CN221115936U

CN221115936U - Large-load plate carrying robot

Info

Publication number: CN221115936U
Application number: CN202323252445.2U
Authority: CN
Inventors: 李勇斌; 李泽; 崔博涛; 车畅; 姚正茂; 来金洒; 张凯
Original assignee: Hebei Construction Group Corp Ltd
Current assignee: Hebei Construction Group Corp Ltd
Priority date: 2023-11-30
Filing date: 2023-11-30
Publication date: 2024-06-11
Anticipated expiration: 2033-11-30

Abstract

The utility model relates to a large-load plate carrying robot which structurally comprises a chassis, wherein a supporting arm is arranged on the chassis, a telescopic arm is hinged to the supporting arm, a jacking mechanism is connected to the telescopic arm, the telescopic arm is driven by the jacking mechanism to swing up and down, the telescopic arm is driven by a telescopic driving mechanism on the telescopic arm to realize telescopic operation, a first support is arranged at the front end of the telescopic arm, a second support is hinged to the first support, a pitching connecting rod frame is arranged between the first support and the second support, a pitching driving mechanism connected with the pitching connecting rod frame is arranged on the first support, a first rotating mechanism is arranged on the second support, a third support is arranged on the first rotating mechanism, a second rotating mechanism is arranged on the third support, and a plate adsorbing device is arranged on the second rotating mechanism. The utility model can replace manual operation such as grabbing, carrying and installing of the large-load plates, and the plate adsorption device can realize various angles and has high flexibility.

Description

Large-load plate carrying robot

Technical Field

The utility model relates to plate carrying equipment, in particular to a large-load plate carrying robot.

Background

The board is widely used in the construction industry, and is generally used as a member of a wall, a ceiling, a floor or the like of a building, and when the board is constructed, the board is often required to be transported to various positions of the building.

The existing plate carrying is generally carried by manually lifting and then placing on a trolley, and the plate is carried by means of the trolley, so that the plate carrying is inconvenient and the efficiency is low; this approach is more time consuming and labor intensive when encountering heavy load boards.

What is needed is a high-load plate handling robot that can grasp, handle, and place high-load plates.

Disclosure of utility model

The utility model aims to provide a large-load plate carrying robot so as to solve the problem of low efficiency of manual plate carrying at present.

The utility model is realized in the following way: the utility model provides a big load panel transfer robot, includes the chassis be provided with the support arm on the chassis articulated have the flexible arm on the support arm, the flexible arm is connected with climbing mechanism, by climbing mechanism drive flexible arm up-and-down swing, flexible arm is realized by the flexible actuating mechanism drive on the flexible arm the front end of flexible arm is provided with first support hinge has the second support on the first support with be provided with every single move connecting rod rest between the second support be provided with on the first support with every single move actuating mechanism that every single move connecting rod rest is connected be provided with first rotary mechanism on the second support be provided with the third support on the first rotary mechanism be provided with second rotary mechanism, be provided with panel adsorption equipment on the second rotary mechanism.

The plate adsorption device comprises a sucker frame, and a plurality of suckers are distributed on the front side face of the sucker frame.

The plate adsorption device further comprises a translation frame, the sucker frame is fixedly connected with the translation frame, a guide rail is arranged on the translation frame, a sliding block is arranged on the guide rail and driven by a translation driving mechanism arranged on the translation frame, and the third support is fixedly connected with the sliding block.

The translation driving mechanism is a ball screw, the sliding block is connected with a nut of the ball screw, and a screw rod of the ball screw is driven by a screw rod motor arranged on the translation frame.

The pitching connecting rod frame comprises a first connecting rod hinged to the first support, a second connecting rod is hinged to the end portion of the first connecting rod, the end portion of the second connecting rod is hinged to the second connecting rod, and the pitching driving mechanism is hinged to the first connecting rod.

A drag chain is arranged between the first bracket and the telescopic arm.

The lifting mechanism is a first electric push rod, the lower end of the first electric push rod is hinged with the chassis, and the upper end of the first electric push rod is hinged with the telescopic arm.

The chassis is a mobile chassis.

The utility model relates to a large-load plate carrying robot, wherein a telescopic arm can swing up and down around a hinge point on a supporting arm and can also stretch back and forth, the pitching swinging (swinging around a Y axis) of a plate adsorption device can be realized through a pitching connecting rod bracket and a pitching driving mechanism, a first rotating mechanism can realize the rotation of the plate adsorption device around a Z axis, and a second rotating mechanism can realize the rotation of the plate adsorption device around an X axis. At the same time, the chassis can be moved.

The utility model can replace manual operation such as grabbing, carrying and installing of the large-load plates, and the plate adsorption device can realize various angles and has high flexibility.

Drawings

Fig. 1 is a structural diagram of the present utility model.

Fig. 2 is a block diagram of a translation stage of the present utility model.

Fig. 3 is a structural view of a first rotary mechanism, a second bracket and a third bracket according to the present utility model.

Figure 4 is a block diagram of the support arm, telescoping arm, pitch linkage of the present utility model.

Figure 5 is a block diagram of the suction cup holder of the present utility model.

In the figure: 1. a mobile chassis; 2. a support arm; 3. a telescoping arm; 4. a telescopic driving mechanism; 5. a jacking mechanism; 6. a first bracket; 7. a second bracket; 8. a third bracket; 9. a pitch link frame; 10. a pitch drive mechanism; 11. a first rotation mechanism; 12. a second rotation mechanism; 13. a suction cup holder; 14. a suction cup; 15. a translation frame; 16. a guide rail; 17. a slide block; 18. a ball screw; 19. a lead screw motor; 20. a limit sensor; 21. a drag chain. 9-1, a first connecting rod; 9-2, a second connecting rod.

Detailed Description

As shown in fig. 1, the utility model comprises a chassis, a supporting arm 2, a telescopic arm 3, a pitching mechanism, a first rotating mechanism 11, a second rotating mechanism 12, a plate material adsorbing mechanism and the like. The position and the angle of the plate adsorption mechanism are adjusted through the telescopic arm 3, the pitching mechanism, the first rotating mechanism 11, the second rotating mechanism 12 and the like, so that the plate adsorption mechanism can realize multi-degree-of-freedom movement, and meanwhile, the plate adsorption mechanism is matched with the movable chassis 1, so that the operations of grabbing, carrying, installing and the like of the plate can be realized.

The chassis is a movable chassis 1, so that the whole movement of the robot can be realized.

The support arm 2 is fixedly arranged on the chassis, the rear end of the telescopic arm 3 is hinged to the upper end of the support arm 2, the up-and-down swing of the telescopic arm 3 is realized by the jacking mechanism 5, the lower end of the jacking mechanism 5 is hinged to the chassis, and the upper end of the jacking mechanism 5 is hinged to the telescopic arm 3. The lower end of the jacking mechanism 5 can also be connected with the supporting arm 2, and the upper end of the jacking mechanism 5 is connected with an outer sleeve part which does not participate in telescoping on the telescoping arm 3.

The jacking mechanism 5 is specifically an electric push rod, and the telescopic arm 3 can be driven to swing up and down around the hinge shaft of the telescopic arm and the supporting arm 2 by the telescopic action of the electric push rod.

The telescopic boom 3 is of a multiple sleeve structure, the outermost sleeve of the telescopic boom 3 does not participate in telescopic movement, the telescopic driving mechanism 4 is fixed on the outer sleeve, the telescopic end of the telescopic driving mechanism 4 is connected with the end of the innermost sleeve of the telescopic boom 3, and the telescopic driving mechanism 4 stretches and contracts to drive the telescopic boom 3. The telescopic driving mechanism 4 is specifically an electric push rod.

A first bracket 6 is mounted at the front end of the telescopic arm 3, and the first bracket 6 moves forward and backward along with the telescopic arm 3.

As shown in fig. 2, the telescopic arm 3 can swing up and down and can stretch back and forth, and in the process of stretching back and forth, the position of the first bracket 6 is not fixed, so that a drag chain 21 needs to be installed between the telescopic arm 3 and the first bracket 6, a cable is positioned in the drag chain 21, one end of the drag chain 21 is fixed on an outer sleeve of the telescopic arm 3, and the other end is fixed on the first bracket 6.

The first bracket 6 is hinged with a second bracket 7, and a pitching connecting frame and a pitching driving mechanism 10 are arranged on the first bracket 6, so that pitching swinging of the second bracket 7 is realized through the pitching connecting frame and the pitching driving mechanism 10.

Wherein, pitch link gear 9 includes the first connecting rod 9-1 of articulated on first support 6, and articulated with second connecting rod 9-2 at the tip of first connecting rod 9-1, the tip of second connecting rod 9-2 articulates with second connecting rod 9-2, pitch actuating mechanism 10 articulates with first connecting rod 9-1. The first bracket 6, the first connecting rod 9-1, the second connecting rod 9-2 and the second bracket 7 together form a quadrilateral connecting rod mechanism, and when the first connecting rod 9-1 is driven to swing by the pitching driving mechanism 10, the second bracket 7 swings synchronously.

The pitching driving mechanism 10 is specifically an electric push rod, the electric push rod is fixed on the first bracket 6, the end part of the electric push rod is hinged with the first connecting rod 9-1, and the pitching swinging of the second bracket 7 is realized by driving the swinging of the first connecting rod 9-1 through the telescopic action of the electric push rod, and the plate adsorption device is indirectly arranged on the second bracket 7, so that the pitching swinging of the plate adsorption device can be realized.

The second bracket 7 is provided with a first rotation mechanism 11, and the third bracket 8 is driven to rotate by the first rotation mechanism 11. The first rotating mechanism 11 is specifically a servo motor, the third bracket 8 is mounted on an output shaft of the servo motor, and a rotating shaft of the first rotating mechanism 11 is located on a vertical plane.

The third bracket 8 is provided with a second rotating mechanism 12, and the plate adsorption device is connected with the second rotating mechanism 12. The second rotating mechanism 12 is specifically a servo motor, and the plate adsorption device is installed on an output shaft of the servo motor, and a rotating shaft of the second rotating mechanism 12 is perpendicular to a rotating shaft of the first rotating mechanism.

As shown in fig. 3, the rotation of the plate adsorbing device on the Z-axis and the X-axis is achieved by two rotating mechanisms.

As shown in fig. 4, the plate adsorption device comprises a suction cup frame 13, wherein a plurality of suction cups 14 are distributed on the front side surface of the suction cup frame 13, and the plate is adsorbed by the suction cups 14.

The suction cup holder 13 may be directly connected to the second rotation mechanism 12 or may be indirectly connected to the translation holder 15.

A translation frame 15 is arranged on the sucker frame 13, and the sucker frame 13 is fixedly connected with the translation frame 15.

As shown in fig. 5, two guide rails 16 are provided on the translation frame 15, sliding blocks 17 are provided on the guide rails 16, the sliding blocks 17 are driven by a translation driving mechanism provided on the translation frame 15, and the third bracket 8 is fixedly connected with the sliding blocks 17.

Translation of the translation frame 15 and suction cup frame 13 is achieved by sliding of the slider 17.

The translation driving mechanism is a ball screw 18, the slider 17 is connected with a nut of the ball screw 18, and a screw of the ball screw 18 is driven by a screw motor 19 provided on the translation frame 15. The screw motor 19 is driven with the screw rod through a belt.

The translation frame 15 is provided with a limit sensor 20, the limit sensor 20 is positioned near the guide rail 16, and when the sliding block 17 moves to the limit sensor 20, the screw motor 19 automatically stops running. The limit sensor 20 may be a photoelectric sensor or a limit switch.

In the utility model, each driving element is an electric element, and the electric push rod and the servo motor can generate larger force or torque, and can bear larger load by matching with the structure of the utility model.

The utility model is used for grabbing, carrying, installing and other operations of large-load plates, the movable chassis 1 can move freely, the telescopic arm 3 can swing up and down around a hinge point on the supporting arm 2 and can also stretch back and forth, the pitching swinging (swinging around a Y axis) of the plate adsorption device can be realized through the pitching connecting rod frame 9 and the pitching driving mechanism 10, the first rotating mechanism 11 can realize the rotation of the plate adsorption device around a Z axis, and the second rotating mechanism 12 can realize the rotation of the plate adsorption device around an X axis. The plate adsorption device has high degree of freedom and flexibility, and can meet the requirements of different postures during working.

Claims

1. The utility model provides a big load panel transfer robot, its characterized in that, includes the chassis be provided with the support arm on the chassis articulated have the flexible arm on the support arm, flexible arm is connected with climbing mechanism, by climbing mechanism drive flexible arm up-and-down swing, flexible arm is realized flexible by the flexible actuating mechanism drive on the flexible arm the front end of flexible arm is provided with first support articulated on the first support have the second support first support with be provided with every single move connecting rod rest between the second support be provided with on the first support with every single move actuating mechanism that every single move connecting rod rest is connected be provided with first rotary mechanism on the second support be provided with the third support on the first rotary mechanism be provided with second rotary mechanism on the third support, be provided with panel adsorption equipment on the second rotary mechanism.

2. The heavy-duty sheet handling robot of claim 1, wherein said sheet suction means comprises a suction cup frame having suction cups disposed on a front side thereof.

3. The heavy-load board handling robot of claim 2, wherein the board suction device further comprises a translation frame, the suction cup frame is fixedly connected with the translation frame, a guide rail is arranged on the translation frame, a sliding block is arranged on the guide rail, the sliding block is driven by a translation driving mechanism arranged on the translation frame, and the third bracket is fixedly connected with the sliding block.

4. A heavy-duty sheet handling robot as claimed in claim 3, wherein the translational drive mechanism is a ball screw, the slider is connected to a nut of the ball screw, and a screw of the ball screw is driven by a screw motor provided on the translational frame.

5. The heavy-duty sheet handling robot of claim 1, wherein said pitch linkage comprises a first link hinged to a first bracket, a second link hinged to an end of said first link, an end of said second link hinged to said second link, and said pitch drive mechanism hinged to said first link.

6. The heavy-duty sheet handling robot of claim 1, wherein a tow chain is provided between said first bracket and said telescoping arm.

7. The heavy-load board transfer robot of claim 1, wherein the lifting mechanism is a first electric push rod, the lower end of the first electric push rod is hinged to the chassis, and the upper end of the first electric push rod is hinged to the telescopic arm.

8. The heavy-duty sheet handling robot of claim 1, wherein said chassis is a mobile chassis.