CN216731786U

CN216731786U - Robot with sliding manipulator

Info

Publication number: CN216731786U
Application number: CN202122380775.4U
Authority: CN
Inventors: 李卫君; 韩小李
Original assignee: Zhejiang Mairui Robot Co Ltd
Current assignee: Zhejiang Mairui Robot Co Ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-06-14
Anticipated expiration: 2031-09-29

Abstract

The utility model discloses a robot with a sliding manipulator, comprising: a mobile robot and a gripping mechanism; snatch the mechanism and include: the manipulator comprises a rotating seat, a lifting shaft, a lifting slider and a manipulator assembly; the rotating seat is rotatably arranged above the mobile robot to rotate in the horizontal direction; one end of the lifting shaft is fixed to the rotating seat; the lifting slider is connected to the lifting shaft in a sliding manner; the manipulator assembly is arranged on the lifting slider; the manipulator assembly includes: the vacuum ball clamping plate is fixed on the fixed lifting arm; one end of the fixed lifting arm is connected to the lifting slider; one end of the connecting arm is connected to the other end of the fixed lifting arm; one end of the rotating arm is rotatably connected to the other end of the connecting arm; one end of the vacuum ball plate shaft is connected to the other end of the rotating arm. Has the following beneficial effects: simple structure, the simple operation, the operating space that needs is little, can improve the efficiency of snatching and moving the goods, has higher commonality, low in production cost.

Description

Robot with sliding manipulator

Technical Field

The utility model relates to the technical field of grabbing robots, in particular to a robot with a sliding manipulator.

Background

The existing latent manipulator robot is simple in structure, usually adopts a bracket type manipulator to grab goods, and the grabbing structure of the robot cannot freely and flexibly move the goods. Simultaneously, the manipulator of a posture need pull open longer arm structure and just can pick up the box and place the box in appointed position, and the operating space that needs like this is great, and manufacturing cost is high, and the operation is complicated, and it is also not high to snatch efficiency.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved by the utility model

The simple structure to the manipulator robot of hiding among the above prior art adopts a posture manipulator to snatch the goods usually, and it snatchs the unable free nimble removal goods of structure, and the manipulator of the posture of its adoption need pull open longer arm structure and just can pick up the box and place the box in appointed position, and the operating space who needs like this is great, and manufacturing cost is high, and the operation is complicated, snatchs the not high problem of efficiency yet, and this application provides a robot with slip manipulator.

2. Technical scheme

In order to solve the problems, the technical scheme provided by the utility model is as follows:

a robot having a sliding manipulator, comprising: a mobile robot and a gripping mechanism; the grabbing mechanism is arranged above the mobile robot to grab goods; snatch the mechanism and include: the manipulator comprises a rotating seat, a lifting shaft, a lifting slider and a manipulator assembly; the rotating seat is rotatably arranged above the mobile robot to rotate in the horizontal direction; one end of the lifting shaft is fixed to the rotating seat to rotate in the horizontal direction along with the rotating seat; the lifting slider is connected to the lifting shaft in a sliding manner so as to slide up and down along the extension direction of the lifting shaft; the manipulator assembly is arranged on the lifting slider to rotate in the horizontal direction along with the lifting slider and the lifting shaft; the manipulator assembly includes: the vacuum ball clamping plate is fixed on the fixed lifting arm; one end of the fixed lifting arm is connected to the lifting slider; one end of the connecting arm is connected to the other end of the fixed lifting arm; one end of the rotating arm is rotatably connected to the other end of the connecting arm to rotate in the horizontal direction; one end of the vacuum ball plate shaft is connected to the other end of the rotating arm so as to be driven by the other end of the rotating arm to move between a first position and a second position; the vacuum ball clamping plate is arranged at the other end of the vacuum ball plate shaft and absorbs goods through the vacuum balls arranged on the vacuum ball clamping plate.

Further, the rotating base performs 360-degree rotation in the horizontal direction above the mobile robot.

Further, one end of the rotating arm is rotatably connected to the other end of the connecting arm through the rotating shaft and performs 180-degree rotation in the horizontal direction about the axis of the rotating shaft.

Furthermore, a square groove is formed at the other end of the fixed lifting arm; a square convex part matched with the square groove is formed at one end of the connecting arm; one end of the connecting arm is inserted in the square groove through the square convex part and connected to the other end of the lifting arm.

Further, the lifting shaft is fixed to the rotating base through a connecting shaft.

Furthermore, the lifting shaft is provided with a guide projection for guiding the lifting slider to slide up and down; the inner wall of the lifting slider is formed with a guide groove for fitting the guide projection.

Further, the manipulator assembly is also provided with a tray; the tray is fixedly arranged at the other end of the fixed lifting arm.

Further, the bottom of the vacuum ball holding plate is held in contact with the tray.

Further, the mobile robot includes: the device comprises a driving structure, a machine shell and universal wheels; the driving structure is arranged in the shell and drives the universal wheel to rotate; the grabbing mechanism is arranged above the machine shell.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects:

the robot with the sliding manipulator provided by the embodiment of the application can flexibly pick goods, can adjust the grabbing height of the manipulator at will by adopting the lifting shaft and the lifting slider structure, can adapt to goods shelves with different heights, and is high in universality and simple to operate. Simultaneously, the manipulator subassembly of robot with slip manipulator can carry out the high-efficient centre gripping that adsorbs to the goods through rotor arm and vacuum ball grip block to the rotation through the linking arm drives the rotation of vacuum ball grip block, directly moves the goods from a goods shelves horizontal migration to another goods shelves, simple structure, the simple operation, the operating space of needs is less, can effectively improve the efficiency of snatching the goods of moving, and manufacturing cost is still low simultaneously. Certainly, the manipulator subassembly of the robot with sliding manipulator can also drive the vacuum ball clamping plate to rotate through the rotation of linking arm after carrying out high-efficient absorption centre gripping to the goods through rotor arm and vacuum ball clamping plate to directly remove the goods from a goods shelves to another goods shelves different with the height of former goods through the lifting slider, further improved the commonality of the robot with sliding manipulator.

Drawings

Fig. 1 is a schematic structural diagram of a robot with a sliding manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic view of a robot arm assembly of the robot of FIG. 1 having a sliding robot arm;

FIG. 3 is an exploded view of a robot assembly of the robot of FIG. 1 having a sliding robot;

FIG. 4 is a schematic view of the robot of FIG. 1 with a sliding robot arm grasping a load from a pallet;

fig. 5 is a schematic view of the robot having the sliding robot arm in fig. 1 gripping and moving goods on one shelf to another shelf.

The robot system comprises a robot 10 with a sliding manipulator, a mobile robot 11, a machine shell 111, universal wheels 112, a grabbing mechanism 12, a rotating seat 121, a lifting shaft 122, a guide protrusion 1221, a connecting shaft 123, a lifting slider 124, a guide groove 1241, a manipulator assembly 125, a fixed lifting arm 1251, a square groove 1252, a connecting arm 1253, a square protrusion 1254, a rotating arm 1255, a vacuum ball panel shaft 1256, a vacuum ball clamping panel 1257, a tray 1258, a vacuum ball 1259, a rotating shaft 1230, a shelf 101 and goods 102.

Detailed Description

For a further understanding of the present invention, reference will now be made in detail to the embodiments illustrated in the drawings.

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the utility model. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The terms first, second, and the like in the present invention are provided for convenience of describing the technical solution of the present invention, and have no specific limiting effect, but are all generic terms, and do not limit the technical solution of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical solutions in the same embodiment and the technical solutions in different embodiments can be arranged and combined to form a new technical solution without contradiction or conflict, and the technical solutions are within the scope of the present invention.

Example 1

As shown in fig. 1 to 5, a robot 10 having a sliding robot hand according to the present invention includes: a mobile robot 11 and a gripping mechanism 12. The gripping mechanism 12 is installed above the mobile robot 11 to grip the goods 102. As a modification of this solution, the grasping mechanism 12 includes: a rotating base 121, a lifting shaft 122, a lifting slider 124, and a robot assembly 125. The rotating base 121 is rotatably installed above the mobile robot 11 to rotate in a horizontal direction, that is, the rotating base 121 can rotate in a circumferential direction with respect to the mobile robot 11. One end of the elevation shaft 122 is fixed to the rotation base 121 so as to be capable of rotating in the horizontal direction, i.e., in the circumferential direction, along with the rotation base 121. The elevation slider 124 is slidably connected to the elevation shaft 122 so as to be capable of sliding up and down in the extending direction of the elevation shaft 122. The robot assembly 125 is mounted to the elevation slider 124 so as to be capable of rotating in a horizontal direction, i.e., capable of rotating circumferentially about the rotation axis of the rotation base 121, along with the elevation slider 124 and the elevation shaft 122. That is to say that the position of the first electrode,

further, the robot assembly 125 includes: a fixed lift arm 1251, a link arm 1253, a swivel arm 1255, a vacuum ball gripper plate 1256, and a vacuum ball gripper plate 1257. One end of the fixed lift arm 1251 is connected to the lifting slider 124 so as to be capable of sliding up and down in a vertical direction along with the lifting slider 124 to adjust a working position of the robot assembly 125, and the operation is flexible. Then, one end of the connecting arm 1253 is connected to the other end of the fixed lift arm 1251, and one end of the rotating arm 1255 is rotatably connected to the other end of the connecting arm 1253, so that the rotating arm 1255 can perform rotation in the horizontal direction, that is, so that the rotating arm 1255 can perform circumferential rotation about the axis in the vertical direction. Then, one end of the vacuum ball pivot 1256 is connected to the other end of the rotating arm 1255 so as to be moved by the other end of the rotating arm 1255 between the first position and the second position. A vacuum ball gripper plate 1257 is mounted to the other end of the vacuum ball shaft 1256 and draws the cargo 102 through its own vacuum ball 1259. The first position and the second position refer to a position where the vacuum ball 1259 sucks the cargo 102 and a position where the vacuum ball 1259 releases the cargo 102, respectively.

Specifically, in operation, the mobile robot 11 first moves between two designated shelves 101, and then the lifting slider 124 slides up and down along the lifting shaft 122 according to the setting of the worker to adjust the working position of the robot assembly 125 until the vacuum ball holding plate 1257 moves to a height that can efficiently grasp the goods 102 on the shelf 101. The rotary base 121 is then controlled by the controller to rotate so that the robot assembly 125 moves to a first predetermined position toward the shelf 101 with the goods 102. Then the rotating arm 1255 is controlled by the controller to rotate until the vacuum ball 1259 contacts the goods 102 on the shelf 101 and sucks the goods 102 by vacuum suction. Finally, the rotary seat 121 is rotated reversely under the control of the controller, so that the robot assembly 125 moves to another opposite rack 101 until the robot assembly moves to a second preset position, at this time, the controller controls the rotary arm 1255 to rotate reversely until the vacuum ball holding plate 1257 drives the goods 102 to move to a predetermined position on another rack 101, and at this time, the controller controls the vacuum ball 1259 to release the goods 102. Through this process, the operation of moving the goods 102 on one rack 101 to another rack 101 is completed. In this process, if the moving positions of the two shelves 101 are different in height, the height of the robot assembly 125 can be adjusted by controlling the lifting slider 124 to be lifted, so as to adapt to the moving of the goods 102 on the shelves 101 with different heights.

The robot 10 with the sliding manipulator can flexibly grab the goods 102, the grabbing height of the manipulator can be adjusted at will by adopting the structures of the lifting shaft 122 and the lifting slider 124, the robot can adapt to the goods shelves 101 with different heights so as to grab the goods 102 with different heights, and the robot is high in universality and simple to operate. Meanwhile, the manipulator assembly 125 of the robot 10 with the sliding manipulator can efficiently adsorb and clamp the goods 102 through the rotating arm 1255 and the vacuum ball clamping plate 1257, and the vacuum ball clamping plate 1257 is driven to rotate through the rotation of the connecting arm 1253, so that the goods 102 are directly horizontally moved from one goods shelf 101 to another goods shelf 101. Of course, after the robot assembly 125 of the robot 10 with the sliding robot performs efficient adsorption and clamping on the goods 102 through the rotating arm 1255 and the vacuum ball clamping plate 1257, the vacuum ball clamping plate 1257 can be driven to rotate through the rotation of the connecting arm 1253, and the goods 102 can be directly moved from one goods shelf 101 to another goods shelf 101 with a height different from the original goods through the lifting slider 124, so that the universality of the robot 10 with the sliding robot is further improved.

As a specific embodiment, the rotating base 121 can rotate 360 degrees in the horizontal direction above the mobile robot 11. The arrangement can be adapted to the movement of the goods 102 on the shelves 101 in different directions, that is, the influence of the relative placement positions of the two shelves 101 on the movement of the goods 102 is reduced, and the movement of the goods 102 between the two shelves 101 can be realized to the maximum extent by the 360-degree rotation of the rotating base 121.

Further, one end of the rotating arm 1255 is rotatably connected to the other end of the connecting arm 1253 by a rotating shaft 1230, and makes 180-degree rotation in the horizontal direction about the axis of the rotating shaft 1230. With the arrangement, on the premise that the rotating seat 121 can rotate 360 degrees, the rotating arm 1255 can rotate 180 degrees, so that the goods 102 on the two goods shelves 101 can be completely transferred, and the reliability of the whole carrying process is ensured.

In this embodiment, the rotating arm 1255 can be driven to rotate by a driving motor. That is, a driving motor is provided in the connecting arm 1253, and the driving motor drives the rotating arm 1255 to rotate circumferentially through the rotating shaft 1230, so as to drive the vacuum ball holding plate 135 to adjust the position. Although not shown in the drawings, such a rotary drive structure is well known to those skilled in the art.

Similarly, the vacuum ball shaft 1256 can be driven to rotate by a driving motor. That is, a driving motor is disposed in the rotating arm 1255, and the driving motor drives the vacuum ball panel shaft 1256 to rotate circumferentially through the rotating shaft 1230, so as to drive the vacuum ball panel 1257 to adjust the position. Although not shown in the drawings, such a rotary drive structure is well known to those skilled in the art.

As a specific embodiment, the other end of the fixed lift arm 1251 is formed with a square groove 1252. One end of the connecting arm 1253 is formed with a square protrusion 1254 for mating with the square groove 1252. One end of the connecting arm 1253 is connected to the other end of the lift arm by means of a square protrusion 1254 inserted into the square groove 1252. Such connection structure is simple, can also avoid taking place relative rotation between linking arm 1253 and fixed lift arm 1251 simultaneously, guarantees connection structure's stability.

As a specific embodiment, the elevating shaft 122 is fixed to the rotating base 121 by a connecting shaft 123. In this way, the radius of the rotation trajectory of the lifting shaft 122 can be increased, and when the distance between the two racks 101 is long, the robot 10 having the sliding robot hand can still move the goods 102 between the two racks 101. The connection shaft 123 is disposed in a horizontal direction, i.e., perpendicular to the elevating shaft 122.

As a specific embodiment, the elevation shaft 122 is formed with a guide projection 1221 for guiding the elevation slider 124 to slide up and down. The inner wall of the lifting slider 124 is formed with a guide groove 1241 for fitting the guide projection 1221. The guide projection 1221 is caught in the guide groove 1241, so that the lifting movement of the lifting slider 124 is more stable.

As a specific embodiment, the robot assembly 125 is further provided with a tray 1258. After the vacuum ball 1259 of the vacuum ball clamping plate 1257 sucks the goods 102, the controller controls the rotating arm 1255 to rotate to drive the goods 102 to move to the upper part of the tray 1258, so that the tray 1258 can support the goods 102 to a certain extent, thereby preventing the goods 102 from falling from the vacuum ball clamping plate 1257 and further ensuring the carrying safety. A tray 1258 is fixedly mounted to the other end of the fixed lift arm 1251.

Further, the bottom of the vacuum ball gripping plate 1257 remains in contact with the tray 1258. The tray 1258 is made of a metal material with low friction, which can reduce the energy consumption of the movement of the vacuum ball holding plate 1257.

In one embodiment, a rotary motor, a pinion gear and a rotary support are mounted in the housing 111. The rotating seat 121 is mounted on the slewing bearing, and the slewing motor drives the slewing bearing to rotate through the driving pinion after being started, so that the rotating seat 121 is driven to rotate. The swivel structure is not shown in the figures, but is a driven swivel structure well known to the skilled person. The lifting slider 124 may be driven to ascend and descend by using a lifting cylinder in the housing 111, for example, a lifting cylinder having a rod moving up and down on a lifting shaft, the lifting slider 124 being fixed to the top of the rod so as to follow the rod and move up and down, the lifting slider 124 being fixedly connected to the rod by a lifting connection groove formed on the lifting shaft, that is, the lifting slider 124 being fixedly connected to the rod by a screw passing through the lifting connection groove and screwed to the rod.

As a specific embodiment, the mobile robot 11 includes: drive structure, housing 111, and universal wheel 112. The driving structure is installed in the housing 111 and drives the universal wheels 112 to rotate, thereby moving the position of the mobile robot 11. The gripping mechanism 12 is mounted above the housing 111.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the utility model, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the utility model.

Claims

1. A robot having a sliding manipulator, comprising: a mobile robot and a gripping mechanism; the grabbing mechanism is arranged above the mobile robot to grab goods; it is characterized in that the grabbing mechanism comprises: the manipulator comprises a rotating seat, a lifting shaft, a lifting slider and a manipulator assembly; the rotating seat is rotatably arranged above the mobile robot to rotate in the horizontal direction; one end of the lifting shaft is fixed to the rotating seat so as to rotate in the horizontal direction along with the rotating seat; the lifting slider is slidably connected to the lifting shaft to slide up and down along the extending direction of the lifting shaft; the manipulator assembly is mounted on the lifting slider to rotate in the horizontal direction along with the lifting slider and the lifting shaft; the robot assembly includes: the vacuum ball clamping plate is fixed on the fixed lifting arm; one end of the fixed lifting arm is connected to the lifting slider; one end of the connecting arm is connected to the other end of the fixed lifting arm; one end of the rotating arm is rotatably connected to the other end of the connecting arm to rotate in the horizontal direction; one end of the vacuum ball plate shaft is connected to the other end of the rotating arm so as to be driven by the other end of the rotating arm to move between a first position and a second position; the vacuum ball clamping plate is arranged at the other end of the vacuum ball plate shaft and absorbs goods through the vacuum balls.

2. Robot with sliding manipulator according to claim 1,

the rotating seat rotates 360 degrees above the mobile robot along the horizontal direction.

3. Robot with sliding manipulator according to claim 2,

one end of the rotating arm is rotatably connected to the other end of the connecting arm through a rotating shaft and rotates 180 degrees in the horizontal direction around the axis of the rotating shaft.

4. Robot with sliding manipulator according to claim 1,

a square groove is formed at the other end of the fixed lifting arm; a square convex part matched with the square groove is formed at one end of the connecting arm; one end of the connecting arm is inserted into the square groove through the square convex part and connected to the other end of the lifting arm.

5. Robot with sliding manipulator according to claim 1,

the lifting shaft is fixed to the rotating seat through a connecting shaft.

6. Robot with sliding manipulator according to claim 1,

the lifting shaft is provided with a guide projection for guiding the lifting slider to slide up and down; the inner wall of the lifting slider is formed with a guide groove for fitting the guide protrusion.

7. Robot with sliding manipulator according to claim 1,

the manipulator assembly is also provided with a tray; the tray is fixedly mounted at the other end of the fixed lifting arm.

8. A robot having a sliding robot hand according to claim 7,

the bottom of the vacuum ball gripping plate is in contact with the pallet.

9. Robot with sliding manipulator according to claim 1,

the mobile robot includes: the device comprises a driving structure, a machine shell and universal wheels; the driving structure is arranged in the shell and drives the universal wheel to rotate; the grabbing mechanism is arranged above the shell.