Mobile hoisting robot

Abstract

The present application relates to the field of robot technology, especially to a mobile hoisting robot. The robot base is vertically fixed with a support rod on the surface, the lateral wall of the support rod is installed with a crossbeam, the crossbeam moves up and down along the support rod, the lateral wall of the crossbeam is symmetrically provided with a positioning rack, the surface of the positioning rack is engaged with a driving gear, the center shaft of the driving gear is connected with a double-shaft motor, the shell of the double-shaft motor is provided with a connecting bracket, and the end of the connecting bracket is connected with a dismounting assembly, and the double-shaft motor drives the connecting bracket to move along the positioning rack. The present application is suitable for disassembling the internal motor of a box-type ventilation unit, facilitates the lifting of the motor, and reduces the damage caused by the falling of the motor.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mobile hoisting robot. Background Technology

[0002] Currently, when disassembling and repairing the motor inside the box-type ventilation unit, scaffolding is erected manually to hoist the motor in and out. The erection process is cumbersome, time-consuming, and labor-intensive.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a mobile hoisting robot that is suitable for disassembling the motor inside a box-type ventilation unit, so as to facilitate the hoisting of the motor away from and into the unit.

[0005] This invention provides a mobile hoisting robot, comprising: a robot base, a support rod vertically fixedly mounted on the surface of the robot base, and a crossbeam mounted on the side wall of the support rod.

[0006] The crossbeam moves up and down along the support rod;

[0007] The crossbeam sidewalls are symmetrically provided with positioning racks, the surface of which is fitted with drive gears, and the central shaft of the drive gears is connected to a dual-axis motor. The housing of the dual-axis motor is provided with a connecting bracket, and the end of the connecting bracket is connected to a disassembly component. The dual-axis motor drives the connecting bracket to move along the positioning racks.

[0008] The disassembly assembly includes a flat plate with an electric push rod installed at the bottom. The output end of the electric push rod is connected to a mounting bracket. Four pneumatic wrench bodies are installed at the corners of the mounting bracket, and two L-shaped brackets are symmetrically arranged at the bottom of the mounting bracket. Each L-shaped bracket has a guide block movably arranged on its surface. The guide block is in an inclined state. A side plate is movably arranged on the side wall of the flat plate. A pressure plate is connected to one side of the side plate. The pressure plate is vertically aligned with the vertical rod at the top of the mounting bracket.

[0009] In a preferred embodiment of the present invention, a counterweight groove is provided on the surface of the robot base, and counterweight blocks are stacked inside the counterweight groove. A placement groove is provided on the other side of the robot base, and four omnidirectional wheels are installed at the bottom corner of the robot base.

[0010] In a preferred embodiment of the present invention, all the casters are equipped with a braking function.

[0011] In a preferred embodiment of the present invention, a mounting plate is welded to the bottom of the support rod, the cross-sectional area of ​​the mounting plate is larger than the cross-sectional area of ​​the support rod, and the bottom of the mounting plate is bolted to the robot base.

[0012] In a preferred embodiment of the present invention, the side wall of the support rod is fixedly provided with a reinforcing rib, and the end of the reinforcing rib is fixedly connected to the side wall of the robot base on the side where the counterweight is placed.

[0013] In a preferred embodiment of the present invention, the support rod has a notch inside, a lead screw shaft is laterally movably arranged inside the notch, and a drive motor is installed on the top of the support rod. The lead screw shaft is installed on the output shaft of the drive motor. A synchronous slider is engaged with the surface of the lead screw shaft. One side of the synchronous slider is fixedly connected to the crossbeam. A limit rail is slidably arranged on the side wall of the synchronous slider, and the limit rail is attached to the side wall of the support rod.

[0014] In a preferred embodiment of the present invention, a U-shaped bracket is installed on the top of the synchronous slider, and the other end of the U-shaped bracket is fixedly connected to the end of the crossbeam. A limit rod is transversely arranged inside the U-shaped bracket, and a connecting plate is movably inserted into the surface of the limit rod. The bottom of the connecting plate is fixedly connected to the housing of the dual-axis motor.

[0015] In a preferred embodiment of the present invention, the surfaces of the two L-shaped brackets are provided with inclined surfaces, and guide blocks are provided on the inclined surfaces. The ends of the two guide blocks are close to each other, and the two guide blocks are in the shape of an "eight". The top of the guide blocks has a groove.

[0016] In a preferred embodiment of the present invention, a protective plate is fixedly provided at the end of the side plate, the surface of the protective plate is chamfered, a connecting shaft is fixedly provided on the side wall of the side plate, and the two ends of the connecting shaft are movably provided inside the connecting seat at the bottom of the flat plate. A torsion spring is engaged between the connecting shaft on the side wall of the side plate and the inside of the connecting seat. A guide wheel is movably provided at the top of the vertical rod.

[0017] In a preferred embodiment of the present invention, a connecting flange is installed at the end of the connecting bracket, and a disassembly assembly is connected to the bottom of the connecting flange.

[0018] Compared with existing technologies, the mobile lifting robot of this invention first moves the entire device to the required operation position during the lifting process. Then, the end effector is moved to the operation location by a dual-axis motor and a drive motor. The electric push rod drives the pneumatic wrench body to engage with the bolt at the bottom of the operating motor. The bolt is then removed by the pneumatic wrench body. As the pneumatic wrench body moves downward, the guide block is squeezed by the lifting ring of the operating motor, thereby locking the lifting ring inside the L-shaped bracket. During the resetting process of the pneumatic wrench body, the operating motor begins to move upward. When it reaches the top, the side plate is rotated by pressing the pressure plate, and the protective plate is inserted into the bottom of the operating motor, reducing the damage caused by the operating motor falling off. Attached Figure Description

[0019] Figure 1 This is a 3D structural diagram of a mobile hoisting robot.

[0020] Figure 2 This is a front view of a mobile hoisting robot.

[0021] Figure 3 This is a schematic diagram of the rear structure of a mobile hoisting robot.

[0022] Figure 4 For mobile hoisting robots Figure 3 Enlarged view of point A;

[0023] Figure 5 3D diagram of the disassembly components of the mobile hoisting robot (I);

[0024] Figure 6 3D diagram of the disassembly components of the mobile hoisting robot (II);

[0025] Figure 7 This is a schematic diagram illustrating the operation of a mobile hoisting robot.

[0026] In the diagram: 1. Robot base; 2. Counterweight slot; 3. Counterweight block; 4. Placement slot; 5. Caster wheel; 6. Support rod; 7. Notch; 8. Drive motor; 9. Reinforcing rib; 10. Mounting plate; 11. Lead screw shaft; 12. Synchronous slider; 13. Limiting slide rail; 14. Crossbeam; 15. U-shaped bracket; 16. Positioning rack; 17. Drive gear; 18. Dual-axis motor; 19. Limiting insertion rod; 20. Connecting plate; 21. Connecting bracket; 22. Connecting flange; 23. Flat plate; 24. Electric push rod; 25. Mounting bracket; 26. Pneumatic wrench body; 27. L-shaped bracket; 28. Inclined surface; 29. ​​Guide block; 30. Vertical rod; 31. Guide wheel; 32. Side plate; 33. Protective plate; 34. Pressure plate; 35. Torsion spring. Detailed Implementation

[0027] To further understand the present invention, embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the present invention.

[0028] Example 1:

[0029] like Figures 1 to 7As shown, the mobile hoisting robot includes a robot base 1. A support rod 6 is vertically fixed on the surface of the robot base 1. A crossbeam 14 is installed on the side wall of the support rod 6. A positioning rack 16 is symmetrically arranged on the side wall of the crossbeam 14. A drive gear 17 is meshed on the surface of the positioning rack 16. A dual-axis motor 18 is connected to the central shaft of the drive gear 17. A connecting bracket 21 is provided on the housing of the dual-axis motor 18. A connecting flange 22 is installed at the end of the connecting bracket 21. A disassembly component is connected to the bottom of the connecting flange 22.

[0030] The disassembly assembly includes a flat plate 23, an electric push rod 24 mounted on the bottom of the flat plate 23, a mounting bracket 25 connected to the output end of the electric push rod 24, four pneumatic wrench bodies 26 mounted at the corners of the mounting bracket 25, and two L-shaped brackets 27 symmetrically arranged at the bottom of the mounting bracket 25. Each L-shaped bracket 27 has a guide block 29 movably arranged on its surface. The guide block 29 is in an inclined state. A side plate 32 is movably arranged on the side wall of the flat plate 23. A pressure plate 34 is connected to one side of the side plate 32. The pressure plate 34 is vertically corresponding to the vertical rod 30 set at the top of the mounting bracket 25. During the hoisting process, the entire device is first moved to the desired location. The end effector is then moved to the operating position via a dual-axis motor and a drive motor. An electric push rod drives the pneumatic wrench body to engage with the bolts at the bottom of the operating motor. The bolts are then removed using the pneumatic wrench body. As the pneumatic wrench body moves downwards, the guide block is pressed by the lifting ring of the operating motor, thus securing the lifting ring inside the L-shaped bracket. During the resetting process of the pneumatic wrench body, the operating motor begins to move upwards. Upon reaching the top, pressing the pressure plate rotates the side plate, inserting the protective plate into the bottom of the operating motor, reducing the risk of damage if the operating motor detaches.

[0031] like Figures 1 to 7 As shown, in a specific embodiment, a counterweight groove 2 is formed on the surface of the robot base 1, and counterweight blocks 3 are stacked inside the counterweight groove 2. A placement groove 4 is formed on the other side of the robot base 1, and four casters 5 are installed at the bottom corner of the robot base 1, each caster 5 having a braking function. First, the robot base 1 is moved to the position to be processed by the casters 5, and then the casters 5 are stopped and braked. The counterweight blocks 3 can ensure that the center of the entire device is located on the cross section of the robot base 1.

[0032] like Figures 1 to 7 As shown, in a specific embodiment, a mounting plate 10 is welded to the bottom of the support rod 6. The cross-sectional area of ​​the mounting plate 10 is larger than that of the support rod 6. The bottom of the mounting plate 10 is bolted to the robot base 1. A reinforcing rib 9 is fixedly installed on the side wall of the support rod 6. The end of the reinforcing rib 9 is fixedly connected to the side wall of the robot base 1 on the side where the counterweight 3 is placed. The reinforcing rib 9 serves to improve the connection strength.

[0033] like Figures 1 to 7 As shown, further, the support rod 6 has a notch 7 inside, and a lead screw shaft 11 is laterally movably arranged inside the notch 7. A drive motor 8 is installed on the top of the support rod 6, and the lead screw shaft 11 is installed on the output shaft of the drive motor 8. A synchronous slider 12 is engaged with the surface of the lead screw shaft 11. One side of the synchronous slider 12 is fixedly connected to the crossbeam 14, and a limit rail 13 is slidably arranged on the side wall of the synchronous slider 12, which fits against the side wall of the support rod 6. A U-shaped bracket 15 is installed on the top of the synchronous slider 12, and the other end of the U-shaped bracket 15 is fixedly connected to the end of the crossbeam 14. A limit rod 19 is laterally inserted through the inside of the U-shaped bracket 15, and a connecting plate 20 is movably inserted into the surface of the limit rod 19. The bottom of the connecting plate 20 is fixedly connected to the housing of the dual-axis motor 18. Start the drive motor 8, which drives the lead screw 11 at the end to rotate. The lead screw 11 has a synchronous slider 12 on its surface. The synchronous slider 12 moves up and down along the support rod 6, and during this movement, it drives the crossbeam 14 on the surface to move up and down synchronously until the crossbeam 14 can move above the position to be operated. Next, start the dual-axis motor 18, which drives the drive gear 17 connected to the output shaft to rotate. The bottom of the drive gear 17 is engaged with a positioning rack 16, which is fixedly connected. Therefore, the drive gear 17 can move on the positioning rack 16, and the connecting plate 20 on the surface of the dual-axis motor 18 moves on the limit rod 19, thereby driving the bottom connecting bracket 21 to move left and right. The bottom of the connecting bracket 21 is connected to a disassembly component. The dual-axis motor 18 is stopped when the disassembly component moves to the position to be processed.

[0034] Example 2:

[0035] The difference between the above embodiments and this embodiment is that:

[0036] like Figures 1 to 7 As shown, the surfaces of the two L-shaped brackets 27 are provided with inclined surfaces 28, and guide blocks 29 are overlapped on the surfaces of the inclined surfaces 28. The ends of the two guide blocks 29 are close to each other, and the two guide blocks 29 are in a V-shape, with grooves at the top of the guide blocks 29. As the mounting bracket 25 moves downward synchronously, the lifting ring on the top of the operating motor pushes against the guide block 29. As it continues to move downward, the lifting ring pushes open the guide block 29, and the lifting ring is located in the inner cavity formed by the L-shaped brackets 27. During the subsequent upward movement of the mounting bracket 25 and the pneumatic wrench body 26, the lifting ring is locked by the guide block 29, thereby lifting the operating motor with the lifting ring installed.

[0037] like Figures 1 to 7As shown, a protective plate 33 is fixedly installed at the end of the side plate 32. The surface of the protective plate 33 is chamfered. A connecting shaft is fixedly installed on the side wall of the side plate 32, and both ends of the connecting shaft are movably installed inside the connecting seat at the bottom of the flat plate 23. A torsion spring 35 is engaged with the connecting shaft on the side wall of the side plate 32 and the inside of the connecting seat. A guide wheel 31 is movably installed at the top of the vertical rod 30. When it is raised to the highest position, the guide wheel 31 at the end of the vertical rod 30 pushes the pressure plate 34. At this time, the pressure plate 34 and the side plate 32 rotate around the rotation center, thereby moving the protective plate 33 at the end of the side plate 32 to a horizontal position, that is, inserting it into the bottom of the hoisted motor, reducing the risk of the motor accidentally falling during the hoisting process.

[0038] The implementation principle of the mobile hoisting robot in this embodiment is as follows:

[0039] When the device is needed, the robot base 1 is first moved to the position to be processed by the caster wheel 5. At this time, the operator needs to start the drive motor 8, which drives the lead screw shaft 11 at the end to start rotating. The lead screw shaft 11 is provided with a synchronous slider 12. At this time, the synchronous slider 12 starts to move up and down along the support rod 6. During the movement, it drives the crossbeam 14 on the surface to move up and down synchronously until the crossbeam 14 can be moved above the position to be operated.

[0040] Next, the dual-axis motor 18 is started, which drives the drive gear 17 connected to the output shaft to start rotating. The bottom of the drive gear 17 is engaged with a positioning rack 16, which is fixedly connected. Therefore, the drive gear 17 can move on the positioning rack 16. The connecting plate 20 on the surface of the dual-axis motor 18 moves on the limit rod 19, thereby driving the bottom connecting bracket 21 to start moving left and right. The bottom of the connecting bracket 21 is connected to a disassembly component. The dual-axis motor 18 is stopped after the disassembly component moves to the position that needs to be processed.

[0041] Next, the electric push rod 24 is activated, which drives the bottom mounting bracket 25 and the pneumatic wrench body 26 to move downwards synchronously until the pneumatic wrench body 26 is inserted into the bolt on the bottom mounting seat of the motor to be operated. Then, the pneumatic wrench body 26 is activated to remove the bolts of the operating motor. As the mounting bracket 25 begins to move downwards synchronously, the lifting ring on the top of the operating motor pushes against the guide block 29. As it continues to move downwards, the lifting ring pushes open the guide block 29, and the lifting ring is located in the L-shaped bracket 2. In the inner cavity formed by 7, during the upward movement of the mounting bracket 25 and the pneumatic wrench body 26, the lifting ring is held in place by the guide block 29, thereby lifting the operating motor with the lifting ring installed. When it is lifted to the highest point, the guide wheel 31 at the end of the vertical rod 30 pushes the pressure plate 34. At this time, the pressure plate 34 and the side plate 32 rotate around the rotation center, thereby moving the protective plate 33 at the end of the side plate 32 to a horizontal position, that is, inserting it into the bottom of the lifted motor, reducing the risk of the motor accidentally falling during the hoisting process.

[0042] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0043] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Mobile hoisting robots, including: The robot base (1) is characterized in that a support rod (6) is vertically fixed on the surface of the robot base (1), and a crossbeam (14) is installed on the side wall of the support rod (6). The crossbeam (14) moves up and down along the support rod; The crossbeam (14) is symmetrically provided with positioning racks (16) on its sidewalls. A drive gear (17) is meshed on the surface of the positioning rack (16), and a dual-axis motor (18) is connected to the central shaft of the drive gear (17). The housing of the dual-axis motor (18) is provided with a connecting bracket (21), and a disassembly assembly is connected to the end of the connecting bracket (21). The dual-axis motor (18) drives the connecting bracket (21) to move along the positioning rack (16). The disassembly assembly includes a flat plate (23), an electric push rod (24) is installed at the bottom of the flat plate (23), an installation bracket (25) is connected to the output end of the electric push rod (24), four pneumatic wrench bodies (26) are installed at the corner of the installation bracket (25), and two L-shaped brackets (27) are symmetrically arranged at the bottom of the installation bracket (25). A guide block (29) is movably arranged on the surface of each L-shaped bracket (27). The guide block (29) is in an inclined state. A side plate (32) is movably arranged on the side wall of the flat plate (23). A pressure plate (34) is connected to one side of the side plate (32). The pressure plate (34) is vertically corresponding to the vertical rod (30) arranged at the top of the installation bracket (25). The two L-shaped brackets (27) have inclined surfaces (28) on their surfaces. Guide blocks (29) are overlapped on the surfaces of the inclined surfaces (28). The ends of the two guide blocks (29) are close to each other, and the two guide blocks (29) are in the shape of an octagon. The top of the guide blocks (29) has a groove. A protective plate (33) is fixedly provided at the end of the side plate (32). The surface of the protective plate (33) is chamfered. A connecting shaft is fixedly provided on the side wall of the side plate (32). Both ends of the connecting shaft are movably provided inside the connecting seat at the bottom of the flat plate (23). A torsion spring (35) is snapped between the connecting shaft on the side wall of the side plate (32) and the inside of the connecting seat. A guide wheel (31) is movably provided at the top of the vertical rod (30). The guide wheel (31) at the end of the vertical rod (30) pushes the pressure plate (34), causing the pressure plate (34) and the side plate (32) to rotate around the rotation center, thereby moving the protective plate (33) at the end of the side plate (32) to a horizontal position and inserting it into the bottom of the hoisted motor.

2. The mobile hoisting robot according to claim 1, characterized in that, The robot base (1) has a counterweight groove (2) on its surface, and counterweight blocks (3) are stacked inside the counterweight groove (2). The robot base (1) has a placement groove (4) on the other side, and four casters (5) are installed at the bottom corner of the robot base (1).

3. The mobile hoisting robot according to claim 2, characterized in that, All the casters (5) are equipped with brakes.

4. The mobile hoisting robot according to claim 1, characterized in that, The bottom of the support rod (6) is welded with an installation plate (10), the cross-sectional area of ​​the installation plate (10) is larger than the cross-sectional area of ​​the support rod (6), and the bottom of the installation plate (10) is bolted to the robot base (1).

5. The mobile hoisting robot according to claim 4, characterized in that, The support rod (6) has a reinforcing rib (9) fixedly installed on its side wall, and the end of the reinforcing rib (9) is fixedly connected to the side wall of the robot base (1) on the side where the counterweight (3) is placed.

6. The mobile hoisting robot according to claim 1, characterized in that, The support rod (6) has a notch (7) inside, and a lead screw shaft (11) is movably arranged laterally inside the notch (7). A drive motor (8) is installed on the top of the support rod (6), and the lead screw shaft (11) is installed on the output shaft of the drive motor (8). A synchronous slider (12) is engaged on the surface of the lead screw shaft (11). One side of the synchronous slider (12) is fixedly connected to the crossbeam (14). A limit rail (13) is slidably arranged on the side wall of the synchronous slider (12), and the limit rail (13) is attached to the side wall of the support rod (6).

7. The mobile hoisting robot according to claim 6, characterized in that, The top of the synchronous slider (12) is equipped with a U-shaped bracket (15), and the other end of the U-shaped bracket (15) is fixedly connected to the end of the crossbeam (14). A limit rod (19) is horizontally inserted inside the U-shaped bracket (15), and a connecting plate (20) is movably inserted on the surface of the limit rod (19). The bottom of the connecting plate (20) is fixedly connected to the housing of the dual-axis motor (18).

8. The mobile hoisting robot according to claim 1, characterized in that, The connecting bracket (21) is equipped with a connecting flange (22) at its end, and a disassembly assembly is connected to the bottom of the connecting flange (22).

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