Multifunctional movable mechanical arm transport vehicle

Abstract

The utility model discloses a multifunctional movable mechanical arm transport vehicle which comprises a chassis structure. The tires are evenly distributed on the two sides of the chassis structure and used for driving the chassis structure to move. The first steering engine is vertically and detachably arranged on the chassis structure; the second steering engine is rotatably arranged on the first steering engine; the middle shaft frame is of an H-shaped structure, and one end of the middle shaft frame is rotatably arranged on the two sides of the second steering engine; the third steering engine is rotatably arranged in the other end of the middle shaft frame; the connecting bracket is fixed on the third steering engine; the fourth steering engine is rotatably arranged in the connecting bracket; and the mechanical arm is rotatably arranged on the fourth steering engine, and the mechanical arm can carry out taking and placing movement. The utility model has the characteristics of portability, mobility and wider application range.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a multifunctional movable mechanical arm transport vehicle. Background Art

[0002] With the development of society, the advancement of science and technology, and the substantial improvement in the degree of automation, robots have been increasingly widely used in the fields of machinery, construction, energy, medical care, etc., mainly used for the placement or transfer of objects.

[0003] The robotic arm is an important branch of robots. In the prior art, the robotic arm is usually fixedly installed, and due to the high production cost of the robotic arm, its price is relatively expensive. For scenes that need to be moved, due to its large size and high cost, it is inconvenient to move, and the moving process will consume a lot of manpower and material resources. Utility Model Content

[0004] The utility model designs and develops a multifunctional movable mechanical arm transport vehicle, which realizes the movement of the mechanical arm through the combination of a chassis structure and a plurality of tires, and realizes the multi-directional movement of the mechanical arm through the combination of a plurality of steering gears and a manipulator.

[0005] The technical solution provided by the utility model is:

[0006] A multifunctional movable mechanical arm transport vehicle, comprising:

[0007] chassis structure; and

[0008] A plurality of tires, which are evenly distributed on both sides of the chassis structure and are used to drive the chassis structure to move;

[0009] A first steering gear, which is vertically and detachably arranged on the chassis structure;

[0010] a second steering gear, rotatably disposed on the first steering gear;

[0011] A center shaft frame, which is an H-shaped structure, and one end of the center shaft frame is rotatably arranged on both sides of the second steering gear;

[0012] a third steering gear rotatably disposed in the other end of the center shaft frame;

[0013] A connecting bracket, which is fixed on the third steering gear;

[0014] a fourth steering gear rotatably disposed in the connecting bracket;

[0015] The manipulator is rotatably arranged on the fourth steering gear, and the manipulator can perform a picking and placing movement.

[0016] Preferably, the chassis structure comprises:

[0017] A first bottom plate, which is spaced apart from the ground;

[0018] a second bottom plate, which is spaced apart and arranged on the upper part of the first bottom plate;

[0019] Wherein, the first steering gear is arranged on the second bottom plate.

[0020] Preferably, it also includes:

[0021] A plurality of first power mechanisms are arranged between the first bottom plate and the second bottom plate, and power output ends of the plurality of first power mechanisms are respectively connected to the plurality of tires in a one-to-one correspondence.

[0022] Preferably, it also includes:

[0023] a support beam detachably disposed on the second bottom plate;

[0024] A first bracket, which is detachably arranged on the support beam;

[0025] The first steering gear is detachably arranged in the bracket, and the output end of the first steering gear is arranged upward.

[0026] Preferably, it also includes:

[0027] A second bracket, which is detachably fixed to the output end of the first steering gear;

[0028] The second steering gear is detachably arranged in the second bracket, and the output end of the second steering gear is detachably fixed in one end of the middle shaft frame.

[0029] Preferably, it also includes:

[0030] A third bracket, which is detachably arranged on the outer side of the third steering gear;

[0031] Among them, the output end of the third servo is detachably fixed in the other end of the middle shaft frame, the connecting bracket is detachably fixed on the third bracket, and the connecting bracket is vertically arranged in the opposite direction to the third bracket, and the output end of the fourth servo is fixedly connected to the connecting bracket.

[0032] Preferably, it also includes:

[0033] a fourth bracket, which is detachably fixed on the outer side of the fourth steering gear;

[0034] a fifth bracket, which is detachably fixed to the fourth bracket, and the fifth bracket is arranged opposite to the fourth bracket;

[0035] The fifth steering gear is fixed in the fifth bracket, and the output end of the fifth steering gear is arranged on a side away from the connecting bracket.

[0036] Preferably, the manipulator comprises:

[0037] A gripper support plate, which is detachably fixed to the output end of the fifth steering gear;

[0038] a sixth steering gear, which is fixed to the lower part of the gripper support plate;

[0039] A first power rod, which is arranged on one side of the upper part of the gripper support plate, and the first power rod comprises a first gear end and a first rod end, and the first gear end is connected to the output end of the sixth steering gear;

[0040] A second power rod, which is symmetrically arranged on one side of the upper part of the gripper support plate with respect to the first power rod, and the second power rod comprises a second gear end and a second rod end, the second gear end and the first gear end are meshed with each other, so that the second power rod and the first power rod move in opposite directions;

[0041] Two grab bars, one end of which is hinged to the first bar end and the second bar end respectively;

[0042] Two limiting rods, one end of which is rotatably arranged at a distance on the other side of the upper part of the gripping support plate, and the other end of which is rotatably arranged at a position close to one end of the two gripping rods, so that the two gripping rods are arranged opposite to each other and their extension lines intersect.

[0043] Preferably, the plurality of power mechanisms are motors.

[0044] Preferably, the arcs of the first gear end and the second gear end are both 150°.

[0045] Beneficial effects of the utility model:

[0046] The multifunctional movable mechanical arm transport vehicle provided by the utility model realizes the portable movement of the mechanical arm through the combination of a chassis structure and a plurality of tires, which is convenient for management and reduces labor costs. Furthermore, through the combination of a plurality of steering gears and a manipulator, the multi-directional movement of the mechanical arm is realized, thereby improving the accuracy and the application range of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the multifunctional movable mechanical arm transport vehicle described in the utility model.

[0048] Figure 2 It is a schematic diagram of the assembly structure of the chassis structure of the utility model.

[0049] Figure 3This is a schematic diagram of the assembly structure of the first steering gear of the utility model.

[0050] Figure 4 It is a schematic diagram of the assembly structure of the central axis frame of the utility model.

[0051] Figure 5 It is a schematic diagram of the assembly structure of the third steering gear and the connecting bracket of the utility model.

[0052] Figure 6 It is a schematic diagram of the assembly structure of the fourth steering gear and the fifth steering gear described in the utility model.

[0053] Figure 7 It is a structural schematic diagram of the manipulator described in the utility model. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0055] like Figure 1 As shown, the utility model provides a multifunctional movable mechanical arm transport vehicle, comprising:

[0056] The chassis structure, four tires 103 , a first steering gear 122 , a second steering gear 132 , a third steering gear 152 , a fourth steering gear 172 , a center shaft frame 140 , a connecting bracket 160 and a manipulator 190 .

[0057] like Figure 2 As shown, the chassis structure includes a first bottom plate 101 and a second bottom plate 102, wherein the second bottom plate 102 is spaced apart on the upper portion of the first bottom plate 101, and the first bottom plate 101 is spaced apart on the ground through four tires 103 evenly distributed on both sides thereof, and at the same time, the four tires 103 are respectively powered by four first power mechanisms 104 to drive the chassis structure to move, and the four first power mechanisms 104 are arranged between the first bottom plate 101 and the second bottom plate 102.

[0058] In this embodiment, the four first power mechanisms 104 are motors.

[0059] A support beam 110 is detachably provided at the upper center position of the second bottom plate 102 by bolts. The support beam 110 is an I-shaped structure as a whole, and threaded holes are provided on both sides of the upper portion of the support beam 110, so that the installation position of the first servo 122 can be selected according to needs.

[0060] like Figure 3As shown, the first steering gear 122 is detachably fixed on the support beam 110 via a first bracket 121 , the output end of the first steering gear 122 is arranged upward, and a first steering disc 123 is fixedly arranged at the output end of the first steering gear 122 .

[0061] like Figure 4 As shown, the second steering gear 132 is detachably fixed to the first steering disc 123 by means of a second bracket 131 and bolts, so that the second steering gear 132 can rotate relative to the first steering gear 122, and the output end of the second steering gear 132 is arranged on the side, and the second steering disc 133 is arranged at the output end.

[0062] The center frame 140 is an H-shaped structure as a whole, and the second steering gear 132 is rotatably disposed in one end of the center frame 140 , and the second steering plate 133 is fixed to one end of the center frame 140 to drive the center frame 140 to rotate relative to the second steering gear 132 .

[0063] The third steering gear 152 is rotatably disposed in the other end of the middle shaft frame 140 , and a third steering disc 153 is fixedly disposed at the output end of the third steering gear 152 . The third steering disc 153 is fixed in the other end of the middle shaft frame 140 , so that the third steering gear 152 can rotate relative to the middle shaft frame 140 .

[0064] like Figure 5 , Figure 6 As shown, a third bracket 151 is fixed to the outside of the third steering gear 152 by bolts, a connecting bracket 160 is fixed to the third bracket 151, and the connecting bracket 160 is vertically arranged in the opposite direction to the third bracket 151, the fourth steering gear 172 is rotatably arranged in the connecting bracket 160, and a fourth steering disc 173 is fixedly arranged at the output end of the fourth steering gear 172, and the fourth steering disc 173 is fixed in the connecting bracket 160 so that the fourth steering gear 172 can rotate relative to the connecting bracket 160, a fourth bracket 171 is detachably arranged on the outside of the fourth steering gear 172, a fifth bracket 181 is detachably arranged in the opposite direction of the fourth bracket 171 by bolts, a fifth steering gear 182 is detachably fixed in the fifth bracket 181 by bolts, and a fifth steering disc 183 is detachably fixed at the output end of the fifth steering gear 182, and the fifth steering disc 183 is arranged on the side away from the connecting bracket 160.

[0065] like Figure 7As shown, the manipulator 190 includes: a gripper support plate 191, a sixth steering gear 192, a first power rod 193, a second power rod 194, two gripper rods 196 and two limiting rods 195, the gripper support plate 191 is an L-shaped structure, and its longitudinal plate is detachably fixed on the fifth steering disc 183; the sixth steering gear 192 is fixed to the lower part of the transverse plate of the gripper support plate; the first power rod 193 is arranged on one side of the upper part of the transverse plate, and the first power rod 193 includes a first gear end and a first rod end, the first gear end is connected to the output end of the sixth steering gear 192, and can drive the first power rod 193 to rotate; the second power rod 194 is symmetrically arranged on one side of the upper part of the transverse plate with respect to the first power rod 193, and the second power rod 194 includes a second gear end and a second rod end, the second gear end and the first gear end are meshed with each other, so that the second power rod 194 and the first power rod 193 move in opposite directions; one end of the two gripping rods 196 is hinged to the first rod end and the second rod end respectively; one end of the two limiting rods 195 is rotatably arranged at a distance on the other side of the upper part of the transverse plate, and the other end is rotatably arranged at a position close to one end of the two gripping rods 196, so that the two gripping rods 196 are arranged relative to each other and their extension lines intersect, so that the picking and placing movement can be performed.

[0066] In this embodiment, the arcs of the first gear end and the second gear end are both 150°.

[0067] The multifunctional movable mechanical arm transport vehicle provided by the utility model realizes the portable movement of the mechanical arm through the combination of a chassis structure and a plurality of tires, which is convenient for management and reduces labor costs. Furthermore, through the combination of a plurality of steering gears and a manipulator, the multi-directional movement of the mechanical arm is realized, thereby improving the application range of the mechanical arm.

[0068] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multifunctional movable mechanical arm transport vehicle, characterized in that: include: Chassis structure; as well as A plurality of tires, which are evenly distributed on both sides of the chassis structure and are used to drive the chassis structure to move; A first steering gear, which is vertically and detachably arranged on the chassis structure; a second steering gear, rotatably disposed on the first steering gear; A center shaft frame, which is an H-shaped structure, and one end of the center shaft frame is rotatably arranged on both sides of the second steering gear; a third steering gear rotatably disposed in the other end of the center shaft frame; A connecting bracket, which is fixed on the third steering gear; a fourth steering gear rotatably disposed in the connecting bracket; The manipulator is rotatably arranged on the fourth steering gear, and the manipulator can perform a picking and placing movement.

2. The multifunctional movable mechanical arm transport vehicle according to claim 1, characterized in that: The chassis structure comprises: A first bottom plate, which is spaced apart from the ground; a second bottom plate, which is spaced apart and arranged on the upper part of the first bottom plate; Wherein, the first steering gear is arranged on the second bottom plate.

3. The multifunctional movable mechanical arm transport vehicle according to claim 2, characterized in that: Also includes: A plurality of first power mechanisms are arranged between the first bottom plate and the second bottom plate, and power output ends of the plurality of first power mechanisms are respectively connected to the plurality of tires in a one-to-one correspondence.

4. The multifunctional movable mechanical arm transport vehicle according to claim 3, characterized in that: Also includes: a support beam detachably disposed on the second bottom plate; A first bracket, which is detachably arranged on the support beam; The first steering gear is detachably arranged in the bracket, and the output end of the first steering gear is arranged upward.

5. The multifunctional movable mechanical arm transport vehicle according to claim 4, characterized in that: Also includes: A second bracket, which is detachably fixed to the output end of the first steering gear; The second steering gear is detachably arranged in the second bracket, and the output end of the second steering gear is detachably fixed in one end of the middle shaft frame.

6. The multifunctional movable mechanical arm transport vehicle according to claim 5, characterized in that: Also includes: A third bracket, which is detachably arranged on the outer side of the third steering gear; Among them, the output end of the third servo is detachably fixed in the other end of the middle shaft frame, the connecting bracket is detachably fixed on the third bracket, and the connecting bracket is vertically arranged in the opposite direction to the third bracket, and the output end of the fourth servo is fixedly connected to the connecting bracket.

7. The multifunctional movable mechanical arm transport vehicle according to claim 6, characterized in that: Also includes: a fourth bracket, which is detachably fixed on the outer side of the fourth steering gear; a fifth bracket, which is detachably fixed to the fourth bracket, and the fifth bracket is arranged opposite to the fourth bracket; The fifth steering gear is fixed in the fifth bracket, and the output end of the fifth steering gear is arranged on a side away from the connecting bracket.

8. The multifunctional movable mechanical arm transport vehicle according to claim 7, characterized in that: The manipulator comprises: A gripper support plate, which is detachably fixed to the output end of the fifth steering gear; a sixth steering gear, which is fixed to the lower part of the gripper support plate; A first power rod, which is arranged on one side of the upper part of the gripper support plate, and the first power rod comprises a first gear end and a first rod end, and the first gear end is connected to the output end of the sixth steering gear; A second power rod, which is symmetrically arranged on one side of the upper part of the gripper support plate with respect to the first power rod, and the second power rod comprises a second gear end and a second rod end, the second gear end and the first gear end are meshed with each other, so that the second power rod and the first power rod move in opposite directions; Two grab bars, one end of which is hinged to the first bar end and the second bar end respectively; Two limiting rods, one end of which is rotatably arranged at a distance on the other side of the upper part of the gripping support plate, and the other end of which is rotatably arranged at a position close to one end of the two gripping rods, so that the two gripping rods are arranged opposite to each other and their extension lines intersect.

9. The multifunctional movable mechanical arm transport vehicle according to claim 8, characterized in that: The multiple power mechanisms are motors.

10. The multifunctional movable mechanical arm transport vehicle according to claim 9, characterized in that: The arcs of the first gear end and the second gear end are both 150°.

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