Movable grabbing robot

Abstract

The utility model belongs to the technical field of automation equipment, and relates to a movable grabbing robot. The crawler-type crawler belt conveyor comprises a main machine base, and a crawler wheel set is arranged at the bottom of the main machine base. In the using process, the multi-directional material pushing and clamping assembly is started, an object to be grabbed is firstly pushed to the bottom supporting fixing bottom plate through the multi-directional material pushing and clamping assembly, bottom supporting is conducted on the object to be grabbed through the bottom supporting fixing bottom plate, then the rear side, the left side and the right side of the object to be grabbed are clamped and fixed, and the structure that multi-directional clamping is matched with bottom supporting is adopted; the object is effectively and safely grabbed, the stability is good, after the lifting frame ascends, the weight anti-falling protection piece is rotated to the position under the lifting frame, the situation that the object falls off and is damaged in the grabbing and transporting process is prevented, the safety of the object is further improved, meanwhile, the weight anti-falling protection piece is of a rotatable structure, interference is avoided when the object is grabbed, and the safety of the object is improved. The structure is compact and reasonable, and practicability is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation equipment and relates to a mobile grasping robot. Background Technique

[0002] Robots have high working efficiency, good safety performance, and high precision in production and processing. Grasping robots are commonly used in production to grasp and transport goods. When the existing grasping robots grasp objects, they generally adopt the form of bilateral clamping and fixing. On the one hand, there is a lack of fixation on the other two sides, and on the other hand, there is a lack of a bottom supporting structure for the object. After clamping, the object is prone to falling, and the stability is poor. At the same time, the heavy object protection structure equipped on the current grasping robot is prone to interference with the grasping structure when grasping objects, affecting the working efficiency. Therefore, there is an urgent need to design a mobile grasping robot that can overcome the above defects.

[0003] In order to overcome the deficiencies of the prior art, people have continuously explored and proposed various solutions. For example, a Chinese patent discloses a mobile grasping robot [Application No.: 202320340790.2], which includes a mobile base, and a multi-axis manipulator arranged on the mobile base. A gripper is arranged at the end of the multi-axis manipulator; a binocular camera is also arranged on the mobile base, and a depth camera, an ultrasonic transmitter, and a lidar are arranged at the front end of the mobile base; the binocular camera, the depth camera, the ultrasonic transmitter, and the lidar are also communicatively connected to a central processor arranged inside the mobile base. Summary of the Invention

[0004] The purpose of the utility model is to provide a mobile grasping robot for the above problems.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A mobile grasping robot includes a main seat. A crawler wheel set is arranged at the bottom of the main seat. A manipulator capable of reciprocating linearly in the vertical direction is arranged at the top of the main seat. A lifting frame capable of reciprocating linearly in the vertical direction is arranged at the head of the manipulator. A bottom supporting and fixing bottom plate and a multi-directional pushing and clamping assembly capable of reciprocating linearly in the horizontal direction are arranged inside the lifting frame. The multi-directional pushing and clamping assembly corresponds to the position of the bottom supporting and fixing bottom plate. A heavy object anti-falling protection part capable of rotating circumferentially along the center line of the main seat is arranged on the main seat. The heavy object anti-falling protection part corresponds to the position of the lifting frame.

[0007] In the above-mentioned mobile grasping robot, the multi-directional pushing and clamping assembly includes a horizontal pushing block arranged inside the lifting frame. The horizontal pushing block is arranged opposite to the bottom supporting and fixing bottom plate. Side clamping blocks capable of reciprocating linearly in the horizontal direction are arranged on both sides of the lifting frame.

[0008] In the above-mentioned mobile grasping robot, the side clamping blocks, the horizontal material pushing blocks and the bottom supporting fixed bottom plate are arranged alternately.

[0009] In the above-mentioned mobile grasping robot, the end of the bottom supporting fixed base plate away from the lifting frame has an inclined surface, and the side clamping block and the horizontal pushing block are driven by a cylinder.

[0010] In the above-mentioned mobile grasping robot, the lifting frame and the mechanical arm are driven by an oil cylinder, and the axis center line of the oil cylinder power shaft is perpendicular to the axis center line of the air cylinder power shaft.

[0011] In the above-mentioned mobile grasping robot, the heavy object anti-falling protective device includes an anti-falling receiving platform arranged on the main body seat, and a plurality of air cushion layers are laid on the anti-falling receiving platform. The anti-falling receiving platform can rotate circumferentially along the center line of the main body seat.

[0012] In the above-mentioned mobile grasping robot, the anti-fall receiving platform is connected to the main body seat via a rotating connection part, and the anti-fall receiving platform and the crawler wheel set are arranged alternately.

[0013] In the above-mentioned mobile grasping robot, the rotating connection part includes a turntable arranged in the main body base, the turntable is connected to the anti-fall receiving platform through a connecting rod, and the turntable is driven by a motor.

[0014] In the above-mentioned mobile grasping robot, a universal wheel is provided at the bottom of the anti-fall receiving platform, and the universal wheel is staggered with the track wheel assembly.

[0015] In the above-mentioned mobile grasping robot, a fan-shaped groove is provided in the main body seat, and the connecting rod is slidably matched with the fan-shaped groove.

[0016] Compared with the existing technology, the advantages of the utility model are:

[0017] 1. During the use of the present utility model, the main frame can be driven by the crawler wheel set to move to the object to be grasped. At this time, the robotic arm is first lifted upward so that the lifting frame moves to the upper front of the object to be grasped, and then the lifting frame is lowered so that the bottom supporting fixed base plate moves to the front of the object to be grasped. At this time, the multi-directional pushing and clamping assembly is started. The object to be grasped is first pushed to the bottom supporting fixed base plate by the multi-directional pushing and clamping assembly, and the object to be grasped is supported by the bottom supporting fixed base plate. Then, the rear side and the left and right sides of the object to be grasped are clamped and fixed. By adopting the multi-directional clamping and bottom supporting structure, the object can be effectively and safely grasped, and the stability is good. After the lifting frame rises, the heavy object anti-falling protection part is rotated to directly below the lifting frame to prevent the object from falling and being damaged during the grasping and transportation process, further improving the safety of the object. At the same time, the heavy object anti-falling protection part adopts a rotatable structure to avoid interference during the grasping of the object. The structure is compact and reasonable, and the practicability is strong.

[0018] 2. During the transportation of the present utility model, the universal wheels can prevent the anti-falling receiving platform from being in a suspended state. After the heavy object falls, the anti-falling receiving platform will not be bent or damaged. At the same time, the universal wheels do not affect the rotation of the anti-falling receiving platform, and the functionality is strong.

[0019] Other advantages, objectives and features of the present utility model will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the present utility model. Brief Description of the Drawings

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

[0021] Figure 2 is Figure 1 the cross-sectional schematic diagram at A-A in

[0022] Figure 3 is the internal cross-sectional schematic diagram of the main frame.

[0023] In the figure: main frame 1, crawler wheel set 2, robotic arm 3, lifting frame 4, bottom supporting fixed base plate 5, multi-directional pushing and clamping assembly 6, side clamping block 66, heavy object anti-falling protection part 7, horizontal pushing block 8, cylinder 9, oil cylinder 10, anti-falling receiving platform 11, air cushion layer 12, rotating connection part 13, turntable 14, connecting rod 15, motor 16, universal wheel 17, sector groove 18. Detailed Description of the Embodiment

[0024] The present utility model will be further described below with reference to the drawings.

[0025] As Figures 1-3As shown in the figure, a mobile grasping robot includes a main base 1. A crawler wheel set 2 is provided at the bottom of the main base 1. A robotic arm 3 capable of reciprocating linearly in the vertical direction is provided at the top of the main base 1. A lifting frame 4 capable of reciprocating linearly in the vertical direction is provided at the head of the robotic arm 3. A bottom supporting and fixing base plate 5 and a multi-directional material pushing and clamping assembly 6 capable of reciprocating linearly in the horizontal direction are provided inside the lifting frame 4. The multi-directional material pushing and clamping assembly 6 corresponds to the position of the bottom supporting and fixing base plate 5. A heavy object anti-falling protection member 7 capable of rotating circumferentially along the center line of the main base 1 is provided on the main base 1. The heavy object anti-falling protection member 7 corresponds to the position of the lifting frame 4.

[0026] In this embodiment, during the use process, the main base 1 can be driven by the crawler wheel set 2 to move to the object to be grasped. At this time, first lift the robotic arm 3 upward so that the lifting frame 4 moves to the upper front of the object to be grasped, and then lower the lifting frame 4 so that the bottom supporting and fixing base plate 5 moves to the front of the object to be grasped. At this time, start the multi-directional material pushing and clamping assembly 6. The object to be grasped is first pushed to the bottom supporting and fixing base plate 5 by the multi-directional material pushing and clamping assembly 6. The object to be grasped is supported by the bottom supporting and fixing base plate 5, and then the rear side and the left and right sides of the object to be grasped are clamped and fixed. With a multi-directional clamping and bottom supporting structure, the object can be grasped effectively and safely, and the stability is good. After the lifting frame 4 rises, rotate the heavy object anti-falling protection member 7 to directly below the lifting frame 4 to prevent the object from falling and being damaged during the grasping and transportation process, further improving the safety of the object. At the same time, the heavy object anti-falling protection member 7 adopts a rotatable structure to avoid interference during the grasping of the object. The structure is compact and reasonable, and the practicability is strong.

[0027] Combined with Figures 1-3 As shown in the figure, the multi-directional material pushing and clamping assembly 6 includes a horizontal material pushing block 8 arranged inside the lifting frame 4. The horizontal material pushing block 8 is arranged opposite to the bottom supporting and fixing base plate 5. Side clamping blocks 66 capable of reciprocating linearly in the horizontal direction are provided on both sides of the lifting frame 4.

[0028] Specifically, during the use process, the main base 1 can be driven by the crawler wheel set 2 to move to the object to be grasped. At this time, first lift the robotic arm 3 upward so that the lifting frame 4 moves to the upper front of the object to be grasped, and then lower the lifting frame 4 so that the bottom supporting and fixing base plate 5 moves to the front of the object to be grasped. At this time, start the horizontal material pushing block 8. The object to be grasped is first pushed to the bottom supporting and fixing base plate 5 by the horizontal material pushing block 8. The object to be grasped is supported by the bottom supporting and fixing base plate 5. Through the cooperation of the horizontal material pushing block 8 and the two side clamping blocks 66, the rear side and the left and right sides of the object to be grasped are clamped and fixed. With a multi-directional clamping and bottom supporting structure, the object can be grasped effectively and safely, and the stability is good.

[0029] Combined with Figure 1 、 Figure 2As shown, the side clamping blocks 66, the horizontal pushing blocks 8 and the bottom supporting and fixing bottom plate 5 are arranged alternately.

[0030] In this embodiment, the side clamping blocks 66, the horizontal pushing blocks 8 and the bottom supporting and fixing bottom plate 5 are arranged alternately, and the structure is reasonable to form a multi-directional clamping and fixing.

[0031] The end of the bottom supporting fixed base plate 5 away from the lifting frame 4 has an inclined surface, and the side clamping block 66 and the horizontal pushing block 8 are driven by the cylinder 9.

[0032] In this embodiment, the end of the bottom supporting fixed base plate 5 away from the lifting frame 4 has a slope, which can better push objects into the bottom supporting fixed base plate 5. The side clamping block 66 and the horizontal pushing block 8 are driven by the cylinder 9, and the degree of automation is relatively high.

[0033] Combination Figure 1 As shown, the lifting frame 4 and the mechanical arm 3 are driven by the oil cylinder 10, and the axis center line of the power shaft of the oil cylinder 10 is perpendicular to the axis center line of the power shaft of the air cylinder 9.

[0034] In this embodiment, the lifting frame 4 and the mechanical arm 3 are driven by the oil cylinder 10, and the degree of automation is relatively high.

[0035] The heavy object anti-falling protective member 7 comprises an anti-falling receiving platform 11 arranged on the main engine base 1 , on which a plurality of air cushion layers 12 are laid, and the anti-falling receiving platform 11 can rotate circumferentially along the center line of the main engine base 1 .

[0036] In this embodiment, when clamping and transporting objects, the anti-fall receiving platform 11 is rotated to just below the lifting frame 4 to prevent the objects from falling and being damaged during the grabbing and transportation process. The air cushion layer 12 has a good buffering effect, which further improves the safety of the objects. At the same time, the anti-fall receiving platform 11 adopts a rotatable structure to avoid interference when grabbing objects. The structure is compact and reasonable and has strong practicality.

[0037] The anti-fall receiving platform 11 is connected to the main engine base 1 via a rotating connection portion 13 , and the anti-fall receiving platform 11 and the crawler wheel set 2 are arranged alternately.

[0038] In this embodiment, the anti-fall receiving platform 11 is connected to the main frame 1 via a rotating connection portion 13, so that the anti-fall receiving platform 11 can be rotated conveniently.

[0039] Combination Figure 1 , Figure 3 As shown, the rotating connection part 13 includes a turntable 14 arranged in the main base 1, and the turntable 14 is connected to the anti-fall receiving platform 11 through a connecting rod 15. The turntable 14 is driven by a motor 16.

[0040] In this embodiment, when it is necessary to rotate the anti-falling receiving platform 11, the motor 16 is started, and the turntable 14 and the anti-falling receiving platform 11 are driven to rotate by the motor 16. The connecting rod 15 serves to connect the turntable 14 and the anti-falling receiving platform 11.

[0041] Combined with Figure 1 , Figure 3 As shown, universal wheels 17 are provided at the bottom of the anti-falling receiving platform 11, and the universal wheels 17 and the crawler wheel set 2 are arranged alternately.

[0042] In this embodiment, during transportation, the universal wheels 17 can prevent the anti-falling receiving platform 11 from being in a suspended state. After the heavy object falls, the anti-falling receiving platform 11 will not be bent or damaged. At the same time, the universal wheels 17 do not affect the rotation of the anti-falling receiving platform 11, and it has strong functionality.

[0043] Combined with Figure 3 As shown, a sector-shaped groove 18 is formed in the main seat 1, and the connecting rod 15 is slidably matched with the sector-shaped groove 18.

[0044] In this embodiment, the connecting rod 15 can slide along the sector-shaped groove 18.

[0045] The working principle of the present utility model is:

[0046] During use, the main seat 1 can be driven by the crawler wheel set 2 to move to the object to be grabbed. At this time, the robotic arm 3 is first lifted upward so that the lifting frame 4 moves to the upper front of the object to be grabbed, and then the lifting frame 4 is lowered so that the bottom supporting and fixing bottom plate 5 moves to the front of the object to be grabbed. At this time, the horizontal pushing block 8 is started, and the object to be grabbed is first pushed to the bottom supporting and fixing bottom plate 5 by the horizontal pushing block 8. The object to be grabbed is supported by the bottom supporting and fixing bottom plate 5. Through the cooperation of the horizontal pushing block 8 and the two side clamping blocks 66, the rear side and the left and right sides of the object to be grabbed are clamped and fixed. With a multi-directional clamping and supporting structure, the object can be effectively and safely grabbed, and the stability is good.

[0047] The side clamping blocks 66, the horizontal pushing block 8 and the bottom supporting and fixing bottom plate 5 are arranged alternately, and the structure is reasonable, forming a multi-directional clamping and fixing.

[0048] One end of the bottom supporting and fixing bottom plate 5 away from the lifting frame 4 has an inclined surface, which can better push the object into the bottom supporting and fixing bottom plate 5. The side clamping blocks 66 and the horizontal pushing block 8 are driven by the cylinder 9, and the lifting frame 4 and the robotic arm 3 are driven by the oil cylinder 10, and the automation degree is relatively high.

[0049] When clamping and transporting objects, the anti-fall receiving platform 11 is rotated to the bottom of the lifting frame 4 to prevent the objects from falling and being damaged during the grasping and transportation process. The air cushion layer 12 has a good buffering effect, which further improves the safety of the objects. At the same time, the anti-fall receiving platform 11 adopts a rotatable structure to avoid interference when grasping objects. The structure is compact and reasonable, and it is more practical.

[0050] The anti-fall receiving platform 11 is connected to the main frame 1 through a rotating connection part 13, which facilitates the rotation of the anti-fall receiving platform 11.

[0051] When the anti-fall receiving platform 11 needs to be rotated, the motor 16 is started, and the motor 16 drives the turntable 14 and the anti-fall receiving platform 11 to rotate, and the connecting rod 15 plays the role of connecting the turntable 14 and the anti-fall receiving platform 11.

[0052] During transportation, the universal wheels 17 can prevent the anti-fall receiving platform 11 from being suspended, and the anti-fall receiving platform 11 will not bend or be damaged after a heavy object falls. At the same time, the universal wheels 17 do not affect the rotation of the anti-fall receiving platform 11, and the functionality is relatively strong.

[0053] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways without departing from the spirit of the present invention.

[0054] Although the terms such as main frame 1, crawler wheel set 2, mechanical arm 3, lifting frame 4, bottom support fixed base plate 5, multi-directional material pushing and clamping assembly 6, side clamping block 66, heavy object anti-falling protective member 7, horizontal material pushing block 8, cylinder 9, oil cylinder 10, anti-falling receiving platform 11, air cushion layer 12, rotating connection part 13, turntable 14, connecting rod 15, motor 16, universal wheel 17, fan-shaped groove 18 are used more frequently in this article, the possibility of using other terms is not excluded. The use of these terms is only for more convenient description and explanation of the essence of the utility model. It is contrary to the spirit of the utility model to interpret them as any additional restrictions.

Claims

1. A mobile grasping robot, comprising a main chassis (1), and a crawler wheel set (2) is arranged at the bottom of the main chassis (1), characterized in that, The top of the main machine base (1) is provided with a mechanical arm (3) capable of reciprocating linear motion in the vertical direction, the head of the mechanical arm (3) is provided with a lifting frame (4) capable of reciprocating linear motion in the vertical direction, the lifting frame (4) is provided with a bottom support fixed base plate (5) and a multi-directional material pushing and clamping assembly (6) capable of reciprocating linear motion in the horizontal direction, the positions of the multi-directional material pushing and clamping assembly (6) and the bottom support fixed base plate (5) correspond to each other, the main machine base (1) is provided with a heavy object anti-falling protective member (7) capable of circumferentially rotating along the center line of the main machine base (1), and the heavy object anti-falling protective member (7) corresponds to the position of the lifting frame (4).

2. The mobile grasping robot according to claim 1, characterized in that, The multi-directional material pushing and clamping assembly (6) comprises a horizontal material pushing block (8) arranged in the lifting frame (4), the horizontal material pushing block (8) being arranged opposite to the bottom supporting fixed bottom plate (5), and side clamping blocks (66) capable of reciprocating linear motion in the horizontal direction are arranged on both sides of the lifting frame (4).

3. The mobile grasping robot according to claim 2, wherein, The side clamping blocks (66), the horizontal pushing blocks (8) and the bottom supporting and fixing bottom plate (5) are arranged alternately.

4. The mobile grabbing robot according to claim 3, characterized in that, The end of the bottom supporting fixed base plate (5) away from the lifting frame (4) has an inclined surface, and the side clamping block (66) and the horizontal pushing block (8) are driven by a cylinder (9).

5. A mobile grasping robot according to claim 4, characterized in that, The lifting frame (4) and the mechanical arm (3) are driven by an oil cylinder (10), and the axis center line of the power shaft of the oil cylinder (10) and the axis center line of the power shaft of the air cylinder (9) are perpendicular to each other.

6. A mobile grasping robot according to claim 5, characterized in that, The heavy object anti-falling protective component (7) comprises an anti-falling receiving platform (11) arranged on the main engine base (1), a plurality of air cushion layers (12) are laid on the anti-falling receiving platform (11), and the anti-falling receiving platform (11) can rotate circumferentially along the center line of the main engine base (1).

7. A mobile grasping robot according to claim 6, characterized in that, The anti-fall receiving platform (11) is connected to the main machine base (1) via a rotating connection part (13), and the anti-fall receiving platform (11) and the crawler wheel set (2) are arranged in an alternating manner.

8. A mobile grasping robot according to claim 7, characterized in that, The rotating connection part (13) comprises a turntable (14) arranged in the main frame (1); the turntable (14) is connected to the anti-fall receiving platform (11) via a connecting rod (15); and the turntable (14) is driven by a motor (16).

9. A mobile grasping robot according to claim 8, wherein The bottom of the anti-fall receiving platform (11) is provided with a universal wheel (17), and the universal wheel (17) and the track wheel set (2) are arranged in an alternating manner.

10. A mobile grasping robot according to claim 9, wherein, The main frame (1) is provided with a fan-shaped groove (18), and the connecting rod (15) is slidably matched with the fan-shaped groove (18).

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