Gantry type mobile operation robot

Abstract

The invention relates to the technical field of mobile robot logistics transportation, in particular to a gantry type mobile operation robot which comprises a rack, a driving wheel set, a lead screw lifting mechanism, a guide mechanism, a clamping mechanism and a safety protection device. And a brand-new gantry type mobile operation robot is formed. The mobile operation robot has the advantages of being simple in structure, convenient to operate, good in stability and the like. The functions comprise all-directional moving, vertical lifting and horizontal clamping, and efficient carrying is achieved. The robot has high innovativeness and is suitable for the field of logistics transportation, the carrying efficiency is remarkably improved, the labor cost is reduced, and the robot has remarkable practical value.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robot logistics transportation, and in particular to a gantry type mobile operating robot. Background Art

[0002] With the rapid development of science and technology, automation and intelligence have become important development directions of modern industry. In the field of logistics and transportation, traditional handling methods can no longer meet the needs of efficient and accurate transportation. Therefore, mobile operation robots have gradually replaced traditional handling methods. However, the current design of mobile operation robots mainly focuses on basic navigation, handling and positioning functions. There are still challenges in some specific scenarios.

[0003] The specific challenges currently faced by mobile working robots are as follows:

[0004] 1. In scenarios such as ground-based warehouses and narrow spaces, existing mobile robots still have shortcomings in terms of precise handling and stable lifting of goods.

[0005] 2. Although the existing mobile operation robots are equipped with lifting mechanisms, they mostly adopt a latent lifting method. When the goods are stacked in multiple layers, other lifting equipment is still needed to take out the goods. Summary of the invention

[0006] In order to solve the challenges and technical problems faced by the above-mentioned mobile working robots, the present invention designs a gantry-type mobile working robot to meet the needs of specific scenarios and improve the efficiency of cargo handling. The technical solution of the present invention is implemented as follows:

[0007] The present invention patent invents a gantry type mobile working robot, which includes a frame, a driving wheel set, a screw lifting mechanism, a guiding mechanism, a clamping mechanism and a safety protection device.

[0008] Specifically, the driving wheel set is arranged below the frame, the guiding mechanism and the safety protection device are arranged above the frame, the screw lifting mechanism is arranged in the middle of the frame, and the clamping mechanism is arranged below the screw lifting mechanism.

[0009] In some embodiments, the frame is configured as a gantry type, the driving wheel set is provided with steering wheels, and the number of the steering wheels is four.

[0010] Specifically, the screw lifting mechanism includes a drive motor assembly, a synchronous belt transmission assembly and a screw assembly. The drive motor assembly is fixedly connected to the guide mechanism, and the screw assembly is fixedly connected to the guide mechanism; the drive motor assembly drives the screw assembly to rotate through the synchronous belt transmission assembly.

[0011] Furthermore, the drive motor assembly includes a drive motor, a first synchronous pulley and a motor fixing frame; the screw assembly includes a screw, a screw nut, a first transition connection seat, a second transition connection seat, a plane thrust bearing, a deep groove ball bearing, a second synchronous pulley, and a support frame; the guide mechanism includes a first mounting plate, a second mounting plate, a guide sleeve, a guide rod and a floating connection seat.

[0012] In some embodiments, the lead screw is made of high-strength and wear-resistant material, the number of the guide rods is four, and the number of the guide sleeves is four.

[0013] Specifically, the drive motor is fixedly connected to the first mounting plate via the motor fixing frame, the screw assembly is fixedly connected to the first mounting plate via the support frame, and the first synchronous pulley is fixedly connected to the drive motor; the second synchronous pulley and the screw nut are fixedly connected to the first transition connection seat, the plane thrust bearing is arranged between the first transition connection seat and the second transition connection seat, and the deep groove ball bearing is arranged between the first transition connection seat and the second transition connection seat; one end of the screw is connected to the floating connection seat, and the floating connection seat is fixedly connected to the top of the second mounting plate; the guide rod is fixedly connected to the top of the second mounting plate, and the guide sleeve is fixedly connected to the top of the first mounting plate.

[0014] Further, the driving motor drives the first synchronous pulley to rotate; the first synchronous belt drives the second synchronous pulley to rotate through the synchronous belt transmission assembly; the second synchronous pulley drives the first transition connection seat and the screw nut to rotate; the first transition connection seat and the screw nut drive the screw to move up and down.

[0015] Specifically, the clamping mechanism includes a clamping plate, a slider assembly, a first gear rack assembly, a second gear rack assembly, an electric push rod and a claw; the clamping plate is fixedly connected to the gear rack assembly; the electric push rod drives the gear rack assembly to move, and the gear rack assembly drives the clamping plate and the claw to move.

[0016] Specifically, the clamping plate includes a first clamping plate, a second clamping plate, a third clamping plate, and a fourth clamping plate; the guide rail slider assembly includes a first guide rail slider assembly, a second guide rail slider assembly, and a third guide rail slider assembly; the gear rack assembly includes the first gear rack assembly, the second gear rack assembly, and the third gear rack assembly.

[0017] Further, the first gear and rack assembly includes a first gear and a first rack, the second gear and rack assembly includes a second gear and a second rack, and the third gear and rack assembly includes a third gear and a third rack; the first clamping plate is fixedly connected to the second clamping plate, the first guide rail slider assembly and the electric push rod are fixedly connected to the second clamping plate, and the first rack is fixedly connected to the first guide rail slider assembly; the second rack is fixedly connected to the fourth clamping plate, and the third rack is fixedly connected to the third clamping plate; the deep groove ball bearing is fixedly connected to the second clamping plate, one end of the first gear is fixedly connected to the second gear, and the second guide rail slider assembly and the third guide rail slider assembly are fixedly connected to the second clamping plate.

[0018] Specifically, the electric push rod drives the first rack to move through telescopic movement; the first rack drives the first gear to rotate; the first gear drives the second gear to rotate; the second gear drives the second rack and the third rack to move forward and backward; the second rack and the third rack drive the third clamping plate, the fourth clamping plate and the claw to move and perform opening and closing movements.

[0019] Specifically, the safety protection device includes a limit switch, a sensor and an emergency stop button.

[0020] The advantages of the present invention are as follows:

[0021] (1) The gantry structure design makes the mobile robot more stable during the handling process, reduces the risk of tipping or imbalance, and can handle larger and heavier goods. It is suitable for various industrial and logistics scenarios. At the same time, the gantry structure allows the robot to pick and place the goods from above, improving the flexibility and efficiency of the handling process.

[0022] (2) The robot can achieve 360-degree full-scale movement and adapt to various complex environments. In a small space or crowded warehouse, the robot can move flexibly to avoid collisions and blockages. This design greatly improves the robot's operating convenience and reduces the technical requirements for operators.

[0023] (3) The combination of the screw lifting mechanism and the clamping mechanism improves the efficiency of handling and reduces the operation time. The screw lifting mechanism provides precise vertical lifting control to ensure accurate clamping and placement of the goods. The design of the clamping mechanism can be adjusted according to the size and shape of the goods to ensure stable clamping of the goods. This design is particularly suitable for handling heavy goods and ensures the safety of the goods during handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the overall structure of a gantry-type mobile working robot according to an embodiment of the present invention;

[0026] Figure 2 for Figure 1 The structural schematic diagram of the screw lifting mechanism and the guide mechanism in the gantry type mobile working robot shown;

[0027] Figure 3 for Figure 2 A schematic diagram of a partial structure of the screw lifting mechanism described in;

[0028] Figure 4 for Figure 1 The structural schematic diagrams of various views of the gripping mechanism in the gantry type mobile working robot are shown as follows:

[0029] Figure A is a top view of the clamping mechanism;

[0030] Figure B is a front view of the clamping mechanism;

[0031] Figure C is a bottom view of the clamping mechanism;

[0032] Figure D is a cross-sectional view of the clamping mechanism described in Figure C along the EE direction.

[0033] In the above drawings, the meanings of the reference numerals are as follows:

[0034] 1. Frame; 2. Driving wheel set; 3. Screw lifting mechanism; 31. Driving motor assembly; 311. Driving motor; 312. First synchronous pulley; 313. Motor fixing frame; 32. Synchronous belt transmission assembly; 33. Screw assembly; 331. Screw; 332. Screw nut; 333. First transition connection seat; 334. Second transition connection seat; 335. Plane thrust bearing; 336. Deep groove ball bearing; 337. Second synchronous pulley; 338. Support frame; 339. Bearing fixing frame; 4. Guide mechanism; 41. First mounting plate; 42. Second mounting plate; 43. Guide sleeve; 44. Guide rod; 45. Floating connecting seat; 5. Clamping mechanism; 51. Clamping plate; 511. First clamping plate; 512. Second clamping plate; 513. Third clamping plate; 514. Fourth clamping plate; 52. Slider assembly; 521. First guide rail slider assembly; 522. Second guide rail slider assembly; 523. Third guide rail slider assembly; 53. First gear rack assembly; 531. First gear; 532. First rack; 54. Second gear rack assembly; 541. Second gear; 542. Second rack; 55. Third gear rack assembly; 551. Third rack; 56. Electric push rod; 57. Clamping claw; 6. Safety protection device. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention and the accompanying drawings. 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.

[0036] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specific implementation methods are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0037] In the description of the specific implementation methods of the present invention, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0038] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present invention may be combined with other embodiments.

[0039] In the description of the embodiments of the present invention, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0040] It should be noted that, for the convenience of description, in the following embodiments, all identical technical features are marked with the same symbols.

[0041] Example

[0042] In a specific embodiment, Figure 1 As shown, a schematic diagram of the overall structure of a gantry type mobile working robot includes a frame 1, a driving wheel set 2, a screw lifting mechanism 3, a guide mechanism 4, a clamping mechanism 5 and a safety protection device 6. These components work together to ensure the stable operation and efficient handling of the whole machine.

[0043] In this specific embodiment, Figure 2 As shown, the screw lifting mechanism 3 in the gantry type mobile working robot includes a driving motor assembly 31, a synchronous belt transmission assembly 32 and a screw assembly 33; the guide mechanism includes a first mounting plate 41, a second mounting plate 42, a guide sleeve 43, a guide rod 44 and a floating connection seat 45. The screw lifting mechanism 3 has the following advantages:

[0044] 1. It has the advantages of compact structure, small size, light weight, etc. At the same time, the transmission efficiency is very high, and it can obtain greater thrust with smaller torque. The transmission efficiency can reach 90% to 98%;

[0045] 2. It runs smoothly, without vibration or creeping during use, has low friction resistance, and can perform precise micro-feed control;

[0046] 3. Strong carrying capacity: can meet the lifting needs of heavy objects in different scenarios;

[0047] 4. Safe and reliable: Equipped with multiple safety protection measures such as overload protection and limit protection. Selecting the appropriate pitch can achieve the self-locking function to ensure the safety of the operation process;

[0048] 5. Long service life: The main components are made of wear-resistant and corrosion-resistant materials, which are durable and reduce maintenance costs. Among them, the screw module is the key component to achieve linear movement, which is converted into linear movement through the rotation of the motor, thereby controlling the up and down movement of the entire platform.

[0049] In this embodiment, the internal structure of the screw lifting mechanism 3 mainly includes a screw module and related connecting parts, such as Figure 3 As shown, the driving electrode assembly 31 includes a driving motor 311, a first synchronous pulley 312 and a motor fixing frame 313; the screw assembly 33 includes a screw 331, a screw nut 332, a first transition connection seat 333, a second transition connection seat 334, a plane thrust bearing 335, a deep groove ball bearing 336, a second synchronous pulley 337, and a support frame 338; wherein the screw 331 is the main actuator of the screw lifting mechanism 3, and realizes the vertical lifting of the goods through rotational motion. The screw 331 is usually made of high-strength and wear-resistant materials to withstand large loads and frequent lifting operations. The surface of the screw 331 is precisely machined to ensure smooth cooperation and precise control with the screw nut 332. The guide mechanism 4 is used to ensure the stability and linearity of the screw 331 during the lifting process. The design of the guide mechanism 4 can effectively prevent the screw 331 from deflecting or shaking during the lifting process, and ensure the stability and precision of the lifting mechanism.

[0050] In some specific embodiments, the drive motor assembly 1 is fixedly connected to the first mounting plate 41 through the motor fixing frame 313, the screw assembly 33 is fixedly connected to the first mounting plate 41 through the support frame 338, the first synchronous pulley 312 is fixedly connected to the drive motor 311, the second synchronous pulley 337 and the screw nut 332 are fixedly connected to the first transition connection seat 333, a plane thrust bearing 335 and a deep groove ball bearing 336 are arranged between the first transition connection seat 333 and the second transition connection seat 334, and the screw 33 passes through the screw nut 332; one end of the screw 33 is connected to a floating connection seat 45, and the floating connection seat 45 is fixed on the second mounting plate 42; four guide rods 44 are fixedly connected to the second mounting plate 42, and four guide sleeves 43 are fixedly connected to the first mounting plate 41;

[0051] In some specific embodiments, the driving motor 311 drives the first synchronous pulley 312 to rotate, drives the second synchronous pulley 337 to rotate through the synchronous belt transmission assembly 32, drives the first transition connection seat 333 and the screw nut 332 to rotate, thereby driving the screw 33 to move up and down.

[0052] In some specific implementations, the driving wheel set 2 mainly consists of four steering wheels, each of which is both a driving wheel and a steering wheel, and each steering wheel is independently controlled by two driving motors 311, one driving motor 311 controls driving, and the other driving motor 311 controls steering. This structure enables the four steering wheels to have high maneuverability and flexibility, and can achieve all-round movement, such as straight travel, translation, steering, and obstacle avoidance.

[0053] In this embodiment, if Figure 4 As shown in Figures A, B, C and D, the clamping mechanism 3 in the gantry type mobile working robot includes a clamping plate 51, a slider assembly 52, a first gear rack assembly 53, a second gear rack assembly 54, an electric push rod 56 and a claw 57. The clamping mechanism 3 is a part of the lifting mechanism that is in direct contact with the cargo, and is used to realize horizontal clamping and placement of the cargo. The fork arm is designed according to the size and shape of the cargo, and can stably hold the cargo.

[0054] In some specific embodiments, the clamping plate 51 includes a first clamping plate 511, a second clamping plate 512, a third clamping plate 513, and a fourth clamping plate 514, the slider assembly 52 includes a first guide rail slider assembly 521, a second guide rail slider assembly 522, and a third guide rail slider assembly 523, the first gear rack assembly 53 includes a first gear 531 and a first rack 532, the second gear rack assembly 54 includes a second gear 541 and a first rack 542, and the third gear rack assembly 55 includes a third rack 551.

[0055] In some specific embodiments, the first clamping plate 511 is fixedly connected to the second clamping plate 512 via a fixed bracket; the first guide rail slider assembly 521, the electric push rod 56 and the second clamping plate 512 are fixedly connected via a fixed bracket; the first rack 532 on the first gear and rack assembly 53 is fixedly connected to the first guide rail slider assembly 521; the deep groove ball bearing 336 is fixedly connected to the second clamping plate 512 via a bearing fixing bracket 339; the second gear 541 is fixedly fixed to one end of the first gear 531, and the first gear 531 and the second gear 541 rotate synchronously; the guide rail of the second guide rail slider assembly 522 and the guide rail of the third guide rail slider assembly 523 are fixedly connected to the second clamping plate 512.

[0056] In some specific embodiments, the safety protection device 6 is an important component of the mobile working robot, and is used to monitor and control the safe operation of the screw lifting mechanism 3. It usually includes limit switches, sensors, emergency stop buttons and other components. The limit switch is used to monitor the lifting position of the screw 331 to prevent the screw 331 from exceeding the set range; the sensor is used to monitor the operating status of the screw lifting mechanism 3 in real time, such as speed, acceleration, etc.; the emergency stop button is used to quickly stop the operation of the screw lifting mechanism 3 in an emergency to ensure the safety of personnel and goods.

[0057] It should be pointed out that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gantry type mobile working robot, characterized in that: It includes a frame, a driving wheel set, a screw lifting mechanism, a guide mechanism, a clamping mechanism and a safety protection device; The driving wheel set is arranged below the frame, the guiding mechanism and the safety protection device are arranged above the frame, the screw lifting mechanism is arranged in the middle of the frame, and the clamping mechanism is arranged below the screw lifting mechanism; The frame is configured as a gantry type; The screw lifting mechanism includes a driving motor assembly, a synchronous belt transmission assembly and a screw assembly; The driving motor assembly is fixedly connected to the guide mechanism, and the screw assembly is fixedly connected to the guide mechanism; The driving motor assembly drives the screw assembly to rotate through the synchronous belt transmission assembly; The clamping mechanism comprises a clamping plate, a slider assembly, a gear rack assembly, an electric push rod and a clamping claw; The clamping plate is fixedly connected to the gear rack assembly; The electric push rod drives the gear rack assembly to move, and the gear rack assembly drives the clamping plate and the clamping claw to move.

2. A gantry type mobile working robot according to claim 1, characterized in that: The driving wheel set is provided with steering wheels, and the number of the steering wheels is four.

3. A gantry type mobile working robot according to claim 1, characterized in that: The driving motor assembly comprises a driving motor, a first synchronous pulley and a motor fixing frame; The screw assembly includes a screw, a screw nut, a first transition connection seat, a second transition connection seat, a plane thrust bearing, a deep groove ball bearing, a second synchronous pulley, and a support frame; The guide mechanism comprises a first mounting plate, a second mounting plate, a guide sleeve, a guide rod and a floating connection seat; The drive motor is fixedly connected to the first mounting plate via the motor fixing bracket, the screw assembly is fixedly connected to the first mounting plate via the support bracket, the first synchronous pulley is fixedly connected to the drive motor, the second synchronous pulley and the screw nut are fixedly connected to the first transition connection seat, the plane thrust bearing is arranged between the first transition connection seat and the second transition connection seat, and the deep groove ball bearing is arranged between the first transition connection seat and the second transition connection seat; The driving motor drives the first synchronous pulley to rotate, the first synchronous belt drives the second synchronous pulley to rotate through the synchronous belt transmission assembly, the second synchronous pulley drives the first transition connection seat and the screw nut to rotate, and the first transition connection seat and the screw nut drive the screw to move up and down.

4. A gantry type mobile working robot according to claim 3, characterized in that: One end of the screw rod is connected to the floating connection seat, the floating connection seat is fixedly connected to the top of the second mounting plate, the guide rod is fixedly connected to the top of the second mounting plate, and the guide sleeve is fixedly connected to the top of the first mounting plate.

5. The gantry type mobile working robot according to claim 4, characterized in that: The screw rod is made of high-strength wear-resistant material.

6. The gantry type mobile working robot according to claim 4, characterized in that: The number of the guide rods is four, and the number of the guide sleeves is four.

7. The gantry type mobile working robot according to claim 1, characterized in that: The clamping plates include a first clamping plate, a second clamping plate, a third clamping plate, and a fourth clamping plate; The guide rail slider assembly includes a first guide rail slider assembly, a second guide rail slider assembly, and a third guide rail slider assembly; The rack and pinion assembly includes the first rack and pinion assembly, the second rack and pinion assembly and the third rack and pinion assembly; The first clamping plate is fixedly connected to the second clamping plate via a fixed bracket, the first guide rail slider assembly and the electric push rod are fixedly connected to the second clamping plate via a fixed bracket, and the deep groove ball bearing is fixedly connected to the second clamping plate via a bearing fixing frame.

8. The gantry type mobile working robot according to claim 7, characterized in that: The first gear rack assembly includes a first gear and a first rack, the second gear rack assembly includes a second gear and a second rack, and the third gear rack assembly includes a third gear and a third rack; The first rack is fixedly connected to the first guide rail slider assembly, the second rack is fixedly connected to the fourth clamping plate, the third rack is fixedly connected to the third clamping plate, one end of the first gear is fixedly connected to the second gear, and the second guide rail slider assembly and the third guide rail slider assembly are fixedly connected to the second clamping plate; The electric push rod drives the first rack to move through telescopic movement, the first rack drives the first gear to rotate, the first gear drives the second gear to rotate, the second gear drives the second rack and the third rack to move forward and backward, the second rack and the third rack drive the third clamping plate, the fourth clamping plate and the claw to move and perform opening and closing movements.

9. The gantry type mobile working robot according to claim 1, characterized in that: The safety protection device includes a limit switch, a sensor and an emergency stop button.

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