Mechanical framework of carrying trolley

Abstract

The utility model relates to the technical field of carrying robots, in particular to a mechanical framework of a carrying trolley, which comprises a frame, a driving motor and driving wheels. Four driving motors are mounted at the bottom of the rack, and driving wheels are fixedly mounted on driving shafts of the driving motors; the first steering engine is fixedly installed at the top end of one side of the rack, and a first mechanical large arm is fixedly installed at the output end of the first steering engine. The first large arm auxiliary arm is installed on one side of the first mechanical large arm, and one end of the first large arm auxiliary arm is movably connected with the rack. A tripod is mounted at the other end of the mechanical large arm I and the other end of the auxiliary arm of the large arm I; by improving the mechanical framework of the carrying trolley, the carrying trolley has the advantages of being reasonable in design, compact in structure, high in flexibility, convenient to grab and carry goods, high in stability and high in practicability, and therefore the problems and defects in the prior art and equipment are effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of handling robots, and more specifically, particularly relates to a mechanical structure of a handling trolley. Background Technique

[0002] With the continuous progress of intelligent manufacturing and the rapid development of science and technology, robots play an increasingly important role in the field of equipment manufacturing. The convenience and high efficiency of mobile handling robots have made them a type of robot that is widely researched and developed.

[0003] The figure of mobile robots is most commonly seen in cleaning materials for automated production. In large equipment production and processing centers, they are used to complete the workpiece transfer between machine tools, between machine tools or between the production raw material storage warehouse and the machine tools and production equipment warehouse. The flexibility of mobile robots is precisely their own advantage, which can greatly improve the flexibility of automated production and significantly improve its efficiency. However, the current production system is still in its infancy, and fixed handling robots can no longer meet the application requirements of people in equipment production, while mobile handling robots can play a great advantage in various tasks.

[0004] In view of this, research and improvement are carried out on the existing problems, and a mechanical structure of a handling trolley is provided, aiming to solve the problems and improve the practical value through this technology. Content of the Utility Model

[0005] The purpose of the utility model is to provide a mechanical structure of a handling trolley to solve the problems and deficiencies mentioned in the above background technique.

[0006] To achieve the above purpose, the utility model provides a mechanical structure of a handling trolley, which is achieved by the following specific technical means:

[0007] The mechanical structure of a handling trolley, comprising: a frame, a driving motor, driving wheels, a first servo motor, a first mechanical arm, an auxiliary arm of the first arm, a tripod, a first mechanical forearm, a second mechanical forearm, a second servo motor, a first connecting plate, a second mechanical arm, an auxiliary arm of the second arm, a third mechanical forearm, a connecting seat, a third servo motor, a second connecting plate, a gripper pull rod, a gripper, and a gripper link; four driving motors are installed at the bottom of the frame, and driving wheels are fixedly installed on the driving shafts of the driving motors; the first servo motor is fixedly installed at the top of one side of the frame, and the output end of the first servo motor is fixedly installed with the first mechanical arm; the auxiliary arm of the first arm is installed on one side of the first mechanical arm, and one end of the auxiliary arm of the first arm is movably connected to the frame; the other ends of the first mechanical arm and the auxiliary arm of the first arm are installed with a tripod, and the tripod is movably connected to both the first mechanical arm and the auxiliary arm of the first arm; the first mechanical forearm and the second mechanical forearm are both installed on the tripod, and one ends of the first mechanical forearm and the second mechanical forearm are movably connected to the tripod; the second servo motor is fixedly installed at the top of the other side of the frame, and the output end of the second servo motor is fixedly installed with the first connecting plate; the other end of the first connecting plate is movably installed with the second mechanical arm, and the second servo motor drives the second mechanical arm to move through the first connecting plate; the auxiliary arm of the second arm is installed on one side of the second mechanical arm, and one end of the auxiliary arm of the second arm is movably connected to the frame; the other ends of the second mechanical arm and the auxiliary arm of the second arm are installed with the third mechanical forearm, and the third mechanical forearm is movably connected to both the second mechanical arm and the auxiliary arm of the second arm; the other ends of the first mechanical forearm, the second mechanical forearm, and the third mechanical forearm are installed with a connecting seat, and the first mechanical forearm, the second mechanical forearm, and the third mechanical forearm are movably connected to the connecting seat; a third servo motor is fixedly installed above the connecting seat, and the output end of the third servo motor is fixedly installed with the second connecting plate, and the second connecting plate is located below the connecting seat; a gripper pull rod is installed at the bottom of the connecting seat, one end of the gripper pull rod is movably connected to the connecting seat, and the other end of the gripper pull rod is movably installed with the gripper; one end of the gripper link is movably connected to the connecting seat, and the other end of the gripper link is movably connected to the gripper.

[0008] As a further optimization of this technical solution, in the mechanical structure of a handling trolley of the present utility model, the driving wheels adopt Mecanum wheels.

[0009] As a further optimization of this technical solution, in the mechanical structure of a handling trolley of the present utility model, the frame is a multi-layer frame structure.

[0010] As a further optimization of this technical solution, in the mechanical structure of a handling trolley of the present utility model, the first mechanical arm and the auxiliary arm of the first arm, and the second mechanical arm and the auxiliary arm of the second arm are all arranged in parallel.

[0011] As a further optimization of this technical solution, in the mechanical structure of a handling trolley of the present utility model, the first mechanical forearm and the second mechanical forearm are arranged in parallel.

[0012] As a further optimization of this technical solution, in the mechanical structure of a handling trolley of the present utility model, two clamping jaw tie rods are symmetrically installed at the bottom of the connecting seat, and the third servo motor drives one of the clamping jaw tie rods to move through the second connecting plate. One end of the clamping jaw tie rod is provided with a gear, and the two clamping jaw tie rods are meshed with each other through the gears at one end.

[0013] As a further optimization of this technical solution, in the mechanical structure of a handling trolley of the present utility model, anti-slip patterns are provided on the inner side wall of the clamping jaw.

[0014] Due to the application of the above technical solution, the present utility model has the following advantages compared with the prior art:

[0015] 1. The driving wheels of the present utility model adopt Mecanum wheels, and the frame is set as a multi-layer framework structure. The use of Mecanum wheels realizes the ability of in-situ steering. And the degree of freedom of the robotic arm is limited and it cannot achieve planar rotation of the robotic arm. The use of Mecanum wheels just makes up for the shortcoming of the robotic arm rotation. The multi-layer framework structure of the frame improves the space utilization rate, can place more equipment, and makes the overall structure more compact.

[0016] 2. In the present utility model, the first mechanical arm and the auxiliary arm of the first arm, and the second mechanical arm and the auxiliary arm of the second arm are all arranged in parallel, and the first mechanical forearm and the second mechanical forearm are arranged in parallel. The first servo motor drives the first mechanical arm to move, realizing the movement of the rear mechanical arm. The second servo motor drives the second mechanical arm to move, realizing the movement of the front mechanical forearm. And the position of the clamping jaw is adjusted through the cooperation of the mechanical arm and the mechanical forearm, so as to clamp and carry goods, while ensuring the stability during the overall operation.

[0017] 3. In the present utility model, two clamping jaw tie rods are symmetrically installed at the bottom of the connecting seat, and one end of the clamping jaw tie rod is provided with a gear. The two clamping jaw tie rods are meshed with each other through the gears at one end. Anti-slip patterns are provided on the inner side wall of the clamping jaw. The third servo motor drives one of the clamping jaw tie rods to move through the second connecting plate, and drives the other clamping jaw tie rod to rotate together through the gear at the end, thereby realizing the opening and closing of the clamping jaw, facilitating the grasping of goods and convenient for carrying. And the anti-slip patterns on the clamping jaw increase the friction force, making it easier to grasp goods.

[0018] 4. Through the improvement of the mechanical structure of a handling trolley, the present utility model has the advantages of reasonable design, compact structure, strong flexibility, convenient grasping, convenient for carrying goods, strong stability and strong practicability, thus effectively solving the problems and deficiencies in the prior art and equipment. Description of the Drawings

[0019] The accompanying drawings, which form a part of this application, are used to provide a further understanding of the present utility model. The schematic embodiments and descriptions thereof of the present utility model are used to explain the present utility model and do not constitute an improper limitation of the present utility model. In the drawings:

[0020] Figure 1 is a schematic structural diagram of the present utility model;

[0021] Figure 2 is a schematic front-side structural diagram of the present utility model;

[0022] Figure 3 is a schematic rear-side structural diagram of the present utility model;

[0023] Figure 4 is a schematic bottom structural diagram of the present utility model;

[0024] Figure 5 is a schematic jaw structure diagram of the present utility model.

[0025] In the figure: frame 1, drive motor 2, drive wheel 3, first servo 4, first mechanical arm 5, auxiliary arm of the first arm 6, tripod 7, first mechanical forearm 8, second mechanical forearm 9, second servo 10, first connecting plate 11, second mechanical arm 12, auxiliary arm of the second arm 13, third mechanical forearm 14, connecting seat 15, third servo 16, second connecting plate 17, jaw pull rod 18, jaw 19, jaw link 20. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0027] Please refer to Figures 1 to 5 , and the present utility model provides a specific technical implementation solution for the mechanical structure of a handling trolley:

[0028] The mechanical structure of a handling trolley includes: a frame 1, a driving motor 2, driving wheels 3, a first servo 4, a first mechanical arm 5, a first auxiliary arm 6 of the arm, a tripod 7, a first mechanical forearm 8, a second mechanical forearm 9, a second servo 10, a first connecting plate 11, a second mechanical arm 12, a second auxiliary arm 13 of the arm, a third mechanical forearm 14, a connecting seat 15, a third servo 16, a second connecting plate 17, a gripper pull rod 18, a gripper 19, and a gripper link 20; The frame 1 is a multi-layered frame structure, which improves space utilization rate, can place more equipment, makes the overall structure more compact. Four driving motors 2 are installed at the bottom of the frame 1, and driving wheels 3 are fixedly installed on the driving shafts of the driving motors 2. The driving wheels 3 are Mecanum wheels. The use of Mecanum wheels realizes the ability of in-situ steering. And the degrees of freedom of the robotic arm are limited and it is impossible to achieve planar rotation of the robotic arm. The use of Mecanum wheels just makes up for the shortcoming of the rotation of the robotic arm.

[0029] The first servo 4 is fixedly installed at the top of one side of the frame 1, and the output end of the first servo 4 is fixedly installed with the first mechanical arm 5; The first auxiliary arm 6 of the arm is installed on one side of the first mechanical arm 5, and one end of the first auxiliary arm 6 of the arm is movably connected to the frame 1; The other ends of the first mechanical arm 5 and the first auxiliary arm 6 of the arm are installed with the tripod 7, and the tripod 7 is movably connected to both the first mechanical arm 5 and the first auxiliary arm 6 of the arm; The first mechanical forearm 8 and the second mechanical forearm 9 are both installed on the tripod 7, and one ends of the first mechanical forearm 8 and the second mechanical forearm 9 are both movably connected to the tripod 7, and the first mechanical forearm 8 and the second mechanical forearm 9 are arranged in parallel; The second servo 10 is fixedly installed at the top of the other side of the frame 1, and the output end of the second servo 10 is fixedly installed with the first connecting plate 11; The other end of the first connecting plate 11 is movably installed with the second mechanical arm 12, and the second servo 10 drives the second mechanical arm 12 to move through the first connecting plate 11. The first mechanical arm 5 and the first auxiliary arm 6 of the arm and the second mechanical arm 12 and the second auxiliary arm 13 of the arm are arranged in parallel; The second auxiliary arm 13 of the arm is installed on one side of the second mechanical arm 12, and one end of the second auxiliary arm 13 of the arm is movably connected to the frame 1; The other ends of the second mechanical arm 12 and the second auxiliary arm 13 of the arm are installed with the third mechanical forearm 14, and the third mechanical forearm 14 is movably connected to both the second mechanical arm 12 and the second auxiliary arm 13 of the arm. The first servo 4 drives the first mechanical arm 5 to move, realizing the movement of the rear mechanical arm. The second servo 10 drives the second mechanical arm 12 to move, realizing the movement of the front mechanical forearm, and adjusts the position of the gripper 19 through the cooperation of the mechanical arm and the mechanical forearm, so as to grip and carry goods, and at the same time ensure the stability during the overall operation.

[0030] At the other ends of the first robotic forearm 8, the second robotic forearm 9, and the third robotic forearm 14, there is a connecting seat 15 installed, and the first robotic forearm 8, the second robotic forearm 9, and the third robotic forearm 14 are all movably connected to the connecting seat 15; above the connecting seat 15, a third servo motor 16 is fixedly installed, and at the output end of the third servo motor 16, a second connecting plate 17 is fixedly installed, and the second connecting plate 17 is located below the connecting seat 15; at the bottom of the connecting seat 15, a jaw pull rod 18 is installed, and one end of the jaw pull rod 18 is movably connected to the connecting seat 15. The jaw pull rod 18 is symmetrically installed at two places at the bottom of the connecting seat 15, and the third servo motor 16 drives one of the jaw pull rods 18 to move through the second connecting plate 17. And at one end of the jaw pull rod 18, there is a gear, and the two jaw pull rods 18 are meshed with each other through the gears at one end. The third servo motor 16 drives one of the jaw pull rods 18 to move through the second connecting plate 17, and drives the other jaw pull rod 18 to rotate together through the gear at the end, thus realizing the opening and closing of the jaw 19, facilitating the grasping of goods and convenient for handling.

[0031] One end of the jaw connecting rod 20 is movably connected to the connecting seat 15, and the other end of the jaw connecting rod 20 is movably connected to the jaw 19. The other end of the jaw pull rod 18 is movably installed with the jaw 19. On the inner side wall of the jaw 19, there are anti-slip patterns. The anti-slip patterns on the jaw 19 increase its friction, making it easier to grasp goods.

[0032] Specific implementation steps

[0033] When the trolley runs, the driving motor 2 drives the driving wheel 3 to rotate, and the trolley is moved to the handling position through the driving wheel 3 at the bottom. The first servo motor 4 drives the first robotic arm 5 to move, and the second servo motor 10 drives the second robotic arm 12 to move through the first connecting plate 11, thus realizing the overall movement of the robotic arm, and adjusting the position of the jaw 19 through the movement of the robotic arm. The third servo motor 16 drives the jaw pull rod 18 to move through the second connecting plate 17, and drives the other jaw pull rod 18 to rotate together through the gear at the end, thus realizing the opening and closing of the jaw 19, facilitating the grasping of goods and convenient for handling.

[0034] In summary, for the mechanical structure of the handling trolley, by using Mecanum wheels as the drive wheels and setting the frame as a multi-layered frame structure, the ability to turn in place is achieved with Mecanum wheels. And the degree of freedom of the robotic arm is limited and it cannot achieve planar rotation of the robotic arm. The use of Mecanum wheels just makes up for the shortcoming of the rotation of the robotic arm. The multi-layered frame structure of the frame improves the space utilization rate, can place more equipment, and makes the overall structure more compact. By setting that the first robotic arm and the auxiliary arm of the first robotic arm, as well as the second robotic arm and the auxiliary arm of the second robotic arm are all parallelly distributed, and the first robotic forearm and the second robotic forearm are parallelly distributed. The first servo drives the first robotic arm to move, realizing the movement of the rear robotic arm. The second servo drives the second robotic arm to move, realizing the movement of the front robotic forearm. And through the cooperation of the robotic arm and the robotic forearm, the position of the gripper is adjusted to grasp and carry goods, while ensuring the stability during the overall operation. By symmetrically installing two gripper tie rods at the bottom of the connecting seat, and a gear is provided at one end of each gripper tie rod. The two gripper tie rods are meshed with each other through the gears at one end. Anti-slip patterns are provided on the inner side wall of the gripper. The third servo drives one of the gripper tie rods to move through the second connecting plate, and drives the other gripper tie rod to rotate together through the gear at the end, thus realizing the opening and closing of the gripper, facilitating the grasping of goods and convenient for carrying. The anti-slip patterns on the gripper increase the friction force, making it easier to grasp goods. Through the improvement of the mechanical structure of a handling trolley, it has the advantages of reasonable design, compact structure, strong flexibility, convenient grasping, convenient handling of goods, strong stability and strong practicability, thus effectively solving the problems and deficiencies in the prior art and equipment.

[0035] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical structure of a transport vehicle, comprising: A frame (1), a driving motor (2), a driving wheel (3), a first steering gear (4), a mechanical arm 1 (5), an auxiliary arm of the arm 1 (6), a tripod (7), a mechanical small arm 1 (8), a mechanical small arm 2 (9), a second steering gear (10), a first connecting plate (11), a mechanical arm 2 (12), an auxiliary arm of the arm 2 (13), a mechanical small arm 3 (14), a connecting seat (15), a third steering gear (16), a second connecting plate (17), a clamping claw pull rod (18), a clamping claw (19), and a clamping claw connecting rod (20); characterized in that four driving motors (2) are installed at the bottom of the frame (1), and a driving wheel (3) is fixedly installed on the driving shaft of the driving motor (2); the first steering gear (4) is fixedly installed at one end of the frame (1). The first side of the frame (1) is provided with a mechanical arm 1 (5) fixedly mounted on the output end of the first steering gear (4); the first arm auxiliary arm (6) is mounted on one side of the mechanical arm 1 (5), and one end of the first arm auxiliary arm (6) is movably connected to the frame (1); the other ends of the mechanical arm 1 (5) and the first arm auxiliary arm (6) are mounted with a tripod (7), and the tripod (7) is movably connected to the mechanical arm 1 (5) and the first arm auxiliary arm (6); the first mechanical arm (8) and the second mechanical arm (9) are mounted on the tripod (7), and one end of the first mechanical arm (8) and the second mechanical arm (9) are movably connected to the tripod (7); the second steering gear (10) is fixedly mounted on the top of the other side of the frame (1), and the output end of the second steering gear (10) is fixedly mounted on the top of the other side of the frame (1), and the output end of the second steering gear (10) is fixedly mounted on the output end of the second steering gear (10) The output end is fixedly mounted with a first connecting plate (11); a second mechanical arm (12) is movably mounted on the other end of the first connecting plate (11), and the second steering gear (10) drives the second mechanical arm (12) to move through the first connecting plate (11); the second mechanical arm auxiliary arm (13) is mounted on one side of the second mechanical arm (12), and one end of the second mechanical arm auxiliary arm (13) is movably connected to the frame (1); a third mechanical arm (14) is mounted on the other end of the second mechanical arm (12) and the second mechanical arm auxiliary arm (13), and the third mechanical arm (14) is movably connected to the second mechanical arm (12) and the second mechanical arm auxiliary arm (13); a connecting seat ( 15), and the mechanical arm 1 (8), the mechanical arm 2 (9) and the mechanical arm 3 (14) are all movably connected to the connecting seat (15); a third steering gear (16) is fixedly installed above the connecting seat (15), and a second connecting plate (17) is fixedly installed at the output end of the third steering gear (16), and the second connecting plate (17) is located below the connecting seat (15); a clamping claw pull rod (18) is installed at the bottom of the connecting seat (15), and one end of the clamping claw pull rod (18) is movably connected to the connecting seat (15), and a clamping claw (19) is movably installed at the other end of the clamping claw pull rod (18); one end of the clamping claw connecting rod (20) is movably connected to the connecting seat (15), and the other end of the clamping claw connecting rod (20) is movably connected to the clamping claw (19).

2. The mechanical structure of a transport vehicle according to claim 1, characterized in that: The driving wheel (3) is a Mecanum wheel.

3. The mechanical structure of a transport vehicle according to claim 1, characterized in that: The frame (1) is a multi-layer frame structure.

4. The mechanical structure of a transport vehicle according to claim 1, characterized in that: The mechanical arm 1 (5) and the arm 1 auxiliary arm (6) as well as the mechanical arm 2 (12) and the arm 2 auxiliary arm (13) are all distributed in parallel.

5. The mechanical structure of a transport vehicle according to claim 1, characterized in that: The mechanical arm 1 (8) and the mechanical arm 2 (9) are arranged in parallel.

6. The mechanical structure of a transport vehicle according to claim 1, characterized in that: The clamping claw pull rod (18) is symmetrically installed at two locations on the bottom of the connecting seat (15), and the third steering gear (16) drives one of the clamping claw pull rods (18) to move through the second connecting plate (17), and a gear is provided at one end of the clamping claw pull rod (18), and the two clamping claw pull rods (18) are meshed with each other through the gear at one end.

7. The mechanical structure of a transport vehicle according to claim 1, characterized in that: The inner side wall of the clamping jaw (19) is provided with an anti-slip pattern.

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