Door frame type carrying robot and carrying method

Abstract

The invention provides a door frame type transfer robot and a transfer method.The door frame type transfer robot comprises a vehicle body, the vehicle body is of an inverted U-shaped structure and is provided with two U-shaped arms symmetrical to each other, and an operation area is formed between the two U-shaped arms; the two driving mechanisms are respectively mounted at the side parts of the two U-shaped arms of the vehicle main body; the two swing arm mechanisms are installed on the side portions of the two U-shaped arms of the vehicle body respectively and located in the operation area. The two clamping arm mechanisms are installed on the opposite sides of the two swing arm mechanisms correspondingly. The clamping arm mechanism comprises a clamping arm steering engine installed on the swing arm mechanism, and an output shaft of the clamping arm steering engine is connected with a gear. By means of the mechanical arm, the target object can be clamped and released, the structure is simpler, the good protection effect on the target object can be achieved, and the anti-interference capacity is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a door frame type transport robot and a transport method. Background Art

[0002] With the continuous development of automation equipment, automation equipment is more and more widely used in industrial manufacturing. Since automation equipment can replace a large number of manpower, it not only saves labor costs and improves work efficiency, but also greatly reduces the pollution and impact of personnel on the environment.

[0003] In the industrial manufacturing process, it is often necessary to carry the production items. Traditionally, the carrying work is carried out manually by the staff. However, this method of carrying requires large resources and manpower consumption, and the work efficiency is low. In order to improve production efficiency, some handling robots have also appeared on the market to replace manual handling of items. For example, the Chinese patent with publication number CN108515508A discloses a two-wheeled robot, which is described as mainly including a main body, wheels, a gyro assembly and a drive motor. Its innovation lies in that the stability and motion control of the robot are enhanced by the combination of the gyro assembly and the control system. The gyro assembly includes at least one pair of gyros, and the gyro is a key element for providing motion stability. Through the movement of the gyro, the posture and stability of the robot can be effectively controlled, but the structure mentioned is too complicated and the anti-interference ability presented is poor, and object collision may occur.

[0004] There is no effective solution to the problems of complex structure and poor anti-interference ability of handling robots in existing related technologies. Summary of the invention

[0005] The present invention provides a door frame type transport robot and a transport method, which are used to solve the defects of the transport robot in the prior art, such as complex structure and poor anti-interference ability.

[0006] In a first aspect, the present invention provides a door frame type handling robot, comprising: The vehicle body is in an inverted U-shaped structure and has two mutually symmetrical U-shaped arms, with an operating area formed between the two U-shaped arms; Two driving mechanisms, the two driving mechanisms are respectively mounted on the sides of the two U-shaped arms of the vehicle body; Two swing arm mechanisms, the two swing arm mechanisms are respectively installed on the sides of the two U-shaped arms of the vehicle body and are located in the operating area; Two clamping arm mechanisms, the two clamping arm mechanisms are respectively installed on the opposite sides of the two swing arm mechanisms; the clamping arm mechanism includes a clamping arm servo installed on the swing arm mechanism, and the output shaft of the clamping arm servo is connected with a gear; the side of the swing arm mechanism is provided with a guide rail, and the guide rail is slidably connected with a rack meshing with the gear; the side of the rack is connected with an end hand through a scissor-fork assembly, and when the rack moves along the guide rail, the scissor-fork assembly is tightened or expanded.

[0007] According to a door frame type handling robot provided by the present invention, a circuit board is arranged between the two U-shaped arms of the vehicle body, and the circuit board and the two U-shaped arms together form a U-shaped structure; The circuit board is connected to the controller signal, and the circuit board is connected to the clamp arm servo and controls the output shaft of the clamp arm servo to rotate.

[0008] According to a door frame type handling robot provided by the present invention, a battery assembly is provided on the side of the vehicle body, and the battery assembly is connected to the circuit board.

[0009] According to a door frame type handling robot provided by the present invention, a swing arm servo is provided on the side of the U-shaped arm of the vehicle body, and the swing arm servo is connected to the circuit board; a connecting groove is provided on the U-shaped arm of the vehicle body, and the output shaft of the swing arm servo passes through the connecting groove and is connected to the swing arm mechanism.

[0010] According to a door frame type handling robot provided by the present invention, a plurality of line planning grooves are arranged on the side of the U-shaped arm of the vehicle body, and the line planning grooves are distributed at equal intervals.

[0011] According to a door frame type handling robot provided by the present invention, the driving mechanism includes a driving motor, the output shaft of the driving motor is connected to a hub coupling via a roller bearing and a motor conversion component, and a wheel is arranged at the end of the hub coupling.

[0012] According to a door frame type handling robot provided by the present invention, a mounting groove is provided on the side of the U-shaped arm of the vehicle body, and the driving motor is arranged in the mounting groove.

[0013] According to a door frame type handling robot provided by the present invention, the swing arm mechanism includes a swing arm main body, a connecting piece is provided on the upper side of the swing arm main body, and the swing arm servo is connected to the swing arm main body through the connecting piece.

[0014] According to a door frame type handling robot provided by the present invention, the scissor assembly comprises two scissor arms, and the middle parts of the two scissor arms are hinged; The side of the end handle is provided with a guide groove; One end of one of the shear arms is hinged to the back of the rack, and the other end extends into the guide groove and can slide along the guide groove; One end of the other shear arm is provided with a sliding block matched with the guide rail, and the other end extends into the guide groove and can slide along the guide groove; The two scissor arms are provided with mutually matching limiting grooves on opposite sides thereof.

[0015] In a second aspect, the present invention further provides a transport method, comprising: Turn on the driving mechanism to drive the vehicle body to move toward the target object until the target object moves into the operation area; Turn on the clamp arm servo to drive the gear to rotate, causing the rack to move downward, driving the scissor assembly to tighten, and pushing the end arms to move until both end arms clamp the target object; Turn on the driving mechanism to drive the vehicle body to move to the target location; Turn on the clamp arm servo to drive the gear to rotate in the opposite direction, causing the rack to move upward, driving the scissor assembly to expand, pulling the two end arms apart from each other, releasing the target object and placing it at the target location.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The door frame type handling robot provided by the present invention can realize the clamping and releasing actions of the target object by controlling the steering of the clamp arm servo, and has a simpler structure. In addition, during the handling process, the target object is always "inside" the robot, which provides good protection for the target object and has a stronger anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the door frame type handling robot provided by the present invention; Figure 2 It is a structural schematic diagram of the clamping arm mechanism in the present invention; Figure 3 is a schematic structural diagram of a vehicle body according to an embodiment of the present invention; Figure 4 is a structural schematic diagram of a swing arm mechanism in an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the driving mechanism in the embodiment of the present invention.

[0019] Reference numerals: 1: driving mechanism; 11: wheel; 12: wheel hub coupling; 13: motor conversion component; 14: roller bearing; 15: driving motor; 2: vehicle body; 21: battery assembly; 22: swing arm servo; 23: circuit board; 24: line planning slot; 201: connection slot; 202: installation slot; 3: swing arm mechanism; 31: clamp arm servo; 32: guide rail; 301: connector; 4: clamp arm mechanism; 41: gear; 42: rack; 43: scissor assembly; 44: slider; 45: end handle; 431: scissor arm; 432: limit slot. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0021] The present invention provides a door frame type handling robot. Figure 1 Schematic diagram of the structure of the door frame type handling robot provided by the present invention. Figure 1 As shown, the robot includes: The vehicle body 2 is an inverted U-shaped structure and has two mutually symmetrical U-shaped arms, and an operating area is formed between the two U-shaped arms; Two driving mechanisms 1, the two driving mechanisms 1 are respectively mounted on the sides of the two U-shaped arms of the vehicle body 2; Two swing arm mechanisms 3, which are respectively mounted on the sides of the two U-shaped arms of the vehicle body 2 and are located in the operating area; Two clamping arm mechanisms 4 are respectively installed on opposite sides of the two swing arm mechanisms 3 . Figure 2 Schematic diagram of the structure of the clamping arm mechanism in the present invention. Figure 2 As shown, the clamping arm mechanism 4 includes a clamping arm servo 31 installed on the swing arm mechanism 3, and the output shaft of the clamping arm servo 31 is connected to a gear 41; a guide rail 32 is provided on the side of the swing arm mechanism 3, and a rack 42 meshing with the gear 41 is slidably connected to the guide rail 32; the side of the rack 42 is connected to an end hand 45 through a scissor assembly 43, and when the rack 41 moves along the guide rail 32, the scissor assembly 43 is tightened or expanded. In the robot structure of the present invention, the two relatively fixed structures can be connected by screws or the like, and no further details are given here.

[0022] When the robot is in use, first, the driving mechanism 1 is turned on to drive the body 2 to move toward the target object until the target object moves into the operating area. Then, the clamp arm servo 31 is turned on to drive the gear 41 to rotate, so that the rack 42 moves downward, drives the scissor assembly 43 to tighten, and pushes the end hand 45 to move. The two end hands 45 approach each other until the target object is clamped. Then the driving mechanism 1 is turned on to drive the body 2 to move to the target location. The target object is transported to the target location. During the transportation process, the target object will always be in the operating area of ​​the U-shaped structure, and the body 2 will protect the target object, that is, the target object is not easy to collide with other objects during the normal driving process of the robot. After arriving at the target location, the clamp arm servo 31 is turned on to drive the gear 41 to rotate in the opposite direction, so that the rack 42 moves upward, drives the scissor assembly 43 to expand, pulls the two end hands 45 apart from each other, and releases the target object and places it at the target location. Through the above process, the target object can be transported. The target object can be clamped and released only by controlling the steering of the clamp arm servo 31. The structure is simpler, and during the transportation process, the target object is always "inside" the robot, which provides good protection for the target object and has stronger anti-interference ability.

[0023] In actual use, the clamping arm mechanism 4 only needs to be able to realize the movement function of the end hand 45 through the cooperation of the clamping arm servo 31 and the scissor assembly 43. In some embodiments, the scissor assembly 43 includes two scissor arms 431, the middle parts of the two scissor arms 431 are hinged; the side of the end hand 45 is provided with a guide groove; one end of one of the scissor arms 431 is hinged with the back of the rack 42, and the other end extends into the guide groove and can slide along the guide groove; one end of the other scissor arm 431 is provided with a slider 44 that cooperates with the guide rail 32, and the other end extends into the guide groove and can slide along the guide groove; the opposite sides of the two scissor arms 431 are provided with mutually cooperating limit grooves 432.

[0024] In this embodiment, when the gear 41 rotates counterclockwise, it drives the rack 42 to move downward, so that the ends of the two scissor arms 431 are close to each other, that is, the "tightening" effect is achieved. During the tightening process, the rack 42 and the slider 44 can only move up and down along the guide rail 32, so that the rack 42 can always be engaged with the gear 41. When the two scissor arms 431 are tightened, the end hands 45 will be pushed outward, so that the two end hands 45 are close to each other. Similarly, when the gear 41 rotates clockwise, the rack 42 moves up, and the ends of the two scissor arms 431 move away from each other, achieving the "expansion" effect. When the two scissor arms 431 expand, they will pull the end hands 45 back inward, so that the two end hands 45 move away from each other. Furthermore, in order to limit the rotation range of the scissor fork assembly 43, a limit slot 43 is provided. When any scissor arm 431 rotates to abut against the inner wall of the limit slot 43 of another scissor arm 431, the scissor arm 431 cannot continue to rotate, i.e., the rotation range of the scissor arm 431 is limited. At the same time, the movement range of the rack 42 is also limited to prevent the rack 42 from disengaging from the gear 41.

[0025] In order to improve the intelligent performance of the robot, in some embodiments thereof, Figure 3 Schematic diagram of the structure of the vehicle body in the embodiment of the present invention. Figure 3 As shown, a circuit board 23 is arranged between the two U-shaped arms of the vehicle body 2, and the circuit board 23 and the two U-shaped arms together form a U-shaped structure; the circuit board 23 is connected to the controller signal, and the circuit board 23 is connected to the clamp arm servo 31, and controls the rotation of the output shaft of the clamp arm servo 31.

[0026] In this embodiment, the signal of the circuit board 23 can be controlled by a remote controller, thereby controlling the steering of the output shaft of the clamp arm servo 31, thereby achieving the effect of remote operation, making the robot more intelligent and more convenient to use.

[0027] Furthermore, in order to improve the portability of the robot, a battery assembly 21 is provided on the side of the body 2, and the battery assembly 21 is connected to the circuit board 23. The robot is powered by the built-in battery assembly 21, and the robot does not need to be connected to an external power source, and the robot is more flexible when used.

[0028] In order to be able to more flexibly adjust the position of the target object during the handling process of the robot, in some embodiments, a swing arm servo 22 is provided on the side of the U-shaped arm of the vehicle body 2, and the swing arm servo 22 is connected to the circuit board 23; a connecting groove 201 is provided on the U-shaped arm of the vehicle body 2, and the output shaft of the swing arm servo 22 passes through the connecting groove 201 and is connected to the swing arm mechanism 3. Figure 4 Schematic diagram of the structure of the swing arm mechanism in the embodiment of the present invention. Figure 4As shown, the swing arm mechanism 3 includes a swing arm body, a connecting piece 301 is provided on the upper side of the swing arm body, and the swing arm servo 22 is connected to the swing arm body through the connecting piece 301.

[0029] In this embodiment, when clamping the target object, the swing arm servo 22 can also be started according to the position of the target object. The swing arm servo 22 drives the swing arm body to rotate and adjusts the end hand 45 to the position of the target object. Through the above operation, the robot can not only carry the target objects on the plane where it is located, but also can carry target objects with a certain height difference, such as those placed on a platform or a desktop. Even when carrying target objects on the same plane, during the transportation process, the swing arm body can be slightly rotated to appropriately lift the target object to prevent the target object from rubbing against the ground. Similarly, when releasing the target object, the swing arm servo 22 can also be started to adjust the position of the end hand 45 to place the target object at a position with a certain height difference. Through the above structural design, the robot can be used in more diverse forms and can further protect the target object.

[0030] Furthermore, a plurality of line planning grooves 24 are provided on the side of the U-shaped arm of the vehicle body 2, and the line planning grooves 24 are distributed at equal intervals. By providing a plurality of line planning grooves 42, the line of the robot can be conveniently fixed, which can improve the aesthetics of the robot on the one hand, and facilitate management and later maintenance on the other hand.

[0031] In actual use, the driving mechanism 1 only needs to meet the basic walking and turning functions. In some embodiments, Figure 5 Schematic diagram of the structure of the driving mechanism in the embodiment of the present invention. Figure 5 As shown, the drive mechanism 1 includes a drive motor 15, the output shaft of the drive motor 15 is connected to the hub coupling 12 via a roller bearing 14 and a motor conversion member 13, and a wheel 11 is arranged at the end of the hub coupling 12. Specifically, a mounting groove 202 is arranged on the side of the U-shaped arm of the vehicle body 2, and the drive motor 15 is arranged in the mounting groove 202.

[0032] In this embodiment, when the robot needs to move, it only needs to start the drive motor 15. The drive motor 15 drives the wheel 11 to rotate through the motor conversion component 13 and the wheel hub coupling 12, so that the robot's moving function can be realized.

[0033] The present invention provides a transport method, which is described below. The transport method described below and the door frame type transport robot described above can be referred to each other. The method includes the following steps: Turn on the driving mechanism to drive the vehicle body to move toward the target object until the target object moves into the operation area; Turn on the clamp arm servo to drive the gear to rotate, causing the rack to move downward, driving the scissor assembly to tighten, and pushing the end arms to move until both end arms clamp the target object; Turn on the driving mechanism to drive the vehicle body to move to the target location; Turn on the clamp arm servo to drive the gear to rotate in the opposite direction, causing the rack to move upward, driving the scissor assembly to expand, pulling the two end arms apart from each other, releasing the target object and placing it at the target location.

[0034] Specifically, when the robot is in use, first, the driving mechanism is turned on to drive the body to move toward the target object until the target object moves into the operating area. Then, the clamp arm servo is turned on to drive the gear to rotate, so that the rack moves downward, driving the scissor assembly to tighten, and pushing the end hand to move. The two end hands approach each other until the target object is clamped. Then the driving mechanism is turned on to drive the body to move to the target location. The target object is transported to the target location. During the transportation process, the target object will always be in the operating area of ​​the U-shaped structure, and the body will protect the target object, so that the target object is not easy to collide with other objects during normal driving of the robot. After arriving at the target location, the clamp arm servo is turned on to drive the gear to rotate in the opposite direction, so that the rack moves upward, driving the scissor assembly to expand, pulling the two end hands apart from each other, and releasing the target object and placing it at the target location. Through the above process, the target object can be transported. The target object can be clamped and released only by controlling the steering of the clamp arm servo. The structure is simpler, and during the transportation process, the target object is always "inside" the robot, which provides good protection for the target object and has stronger anti-interference ability.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A door frame type handling robot, characterized in that: include: A vehicle body (2), the vehicle body (2) being in an inverted U-shaped structure and having two mutually symmetrical U-shaped arms, with an operating area formed between the two U-shaped arms; Two driving mechanisms (1), the two driving mechanisms (1) being respectively mounted on the sides of two U-shaped arms of the vehicle body (2); Two swing arm mechanisms (3), the two swing arm mechanisms (3) being respectively mounted on the sides of the two U-shaped arms of the vehicle body (2) and being located within the operating area; Two clamping arm mechanisms (4), the two clamping arm mechanisms (4) are respectively mounted on opposite sides of the two swing arm mechanisms (3); the clamping arm mechanisms (4) include a clamping arm servo (31) mounted on the swing arm mechanisms (3), the output shaft of the clamping arm servo (31) being connected to a gear (41); a guide rail (32) is provided on the side of the swing arm mechanism (3), the guide rail (32) being slidably connected to a rack (42) meshing with the gear (41); the side of the rack (42) is connected to an end hand (45) via a scissor assembly (43), and when the rack (41) moves along the guide rail (32), the scissor assembly (43) is tightened or expanded.

2. The door frame type handling robot according to claim 1, characterized in that: A circuit board (23) is arranged between the two U-shaped arms of the vehicle body (2), and the circuit board (23) and the two U-shaped arms together form a U-shaped structure; The circuit board (23) is connected to a controller signal, and the circuit board (23) is connected to the clamp arm servo (31), and controls the rotation of an output shaft of the clamp arm servo (31).

3. The door frame type handling robot according to claim 2, characterized in that: A battery assembly (21) is provided on the side of the vehicle body (2), and the battery assembly (21) is connected to the circuit board (23).

4. The door frame type handling robot according to claim 2, characterized in that: A swing arm servo (22) is provided on the side of the U-shaped arm of the vehicle body (2), and the swing arm servo (22) is connected to the circuit board (23); a connecting groove (201) is provided on the U-shaped arm of the vehicle body (2), and an output shaft of the swing arm servo (22) passes through the connecting groove (201) and is connected to the swing arm mechanism (3).

5. The door frame type handling robot according to claim 1, characterized in that: A plurality of line planning grooves (24) are arranged on the side of the U-shaped arm of the vehicle body (2), and the line planning grooves (24) are distributed at equal intervals.

6. The door frame type handling robot according to claim 1, characterized in that: The drive mechanism (1) comprises a drive motor (15), the output shaft of the drive motor (15) being connected to a wheel hub coupling (12) via a roller bearing (14) and a motor conversion component (13), and a wheel (11) being arranged at the end of the wheel hub coupling (12).

7. The door frame type handling robot according to claim 6, characterized in that: A mounting groove (202) is provided on the side of the U-shaped arm of the vehicle body (2), and the drive motor (15) is arranged in the mounting groove (202).

8. The door frame type handling robot according to claim 4, characterized in that: The swing arm mechanism (3) comprises a swing arm main body, a connecting piece (301) is provided on the upper side of the swing arm main body, and the swing arm steering gear (22) is connected to the swing arm main body via the connecting piece (301).

9. The door frame type handling robot according to claim 1, characterized in that: The scissor-fork assembly (43) comprises two scissor arms (431), and the middle parts of the two scissor arms (431) are hinged; A guide groove is provided on the side of the end handle (45); One end of one of the shear arms (431) is hinged to the back of the rack (42), and the other end extends into the guide groove and is able to slide along the guide groove; One end of the other shear arm (431) is provided with a sliding block (44) that matches the guide rail (32), and the other end extends into the guide groove and can slide along the guide groove; Mutually matching limiting grooves (432) are provided on opposite sides of the two scissor arms (431).

10. A transport method, applied to the door frame type transport robot according to any one of claims 1 to 9, characterized in that: include: Turn on the driving mechanism to drive the vehicle body to move toward the target object until the target object moves into the operation area; Turn on the clamp arm servo to drive the gear to rotate, causing the rack to move downward, driving the scissor assembly to tighten, and pushing the end arms to move until both end arms clamp the target object; Turn on the driving mechanism to drive the vehicle body to move to the target location; Turn on the clamp arm servo to drive the gear to rotate in the opposite direction, causing the rack to move upward, driving the scissor assembly to expand, pulling the two end arms apart from each other, releasing the target object and placing it at the target location.

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