Suspension type mobile robot with double claws moving alternately

Abstract

The invention relates to the technical field of mobile robots, and discloses a suspension type mobile robot with double claws moving alternately, which comprises a mobile robot suspended on a grid track; the mobile robot comprises two clamping jaw units and a connecting unit. According to the suspension type mobile robot with the double claws moving alternately, starting from the initial clamping state of the two sets of clamping claw bodies, the set of clamping claw bodies on one side are loosened firstly, the height of the set of clamping claw bodies is reduced through a pitching steering engine, then the loosened set of clamping claw bodies are moved to the next clamping position through a rotating steering engine on the clamping side, and then the clamping claw bodies are clamped. Meanwhile, a rotating steering engine on the loosening side rotates the loosened clamping jaw body to be aligned with the grid track at the target position, then a pitching steering engine lifts the clamping jaw on the loosening side until a limiting switch is closed, and then the loosened clamping jaw clamps the track to complete one-step movement, can move on the grid track and can cover a certain area; the method is suitable for cooperation of multiple robots.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, in particular to a suspended mobile robot with double claws moving alternately. Background Art

[0002] The patent document with publication number CN221496135U specifically discloses a suspension drive mechanism and a rail-hanging robot. The suspension drive mechanism includes a drive mechanism, a suspension mechanism and a first fixed platform. The upper part of the suspension mechanism cooperates with the track, and the lower part is fixedly connected to the first fixed platform, and the number of suspension mechanisms connected to the first fixed platform is more than two; the suspension mechanism includes a base, a connecting frame and a sliding wheel group, wherein the base is fixed to the upper surface of the first fixed platform, the bottom of the connecting frame is rotatably connected to the base, a sliding wheel group is arranged on the top of the connecting frame, and the sliding wheel group cooperates with the track; a rolling bearing is arranged in the base, and a shaft that cooperates with the rolling bearing is fixed at the bottom of the connecting frame. The rail-hanging robot includes the above-mentioned suspension drive mechanism. The above-mentioned patent has a simple structure, is easy to implement, has good flexibility and stability, can reduce the torque generated when turning or climbing, and has strong practicality.

[0003] Currently, the suspension robots in the prior art are only suitable for moving on a monorail and cannot cover a certain area. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a suspended mobile robot with double claws moving alternately, which solves the problems mentioned in the above background.

[0005] The present invention provides the following technical solution: a suspended mobile robot with two claws moving alternately, comprising: a mobile robot suspended on a grid track; The mobile robot comprises two gripper units and a connection unit, the two gripper units are connected by the connection unit, and a suspension unit is installed in the middle of the connection unit; Each of the clamping jaw units includes two clamping jaw bodies, two clamping servos, a limit switch, a clamping jaw base and a hollow rotating platform. The two clamping servos are installed inside the clamping jaw base, and the two clamping jaw bodies are respectively installed on the output shafts of the two clamping servos. The limit switch is installed on the top of the clamping jaw base. The clamping jaw base is assembled on the inner ring of the hollow rotating platform, and the clamping jaw base is installed at one end of the connecting unit.

[0006] Preferably, the connecting unit includes a transverse connecting rod, a cross beam, two first rotating servos and two upper connecting rods, the two upper connecting rods are respectively rotatably connected to the two ends of the transverse connecting rod, the two upper connecting rods are each equipped with a pitch servo, and the two pitch servos are respectively connected to the two ends of the cross beam, the two upper connecting rods are provided with a first mounting frame, and the first rotating servo is mounted on the vertex of the upper connecting rod through the first mounting frame, and the clamp base is connected to the first rotating servo.

[0007] Preferably, the two first rotary servos are respectively mounted on the outer rings of the two hollow rotary platforms, and the bottom end of the clamping jaw base is connected to the output shaft of the first rotary servos, and the hollow rotary platform is located at the top end of the upper connecting rod.

[0008] Preferably, the suspension unit includes a lower connecting rod and a second rotating servo, the transverse connecting rod and the cross beam are both rotatably connected to the inside of the lower connecting rod, a second mounting frame is provided at the bottom end of the lower connecting rod, and the second rotating servo is installed at the bottom end of the lower connecting rod through the second mounting frame, and a suspension rotating platform is installed on the second rotating servo.

[0009] Preferably, the lower connecting rod is arranged in parallel with the two upper connecting rods, and the lower connecting rod is located in the middle of the transverse connecting rod and the crossbeam.

[0010] Preferably, a plurality of teeth are provided on the surfaces of the two clamping jaw bodies, and the teeth on the two clamping jaw bodies mesh with each other.

[0011] Preferably, a limiting groove is provided on the grid track, and limiting teeth are provided on the inner side of the clamp body, and the limiting teeth are clamped on the inner wall of the limiting groove.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention starts by setting the initial state of clamping of two groups of jaw bodies, first loosens a group of jaw bodies on one side, and lowers the height of the group of jaw bodies by the pitch servo, and then moves the loosened group of jaw bodies to the next clamping position by the rotary servo on the clamping side. At the same time, the rotary servo on the loosening side rotates the loosened group of jaw bodies to align with the grid track of the target position, and then the pitch servo lifts the jaws on the loosening side until the limit switch is closed, and then the loosened jaws clamp the track to complete a one-step movement. The robot can move on the grid track and cover a certain area, which is suitable for multiple robots to work together.

[0013] 2. The present invention provides a lower connecting rod, a second rotary steering gear and a suspended rotary platform, wherein the suspended rotary platform is docked with the working equipment and the working angle of the working equipment is adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the suspended robot of the present invention; Figure 3 This is a schematic diagram of the structure of the two clamping jaws of the present invention clamping the grid track in the initial state; Figure 4 It is a structural schematic diagram of the pitch servo lowering the height of the clamp body after the clamp body of the present invention releases the grid track; Figure 5 This is a schematic diagram of the structure of the rotary steering gear of the present invention adjusting the clamping claw body to move to the next clamping position; Figure 6 It is a schematic diagram of the structure of the two clamping jaws of the present invention clamping in a next position.

[0015] In the figure: 1. Suspended robot; 101. Gripper body; 102. Clamping servo; 103. Limit switch; 104. Gripper base; 105. Hollow rotating platform; 106. First rotating servo; 107. Upper connecting rod; 108. Pitch servo; 109. Horizontal connecting rod; 110. Crossbeam; 111. Lower connecting rod; 112. Second rotating servo; 113. Suspended rotating platform; 2. Grid track. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1-6 , a suspended mobile robot with two claws moving alternately, comprising: a mobile robot suspended on a grid track 2; The mobile robot comprises two gripper units and a connection unit, the two gripper units are connected by the connection unit, and a suspension unit is installed in the middle of the connection unit; Each clamping unit includes two clamping bodies 101, two clamping servos 102, a limit switch 103, a clamping base 104 and a hollow rotating platform 105. The two clamping servos 102 are installed inside the clamping base 104, the two clamping bodies 101 are respectively installed on the output shafts of the two clamping servos 102, the limit switch 103 is installed on the top of the clamping base 104, the clamping base 104 is assembled on the inner ring of the hollow rotating platform 105, and the clamping base 104 is installed at one end of the connecting unit.

[0018] The connecting unit includes a transverse connecting rod 109, a cross beam 110, two first rotating servos 106 and two upper connecting rods 107. The two upper connecting rods 107 are respectively rotatably connected to the two ends of the transverse connecting rod 109. Pitch servos 108 are installed inside the two upper connecting rods 107, and the two pitch servos 108 are respectively connected to the two ends of the cross beam 110. A first mounting frame is provided on the two upper connecting rods 107, and the first rotating servo 106 is installed on the top of the upper connecting rod 107 through the first mounting frame. The clamp base 104 is connected to the first rotating servo 106. The upper connecting rod 107 is installed on the output shaft of the pitch servo 108 to rotate, which can rotate the transverse connecting rod 109. The height of the other side of the transverse connecting rod 109 can be adjusted to drive the adjustment of the height of the other side of the upper connecting rod 107 and thus adjust the height of the clamping unit on the other side.

[0019] In a specific embodiment, two first rotary servos 106 are respectively installed on the outer rings of two hollow rotary platforms 105, and the bottom end of the clamping base 104 is connected to the output shaft of the first rotary servo 106. The hollow rotary platform 105 is located at the top of the upper connecting rod 107. One of the clamping units is opened and the other clamping unit remains in a clamping state. The first rotary servo 106 under the clamping unit corresponding to the clamping state is started, and the upper connecting rod 107 is driven to rotate through the first mounting frame. The upper connecting rod 107 drives the upper connecting rod 107 on the other side and the clamping unit in the open state to move to the target position through the transverse connecting rod 109.

[0020] The suspension unit includes a lower connecting rod 111 and a second rotating servo 112, the transverse connecting rod 109 and the cross beam 110 are both rotatably connected to the inside of the lower connecting rod 111, a second mounting frame is provided at the bottom end of the lower connecting rod 111, and the second rotating servo 112 is installed at the bottom end of the lower connecting rod 111 through the second mounting frame, a suspension rotating platform 113 is installed on the second rotating servo 112, the equipment is installed to the inner ring of the suspension rotating platform 113, and the equipment is docked with the output shaft of the second rotating servo 112, and the rotation angle of the equipment is adjusted by the second rotating servo 112, the equipment installed on the suspension rotating platform 113 is a monitoring equipment commonly used in the prior art, such as the imaging device disclosed in the patent with publication number CN221496135U, the lower connecting rod 111 is arranged parallel to the two upper connecting rods 107, and the lower connecting rod 111 is located in the middle of the transverse connecting rod 109 and the cross beam 110.

[0021] In a specific embodiment, a plurality of teeth are provided on the surfaces of the two jaw bodies 101, and the teeth on the two jaw bodies 101 mesh with each other. When the two jaw bodies 101 move, the teeth drive the teeth to rotate synchronously. The teeth mesh with each other, so that the two jaw bodies 101 can maintain synchronous movement during the process of opening or closing.

[0022] The grid track 2 is provided with a limiting groove, and the inner side of the clamp body 101 is provided with limiting teeth, which are engaged with the inner wall of the limiting groove to prevent the clamp body 101 from slipping when clamping.

[0023] The top of the clamp body 101 has a limit tooth, which meshes with the limit groove on the grid track 2. The two clamp bodies 101 are respectively installed on the output shafts of the two clamping servos 102, and the clamping servos 102 control the loosening and clamping. The two clamp bodies 101 keep synchronization through the teeth. The clamping servo 102 is installed on the clamp base 104. The upper part of the clamp base 104 is installed with a limit switch 103. When the limit switch 103 is closed due to contact with the grid track, it can be judged that the clamp body 101 can clamp the track. The clamp base 104 is assembled on the inner ring of the hollow rotating platform 105, and the first rotating servo 106 is installed on the outer ring of the hollow rotating platform 105. The lower part of the clamp base 104 is installed on the output shaft of the first rotating servo 106. The output shaft is driven by the first rotary servo 106 to drive the clamp base 104 to rotate, the hollow rotary platform 105 is installed above the upper connecting rod 107, and the two pitch servos 108 are respectively installed at both ends of the cross beam 110. The upper connecting rod 107 is installed on the output shaft of the pitch servo 108. The cross connecting rod 109 is connected to the upper connecting rods 107 on both sides through bearings, and together with the cross beam 110, it forms a parallelogram. When one side is installed, the height of the other side can be adjusted by the pitch servo 108. The lower connecting rod 111 is assembled in the middle of the cross connecting rod 109 and the cross beam 110 through a bearing, and always keeps parallel with the upper connecting rod 107. A suspended rotary platform 113 and a second rotary servo 112 are installed below the lower connecting rod 111, which can be expanded to install other workloads.

[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A suspended mobile robot with alternating double claws, characterized in that: include: A mobile robot suspended on a grid track (2); The mobile robot comprises two gripper units and a connection unit, the two gripper units are connected by the connection unit, and a suspension unit is installed in the middle of the connection unit; Each of the clamping jaw units comprises two clamping jaw bodies (101), two clamping servos (102), a limit switch (103), a clamping jaw base (104) and a hollow rotating platform (105); the two clamping servos (102) are mounted inside the clamping jaw base (104); the two clamping jaw bodies (101) are respectively mounted on the output shafts of the two clamping servos (102); the limit switch (103) is mounted on the top of the clamping jaw base (104); the clamping jaw base (104) is assembled on the inner ring of the hollow rotating platform (105); and the clamping jaw base (104) is mounted on one end of the connecting unit; The connection unit comprises a transverse connecting rod (109), a cross beam (110), two first rotary servos (106) and two upper connecting rods (107); the two upper connecting rods (107) are respectively rotatably connected to the two ends of the transverse connecting rod (109); a pitch servo (108) is installed inside the two upper connecting rods (107); the two pitch servos (108) are respectively connected to the two ends of the cross beam (110); a first mounting frame is provided on the two upper connecting rods (107); the first rotary servo (106) is mounted on the top of the upper connecting rod (107) via the first mounting frame; and the clamping claw base (104) is connected to the first rotary servo (106); The suspension unit comprises a lower connecting rod (111) and a second rotary steering gear (112); the transverse connecting rod (109) and the transverse beam (110) are both rotatably connected inside the lower connecting rod (111); a second mounting frame is provided at the bottom end of the lower connecting rod (111); the second rotary steering gear (112) is mounted on the bottom end of the lower connecting rod (111) via the second mounting frame; and a suspension rotary platform (113) is mounted on the second rotary steering gear (112).

2. A suspended mobile robot with alternating double claw movements according to claim 1, characterized in that: The two first rotary servos (106) are respectively mounted on the outer rings of the two hollow rotary platforms (105), and the bottom end of the clamping jaw base (104) is connected to the output shaft of the first rotary servos (106), and the hollow rotary platform (105) is located at the top end of the upper connecting rod (107).

3. A suspended mobile robot with alternating double claw movements according to claim 1, characterized in that: The lower connecting rod (111) is arranged in parallel with the two upper connecting rods (107), and the lower connecting rod (111) is located in the middle of the transverse connecting rod (109) and the crossbeam (110).

4. A suspended mobile robot with alternating double claw movements according to claim 1, characterized in that: The surfaces of the two clamping jaw bodies (101) are each provided with a plurality of teeth, and the teeth on the two clamping jaw bodies (101) mesh with each other.

5. The suspended mobile robot with alternating double claws according to claim 1, characterized in that: The grid track (2) is provided with a limiting groove, and the inner side of the clamp body (101) is provided with limiting teeth, the limiting teeth being clamped on the inner wall of the limiting groove.

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