Grabbing robot with walking mechanism

Abstract

The utility model relates to a grabbing robot with a walking mechanism. A robot body is provided with a connector. A rectangular pipe A and a guide rail A are arranged on the left portion of the lower side of the robot body, the upper surface of the rectangular pipe A is fixed to the lower surface of the guide rail A, four sliding blocks A are arranged on the guide rail A in a sliding mode, and a rectangular pipe B and a guide rail B are arranged on the right portion of the lower side of the robot body. The upper surface of the rectangular pipe B is fixed to the lower surface of a guide rail B. Four sliding blocks B are slidably arranged on the guide rail B. The upper surfaces of the sliding blocks A and the sliding blocks B are fixedly provided with the same bottom plate, and the front portion of the upper surface of the bottom plate is fixed to the lower surface of the robot body. The bridge reinforcing rib transferring device has the advantages that the bridge reinforcing ribs which are straightened, cut off and bent do not need to be transferred manually, the efficiency of transferring the bridge reinforcing ribs is improved, and the labor cost for machining the bridge reinforcing ribs is reduced.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to a grasping robot with a walking mechanism. Background Art

[0002] Bridge types, classified by materials, include wooden bridges, steel bridges, reinforced concrete bridges, prestressed concrete bridges, masonry bridges (including brick bridges, stone bridges, and concrete bridges), etc.; when building a concrete bridge, in order to ensure the structural strength of the concrete bridge, reinforcing bars need to be added into the bridge body. After the bridge reinforcing bars are straightened, cut, and bent, the processed reinforcing bars need to be transferred to a reinforcing bar storage rack. Currently, the existing method of transferring the processed reinforcing bars to the storage rack is to manually carry the reinforcing bars, and the efficiency of manually carrying the reinforcing bars is relatively low, increasing the labor cost of processing the reinforcing bars. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is: to provide a grasping robot with a walking mechanism, which solves the problem that the existing method of transferring the processed reinforcing bars to the storage rack is to manually carry the reinforcing bars, with relatively low efficiency and increased labor cost for processing the reinforcing bars.

[0004] The technical solution adopted by the utility model to solve the above-mentioned problems is:

[0005] A grasping robot with a walking mechanism, including a robot body 1 and a connecting head 101, and the connecting head 101 is arranged on the robot body 1;

[0006] It further includes a connecting plate 2, a finger cylinder 3, a rectangular pipe A 4, a guide rail A 5, a slider A 6, a rectangular pipe B 7, a guide rail B 8, a slider B 9, and a bottom plate 10. The lower part of the connecting head 101 is fixedly connected to the middle part of the connecting plate 2. A plurality of finger cylinders 3 are evenly and fixedly arranged on the lower surface of the connecting plate 2. The left part of the lower side of the robot body 1 is respectively provided with a rectangular pipe A 4 and a guide rail A 5, and the upper surface of the rectangular pipe A 4 is fixedly connected to the lower surface of the guide rail A 5. Four sliders A 6 are slidably arranged on the guide rail A 5. The right part of the lower side of the robot body 1 is respectively provided with a rectangular pipe B 7 and a guide rail B 8, and the upper surface of the rectangular pipe B 7 is fixedly connected to the lower surface of the guide rail B 8. Four sliders B 9 are slidably arranged on the guide rail B 8. The upper surfaces of the sliders A 6 and B 9 are fixedly provided with the same bottom plate 10, and the front part of the upper surface of the bottom plate 10 is fixedly connected to the lower surface of the robot body 1.

[0007] A plurality of cross beams 11 are uniformly and fixedly arranged between the lower parts of the rectangular pipe A4 and the rectangular pipe B7. The same longitudinal beam 12 is fixedly arranged between the upper surfaces of the cross beams 11. A rack 13 is fixedly arranged on the upper surface of the longitudinal beam 12. A hydraulic motor 14 is fixedly arranged in the middle of the upper surface of the bottom plate 10. The main shaft of the hydraulic motor 14 rotates through the bottom plate 10. A gear 15 is fixedly arranged at the end of the main shaft of the hydraulic motor 14. The rack 13 meshes with the gear 15, facilitating the movement of the bottom plate 10 through the rack 13 and the gear 15.

[0008] A plurality of fixing seats A16 are uniformly and fixedly arranged at the lower part of the guide rail A5. A plurality of fixing seats B17 are uniformly and fixedly arranged at the lower part of the rectangular pipe B7, facilitating the fixing of the guide rail A5 through the fixing seats A16 and the fixing of the rectangular pipe B7 through the fixing seats B17.

[0009] An oil tank 18 is fixedly arranged at the rear part of the upper surface of the bottom plate 10. The oil tank 18 supplies hydraulic oil to the hydraulic motor 14 through a hydraulic pipe. The oil tank 18 is fixed on the bottom plate 10, facilitating the shortening of the length of the oil pipe between the hydraulic motor 14 and the oil tank 18.

[0010] The working principle of the present utility model: After the bridge reinforcement bars are straightened, cut, and bent, the oil tank supplies hydraulic oil to the hydraulic motor through the oil pipe. The motor A is turned on clockwise. The hydraulic motor drives the gear to rotate. Under the interaction of the rack and the gear, the gear rolls forward. The gear drives the hydraulic motor, and the hydraulic motor drives the bottom plate. The bottom plate drives the robot body, the slider A, the slider B, and the oil tank to move forward respectively. The robot body drives the connecting plate and the finger cylinder to move forward respectively. During this process, the slider A slides forward along the guide rail A, and the slider B slides forward along the guide rail B. When the robot body moves forward to a suitable position, the rotation of the hydraulic motor is stopped;

[0011] The robot body drives the connecting head to move, the connecting head drives the connecting plate to move, the connecting plate drives the finger cylinder to move to a suitable position, and the finger cylinder clamps the bridge reinforcement bars after being straightened, cut, and bent. The robot body indirectly drives the bridge reinforcement bars to be lifted to a suitable height;

[0012] The motor A is turned on counterclockwise. The hydraulic motor drives the gear to rotate. Under the interaction of the rack and the gear, the gear rolls backward. The gear drives the hydraulic motor, and the hydraulic motor drives the bottom plate. The bottom plate drives the robot body, the slider A, the slider B, and the oil tank to move backward respectively. The robot body drives the connecting plate and the finger cylinder to move backward respectively. During this process, the slider A slides backward along the guide rail A, and the slider B slides backward along the guide rail B. When the robot body moves backward to a suitable position, the rotation of the hydraulic motor is stopped;

[0013] The robot body indirectly drives the bridge reinforcement to be transferred onto the storage rack, the finger cylinder returns to the open state, and the robot body indirectly drives the finger cylinder away from the storage rack.

[0014] The beneficial effects of the present utility model are as follows: 1. There is no need for manual transfer of the straightened, cut, and bent bridge reinforcements, which improves the efficiency of transferring the bridge reinforcements and reduces the labor cost of processing the bridge reinforcements. 2. It is convenient to move the bottom plate through the rack and gear. 3. It is convenient to fix the rectangular pipe B through the fixing seat B. 4. It is convenient to shorten the length of the oil pipe between the hydraulic motor and the fuel tank. Description of the Drawings

[0015] Figure 1 is the structural schematic diagram of the present utility model;

[0016] Figure 2 is the structural schematic diagram of the lower perspective of the present utility model;

[0017] Figure 3 is the structural schematic diagram of the cooperation between the connecting plate and the finger cylinder of the present utility model;

[0018] Figure 4 is the partial enlarged view of A of the present utility model;

[0019] Figure 5 is the partial enlarged view of B of the present utility model;

[0020] Figure 6 is the partial enlarged view of C of the present utility model.

[0021] Wherein, 1 - robot body, 101 - connecting head; 2 - connecting plate; 3 - finger cylinder; 4 - rectangular pipe A; 5 - guide rail A; 6 - slider A; 7 - rectangular pipe B; 8 - guide rail B; 9 - slider B; 10 - bottom plate; 11 - cross beam; 12 - longitudinal beam; 13 - rack; 14 - hydraulic motor; 15 - gear; 16 - fixing seat A; 17 - fixing seat B; 18 - fuel tank. Detailed Embodiments

[0022] The embodiments of the present utility model will be further described below in conjunction with the drawings.

[0023] As Figures 1 to 3 shown, the present utility model provides a grasping robot with a walking mechanism, including a robot body 1 and a connecting head 101, and the connecting head 101 is arranged on the robot body 1;

[0024] Specifically, as Figure 1 , Figure 2 , Figure 5 , Figure 6As shown in the figure, in this embodiment, it further includes a connecting plate 2, a finger cylinder 3, a rectangular tube A 4, a guide rail A 5, a slider A 6, a rectangular tube B 7, a guide rail B 8, a slider B 9, and a bottom plate 10. The lower part of the connecting head 101 is fixedly connected to the middle part of the connecting plate 2. Six finger cylinders 3 are evenly and fixedly arranged on the lower surface of the connecting plate 2. On the left side of the lower part of the robot body 1, a rectangular tube A 4 and a guide rail A 5 are respectively arranged, and the upper surface of the rectangular tube A 4 is fixedly connected to the lower surface of the guide rail A 5. Four sliders A 6 are slidably arranged on the guide rail A 5. On the right side of the lower part of the robot body 1, a rectangular tube B 7 and a guide rail B 8 are respectively arranged, and the upper surface of the rectangular tube B 7 is fixedly connected to the lower surface of the guide rail B 8. Four sliders B 9 are slidably arranged on the guide rail B 8. The upper surfaces of the sliders A 6 and B 9 are fixedly provided with the same bottom plate 10. The front part of the upper surface of the bottom plate 10 is fixedly connected to the lower surface of the robot body 1.

[0025] At the same time, as Figure 1 , Figure 2 , Figure 4 shown, in this embodiment, six cross beams 11 are evenly and fixedly arranged between the lower parts of the rectangular tube A 4 and the rectangular tube B 7. The same longitudinal beam 12 is fixedly arranged between the upper surfaces of the cross beams 11. A rack 13 is fixedly arranged on the upper surface of the longitudinal beam 12. A hydraulic motor 14 is fixedly arranged in the middle of the upper surface of the bottom plate 10. The main shaft of the hydraulic motor 14 rotates through the bottom plate 10. A gear 15 is fixedly arranged at the end of the main shaft of the hydraulic motor 14. The rack 13 meshes with the gear 15, which is convenient for moving the bottom plate 10 through the rack 13 and the gear 15.

[0026] At the same time, as Figures 1 to 2 shown, in this embodiment, five fixing seats A 16 are evenly and fixedly arranged on the lower part of the guide rail A 5. Five fixing seats B 17 are evenly and fixedly arranged on the lower part of the rectangular tube B 7, which is convenient for fixing the guide rail A 5 through the fixing seats A 16 and fixing the rectangular tube B 7 through the fixing seats B 17.

[0027] At the same time, as Figures 1 to 2 shown, in this embodiment, an oil tank 18 is fixedly arranged at the rear part of the upper surface of the bottom plate 10. The oil tank 18 supplies hydraulic oil to the hydraulic motor 14 through a hydraulic pipe. The oil tank 18 is fixed on the bottom plate 10, which is convenient for shortening the length of the oil pipe between the hydraulic motor 14 and the oil tank 18.

[0028] Working principle of this specific embodiment: After the bridge reinforcement bars are straightened, cut, and bent, the fuel tank 18 supplies hydraulic oil to the hydraulic motor 14 through the oil pipe. The motor A14 is turned on clockwise, and the hydraulic motor 14 drives the gear 15 to rotate. Under the interaction of the rack 13 and the gear 15, the gear 15 rolls forward. The gear 15 drives the hydraulic motor 14, and the hydraulic motor 14 drives the bottom plate 10. The bottom plate 10 drives the robot body 1, the slider A6, the slider B9, and the fuel tank 18 to move forward. The robot body 1 drives the connecting plate 2 and the finger cylinder 3 to move forward. During this process, the slider A6 slides forward along the guide rail A5, and the slider B9 slides forward along the guide rail B8. When the robot body 1 moves forward to a suitable position, the rotation of the hydraulic motor 14 is stopped;

[0029] The robot body 1 drives the connector 101 to move, the connector 101 drives the connecting plate 2 to move, and the connecting plate 2 drives the finger cylinder 3 to move to a suitable position. The finger cylinder 3 grabs the bridge reinforcement bars that have been straightened, cut, and bent, and the robot body 1 indirectly drives the bridge reinforcement bars to be lifted to a suitable height;

[0030] The motor A14 is turned on counterclockwise, and the hydraulic motor 14 drives the gear 15 to rotate. Under the interaction of the rack 13 and the gear 15, the gear 15 rolls backward. The gear 15 drives the hydraulic motor 14, and the hydraulic motor 14 drives the bottom plate 10. The bottom plate 10 drives the robot body 1, the slider A6, the slider B9, and the fuel tank 18 to move backward. The robot body 1 drives the connecting plate 2 and the finger cylinder 3 to move backward. During this process, the slider A6 slides backward along the guide rail A5, and the slider B9 slides backward along the guide rail B8. When the robot body 1 moves backward to a suitable position, the rotation of the hydraulic motor 14 is stopped;

[0031] The robot body 1 indirectly drives the bridge reinforcement bars to be transferred to the storage rack, the finger cylinder 3 returns to the open state, and the robot body 1 indirectly drives the finger cylinder 3 away from the storage rack;

[0032] In summary, when this embodiment is in use, the robot body 1, the connecting plate 2, the finger cylinder 3, the rectangular pipe A4, the guide rail A5, the slider A6, the rectangular pipe B7, the guide rail B8, the slider B9, the bottom plate 10, the cross beam 11, the longitudinal beam 12, the rack 13, the hydraulic motor 14, the gear 15, the fixed seat A16, the fixed seat B17, and the fuel tank 18 are assembled into a grasping robot with a walking mechanism. With the grasping robot with a walking mechanism, there is no need for manual transfer of the bridge reinforcement bars that have been straightened, cut, and bent, which increases the efficiency of transferring the bridge reinforcement bars and reduces the labor cost of processing the bridge reinforcement bars.

[0033] Advantages of the utility model: 1. It is not necessary to manually transfer the straightened, cut, and bent bridge reinforcing bars, which improves the efficiency of transferring the bridge reinforcing bars and reduces the labor cost of processing the bridge reinforcing bars. 2. It is convenient to move the bottom plate through the rack and gear. 3. It is convenient to fix the rectangular pipe B through the fixing seat B. 4. It is convenient to shorten the length of the oil pipe between the hydraulic motor and the fuel tank.

[0034] The specific embodiments of the utility model do not constitute a limitation to the utility model. All similar structures and variations using the utility model are within the protection scope of the utility model.

Claims

1. A grasping robot with a walking mechanism, comprising a robot body (1) and a connecting head (101), wherein the connecting head (101) is arranged on the robot body (1); Features: It also includes a connecting plate (2), a finger cylinder (3), a rectangular tube A (4), a guide rail A (5), a slider A (6), a rectangular tube B (7), a guide rail B (8), a slider B (9), and a bottom plate (10), wherein the lower portion of the connecting head (101) is fixedly connected to the middle portion of the connecting plate (2), a plurality of finger cylinders (3) are evenly and fixedly arranged on the lower surface of the connecting plate (2), a rectangular tube A (4) and a guide rail A (5) are respectively arranged on the lower left side of the robot body (1), and the upper surface of the rectangular tube A (4) is connected to the guide rail A (5). The lower surface is fixedly connected, four sliders A (6) are slidably arranged on the guide rail A (5), a rectangular tube B (7) and a guide rail B (8) are respectively arranged on the right part of the lower side of the robot body (1), and the upper surface of the rectangular tube B (7) is fixedly connected to the lower surface of the guide rail B (8), four sliders B (9) are slidably arranged on the guide rail B (8), and the upper surface of each of the sliders A (6) and the slider B (9) is fixedly arranged with the same bottom plate (10), and the front part of the upper surface of the bottom plate (10) is fixedly connected to the lower surface of the robot body (1).

2. A grasping robot with a walking mechanism as claimed in claim 1, characterized in that: A plurality of cross beams (11) are evenly and fixedly arranged between the lower parts of the rectangular tubes A (4) and B (7); a same longitudinal beam (12) is fixedly arranged between the upper surfaces of the cross beams (11); a rack (13) is fixedly arranged on the upper surface of the longitudinal beam (12); a hydraulic motor (14) is fixedly arranged in the middle of the upper surface of the bottom plate (10); a main shaft of the hydraulic motor (14) rotates and passes through the bottom plate (10); a gear (15) is fixedly arranged at the main shaft end of the hydraulic motor (14); and the rack (13) is meshed with the gear (15).

3. A grasping robot with a walking mechanism as claimed in claim 1, characterized in that: A plurality of fixing seats A (16) are evenly distributed and fixedly arranged at the lower part of the guide rail A (5), and a plurality of fixing seats B (17) are evenly distributed and fixedly arranged at the lower part of the rectangular tube B (7).

4. A grasping robot with a walking mechanism as claimed in claim 2, characterized in that: An oil tank (18) is fixedly arranged at the rear portion of the upper surface of the base plate (10), and the oil tank (18) supplies hydraulic oil to the hydraulic motor (14) through a hydraulic pipe.

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