion battery group for the power supply of direct current servo motor to place the intracavity.

8. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 1, wherein: an organ cover is arranged between the upper top plate and the enclosing plate, one end of the organ cover is fixedly connected with the lower end face of the upper top plate, and the other end of the organ cover is fixedly connected with the enclosing plate.

9. The workpiece loading and unloading system using the intelligent omnidirectional mobile robot according to claim 1, wherein: and an anti-collision rubber strip is arranged on the outer wall of the enclosing plate.