Lifting type composite mobile robot

Abstract

The invention discloses a lifting type composite mobile robot which comprises a four-rod turnover mechanism, a cambered surface clamping manipulator, a rotating platform, a self-rotating platform and a mobile platform. The mobile platform is placed on the ground and can perform lifting operation; the rotating platform is connected with the moving platform, and the rotating platform is located over the moving platform. The two ends of the four-rod turnover mechanism are connected with the self-rotating platform and the rotating platform correspondingly. And the self-rotating platform is connected with the cambered surface clamping manipulator. By means of the single-drive four-connecting-rod design, automatic equipment for grabbing and overturning the circular heavy-load flange plate is achieved, and the functions of moving, rotating and lifting along the ground, driving the flange plate to spin, limiting the flange plate and the like are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a lifting type composite mobile robot. Background Art

[0002] With the rise of industrial automation and intelligent manufacturing, the requirements for the automation of material handling and equipment operation are getting higher and higher. Traditional fixed-station equipment and simple mobile robots are difficult to meet the complex production environment and diverse task requirements. Single-function equipment can no longer meet the integration and intelligence requirements of production systems. Lifting composite mobile robots came into being. The driving force for their development initially came from the urgent need of the manufacturing industry for efficient and flexible automated handling and assembly equipment.

[0003] The lifting function of the lifting composite mobile robot can be realized in five ways: 1. Screw transmission, the motor drives the screw rod to rotate, so as to realize the rise or fall of the lifting platform. This method has a simple structure and low cost, but the lifting height is limited. 2. Hydraulic transmission, the pressure generated by the hydraulic pump is used to drive the hydraulic cylinder to realize the lifting and lowering of the lifting platform. Hydraulic transmission has the advantages of large lifting force and good stability, and is suitable for heavy load and high-precision lifting occasions. 3. Electric push rod, which is a linear motion device that converts the rotational motion of the motor into a push rod. The electric push rod has the advantages of simple structure and easy installation, and is suitable for light load and small stroke lifting occasions. 4. Gear rack transmission, the motor drives the gear to rotate, and the gear meshes with the rack to realize the lifting and lowering of the lifting platform. Gear rack transmission has the advantages of high transmission efficiency and high precision, and is suitable for high-speed and high-precision lifting occasions. 5. Chain transmission, the motor drives the sprocket to rotate, and the sprocket meshes with the chain, so as to realize the lifting and lowering of the lifting platform. Chain drive has the advantages of large carrying capacity and high reliability, and is suitable for lifting occasions with heavy loads and harsh environments. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to solve the large-scale flange assembly project and, taking into account issues such as safety and stability, provide a lifting type composite mobile robot having the functions of moving along the ground, rotating, lifting, driving the flange to spin, and limiting the flange.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A lifting composite mobile robot, characterized in that it comprises a four-bar flip mechanism, an arc-surface clamping manipulator, a rotating platform, a spinning platform, and a mobile platform; the mobile platform and the rotating platform are in the same vertical plane, and the mobile platform can perform a lifting operation; the two ends of the four-bar flip mechanism are respectively connected to the spinning platform and the rotating platform; the spinning platform is connected to the arc-surface clamping manipulator; wherein,

[0007] The mobile platform comprises a vehicle body, a panel, a connecting rod lifting mechanism, a driving wheel, a universal wheel, a safety touch edge, a battery, and a counterweight; the vehicle body is surrounded by a panel to protect the vehicle body; the connecting rod lifting mechanism is arranged in the middle of the vehicle body, and its upper and lower ends are connected with the channel steel; the driving wheel is installed at the rear of the vehicle body through a wheel bracket; the universal wheel is located in the middle of the front of the vehicle body; the safety touch edge is arranged at the corner of the outer ring of the vehicle body through a safety touch edge base; the battery is installed on both sides of the connecting rod lifting mechanism, and the battery is fixed with a lithium battery bracket; the counterweight is placed on the vehicle body and is located at the rear of the vehicle body;

[0008] The rotating platform comprises a square tube, a guide rail, a tray square plate, a slider, and a push plate; the square tube constitutes the rotating platform base and is in a rectangular structure; the tray square plate is connected to the slewing bearing and is installed in the middle of the bottom of the square tube; the guide rail is located on the square tubes on both sides; the slider is installed on the two guide rails, and the top of the slider is connected to the slider pad; the push plate is located on the push plate pad, and the push plate pad is fixedly installed on the slider pad; the rotating platform rotates along the direction perpendicular to the ground axis;

[0009] The four-bar flip mechanism comprises a swing rod, a swing arm, a flip swing arm vertical beam, a swing arm cross beam, a vertical beam top connection plate, and a flip support cross beam; the swing rod is connected to the fixed rear base through a straight pin 90; the lower half of the swing arm is connected to the bearing seat installed on the push plate through a rotating short shaft, and its upper half is connected to the swing rod through a straight pin 105; one side of the flip swing arm vertical beam is connected to the swing arm, and the other side is connected to the vertical beam top connection plate through a vertical beam plug; the swing arm cross beam is connected to the swing arm and is located outside the swing arm; the vertical beam top connection plate is connected to the flip swing arm vertical beam; the flip support cross beam is fixedly connected to the flip swing arm vertical beam through a cross-vertical beam connection plate;

[0010] The spin platform comprises a spin joint, a flange rotation, a rotating motor mounting plate, and a rotating mounting plate; the rotating mounting plate is arranged between two rotating support beams and between two supporting longitudinal beams; the rotating motor mounting plate is located between the flip support beams, and the rotating motor mounting plate is directly above the rotating mounting plate; the flange rotation is connected with the rotating motor mounting plate; the spin joint is installed in the flange rotation; the spin platform adopts an integrated spin platform design;

[0011] The arc surface clamping manipulator includes a connecting flange, a clamping hand, a gripper connecting plate, and a gripper pin shaft seat; the connecting flange is connected to the gripper pin shaft seat, and the damping shock absorber is installed on the connecting flange; the clamping hand is arranged under the rotating support beam; the gripper connecting plate is connected to the clamping hand in a cooperative manner; the gripper pin shaft seat is connected to the gripper connecting plate in a cooperative manner.

[0012] By setting up a mobile platform, a rotating platform, a four-bar flip mechanism, a self-spinning platform and an arc-surface clamping manipulator, the mobile platform is placed on the ground; the rotating platform is connected to the mobile platform, and the rotating platform is located directly above the mobile platform; the two ends of the four-bar flip mechanism are respectively connected to the rotating platform and the self-moving platform; the self-moving platform is connected to the arc-surface clamping manipulator; the mobile platform, the rotating platform, the four-bar flip mechanism, the self-spinning platform and the arc-surface clamping manipulator realize the grasping of the circular heavy-load flange. The lifting composite mobile robot has the advantages of high precision of the rotating platform, self-contained gyro detection sensor, dynamic adjustment counterweight device and pressure jacking device, and has the functions of moving along the ground, rotating, lifting, driving the flange to spin, and limiting the flange.

[0013] Furthermore, the mobile platform mainly drives the heavy-load flange to move, and has three degrees of freedom on the ground: lifting, translation (2), and rotation. It is also equipped with sensing components such as anti-collision sensors to ensure the safety of the load during movement.

[0014] Furthermore, the rotating platform is connected to the mobile platform, and after the mobile chassis stops, the rotational freedom error of the mobile platform is compensated so that the platform rotates along a direction perpendicular to the ground axis.

[0015] Furthermore, the spinning platform is connected to the arc-surface clamping robot. In order to ensure accuracy and avoid interference with the box assembly, an integrated spinning platform is used, that is, the arc-surface clamping robot is driven to spin by a servo motor, thereby avoiding installation interference and improving accuracy.

[0016] Furthermore, the feature is that the four-bar flip mechanism rotates and the arc surface clamping manipulator moves relatively. It is mainly used for manipulators of various specifications, and the flange is clamped by the left and right action of the motor and the screw rod. At the same time, the flange is tightened on the top. After clamping, the bolts are tightened to protect the clamping flange. The surface of the manipulator is designed with a rubber strip to protect the flange surface.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] By setting up a mobile platform, a rotating platform, a four-bar flipping mechanism, a spinning platform and an arc-surface clamping manipulator, the mobile platform is placed on the ground; the rotating platform is connected to the mobile platform, and the rotating platform is located directly above the mobile platform; the two ends of the four-bar flipping mechanism are respectively connected to the rotating platform and the self-moving platform; the self-moving platform is connected to the arc-surface clamping manipulator; the advantage of the lifting compound mobile robot lies in the positioning and lifting (1.0-1.5 meters) operation of the adaptive diameter 600-800mm flange; it has its own gyro detection sensor and dynamically adjustable counterweight device to ensure the load safety of the lifting installation; it is equipped with a pressure jacking device, and the installer is only responsible for tightening the operation. In addition, it is equipped with safety sensors such as obstacle avoidance to ensure operation safety; the rotating table has high precision to ensure the accuracy of the flange rotation, the hollow design is convenient for wiring, it can rotate 360 ​​degrees in all directions, and it has good scalability, and it is expected to realize autonomous docking operations in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a three-dimensional diagram of a lifting-type composite mobile robot according to the present invention.

[0020] Figure 2 This is a three-dimensional view from another angle of the lifting-type composite mobile robot of the present invention.

[0021] Figure 3 for Figure 1 Left view of .

[0022] Figure 4 for Figure 3 Center AA view.

[0023] In the figure: a vehicle body 46, a connecting rod lifting mechanism 51, a driving wheel 55, a universal wheel 57, a guide rail 133, a slider 134, a push plate 148, a pallet square plate 129, a transmission plate 311, a swing rod 139, a left swing arm 162, a right swing arm 164, a flip swing arm vertical beam 86, a swing arm cross beam 167, a vertical beam top connecting plate 172, a flip support cross beam 85, a left connecting flange 101, a right connecting flange 99, a clamping gripper, a gripper connecting plate 97, and a gripper pin shaft seat 98. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] Example:

[0026] See also Figure 1A mobile composite mobile robot comprises a four-rod flip mechanism, an arc-surface clamping manipulator, a rotating platform, a spinning platform and a mobile platform; in specific implementation, the mobile platform and the rotating platform are in the same vertical plane, and after the mobile platform stops, the rotational freedom error of the mobile platform can be compensated; the two ends of the four-rod flip mechanism are respectively connected to the spinning platform and the rotating platform; the spinning platform is connected to the arc-surface clamping manipulator.

[0027] See also Figure 2 The mobile platform includes a vehicle body 46, a panel 60, a connecting rod lifting mechanism 51, a driving wheel 55, a universal wheel 57, a safety touch edge 47, a battery 63, and a counterweight 62; the vehicle body 46 is surrounded by the panel 60; the connecting rod lifting mechanism 51 is arranged in the middle of the vehicle body 46, and its upper and lower ends are connected with the channel steel 49; the driving wheel 55 is installed at the rear of the vehicle body through the wheel bracket 56; the universal wheel 57 is located in the middle of the front of the vehicle body; the safety touch edge 47 is arranged at the outer corner of the vehicle body 46 through the safety touch edge base 48 to ensure the safety of the vehicle body during movement; the battery 63 is installed on both sides of the connecting rod lifting mechanism 51, and the battery 63 is fixed with a lithium battery bracket 64; the counterweight 62 is placed on the vehicle body 46 and is at the rear of the vehicle body. The mobile platform mainly drives the heavy-load flange to move, and has three degrees of freedom on the ground: lifting, moving (2), and spinning; the rotating platform includes square tube 128, square tube 127, square tube 152, guide rail 133, tray square plate 129, slider 134, and push plate 148; the square tube constitutes the base of the rotating platform, which is a rectangular structure; the tray square plate 129 is connected to the waist seat 3 and installed in the middle of the bottom of the square tube; the guide rail 133 is located on the square tubes 127 on both sides; the slider 134 is installed on the two guide rails 133, and the top of the slider 134 is connected to the slider pad 135; the push plate 148 is located on the push plate pad 136, and the push plate pad 136 is fixedly installed on the slider pad 135; the rotating platform rotates along the direction perpendicular to the ground axis;

[0028] See also Figure 3 and Figure 4The four-bar flip mechanism includes a swing rod 139, a left swing arm 162, a right swing arm 164, a flip swing arm vertical beam 86, a swing arm cross beam 167, a vertical beam top connecting plate 172, and a flip support cross beam 85; the swing rod 139 is connected to the fixed rear base 158 through direct pins 90-157; the lower parts of the left swing arm 162 and the right swing arm 164 are connected to the bearing seat 137 installed on the push plate 148 through the rotating short shaft 138, and the upper parts are connected to the swing rod through direct pins 105-168 139 connection; one side of the flip swing arm vertical beam 86 is connected to the swing arm, and the other side is connected to the vertical beam top connection plate 172 through the vertical beam plug 171; the swing arm cross beam 167 is connected to the swing arm and is located outside the swing arm; the vertical beam top connection plate 172 is connected to the flip swing arm vertical beam 86; the flip support cross beam 85 is fixedly connected to the flip swing arm vertical beam 86 through the cross-vertical beam connection plate 92; the spin platform includes a spin joint 1, a flange rotation 67, a rotating motor mounting plate 66, a rotating mounting plate The rotating mounting plate 96 is disposed between the two rotating support beams 95 and between the two supporting beams 169; the rotating motor mounting plate 66 is located between the flip support beams 85, and the rotating motor mounting plate 66 is directly above the rotating mounting plate 96; the flange rotation 67 is connected to the rotating motor mounting plate 66; the spin joint 1 is installed in the flange rotation 67; the spin platform adopts an integrated spin platform design; the arc surface clamping manipulator includes a left connecting flange 10 1. Right connecting flange 99, clamping hand, gripper connecting plate 97, gripper pin shaft seat 98; the left connecting flange 101 is connected to the gripper pin shaft seat 98, the right connecting flange 99 is connected to the gripper pin shaft seat 98, and the damping shock absorber 170 is installed on the left connecting flange 101 and the right connecting flange 99; the clamping hand is arranged under the rotating support beam 95; the gripper connecting plate 97 is connected to the clamping hand in a cooperative manner; the gripper pin shaft seat 98 is connected to the gripper connecting plate 97 in a cooperative manner.

[0029] By setting up a mobile platform, a rotating platform, a four-bar flipping mechanism, a spinning platform and an arc-surface clamping manipulator, the mobile platform is placed on the ground; the rotating platform is connected to the mobile platform, and the rotating platform is located directly above the mobile platform; the two ends of the four-bar flipping mechanism are respectively connected to the rotating platform and the self-moving platform; the self-moving platform is connected to the arc-surface clamping manipulator; the advantage of the lifting compound mobile robot lies in the positioning and lifting (1.0-1.5 meters) operation of the adaptive diameter 600-800mm flange; it has its own gyro detection sensor and dynamically adjustable counterweight device to ensure the load safety of the lifting installation; it is equipped with a pressure jacking device, and the installer is only responsible for tightening the operation. In addition, it is equipped with safety sensors such as obstacle avoidance to ensure operation safety; the rotating table has high precision to ensure the accuracy of the flange rotation, the hollow design is convenient for wiring, it can rotate 360 ​​degrees in all directions, and it has good scalability, and it is expected to realize autonomous docking operations in the future.

[0030] Working principle:

[0031] 1. First, the four-bar flip mechanism rotates, and the arc clamping manipulator moves relatively to clamp the flange. The fastening flange and the complex connection are manually connected. Double protection protects the safety of the load, and through the current induction of the four-bar mechanism driver - the servo electric cylinder, once there is an overturn or overload, the brake will be immediately applied to ensure safety.

[0032] 2. The four-rod flip mechanism rotates, the load is erected, and the flange and aperture are manually installed.

[0033] 3. The mobile chassis moves to the vicinity of the box, and is manually judged to drive the spin drive motor and lift the chassis to align the load with the box hole. This completes the flange alignment and facilitates manual installation of bolts.

[0034] Security considerations

[0035] 1. All contact surfaces are designed with rubber strips to protect the load surface; 2. Safety sensors are installed on the moving joints, and the actuators have brakes to ensure the safety of the load position; 3. Dynamic counterweights are designed to ensure that the system does not overturn. 4. After the fastening flange is loaded, when the entire assembly process is completed, the bolts connecting the load and the fastening flange are manually loosened to ensure the safety of the system. 5. The disassembly and installation process are reversible. First, the fastening flange and the load are connected, and then the chassis and four-bar mechanism are driven to move to complete the disassembly of the load.

Claims

1. A lifting composite mobile robot, characterized in that: It includes a four-bar flip mechanism, an arc-surface clamping manipulator, a rotating platform, a spinning platform, and a mobile platform; the mobile platform is placed on the ground and can perform a lifting operation; the rotating platform is connected to the mobile platform, and the rotating platform is located directly above the mobile platform; the two ends of the four-bar flip mechanism are respectively connected to the spinning platform and the rotating platform; the spinning platform is connected to the arc-surface clamping manipulator; wherein, The mobile platform comprises a vehicle body, a panel, a connecting rod lifting mechanism, a driving wheel, a universal wheel, a safety touch edge, a battery, and a counterweight; the vehicle body is surrounded by the panel; the connecting rod lifting mechanism is arranged in the middle of the vehicle body, and its upper and lower ends are connected with the channel steel; the driving wheel is installed at the rear of the vehicle body through the wheel bracket; the universal wheel is located in the middle of the front of the vehicle body; the safety touch edge is arranged at the corner of the outer ring of the vehicle body through the safety touch edge base; the battery is installed on both sides of the connecting rod lifting mechanism, and the battery is fixed with a lithium battery bracket; the counterweight is placed on the vehicle body and is located at the rear of the vehicle body; The rotating platform comprises a square tube, a guide rail, a tray square plate, a slider, and a push plate; the square tube constitutes the rotating platform base and is in a rectangular structure; the tray square plate is connected to the slewing bearing and is installed in the middle of the bottom of the square tube; the guide rail is located on the square tubes on both sides; the slider is installed on the two guide rails, and the top of the slider is connected to the slider pad; the push plate is located on the push plate pad, and the push plate pad is fixedly installed on the slider pad; the rotating platform rotates along the direction perpendicular to the ground axis; The four-bar flip mechanism comprises a swing rod, a swing arm, a flip swing arm vertical beam, a swing arm cross beam, a vertical beam top connection plate, and a flip support cross beam; the swing rod is connected to the fixed rear base through a straight pin 90; the lower half of the swing arm is connected to the bearing seat installed on the push plate through a rotating short shaft, and its upper half is connected to the swing rod through a straight pin 105; one side of the flip swing arm vertical beam is connected to the swing arm, and the other side is connected to the vertical beam top connection plate through a vertical beam plug; the swing arm cross beam is connected to the swing arm and is located outside the swing arm; the vertical beam top connection plate is connected to the flip swing arm vertical beam; the flip support cross beam is fixedly connected to the flip swing arm vertical beam through a cross-vertical beam connection plate; The spin platform comprises a spin joint, a reducer-flange swivel, a rotating motor mounting plate, and a rotating mounting plate; the rotating mounting plate is arranged between two rotating support beams and between two supporting longitudinal beams; the rotating motor mounting plate is located between the flip support beams, and the rotating motor mounting plate is directly above the rotating mounting plate; the reducer-flange swivel is connected with the rotating motor mounting plate; the spin joint is installed in the middle of the reducer-flange swivel; the spin platform adopts an integrated spin platform design; The arc surface clamping manipulator includes a connecting flange, a clamping hand, a gripper connecting plate, and a gripper pin shaft seat; the connecting flange is connected to the gripper pin shaft seat, and the damping shock absorber is installed on the connecting flange; the clamping hand is arranged under the rotating support beam; the gripper connecting plate is connected to the clamping hand in a cooperative manner; the gripper pin shaft seat is connected to the gripper connecting plate in a cooperative manner.

2. The lifting type composite mobile robot according to claim 1, characterized in that: The mobile platform mainly drives the movement of the heavy-load flange and has three degrees of freedom on the ground - lifting, translation (2), and rotation.

3. The lifting type composite mobile robot according to claim 1, characterized in that: The rotating platform is connected to the mobile platform to compensate for the rotational freedom error of the mobile platform.

4. The lifting type composite mobile robot according to claim 1, characterized in that: The spinning platform is connected to the arc-surface clamping manipulator, and the spinning platform adopts an integrated spinning platform design.

5. The lifting type composite mobile robot according to claim 1, characterized in that: The four-rod flipping mechanism rotates, and the arc-surface clamping manipulator moves relatively to tighten the flange.

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