Cargo carrying manipulator capable of automatically controlling carriage

Abstract

The invention relates to the technical field of manipulators, in particular to a compartment automatic control cargo carrying manipulator which comprises a first compartment wall and a second compartment wall connected to the upper portion of the first compartment wall, an XZ-axis linear platform is installed on the second compartment wall, and a mechanical arm is installed on the XZ-axis linear platform. The X-Z-axis linear platform is used for driving the multi-degree-of-freedom mechanical arm to move horizontally and longitudinally, and a manipulator is installed on the multi-degree-of-freedom mechanical arm. The first compartment wall and the second compartment wall serve as a part of the compartment structure, and the multi-degree-of-freedom mechanical gripper can be arranged in the compartment and move flexibly. After the first compartment wall and the second compartment wall are turned over oppositely, the multi-degree-of-freedom mechanical gripper can be arranged outside the compartment to assist external goods in entering the compartment.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and more specifically to a carriage automatic control cargo transport manipulator. Background Art

[0002] In the field of automation technology, especially six-degree-of-freedom manipulators, with their flexibility and high precision, they play a vital role in industrial production, material handling, and operations in specific environments. The design of this type of manipulator usually includes a variety of clamping methods to meet the needs of grasping objects of different shapes, sizes and materials. Traditional six-degree-of-freedom manipulators are often equipped with a seat structure, most of which are designed to be easily installed on a stable and horizontal working plane, such as the floor of a factory workshop or a specific workbench. Such a layout is conducive to the stable operation and precise control of the manipulator, and is also convenient for maintenance and operation. When such manipulators need to be applied to more complex and changeable environments, such as the interior of a vehicle (especially a freight car or a special operation vehicle), the existing installation method shows limitations. The space inside the car is precious, and the seat of the manipulator is directly installed on the floor of the car, which will undoubtedly occupy the precious load-bearing area and affect the effective loading capacity or operating efficiency of the car. Considering the limitations of the car space, there is also an improved way to try to install the manipulator on the top of the car, hoping to reduce the occupation of the horizontal load-bearing area by utilizing the vertical space. Although this solution alleviates the problem of space competition to a certain extent, it also brings new challenges. The installation position on the top of the car limits the range of the manipulator's operation, especially when it is necessary to operate outside the car, such as loading and unloading goods to the ground or interacting with other vehicles. The manipulator's activities will be severely hindered by the car structure, resulting in a significant reduction in its functionality. There is still room for improvement. Summary of the invention

[0003] The invention provides a carriage automatic control cargo transport manipulator, the purpose of which is to be applied to the carriage.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A carriage automatic control cargo transport robot comprises a first carriage wall, a second carriage wall connected to the first carriage wall, an XZ axis linear platform is installed on the second carriage wall, a robot arm is installed on the XZ axis linear platform, the XZ axis linear platform is used to drive the multi-degree-of-freedom robot arm to move horizontally and longitudinally, and a robot arm is installed on the multi-degree-of-freedom robot arm.

[0006] It also includes a hinge, which includes a first connecting page, a shaft is rotatably connected to the first connecting page, a second connecting page is fixedly connected to the shaft, the first connecting page is fixedly connected to the upper part of the first compartment wall, the second connecting page is fixedly connected to the lower part of the second compartment wall, the output shaft of the first motor is fixedly connected to the shaft, and the output shaft of the first motor is coaxially arranged with the shaft.

[0007] The XZ-axis linear platform includes a second motor fixedly connected to the second compartment wall, the output shaft of the second motor is arranged downward, the first lead screw is fixedly connected to the output shaft of the second motor, the second compartment wall is fixedly connected to a shaft seat, the second lead screw is rotatably connected to the shaft seat, the second lead screw has the same thread rotation direction as the first lead screw, the upper parts of the first lead screw and the second lead screw are synchronously driven by a pulley and belt assembly, the first lead screw and the second lead screw each have a transmission seat for spiral transmission, a displacement guide rail is fixedly connected to the two transmission seats, a base is slidably connected to the displacement guide rail, a third motor is fixedly connected to one of the transmission seats, a third lead screw is fixedly connected to the output shaft of the third motor, the base is spirally driven on the third lead screw, and the multi-degree-of-freedom robotic arm is fixedly connected to the base.

[0008] The first lead screw is vertical and parallel to the second compartment wall, the bottom of the first lead screw does not exceed the bottom of the second compartment wall, the two first lead screws are respectively located on the left and right sides of the second compartment wall, and the third lead screw is vertical to the first lead screw.

[0009] A telescopic cylinder is fixedly connected to each of the left and right sides of the first compartment wall, and the telescopic end of the telescopic cylinder is arranged upward. A bracket is fixedly connected to the upper side of each telescopic cylinder. A matching hole is arranged on each of the left and right sides of the displacement guide rail, and the axes of the two telescopic cylinders coincide with the axes of the two matching holes respectively.

[0010] The depth of the matching hole is recorded as h1, and the minimum distance between the telescopic cylinder and the first lead screw is recorded as h2. h1>h2, and the tops of the telescopic ends of the two telescopic cylinders can be matched in the two matching holes.

[0011] The robotic arm includes one end of a first robotic arm fixedly connected to a base, the first robotic arm can rotate relative to the base, the rotation axis of the first robotic arm is vertical, the other end of the first robotic arm is fixedly connected to one end of a second robotic arm, the second robotic arm can rotate and the rotation axis coincides with the extension direction of the first robotic arm, the other end of the second robotic arm is fixedly connected to one end of a third robotic arm, the third robotic arm can rotate and the rotation axis is parallel to the rotation axis of the second robotic arm, the third robotic arm can be telescopic, the other end of the third robotic arm is fixedly connected to an electric seat, the electric seat can rotate and the rotation axis of the electric seat is parallel to the rotation axis of the third robotic arm, and a robotic claw is fixedly connected to the electric seat.

[0012] The robot gripper is a grasping or clamping type robot.

[0013] The first compartment wall and the second compartment wall serve as the wall structure on the side where the compartment door is located.

[0014] The first motor is fixedly connected to the inner side of the carriage.

[0015] The beneficial effects of the automatic cargo transport manipulator in a carriage of the present invention are as follows:

[0016] By using the first compartment wall and the second compartment wall as part of the compartment structure, the multi-degree-of-freedom robotic gripper can be placed inside the compartment and move flexibly. After the first compartment wall and the second compartment wall are flipped relative to each other, the multi-degree-of-freedom robotic gripper can also be placed outside the compartment to assist external goods to enter the compartment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The overall structure of the automatic cargo transport manipulator in the carriage of the present invention is shown. Figure 1 ;

[0018] Figure 2 Shows Figure 1 Enlarged view of point A in the middle;

[0019] Figure 3 The overall structure of the present invention is shown Figure 2 ;

[0020] Figure 4 Shows Figure 3 Enlarged view of point B in the middle;

[0021] Figure 5 A schematic diagram of the XZ axis linear stage is shown;

[0022] Figure 6 Shows Figure 5 Enlarged view of center C.

[0023] In the figure: the first compartment wall 1-1; the second compartment wall 1-2; the first connecting page 1-3; the shaft 1-4; the second connecting page 1-5; the first motor 1-6; the telescopic cylinder 2-1; the bracket 2-2; the second motor 3-1; the first screw 3-2; the shaft seat 3-3; the second screw 3-4; the pulley and belt assembly 3-5; the transmission seat 3-6; the displacement guide rail 3-7; the matching hole 3-7a; the base 3-8; the third motor 3-9; the third screw 3-10; the first robotic arm 3-11; the second robotic arm 3-12; the third robotic arm 3-13; the electric seat 3-14; the robotic gripper 3-15. DETAILED DESCRIPTION

[0024] A carriage automatically controls the cargo carrying manipulator, e.g. Figures 1 to 4, including a first compartment wall 1-1, and a second compartment wall 1-2 connected above the first compartment wall 1-1, the first compartment wall 1-1 and the second compartment wall 1-2 are part of the compartment, and are installed on a side with a compartment door, or / and the opposite side of the compartment door. The first compartment wall 1-1 and the second compartment wall 1-2 are connected by a hinge, and the first compartment wall 1-1 is fixedly connected to the compartment.

[0025] Wherein, the hinge includes a first connecting page 1-3, the first connecting page 1-3 is rotatably connected to a shaft 1-4, the second connecting page 1-5 is fixedly connected to the shaft 1-4, the first connecting page 1-3 is fixedly connected to the upper part of the first compartment wall 1-1, the second connecting page 1-5 is fixedly connected to the lower part of the second compartment wall 1-2, the output shaft of the first motor 1-6 is fixedly connected to the shaft 1-4, the output shaft of the first motor 1-6 is coaxially arranged with the shaft 1-4, the first motor 1-6 is used to drive the shaft 1-4 to rotate around the output shaft of the first motor 1-6, the shaft 1-4 drives the second connecting page 1-5 to rotate, the second connecting page 1-5 drives the second compartment wall 1-2 to rotate around the axis of the first motor 1-6, the axis of the first motor 1-6 is located on the outside of the compartment and between the first compartment wall 1-1 and the second compartment wall 1-2.

[0026] An XZ-axis linear platform is installed on the second compartment wall 1-2, and a robotic arm is installed on the XZ-axis linear platform. The XZ-axis linear platform is used to drive the multi-degree-of-freedom robotic arm to move horizontally and vertically, and a manipulator is installed on the multi-degree-of-freedom robotic arm. Figure 1 The XZ axis linear platform, the robotic arm and the manipulator are all located on the inner side of the carriage. When the output shaft of the first motor 1-6 rotates clockwise, it will drive the second compartment wall 1-2 to rotate clockwise, so that the second compartment wall 1-2 is flipped out of the carriage, making it convenient for the manipulator to grab the goods outside the carriage.

[0027] Specific, combined Figure 5 and 6 The XZ-axis linear platform includes a second motor 3-1 fixedly connected to the left upper part of the second compartment wall 1-2, the output shaft of the second motor 3-1 is arranged downward, and a first lead screw 3-2 with a vertical axis is fixedly connected to the output shaft of the second motor 3-1, and a shaft seat 3-3 is fixedly connected to the right upper part of the second compartment wall 1-2, and a second lead screw 3-4 with a vertical axis is rotatably connected to the shaft seat 3-3, the second lead screw 3-4 has the same thread rotation direction as the first lead screw 3-2, and the upper parts of the first lead screw 3-2 and the second lead screw 3-4 are synchronously driven through a pulley belt assembly 3-5, and a transmission seat 3-6 is spirally driven on each of the first lead screw 3-2 and the second lead screw 3-4, and the two transmission seats 3-6 are fixedly connected to a displacement guide rail 3-7. When the second motor 3-1 is started, it can drive the first lead screw 3-2 and the second lead screw 3-4 to rotate synchronously, thereby driving the displacement guide rail 3-7 to rise and fall.

[0028] Further explanation, the displacement guide rail 3-7 is slidably connected with a base 3-8, and the base 3-8 can only slide left and right relative to the displacement guide rail 3-7. The transmission seat 3-6 located on the left side is fixedly connected with a third motor 3-9, and the output shaft of the third motor 3-9 is set to the right. The output shaft of the third motor 3-9 is fixedly connected with a third lead screw 3-10, and the base 3-8 is spirally driven on the third lead screw 3-10, and the multi-degree-of-freedom robot arm is fixedly connected to the base 3-8. Starting the third motor 3-9 is used to drive the third lead screw 3-10 to rotate, and the third lead screw 3-10 is used to drive the base 3-8 to move left and right.

[0029] The mechanical arm includes one end of a first mechanical arm 3-11 fixedly connected to the base 3-8, the first mechanical arm 3-11 includes a fourth motor and a first arm body fixedly connected to the output shaft of the fourth motor, and the fourth motor is fixedly connected to the base 3-8;

[0030] Thus, the fourth motor is started and the first mechanical arm 3-11 can rotate relative to the base 3-8. The rotation axis of the first mechanical arm 3-11 is vertical. The other end of the first mechanical arm 3-11 is fixedly connected to one end of the second mechanical arm 3-12. Similarly, the second mechanical arm 3-12 includes a fifth motor and a second arm body fixedly connected to the output shaft of the fifth motor. The fifth motor is fixedly connected to the first arm body, so that the second mechanical arm 3-12 can rotate and the rotation axis coincides with the extension direction of the first mechanical arm 3-11. The other end of the second mechanical arm 3-12 is fixedly connected to the third mechanical arm 3 -13, the third mechanical arm 3-13 includes a sixth motor and an electric cylinder or a hydraulic cylinder, the electric cylinder or the hydraulic cylinder is fixedly connected to the output shaft of the sixth motor, so that the third mechanical arm 3-13 can rotate and the rotation axis is parallel to the rotation axis of the second mechanical arm 3-12, and the extension and retraction of the third mechanical arm 3-13 is realized, the other end of the third mechanical arm 3-13 is fixedly connected to an electric seat 3-14, the electric seat 3-14 includes a seventh motor and a seat structure, the seventh motor is fixedly connected to the third mechanical arm 3-13, and the seat structure is fixedly connected to the output shaft of the seventh motor;

[0031] The electric seat 3-14 can rotate and the rotation axis of the electric seat 3-14 is parallel to the rotation axis of the third mechanical arm 3-13, and a mechanical claw 3-15 is fixedly connected to the electric seat 3-14. The mechanical claw 3-15 is a grasping manipulator with three or more fingers, or a clamping manipulator with two parallel fingers.

[0032] Among them, the robot gripper 3-15 can also adopt a multi-degree-of-freedom robot to eliminate the use of a multi-degree-of-freedom robot arm, and the multi-degree-of-freedom robot can be directly installed on the base 3-8.

[0033] To further illustrate, a telescopic cylinder 2-1 is fixedly connected to each of the left and right sides of the first compartment wall 1-1, and the telescopic end of the telescopic cylinder 2-1 is arranged upward, and a bracket 2-2 is fixedly connected to the upper side of each telescopic cylinder 2-1, and a matching hole 3-7a is arranged on each of the left and right sides of the displacement guide rail 3-7, and the axes of the two telescopic cylinders 2-1 coincide with the axes of the two matching holes 3-7a. The depth of the matching hole 3-7a is recorded as h1, and the minimum distance between the telescopic cylinder 2-1 and the first lead screw 3-2 is recorded as h2, and h1>h2, so that when the first compartment wall 1-1 and the second compartment wall 1-2 are in a vertical state, the displacement guide rail 3-7 can make the top of the telescopic end of the two telescopic cylinders 2-1 fit in the two matching holes 3-7a after the displacement guide rail 3-7 is lowered, thereby transferring the displacement guide rail 3-7 to the first compartment wall 1-1.

Claims

1. A carriage automatic control cargo transport manipulator, characterized in that: The invention comprises a first compartment wall (1-1), and a second compartment wall (1-2) connected to the first compartment wall (1-1); an XZ-axis linear platform is installed on the second compartment wall (1-2); a mechanical arm is installed on the XZ-axis linear platform; the XZ-axis linear platform is used to drive the multi-degree-of-freedom mechanical arm to move horizontally and longitudinally; and a mechanical hand is installed on the multi-degree-of-freedom mechanical arm.

2. The carriage automatic control cargo transport manipulator according to claim 1 is characterized in that: The invention also comprises a hinge, wherein the hinge comprises a first connecting page (1-3), the first connecting page (1-3) is rotatably connected to a shaft (1-4), a second connecting page (1-5) is fixedly connected to the shaft (1-4), the first connecting page (1-3) is fixedly connected to the upper part of the first compartment wall (1-1), the second connecting page (1-5) is fixedly connected to the lower part of the second compartment wall (1-2), an output shaft of a first motor (1-6) is fixedly connected to the shaft (1-4), and the output shaft of the first motor (1-6) is coaxially arranged with the shaft (1-4).

3. The carriage automatic control cargo transport manipulator according to claim 1 or 2, characterized in that: The XZ axis linear platform comprises a second motor (3-1) fixedly connected to the second compartment wall (1-2), the output shaft of the second motor (3-1) being arranged downward, a first lead screw (3-2) being fixedly connected to the output shaft of the second motor (3-1), a shaft seat (3-3) being fixedly connected to the second compartment wall (1-2), a second lead screw (3-4) being rotatably connected to the shaft seat (3-3), the second lead screw (3-4) having the same thread rotation direction as the first lead screw (3-2), and the upper parts of the first lead screw (3-2) and the second lead screw (3-4) being connected to each other by a pulley belt assembly (3-5). Synchronous transmission is provided, wherein a transmission seat (3-6) is spirally driven on each of the first lead screw (3-2) and the second lead screw (3-4), a displacement guide rail (3-7) is fixedly connected to the two transmission seats (3-6), a base (3-8) is slidably connected to the displacement guide rail (3-7), a third motor (3-9) is fixedly connected to one of the transmission seats (3-6), a third lead screw (3-10) is fixedly connected to the output shaft of the third motor (3-9), the base (3-8) is spirally driven on the third lead screw (3-10), and the multi-degree-of-freedom mechanical arm is fixedly connected to the base (3-8).

4. The carriage automatic control cargo transport manipulator according to claim 3 is characterized in that: The first lead screw (3-2) is vertical and parallel to the second compartment wall (1-2), the bottom of the first lead screw (3-2) does not exceed the bottom of the second compartment wall (1-2), the two first lead screws (3-2) are respectively located on the left and right sides of the second compartment wall (1-2), and the third lead screw (3-10) is vertical to the first lead screw (3-2).

5. The carriage automatic control cargo transport manipulator according to claim 4 is characterized in that: A telescopic cylinder (2-1) is fixedly connected to each of the left and right sides of the first compartment wall (1-1), the telescopic end of the telescopic cylinder (2-1) is arranged upward, a bracket (2-2) is fixedly connected to the upper side of each telescopic cylinder (2-1), a matching hole (3-7a) is arranged on each of the left and right sides of the displacement guide rail (3-7), and the axes of the two telescopic cylinders (2-1) coincide with the axes of the two matching holes (3-7a) respectively.

6. The carriage automatic control cargo transport manipulator according to claim 5 is characterized in that: The depth of the matching hole (3-7a) is recorded as h1, the minimum distance between the telescopic cylinder (2-1) and the first lead screw (3-2) is recorded as h2, h1>h2, and the tops of the telescopic ends of the two telescopic cylinders (2-1) can be matched in the two matching holes (3-7a).

7. The carriage automatic control cargo transport manipulator according to claim 3 is characterized in that: The mechanical arm comprises one end of a first mechanical arm (3-11) fixedly connected to a base (3-8), the first mechanical arm (3-11) can rotate relative to the base (3-8), the rotation axis of the first mechanical arm (3-11) is vertical, the other end of the first mechanical arm (3-11) is fixedly connected to one end of a second mechanical arm (3-12), the second mechanical arm (3-12) can rotate and the rotation axis coincides with the extension direction of the first mechanical arm (3-11), and the other end of the second mechanical arm (3-12) is fixedly connected to a third mechanical arm (3-12). At one end of the robot arm (3-13), the third robot arm (3-13) is rotatable and its rotation axis is parallel to the rotation axis of the second robot arm (3-12), and the third robot arm (3-13) is retractable. At the other end of the third robot arm (3-13), an electric seat (3-14) is fixedly connected. The electric seat (3-14) is rotatable and its rotation axis is parallel to the rotation axis of the third robot arm (3-13), and a robot claw (3-15) is fixedly connected to the electric seat (3-14).

8. The carriage automatic control cargo transport manipulator according to claim 7 is characterized in that: The manipulator claw (3-15) is a grasping or clamping manipulator.

9. The carriage automatic control cargo transport manipulator according to claim 1, characterized in that: The first compartment wall (1-1) and the second compartment wall (1-2) serve as the wall structure on the side where the compartment door is located.

10. The carriage automatic control cargo transport manipulator according to claim 2, characterized in that: The first motor (1-6) is fixedly connected to the inner side of the carriage.

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