A portable rope loading and unloading robot with an adjustable frame

Abstract

The present invention relates to the technical field of rope loading and unloading robots, and more specifically to a portable rope loading and unloading robot with an adjustable frame. 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 degrees of freedom of the mechanism can ensure that the mechanism has strong anti-interference ability, the limiting mechanism avoids interference with the internal motion device, and is easy to reconstruct and adjust. In addition, the selection and position setting of the sensors are rigorous, making the function more complete, more automated, and more intelligent.

Description

Technical Field

[0001] The present 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] Intelligent robots, with their exceptional operational capabilities and outstanding performance, are increasingly becoming indispensable assistants in our daily lives and work. They not only demonstrate efficiency and precision in performing tasks, but also effectively replace humans in handling high-intensity, high-risk tasks, significantly reducing labor burdens and potential safety risks. This not only improves work efficiency but also creates a more comfortable living environment for humans.

[0003] Rope-driven intelligent robots have demonstrated remarkable capabilities for cargo loading, unloading, and transport. While various types of automated loading and unloading robots exist on the market, they often lack adaptive adjustment of their loading and unloading frameworks based on the cargo environment, and lack sufficient consideration for convenient storage and transportation, necessitating further improvement. Summary of the Invention

[0004] The present invention provides a portable rope loading and unloading robot with an adjustable frame, the purpose of which is to achieve the following technical solutions:

[0005] A portable rope loading and unloading robot with an adjustable frame includes a nested car body and a car body. 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 provided below the winding mechanism. The lower ends of the four ropes are all fixedly connected to the upper end of the self-driven intelligent clamp. 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 pull the nested car body back into the car body horizontally.

[0006] A mobile chassis is installed on the nested vehicle body and the bottom of the vehicle body.

[0007] The four winding mechanisms are located at the four corners of a virtual rectangle.

[0008] The nested car body includes a nested car body top plate, a nested car body bottom plate arranged just below the nested car body top plate, a first hydraulic rod fixedly connected to the nested car body bottom plate, and a top of the first hydraulic rod fixedly connected to the nested car body top plate;

[0009] The vehicle body comprises a vehicle body top plate, a vehicle body bottom plate is arranged below the vehicle body top plate, the second hydraulic rod is fixedly connected to the vehicle body bottom plate, and the top of the second hydraulic rod is fixedly connected to the vehicle body top plate.

[0010] It also includes two roller machines, and bearing bases are fixed on the front and rear sides of the vehicle body bottom plate. The first roller machine is rotatably connected to the bearing base on the front side, and the second roller machine is rotatably connected to the bearing base on the rear side. Each roller machine rewinds 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.

[0011] The winding mechanism includes a stepper motor and a rope-taking 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.

[0012] The telescopic mechanism includes a motor fixed to the lower end of the vehicle body top plate, and a six-stage telescopic rod driven by the motor to achieve telescopic movement. The telescopic end of the six-stage telescopic rod is fixed to the nested vehicle body top plate.

[0013] 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 each 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 fixed on the output shaft of the roller motor.

[0014] A visual inspection camera is fixedly connected to the outer side of the self-driving intelligent gripper.

[0015] The outer side of the self-driven intelligent gripper is fixedly connected to a laser ranging sensor.

[0016] The beneficial effects of the portable rope loading and unloading robot with an adjustable frame of the present invention are:

[0017] By separating the main structure from the nested structure, the robot can adapt to diverse and complex loading and unloading scenarios while maintaining the advantages of portability and storage. Furthermore, high-performance sensors enable intelligent identification of cargo and site, as well as unmanned intelligent loading and unloading. The overall structure is stable and reliable, and the robot's internal space is rationally structured. The redundant degrees of freedom ensure strong anti-interference capabilities, while the limit mechanism avoids interference from internal motion devices and allows for easy reconfiguration and adjustment. Furthermore, the rigorous selection and placement of sensors further enhances functionality, automation, and intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram showing a portable rope loading and unloading robot with an adjustable frame according to the present invention when its nested body is separated from the body;

[0019] Figure 2 It shows a schematic diagram of the nested vehicle body of the present invention entering the vehicle body;

[0020] Figure 3 A schematic diagram of the smart gripper is shown.

[0021] 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 inspection 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; first hydraulic rod 22; motor 23; laser ranging sensor 24. DETAILED DESCRIPTION

[0022] A portable and adjustable frame rope loading and unloading robot, e.g. Figure 1 and 2 The invention comprises a nested car body with a movable chassis at the bottom and two reeling mechanisms mounted on top. The nested car body is embedded in the vehicle body, and two reeling mechanisms are mounted on top of the car body, with the four reeling mechanisms located at the four corners of a virtual rectangle. One end of the retractable mechanism is fixed to the car body, and the other end of the retractable mechanism is fixed to the nested car body. The retractable mechanism can be used to horizontally push the nested car body out of the vehicle body or pull it back into the vehicle body.

[0023] To further illustrate, for example Figure 3 Below the four reeling mechanisms are self-propelled intelligent grippers 11. These can be angled or parallel grippers, such as those from the mycobot, ROBOTIQ electric grippers, or the Dahuan AG-95 adaptive two-finger gripper. Each of the four reeling mechanisms reels in a rope 20, capable of both winding and releasing the ropes 20. The free ends / lower ends of the four ropes 20 are secured to the top of the self-propelled intelligent grippers 11, with the lower ends of the four ropes 20 located at the four corners of the second virtual rectangle.

[0024] To further illustrate, the nested car body includes a nested car body top plate 1 and a nested car body bottom plate 2 positioned directly below the nested car body top plate 1. A first hydraulic rod 22 is affixed to the nested car body bottom plate 2, which is used to drive the nested car body top plate 1 up and down. When the nested car body top plate 1 is at the top of the car body, the interior of the car body has a large storage space, which is convenient for storing large items. When the nested car body top plate 1 is lowered, the interior space of the car body is divided into two storage spaces, one above the other, which is suitable for storing small items.

[0025] To further illustrate, the vehicle body includes a vehicle body top plate 3, a vehicle body bottom plate 4 is provided below the vehicle body top plate 3, and a second hydraulic rod is fixed to the vehicle body bottom plate 4, which 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.

[0026] The winding mechanism includes a stepper motor 5 and a rope-receiving pulley 14 fixed 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 fixed 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 fixed to the lower end of the vehicle body top plate 3.

[0027] A universal brake caster 12 is fixed to each of the four corners of the lower end of the nested body base 2 and the lower end of the body base 4, forming a mobile chassis. A roller motor 6 is fixed to the lower end of each nested body base 2 and the body base 4, and a roller 19 is fixed to the output shaft of the roller motor 6 to enable the robot to move.

[0028] 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 .

[0029] The telescopic mechanism is an electric telescopic cylinder, which can also be a multi-stage telescopic cylinder, for example, including a motor 23 fixed 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 fixed to the nested vehicle body top plate 1.

[0030] The first hydraulic rod 22 and the second hydraulic rod 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.

[0031] Among them, the outer side surface of the self-driven intelligent gripper 11 is fixedly connected with a visual detection camera 8 and a laser ranging sensor 24 for identifying goods and sites.

[0032] Four bearing bases 18 are fixed to the vehicle body floor 4, located at the four corners of the vehicle body floor 4. The two ends of the first reel 17 are rotatably connected to the two bearing bases 18 located at the front, while the two ends of the second reel 17 are rotatably connected to the two bearing bases 18 located at the rear. Each reel 17 reels a roller blind 16, the free ends of which are fixed to the front and rear ends of the vehicle body roof 3. As the vehicle body roof 3 rises, the reel 17 adaptively releases the roller blind 16.

[0033] The vehicle body bottom plate 4 is fixedly connected to a control box and a battery 13 for supplying power and controlling the motors, telescopic rod and reel 17 , and laser ranging 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 interior of 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 provided 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 is 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 rope loading and unloading robot with an adjustable frame 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 rope loading and unloading robot with an adjustable frame according to claim 1, characterized in that: The four winding mechanisms are located at the four corners of a virtual rectangle.

4. The portable rope loading and unloading robot with an adjustable frame 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 first hydraulic rod (22) fixedly connected to the nested vehicle body bottom plate (2), and a top of the first 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 provided below the vehicle body top plate (3), a second hydraulic rod is fixedly connected to the vehicle body bottom plate (4), and a top of the second hydraulic rod is fixedly connected to the vehicle body top plate (3).

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

6. The portable rope loading and unloading robot with an adjustable frame according to claim 4, characterized in that: The winding mechanism comprises a stepper motor (5) and a rope-receiving wheel (14) fixedly connected to an 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 rope loading and unloading robot with an adjustable frame 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 nested vehicle body top plate (1).

8. The portable rope loading and unloading robot with an adjustable frame 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). The lower ends of the nested vehicle body bottom plate (2) and the vehicle body bottom plate (4) are fixedly connected to a roller motor (6), and a roller (19) is fixedly connected to the output shaft of the roller motor (6).

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

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

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