Three-axis two-section lifting transfer robot

Abstract

The utility model discloses a three-axis two-section lifting transfer robot, and relates to the technical field of robots. The rotating turntable is rotatably arranged on the moving base and is driven by a driving mechanism to rotate; the stand column is vertically fixed on the rotating turntable; the lower step lifting mechanism is movably arranged on the stand column and can be driven to ascend and descend up and down in the vertical direction of the stand column; the upper-step lifting mechanism is driven by the lower-step lifting mechanism to lift up and down and can be continuously driven to lift up and down along the vertical direction on the basis of the lower-step lifting mechanism; the horizontal telescopic mechanism is driven by the upper step lifting mechanism to lift up and down; the swing arm lifting hand is driven by the horizontal telescopic mechanism to move horizontally; and the parallel opening and closing gripper is driven by the swing arm lifting hand to swing so as to carry out the carrying action. The device can reach a designated position to meet different requirements, operation is flexible, the degree of freedom is high, and efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a three-axis two-stage lifting and transporting robot. Background Art

[0002] With the continuous development and application of robot technology, the advantages of robots are becoming more and more prominent. In particular, mobile robots are playing an increasingly important role in supporting agricultural workers in agricultural environments. Traditional robotic arms are mostly single-axis or dual-axis designs, and cannot reach designated positions to meet different needs, which limits their flexibility and operating range in space. At the same time, once the robot is limited in height, it is impossible to grasp a position higher than the height of the robot. With the development of agricultural automation, higher requirements are placed on the flexibility and operating accuracy of robotic arms. Utility Model Content

[0003] The utility model aims to provide a three-axis two-stage lifting handling robot to solve the technical defects of the handling robots in the prior art that they cannot adapt to different working heights and have insufficient flexibility.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] A three-axis two-stage lifting and handling robot, comprising

[0006] Sports base;

[0007] A rotating turntable, which is rotatably disposed on the motion base and driven to rotate by a driving mechanism;

[0008] A column, wherein the column is vertically fixed on the rotating turntable;

[0009] A lower-stage lifting mechanism, which is movably arranged on the column and can be driven to lift up and down along the vertical direction of the column;

[0010] The upper lifting mechanism is driven to move up and down by the lower lifting mechanism, and can continue to move up and down in the vertical direction based on the lower lifting mechanism;

[0011] A horizontal telescopic mechanism, driven up and down by the upper-stage lifting mechanism;

[0012] The swing arm lifter is driven by the horizontal telescopic mechanism to move horizontally;

[0013] The parallel opening and closing gripper is driven by the swing arm lifting handle to swing and implement the carrying action.

[0014] Furthermore, the lower-stage lifting mechanism includes a first rack vertically arranged on the back side of the column, a lower-stage lifting frame vertically slidably sleeved on the column and the first rack, a first motor is fixedly arranged on the lower-stage lifting frame, and a first gear is rotatably arranged on the lower-stage lifting frame. The first motor and the first gear are meshed and transmitted through a first gear set, and the first gear is meshed and cooperated with the first rack.

[0015] Furthermore, the upper-step lifting mechanism includes an upper-step column vertically arranged on the front side of the lower-step lifting frame, a second rack is vertically arranged on the front side of the upper-step column, an upper-step lifting frame is vertically slidably sleeved on the upper-step column and the second rack, a second motor is fixedly arranged on the upper-step lifting frame, a second gear is rotatably arranged on the upper-step lifting frame, the second motor and the second gear are meshed and transmitted through a second gear set, and the second gear is meshed and cooperated with the second rack.

[0016] Furthermore, the horizontal telescopic mechanism includes a horizontal horizontal column horizontally arranged on the front side of the upper-step lifting frame, a third rack is horizontally arranged on the upper side of the horizontal horizontal column, a transverse frame is vertically slidably sleeved on the horizontal horizontal column and the third rack, a third motor is fixedly arranged on the transverse frame, a third gear is rotatably arranged on the transverse frame, the third motor and the third gear are meshed and transmitted through a third gear set, and the third gear is meshed and cooperated with the third rack.

[0017] Furthermore, the swing arm lifting handle includes a swing motor fixedly arranged on the bottom side of the transverse frame, and the swing motor drives the parallel opening and closing gripper to swing to form a grabbing and carrying action.

[0018] Furthermore, the driving mechanism includes a turntable motor, and the turntable motor drives the rotating turntable to rotate through a bevel gear set.

[0019] Furthermore, the moving base includes a vehicle body and a plurality of rollers arranged around the vehicle body.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] The utility model proposes a three-axis two-stage lifting and handling robot, which is provided with a moving base, a rotating turntable, a column, a lower-step lifting mechanism, an upper-step lifting mechanism, a horizontal telescopic mechanism, and a parallel opening and closing gripper. When in use, different working heights can be adjusted by the lower-step lifting mechanism and the upper-step lifting mechanism, the grasping direction is rotated by the rotating turntable, and the grasping position is further adjusted by the horizontal telescopic mechanism and the parallel opening and closing gripper. The utility model can not only adapt to different working heights, but also can grasp objects that are taller than the body, has a simple and precise structure, and is easy to maintain. At the same time, it is light in weight, has a high degree of freedom, and can be smoothly rotated, telescoped and lifted. It has a compact structure, is flexible in operation, and has a large lifting range. It can reach a designated position to meet different needs. It is flexible in operation, has a high degree of freedom, and improves efficiency. The structure strives for optimal simplification to reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 or the description of the prior art 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 labor.

[0023] Figure 1 It is a structural schematic diagram of the utility model;

[0024] Figure 2 It is a schematic diagram of the local structure of the utility model;

[0025] Figure 3 It is a schematic diagram of the local structure of the utility model;

[0026] Figure 4 It is a schematic diagram of the local structure of the utility model. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0028] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "inside", "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 simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] like Figure 1-4 As shown, a three-axis two-stage lifting and handling robot comprises

[0032] Sports base 1;

[0033] A rotating turntable 2, wherein the rotating turntable 2 is rotatably disposed on the motion base 1 and driven to rotate by a driving mechanism;

[0034] A column 3, wherein the column 3 is vertically fixed on the rotating turntable 2;

[0035] A lower-stage lifting mechanism 4, wherein the lower-stage lifting mechanism 4 is movably disposed on the column 3 and can be driven to lift up and down along the vertical direction of the column 3;

[0036] The upper lifting mechanism 5 is driven to move up and down by the lower lifting mechanism 4, and can continue to move up and down in the vertical direction based on the lower lifting mechanism 4;

[0037] The horizontal telescopic mechanism 6 is driven to move up and down by the upper-stage lifting mechanism 5;

[0038] The swing arm lifting handle 7 is driven by the horizontal telescopic mechanism 6 to move horizontally;

[0039] The parallel opening and closing gripper 8 is driven by the swing arm lifting handle 7 to swing and implement the carrying action.

[0040] The utility model proposes a three-axis two-stage lifting and handling robot, which is provided with a moving base 1, a rotating turntable 2, a column 3, a lower-stage lifting mechanism 4, an upper-stage lifting mechanism 5, a horizontal telescopic mechanism 6, and a parallel opening and closing gripper 8. When in use, different working heights can be adjusted by the lower-stage lifting mechanism 4 and the upper-stage lifting mechanism 5, the grasping direction is rotated by the rotating turntable 2, and the grasping position is further adjusted by the horizontal telescopic mechanism 6 and the parallel opening and closing gripper 8. The utility model can not only adapt to different working heights, but also grasp objects that are taller than the body, and has a simple and precise structure and is easy to maintain. At the same time, it is light in weight, has a high degree of freedom, and can be smoothly rotated, telescoped and lifted. It has a compact structure, is flexible in operation, and has a large lifting range. It can reach a designated position to meet different needs. It has flexible operation, a high degree of freedom, and improves efficiency. The structure strives for optimal simplification to reduce costs.

[0041] Specifically, as shown in the figure, the lower-stage lifting mechanism 4 includes a first rack 41 vertically arranged on the back side of the column 3, a lower-stage lifting frame 42 vertically slidably sleeved on the column 3 and the first rack 41, a first motor 43 is fixedly arranged on the lower-stage lifting frame 42, and a first gear 45 is rotatably arranged on the lower-stage lifting frame 42. The first motor 43 and the first gear 45 are meshed and transmitted through a first gear set 44, and the first gear 45 is meshed and matched with the first rack 41. When in use, the first motor 43 drives the first gear 45 to rotate, so that it meshes and matches with the first rack 41, forming the up and down lifting of the lower-stage lifting frame 42, and the structure is simple, compact and practical.

[0042] Specifically, as shown in the figure, the upper-stage lifting mechanism 5 includes an upper-stage column 51 vertically arranged on the front side of the lower-stage lifting frame 42, a second rack 52 is vertically arranged on the front side of the upper-stage column 51, an upper-stage lifting frame 53 vertically slidably sleeved on the upper-stage column 51 and the second rack 52, a second motor 54 is fixedly arranged on the upper-stage lifting frame 53, a second gear 56 is rotatably arranged on the upper-stage lifting frame 53, the second motor 54 and the second gear 56 are meshed and transmitted through a second gear set 55, and the second gear 56 is meshed and matched with the second rack 52. The lifting principle is the same as that of the lower-stage lifting mechanism 4.

[0043] Specifically, as shown in the figure, the horizontal telescopic mechanism 6 includes a horizontal horizontal column 61 horizontally arranged at the front side of the upper stage lifting frame 53, a third rack 62 is horizontally arranged on the upper side of the horizontal horizontal column 61, a lateral movement frame 63 vertically slidably sleeved on the horizontal horizontal column 61 and the third rack 62, a third motor 64 is fixedly arranged on the lateral movement frame 63, a third gear 66 is rotatably arranged on the lateral movement frame 63, the third motor 64 and the third gear 66 are meshed and transmitted through a third gear set 65, and the third gear 66 is meshed and matched with the third rack 62. The lateral movement principle is the same as that of the lower stage lifting mechanism 4.

[0044] Specifically, as shown in the figure, the swing arm lifting handle 7 includes a swing motor fixedly arranged on the bottom side of the transverse moving frame 63, and the swing motor drives the parallel opening and closing gripper 8 to swing to form a grabbing and carrying action.

[0045] Specifically, as shown in the figure, the driving mechanism includes a turntable motor 9, and the turntable motor 9 drives the rotating turntable 2 to rotate through a bevel gear set.

[0046] Specifically, as shown in the figure, the moving base 1 includes a vehicle body and a plurality of rollers 11 arranged around the vehicle body.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0048] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A three-axis two-stage lifting and handling robot, characterized in that: include Sports base (1); A rotating turntable (2), the rotating turntable (2) being rotatably disposed on the moving base (1) and driven to rotate by a driving mechanism; A column (3), wherein the column (3) is vertically fixed on the rotating turntable (2); A lower-stage lifting mechanism (4), wherein the lower-stage lifting mechanism (4) is movably arranged on the column (3) and can be driven to lift up and down in the vertical direction of the column (3); An upper-stage lifting mechanism (5) is driven to lift up and down by the lower-stage lifting mechanism (4), and can continue to be driven to lift up and down in a vertical direction based on the lower-stage lifting mechanism (4); A horizontal telescopic mechanism (6) driven to move up and down by the upper-stage lifting mechanism (5); The swing arm lifting handle (7) is driven by the horizontal telescopic mechanism (6) to move horizontally; The parallel opening and closing gripper (8) is driven by the swing arm lifting handle (7) to swing and implement the carrying action.

2. A three-axis two-stage lifting and handling robot according to claim 1, characterized in that: The lower-stage lifting mechanism (4) comprises a first rack (41) vertically arranged on the back side of the column (3), a lower-stage lifting frame (42) vertically slidably sleeved on the column (3) and the first rack (41), a first motor (43) being fixedly arranged on the lower-stage lifting frame (42), a first gear (45) being rotatably arranged on the lower-stage lifting frame (42), the first motor (43) and the first gear (45) being meshed and transmitted through a first gear set (44), and the first gear (45) being meshed and matched with the first rack (41).

3. A three-axis two-stage lifting and handling robot according to claim 2, characterized in that: The upper-step lifting mechanism (5) comprises an upper-step column (51) vertically arranged on the front side of the lower-step lifting frame (42), a second rack (52) vertically arranged on the front side of the upper-step column (51), an upper-step lifting frame (53) vertically slidably sleeved on the upper-step column (51) and the second rack (52), a second motor (54) fixedly arranged on the upper-step lifting frame (53), a second gear (56) rotatably arranged on the upper-step lifting frame (53), the second motor (54) and the second gear (56) are meshed and transmitted through a second gear set (55), and the second gear (56) is meshed and matched with the second rack (52).

4. The three-axis two-stage lifting and handling robot according to claim 3, characterized in that: The horizontal telescopic mechanism (6) includes a horizontal horizontal column (61) horizontally arranged on the front side of the upper step lifting frame (53), a third rack (62) is horizontally arranged on the upper side of the horizontal horizontal column (61), a transverse frame (63) vertically slidably sleeved on the horizontal horizontal column (61) and the third rack (62), a third motor (64) is fixedly arranged on the transverse frame (63), a third gear (66) is rotatably arranged on the transverse frame (63), the third motor (64) and the third gear (66) are meshed and transmitted through a third gear set (65), and the third gear (66) is meshed and matched with the third rack (62).

5. The three-axis two-stage lifting and handling robot according to claim 4, characterized in that: The swing arm lifting handle (7) comprises a swing motor fixedly arranged on the bottom side of the transverse moving frame (63), and the swing motor drives the parallel opening and closing gripper (8) to swing to form a grabbing and carrying action.

6. The three-axis two-stage lifting and handling robot according to claim 5, characterized in that: The driving mechanism comprises a turntable motor (9), and the turntable motor (9) drives the rotating turntable (2) to rotate via a bevel gear set.

7. The three-axis two-stage lifting and handling robot according to claim 5, characterized in that: The moving base (1) comprises a vehicle body and a plurality of rollers (11) arranged around the vehicle body.

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