CN216470751U

CN216470751U - Mobile robot for combined application of transmission and grabbing

Info

Publication number: CN216470751U
Application number: CN202121997789.4U
Authority: CN
Inventors: 钱月根
Original assignee: Suzhou Taohuayuan Machinery Co ltd
Current assignee: Suzhou Taohuayuan Machinery Co ltd
Priority date: 2021-08-24
Filing date: 2021-08-24
Publication date: 2022-05-10
Anticipated expiration: 2031-08-24

Abstract

The utility model discloses a mobile robot applied by combination of transmission and grabbing, which comprises a mobile robot body, wherein hydraulic cylinders are fixedly arranged on two sides of the upper end surface of the robot body, a mounting plate is fixedly arranged on one side of the outer surface of each hydraulic cylinder, through holes A are formed in two sides of the outer surface of the mounting plate and penetrate through the mounting plate, a connecting shaft is arranged inside each through hole A, a limiting plate is fixedly arranged at one end of each connecting shaft, a fixing head A is fixedly arranged at the other end of each connecting shaft, a spring A sleeved on the outer surface of each connecting shaft is arranged between each fixing head A and the mounting plate, a sleeve is fixedly arranged in the middle of the other end surface of the mounting plate, a through hole B is arranged on one side of the outer surface of each sleeve, and one end of each through hole B extends to the inner wall of a limiting ring movable groove located inside each sleeve. The novel mobile robot can transport a plurality of transported objects at one time, so that the working efficiency of the robot body is improved.

Description

Mobile robot for combined application of transmission and grabbing

Technical Field

The utility model relates to the technical field of mobile robots, in particular to a mobile robot with combined application of transmission and grabbing.

Background

With the rapid development of socio-economy, mobile robots are machine devices that automatically perform work. The intelligent robot can accept human command, run a pre-programmed program and perform actions according to principles formulated by artificial intelligence technology, and has the task of assisting or replacing human work, such as production, construction or dangerous work.

However, the existing mobile robot for combined application of transmission and gripping does not have any structure capable of clamping articles except for the mechanical arm, and only the articles on the mechanical arm can be transmitted when the articles are transmitted each time, so that the transmission efficiency is low; therefore, the existing requirements are not met, and a mobile robot for combined transmission and grabbing application is provided for the purpose.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a mobile robot for combined application of transmission and grabbing, which aims to solve the problems of low transmission efficiency and the like in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a mobile robot applied by combination of transmission and grabbing comprises a robot body, wherein hydraulic cylinders are fixedly mounted on two sides of the upper end face of the robot body, a mounting plate is fixedly arranged on one side of the outer surface of each hydraulic cylinder, through holes A are formed in two sides of the outer surface of the mounting plate and penetrate through the mounting plate, a connecting shaft is arranged inside each through hole A, a limiting plate is fixedly arranged at one end of the connecting shaft, a fixing head A is fixedly arranged at the other end of the connecting shaft, a spring A sleeved on the outer surface of the connecting shaft is arranged between the fixing head A and the mounting plate, a sleeve is fixedly arranged at the middle position of the other end face of the mounting plate, a through hole B is arranged on one side of the outer surface of the sleeve, one end of the through hole B extends to the inner wall of a limiting ring movable groove inside the sleeve, a movable shaft is arranged inside the through hole B, a limiting ring inside the limiting ring movable groove is fixedly arranged at one end of the movable shaft, the other end of the movable shaft is fixedly provided with a fixed head B, and the outer surfaces of the movable shaft and the sleeve are sleeved with a spring B.

Preferably, one side of the hydraulic cylinder is fixedly provided with a mechanical arm positioned on the upper end face of the robot body, and the other side of the mechanical arm is fixedly provided with a signal receiver positioned on the upper end face of the robot body.

Preferably, the robot body is electrically connected with a power supply, and the mechanical arm, the signal receiver and the hydraulic cylinder are all electrically connected with the robot body.

Preferably, the outer surface of connecting axle and the inner wall of opening A laminate closely, all be connected through the welding between connecting axle and fixed head A and the limiting plate.

Preferably, the outer surface of the movable shaft is closely attached to the inner wall of the through hole B, and the movable shaft, the limiting ring and the fixing head B are connected through welding.

Preferably, the outer surfaces of the fixing heads A and B are all provided with anti-slip stripes.

Compared with the prior art, the utility model has the beneficial effects that:

1. the utility model is characterized in that hydraulic cylinders are fixedly arranged on both sides of the upper end surface of a robot body, a mounting plate is fixedly arranged on one side of the outer surface of the hydraulic cylinder, through holes A are arranged on both sides of the outer surface of the mounting plate and penetrate through the mounting plate, a connecting shaft is arranged inside the through holes A, a limiting plate is fixedly arranged at one end of the connecting shaft, a fixing head A is fixedly arranged at the other end of the connecting shaft, a sleeve is fixedly arranged in the middle of the other end surface of the mounting plate, a through hole B is arranged on one side of the outer surface of the sleeve, one end of the through hole B extends to the inner wall of a limiting ring movable groove in the sleeve, a movable shaft is arranged inside the through hole B, a limiting ring in the limiting ring movable groove is fixedly arranged at one end of the movable shaft, a fixing head B is fixedly arranged at the other end of the movable shaft, when a transported object is clamped on a mechanical arm, the transported object can be placed between the two hydraulic cylinders, the hydraulic cylinder is started, the mounting plate can be pushed inwards through the hydraulic cylinder, the fixing head A and the fixing head B also move inwards in the process that the mounting plate is pushed inwards, the fixing head A and the fixing head B can contact with a transport object positioned between the two hydraulic cylinders along with the movement of the fixing head A and the fixing head B, when the fixing head A and the fixing head B are completely contacted with the transport object, the transport object is fixed, a plurality of transport objects can be fixed on the upper end face of the robot body through the design, the robot body can transport the plurality of transport objects at one time, and therefore the working efficiency of the robot body is improved;

2. according to the utility model, the spring A sleeved on the outer surface of the connecting shaft is arranged between the fixed head A and the mounting plate, the spring B is sleeved on the outer surfaces of the movable shaft and the sleeve, when the fixed head A and the fixed head B are both contacted with the transported object and continuously move inwards, the spring A and the spring B are respectively extruded, when the transported object is an object with an irregular outer surface, the fixed head A and the fixed head B are contacted with different positions on the outer surface of the transported object, and by means of the design, the fixed head A and the fixed head B are contacted with the outer surfaces of more transported objects in the process of clamping the transported object with the irregular outer surface, so that the flexibility and the clamping property of the equipment are improved.

Drawings

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a side view of the present invention in its entirety;

fig. 3 is a partial structural schematic view of the fixing table of the present invention.

In the figure: 1. a robot body; 2. a mechanical arm; 3. a signal receiver; 4. a hydraulic cylinder; 5. mounting a plate; 6. a fixed head A; 7. a connecting shaft; 8. a through opening A; 9. a spring A; 10. a limiting plate; 11. a fixed head B; 12. a spring B; 13. a movable shaft; 14. a sleeve; 15. a through opening B; 16. a limiting ring; 17. the spacing ring activity groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

The mobile robot body 1 (model number MiR100), the mechanical arm 2 (model number HX-03) and the hydraulic cylinder 4 (model number MPT63X100) can be purchased from the market or customized by a person.

Referring to fig. 1 to 3, an embodiment of the present invention includes: a mobile robot applied by transmission and grabbing combination comprises a robot body 1, wherein hydraulic cylinders 4 are fixedly mounted on two sides of the upper end face of the robot body 1, a mounting plate 5 is fixedly arranged on one side of the outer surface of each hydraulic cylinder 4, through holes A8 are formed in two sides of the outer surface of each mounting plate 5, a through hole A8 penetrates through each mounting plate 5, a connecting shaft 7 is arranged inside each through hole A8, a limiting plate 10 is fixedly arranged at one end of each connecting shaft 7, a fixing head A6 is fixedly arranged at the other end of each connecting shaft 7, a spring A9 sleeved on the outer surface of each connecting shaft 7 is arranged between each fixing head A6 and each mounting plate 5, a sleeve 14 is fixedly arranged in the middle of the other end face of each mounting plate 5, a through hole B15 is arranged on one side of the outer surface of each sleeve 14, one end of each through hole B15 extends to the inner wall of a limiting ring movable groove 17 located inside each sleeve 14, a movable shaft 13 is arranged inside each through hole B15, a limiting ring 16 located inside the limiting ring movable groove 17 is fixedly arranged at one end of each movable shaft 13, the other end of the movable shaft 13 is fixedly provided with a fixed head B11, and the outer surfaces of the movable shaft 13 and the sleeve 14 are sleeved with a spring B12.

Further, a mechanical arm 2 located on the upper end face of the robot body 1 is fixedly mounted on one side of the hydraulic cylinder 4, a signal receiver 3 located on the upper end face of the robot body 1 is fixedly mounted on the other side of the mechanical arm 2, and the signal receiver 3 can receive command signals.

Further, robot body 1 and power electric connection, arm 2, signal receiver 3 and hydraulic cylinder 4 all with robot body 1 electric connection, can the centre gripping transported object through arm 2.

Further, the outer surface of connecting axle 7 and the inner wall of opening A8 laminate closely, all be connected through the welding between connecting axle 7 and fixed head A6 and the limiting plate 10, can prevent through limiting plate 10 that connecting axle 7 from droing.

Further, the outer surface of the movable shaft 13 is closely attached to the inner wall of the through hole B15, the movable shaft 13 is connected with the limiting ring 16 and the fixed head B11 through welding, and the movable shaft 13 can be prevented from falling off through the limiting ring 16.

Further, the outer surfaces of the fixing head a6 and the fixing head B11 are all provided with anti-slip stripes, and friction force can be increased through the anti-slip stripes.

The working principle is as follows: when in use, the robot is connected with a power supply, the two sides of the upper end surface of the robot body 1 are fixedly provided with hydraulic cylinders 4, one side of the outer surface of each hydraulic cylinder 4 is fixedly provided with a mounting plate 5, the two sides of the outer surface of each mounting plate 5 are respectively provided with a through hole A8, a through hole A8 penetrates through each mounting plate 5, a connecting shaft 7 is arranged inside each through hole A8, one end of each connecting shaft 7 is fixedly provided with a limiting plate 10, the other end of each connecting shaft 7 is fixedly provided with a fixing head A6, the middle position of the other end surface of each mounting plate 5 is fixedly provided with a sleeve 14, one side of the outer surface of each sleeve 14 is provided with a through hole B15, one end of each through hole B15 extends to the inner wall of a limiting ring movable groove 17 inside each sleeve 14, a movable shaft 13 is arranged inside each through hole B15, one end of each movable shaft 13 is fixedly provided with a limiting ring 16 inside the limiting ring movable groove 17, the other end of each movable shaft 13 is fixedly provided with a fixing head B11, when a transported object is clamped on the mechanical arm 2, the transportation object can be placed between the two hydraulic cylinders 4, then the hydraulic cylinders 4 are started, the mounting plate 5 can be pushed inwards through the hydraulic cylinders 4, the fixing head A6 and the fixing head B11 also move inwards in the process that the mounting plate 5 is pushed inwards, the fixing head A6 and the fixing head B11 can contact the transportation object between the two hydraulic cylinders 4 along with the movement of the fixing head A6 and the fixing head B11, when the fixing head A6 and the fixing head B11 are completely contacted with the transportation object, the transportation object is fixed, through the design, a plurality of transportation objects can be fixed on the upper end face of the robot body 1, the robot body 1 can transport a plurality of transportation objects at one time, so that the working efficiency of the robot body 1 is increased, the spring A9 sleeved on the outer surface of the connecting shaft 7 is arranged between the fixing head A6 and the mounting plate 5, the outer surfaces of the movable shaft 13 and the sleeve 14 are sleeved with the spring B12, when the fixed head A6 and the fixed head B11 both contact with the transported object and move inwards continuously, the fixed head A6 and the fixed head B11 will press the spring A9 and the spring B12 respectively, when the transported object is an object with an irregular outer surface, the fixed head A6 and the fixed head B11 will contact with different positions of the outer surface of the transported object, by the design, the fixed head A6 and the fixed head B11 will contact with the outer surface of more transported objects in the process of clamping the transported object with the irregular outer surface, so that the flexibility and the clamping performance of the equipment are improved, after the assembly of the mobile robot body 1 is completed, the signal receiver 3 can give an instruction to the mobile robot body 1, then the transported object is clamped by the mechanical arm 2, then the transported object is placed between the two hydraulic cylinders 4 for fixing, and then the robot body 1 will move to a designated area.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a mobile robot that transmission and snatch combination were used, includes robot (1), its characterized in that the equal fixed mounting in both sides of robot (1) up end has hydraulic cylinder (4), one side of hydraulic cylinder (4) surface is fixed and is equipped with mounting panel (5), the both sides of mounting panel (5) surface all are equipped with opening A (8), opening A (8) run through mounting panel (5), the inside of opening A (8) is equipped with connecting axle (7), the fixed limiting plate (10) that is equipped with of one end of connecting axle (7), the fixed head A (6) that is equipped with of the other end of connecting axle (7), be equipped with spring A (9) that the cover was located connecting axle (7) surface between fixed head A (6) and mounting panel (5), the fixed sleeve (14) that is equipped with of the intermediate position of mounting panel (5) other terminal surface, one side of sleeve (14) surface is equipped with opening B (15), the one end of opening B (15) extends to the inner wall that is located the inside spacing ring activity groove (17) of sleeve (14), the inside of opening B (15) is equipped with loose axle (13), the fixed spacing ring (16) that are located spacing ring activity groove (17) inside that are equipped with of one end of loose axle (13), the other end of loose axle (13) is fixed and is equipped with fixed head B (11), the surface cover of loose axle (13) and sleeve (14) is equipped with one spring B (12).

2. A combined transport and gripping application mobile robot according to claim 1, characterized in that: one side fixed mounting of hydraulic cylinder (4) has arm (2) that are located robot body (1) up end, the opposite side fixed mounting of arm (2) has signal receiver (3) that are located robot body (1) up end.

3. A combined transport and gripping application mobile robot according to claim 2, characterized in that: the robot is characterized in that the robot body (1) is electrically connected with a power supply, and the mechanical arm (2), the signal receiver (3) and the hydraulic cylinder (4) are all electrically connected with the robot body (1).

4. A combined transport and gripping application mobile robot according to claim 1, characterized in that: the outer surface of connecting axle (7) and the inner wall of opening A (8) laminate closely, all be connected through the welding between connecting axle (7) and fixed head A (6) and limiting plate (10).

5. A combined transport and gripping application mobile robot according to claim 1, characterized in that: the outer surface of the movable shaft (13) is closely attached to the inner wall of the through hole B (15), and the movable shaft (13) is connected with the limiting ring (16) and the fixing head B (11) through welding.

6. A combined transport and gripping application mobile robot according to claim 1, characterized in that: the outer surfaces of the fixing head A (6) and the fixing head B (11) are all provided with anti-slip stripes.