Robot for stably carrying goods on step road conditions

Abstract

The utility model relates to the technical field of cargo carrying robots, in particular to a robot capable of stably carrying cargos on step road conditions, which comprises a crawler, a mechanical arm, a support block, two lug plates and a clamping mechanism, the mechanical arm is fixedly arranged on the crawler, the support block is arranged on one side of the mechanical arm, and the two lug plates are arranged on the crawler. The two lug plates are fixedly arranged between the mechanical arm and the supporting block, the clamping mechanism is arranged on the supporting block and used for clamping and fixing cargoes, and through the technical scheme, the side walls of cargoes of different shapes can be conveniently clamped and fixed through movement of the multiple third clamping blocks; the problem that in the prior art, goods are prone to loosening in the goods carrying process is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of cargo handling robots, in particular to a cargo handling robot that can stably handle cargo on stepped roads. Background Art

[0002] Robots that carry goods from one location to another are called "automated guided vehicles" or "AGVs" and are widely used in warehouses, factories, ports and other facilities.

[0003] In the prior art, most of the transport robots grab the goods by gripping them with a gripper and then move the body to transport the goods. However, when encountering stairway conditions, vibrations are likely to occur, which affects the gripping effect of the goods.

[0004] For example, the utility model patent with publication number CN209699085U discloses a multifunctional handling robot, including a frame, a frame driving part arranged on the inner side of the frame, a lifting part arranged at the front end and the rear end of the upper part of the frame respectively, and a grasping part with a replaceable end effector arranged in the middle of the frame. The lifting part can carry larger or heavier goods, and the grasping part can replace the end effector according to needs, so that it can grasp objects of different shapes or weights.

[0005] The above-mentioned prior art only clamps and fixes the goods by a pair of electric parallel clamps during use. When encountering stepped road conditions, for goods of different shapes, the vibration of the vehicle body is easily transmitted to the goods, causing the goods to loosen from the clamps due to the vibration, thereby affecting the handling efficiency. Utility Model Content

[0006] The utility model provides a robot for stably transporting goods on a stepped road, which solves the problem that goods are easily loosened during the cargo transport process in the related art.

[0007] The technical solution of the utility model is as follows: A robot for stably transporting goods on stepped roads, comprising a crawler, a mechanical arm, a support block, an ear plate and a clamping mechanism;

[0008] The mechanical arm is fixedly arranged on the crawler vehicle;

[0009] The support block is arranged on one side of the mechanical arm;

[0010] The ear plates are provided in two numbers, and the two ear plates are fixedly arranged between the mechanical arm and the support block;

[0011] The clamping mechanism is arranged on the supporting block and is used for clamping and fixing the goods.

[0012] Preferably, the clamping mechanism comprises:

[0013] A first clamping groove, wherein two first clamping grooves are provided, and the two first clamping grooves are symmetrically arranged on two sides of the support block;

[0014] A second clamping groove, wherein two second clamping grooves are provided, and the two second clamping grooves are symmetrically arranged on the other two sides of the support block;

[0015] A first supporting seat, wherein the first clamping groove is fixedly provided with the first supporting seat;

[0016] A second support base, on which the second support base is fixedly arranged;

[0017] A first clamping block, wherein the first clamping block is arranged at one side of the first supporting seat, and two first clamping plates are hingedly arranged between the first clamping block and the first supporting seat;

[0018] A second clamping block, wherein the second clamping block is arranged at one side of the second supporting seat, and two second clamping plates are hingedly arranged between the second clamping block and the second supporting seat;

[0019] An angle adjustment mechanism, which is disposed on the support block and is used to adjust the angles of the first clamping plate and the second clamping plate;

[0020] A relative movement mechanism is arranged on the support block and is used to control the second support seat to move relative to it.

[0021] Furthermore, the angle adjustment mechanism includes:

[0022] A hydraulic rod, wherein the hydraulic rod is fixedly arranged on the support block;

[0023] A support plate, the support plate being fixedly disposed on the output end of the hydraulic rod;

[0024] A support rod is hingedly provided between the support plate and the first clamping plate and the second clamping plate respectively.

[0025] Furthermore, the relative movement mechanism includes:

[0026] a first cavity, the first cavity being opened between the second clamping grooves;

[0027] A driving port, the driving port being opened between the first cavity and the second clamping groove;

[0028] a driving disk, the driving disk being rotatably disposed in the first cavity;

[0029] A rotating shaft, wherein two rotating shafts are provided, and the two rotating shafts are rotatably arranged at eccentric positions of the driving disk;

[0030] A driving rod, the driving rod is hingedly disposed between the rotating shaft and the second supporting seat;

[0031] A first motor, wherein the first motor is fixedly disposed on the support block, and an output end of the first motor is fixedly connected to the driving disk.

[0032] Furthermore, a third clamping block is included, and the first clamping block and the second clamping block are respectively fixedly provided with the third clamping block on the side wall away from the supporting block.

[0033] On the basis of the above solution, a mounting plate is provided on the side wall of the first support seat, and a mounting bolt is provided between the mounting plate and the bottom of the first clamping groove.

[0034] The working principle and beneficial effects of the utility model are:

[0035] 1. In the utility model, by setting the clamping mechanism, the third clamping block is moved to the side of the cargo through the operation of the mechanical arm, and the support plate can be driven to move through the operation of the hydraulic rod. The movement of the support plate can drive the first clamping plate and the second clamping plate to adjust the angle through the support rod, so as to facilitate the synchronous movement of the third clamping block, so as to facilitate the clamping and fixing of the cargo;

[0036] 2. In the utility model, through the arrangement of the relative movement mechanism, the operation of the first motor can drive the driving disk to rotate, and then drive the second support seat to move relatively through the driving rod. At the same time, the movement of the second support seat can drive the second clamping block and the corresponding third clamping block to move through the second clamping plate, so as to facilitate the clamping of goods of different shapes and improve the clamping stability;

[0037] 3. In the utility model, by setting up the crawler vehicle, the mechanical arm, the support block, the ear plate and the clamping mechanism, it is convenient to clamp and fix the side walls of goods of different shapes by moving multiple third clamping blocks, thereby solving the problem of goods being easily loosened during the cargo handling process in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] Figure 1 It is a schematic diagram of the structure of the utility model;

[0040] Figure 2 This is a structural schematic diagram of another viewing angle of the utility model;

[0041] Figure 3 This is a schematic diagram of the structure of the clamping mechanism of the utility model;

[0042] Figure 4 This is a schematic cross-sectional view of the clamping mechanism of the utility model;

[0043] Figure 5 This is a schematic diagram of the structure of the clamping mechanism of the utility model.

[0044] In the figure: 1. crawler vehicle; 2. mechanical arm; 3. support block; 4. ear plate; 5. first support seat; 6. second support seat; 7. first clamping block; 8. first clamping plate; 9. second clamping block; 10. second clamping plate; 11. hydraulic rod; 12. support plate; 13. support rod; 14. drive plate; 15. drive rod; 16. first motor; 17. third clamping block. DETAILED DESCRIPTION

[0045] The following will be combined with 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 of 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.

[0046] like Figure 1~Figure 5 As shown, this embodiment proposes a robot for stably transporting cargo on stepped roads, including a tracked vehicle 1, a robotic arm 2, a support block 3, an ear plate 4 and a clamping mechanism. The robotic arm 2 is fixedly arranged on the tracked vehicle 1, the support block 3 is arranged on one side of the robotic arm 2, two ear plates 4 are arranged, and the two ear plates 4 are fixedly arranged between the robotic arm 2 and the support block 3. The clamping mechanism is arranged on the support block 3 for clamping and fixing the cargo.

[0047] Wherein, the clamping mechanism includes a first clamping groove, a second clamping groove, a first support seat 5, a second support seat 6, a first clamping block 7, a second clamping block 9, an angle adjustment mechanism and a relative movement mechanism. The first clamping groove is set to two, and the two first clamping grooves are symmetrically arranged on both sides of the support block 3. The second clamping groove is set to two, and the two second clamping grooves are symmetrically arranged on the other two sides of the support block 3. The first support seat 5 is fixedly arranged in the first clamping groove, and the second support seat 6 is fixedly arranged on the second support seat 6. The first clamping block 7 is arranged on one side of the first support seat 5, and two first clamping plates 8 are hingedly arranged between the first clamping block 7 and the first support seat 5. The second clamping block 9 is arranged on one side of the second support seat 6, and two second clamping plates 10 are hingedly arranged between the second clamping block 9 and the second support seat 6. An angle adjustment mechanism is arranged on the support block 3, and is used for adjusting the angles of the first clamping plate 8 and the second clamping plate 10. A relative movement mechanism is arranged on the support block 3, and is used for controlling the relative movement of the second support seat 6. The angle adjustment mechanism includes a hydraulic rod 11, a support plate 12 and a support rod 13. The hydraulic rod 11 is fixedly arranged on the support block 3, and the support plate 12 is fixedly arranged on the output end of the hydraulic rod 11. The support plate 12 is respectively hingedly provided with the support rod 13 between the first clamping plate 8 and the second clamping plate 10, and also includes a third clamping block 17. The side walls of the first clamping block 7 and the second clamping block 9 away from the support block 3 are respectively fixed with the third clamping blocks 17. A mounting plate is arranged on the side wall of the first support seat 5, and mounting bolts are penetrated between the mounting plate and the bottom of the first clamping groove.

[0048] Specifically, the operator controls the mechanical arm 2 and the crawler vehicle 1 to work, so that the third clamping block 17 can be moved to the side of the cargo. Then the operator controls the hydraulic rod 11 to work, and the support plate 12 can be driven to move by the work of the hydraulic rod 11. The movement of the support plate 12 can drive the first clamping plate 8 and the second clamping plate 10 to adjust the angle through the support rod 13, thereby driving the third clamping block 17 to move synchronously, so that the cargo can be clamped and fixed.

[0049] Among them, the relative movement mechanism includes a first cavity, a driving port, a driving disk 14, a rotating shaft, a driving rod 15 and a first motor 16. The first cavity is opened between the second clamping groove, the driving port is opened between the first cavity and the second clamping groove, the driving disk 14 is rotatably arranged in the first cavity, the rotating shaft is set to two, and the two rotating shafts are rotatably arranged at the eccentric position of the driving disk 14. The driving rod 15 is hingedly arranged between the rotating shaft and the second support seat 6. The first motor 16 is fixedly arranged on the support block 3, and the output end of the first motor 16 is fixedly connected to the driving disk 14.

[0050] Specifically, during the clamping process, the operator controls the first motor 16 to work, and the operation of the first motor 16 can drive the driving disk 14 to rotate, and then drive the second support seat 6 to move relative to it through the driving rod 15. At the same time, the movement of the second support seat 6 can drive the second clamping block 9 and the corresponding third clamping block 17 to move through the second clamping plate 10, so that goods of different shapes can be clamped and the clamping stability can be improved.

[0051] In this embodiment, when in use, the operator controls the mechanical arm 2 and the crawler vehicle 1 to work, so that the third clamping block 17 can be moved to the side of the cargo, and then the operator controls the hydraulic rod 11 to work, and the support plate 12 can be driven to move by the work of the hydraulic rod 11. The movement of the support plate 12 can drive the first clamping plate 8 and the second clamping plate 10 to adjust the angle through the support rod 13, so as to drive the third clamping block 17 to move synchronously, so that the cargo can be clamped and fixed. When encountering cargo of different shapes, the operator controls the first motor 16 to work, and the work of the first motor 16 can drive the driving plate 14 to rotate, and then drive the second support seat 6 to move relatively through the driving rod 15. At the same time, the movement of the second support seat 6 can drive the second clamping block 9 and the corresponding third clamping block 17 to move through the second clamping plate 10, so as to cooperate with the third clamping block 17 on the first clamping block 7 to clamp cargo of different shapes, and at the same time improve the clamping stability.

[0052] The above are only preferred embodiments of the present invention and are 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.

Claims

1. A robot for stably transporting goods on stepped roads, characterized in that: include: Tracked vehicle (1); A mechanical arm (2), the mechanical arm (2) being fixedly arranged on the crawler vehicle (1); A support block (3), the support block (3) being arranged on one side of the mechanical arm (2); An ear plate (4), wherein two ear plates (4) are provided, and the two ear plates (4) are fixedly arranged between the mechanical arm (2) and the support block (3); A clamping mechanism, the clamping mechanism is arranged on the support block (3) and is used to clamp and fix the goods.

2. The robot for stably transporting goods on stepped roads according to claim 1, characterized in that: The clamping mechanism comprises: A first clamping groove, wherein two first clamping grooves are provided, and the two first clamping grooves are symmetrically arranged on two sides of the support block (3); A second clamping groove, wherein two second clamping grooves are provided, and the two second clamping grooves are symmetrically arranged on the other two sides of the support block (3); A first support seat (5), wherein the first support seat (5) is fixedly arranged in the first clamping groove; A second support seat (6), on which the second support seat (6) is fixedly arranged; A first clamping block (7), the first clamping block (7) being arranged on one side of the first supporting seat (5), and two first clamping plates (8) being hingedly arranged between the first clamping block (7) and the first supporting seat (5); A second clamping block (9), the second clamping block (9) being arranged on one side of the second supporting seat (6), and two second clamping plates (10) being hingedly arranged between the second clamping block (9) and the second supporting seat (6); An angle adjustment mechanism, the angle adjustment mechanism being arranged on the support block (3) and being used for adjusting the angles of the first clamping plate (8) and the second clamping plate (10); A relative movement mechanism, wherein the relative movement mechanism is arranged on the support block (3) and is used to control the second support seat (6) to move relative to each other.

3. The robot for stably transporting goods on stepped roads according to claim 2, characterized in that: The angle adjustment mechanism comprises: A hydraulic rod (11), wherein the hydraulic rod (11) is fixedly arranged on the support block (3); A support plate (12), the support plate (12) being fixedly arranged on an output end of the hydraulic rod (11); A support rod (13) is hingedly provided between the support plate (12) and the first clamping plate (8) and the second clamping plate (10).

4. The robot for stably transporting goods on stepped roads according to claim 3, characterized in that: The relative movement mechanism comprises: a first cavity, the first cavity being opened between the second clamping grooves; A driving port, the driving port being opened between the first cavity and the second clamping groove; a drive disk (14), the drive disk (14) being rotatably disposed in the first cavity; A rotating shaft, wherein two rotating shafts are provided, and the two rotating shafts are rotatably arranged at eccentric positions of the driving disk (14); A driving rod (15), the driving rod (15) being hingedly arranged between the rotating shaft and the second supporting seat (6); A first motor (16), wherein the first motor (16) is fixedly arranged on the support block (3), and an output end of the first motor (16) is fixedly connected to the drive disk (14).

5. The robot for stably transporting goods on stepped roads according to claim 4, characterized in that: It also comprises a third clamping block (17), and the third clamping block (17) is fixedly arranged on the side wall of the first clamping block (7) and the second clamping block (9) away from the supporting block (3).

6. The robot for stably transporting goods on stairways according to claim 5, characterized in that: A mounting plate is provided on the side wall of the first support seat (5), and mounting bolts are provided between the mounting plate and the bottom of the first clamping groove.

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