CN220702507U

CN220702507U - Grabbing robot

Info

Publication number: CN220702507U
Application number: CN202321073776.7U
Authority: CN
Inventors: 韩承展; 卢民; 黄逸铉; 黄绍伦; 鲍作民; 姚俊楠; 郭兴源; 郭棋宏; 石良杰
Original assignee: Zhejiang Industry Polytechnic College
Current assignee: Zhejiang Industry Polytechnic College
Priority date: 2023-05-08
Filing date: 2023-05-08
Publication date: 2024-04-02
Anticipated expiration: 2033-05-08

Abstract

The utility model discloses a grabbing robot which comprises a driving mechanism, a lifting mechanism and a grabbing mechanism, wherein the driving mechanism comprises a bottom plate, a driving wheel, a sliding rod and a sliding plate, the sliding plate is slidably arranged on the sliding rod, the lifting mechanism is connected with the sliding plate and can drive the sliding plate to move up and down along the length direction of the sliding rod, the grabbing mechanism is arranged on the sliding plate, the grabbing mechanism comprises two clamping claws which are oppositely arranged, and the two clamping claws can be close to or far away from each other. When two jack catchs are kept away from each other, two jack catchs cooperate and form the U shape, and outside cylindrical or ring shape scheduling object can get into between two jack catchs from the breach of U shape, drive two jack catchs and be close to each other, cooperate the centre gripping at the lateral surface of object through the medial surface of two jack catchs, and then guarantee that the object is comparatively stable in clamping, transporting the in-process, lifts up the object through elevating system to transfer the object through actuating mechanism, in order to realize the stable transport to the object.

Description

Grabbing robot

Technical Field

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

Background

At present, when carrying the heavy object in warehouse, mostly need equipment such as workman manipulation fork truck to carry, but when carrying similar cylindrical heavy object (such as oil drum etc.), because the focus position of cylindrical heavy object is mostly higher, and fork truck's the pin only can upwards fork cylindrical heavy object and transport, leads to fork truck at the in-process of transporting cylindrical heavy object, and this cylindrical heavy object takes place to rock easily, appears dropping the condition such as drop even, influences the efficiency and the security of heavy object transport.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provides a grabbing robot.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides a snatch robot, includes actuating mechanism, elevating system, snatchs the mechanism, actuating mechanism includes bottom plate, drive wheel, slide bar, slide, the drive wheel is installed at the bottom plate and can drive the bottom plate and remove, the slide bar is fixed at the bottom plate, slide slidable mounting is at the slide bar, elevating system installs at the bottom plate, elevating system connects the slide and can drive the slide and reciprocate along the length direction of slide bar, snatch the mechanism and install at the slide, snatch the mechanism and include two jaws that set up relatively, two the jaw can be close to each other or keep away from.

The clamping jaws are L-shaped, one end of each clamping jaw extends to the front side, two clamping jaws are matched to form a U shape, and when the two clamping jaws are mutually close to each other to grab, the two clamping jaws are matched to form a diamond shape.

The clamping jaw comprises a clamping plate I, a clamping plate II and a clamping plate III, wherein the clamping plate I is arranged on one section of the clamping jaw, the clamping plate II is arranged on the other section of the clamping jaw, the clamping plate III is arranged at the similar ends of the two clamping jaws and is connected with the two clamping jaws, and when the two clamping jaws are close to each other, the clamping jaws are mutually matched to grab through the inner side surfaces of the clamping plate I, the clamping plate II and the clamping plate III.

The grabbing mechanism comprises a steering engine II, the steering engine II is arranged on the sliding plate, the output end of the steering engine II is connected with gears, the gears are two and meshed with each other, the gears are respectively fixed on the clamping jaws in one-to-one correspondence, and the two clamping jaws are driven by the two gears to synchronously approach each other or separate from each other.

The grabbing mechanism comprises a connecting plate, the steering engine II is fixedly arranged on the connecting plate, the sliding plate is provided with a hinge, the connecting plate is arranged on the hinge, and the connecting plate can be turned upwards through the hinge.

The driving mechanism comprises a mounting plate, the mounting plate is arranged above the bottom plate, the lifting mechanism comprises a steering engine I, a rotating plate and a pull rope, the steering engine I is arranged on the mounting plate, one end of the rotating plate is arranged at the output end of the steering engine I, the other end of the rotating plate is connected with the pull rope, and the other end of the pull rope is fixed on the sliding plate.

The sliding rod is provided with a driving wheel, the driving wheel is positioned above the sliding plate, and the pull rope bypasses the driving wheel and is connected with the sliding plate downwards.

The number of the rotating plates and the number of the pull ropes are two, the rotating plates and the pull ropes are arranged in one-to-one correspondence, the two rotating plates are respectively distributed on two sides of the steering engine I, and the two pull ropes are respectively fixed on two sides of the sliding plate.

The lifting mechanism comprises a rotating cover, the output end of the steering engine I is connected with the rotating cover, connecting rods are arranged on two sides of the rotating cover, and the other ends of the connecting rods are fixed on a rotating plate.

The driving mechanism comprises bull's eye wheels, the number of the driving wheels and the number of the bull's eye wheels are two, and the driving wheels and the bull's eye wheels are respectively arranged at four corners of the bottom plate.

The beneficial effects of the utility model are as follows:

the front end of grabbing mechanism sets up two jack catchs, and two jack catchs cooperate when two jack catchs keep away from each other and form the U shape, and outside cylindrical or ring shape scheduling object can get into between two jack catchs from the breach department of U shape, drive two jack catchs and be close to each other, cooperate the centre gripping at the lateral surface of object through the medial surface of two jack catchs, fix the object, and then guarantee that the object is comparatively stable in clamping, transporting the in-process, lift up the object through elevating system to transfer the object through actuating mechanism, in order to realize the stable transport to the object.

Drawings

FIG. 1 is a perspective view of the present utility model;

FIG. 2 is a second perspective view of the present utility model;

FIG. 3 is a schematic view of a base plate of the present utility model;

FIG. 4 is a schematic diagram showing the cooperation of the lifting mechanism and the slide plate according to the present utility model;

FIG. 5 is a schematic view of a gripping mechanism according to the present utility model;

FIG. 6 is a second schematic view of the gripping mechanism of the present utility model;

FIG. 7 is a schematic view of the structure of the pawl of the present utility model;

fig. 8 is a schematic block diagram of the present utility model.

In the figure: the device comprises a driving mechanism 1, a bottom plate 11, a driving wheel 12, a motor 121, a bull's eye wheel 13, a control module 14, a voltage stabilizing plate 15, a sliding rod 16, a driving wheel 161, a sliding plate 17, a hinge 171, a mounting plate 18, a power supply 19, a lifting mechanism 2, a steering engine I21, a rotating cover 211, a connecting rod 212, a rotating plate 22, a pull rope 23, a grabbing mechanism 3, a steering engine II 31, a gear 311, a connecting plate 312, a clamping jaw 32, a clamping plate I321, a clamping plate II 322, a clamping plate III 323 and a line inspection module 4.

Detailed Description

The utility model is further described with reference to the drawings and detailed description which follow:

in the description of the present specification, the azimuth or positional relationship indicated by the terms "upper", "lower", "left", "right", etc., are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or unit referred to must have a specific direction, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.

As shown in fig. 1 to 8, a grabbing robot comprises a driving mechanism 1, a lifting mechanism 2, a grabbing mechanism 3 and a line inspection module 4, wherein the grabbing mechanism 3 is installed on the front side of the driving mechanism 1, the driving mechanism 1 comprises a bottom plate 11, a driving wheel 12, a motor 121, a bullnose wheel 13, a control module 14, a voltage stabilizing plate 15, a sliding rod 16, a sliding plate 17, a mounting plate 18 and a power supply 19, the line inspection module 4 is installed on the front side of the bottom plate 11, the control module 14 and the motor 121 are installed on the bottom plate 11, the number of the driving wheel 12 and the bullnose wheel 13 is two, the two driving wheels 12 are installed on the rear side of the bottom plate 11, and the two bullnose wheels 13 are installed on the front side of the bottom plate 11, namely, the driving wheel 12 and the bullnose wheel 13 are respectively installed at four corners of the bottom plate 11.

The motors 121 can drive the driving wheels 12 to rotate, the number of the motors 121 is two and corresponds to that of the driving wheels 12 one by one, the control module 14 can respectively drive the two motors 121 to work, namely, the two motors 121 respectively control the forward and reverse rotation and the rotation speed of the two driving wheels 12, namely, the driving wheels 12 are arranged on the bottom plate 11 and can drive the bottom plate 11 to move, so that the front and back displacement and the left and right turning of the driving mechanism 1 are realized.

The mounting plate 18 is arranged above the bottom plate 11, the power supply 19 is fixed on the mounting plate 18, the power supply 19 is a common battery in the market, the power supply 19 is arranged on the rear side of the driving mechanism 1, the power supply 19 has a certain weight, and when the grabbing mechanism 3 positioned on the front side of the driving mechanism 1 grabs an object, the power supply 19 can enable the embodiment to keep better stability when grabbing the object.

The voltage stabilizing plate 15 is arranged on the bottom plate 11, the voltage stabilizing plate 15 is a common voltage stabilizing circuit board in the market, the power supply 19 is connected with the voltage stabilizing plate 15 through a circuit, and the voltage stabilizing plate 15 is connected with the control module 14 through the circuit, namely, the power supply 19 supplies power to the control module 14.

The sliding rods 16 are fixed on the bottom plate 11, the sliding rods 16 are vertically arranged and two in number, the sliding plates 17 are slidably mounted on the sliding rods 16, the lifting mechanism 2 is mounted on the bottom plate 11, specifically, the lifting mechanism 2 comprises a steering engine I21, a rotating plate 22 and a pull rope 23, and the steering engine I21 is mounted on the mounting plate 18.

One end of the rotating plate 22 is mounted at the output end of the steering engine I21, the rotating plate 22 is driven to swing back and forth through the steering engine I21, the rotating plate 22 swings to the side of the grabbing mechanism 3, namely, swings forwards, and the rotating plate 22 swings away from the grabbing mechanism 3, namely, swings backwards, referring to the direction shown in fig. 1.

The other end of the rotating plate 22 is connected with a pull rope 23, the other end of the pull rope 23 is fixed on the sliding plate 17, the pull rope 23 pulls the sliding plate 17 to slide upwards when the rotating plate 22 swings backwards, and the sliding plate 17 slides downwards under the action of gravity when the rotating plate 22 swings forwards, namely the lifting mechanism 2 is connected with the sliding plate 17 and can drive the sliding plate 17 to move upwards and downwards along the length direction of the sliding rod 16.

The number of the rotating plates 22 and the number of the pull ropes 23 are two, the output ends of the steering engine I21 are two and distributed on two sides of the steering engine I21, the two rotating plates 22 are arranged at the output end of the steering engine I21 in a one-to-one correspondence manner, and the two rotating plates 22 are respectively distributed on two sides of the steering engine I21

Specifically, referring to fig. 4, the lifting mechanism 2 includes a rotating cover 211, the rotating cover 211 is located at the outer side of the first steering engine 21, the output end of the first steering engine 21 is connected with the rotating cover 211, the first steering engine 21 drives the rotating cover 211 to swing back and forth, two sides of the rotating cover 211 are provided with connecting rods 212, and the other ends of the connecting rods 212 are fixed on a rotating plate 22, and the rotating cover 211 drives the two connecting rods 212 to swing synchronously.

The rotating plates 22 are arranged in one-to-one correspondence with the pull ropes 23, the two pull ropes 23 are respectively fixed on two sides of the sliding plate 17, the sliding rod 16 is provided with a driving wheel 161, the driving wheel 161 is positioned above the sliding plate 17, the pull ropes 23 bypass the driving wheel 161 and are downwards connected with the sliding plate 17, and the two pull ropes 23 synchronously pull the sliding plate 17 through the driving wheel 161, so that the sliding plate 17 can slide upwards more stably.

The grabbing mechanism 3 is installed on the sliding plate 17, specifically, the grabbing mechanism 3 comprises a steering engine II 31 and a connecting plate 312, the steering engine II 31 is fixedly installed on the connecting plate 312, the steering engine II 31 is installed on the sliding plate 17 through the connecting plate 312, and the grabbing mechanism 3 synchronously moves up and down through the sliding plate 17, namely, the grabbing mechanism 3 is controlled to move up and down through the lifting mechanism 2.

The hinge 171 is installed to the slide 17, the link plate 312 is installed at the hinge 171, the link plate 312 can be turned over upwards through the hinge 171, and when not in use, the hinge 171 can be turned over upwards, i.e. the grabbing mechanism 3 is placed, so that the placing space of the embodiment when not in use is saved.

The grabbing mechanism 3 includes two oppositely disposed claws 32, two claws 32 may approach or separate from each other, specifically, the output end of the steering engine two 31 is connected with gears 311, the number of the gears 311 is two and meshed with each other, the two gears 311 are fixed on the claws 32 in a one-to-one correspondence manner, and the gears 311 rotate to drive the claws 32 to synchronously rotate, that is, the two claws 32 are driven by the two gears 311 to synchronously approach or separate from each other (refer to the state change of fig. 5 and 6).

The claws 32 have an L-shape, one end of the claw 32 extends toward the front side, and the two claws 32 cooperate to form a u shape (see fig. 5), and when the two claws 32 approach each other to grasp, the two claws 32 cooperate to form a o shape (see fig. 6).

The clamping jaw 32 comprises a clamping plate I321, a clamping plate II 322 and a clamping plate III 323, wherein the clamping plate I321 and the clamping plate II 322 are arranged below the clamping jaw 32, the clamping plate I321 is arranged on one section of the clamping jaw 32, the clamping plate II 322 is arranged on the other section of the clamping jaw 32, and the clamping plate III 323 is arranged at the close ends of the two clamping jaws 32 and is connected with the two clamping jaws 32.

Referring to the direction shown in fig. 5, the first clamping plate 321 is mounted on the left and right sections of the L-shaped claw 32, and the second clamping plate 322 is mounted on the front and rear sections of the L-shaped claw 32.

Referring to fig. 6 and 7, the inner sides of the first 321, second 322 and third 323 clamp plates are arc-shaped, when two clamping claws 32 are close to each other, the inner sides of the first 321, second 322 and third 323 clamp plates are matched with each other to grasp a cylindrical or circular object, and rubber anti-slip pads can be mounted on the inner sides of the first 321, second 322 and third 323 clamp plates, so that the grasping operation of the clamping claws 32 is more reliable and stable.

Specifically, the U-shaped is formed by mutually keeping away from and matching the two clamping claws 32, the external cylindrical or circular objects to be carried can enter between the two clamping claws 32 from the notch of the U-shaped, the two clamping claws 32 are driven to be close to each other by the steering engine II 31, namely, the clamping plate I321, the clamping plate II 322 and the clamping plate III 323 are matched and clamped on the outer side surface of the object to fix the object, so that the object is ensured to be relatively stable in the clamping and conveying processes, the object is lifted by the lifting mechanism 2, and the object is transferred by the driving mechanism 1, so that the stable carrying of the object is realized.

The embodiment can be used for autonomous programming, installation and debugging of teenagers so as to improve the manual operation capability and logic thinking capability of the teenagers.

Referring to fig. 8, the power supply 19 supplies power to the control module 14 through the voltage stabilizing plate 15, the control module 14 is a common motherboard single-chip microcomputer in the market, the line inspection module 4 is a common module in the market, and the line inspection module 4, the control module 14 and the motor 121 are connected through lines.

Specifically, the line inspection module 4 identifies the guide line drawn on the ground through the detection of the sensor thereof, and transmits a signal to the control module 14, the control module 14 receives the signal detected by the line inspection module 4 and drives the motors 121 to work, and the control module 14 drives the two motors 121 to work so as to control the driving mechanism 1 to travel to the designated area along the guide line drawn on the ground.

The steering engine II 31 is driven by the control module 14 to work to grab objects, the steering engine I21 is driven by the control module 14 to lift the grabbing mechanism 3 together with the grabbed objects, and the two motors 121 are driven by the control module 14 to return so as to achieve grabbing, conveying and other operations on the objects.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims

1. A snatch robot, its characterized in that: including actuating mechanism (1), elevating system (2), snatch mechanism (3), actuating mechanism (1) includes bottom plate (11), drive wheel (12), slide bar (16), slide plate (17), drive wheel (12) are installed at bottom plate (11) and can drive bottom plate (11) and remove, slide bar (16) are fixed at bottom plate (11), slide plate (17) slidable mounting is at slide bar (16), elevating system (2) are installed at bottom plate (11), elevating system (2) connect slide plate (17) and can drive slide plate (17) along the length direction up-and-down displacement of slide bar (16), snatch mechanism (3) are installed at slide plate (17), snatch mechanism (3) include two jack catch (32) of relative setting, two jack catch (32) can be close to each other or keep away from.

2. A gripping robot according to claim 1, characterized in that: the clamping jaws (32) are L-shaped, one end of each clamping jaw (32) extends to the front side, two clamping jaws (32) are matched to form a U shape, and when the two clamping jaws (32) are mutually close to each other to grab, the two clamping jaws (32) are matched to form a U shape.

3. A gripping robot according to claim 1, characterized in that: the clamping jaw (32) comprises a clamping plate I (321), a clamping plate II (322) and a clamping plate III (323), wherein the clamping plate I (321) is arranged on one section of the clamping jaw (32), the clamping plate II (322) is arranged on the other section of the clamping jaw (32), the clamping plate III (323) is arranged at the similar ends of the two clamping jaws (32) and is connected with the two clamping jaws (32), and when the two clamping jaws (32) are mutually close, the clamping plates I (321), the clamping plate II (322) and the inner side surfaces of the clamping plate III (323) are mutually matched to grasp.

4. A gripping robot according to claim 1, characterized in that: snatch mechanism (3) including steering wheel two (31), steering wheel two (31) are installed at slide (17), the output of steering wheel two (31) is connected with gear (311), the quantity of gear (311) is two and intermeshing, and two gear (311) are fixed at jack catch (32) respectively one-to-one, drive two jack catch (32) and be close to each other or keep away from each other in step through two gears (311).

5. A gripping robot according to claim 4, characterized in that: the grabbing mechanism (3) comprises a connecting plate (312), the steering engine II (31) is fixedly arranged on the connecting plate (312), the sliding plate (17) is provided with a hinge (171), the connecting plate (312) is arranged on the hinge (171), and the connecting plate (312) can be turned upwards through the hinge (171).

6. A gripping robot according to claim 1, characterized in that: the driving mechanism (1) comprises a mounting plate (18), the mounting plate (18) is mounted above the bottom plate (11), the lifting mechanism (2) comprises a steering engine I (21), a rotating plate (22) and a pull rope (23), the steering engine I (21) is mounted on the mounting plate (18), one end of the rotating plate (22) is mounted at the output end of the steering engine I (21), the other end of the rotating plate (22) is connected with the pull rope (23), and the other end of the pull rope (23) is fixed on the sliding plate (17).

7. A gripping robot according to claim 6, characterized in that: the sliding rod (16) is provided with a driving wheel (161), the driving wheel (161) is positioned above the sliding plate (17), and the pull rope (23) bypasses the driving wheel (161) and is connected with the sliding plate (17) downwards.

8. A gripping robot according to claim 6, characterized in that: the number of the rotating plates (22) and the number of the pull ropes (23) are two, the rotating plates (22) and the pull ropes (23) are arranged in one-to-one correspondence, the two rotating plates (22) are respectively distributed on two sides of the steering engine I (21), and the two pull ropes (23) are respectively fixed on two sides of the sliding plate (17).

9. A gripping robot according to claim 6, characterized in that: the lifting mechanism (2) comprises a rotating cover (211), the output end of the steering engine I (21) is connected with the rotating cover (211), connecting rods (212) are arranged on two sides of the rotating cover (211), and the other ends of the connecting rods (212) are fixed on a rotating plate (22).

10. A gripping robot according to claim 1, characterized in that: the driving mechanism (1) comprises bullseye wheels (13), the number of the driving wheels (12) and the number of the bullseye wheels (13) are two, and the driving wheels (12) and the bullseye wheels (13) are respectively arranged at four corners of the bottom plate (11).