Cargo lifting and carrying robot

Abstract

The utility model discloses a cargo lifting and carrying robot, and belongs to the technical field of carrying robots. Comprising a clamping arm adjustable part, a lifting part, a telescopic moving part and a movable bearing chassis, the telescopic moving part is arranged on the movable bearing chassis, the bottom end of the lifting part is connected to a fixed sliding plate of the telescopic moving part and moves along with the fixed sliding plate, and a telescopic joint II at the top of the lifting part is connected with the clamping arm adjustable part; a clamping arm of the clamping arm adjustable part is parallel to the bottom face of the movable bearing chassis, and the clamping arm adjustable part is located on the side, extending out of the moving direction, of the fixed sliding plate. The utility model belongs to the technical field of transfer robots, and particularly relates to a cargo lifting transfer robot which can move freely in all directions, can improve the lifting height through a lifting part, and is small in occupied space and flexible to move.

Description

Technical Field

[0001] The utility model belongs to the technical field of handling robots, and specifically refers to a goods lifting and handling robot. Background Art

[0002] At present, most goods handling robots move within a frame and require fixed tracks and fixed trajectories for movement. Therefore, the flexibility of the moving range is restricted. Thus, there is an urgent need to develop a goods handling robot that can move flexibly to meet the actual needs. Content of the Utility Model

[0003] In view of the above existing technical problems, the utility model provides a goods lifting and handling robot, which can move omnidirectionally and arbitrarily, achieving the purpose of three-dimensional picking and placing of goods.

[0004] The purpose of the utility model is achieved through the following technical solutions:

[0005] A goods lifting and handling robot proposed by the utility model includes an adjustable clamping arm part, a lifting and lifting part, a telescopic moving part and a moving and bearing chassis. The telescopic moving part is arranged on the moving and bearing chassis. The bottom end of the lifting and lifting part is connected to the fixed slide plate of the telescopic moving part and moves with the fixed slide plate. The telescopic joint II at the top of the lifting and lifting part is connected with the adjustable clamping arm part. The clamping arms of the adjustable clamping arm part are parallel to the bottom surface of the moving and bearing chassis, and the adjustable clamping arm part is located on one side of the extending moving direction of the fixed slide plate.

[0006] Preferably, the moving and bearing chassis is a chassis frame structure with a U-shaped notch. The telescopic moving part is arranged on the chassis frame along the periphery of the U-shaped notch. Battery packs are symmetrically arranged in the chassis frames on both sides of the U-shaped notch. Universal moving wheels are arranged at the bottoms of the four corners of the chassis frame. A control system is also arranged in the chassis frame. The control system is respectively connected to the battery pack, the clamping arm motor of the adjustable clamping arm part, the lifting electric cylinder of the lifting and lifting part, and the telescopic motor of the telescopic moving part.

[0007] Preferably, the telescopic moving part includes a fixed slide plate, a telescopic chain, a linear guide rail I, a telescopic motor, a transmission shaft and a transmission sprocket. Linear guide rail I and telescopic chain are respectively arranged on opposite sides of the U-shaped notch of the moving and bearing chassis. One end of the fixed slide plate is connected to the slider I of the linear guide rail I, and the other end is connected to the telescopic chain. Transmission sprockets are respectively arranged at both ends of the telescopic chain. The transmission sprockets near the telescopic motor end are respectively installed at both ends of the transmission shaft, and the transmission shaft is placed in the hollow shaft of the telescopic motor.

[0008] Preferably, the lifting and hoisting part includes a fixed section, a telescopic section I, a telescopic section II, a transmission mechanism and a lifting electric cylinder. The fixed section is slidably connected to the telescopic section I. The cylinder body end of the lifting electric cylinder is connected to the fixed section, and its telescopic rod end is connected to the top of the telescopic section I. The fixed section is connected through the transmission mechanism and bypasses the telescopic section I to connect the telescopic section II. The telescopic section II is connected to the adjustable clamping arm part.

[0009] Preferably, the transmission mechanism includes a lifting chain and a lifting top wheel. There are two lifting top wheels, which are symmetrically installed on the two vertical frames II of the telescopic section I. There are two lifting chains, which respectively bypass the lifting top wheels, with one end connected to the top end of the fixed section and the other end connected to the bottom end of the telescopic section II.

[0010] Preferably, the fixed section is a frame structure, including two vertical frames I, a top cross beam and a bottom end plate. The opposite sides of the two vertical frames I are provided with chutes for cooperating with the telescopic section I. The bottom ends of the two vertical frames I are connected with a bottom end plate, on which the cylinder body of the lifting electric cylinder is connected. The top cross beam between the two vertical frames I is provided with ear plates for connecting the lifting chain. Support beams are also arranged between the two vertical frames between the top cross beam and the bottom end plate.

[0011] Preferably, the telescopic section I is composed of horizontal plates arranged at the upper, middle and lower positions on one side between the two vertical frames II. The opposite sides of the two vertical frames II are provided with chutes for cooperating with the telescopic section II. On the other side of the two vertical frames II opposite to the chutes, roller shafts are arranged at intervals, and rollers for slidingly cooperating with the chutes on the fixed section are installed thereon. Lifting top wheel mounting parts of the transmission mechanism are symmetrically arranged on the two vertical frames II, and a fixing block for connecting the telescopic rod of the lifting electric cylinder is also arranged on the upper horizontal plate.

[0012] Preferably, the telescopic section II includes a clamping arm mounting frame and a sliding connection frame connected to each other. Two sliding rods are arranged horizontally and side by side on the clamping arm mounting frame. The clamping arms are installed on the sliding rods and slide along the sliding rods. Roller shafts are arranged at the upper and lower ends on both outer sides of the sliding connection frame, and rollers for slidingly cooperating with the chutes of the telescopic section I are installed thereon. An ear plate for connecting the two lifting chains is fixed at the lower end of the sliding connection frame, and a mounting plate for installing the clamping arm motor of the adjustable clamping arm part is also arranged on the sliding connection frame.

[0013] Preferably, the adjustable clamping arm part includes a clamping arm motor, a gear, two racks and two symmetrically arranged clamping arms. The two clamping arms are respectively connected to the sliding rods of the telescopic section II. The clamping arm motor is installed on the mounting plate of the telescopic section II. A gear is connected to the output shaft of the clamping arm motor. Racks meshing with the gear are arranged in parallel on the upper and lower sides of the gear. The two racks are centrosymmetric with respect to the axis of the gear. The other ends of the two racks are respectively connected to the two clamping arms. By driving the clamping arm motor, the two racks move inwards or outwards, thereby driving the clamping arms to move inwards or outwards along the sliding rods to adjust the distance between the clamping arms.

[0014] The beneficial effects achieved by the present utility model with the above structure are as follows:

[0015] 1. The goods lifting and handling robot of the present utility model moves through the cooperation of the clamping arm adjustable part, the lifting part, the telescopic moving part and the moving and bearing chassis. Through the telescopic moving part and the moving and bearing chassis, omnidirectional arbitrary movement can be achieved. Through the lifting part, the lifting height can be increased, the occupied space is small, and the movement is flexible.

[0016] 2. The lifting part of the present utility model is composed of a fixed section and two telescopic sections. The fixed section is connected to the first telescopic section through a lifting electric cylinder, and the fixed section is connected through a transmission mechanism and bypasses the first telescopic section to connect the second telescopic section. The clamping arm adjustable part is connected to the second telescopic section; when the telescopic rod of the lifting electric cylinder extends, it pushes the first telescopic section to rise, and at the same time drives the lifting chain to rotate around the lifting top wheel, driving the second telescopic section to rise along the first telescopic section, realizing the synchronous lifting process of the first telescopic section and the second telescopic section. When the same lifting height remains unchanged, due to the use of three-section telescoping, the overall height is reduced.

[0017] 3. The clamping arm adjustable part of the present utility model adds a mechanism for adjusting the distance between the clamping arms to adapt to being able to hold tires of different diameters, so that the size range of the clamped goods becomes wider and more conforms to the size of the goods. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of a goods lifting and handling robot of the present utility model;

[0019] Figure 2 is a schematic structural diagram of the moving and bearing chassis of the present utility model;

[0020] Figure 3 is a schematic structural diagram of the telescopic moving part of the present utility model;

[0021] Figure 4 is a schematic structural diagram of the lifting part of the present utility model;

[0022] Figure 5 is a schematic structural diagram of the clamping arm adjustable part of the present utility model;

[0023] Figure 6 is a schematic structural diagram of another angle of the clamping arm adjustable part of the present utility model;

[0024] Figure 7 is for the present utility model Figure 5 、 Figure 6 is a schematic diagram of the gear-rack installation and connection structure in the present utility model.

[0025] Among them, 1. Clamping arm adjustable part, 2. Lifting and hoisting part, 3. Telescopic and moving part, 4. Moving and bearing chassis, 5. Moving wheels, 6. Battery pack, 7. Control system, 8. Chassis frame, 9. Fixed slide plate, 10. Linear guide rail, 11. Telescopic chain, 12. Telescopic motor, 13. Telescopic section II, 14. Lifting top wheel, 15. Vertical frame II, 16. Lifting chain, 17. Telescopic section I, 18. Upper cross plate, 19. Fixed section, 20. Lifting electric cylinder, 21. Bottom end plate, 22. Clamping arm, 23. Clamping arm motor, 24. Sliding rod, 25. Rack, 26. Gear, 27. Mounting part, 28. Vertical frame I, 29. Top cross beam, 30. Support beam, 31. Mounting plate, 32. Clamping arm mounting frame, 33. Sliding connection frame. Detailed implementation mode

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present invention.

[0027] Embodiment:

[0028] As Figure 1 shown, a goods lifting and handling robot of the present invention includes a clamping arm adjustable part 1, a lifting and hoisting part 2, a telescopic and moving part 3 and a moving and bearing chassis 4. The telescopic and moving part 3 is arranged on the moving and bearing chassis 4. The bottom end of the lifting and hoisting part 2 is connected to the fixed slide plate 9 of the telescopic and moving part 3 and moves with the fixed slide plate 9. The telescopic section II 13 at the top of the lifting and hoisting part 2 is connected with the clamping arm adjustable part 1. The clamping arm 23 of the clamping arm adjustable part 1 is parallel to the bottom surface of the moving and bearing chassis 4, and the clamping arm adjustable part 1 is located on one side of the extending moving direction of the fixed slide plate 9.

[0029] As Figure 2 shown, the moving and bearing chassis 4 is a chassis frame 8 structure with a U-shaped notch. The telescopic and moving part 3 is arranged on the chassis frame 8 along the periphery of the U-shaped notch. The battery packs 6 are symmetrically arranged in the chassis frames 8 on both sides of the U-shaped notch. Universal moving wheels 5 are arranged at the bottoms of the four corners of the chassis frame 8. A control system 7 (prior art) is also arranged in the chassis frame 8. The control system 7 is respectively connected to the battery pack 6, the clamping arm motor 23 of the clamping arm adjustable part 1, the lifting electric cylinder 20 of the lifting and hoisting part 2, and the telescopic motor 12 of the telescopic and moving part 3. The battery pack 6 supplies power to the clamping arm motor 23, the lifting electric cylinder 20 and the telescopic motor 12 respectively, and controls the operation of each motor and the lifting electric cylinder 20 through the control system 7.

[0030] As Figure 3As shown, the telescopic moving part 3 includes a fixed slide plate 9, a telescopic chain 11, a linear guide rail I 10, a telescopic motor 12, a transmission shaft and transmission sprockets. Linear guide rail I 10 and telescopic chain 11 are respectively arranged on opposite sides of the U-shaped notch of the moving load chassis 4. One end of the fixed slide plate 9 is connected to the slider I of the linear guide rail I 10, and the other end is connected to the telescopic chain 11. Transmission sprockets are respectively arranged at both ends of the telescopic chain 11. The transmission sprockets near the telescopic motor 12 end are respectively installed at both ends of the transmission shaft. The telescopic motor 12 is a motor (off-the-shelf part) with a hollow shaft, and the transmission shaft is placed inside the hollow shaft of the telescopic motor 12; driven by the telescopic motor 12, the hollow shaft and the transmission shaft on it rotate, thereby driving the transmission sprockets arranged on the transmission shaft to drive the telescopic chain 11 to rotate, so that the fixed slide plate 9 connected to it moves along the telescopic chain 11 and the linear guide rail I 10 to achieve the purpose of telescoping.

[0031] As Figure 4 shown, the lifting part 2 includes a fixed section 19, a telescopic section I 17, a telescopic section II 13, a transmission mechanism and a lifting electric cylinder 20. The fixed section 19 is connected to the telescopic section 117 through the lifting electric cylinder 20, and the fixed section 19 is connected through the transmission mechanism and bypasses the telescopic section I 17 to connect the telescopic section II 13. The clamping arm adjustable part 2 is connected to the telescopic section II 13. The bottom end plate 21 of the fixed section 19 is connected to the fixed slide plate 9 of the telescopic moving part 3, so that the whole clamping arm adjustable part 2 moves with the fixed slide plate 9; among them, the cylinder body end of the lifting electric cylinder 20 is fixed on the bottom end plate 21 of the fixed section 19, and the telescopic rod end is connected to the upper cross plate 18 of the telescopic section I 17;

[0032] The transmission mechanism includes a lifting chain 16 and a lifting top wheel 14. There are two lifting top wheels 14, which are symmetrically installed on the two vertical frames II 15 of the telescopic section I 17 through their mounting parts 27. There are two lifting chains 16, which respectively bypass the lifting top wheels 14, one end is connected to the top end of the fixed section 19, and the other end is connected to the bottom end of the telescopic section II 13.

[0033] As Figure 4 shown, the fixed section 19 is a frame structure, including two vertical frames I 28, a top cross beam 29 and a bottom end plate 21. The opposite sides of the two vertical frames I 28 are provided with chutes for cooperating with the rollers on the telescopic section I 17. The bottom ends of the two vertical frames I 28 are connected with a bottom end plate 21, on which the cylinder body of the lifting electric cylinder 20 is connected, and the bottom end plate 21 is also used to connect the fixed slide plate 9 of the telescopic moving part 3. The top cross beam 29 between the two vertical frames I 28 is provided with ear plates for connecting the lifting chain 16, and support beams 30 are also arranged between the top cross beam 29 and the bottom end plate 21 in the two vertical frames.

[0034] As Figure 4As shown, the telescopic joint Ⅰ 17 is composed of horizontal plates respectively arranged at the upper, middle and lower positions on one side between the two vertical frames Ⅱ 15. The opposite sides of the two vertical frames Ⅱ 15 are provided with chutes for cooperating with the rollers on the telescopic joint Ⅱ 13. On the other side of the two vertical frames Ⅱ 15 opposite to the chutes, roller shafts are arranged at intervals, and rollers that cooperate with and slide in the chutes on the fixed joint 19 are installed thereon; on the two vertical frames Ⅱ 15, mounting parts 27 of the lifting top rollers 14 of the transmission mechanism are symmetrically arranged, and a fixing block for connecting the telescopic rod of the lifting electric cylinder 20 is also arranged on the upper horizontal plate 18.

[0035] As Figure 5 shown, the telescopic joint Ⅱ 13 includes an arm clamping mounting frame 32 and a sliding connection frame 33 that are connected to each other. Two sliding rods 24 are arranged horizontally and in parallel on the arm clamping mounting frame 32. The arm clamps 22 are installed on the sliding rods 24 and slide along the sliding rods 24; roller shafts are arranged at the upper and lower ends on both outer sides of the sliding connection frame 33, and rollers that cooperate with and slide in the chutes of the telescopic joint Ⅰ 17 are installed thereon. An ear plate for connecting the two lifting chains 16 is fixed at the lower end of the sliding connection frame 33, and a mounting plate 31 for the arm clamp motor 23 of the arm clamp adjustable part 1 is also arranged on the sliding connection frame 33;

[0036] When the lifting electric cylinder 20 is powered on and operates, the telescopic rod of the lifting electric cylinder 20 extends to push the telescopic joint Ⅰ 17 to rise. At the same time, it drives the lifting chain 16 to rotate around the lifting top roller 14. While the telescopic joint Ⅰ 17 rises along the fixed joint 19, it drives the telescopic joint Ⅱ 13 to rise along the telescopic joint Ⅰ 17, thus realizing the synchronous lifting process of the telescopic joint Ⅰ 17 and the telescopic joint Ⅱ 13. When the same lifting height remains unchanged, due to the synchronous lifting of the two telescopic joints, the overall height is reduced.

[0037] As Figure 5 、 6 shown, the arm clamp adjustable part 1 includes an arm clamp motor 23, a gear 26, two racks 25 and two symmetrically arranged arm clamps 22. The two arm clamps 22 are respectively connected to the sliding rods 24 of the telescopic joint Ⅱ 13. The arm clamp motor 23 is installed on the mounting plate 31 of the telescopic joint Ⅱ 13. The output shaft of the arm clamp motor 23 is connected to the gear 26. Racks 25 that mesh with the gear 26 are arranged in parallel on the upper and lower sides of the gear 26. The two racks 25 are centrosymmetric with respect to the gear axis. The other ends of the two racks 25 are respectively connected to the two arm clamps 22; when the arm clamp motor 23 rotates, it drives the gear 26 to rotate, and the two racks 25 that mesh with it move inwards or outwards simultaneously. At the same time, the racks 25 are fixed to the arm clamps 22, and the arm clamps 22 are sleeved on the sliding rods 24 of the telescopic joint Ⅱ 13, so that the arm clamps 22 slide along the sliding rods 24 with the racks 25, realizing the function of adjusting the distance between the arm clamps 22, thus making the range of the size of the object that can be clamped wider, the utilization rate higher, and the performance also improved.

[0038] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

[0039] The above description of the present utility model and its embodiments is not restrictive. What is shown in the drawings is only one of the embodiments of the present utility model, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the creation of the present utility model, design similar structural forms and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present utility model.

Claims

1. A cargo lifting and handling robot, characterized in that: It includes an adjustable clamping arm part, a lifting part, a telescopic moving part and a mobile bearing chassis. The mobile bearing chassis is provided with a telescopic moving part. The bottom end of the lifting part is connected to the fixed slide of the telescopic moving part and moves with the fixed slide. The telescopic section II at the top of the lifting part is connected with the adjustable clamping arm part. The clamping arm of the adjustable clamping arm part is parallel to the bottom surface of the mobile bearing chassis, and the adjustable clamping arm part is located on the side of the extending moving direction of the fixed slide.

2. The cargo lifting and handling robot according to claim 1, characterized in that: The mobile bearing chassis is a chassis frame structure with a U-shaped notch, a telescopic moving part is arranged on the chassis frame along the periphery of the U-shaped notch, battery packs are symmetrically arranged in the chassis frames on both sides of the U-shaped notch, universal moving wheels are arranged at the bottom of the four corners of the chassis frame, and a control system is also arranged in the chassis frame, which is respectively connected to the battery pack, the clamping arm motor of the adjustable clamping arm part, the lifting electric cylinder of the lifting and lifting part, and the telescopic motor of the telescopic moving part.

3. The cargo lifting and handling robot according to claim 1, characterized in that: The telescopic moving part includes a fixed slide, a telescopic chain, a linear guide rail I, a telescopic motor, a transmission shaft and a transmission sprocket. The linear guide rail I and the telescopic chain are respectively arranged on opposite sides of the U-shaped groove of the mobile bearing chassis. One end of the fixed slide is connected to the slider I of the linear guide rail I, and the other end is connected to the telescopic chain. Transmission sprockets are respectively arranged at both ends of the telescopic chain. The transmission sprockets close to the telescopic motor end are respectively installed at both ends of the transmission shaft, and the transmission shaft is placed on the hollow shaft of the telescopic motor.

4. The cargo lifting and handling robot according to claim 1, characterized in that: The lifting and lowering part includes a fixed section, a telescopic section I, a telescopic section II, a transmission mechanism and a lifting electric cylinder. The fixed section is slidably connected to the telescopic section I. The cylinder body end of the lifting electric cylinder is connected to the fixed section, and the telescopic rod end is connected to the top of the telescopic section I. The fixed section is connected through the transmission mechanism and is connected to the telescopic section II via the telescopic section I. The adjustable part of the clamping arm is connected to the telescopic section II.

5. The cargo lifting and handling robot according to claim 4, characterized in that: The transmission mechanism includes a lifting chain and a lifting top wheel. There are two lifting top wheels, which are symmetrically installed on the two vertical frames II of the telescopic section I. There are two lifting chains, which respectively pass around the lifting top wheels, one end of which is connected to the top of the fixed section, and the other end is connected to the bottom of the telescopic section II.

6. The cargo lifting and handling robot according to claim 4, characterized in that: The fixed section is a frame structure, including two vertical frames I, a top cross beam and a bottom end plate. The opposite sides of the two vertical frames I are provided with slide grooves that cooperate with the telescopic section I. The bottom ends of the two vertical frames I are connected with bottom end plates, on which the cylinder body of the lifting electric cylinder is connected. The top cross beam between the two vertical frames I is provided with ear plates connected to the lifting chain, and the two vertical frames between the top cross beam and the bottom end plate are also provided with support beams.

7. The cargo lifting and handling robot according to claim 4, characterized in that: The telescopic section I is composed of horizontal plates respectively arranged at the upper, middle and lower positions of one side between the two vertical frames II. The opposite sides of the two vertical frames II are provided with sliding grooves that cooperate with the telescopic section II. The other side of the two vertical frames II relative to the sliding groove is provided with roller shafts at intervals, and rollers that slide with the sliding grooves on the fixed section are installed on the rollers; the lifting top wheel mounting parts of the transmission mechanism are symmetrically arranged on the two vertical frames II, and a fixing block connected to the telescopic rod of the lifting electric cylinder is also arranged on the upper horizontal plate.

8. The cargo lifting and handling robot according to claim 4, characterized in that: The telescopic section II includes a clamp arm mounting frame and a sliding connection frame that are connected to each other. Two sliding rods are arranged horizontally and side by side on the clamp arm mounting frame. The clamp arm is installed on the sliding rods and slides along the sliding rods. Roller shafts are arranged on the upper and lower ends of both outer sides of the sliding connection frame, and rollers that slide in cooperation with the sliding grooves of the telescopic section I are installed on the roller shafts. An ear plate connecting two lifting chains is fixed at the lower end of the sliding connection frame. A mounting plate for mounting a clamp arm motor of the adjustable part of the clamp arm is also arranged on the sliding connection frame.

9. The cargo lifting and handling robot according to claim 1, characterized in that: The adjustable part of the clamp arm includes a clamp arm motor, a gear, two racks and two symmetrically arranged clamp arms, the two clamp arms are respectively connected to the sliding rod of the telescopic section II, the clamp arm motor is installed on the mounting plate of the telescopic section II, the clamp arm motor output shaft is connected to the gear, and racks meshing with the gear are arranged in parallel on the upper and lower sides of the gear, the two racks are centrally symmetrical about the gear axis, and the other ends of the two racks are respectively connected to the two clamp arms; the two racks are driven by the clamp arm motor to move inward or outward, thereby driving the clamp arms to move inward or outward along the sliding rod to adjust the clamp arm spacing.

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