A lifting composite mobile robot

Abstract

This invention discloses a lifting-type composite mobile robot, comprising a four-bar flipping mechanism, an arc-shaped gripping manipulator, a rotating platform, a spinning platform, and a moving platform. The moving platform is placed on the ground and can perform lifting operations. The rotating platform is connected to the moving platform and is located directly above the moving platform. The four-bar flipping mechanism is connected at both ends to the spinning platform and the rotating platform, respectively. The spinning platform is connected to the arc-shaped gripping manipulator. This invention aims to achieve automated equipment for gripping and flipping circular heavy-duty flanges through a single-drive four-bar design, possessing functions such as moving along the ground, rotating, lifting, driving the flange to spin, and limiting the flange's position.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a lifting-type composite mobile robot. Background Technology

[0002] With the rise of industrial automation and intelligent manufacturing, the requirements for automation in material handling and equipment operation are becoming increasingly stringent. Traditional fixed-station equipment and simple mobile robots are struggling to meet the demands of complex production environments and diverse tasks, and single-function equipment can no longer satisfy the integration and intelligentization needs of production systems. Lifting-type composite mobile robots have emerged to address this need, their development initially driven by the manufacturing industry's urgent need for efficient and flexible automated handling and assembly equipment.

[0003] The lifting function of a lifting-type composite mobile robot can be achieved in five ways: 1. Screw drive: A motor drives a screw rod to rotate, thereby raising or lowering the lifting platform. This method is simple in structure and low in cost, but the lifting height is limited. 2. Hydraulic drive: A hydraulic pump uses pressure to drive a hydraulic cylinder to raise or lower the lifting platform. Hydraulic drive has advantages such as large lifting force and good stability, and is suitable for heavy-duty and high-precision lifting applications. 3. Electric push rod: An electric push rod is a device that converts the rotational motion of an electric motor into the linear motion of a push rod. Electric push rods have advantages such as simple structure and easy installation, and are suitable for light-duty and short-stroke lifting applications. 4. Gear and rack drive: A motor drives a gear to rotate, and the gear meshes with a rack, thereby raising or lowering the lifting platform. Gear and rack drive has advantages such as high transmission efficiency and high precision, and is suitable for high-speed and high-precision lifting applications. 5. Chain drive: A motor drives a sprocket to rotate, and the sprocket meshes with a chain, thereby raising or lowering the lifting platform. Chain drives have advantages such as high load capacity and high reliability, and are suitable for lifting applications in heavy-duty and harsh environments. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the purpose of this invention is to solve the problem of large flange assembly engineering, and considering safety and stability issues, to provide a lifting composite mobile robot. This robot has functions such as moving along the ground, rotating, lifting, driving the flange to spin, and limiting the flange.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A lifting-type composite mobile robot is characterized by comprising a four-bar flipping mechanism, an arc-shaped gripping manipulator, a rotating platform, a spinning platform, and a moving platform; the moving platform and the rotating platform are located in the same vertical plane, and the moving platform is capable of lifting operations; the four-bar flipping mechanism is connected at both ends to the spinning platform and the rotating platform respectively; the spinning platform is connected to the arc-shaped gripping manipulator; wherein...

[0007] The mobile platform includes a vehicle body, side panels, a linkage lifting mechanism, drive wheels, casters, safety edges, batteries, and counterweights. The vehicle body is surrounded by side panels for protection. The linkage lifting mechanism is located in the middle of the vehicle body, with its upper and lower ends connected to channel steel. The drive wheels are mounted at the rear of the vehicle body via wheel brackets. The casters are located in the middle of the front of the vehicle body. The safety edges are located at the outer edges of the vehicle body via safety edge bases. The batteries are mounted on both sides of the linkage lifting mechanism and are fixed together by lithium battery brackets. The counterweights are placed on the vehicle body and located at the rear of the vehicle body.

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

[0009] The four-bar linkage includes a swing rod, a swing arm, a vertical swing arm beam, a horizontal swing arm beam, a top connecting plate of the vertical beam, and a tilting support beam. The swing rod is connected to the fixed base via a straight pin. The lower half of the swing arm is connected to a bearing seat mounted on a push plate via a rotating short shaft, and its upper half is connected to the swing rod via a straight pin. One side of the tilting swing arm beam is connected to the swing arm, and the other side is connected to the top connecting plate of the vertical beam via a vertical beam end cap. The horizontal swing arm beam is connected to the swing arm and located outside the swing arm. The top connecting plate of the vertical beam is connected to the tilting swing arm beam. The tilting support beam is fixedly connected to the tilting swing arm beam via a horizontal and vertical beam connecting plate.

[0010] The spin platform includes a spin joint, a flange rotation mechanism, a rotary motor mounting plate, and a rotary mounting plate. The rotary mounting plate is positioned between two rotating support beams and between two support longitudinal beams. The rotary motor mounting plate is located between the tilting support beams, and is also directly above the rotary mounting plate. The flange rotation mechanism is connected to the rotary motor mounting plate. The spin joint is installed within the flange rotation mechanism. The spin platform adopts an integrated spin platform design.

[0011] The arc-shaped clamping manipulator includes a connecting flange, a clamping gripper, a gripper connecting plate, and a gripper pin seat; the connecting flange is connected to the gripper pin seat, and a damping shock absorber is installed on the connecting flange; the clamping gripper is located below the rotating support beam; the gripper connecting plate is connected to the clamping gripper; and the gripper pin seat is connected to the gripper connecting plate.

[0012] By configuring a mobile platform, a rotating platform, a four-bar linkage, a spinning platform, and an arc-shaped gripping robot, the mobile platform is placed on the ground; the rotating platform is connected to the mobile platform and located directly above it; the four-bar linkage connects the rotating platform and the spinning platform at both ends; the spinning platform is connected to the arc-shaped gripping robot; the mobile platform, rotating platform, four-bar linkage, spinning platform, and arc-shaped gripping robot enable the gripping of a circular heavy-duty flange. This lifting composite mobile robot has the advantages of high rotary table precision, built-in gyroscope detection sensors, dynamic adjustment counterweight device, and pressure jacking device, and also possesses functions such as moving along the ground, rotating, lifting, driving the flange to spin, and limiting the flange position.

[0013] Furthermore, the mobile platform primarily drives the movement of the heavy-duty flange, possessing three degrees of freedom on the ground—lifting, translation, and rotation. It also incorporates 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. After the mobile chassis stops, it compensates for the rotational degree of freedom error of the mobile platform, so that the platform rotates along the direction perpendicular to the ground axis.

[0015] Furthermore, the spin platform is connected to the curved surface clamping robot to ensure accuracy and prevent interference during assembly with the housing.

[0016] The use of an integrated spin platform involves driving the arc-shaped gripper to spin via a servo motor, which avoids installation interference and improves accuracy.

[0017] Furthermore, the feature is that the four-bar flipping mechanism rotates, causing relative movement of the arc-shaped clamping robot. Primarily designed for various sizes of robots, it uses a motor and lead screw to clamp flanges via left and right actions. Simultaneously, a flange fastening mechanism is designed on the top; after clamping, fastening bolts are tightened to protect the clamped flange. Rubber strips are designed on the surface of the robot to protect the flange surface.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] The lifting composite mobile robot is equipped with a mobile platform, a rotating platform, a four-bar linkage, a self-rotating platform, and an arc-shaped clamping manipulator. The mobile platform is placed on the ground; the rotating platform is connected to the mobile platform and is located directly above it; the four-bar linkage connects the rotating platform and the self-rotating platform at both ends; the self-rotating platform is connected to the arc-shaped clamping manipulator. The advantages of this lifting-type composite mobile robot lie in its adaptive positioning and lifting (1.0-1.5 meters) of flanges with diameters of 600-800mm; it features a built-in gyroscope detection sensor and a dynamic adjustment counterweight device to ensure the load safety during lifting and installation; it includes a pressure jacking device, allowing installers to focus solely on tightening; it also features obstacle avoidance and other safety sensors to ensure operational safety; the rotating platform has high precision, ensuring accuracy during flange rotation; its hollow design facilitates wiring; it can rotate 360 ​​degrees omnidirectionally; it has good expandability; and it is expected to achieve autonomous docking operations in the future. Attached Figure Description

[0020] Figure 1 This is a perspective view of a lifting composite mobile robot according to the present invention.

[0021] Figure 2 This is another perspective view of a lifting composite mobile robot according to the present invention.

[0022] Figure 3 for Figure 1 The left view.

[0023] Figure 4 for Figure 3 View from AA.

[0024] In the diagram: vehicle body 46, linkage lifting mechanism 51, drive wheel 55, universal wheel 57, guide rail, slider, push plate, pallet square plate, swing arm 139, left swing arm, right swing arm, tilting swing arm vertical beam 86, swing arm crossbeam, vertical beam top connecting plate, tilting support crossbeam, left connecting flange, right connecting flange, clamping gripper 110, gripper connecting plate 97, gripper pin seat. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Example:

[0027] See Figure 1 A motion-type composite mobile robot includes a four-bar flipping mechanism, an arc-shaped gripper, a rotating platform, a spinning platform, and a moving platform. In specific implementation, the moving platform and the rotating platform are located in the same vertical plane, and the mechanism can compensate for the rotational degree of freedom error of the moving platform after it stops. The two ends of the four-bar flipping mechanism are respectively connected to the spinning platform and the rotating platform. The spinning platform is connected to the arc-shaped gripper.

[0028] See Figure 2 , Figure 3 and Figure 4 The mobile platform includes a vehicle body 46, a side panel 61, a linkage lifting mechanism 51, a drive wheel 55, swivel wheels 57, a safety edge 47, a battery 63, and a counterweight 62. The vehicle body 46 is surrounded by the side panel 61. The linkage lifting mechanism 51 is located in the middle of the vehicle body 46, and its upper and lower ends are connected to the channel steel 49. The drive wheel 55 is installed at the rear of the vehicle body via wheel brackets 56. The swivel wheels 57 are located in the middle of the front of the vehicle body. The safety edge 47 is located at the outer corner of the vehicle body 46 via a safety edge base 48 to ensure the safety of the vehicle body during movement. The battery 63 is installed on both sides of the linkage lifting mechanism 51, and the batteries 63 are connected by lithium batteries. The pool support 64 is fixed; the counterweight 62 is placed on the vehicle body 46 and located at the rear of the vehicle body; the mobile platform mainly drives the heavy-duty flange to move and has three degrees of freedom on the ground: lifting, moving, and rotating; the rotating platform includes a square tube 127, guide rails, a pallet square plate, a slider, and a push plate; the square tube forms the base of the rotating platform and has a rectangular structure; the pallet square plate is connected to the waist seat and installed in the middle of the bottom of the square tube; the guide rails are located on the two square tubes 127; 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;

[0029] See Figure 2 , Figure 3 and Figure 4The four-bar flipping mechanism includes a swing arm 139, a left swing arm, a right swing arm, a flipping swing arm vertical beam 86, a swing arm horizontal beam, a vertical beam top connecting plate, and a flipping support horizontal beam. The swing arm 139 is connected to the fixed rear base via a straight pin. The lower halves of the left and right swing arms are connected to the bearing seats mounted on the push plate via a rotating short shaft 8, and their upper halves are connected to the swing arm 139 via a straight pin. One side of the flipping swing arm vertical beam 86 is connected to the swing arm, and the other side is connected to the vertical beam top connecting plate via a vertical beam plug. The swing arm horizontal beam is connected to the swing arm and located outside the swing arm. The vertical beam top connecting plate is connected to the flipping swing arm vertical beam 86. The flipping support horizontal beam is fixedly connected to the flipping swing arm vertical beam 86 via a horizontal and vertical beam connecting plate. The spinning platform includes a spinning joint 70, a flange rotation 67, a rotary motor mounting plate 66, and a rotary mounting plate. The rotary mounting plate is disposed on the two rotating joints. Between the rotating support beams and between the two support beams; the rotating motor mounting plate 66 is located between the rotating support beams, and is directly above the rotating mounting plate; the flange rotation 67 is connected to the rotating motor mounting plate 66; the self-rotating joint 70 is installed in the flange rotation 67; the self-rotating platform adopts an integrated self-rotating platform design; the arc-shaped clamping manipulator includes a left connecting flange, a right connecting flange, a clamping gripper 110, a gripper connecting plate 97, and a gripper pin seat; the left connecting flange is connected to the gripper pin seat 98, the right connecting flange is connected to the gripper pin seat 98, and a damping shock absorber is installed on the left and right connecting flanges; the clamping gripper 110 is located below the rotating support beam; the gripper connecting plate is connected to the clamping gripper 110; the gripper pin seat 98 is connected to the gripper connecting plate.

[0030] The lifting composite mobile robot is equipped with a mobile platform, a rotating platform, a four-bar linkage, a self-rotating platform, and an arc-shaped clamping manipulator. The mobile platform is placed on the ground; the rotating platform is connected to the mobile platform and is located directly above it; the four-bar linkage connects the rotating platform and the self-rotating platform at both ends; the self-rotating platform is connected to the arc-shaped clamping manipulator. The advantages of this lifting-type composite mobile robot lie in its adaptive positioning and lifting (1.0-1.5 meters) of flanges with diameters of 600-800mm; it features a built-in gyroscope detection sensor and a dynamic adjustment counterweight device to ensure the load safety during lifting and installation; it includes a pressure jacking device, allowing installers to focus solely on tightening; it also features obstacle avoidance and other safety sensors to ensure operational safety; the rotating platform has high precision, ensuring accuracy during flange rotation; its hollow design facilitates wiring; it can rotate 360 ​​degrees omnidirectionally; it has good expandability; and it is expected to achieve autonomous docking operations in the future.

[0031] Working principle:

[0032] 1. First, the four-bar linkage rotates, and the arc-shaped clamping robot moves relative to it, clamping the flange. Then, the flange is manually secured to the complex connection. Double protection ensures the safety of the load. Through the current sensing of the servo cylinder driven by the four-bar linkage, the brakes are immediately applied in case of tipping or overload to ensure safety.

[0033] 2. The four-bar rotating mechanism rotates to raise the load, and the flange and aperture are manually installed.

[0034] 3. Move the chassis to the vicinity of the housing. Manual inspection will then activate the self-rotating motor and lift the chassis to align the load with the housing holes. This will allow for flange alignment and facilitate manual bolt installation.

[0035] Security considerations

[0036] 1. All contact surfaces are designed with rubber strips to protect the load surface; 2. Safety sensors are added to the moving joints, and the actuators have brakes to ensure the safe position of the load; 3. Dynamic counterweights are designed to ensure the system does not tip over; 4. A fastening flange is added. After 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 assembly process is reversible from the installation process. First, connect the fastening flange to the load, and then drive the chassis and four-bar linkage to move and complete the disassembly of the load.

Claims

1. A lifting-type composite mobile robot, characterized in that, The system includes a four-bar linkage, an arc-shaped gripper, a rotating platform, a spinning platform, and a moving platform. The moving platform is placed on the ground and can be lifted. The rotating platform is connected to the moving platform and is located directly above the moving platform. The four-bar linkage is connected at both ends to the spinning platform and the rotating platform, respectively. The spinning platform is connected to the arc-shaped gripper. The mobile platform includes a vehicle body, side panels, a linkage lifting mechanism, drive wheels, casters, safety edges, batteries, and counterweights. The vehicle body is surrounded by side panels. The linkage lifting mechanism is located in the middle of the vehicle body, with its upper and lower ends connected to channel steel. The drive wheels are mounted at the rear of the vehicle body via wheel brackets. The casters are located in the middle of the front of the vehicle body. The safety edges are located at the outer edge of the vehicle body via safety edge bases. The batteries are mounted on both sides of the linkage lifting mechanism, and are fixed to each other with lithium battery brackets. The counterweights are placed on the vehicle body and located at the rear of the vehicle body. The rotating platform includes a square tube, guide rails, a tray square plate, a slider, and a push plate; the square tube forms the base of the rotating platform and has a rectangular structure; the tray square plate is connected to the slewing bearing and installed in the middle of the bottom of the square tube; the guide rails are located on the two square tubes; the slider is installed on the two guide rails, and the top of the slider is connected to a slider pad; the push plate is located on a push plate pad, and the push plate pad is fixedly installed on the slider pad; the rotating platform rotates along a direction perpendicular to the ground axis. The four-bar linkage includes a swing rod, a swing arm, a vertical swing arm beam, a horizontal swing arm beam, a top connecting plate of the vertical beam, and a tilting support beam. The swing rod is connected to the fixed base via a straight pin. The lower half of the swing arm is connected to a bearing seat mounted on a push plate via a rotating short shaft, and its upper half is connected to the swing rod via a straight pin. One side of the tilting swing arm beam is connected to the swing arm, and the other side is connected to the top connecting plate of the vertical beam via a vertical beam end cap. The horizontal swing arm beam is connected to the swing arm and located outside the swing arm. The top connecting plate of the vertical beam is connected to the tilting swing arm beam. The tilting support beam is fixedly connected to the tilting swing arm beam via a horizontal and vertical beam connecting plate. The spin platform includes a spin joint, a reducer-flange rotation mechanism, a rotary motor mounting plate, and a rotary mounting plate. The rotary mounting plate is positioned between two rotary support beams and between two longitudinal support beams. The rotary motor mounting plate is located between the tilting support beams and directly above the rotary mounting plate. The reducer-flange rotation mechanism is connected to the rotary motor mounting plate. The spin joint is installed in the middle of the reducer-flange rotation mechanism. The spin platform adopts an integrated spin platform design. The arc-shaped clamping manipulator includes a connecting flange, a clamping gripper, a gripper connecting plate, and a gripper pin seat; the connecting flange is connected to the gripper pin seat, and a damping shock absorber is installed on the connecting flange; the clamping gripper is located below the rotating support beam; the gripper connecting plate is connected to the clamping gripper; and the gripper pin seat is connected to the gripper connecting plate.

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

3. The lifting composite mobile robot according to claim 1, characterized in that, The spin platform is connected to the curved surface gripper, and the spin platform adopts an integrated spin platform design.

4. The lifting composite mobile robot according to claim 1, characterized in that, The four-bar linkage rotates, and the arc-shaped clamping robot moves relative to it, clamping the flange.

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