Scaffold clamping plate carrying manipulator
By designing a combination of mechanisms, the problem of poor stability when gripping the buckle plate by the robotic arm was solved. The buckle plate was limited on both the top and bottom after being gripped, preventing it from falling and improving gripping stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA RAILWAY CONSTRUCTION ENGINEERING GROUP
- Filing Date
- 2023-08-30
- Publication Date
- 2026-07-14
AI Technical Summary
Existing robotic arms have poor gripping stability when picking up clips, which can easily cause the clips to fall off when they loosen or accelerate significantly.
A scaffolding clamp handling robot was designed, comprising a support mechanism, a bending drive mechanism, an opening and closing drive mechanism, an opening and closing guide mechanism, an opening and closing fixing mechanism, a telescopic fixing mechanism, a telescopic drive mechanism, an opening and closing toggle mechanism, and a limiting and anti-falling mechanism. Through the coordinated action of these mechanisms, after gripping the thin edge of the clamping plate, it forms a limit on its upper and lower surfaces to prevent the gripper from loosening and falling off.
This improved the gripping stability of the robotic arm on the clamping plate, preventing the clamping plate from falling off during high-speed movements and enhancing the stability of the device.
Smart Images
Figure CN117067254B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of remote-controlled robotic arms, specifically a scaffolding pallet handling robotic arm. Background Technology
[0002] The snap-on scaffolding uses snap-on plates as connectors and Q235 steel pipes as main components. The uprights are made by welding a snap-on plate every 0.6 meters on a steel pipe of a certain length, with a connecting rod at the top. The horizontal bars are made by welding clamps with pins to both ends of the steel pipe.
[0003] When producing scaffolding clips, a robotic arm is typically remotely controlled by a robot or other control unit at the other end of the robotic arm to move the clips. Most robotic arms only grip the thin edges of the clips with their jaws, without any limiting mechanisms below the clips. This makes it easy for the clips to fall off the jaws when they loosen or accelerate significantly, resulting in poor gripping stability. Therefore, a robotic arm for moving scaffolding clips is needed that can not only grip and fix the thin edges of the clips but also limit movement on both the top and bottom surfaces, preventing the clips from easily falling off when the jaws loosen or accelerate significantly, thus improving the gripping stability of the robotic arm. Summary of the Invention
[0004] To address the shortcomings of existing technologies, this invention provides a scaffolding clamping and handling robot, which solves the problems mentioned in the background.
[0005] This invention provides the following technical solution: a scaffolding clamp handling robot, comprising: a support mechanism, a bending drive mechanism disposed inside the support mechanism, an opening and closing drive mechanism disposed at one end of the support mechanism, an opening and closing guide mechanism disposed on one side of the opening and closing drive mechanism, an opening and closing fixing mechanism disposed inside the opening and closing guide mechanism, a telescopic fixing mechanism disposed on one side of the opening and closing fixing mechanism, a telescopic drive mechanism disposed inside the opening and closing drive mechanism, an opening and closing actuating mechanism disposed between the opening and closing drive mechanism and the opening and closing guide mechanism, and a limit anti-fall-off mechanism disposed on the side of the opening and closing guide mechanism away from the opening and closing drive mechanism.
[0006] Preferably, the support mechanism includes a fixed base, a rotating frame, a first robotic arm, a second robotic arm, a connecting seat, and gaskets. The rotating frame is rotatably connected to the upper surface of the fixed base. The first robotic arm is rotatably connected to the inner wall of the rotating frame on the side away from the fixed base. The second robotic arm is rotatably connected to the inner wall of the first robotic arm on the side away from the rotating frame. The connecting seat is rotatably connected to the inner wall of the second robotic arm on the side away from the first robotic arm. There are two gaskets, and both gaskets are movably connected between the fixed base and the rotating frame.
[0007] Preferably, the bending drive mechanism includes a first bending motor, a first connecting block, a second bending motor, a second connecting block, a third bending motor, a third connecting block, a fourth bending motor, and a fourth connecting block. The first bending motor is fixedly mounted on the inner wall of the fixed base, and the output end of the first bending motor is provided with a first output shaft. The outer wall of the first output shaft is rotatably connected to the inner wall of the fixed base through a bearing. The first connecting block is fixedly sleeved on the outer wall of the first output shaft, and the outer wall of the first connecting block is fixedly connected to the inner wall of the rotating frame. The second bending motor is fixedly mounted on the outer wall of the rotating frame, and the output end of the second bending motor is provided with a second output shaft. The outer wall of the second output shaft is rotatably connected to the inner wall of the rotating frame through a bearing. The second connecting block... The outer wall of the second output shaft is fixedly sleeved, and the outer wall of the second connecting block is fixedly connected to the inner wall of one end of the first robotic arm. The third bending motor and the fourth bending motor are respectively fixedly installed on the outer walls of both ends of the second robotic arm. The output end of the third bending motor is provided with a third output shaft, and the output end of the fourth bending motor is provided with a fourth output shaft. The outer walls of the third output shaft and the fourth output shaft are rotatably connected to the inner wall of the second robotic arm through bearings. The third connecting block is fixedly sleeved on the outer wall of the third output shaft, and the fourth connecting block is fixedly sleeved on the outer wall of the fourth output shaft. The outer wall of the third connecting block is fixedly connected to the inner wall of the first robotic arm at the end away from the second connecting block, and the outer wall of the fourth connecting block is fixedly connected to the inner wall of the connecting seat.
[0008] Preferably, the opening and closing drive mechanism includes a cover, an opening and closing motor, a gear, and a gear ring. The cover is fixedly connected to one side of the connecting seat, the opening and closing motor is fixedly installed on the inner wall of the cover, the gear is fixedly installed on the output end of the opening and closing motor, and the gear ring is meshed with the surface of the gear.
[0009] Preferably, the opening and closing guide mechanism includes a mounting shell, an upper guide frame, a middle guide frame, a lower guide frame, a first guide groove, and a second guide groove. The mounting shell is fixedly connected to the bottom of the cover shell. The upper guide frame is integrally disposed at the bottom of the mounting shell. The middle guide frame is fixedly connected to the bottom of the upper guide frame. The lower guide frame is fixedly connected to the middle guide frame on the side away from the upper guide frame. The first guide groove is respectively opened on the side of the upper guide frame near the middle guide frame and the side of the lower guide frame near the middle guide frame. The second guide groove is opened through the inner wall of the middle guide frame.
[0010] Preferably, the opening and closing fixing mechanism includes an opening and closing clamping block, a pin, a sliding groove, and a limiting slider. The opening and closing clamping block is slidably connected between the first guide groove and the second guide groove, and there are multiple opening and closing clamping blocks. The pin is fixedly inserted into the inner wall of the opening and closing clamping block. The sliding groove is opened on one side of the opening and closing clamping block. The limiting slider is integrally disposed on both sides of the opening and closing clamping block, and the surface of the limiting slider is slidably connected to the surface of the intermediate guide frame.
[0011] Preferably, the telescopic fixing mechanism includes a telescopic slider, a sliding pin, an anti-detachment block, and a recess. The telescopic slider is disposed on one side of the opening and closing clamping block, and one side of the telescopic slider is slidably connected to the inner wall of the recess. The sliding pin is integrally disposed on the top of the telescopic slider. The anti-detachment block is fixedly connected to the top of the sliding pin. The recess is formed at the bottom of the telescopic slider.
[0012] Preferably, the telescopic drive mechanism includes a telescopic motor, a threaded shaft, a lifting cylinder, a threaded hole, and a guide waist hole. The telescopic motor is fixedly installed on the inner wall of the cover. The threaded shaft is fixedly connected to the output end of the telescopic motor via a coupling. The lifting cylinder is slidably connected to the inner wall of the upper guide frame, the inner wall of the middle guide frame, or the inner wall of the lower guide frame. The threaded hole is opened in the middle of the lifting cylinder, and the threaded shaft is threadedly connected to the lifting cylinder through the threaded hole. The guide waist hole is opened through the surface of the lifting cylinder, and the inner wall of the guide waist hole is slidably connected to the outer wall of the sliding pin. The surface of the lifting cylinder is slidably connected to the surface of the anti-detachment block.
[0013] Preferably, the opening and closing mechanism includes an actuating wheel, a central hole, and an actuating oblique hole. The actuating wheel is rotatably connected to the inner wall of the mounting housing via a bearing. The toothed ring is fixedly sleeved on the outer wall of the actuating wheel. The central hole and the actuating oblique hole are both opened through the surface of the actuating wheel, and the inner wall of the actuating oblique hole is slidably connected to the surface of the pin.
[0014] Preferably, the limiting and anti-falling mechanism includes a base plate and a limiting spring. The base plate is fixedly connected to the side of the lower guide frame away from the middle guide frame, and the limiting spring is fixedly connected to the surface of the base plate, and the surface of the limiting spring is slidably connected to one side of the telescopic slider.
[0015] Compared with the prior art, the present invention has the following beneficial effects:
[0016] This scaffolding clamp handling robot, through its set support mechanism, bending drive mechanism, opening and closing drive mechanism, opening and closing guide mechanism, opening and closing fixing mechanism, telescopic fixing mechanism, telescopic drive mechanism, opening and closing actuation mechanism, and limit and anti-fall-off mechanism, can clamp and fix the thin edge of the clamping plate through the opening and closing fixing mechanism and the telescopic fixing mechanism. It can also use the groove and the limit and anti-fall-off mechanism to limit the upper and lower surfaces of the clamping plate, preventing the grippers formed by the telescopic fixing mechanism from loosening. This prevents the clamping plate from easily falling off during large-scale acceleration movement and improves the clamping stability of the device.
[0017] This scaffolding clamp handling robot uses telescopic sliders, sliding pins, anti-detachment blocks, and sinkers to retract and extend after clamping the clamp. The telescopic sliders control the bending and rebound of the limit springs, thereby controlling the bottom limit and opening of the clamp.
[0018] This scaffolding clamp handling robot, through its telescopic motor, threaded shaft, lifting cylinder, threaded hole, and guide hole, can drive the lifting cylinder to rise and fall by rotating the threaded shaft, thereby driving the telescopic slider to rise and fall. At the same time, the guide hole ensures that the telescopic slider can open and close smoothly.
[0019] This scaffolding clamp handling robot, through its base plate and limit springs, can change shape according to the extension and retraction of the telescopic slider by utilizing the elasticity of the limit springs. This allows it to straighten to form a limit when the telescopic slider retracts and bend to release the limit when the telescopic slider extends. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the structure of the present invention;
[0021] Figure 2 This is a schematic diagram of the support mechanism structure of the present invention;
[0022] Figure 3 This is a schematic diagram of the exploded structure of the present invention;
[0023] Figure 4 This is a schematic diagram of the structure at the location of the opening and closing guide mechanism of the present invention;
[0024] Figure 5 This is a main sectional view of the opening and closing guide mechanism of the present invention;
[0025] Figure 6 This is a side sectional view of the opening and closing guide mechanism of the present invention;
[0026] Figure 7 This is a schematic diagram of the internal exploded structure of the opening and closing drive mechanism of the present invention;
[0027] Figure 8 This is a schematic diagram of the internal exploded structure of the opening and closing guide mechanism of the present invention;
[0028] Figure 9 This is a schematic diagram of the internal structure of the mounting shell of the present invention;
[0029] Figure 10 This is a schematic diagram of the structure at the location of the opening and closing mechanism of the present invention;
[0030] Figure 11 This is a schematic diagram of the internal exploded structure of the telescopic drive mechanism of the present invention;
[0031] Figure 12 This is a schematic diagram of the connection structure between the opening / closing fixing mechanism and the telescopic fixing mechanism of the present invention;
[0032] Figure 13 This is a schematic diagram of the limiting and anti-fall-off mechanism of the present invention when it is in the limiting position.
[0033] In the diagram: 101, fixed base; 102, rotating frame; 103, first robotic arm; 104, second robotic arm; 105, connecting base; 106, gasket; 201, first bending motor; 202, first connecting block; 203, second bending motor; 204, second connecting block; 205, third bending motor; 206, third connecting block; 207, fourth bending motor; 208, fourth connecting block; 301, cover; 302, opening and closing motor; 303, gear; 304, gear ring; 401, mounting shell; 402, upper guide frame; 403. Intermediate guide frame; 404. Lower guide frame; 405. First guide groove; 406. Second guide groove; 501. Opening and closing clamping block; 502. Pin; 503. Slide groove; 504. Limiting slider; 601. Telescopic slider; 602. Sliding pin; 603. Anti-detachment block; 604. Sinking groove; 701. Telescopic motor; 702. Threaded shaft; 703. Lifting cylinder; 704. Threaded hole; 705. Guide waist hole; 801. Actuating wheel; 802. Intermediate hole; 803. Actuating oblique hole; 901. Base plate; 902. Limiting spring. Detailed Implementation
[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0035] Please see Figure 1-13 A scaffolding clamp handling robot includes: a support mechanism, a bending drive mechanism inside the support mechanism, an opening and closing drive mechanism at one end of the support mechanism, an opening and closing guide mechanism on one side of the opening and closing drive mechanism, an opening and closing fixing mechanism inside the opening and closing guide mechanism, a telescopic fixing mechanism on one side of the opening and closing fixing mechanism, a telescopic drive mechanism inside the opening and closing drive mechanism, an opening and closing actuating mechanism between the opening and closing drive mechanism and the opening and closing guide mechanism, and a limit anti-detachment device on the side of the opening and closing guide mechanism away from the opening and closing drive mechanism. The dropping mechanism, through the setting of a support mechanism, bending drive mechanism, opening and closing drive mechanism, opening and closing guide mechanism, opening and closing fixing mechanism, telescopic fixing mechanism, telescopic drive mechanism, opening and closing actuation mechanism, and limit anti-drop mechanism, can, after clamping and fixing the thin edge of the buckle plate through the opening and closing fixing mechanism and the telescopic fixing mechanism, also use the 604 groove and the limit anti-drop mechanism to limit the upper and lower surfaces of the buckle plate, preventing the grippers formed by the telescopic fixing mechanism from loosening, and preventing the buckle plate from easily falling off during large-scale acceleration movement, thus improving the clamping stability of the device.
[0036] The support mechanism includes a fixed base 101, a rotating frame 102, a first robotic arm 103, a second robotic arm 104, a connecting base 105, and gaskets 106. The rotating frame 102 is rotatably connected to the upper surface of the fixed base 101. The first robotic arm 103 is rotatably connected to the inner wall of the rotating frame 102 on the side away from the fixed base 101. The second robotic arm 104 is rotatably connected to the inner wall of the first robotic arm 103 on the side away from the rotating frame 102. The connecting base 105 is rotatably connected to the inner wall of the second robotic arm 104 on the side away from the first robotic arm 103. There are two gaskets 106, and both gaskets 106 are movably connected between the fixed base 101 and the rotating frame 102 to ensure that the opening and closing guide mechanism can rotate arbitrarily.
[0037] The bending drive mechanism includes a first bending motor 201, a first connecting block 202, a second bending motor 203, a second connecting block 204, a third bending motor 205, a third connecting block 206, a fourth bending motor 207, and a fourth connecting block 208. The first bending motor 201 is fixedly installed on the inner wall of the fixed base 101, and its output end is provided with a first output shaft. The outer wall of the first output shaft is rotatably connected to the inner wall of the fixed base 101 via a bearing. The first connecting block 202 is fixedly sleeved on the outer wall of the first output shaft, and its outer wall is fixedly connected to the inner wall of the rotating frame 102. The second bending motor 203 is fixedly installed on the outer wall of the rotating frame 102, and its output end is provided with a second output shaft. The outer wall of the second output shaft is rotatably connected to the inner wall of the rotating frame 102 via a bearing. The second connecting block 204 is fixedly sleeved on the inner wall of the fixed base 101. The outer walls of the two output shafts are fixedly connected, and the outer wall of the second connecting block 204 is fixedly connected to the inner wall of one end of the first robotic arm 103. The third bending motor 205 and the fourth bending motor 207 are respectively fixedly installed on the outer walls of both ends of the second robotic arm 104. The output end of the third bending motor 205 is provided with a third output shaft, and the output end of the fourth bending motor 207 is provided with a fourth output shaft. The outer walls of the third output shaft and the fourth output shaft are rotatably connected to the inner wall of the second robotic arm 104 through bearings. The third connecting block 206 is fixedly sleeved on the outer wall of the third output shaft, and the fourth connecting block 208 is fixedly sleeved on the outer wall of the fourth output shaft. The outer wall of the third connecting block 206 is fixedly connected to the inner wall of the end of the first robotic arm 103 away from the second connecting block 204, and the outer wall of the fourth connecting block 208 is fixedly connected to the inner wall of the connecting seat 105, so that the rotation control of the support mechanism can be realized through electrical signals.
[0038] The opening and closing drive mechanism includes a cover 301, an opening and closing motor 302, a gear 303, and a gear ring 304. The cover 301 is fixedly connected to one side of the connecting seat 105. The opening and closing motor 302 is fixedly installed on the inner wall of the cover 301. The gear 303 is fixedly installed on the output end of the opening and closing motor 302. The gear ring 304 is meshed with the surface of the gear 303.
[0039] The opening and closing guide mechanism includes a mounting shell 401, an upper guide frame 402, a middle guide frame 403, a lower guide frame 404, a first guide groove 405, and a second guide groove 406. The mounting shell 401 is fixedly connected to the bottom of the cover shell 301. The upper guide frame 402 is integrally set at the bottom of the mounting shell 401. The middle guide frame 403 is fixedly connected to the bottom of the upper guide frame 402. The lower guide frame 404 is fixedly connected to the side of the middle guide frame 403 away from the upper guide frame 402. The first guide groove 405 is respectively opened on the side of the upper guide frame 402 near the middle guide frame 403 and the side of the lower guide frame 404 near the middle guide frame 403. The second guide groove 406 is opened through the inner wall of the middle guide frame 403 to facilitate the guidance of the opening and closing clamping block 501.
[0040] The opening and closing fixing mechanism includes an opening and closing clamping block 501, a pin 502, a sliding groove 503, and a limiting slider 504. The opening and closing clamping block 501 is slidably connected between the first guide groove 405 and the second guide groove 406, and there are multiple opening and closing clamping blocks 501. The pin 502 is fixedly inserted into the inner wall of the opening and closing clamping block 501. The sliding groove 503 is opened on one side of the opening and closing clamping block 501. The limiting slider 504 is integrally set on both sides of the opening and closing clamping block 501, and the surface of the limiting slider 504 is slidably connected to the surface of the intermediate guide frame 403 so as to achieve clamping by opening and closing the opening and closing of the opening and closing clamping block 501.
[0041] The telescopic fixing mechanism includes a telescopic slider 601, a sliding pin 602, an anti-detachment block 603, and a recess 604. The telescopic slider 601 is located on one side of the opening and closing clamping block 501, and one side of the telescopic slider 601 is slidably connected to the inner wall of the recess 503. The sliding pin 602 is integrally located on the top of the telescopic slider 601. The anti-detachment block 603 is fixedly connected to the top of the sliding pin 602. The recess 604 is located at the bottom of the telescopic slider 601. The telescopic slider 601, sliding pin 602, anti-detachment block 603, and recess 604 allow the clip plate to retract and extend after being clamped. The telescopic slider 601 controls the bending and rebound of the limiting spring 902, thereby controlling the limiting and opening of the bottom of the clip plate.
[0042] The telescopic drive mechanism includes a telescopic motor 701, a threaded shaft 702, a lifting cylinder 703, a threaded hole 704, and a guide hole 705. The telescopic motor 701 is fixedly installed on the inner wall of the cover 301. The threaded shaft 702 is fixedly connected to the output end of the telescopic motor 701 via a coupling. The lifting cylinder 703 is slidably connected to the inner wall of the upper guide frame 402, the inner wall of the middle guide frame 403, or the inner wall of the lower guide frame 404. The threaded hole 704 is located in the middle of the lifting cylinder 703, and the threaded shaft 702 is threaded to the lifting cylinder 703 via the threaded hole 704. The guide hole 705 is formed through the surface of the lifting cylinder 703, and the inner wall of the guide hole 705 is slidably connected to the outer wall of the sliding pin 602. The surface of the lifting cylinder 703 is slidably connected to the surface of the anti-detachment block 603. Through the provided telescopic motor 701, threaded shaft 702, lifting cylinder 703, threaded hole 704 and guide hole 705, the rotation of the threaded shaft 702 can drive the lifting cylinder 703 to rise and fall, thereby driving the telescopic slider 601 to rise and fall. At the same time, the guide hole 705 ensures that the telescopic slider 601 can open and close smoothly.
[0043] The opening and closing mechanism includes a turn wheel 801, a central hole 802, and a turning oblique hole 803. The turn wheel 801 is rotatably connected to the inner wall of the mounting housing 401 via a bearing. The toothed ring 304 is fixedly sleeved on the outer wall of the turn wheel 801. The central hole 802 and the turning oblique hole 803 are both opened through the surface of the turn wheel 801, and the inner wall of the turning oblique hole 803 is slidably connected to the surface of the pin 502, so that the opening and closing of the clamping block 501 can be controlled by turning the pin 502 by the forward and reverse rotation of the turn wheel 801.
[0044] The limiting and anti-fall-off mechanism includes a base plate 901 and a limiting spring 902. The base plate 901 is fixedly connected to the side of the lower guide frame 404 away from the middle guide frame 403. The limiting spring 902 is fixedly connected to the surface of the base plate 901, and the surface of the limiting spring 902 is slidably connected to one side of the telescopic slider 601. Through the base plate 901 and the limiting spring 902, the elasticity of the limiting spring 902 can change its shape according to the extension and retraction of the telescopic slider 601, so that it can be straightened to form a limit when the telescopic slider 601 retracts, and bend to release the limit when the telescopic slider 601 extends.
[0045] Working principle: During use, the recess 604 is aligned with the buckle plate, so that the buckle plate is located in the middle of multiple telescopic sliders 601. The opening and closing motor 302 is started, which drives the gear 303 to rotate forward. The gear 303 drives the gear ring 304 through meshing, which in turn drives the actuating wheel 801 to rotate forward. When the actuating wheel 801 rotates, it drives the pin 502 through the actuating oblique hole 803 to slide along the first guide groove 405 and the second guide groove 406 towards the middle, thereby driving the opening and closing clamping block 501 and the telescopic slider 601 to retract towards the middle. As the multiple telescopic sliders 601 retract towards the middle... The buckle is clamped inside the sink 604. Then, the opening and closing motor 302 is turned off, and the telescopic motor 701 is started. The telescopic motor 701 drives the threaded shaft 702 to rotate clockwise. When the threaded shaft 702 rotates clockwise, it pushes the lifting cylinder 703 upward through the thread, thereby causing the telescopic slider 601 to retract. As the telescopic slider 601 gradually retracts, the obstruction on the side of the limiting spring 902 is gradually released. As the telescopic slider 601 is fully retracted into the lower guide frame 404, the limiting spring 902 straightens and forms a limit below the buckle to prevent the buckle from falling off. At the same time, the telescopic motor 701 is turned off. Once the latch is moved to the designated position, the telescopic motor 701 is activated. The telescopic motor 701 drives the threaded shaft 702 to rotate in the opposite direction. When the threaded shaft 702 rotates forward, it pushes the lifting cylinder 703 downward through the thread, thereby pushing the telescopic slider 601 to extend outward. As the telescopic slider 601 extends outward, it gradually pushes and squeezes the side of the limiting spring 902, causing the limiting spring 902 to gradually bend. As the telescopic slider 601 fully extends to its end, the limiting spring 902 bends and fits against one side of the telescopic slider 601. At the same time, the limit below the latch is released, and then the opening and closing motor 302 is activated. The opening and closing motor 302 drives the gear 303 to rotate in the opposite direction. The gear 303 meshes with the gear ring 304, which in turn drives the actuating wheel 801 to rotate in the opposite direction. When the actuating wheel 801 rotates, it actuates the pin 502 through the actuating oblique hole 803 to slide outward along the first guide groove 405 and the second guide groove 406, thereby driving the opening and closing clamping block 501 and the telescopic slider 601 to slide outward. As the multiple telescopic sliders 601 spread outward, the buckle plate falls off from the middle of the multiple telescopic sliders 601 and is released to the designated position. Then the opening and closing motor 302 is turned off, and the buckle plate is transported to the designated position.
[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A scaffolding clamp-on transport robot, characterized in that, include: The support mechanism includes a bending drive mechanism inside, an opening and closing drive mechanism at one end, an opening and closing guide mechanism on one side of the opening and closing drive mechanism, an opening and closing fixing mechanism inside the opening and closing guide mechanism, a telescopic fixing mechanism on one side of the opening and closing fixing mechanism, a telescopic drive mechanism inside the opening and closing drive mechanism, an opening and closing toggle mechanism between the opening and closing drive mechanism and the opening and closing guide mechanism, and a limit anti-detachment mechanism on the side of the opening and closing guide mechanism away from the opening and closing drive mechanism. The support mechanism includes a fixed base (101), a rotating frame (102), a first robotic arm (103), a second robotic arm (104), a connecting base (105), and gaskets (106). The rotating frame (102) is rotatably connected to the upper surface of the fixed base (101). The first robotic arm (103) is rotatably connected to the inner wall of the rotating frame (102) away from the fixed base (101). The second robotic arm (104) is rotatably connected to the inner wall of the first robotic arm (103) away from the rotating frame (102). The connecting base (105) is rotatably connected to the inner wall of the second robotic arm (104) away from the first robotic arm (103). There are two gaskets (106), and both gaskets (106) are movably connected between the fixed base (101) and the rotating frame (102). The bending drive mechanism includes a first bending motor (201), a first connecting block (202), a second bending motor (203), a second connecting block (204), a third bending motor (205), a third connecting block (206), a fourth bending motor (207), and a fourth connecting block (208). The first bending motor (201) is fixedly installed on the inner wall of the fixed base (101), and the output end of the first bending motor (201) is provided with a first output shaft. The outer wall of the first output shaft is rotatably connected to the inner wall of the fixed base (101) through a bearing. The first connecting block (202) is fixedly sleeved on the outer wall of the first output shaft, and the outer wall of the first connecting block (202) is fixedly connected to the inner wall of the rotating frame (102). The second bending motor (203) is fixedly installed on the outer wall of the rotating frame (102), and the output end of the second bending motor (203) is provided with a second output shaft. The outer wall of the second output shaft is rotatably connected to the inner wall of the rotating frame (102) through a bearing. The second connecting block (204) is fixedly sleeved on the outer wall of the second output shaft, and the outer wall of the second connecting block (204) is fixedly connected to the inner wall of one end of the first robotic arm (103). The third bending motor (205) and the fourth bending motor (207) are respectively fixedly installed on the outer walls of both ends of the second robotic arm (104), and the output end of the third bending motor (205) is provided with a third output shaft, and the output end of the fourth bending motor (207) is provided with a fourth output shaft. The outer wall of the shaft and the outer wall of the fourth output shaft are rotatably connected to the inner wall of the second robotic arm (104) through bearings. The third connecting block (206) is fixedly sleeved on the outer wall of the third output shaft, and the fourth connecting block (208) is fixedly sleeved on the outer wall of the fourth output shaft. The outer wall of the third connecting block (206) is fixedly connected to the inner wall of the first robotic arm (103) away from the second connecting block (204), and the outer wall of the fourth connecting block (208) is fixedly connected to the inner wall of the connecting seat (105). The opening and closing drive mechanism includes a cover (301), an opening and closing motor (302), a gear (303), and a gear ring (304). The cover (301) is fixedly connected to one side of the connecting seat (105). The opening and closing motor (302) is fixedly installed on the inner wall of the cover (301). The gear (303) is fixedly installed on the output end of the opening and closing motor (302). The gear ring (304) is meshed with the surface of the gear (303). The opening and closing guide mechanism includes a mounting shell (401), an upper guide frame (402), a middle guide frame (403), a lower guide frame (404), a first guide groove (405), and a second guide groove (406). The mounting shell (401) is fixedly connected to the bottom of the cover shell (301). The upper guide frame (402) is integrally disposed at the bottom of the mounting shell (401). The middle guide frame (403) is fixedly connected to the bottom of the upper guide frame (402). The lower guide frame (404) is fixedly connected to the side of the middle guide frame (403) away from the upper guide frame (402). The first guide groove (405) is respectively opened on the side of the upper guide frame (402) close to the middle guide frame (403) and the side of the lower guide frame (404) close to the middle guide frame (403). The second guide groove (406) is opened through the inner wall of the middle guide frame (403). The opening and closing fixing mechanism includes an opening and closing clamping block (501), a pin (502), a slide groove (503), and a limiting slider (504). The opening and closing clamping block (501) is slidably connected between the first guide groove (405) and the second guide groove (406), and there are multiple opening and closing clamping blocks (501). The pin (502) is fixedly inserted into the inner wall of the opening and closing clamping block (501). The slide groove (503) is opened on one side of the opening and closing clamping block (501). The limiting slider (504) is integrally disposed on both sides of the opening and closing clamping block (501), and the surface of the limiting slider (504) is slidably connected to the surface of the intermediate guide frame (403). The telescopic fixing mechanism includes a telescopic slider (601), a sliding pin (602), an anti-detachment block (603), and a recess (604). The telescopic slider (601) is disposed on one side of the opening and closing clamping block (501), and one side of the telescopic slider (601) is slidably connected to the inner wall of the recess (503). The sliding pin (602) is integrally disposed on the top of the telescopic slider (601). The anti-detachment block (603) is fixedly connected to the top of the sliding pin (602). The recess (604) is opened at the bottom of the telescopic slider (601). The telescopic drive mechanism includes a telescopic motor (701), a threaded shaft (702), a lifting cylinder (703), a threaded hole (704), and a guide hole (705). The telescopic motor (701) is fixedly installed on the inner wall of the cover (301). The threaded shaft (702) is fixedly connected to the output end of the telescopic motor (701) via a coupling. The lifting cylinder (703) is slidably connected to the inner wall of the upper guide frame (402) and the inner wall of the middle guide frame (403). The inner wall of the lower guide frame (404) is provided with a threaded hole (704) in the middle of the lifting cylinder (703), and the threaded shaft (702) is threadedly connected to the lifting cylinder (703) through the threaded hole (704). The guide waist hole (705) is provided through the surface of the lifting cylinder (703), and the inner wall of the guide waist hole (705) is slidably connected to the outer wall of the sliding pin (602). The surface of the lifting cylinder (703) is slidably connected to the surface of the anti-detachment block (603). The opening and closing mechanism includes an actuating wheel (801), a central hole (802), and an actuating oblique hole (803). The actuating wheel (801) is rotatably connected to the inner wall of the mounting housing (401) via a bearing. The toothed ring (304) is fixedly sleeved on the outer wall of the actuating wheel (801). The central hole (802) and the actuating oblique hole (803) are both opened through the surface of the actuating wheel (801), and the inner wall of the actuating oblique hole (803) is slidably connected to the surface of the pin (502).
2. The scaffolding clamping and handling robot according to claim 1, characterized in that, The limiting and anti-fall-off mechanism includes a base plate (901) and a limiting spring plate (902). The base plate (901) is fixedly connected to the side of the lower guide frame (404) away from the middle guide frame (403). The limiting spring plate (902) is fixedly connected to the surface of the base plate (901), and the surface of the limiting spring plate (902) is slidably connected to one side of the telescopic slider (601).