Adsorption type grabbing rail type mobile robot

Abstract

The utility model discloses an adsorption type grabbing rail type mobile robot. The adsorption type grabbing rail type mobile robot comprises a robot body; the moving track is horizontally arranged, and the robot body is installed on the moving track; the grabbing mechanism comprises a grabbing mechanical arm and a grabbing manipulator, the grabbing mechanical arm is rotationally connected to the bottom of the robot body, the grabbing manipulator comprises a supporting plate fixedly connected to the bottom end of the grabbing mechanical arm, the supporting plate is horizontally arranged, a sliding groove is formed in the bottom face of the supporting plate, and grabbing frames are symmetrically and slidably connected into the sliding groove; a distance adjusting assembly is mounted in the sliding groove, and a mounting frame is arranged between the two grabbing frames. A negative pressure adsorption mechanism; a visual positioning unit is installed at the bottom of the grabbing frame. According to the utility model, the charging pile is grabbed and transferred by adopting a negative pressure adsorption mode and cooperating with the grabbing manipulator, so that the stability of the charging pile in the moving process is ensured, and the damage to the charging pile is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a track-type mobile robot for adsorption-type grasping. Background Art

[0002] Traditional conductive charging is divided into two categories: household portable chargers and fixed charging piles. Household portable chargers are easy to use but have low charging power. Fixed charging piles are often used in public parking charging places and can have higher charging power, but there are also problems such as high cost and mismatch between the number of parking spaces and the number of charging piles.

[0003] In the prior art, a transport robot is used for transporting, but most of the existing transport robots are transported by lifting. The problem with this method is that the stability of the charging pile is poor during the transport process, and collisions are prone to occur, which may damage the charging pile. Therefore, the utility model provides a track-type mobile robot with adsorption-type gripping. Utility Model Content

[0004] The utility model aims to provide a track-type mobile robot for adsorption-type grasping, so as to solve the problems existing in the prior art.

[0005] To achieve the above purpose, the utility model provides the following solution: The utility model provides a track-type mobile robot for adsorption-type grasping, comprising:

[0006] Robot body;

[0007] A moving track, the moving track is arranged horizontally, and the robot body is installed on the moving track;

[0008] A gripping mechanism, wherein the gripping mechanism comprises a gripping mechanical arm and a gripping mechanical hand, wherein the gripping mechanical arm is rotatably connected to the bottom of the robot body, and the gripping mechanical hand comprises a support plate fixedly connected to the bottom end of the gripping mechanical arm, wherein the support plate is horizontally arranged, and a slide groove is provided on the bottom surface of the support plate, wherein a gripping frame is symmetrically slidably connected in the slide groove, and a spacing adjustment component is installed in the slide groove, wherein the spacing adjustment component is used to adjust the distance between the two gripping frames, and a mounting frame is provided between the two gripping frames;

[0009] A negative pressure adsorption mechanism, wherein three groups of the negative pressure adsorption mechanism are provided, and the three groups of the negative pressure adsorption mechanism are respectively provided on the two grabbing frames and the mounting frame;

[0010] Wherein, a visual positioning unit is installed at the bottom of the grabbing frame.

[0011] According to the rail-type mobile robot with adsorption-type grasping provided by the utility model, the grasping mechanical arm includes an electric-controlled telescopic rod, the top of the electric-controlled telescopic rod is fixedly connected with a turntable, the bottom of the robot body is provided with a groove, the cross-sectional shape of the groove is T-shaped, the turntable is rotatably connected in the groove, and a rotation drive component is installed at the bottom of the robot body, the rotation drive component and the electric-controlled telescopic rod are matched in transmission, the bottom end of the electric-controlled telescopic rod is fixedly connected to the top surface of the support plate, and the axis of the electric-controlled telescopic rod is arranged perpendicular to the length direction of the support plate.

[0012] According to the rail-type mobile robot with adsorption-type grasping provided by the utility model, the rotation drive assembly includes a first drive motor fixedly connected to the bottom of the robot body, the output shaft of the first drive motor is fixedly connected to a drive gear, the fixed end of the electric-controlled telescopic rod is coaxially fixedly connected to a driven gear, and the driven gear is meshed with the drive gear.

[0013] According to the rail-type mobile robot with adsorption-type grasping provided by the utility model, the grasping frame includes a vertical support rod and an oblique rod, the bottom end of the oblique rod is fixedly connected to the bottom end of the vertical support rod, the top end of the vertical support rod is fixedly connected to a first slider, the top end of the oblique rod is fixedly connected to a second slider, the first slider and the second slider are both slidably connected in the slide groove, a support sleeve is fixedly connected between the first slider and the second slider, the first slider is threadedly matched with the spacing adjustment component, the second slider is slidably matched with the spacing adjustment component, and the mounting frame is arranged between the two vertical support rods.

[0014] According to the rail-type mobile robot with adsorption-type grasping provided by the utility model, the spacing adjustment component includes a bidirectional screw rotatably connected to the slide groove, the first sliding blocks of the two grasping frames are respectively threadedly connected to the bidirectional screw, a second driving motor is fixedly connected to one side of the support plate, the output shaft of the second driving motor is axially connected to one end of the bidirectional screw, the second sliding block is slidably matched with the bidirectional screw, and the support sleeve is arranged outside the bidirectional screw.

[0015] According to the rail-type mobile robot with adsorption-type gripping provided by the utility model, the mounting frame includes a pad, the top surface of the pad is symmetrically hinged with hinged rods, the ends of the two hinged rods away from the pad are respectively hinged to the two vertical support rods, and an angle is set between the two hinged rods.

[0016] According to the track-type mobile robot for adsorption-type grasping provided by the utility model, the negative pressure adsorption mechanism includes a negative pressure suction cup, and the negative pressure suction cup is provided in three groups. The three groups of negative pressure suction cups are respectively arranged on the two vertical support rods and the bottom surface of the cushion block, and a negative pressure air pump is installed on the support plate, and the negative pressure air pump is connected to the negative pressure suction cup through an air pipe.

[0017] According to the rail-type mobile robot with adsorption-type grasping provided by the utility model, the visual positioning unit includes a visual positioning camera, and the visual positioning camera is provided in two groups. The two groups of visual positioning cameras are respectively installed at the bottom of the vertical support rod, and the visual positioning camera is electrically connected to a controller.

[0018] The utility model discloses the following technical effects:

[0019] When the utility model is in use, the position of the target charging pile is located by the visual positioning unit, and then the grabbing mechanism is controlled to move to the specified position by the moving track, the grabbing mechanical arm controls the grabbing mechanical arm to descend, and the spacing adjustment component controls the two grabbing frames to move towards each other until all three groups of negative pressure mechanisms are attached to the charging pile, and then the grabbing frame and the charging pile are relatively fixed by the negative pressure device, the grabbing mechanical arm is raised, driving the grabbing mechanism and the charging pile to move to the target position, and completing the transfer of the charging pile.

[0020] In the utility model, a negative pressure adsorption method is adopted in conjunction with a grabbing manipulator to grab and transfer the charging pile, thereby ensuring the stability of the charging pile during the movement and reducing damage to the charging pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of the rail-type mobile robot for adsorption-type grasping of the utility model;

[0023] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0024] Among them, 1. Robot body; 2. Moving track; 3. Support plate; 4. Slide; 5. Electric telescopic rod; 6. Turntable; 7. First drive motor; 8. Drive gear; 9. Driven gear; 10. Vertical support rod; 11. Diagonal rod; 12. First slider; 13. Second slider; 14. Support sleeve; 15. Bidirectional screw; 16. Second drive motor; 17. Pad; 18. Articulated rod; 19. Negative pressure suction cup; 20. Visual positioning camera. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] Reference Figure 1-2 The utility model provides a track-type mobile robot for adsorption-type grasping, comprising:

[0028] Robot body 1;

[0029] A moving track 2, the moving track 2 is horizontally arranged, and the robot body 1 is installed on the moving track 2;

[0030] The grabbing mechanism includes a grabbing mechanical arm and a grabbing mechanical hand. The grabbing mechanical arm is rotatably connected to the bottom of the robot body 1. The grabbing mechanical hand includes a support plate 3 fixedly connected to the bottom end of the grabbing mechanical arm. The support plate 3 is horizontally arranged. A slide groove 4 is provided on the bottom surface of the support plate 3. A grabbing frame is symmetrically slidably connected in the slide groove 4. A spacing adjustment component is installed in the slide groove 4. The spacing adjustment component is used to adjust the distance between the two grabbing frames. A mounting frame is provided between the two grabbing frames.

[0031] Negative pressure adsorption mechanism, there are three groups of negative pressure adsorption mechanisms, and the three groups of negative pressure adsorption mechanisms are respectively arranged on two grabbing frames and a mounting frame;

[0032] Among them, a visual positioning unit is installed at the bottom of the grabbing frame.

[0033] When the utility model is used, the position of the target charging pile is located by the visual positioning unit, and then the grabbing mechanism is controlled to move to the specified position by the moving track 2, the grabbing robot arm controls the grabbing robot to descend, and the spacing adjustment component controls the two grabbing frames to move towards each other until all three groups of negative pressure mechanisms are attached to the charging pile, and then the grabbing frame and the charging pile are relatively fixed by the negative pressure device, the grabbing robot arm is raised, driving the grabbing mechanism and the charging pile to move to the target position, and completing the transfer of the charging pile.

[0034] In the utility model, a negative pressure adsorption method is adopted in conjunction with a grabbing manipulator to grab and transfer the charging pile, thereby ensuring the stability of the charging pile during the movement and reducing damage to the charging pile.

[0035] A further optimized solution is that the grabbing robot arm includes an electric-controlled telescopic rod 5, the top of which is fixedly connected to a turntable 6, a groove is provided at the bottom of the robot body 1, the cross-sectional shape of the groove is T-shaped, the turntable 6 is rotatably connected in the groove, a rotation drive component is installed at the bottom of the robot body 1, and the rotation drive component and the electric-controlled telescopic rod 5 are coordinated in transmission, the bottom end of the electric-controlled telescopic rod 5 is fixedly connected to the top surface of the support plate 3, and the axis of the electric-controlled telescopic rod 5 is perpendicular to the length direction of the support plate 3.

[0036] In a further optimized solution, the rotation drive assembly includes a first drive motor 7 fixedly connected to the bottom of the robot body 1, the output shaft of the first drive motor 7 is fixedly connected to a drive gear 8, and the fixed end of the electric telescopic rod 5 is coaxially fixedly connected to a driven gear 9, and the driven gear 9 is meshed with the drive gear 8. The first drive motor 7 controls the rotation of the drive gear 8, and the drive gear 8 drives the driven gear 9 to rotate, thereby changing the angle of the charging pile.

[0037] A further optimized solution is that the grabbing frame includes a vertical support rod 10 and an inclined rod 11, the bottom end of the inclined rod 11 is fixedly connected to the bottom end of the vertical support rod 10, the top of the vertical support rod 10 is fixedly connected with a first slider 12, the top of the inclined rod 11 is fixedly connected with a second slider 13, the first slider 12 and the second slider 13 are both slidably connected in the slide groove 4, a support sleeve 14 is fixedly connected between the first slider 12 and the second slider 13, the first slider 12 is threadedly matched with the spacing adjustment component, the second slider 13 is slidably matched with the spacing adjustment component, and the mounting frame is arranged between the two vertical support rods 10.

[0038] To further optimize the solution, the spacing adjustment component includes a bidirectional screw 15 rotatably connected to the slide groove 4, the first sliders 12 of the two grabbing frames are respectively threadedly connected to the bidirectional screw 15, a second drive motor 16 is fixedly connected to one side of the support plate 3, the output shaft of the second drive motor 16 is axially connected to one end of the bidirectional screw 15, the second slider 13 is slidably matched with the bidirectional screw 15, and the support sleeve 14 is sleeved outside the bidirectional screw 15.

[0039] According to a further optimization scheme, the mounting frame includes a cushion block 17 , and a hinge rod 18 is symmetrically hinged on the top surface of the cushion block 17 . The ends of the two hinge rods 18 away from the cushion block 17 are respectively hinged to the two vertical support rods 10 , and an angle is set between the two hinge rods 18 .

[0040] The rotation of the bidirectional screw 15 is controlled by the second drive motor 16, and the rotation of the bidirectional screw 15 drives the two first sliders 12 to move in relative or opposite directions, so that the grab frame follows the movement. The grab frame will drive the angle between the two hinged rods 18 to change during the movement, so that the height of the cushion block 17 will change relatively, until the negative pressure suction cup 19 on the cushion block 17 and the negative pressure suction cups 19 of the two vertical support rods 10 are both in contact with the charging pile, and the second drive motor 16 stops working, and then the electric control telescopic rod 5 rises, driving the charging pile to a certain height off the ground, and drives the charging pile to move to the specified position through the moving track 2, and the electric control telescopic rod 5 extends to control the grasping manipulator to descend, and the grasping manipulator releases the charging pile to complete the movement of the charging pile. In this embodiment, the grasping frame adopts a triangular structure to ensure the stability of grasping.

[0041] A further optimized solution is that the negative pressure adsorption mechanism includes a negative pressure suction cup 19, and the negative pressure suction cup 19 is provided with three groups. The three groups of negative pressure suction cups 19 are respectively arranged on two vertical support rods 10 and the bottom surface of the cushion block 17, and a negative pressure air pump is installed on the support plate 3, and the negative pressure air pump and the negative pressure suction cup 19 are connected through an air pipe.

[0042] The three groups of negative pressure suction cups 19 correspond to the top and two opposite sides of the charging pile, and are fixed to the charging pile by adsorption. Then, the grabbing manipulator and the grabbing manipulator arm are used to grab the charging pile, and finally, the charging pile is moved to the designated position by the moving track. Multiple groups of negative pressure suction cups 19 can also be set to ensure the stability of adsorption and grabbing.

[0043] According to a further optimization scheme, the visual positioning unit includes a visual positioning camera 20. Two groups of visual positioning cameras 20 are provided. The two groups of visual positioning cameras 20 are respectively installed at the bottom of the vertical support rod 10. The visual positioning camera 20 is electrically connected to a controller.

[0044] The controller can be set according to the specific usage environment. For example, it can be controlled by a single-chip microcomputer or by methods such as PLC, ARM (Advanced RISC Machine), FPGA (Field-Programmable Gate Array), etc., which are not specifically limited in this embodiment. The position of the charging pile is located by the visual positioning camera 20, and then transmitted to the controller. The position of the device is adjusted by the controller to grab the charging pile.

[0045] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A track-type mobile robot for adsorption-type grasping, characterized in that: include: Robot body (1); A moving track (2), wherein the moving track (2) is arranged horizontally, and the robot body (1) is mounted on the moving track (2); A gripping mechanism, the gripping mechanism comprising a gripping mechanical arm and a gripping mechanical hand, the gripping mechanical arm being rotatably connected to the bottom of the robot body (1), the gripping mechanical hand comprising a support plate (3) fixedly connected to the bottom end of the gripping mechanical arm, the support plate (3) being arranged horizontally, a slide groove (4) being provided on the bottom surface of the support plate (3), a gripping frame being symmetrically slidably connected in the slide groove (4), a spacing adjustment component being installed in the slide groove (4), the spacing adjustment component being used to adjust the distance between the two gripping frames, and a mounting frame being arranged between the two gripping frames; A negative pressure adsorption mechanism, wherein three groups of the negative pressure adsorption mechanism are provided, and the three groups of the negative pressure adsorption mechanism are respectively provided on the two grabbing frames and the mounting frame; Wherein, a visual positioning unit is installed at the bottom of the grabbing frame.

2. The rail-type mobile robot for adsorption-type grasping according to claim 1, characterized in that: The grabbing robot arm comprises an electric telescopic rod (5), the top of which is fixedly connected to a turntable (6), the bottom of the robot body (1) is provided with a groove, the cross-sectional shape of the groove is T-shaped, the turntable (6) is rotatably connected in the groove, a rotary drive component is installed at the bottom of the robot body (1), the rotary drive component and the electric telescopic rod (5) are in transmission cooperation, the bottom end of the electric telescopic rod (5) is fixedly connected to the top surface of the support plate (3), and the axis of the electric telescopic rod (5) is arranged perpendicular to the length direction of the support plate (3).

3. The rail-type mobile robot for adsorption-type grasping according to claim 2, characterized in that: The rotary drive assembly comprises a first drive motor (7) fixedly connected to the bottom of the robot body (1); the output shaft of the first drive motor (7) is fixedly connected to a drive gear (8); the fixed end of the electric telescopic rod (5) is coaxially fixedly connected to a driven gear (9); the driven gear (9) is meshed with the drive gear (8).

4. The rail-type mobile robot for adsorption-type grasping according to claim 1, characterized in that: The grab frame comprises a vertical support rod (10) and an inclined rod (11), the bottom end of the inclined rod (11) is fixedly connected to the bottom end of the vertical support rod (10), the top end of the vertical support rod (10) is fixedly connected to a first slider (12), the top end of the inclined rod (11) is fixedly connected to a second slider (13), the first slider (12) and the second slider (13) are both slidably connected in the slide groove (4), a support sleeve (14) is fixedly connected between the first slider (12) and the second slider (13), the first slider (12) is threadedly engaged with the spacing adjustment component, the second slider (13) is slidably engaged with the spacing adjustment component, and the mounting frame is arranged between the two vertical support rods (10).

5. The rail-type mobile robot for adsorption-type grasping according to claim 4, characterized in that: The spacing adjustment component includes a bidirectional screw (15) rotatably connected to the slide groove (4), the first sliders (12) of the two grab frames are respectively threadedly connected to the bidirectional screw (15), a second drive motor (16) is fixedly connected to one side of the support plate (3), the output shaft of the second drive motor (16) is axially connected to one end of the bidirectional screw (15), the second slider (13) is slidably matched with the bidirectional screw (15), and the support sleeve (14) is sleeved outside the bidirectional screw (15).

6. The rail-type mobile robot for adsorption-type grasping according to claim 4, characterized in that: The mounting frame comprises a cushion block (17), a top surface of which is symmetrically hinged with a hinged rod (18), two ends of the hinged rods (18) away from the cushion block (17) are respectively hinged to the two vertical support rods (10), and an angle is provided between the two hinged rods (18).

7. The rail-type mobile robot for adsorption-type grasping according to claim 6, characterized in that: The negative pressure adsorption mechanism comprises a negative pressure suction cup (19), and the negative pressure suction cup (19) is provided in three groups. The three groups of negative pressure suction cups (19) are respectively arranged on the two vertical support rods (10) and the bottom surface of the cushion block (17). A negative pressure air pump is installed on the support plate (3), and the negative pressure air pump is connected to the negative pressure suction cup (19) through an air pipe.

8. The rail-type mobile robot for adsorption-type grasping according to claim 4, characterized in that: The visual positioning unit comprises a visual positioning camera (20), wherein two groups of the visual positioning cameras (20) are provided, and the two groups of the visual positioning cameras (20) are respectively installed at the bottom of the vertical support rod (10), and the visual positioning cameras (20) are electrically connected to a controller.

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