Carrying robot

Abstract

The carrying robot comprises a base, a supporting mechanism is arranged between a supporting plate and a supporting column, the supporting mechanism comprises idler wheels fixedly connected to the two ends of the rear side of the supporting plate, rolling grooves used in cooperation with the idler wheels are formed in the supporting column, and ring bases are arranged on the rear side of the upper end and the rear side of the lower end of the supporting plate. And the ring seat is fixedly sleeved on the support column. Compared with the prior art, the supporting device has the advantages that when the mounting base rotates, the rolling wheels on the supporting plate rotate in the rolling grooves to provide support, meanwhile, the first balls at the upper end and the lower end rotate to provide rotary support for the supporting plate, and the second balls at the lower end roll in the annular grooves to provide support when the connecting column rotates on the mounting base; and in addition, through rolling supporting of the first balls and the second balls, abrasion is not prone to occurring, and when the device carries goods, overall operation is more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a transport robot. Background Art

[0002] A handling robot is an industrial robot that can perform automated handling operations. The earliest handling robot appeared in the United States in 1960 and was first used for handling operations. Handling operations refer to holding a workpiece with a device and moving it from one processing position to another, which greatly reduces the heavy physical labor of humans. There are more than 100,000 handling robots in use in the world, which are widely used in automatic handling of machine tools, stamping machine automated production lines, automatic assembly lines, palletizing, containers, etc. Some developed countries have formulated the maximum limit of manual handling, and any work exceeding the limit must be completed by a handling robot.

[0003] A handling robot described in publication number CN220811002U comprises: a mounting base column, which is fixedly mounted at a fixed point; a mounting gantry, on which a connecting seat is arranged in an L shape, and the connecting seat is rotatably connected to the mounting base column through a rotating assembly; a clamping assembly, which is vertically movably arranged on the mounting gantry, and the clamping assembly at least comprises a fixed claw and a movable claw driven to move relative to the fixed claw. The handling robot provided by the utility model utilizes a rotating assembly to rotatably connect the connecting seat of the mounting gantry with the mounting base column, and the clamping assembly is vertically slidably arranged on the mounting gantry, and the fixed claw and movable claw of the clamping assembly are approached to clamp large packages, the clamping assembly is movable to lift the goods, and the rotating assembly drives the mounting gantry to rotate with the axis of the mounting base column as the rotation axis, thereby reducing the length of the rotating arm while aligning the overall rotation axis with the axis of the mounting base column during the handling process, thereby increasing the stability of handling large packages, but the prior art still has defects:

[0004] 1. In the prior art, a shaped interference portion is provided on the annular surface of the support wheel, and a shaped inwardly concave first interference groove is provided on the annular surface of the mounting base column. The interference portion interferes with the first interference groove to achieve vertical locking of the support wheel and the mounting base column. However, the friction between the support wheel and the first interference groove is large, which is easy to wear and also affects the smoothness of the rotation support of the support wheel.

[0005] 2. In the prior art, large packages are clamped by bringing the fixed claw and the movable claw of the clamping assembly closer together, and the distance between the fixed claw and the movable claw is adjusted by moving the movable claw, which will cause uneven force on both sides of the installation gantry, affecting the balance of the supporting assembly when it is raised or lowered, as well as the balance of the device as a whole. Utility Model Content

[0006] The technical problem to be solved by the utility model is to overcome the above-mentioned defects and provide a transport robot.

[0007] In order to solve the above technical problems, the technical solution provided by the utility model is: a handling robot, comprising:

[0008] A base, wherein a support is fixedly connected to the middle of the upper end of the base;

[0009] A limit seat, the limit seat is fixedly connected to the upper end of the support column;

[0010] A turntable, the turntable is arranged in the middle of the limiting seat;

[0011] A rotating mechanism, wherein the rotating mechanism is arranged on the rotating disk;

[0012] A support arm, the support arm is fixedly connected to the middle of the upper end of the turntable;

[0013] A mounting seat, wherein the upper end of the rear side of the mounting seat is fixedly connected to the front end of the support arm;

[0014] A support plate, the support plate is fixedly connected to the rear side of the mounting seat;

[0015] A support mechanism, the support mechanism is arranged between the support plate and the pillar, the support mechanism includes rollers fixedly connected to the two ends of the rear side of the support plate, the pillar is provided with rolling grooves used to match the rollers, the rear sides of the upper and lower ends of the support plate are provided with ring seats, the ring seats are fixedly sleeved on the pillars, a number of evenly distributed balls 1 are arranged on the rear sides of the upper and lower ends of the support plate, the balls 1 are rollingly connected to the ring seats, the two sides of the lower end of the mounting seat are fixedly connected with connecting columns, the lower ends of the connecting columns are provided with ball 2, and the upper end of the base is provided with a ring groove used to match ball 2;

[0016] A lifting mechanism, the lifting mechanism is arranged in the middle of the front end of the mounting seat, the lifting mechanism includes a lifting seat arranged in the middle of the front end of the mounting seat, lifting wheels are fixedly connected to both sides of the lifting seat, and one side of the lifting wheel is rollingly connected to the inner side wall of the mounting seat;

[0017] A transmission mechanism, wherein the transmission mechanism is arranged on a mounting seat;

[0018] A clamping mechanism, the clamping mechanism is arranged at the front end of the lifting seat, the clamping mechanism comprises a fixed seat fixedly connected to the front end of the lifting seat, a slide groove is provided at the front end of the fixed seat, sliders are slidably connected at both ends of the slide groove, and a clamping arm is fixedly connected to the front end of the slider;

[0019] A power mechanism is arranged on a fixing seat.

[0020] As an improvement, the rotating mechanism comprises:

[0021] Motor 1, the motor 1 is fixedly connected to the middle of the upper end of the pillar, and the output shaft of the upper end of the motor 1 passes through the limit seat and is fixedly connected to the lower end of the turntable;

[0022] A transverse support wheel, wherein a plurality of the transverse support wheels are evenly and fixedly connected to the inner side wall of the limiting seat, and a side of the transverse support wheel away from the limiting seat is rollingly connected to the side of the turntable;

[0023] Auxiliary wheel one, a plurality of said auxiliary wheels one are evenly fixedly connected to the lower end of the inner part of the limiting seat, and the upper end of said auxiliary wheel one is rollingly connected to the lower edge of the turntable;

[0024] Auxiliary wheel two, a plurality of said auxiliary wheels two are evenly fixedly connected to the upper end of the inner part of the limiting seat, and the lower end of said auxiliary wheel two is rollingly connected to the upper edge of the turntable.

[0025] As an improvement, the transmission mechanism comprises:

[0026] A stud, the stud being inserted into the middle of the mounting seat;

[0027] Motor 2, wherein the motor 2 is fixedly connected to the middle of the upper end of the mounting seat, and the output shaft at the lower end of the motor 2 is fixedly connected to the upper end of the stud;

[0028] A screw sleeve, the screw sleeve is fixedly inserted in the middle of the rear end of the upper side of the lifting seat, and the screw sleeve is threadedly sleeved in the middle of the stud;

[0029] The two sliding posts are fixedly inserted at two sides of the mounting seat, and the sliding posts pass through the two ends of the lifting seat.

[0030] As an improvement, the power mechanism comprises:

[0031] A bidirectional screw rod is inserted in the middle of the fixing seat, and the sliders at both ends are respectively threadedly connected to the two ends of the bidirectional screw rod;

[0032] A partition, the partition is fixedly connected to the middle of the fixing seat, and the bidirectional screw is inserted in the middle of the partition;

[0033] Motor 3, wherein the motor 3 is fixedly connected to the middle of one side of the fixing seat, and an output shaft at one end of the motor 3 is fixedly connected to one end of the bidirectional screw;

[0034] The protective cover is fixedly connected to the middle of one side of the fixing seat, and the protective cover is sleeved on the outer side of the motor.

[0035] As an improvement, reinforcing ribs are fixedly connected to both sides of the lower end of the support arm.

[0036] The advantages of the utility model compared with the prior art are: 1. When the mounting seat in the utility model rotates, the roller on the support plate rotates in the rolling groove to provide support, and at the same time, the ball 1 at the upper and lower ends rotates to provide rotational support for the support plate, and the ball 2 at the lower end of the connecting column also rolls in the annular groove to provide support when the mounting seat rotates, so that the rotation of the mounting seat is more stable, and the rolling support of the ball 1 and the ball 2 is not easy to wear.

[0037] 2. The clamping arms at both ends of the utility model move symmetrically toward or away from each other when clamping and putting down goods, so that the clamping arms at both ends are evenly stressed. When clamping objects, the force exerted by the goods on the two ends of the fixing seat is relatively uniform, so that the overall movement of the device when transporting goods is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The utility model is a structural schematic diagram of a transport robot.

[0039] Figure 2 It is a front view of a transport robot of the utility model.

[0040] Figure 3 yes Figure 2 Sectional view at AA.

[0041] Figure 4 yes Figure 3 Enlarged view of area A in the middle.

[0042] Figure 5 It is a right side cross-sectional view of a transport robot of the present utility model.

[0043] Figure 6 yes Figure 5 Enlarged view of area B.

[0044] Figure 7 It is a bottom sectional view of a local structure of a transport robot of the utility model.

[0045] Figure 8 It is a top sectional view of a local structure of a handling robot of the utility model.

[0046] Fig. 9 This is a partial structural diagram of a transport robot of the utility model. Figure 1 .

[0047] Fig.10 This is a partial structural diagram of a transport robot of the utility model. Figure 2 .

[0048] As shown in the figure: 1. Base; 2. Pillar; 3. Limit seat; 4. Turntable; 5. Rotation mechanism; 51. Motor 1; 52. Horizontal support wheel; 53. Auxiliary wheel 1; 54. Auxiliary wheel 2; 6. Support arm; 7. Mounting seat; 8. Support plate; 9. Support mechanism; 91. Roller; 92. Rolling groove; 93. Ring seat; 94. Ball 1; 95. Connecting column; 96. Ball 2; 97. Ring groove; 10. Lifting Mechanism; 101, lifting seat; 102, lifting wheel; 11, transmission mechanism; 111, stud; 112, motor two; 113, screw sleeve; 114, slide column; 12, clamping mechanism; 121, fixed seat; 122, slide groove; 123, slider; 124, clamping arm; 13, power mechanism; 131, bidirectional screw; 132, partition; 133, motor three; 134, protective cover; 14, reinforcing rib. DETAILED DESCRIPTION

[0049] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0050] A handling robot, such as Figure 1 As shown, it includes a base 1, a support 2 is fixedly connected to the middle of the upper end of the base 1, the upper end of the support 2 is fixedly connected to the limited seat 3, a turntable 4 is arranged in the middle of the limited seat 3, and a rotating mechanism 5 is arranged on the turntable 4. The rotating mechanism 5 includes a motor 1 51, a transverse support wheel 52, an auxiliary wheel 1 53, and an auxiliary wheel 2 54. The motor 1 51 is fixedly connected to the middle of the upper end of the support 2, the output shaft of the upper end of the motor 1 51 passes through the limited seat 3 and is fixedly connected to the lower end of the turntable 4, and a plurality of transverse support wheels 52 are evenly fixedly connected to the inner wall of the limited seat 3. The side of the lateral support wheel 52 away from the limiting seat 3 is rollingly connected to the side of the turntable 4, a plurality of auxiliary wheel one 53 are evenly fixedly connected to the lower end of the limiting seat 3, the upper end of the auxiliary wheel one 53 is rollingly connected to the lower edge of the turntable 4, a plurality of auxiliary wheel two 54 are evenly fixedly connected to the upper end of the limiting seat 3, the lower end of the auxiliary wheel two 54 is rollingly connected to the upper edge of the turntable 4, the motor one 51 can drive the turntable 4 to rotate, and when the turntable 4 rotates, the lateral support wheel 52, the auxiliary wheel one 53 and the auxiliary wheel two 54 provide auxiliary support for the rotation of the turntable 4.

[0051] A support arm 6 is fixedly connected to the middle of the upper end of the turntable 4, and reinforcing ribs 14 are fixedly connected to both sides of the lower end of the support arm 6. A mounting seat 7 is fixedly connected to the front end of the support arm 6, and a support plate 8 is fixedly connected to the rear side of the mounting seat 7. A support mechanism 9 is arranged between the support plate 8 and the pillar 2. The support mechanism 9 includes rollers 91 fixedly connected to both ends of the rear side of the support plate 8. A rolling groove 92 for matching the roller 91 is opened on the pillar 2. Ring seats 93 are arranged on the rear sides of the upper and lower ends of the support plate 8. The ring seat 93 is fixedly sleeved on the pillar 2. A number of evenly distributed balls 94 are arranged on the rear sides of the upper and lower ends of the support plate 8. The balls 94 are rollingly connected On the ring seat 93, connecting columns 95 are fixedly connected on both sides of the lower end of the mounting seat 7, and ball rollers 96 are arranged at the lower ends of the connecting columns 95. An annular groove 97 for matching ball rollers 96 is opened at the upper end of the base 1. The rotation of the turntable 4 drives the support arm 6 to rotate, and the rotation of the support arm 6 drives the mounting seat 7 to rotate. When the mounting seat 7 rotates, the roller 91 on the support plate 8 rotates in the rolling groove 92 to provide support. At the same time, the ball rollers 94 at the upper and lower ends rotate to provide rotation support for the support plate 8, and when the mounting seat 7 rotates, the ball rollers 96 at the lower end of the connecting column 95 also roll in the annular groove 97 to provide support, so that the rotation of the mounting seat 7 is more stable.

[0052] The lifting mechanism 10 is arranged in the middle of the front end of the mounting seat 7. The lifting mechanism 10 includes a lifting seat 101 arranged in the middle of the front end of the mounting seat 7. Lifting wheels 102 are fixedly connected on both sides of the lifting seat 101. A transmission mechanism 11 is arranged on the mounting seat 7. The transmission mechanism 11 includes a stud 111, a second motor 112, a screw sleeve 113, and a sliding column 114. The stud 111 is inserted in the middle of the inside of the mounting seat 7, the second motor 112 is fixedly connected to the middle of the upper end of the mounting seat 7, and the output shaft of the lower end of the second motor 112 is fixedly connected to the stud 1 11, the screw sleeve 113 is fixedly inserted in the middle of the upper rear end of the lifting seat 101, the screw sleeve 113 is threadedly sleeved in the middle of the stud 111, two sliding posts 114 are fixedly inserted at both sides of the inside of the mounting seat 7, and the sliding posts 114 run through the two ends of the lifting seat 101. The motor 112 drives the stud 111 to rotate, and the rotation of the stud 111 drives the screw sleeve 113 to move. The movement of the screw sleeve 113 drives the lifting seat 101 to rise and fall under the limit of the sliding post 114. When the lifting seat 101 rises and falls, the lifting wheels 102 at both ends roll on the inner wall of the mounting seat 7 to assist in the movement.

[0053] The front end of the lifting seat 101 is provided with a clamping mechanism 12, which includes a fixed seat 121 fixedly connected to the front end of the lifting seat 101, a slide groove 122 is opened at the front end of the fixed seat 121, and sliders 123 are slidably connected at both ends of the slide groove 122. The front end of the slider 123 is fixedly connected to a clamping arm 124, and a power mechanism 13 is provided on the fixed seat 121. The power mechanism 13 includes a bidirectional screw 131, a partition 132, a motor 133, and a protective cover 134. The bidirectional screw 131 is inserted in the middle of the fixed seat 121, and the sliders 123 at both ends are respectively threadedly connected to the two ends of the bidirectional screw 131, and the partition 132 is fixedly connected to the fixed seat 121. In the middle of the seat 121, the bidirectional screw 131 is inserted in the middle of the partition 132, the motor three 133 is fixedly connected to the middle of one side of the fixed seat 121, the output shaft at one end of the motor three 133 is fixedly connected to one end of the bidirectional screw 131, the protective cover 134 is fixedly connected to the middle of one side of the fixed seat 121, and the protective cover 134 is sleeved on the outside of the motor three 133. The motor three 133 drives the bidirectional screw 131 to rotate, and the rotation of the bidirectional screw 131 drives the sliders 123 at both ends to move relative to each other inside the slide groove 122, thereby driving the clamping arms 124 at both ends to move relative to each other, moving away from each other or approaching each other, approaching each other to clamp the goods, and moving away from each other to put down the goods.

[0054] When the utility model is implemented, Figure 1-10 As shown, when in use, the clamping arms 124 at both ends are moved to the two sides of the goods to be transported, and the motor three 133 is started to drive the bidirectional screw 131 to rotate. The rotation of the bidirectional screw 131 drives the sliders 123 at both ends to approach each other inside the slide groove 122, thereby driving the clamping arms 124 at both ends to approach each other to clamp the goods. The motor two 112 is started to drive the stud 111 to rotate, and the rotation of the stud 111 drives the screw sleeve 113 to move. The movement of the screw sleeve 113 drives the lifting seat 101 to rise at the limit of the slide post 114, and drives the goods to rise to the required height and then stop. When the lifting seat 101 is raised or lowered, the lifting wheels 102 at both ends roll on the inner wall of the mounting seat 7 to assist in the movement.

[0055] Starting motor 1 51 can drive the turntable 4 to rotate. When the turntable 4 rotates, the transverse supporting wheel 52, auxiliary wheel 1 53 and auxiliary wheel 2 54 provide auxiliary support for the rotation of the turntable 4. The rotation of the turntable 4 drives the support arm 6 to rotate, and the rotation of the support arm 6 drives the mounting seat 7 to rotate. When the mounting seat 7 rotates, the roller 91 on the support plate 8 rotates in the rolling groove 92 to provide support. At the same time, the ball 1 94 at the upper and lower ends rotates to provide rotation support for the support plate 8, and the ball 2 96 at the lower end of the connecting column 95 also rolls in the annular groove 97 to provide support when the mounting seat 7 rotates, so that the rotation of the mounting seat 7 is more stable, thereby making the cargo handling more stable. The mounting seat 7 rotates to place the cargo at a suitable position and then stops. The motor 3 133 is started again to drive the bidirectional screw 131 to rotate in the opposite direction, thereby driving the clamping arms 124 at both ends to move away from each other to release the clamping of the cargo to complete the handling.

[0056] The electrical components appearing in this article are all connected to an external main controller and 220V AC power, and the main controller can be a conventional known device that controls a computer, etc. The specific implementation method of the present disclosure omits the detailed description of known functions and known components. To ensure the compatibility of the equipment, the operating methods used are consistent with the parameters of marketed equipment.

[0057] The above description of the utility model and its implementation methods is not restrictive. The drawings show only one implementation method of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention of the utility model, they should all fall within the protection scope of the utility model.

Claims

1. A transport robot, characterized in that: include: A base (1), wherein a support (2) is fixedly connected in the middle of the upper end of the base (1); A limit seat (3), wherein the limit seat (3) is fixedly connected to the upper end of the support column (2); A rotating disk (4), wherein the rotating disk (4) is arranged in the middle of the limiting seat (3); A rotating mechanism (5), wherein the rotating mechanism (5) is arranged on the rotating disk (4); A support arm (6), wherein the support arm (6) is fixedly connected to the middle of the upper end of the turntable (4); A mounting seat (7), wherein the upper rear end of the mounting seat (7) is fixedly connected to the front end of the support arm (6); A support plate (8), wherein the support plate (8) is fixedly connected to the rear side of the mounting seat (7); A support mechanism (9), wherein the support mechanism (9) is arranged between the support plate (8) and the pillar (2), the support mechanism (9) comprises rollers (91) fixedly connected to the two ends of the rear side of the support plate (8), the pillar (2) is provided with rolling grooves (92) used in conjunction with the rollers (91), the upper and lower ends of the support plate (8) are provided with ring seats (93) at the rear sides, the ring seats (93) are fixedly sleeved on the pillar (2), the upper and lower ends of the support plate (8) are provided with a plurality of evenly distributed balls (94) at the rear sides, the balls (94) are rollingly connected to the ring seats (93), the lower ends of the mounting seat (7) are fixedly connected with connecting columns (95), the lower ends of the connecting columns (95) are provided with balls (96), and the upper end of the base (1) is provided with ring grooves (97) used in conjunction with balls (96); A lifting mechanism (10), the lifting mechanism (10) being arranged in the middle of the front end of the mounting seat (7), the lifting mechanism (10) comprising a lifting seat (101) arranged in the middle of the front end of the mounting seat (7), lifting wheels (102) being fixedly connected to both sides of the lifting seat (101), and one side of the lifting wheel (102) being rollingly connected to the inner side wall of the mounting seat (7); A transmission mechanism (11), wherein the transmission mechanism (11) is arranged on the mounting seat (7); A clamping mechanism (12), the clamping mechanism (12) being arranged at the front end of the lifting seat (101), the clamping mechanism (12) comprising a fixed seat (121) fixedly connected to the front end of the lifting seat (101), a slide groove (122) being provided at the front end of the fixed seat (121), sliders (123) being slidably connected at both ends of the slide groove (122), and a clamping arm (124) being fixedly connected at the front end of the slider (123); A power mechanism (13), wherein the power mechanism (13) is arranged on a fixing seat (121).

2. A handling robot according to claim 1, characterized in that: The rotating mechanism (5) comprises: Motor 1 (51), the motor 1 (51) is fixedly connected to the middle of the upper end of the support (2), and the output shaft of the upper end of the motor 1 (51) passes through the limit seat (3) and is fixedly connected to the lower end of the rotating disk (4); A transverse support wheel (52), wherein a plurality of the transverse support wheels (52) are evenly and fixedly connected to the inner wall of the limiting seat (3), and a side of the transverse support wheel (52) away from the limiting seat (3) is rollingly connected to the side of the turntable (4); Auxiliary wheel one (53), a plurality of the auxiliary wheels one (53) are evenly fixedly connected to the lower end of the inner part of the limiting seat (3), and the upper end of the auxiliary wheel one (53) is rollingly connected to the lower end edge of the rotating disk (4); Auxiliary wheels 2 (54), a plurality of said auxiliary wheels 2 (54) are evenly fixedly connected to the upper end of the inner part of the limiting seat (3), and the lower end of said auxiliary wheels 2 (54) is rollingly connected to the upper edge of the rotating disk (4).

3. A handling robot according to claim 1, characterized in that: The transmission mechanism (11) comprises: A stud (111), wherein the stud (111) is inserted into the middle of the mounting seat (7); Motor 2 (112), wherein the motor 2 (112) is fixedly connected to the middle of the upper end of the mounting seat (7), and the output shaft at the lower end of the motor 2 (112) is fixedly connected to the upper end of the stud (111); A screw sleeve (113), the screw sleeve (113) is fixedly inserted in the middle of the upper rear end of the lifting seat (101), and the screw sleeve (113) is threadedly sleeved in the middle of the stud (111); Sliding columns (114), two of the sliding columns (114) are fixedly plugged into the two sides of the interior of the mounting seat (7), and the sliding columns (114) penetrate through the two ends of the lifting seat (101).

4. A handling robot according to claim 1, characterized in that: The power mechanism (13) comprises: A bidirectional screw (131), wherein the bidirectional screw (131) is inserted into the middle of the fixing seat (121), and the sliders (123) at both ends are respectively threadedly connected to the two ends of the bidirectional screw (131); A partition (132), wherein the partition (132) is fixedly connected to the middle of the fixing seat (121), and the bidirectional screw (131) is inserted in the middle of the partition (132); Motor three (133), the motor three (133) is fixedly connected to the middle of one side of the fixing seat (121), and the output shaft at one end of the motor three (133) is fixedly connected to one end of the bidirectional screw (131); A protective cover (134) is fixedly connected to the middle of one side of the fixing seat (121), and the protective cover (134) is sleeved on the outside of the motor three (133).

5. A handling robot according to claim 1, characterized in that: Reinforcing ribs (14) are fixedly connected to both sides of the lower end of the support arm (6).

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