Portable rope loading and unloading robot with adjustable frame

Abstract

The invention relates to the technical field of rope loading and unloading robots, in particular to a portable rope loading and unloading robot with an adjustable frame. Through separation of the main body structure and the nested structure, the robot can adapt to different and complex loading and unloading scenes, meanwhile, the mechanism advantage of portable storage of the robot is guaranteed, in addition, intelligent goods and site identification and unmanned intelligent loading and unloading can be achieved through a high-performance sensor, the overall structure of the mechanism is stable and reliable, and the internal space structure of the robot is reasonable; the redundant degree of freedom of the mechanism can ensure that the mechanism has strong anti-interference capability, and the limiting mechanism avoids interference of an internal movement device and is easy to reconstruct, install and adjust. In addition, the sensor selection and position setting are rigorous, so that the functions are more perfect, more automatic and more intelligent.

Description

Technical Field

[0001] The invention relates to the technical field of rope loading and unloading robots, and more particularly to a portable rope loading and unloading robot with an adjustable frame. Background Art

[0002] With their excellent operating capabilities and outstanding performance, intelligent robots are increasingly becoming indispensable assistants in people's daily lives and work. They not only demonstrate high efficiency and precision in performing tasks, but also can efficiently replace humans when handling high-intensity and high-risk tasks, greatly reducing labor burdens and potential safety risks, which not only improves work efficiency, but also creates a more comfortable living environment for humans.

[0003] For cargo loading and unloading and handling, rope-driven intelligent robots have demonstrated amazing capabilities. Although there are many types of robots with automatic loading and unloading functions on the market, they often cannot adaptively adjust the loading and unloading framework according to the cargo scene, and lack sufficient consideration for convenient storage and transportation, so there is still a need for improvement. Summary of the invention

[0004] The invention provides a portable rope loading and unloading robot with an adjustable frame, the purpose of which is to be able to.

[0005] The above purpose is achieved through the following technical solutions:

[0006] A portable rope loading and unloading robot with an adjustable frame comprises a nested car body and a car body, wherein two winding mechanisms are installed on the top of the nested car body, the nested car body is embedded in the car body, a winding mechanism is installed on the front and rear sides of the top of the nested car body and the front and rear sides of the top of the car body respectively, each winding mechanism winds up a rope, a self-driven intelligent clamp is arranged below the winding mechanism, the lower ends of four ropes are all fixedly connected to the upper end of the self-driven intelligent clamp, one end of a telescopic mechanism is fixedly connected to the car body, and the other end of the telescopic mechanism is fixedly connected to the nested car body, so that the telescopic mechanism can be used to push the nested car body out of the car body horizontally, or pull the nested car body back into the car body horizontally.

[0007] A mobile chassis is installed on the nested vehicle body and the bottom of the vehicle body.

[0008] The four winding mechanisms are respectively located at the four corners of a virtual rectangle.

[0009] The nested car body comprises a nested car body top plate, a nested car body bottom plate arranged directly below the nested car body top plate, a hydraulic rod fixedly connected to the nested car body bottom plate, and a top of the hydraulic rod fixedly connected to the nested car body top plate;

[0010] The vehicle body comprises a vehicle body top plate, a vehicle body bottom plate is arranged below the vehicle body top plate, a hydraulic rod is fixedly connected to the vehicle body bottom plate, and the top of the hydraulic rod is fixedly connected to the vehicle body top plate.

[0011] It also includes two roller machines, and the front and rear sides of the vehicle body bottom plate are fixedly connected with bearing bases. The first roller machine is rotatably connected to the bearing base located on the front side, and the second roller machine is rotatably connected to the bearing base located on the rear side. Each roller machine reels up a roller blind, and the free ends of the two roller blinds are respectively fixed to the front and rear ends of the vehicle body top plate. The vehicle body top plate, the vehicle body bottom plate and the two roller blinds form a wall structure with left and right openings.

[0012] The winding mechanism includes a stepper motor and a rope-winding wheel fixedly connected to the output shaft of the stepper motor; the stepper motor of the winding mechanism on the nested car body top plate is fixedly connected to the lower end of the nested car body top plate, and the stepper motor of the winding mechanism on the car body top plate is fixedly connected to the lower end of the car body top plate.

[0013] The telescopic mechanism comprises a motor fixedly connected to the lower end of the vehicle body top plate, and a six-stage telescopic rod driven by the motor to realize telescoping, and the telescopic end of the six-stage telescopic rod is fixedly connected to the vehicle body top plate.

[0014] The four corners of the lower end of the nested vehicle body bottom plate and the four corners of the lower end of the vehicle body bottom plate are respectively fixed with a universal brake caster, the lower ends of the nested vehicle body bottom plate and the vehicle body bottom plate are both fixed with a roller motor, and a roller is fixedly connected to the output shaft of the roller motor.

[0015] A visual inspection camera is fixedly connected to the outer side of the self-driving intelligent gripper.

[0016] The outer side surface of the self-driving intelligent gripper is fixedly connected to a laser ranging sensor.

[0017] The beneficial effects of the portable rope loading and unloading robot with an adjustable frame of the present invention are:

[0018] By separating the main structure and the nested structure, it can adapt to different and complex loading and unloading scenarios, while ensuring the advantages of the robot's portable storage mechanism. In addition, relying on high-performance sensors, it can realize intelligent identification of goods and sites, as well as unmanned intelligent loading and unloading. The overall structure of the mechanism is stable and reliable, the internal space structure of the robot is reasonable, the redundant freedom of the mechanism can ensure that the mechanism has a strong anti-interference ability, the limit mechanism avoids the interference of the internal motion device, and is easy to reconstruct and adjust. In addition, the rigorous selection and position setting of sensors make the function more complete, more automated and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram showing a portable rope loading and unloading robot with an adjustable frame according to the present invention when a nested body is separated from a body;

[0020] Figure 2 It shows a schematic diagram of the nested vehicle body of the present invention entering the vehicle body;

[0021] Figure 3 A schematic diagram of the smart gripper is shown.

[0022] In the figure: nested vehicle body top plate 1; nested vehicle body bottom plate 2; vehicle body top plate 3; vehicle body bottom plate 4; stepper motor 5; roller motor 6; AC motor 7; visual detection camera 8; six-stage telescopic rod 9; limit sleeve 10; self-driven intelligent clamp 11; universal brake caster 12; control box and battery 13; rope retracting wheel 14; V-type pulley 15; roller curtain 16; drum machine 17; bearing base 18; roller 19; rope 20; four-stage telescopic rod 21; hydraulic rod 22; motor 23; laser ranging sensor 24. DETAILED DESCRIPTION

[0023] A portable and adjustable frame rope loading and unloading robot, e.g. Figure 1 and 2 , including a nested car body, the bottom of the nested car body has a movable chassis, and two winding mechanisms are installed on the top of the nested car body. The nested car body is embedded in the car body, and two winding mechanisms are installed on the top of the car body. The four winding mechanisms are respectively located at the four corners of a virtual rectangle. One end of the telescopic mechanism is fixedly connected to the car body, and the other end of the telescopic mechanism is fixedly connected to the nested car body, so that the nested car body can be pushed out of the car body horizontally or pulled back into the car body horizontally by using the telescopic mechanism.

[0024] To further illustrate, for example Figure 3 A self-driven intelligent gripper 11 is arranged below the four reeling mechanisms. An angled or parallel gripper can be selected, such as mycobot, ROBOTIQ electric gripper or Dahuan AG-95 adaptive two-finger gripper. The four reeling mechanisms reel in a rope 20 respectively. The reeling mechanisms can reel in and release the rope 20 on themselves. The free ends / lower ends of the four ropes 20 are respectively fixed to the top of the self-driven intelligent gripper 11, and the lower ends of the four ropes 20 are respectively located at the four corners of the second virtual rectangle.

[0025] Further explained, the nested car body includes a nested car body top plate 1, and a nested car body bottom plate 2 arranged directly below the nested car body top plate 1, and a hydraulic rod 22 is fixed to the nested car body bottom plate 2, and the hydraulic rod 22 is used to drive the nested car body top plate 1 to rise and fall. In this way, when the nested car body top plate 1 is at the top of the interior of the car body, the interior of the car body has a large storage space, which is convenient for storing large objects. When the nested car body top plate 1 is lowered inside the car body, the space inside the car body can be divided to form two upper and lower storage spaces, which is suitable for storing small items.

[0026] To further illustrate, the vehicle body includes a vehicle body top plate 3, a vehicle body bottom plate 4 is arranged below the vehicle body top plate 3, a hydraulic rod 22 is fixed to the vehicle body bottom plate 4, and the hydraulic rod 22 is used to drive the vehicle body top plate 3 to rise and fall, so that the vehicle body top plate 3 and the nested vehicle body top plate 1 rise and fall synchronously.

[0027] The winding mechanism includes a stepper motor 5 and a rope-receiving wheel 14 fixedly connected to the output shaft of the stepper motor 5; the stepper motor 5 of the winding mechanism on the nested vehicle body top plate 1 is fixedly connected to the lower end of the nested vehicle body top plate 1. The stepper motor 5 of the winding mechanism on the vehicle body top plate 3 is fixedly connected to the lower end of the vehicle body top plate 3.

[0028] Among them, a universal brake caster 12 is fixedly connected to each of the four corners of the lower end of the nested body bottom plate 2 and the four corners of the lower end of the body bottom plate 4, thereby forming a mobile chassis. The lower ends of the nested body bottom plate 2 and the body bottom plate 4 are both fixedly connected to a roller motor 6, and a roller 19 is fixedly connected to the output shaft of the roller motor 6 to realize the walking of the robot.

[0029] The lower end of the nested vehicle body top plate 1 is fixedly connected to a limiting sleeve 10 , and the limiting sleeve 10 is fixedly connected to the telescopic end of the six-stage telescopic rod 9 .

[0030] The telescopic mechanism is an electric telescopic cylinder, which can also be a multi-stage telescopic cylinder, for example, including a motor 23 fixedly connected to the lower end of the vehicle body top plate 3, and a six-stage telescopic rod 9 driven by the motor 23 to achieve telescopic movement, and the telescopic end of the six-stage telescopic rod 9 is fixedly connected to the vehicle body top plate 3.

[0031] The hydraulic rod 22 may be a four-stage telescopic rod 21 driven by an AC motor 7 , and the telescopic end of the four-stage telescopic rod 21 is arranged upward.

[0032] Among them, the outer side surface of the self-driving intelligent gripper 11 is fixedly connected with a visual detection camera 8 and a laser ranging sensor 24 for identifying goods and sites.

[0033] Among them, four bearing bases 18 are fixedly connected to the vehicle body bottom plate 4, and the four bearing bases 18 are respectively located at the four corners of the vehicle body bottom plate 4. The two ends of the first roller machine 17 are respectively rotatably connected to the two bearing bases 18 located at the front side, and the two ends of the second roller machine 17 are respectively rotatably connected to the two bearing bases 18 located at the rear side. Each roller machine 17 reels a rolling curtain 16, and the free ends of the two rolling curtains 16 are respectively fixedly connected to the front and rear ends of the vehicle body top plate 3. As the vehicle body top plate 3 rises, the roller machine 17 adaptively releases the rolling curtain 16.

[0034] The vehicle body bottom plate 4 is fixedly connected with a control box and a battery 13 for supplying power and controlling each motor, telescopic rod and reel 17 , and laser distance measuring sensor 24 .

Claims

1. A portable rope loading and unloading robot with an adjustable frame, characterized in that: The invention comprises a nested car body and a car body, wherein two winding mechanisms are installed on the top of the nested car body, the nested car body is embedded in the car body, a winding mechanism is installed on the front and rear sides of the top of the nested car body and the front and rear sides of the top of the car body, each winding mechanism winds up a rope (20), a self-driven intelligent clamping claw (11) is arranged below the winding mechanism, the lower ends of the four ropes (20) are all fixedly connected to the upper end of the self-driven intelligent clamping claw (11), one end of the telescopic mechanism is fixedly connected to the car body, and the other end of the telescopic mechanism is fixedly connected to the nested car body, so that the telescopic mechanism can be used to push the nested car body out of the car body horizontally, or to pull the nested car body back into the car body horizontally.

2. The portable and adjustable frame rope loading and unloading robot according to claim 1, characterized in that: A mobile chassis is installed on the nested vehicle body and the bottom of the vehicle body.

3. The portable and adjustable frame rope loading and unloading robot according to claim 1, characterized in that: The four winding mechanisms are respectively located at the four corners of a virtual rectangle.

4. The portable adjustable frame rope loading and unloading robot according to claim 1, characterized in that: The nested vehicle body comprises a nested vehicle body top plate (1), a nested vehicle body bottom plate (2) arranged directly below the nested vehicle body top plate (1), a hydraulic rod (22) fixedly connected to the nested vehicle body bottom plate (2), and the top of the hydraulic rod (22) fixedly connected to the nested vehicle body top plate (1); The vehicle body comprises a vehicle body top plate (3), a vehicle body bottom plate (4) is arranged below the vehicle body top plate (3), a hydraulic rod (22) is fixedly connected to the vehicle body bottom plate (4), and the top of the hydraulic rod (22) is fixedly connected to the vehicle body top plate (3).

5. The portable and adjustable frame rope loading and unloading robot according to claim 4, characterized in that: The vehicle body also comprises two roller machines (17). The front and rear sides of the vehicle body bottom plate (4) are both fixedly connected with bearing bases (18). The first roller machine (17) is rotatably connected to the bearing base (18) located at the front side, and the second roller machine (17) is rotatably connected to the bearing base (18) located at the rear side. Each roller machine (17) reels a rolling curtain (16). The free ends of the two rolling curtains (16) are respectively fixedly connected to the front and rear ends of the vehicle body top plate (3). The vehicle body top plate (3), the vehicle body bottom plate (4) and the two rolling curtains (16) form a wall structure with left and right openings.

6. The portable adjustable frame rope loading and unloading robot according to claim 4, characterized in that: The winding mechanism comprises a stepper motor (5) and a rope-winding wheel (14) fixedly connected to the output shaft of the stepper motor (5); the stepper motor (5) of the winding mechanism on the nested vehicle body top plate (1) is fixedly connected to the lower end of the nested vehicle body top plate (1), and the stepper motor (5) of the winding mechanism on the vehicle body top plate (3) is fixedly connected to the lower end of the vehicle body top plate (3).

7. The portable adjustable frame rope loading and unloading robot according to claim 4, characterized in that: The telescopic mechanism comprises a motor (23) fixedly connected to the lower end of the vehicle body top plate (3), and a six-stage telescopic rod (9) driven by the motor (23) to achieve telescopic movement, wherein the telescopic end of the six-stage telescopic rod (9) is fixedly connected to the vehicle body top plate (3).

8. The portable adjustable frame rope loading and unloading robot according to claim 4, characterized in that: A universal brake caster (12) is fixedly connected to each of the four corners of the lower end of the nested vehicle body bottom plate (2) and the four corners of the lower end of the vehicle body bottom plate (4). A roller motor (6) is fixedly connected to the lower ends of the nested vehicle body bottom plate (2) and the vehicle body bottom plate (4), and a roller (19) is fixedly connected to the output shaft of the roller motor (6).

9. The portable adjustable frame rope loading and unloading robot according to claim 1, characterized in that: A visual detection camera (8) is fixedly connected to the outer side surface of the self-driven intelligent clamping claw (11).

10. The portable and adjustable frame rope loading and unloading robot according to claim 1, characterized in that: The outer side surface of the self-driven intelligent clamping claw (11) is fixedly connected to a laser distance measuring sensor (24).

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