Portal frame type mobile transfer robot

Abstract

The utility model discloses a portal frame type mobile transfer robot which comprises a frame, a walking driving assembly, a grabbing claw, a depth camera and a grabbing driving assembly. The frame comprises a top transverse frame and two vertical supporting leg frames, and walking driving assemblies are arranged at the lower ends of the vertical supporting leg frames. The top transverse frame is provided with two transverse moving guide rails, a transverse moving movable frame of the grabbing driving assembly moves along the transverse moving guide rails through transverse moving guide wheels, the transverse moving movable frame is further provided with a transverse moving driving motor, a lifting driving rack and a lifting driving motor, and a power output shaft of each transverse moving driving motor is provided with a transverse moving driving synchronous wheel. The transverse moving driving synchronous wheels are meshed with the transverse moving driving synchronous belts on the corresponding sides respectively, a power output shaft of the lifting driving motor is provided with a lifting driving gear meshed with the lifting driving rack, and the grabbing claw and the depth camera are arranged on a lifting movable frame at the lower end of the lifting driving rack respectively. The manipulator has the advantages of being novel in structural design and high in adaptability, and can be effectively suitable for grabbing and carrying heavy objects.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic handling devices, in particular to a gantry-type mobile handling robot. Background Art

[0002] The Chinese utility model patent with the patent number ZL202121314309.X and the patent name "An Intelligent Cotton Bale Handling Vehicle" actually discloses an automatic handling device; specifically, the intelligent cotton bale handling vehicle includes a vehicle frame, a positioning mechanism, a control device, a robotic arm, a mechanical hand, and an intelligent recognition device. The vehicle frame includes a vehicle chassis and a motor bracket. A walking drive motor is installed on the motor bracket, and a Mecanum wheel is installed at the power output end of the walking drive motor; the robotic arm is installed on the vehicle chassis, and the mechanical hand is installed at the end of the robotic arm; the intelligent recognition device consists of a rotatable binocular depth camera assembly, an OPENMV camera device, and a full-field positioning system. The binocular depth camera assembly includes a binocular depth camera, which is used to identify the position of the cotton bale.

[0003] When the above-mentioned intelligent cotton bale handling vehicle is working, after the whole vehicle is driven by the walking drive assembly composed of the walking drive motor and the Mecanum wheel to move to the cotton bale handling area, after determining the position of the cotton bale, the control device controls the action of the robotic arm and grabs the cotton bale through the mechanical hand, and then transports the cotton bale to the cotton processing position according to the planned path.

[0004] It should be noted that for the above-mentioned intelligent cotton bale handling vehicle, it has the following defects: specifically, the mechanical hand is driven by the robotic arm, and the robotic arm imitates the structure of a human arm. Specifically, the robotic arm includes an X-Y plane rotating mechanism robotic arm base, a disc, a No. 1 360° servo, a servo bracket, a No. 2 servo, a No. 3 servo, a No. 1 rod, a No. 2 rod, a No. 3 rod, a No. 1, No. 4 rod, a No. 5 rod, a No. 6 rod, and a tripod. For the mechanical hand driven by the above-mentioned robotic arm, since the robotic arm is equivalent to a cantilever structure, for heavy objects with a large mass, it is very easy to tip over when grabbing, that is, the above-mentioned intelligent cotton bale handling vehicle can only be applicable to grabbing objects with a light mass, and its adaptability is poor. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a gantry-type mobile handling robot for the deficiencies of the prior art. The gantry-type mobile handling robot has a novel structural design, strong adaptability, and can effectively be applicable to grabbing and handling heavy objects.

[0006] To achieve the above purpose, the utility model is realized through the following technical solutions.

[0007] A gantry-type mobile handling robot includes a vehicle frame, a walking drive assembly, a grabbing claw, a depth camera, and a grabbing drive assembly for driving the grabbing claw to move;

[0008] The vehicle frame is of a gantry structure, and the vehicle frame includes a top cross frame arranged horizontally. The left end and the right end of the top cross frame are respectively provided with vertical leg frames arranged vertically, and walking drive assemblies are respectively installed at the lower ends of the vertical leg frames; the top cross frame is provided with two transverse guide rails arranged at intervals front and back and extending horizontally along the left and right directions respectively;

[0009] The grasping drive assembly includes a transverse moving movable frame located above the top cross frame. Transverse guide wheels moving along the transverse guide rails on the corresponding sides are respectively rotatably installed at the front end and the rear end of the transverse moving movable frame;

[0010] The transverse moving movable frame is also provided with two transverse drive motors that act synchronously and are arranged at intervals front and back. Transverse drive synchronous wheels are respectively installed on the power output shafts of the transverse drive motors; a transverse drive synchronous belt is tightly connected between the upper ends of the two vertical leg frames, and each transverse drive synchronous wheel is respectively engaged with the transverse drive synchronous belt on the corresponding side;

[0011] A lifting drive rack is vertically slidably installed on the transverse moving movable frame. A lifting drive motor is installed beside the lifting drive rack on the transverse moving movable frame. A lifting drive gear is installed on the power output shaft of the lifting drive motor, and the lifting drive gear is engaged with the lifting drive rack;

[0012] The lower end of the lifting drive rack extends below the top cross frame, and a lifting movable frame is installed at the lower end of the lifting drive rack. The grasping claw and the depth camera are respectively installed on the lifting movable frame.

[0013] Wherein, the left end and the right end of the transverse drive synchronous belt are respectively fastened to the upper ends of the vertical leg frames on the corresponding sides through locking blocks, and each locking block is respectively screwed to the upper end of the vertical leg frame on the corresponding side.

[0014] Wherein, a lifting guide seat is screwed on the transverse moving movable frame corresponding to the lifting drive rack, and a lifting guide groove for the vertical passing of the lifting drive rack is opened on the lifting guide seat.

[0015] Wherein, the walking drive assembly includes a motor mounting seat screwed and fastened to the lower end of the vertical leg frame, and a walking drive wheel rotatably installed at the lower end of the vertical leg frame through a rotating shaft. A walking drive motor is screwed on the motor mounting seat, and the power output shaft of the walking drive motor is drivingly connected to the walking drive wheel;

[0016] The walking drive assembly further includes two one-way wheels respectively rotatably installed at the lower end of the vertical leg frame. One one-way wheel is located in front of the walking drive wheel, and the other one-way wheel is located behind the walking drive wheel.

[0017] Wherein, the walking drive wheel and the one-way wheel are respectively silent wheels.

[0018] Compared with the prior art, the utility model has the following beneficial effects. Specifically, when grasping an object and realizing the handling and movement of the object, the transverse moving frame is supported by two transverse guide rails arranged at intervals in the front and rear, and the transverse moving frame horizontally moves laterally along the transverse guide rails through transverse guide wheels. The grasping driving assembly of the utility model is supported by a gantry structure. When grasping an object with a relatively large mass, the above support structure and the horizontal transverse movement structure can ensure the stability of the grasping claws when grasping an object with a relatively large mass. Therefore, the gantry-type mobile handling robot of the utility model has the advantages of novel structural design and strong adaptability, and can be effectively applied to the grasping and handling of heavy objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following uses the drawings to further illustrate the utility model, but the embodiments in the drawings do not constitute any limitation to the utility model.

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

[0021] Figure 2 is Figure 1 a partially enlarged schematic view of

[0022] Figure 3 It is a partial structural schematic diagram of the utility model.

[0023] Figure 4 is Figure 3 an exploded schematic view of

[0024] Figure 5 It is a partial structural schematic diagram of another perspective of the utility model.

[0025] In Figures 1 to 5 it includes:

[0026] 1 - vehicle frame; 11 - top cross frame; 111 - transverse guide rail; 12 - vertical leg frame; 2 - traveling driving assembly; 21 - motor mounting seat; 22 - traveling driving wheel; 23 - traveling driving motor; 24 - one-way wheel; 3 - grasping claw; 4 - depth camera; 5 - grasping driving assembly; 51 - transverse moving frame; 511 - lifting guide seat; 52 - transverse guide wheel; 53 - transverse driving motor; 54 - transverse driving synchronous pulley; 55 - transverse driving synchronous belt; 56 - lifting driving rack; 57 - lifting driving motor; 58 - lifting driving gear; 59 - lifting moving frame; 6 - locking block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following describes the utility model in conjunction with specific embodiments.

[0028] Embodiment 1, as shown in Figure 1As shown in the figure, a gantry-type mobile handling robot includes a vehicle frame 1, a traveling drive assembly 2, a grasping claw 3, a depth camera 4, and a grasping drive assembly 5 for driving the movement of the grasping claw 3.

[0029] Among them, as Figures 1 to 5 shown, the vehicle frame 1 is of a gantry structure, and the vehicle frame 1 includes a top cross frame 11 arranged horizontally. The left end and the right end of the top cross frame 11 are respectively provided with vertical leg frames 12 arranged vertically. The lower ends of the vertical leg frames 12 are respectively provided with traveling drive assemblies 2; the top cross frame 11 is provided with two horizontal moving guide rails 111 arranged at intervals front and back and extending horizontally along the left and right directions.

[0030] Furthermore, as Figures 3 to 5 shown, the grasping drive assembly 5 includes a horizontally moving movable frame 51 located above the top cross frame 11. The front end and the rear end of the horizontally moving movable frame 51 are respectively rotatably installed with horizontally moving guide wheels 52 that move along the corresponding side of the horizontal moving guide rail 111.

[0031] Even further, as Figures 3 to 5 shown, the horizontally moving movable frame 51 is also provided with two horizontally moving drive motors 53 that act synchronously and are arranged at intervals front and back. The power output shafts of the horizontally moving drive motors 53 are respectively installed with horizontally moving drive synchronous wheels 54; a horizontally moving drive synchronous belt 55 is tightly connected between the upper ends of the two vertical leg frames 12, and each horizontally moving drive synchronous wheel 54 is respectively engaged with the horizontally moving drive synchronous belt 55 on the corresponding side.

[0032] It should be explained that the horizontally moving drive synchronous belt 55 of the first embodiment can be installed between the two vertical leg frames 12 in the following manner. Specifically: as Figure 1 and Figure 2 shown, the left end and the right end of the horizontally moving drive synchronous belt 55 are respectively fastened to the upper end of the vertical leg frame 12 on the corresponding side through a locking block 6, and each locking block 6 is respectively screwed to the upper end of the vertical leg frame 12 on the corresponding side. Of course, the above installation method of fastening and installing the horizontally moving drive synchronous belt 55 through the locking block 6 does not constitute a limitation to the first embodiment, that is, the horizontally moving drive synchronous belt 55 of the first embodiment can also be fastened and installed between the two vertical leg frames 12 by other methods.

[0033] In addition, as Figure 1 、 Figure 3 、 Figure 4 and Figure 5As shown in the figure, a lifting drive rack 56 is vertically and slidably installed on the transverse moving frame 51. A lifting drive motor 57 is installed beside the lifting drive rack 56 on the transverse moving frame 51. A lifting drive gear 58 is installed on the power output shaft of the lifting drive motor 57. The lifting drive gear 58 meshes with the lifting drive rack 56. The lower end of the lifting drive rack 56 extends below the top cross frame 11, and a lifting movable frame 59 is installed at the lower end of the lifting drive rack 56. The grasping claws 3 and the depth camera 4 are respectively installed on the lifting movable frame 59.

[0034] It should be noted that the gantry type mobile handling robot of the first embodiment is equipped with a controller. The traveling drive assembly 2, the grasping claws 3, the depth camera 4, the transverse movement drive motor 53, and the lifting drive motor 57 of the first embodiment are respectively electrically connected to the controller. During operation, the controller controls the actions of the traveling drive assembly 2, the grasping claws 3, the depth camera 4, the transverse movement drive motor 53, and the lifting drive motor 57 respectively.

[0035] For the grasping drive assembly 5 of the first embodiment, it can drive the grasping claws 3 to move horizontally and vertically. Among them, during the process of the grasping drive assembly 5 driving the grasping claws 3 to move horizontally and transversely, the controller controls the two transverse movement drive motors 53 to act synchronously. Since the transverse movement drive synchronous wheels 54 installed on the power output shafts of the respective transverse movement drive motors 53 mesh with the corresponding transverse movement drive synchronous belts 55, when the transverse movement drive motors 53 drive the corresponding transverse movement drive synchronous wheels 54 to rotate, the entire transverse moving frame 51 moves horizontally and transversely along the left - right direction. During this process, the respective transverse guide wheels 52 roll along the corresponding transverse guide rails 111, and the grasping claws 3 move horizontally and transversely synchronously with the transverse moving frame 51. During the process of the grasping drive assembly 5 driving the grasping claws 3 to move up and down, the controller controls the lifting drive motor 57 to act. The lifting drive motor 57 drives the lifting drive rack 56 to move up and down through the lifting drive gear 58. The lifting drive rack 56 that moves up and down drives the lifting movable frame 59 to move up and down synchronously, thereby enabling the grasping claws 3 and the depth camera 4 to move up and down synchronously.

[0036] When using the gantry type mobile handling robot of the first embodiment for work, the traveling drive assembly 2 acts and drives the entire gantry type mobile handling robot to move to the handling area, and makes the grasping claws 3 located in the upper area of the object to be grasped. When the grasping claws 3 grasp the object, the grasping drive assembly 5 drives the grasping claws 3 to move horizontally and transversely and move up and down, so that the grasping claws 3 accurately reach the grasping position of the object, and then the grasping claws 3 act to achieve object grasping.

[0037] It should be noted that for the gantry - type mobile handling robot of the first embodiment, when grasping an object and realizing the handling and movement of the object, the transverse moving frame 51 is supported by two transversely - arranged guide rails 111 spaced apart front and back, and the transverse moving frame 51 moves horizontally and laterally along the transverse guide rails 111 through transverse guide wheels 52; the grasping driving assembly 5 of the first embodiment is supported by a gantry structure. When grasping an object with a relatively large mass, the above - mentioned support structure and the horizontal transverse movement structure can ensure the stability of the grasping claw 3 when grasping an object with a relatively large mass.

[0038] Based on the above - mentioned situations, it can be seen that through the above - mentioned structural design, the gantry - type mobile handling robot of the first embodiment has the advantages of novel structural design and strong adaptability, and can effectively be applied to the grasping and handling of heavy objects.

[0039] Embodiment Two, as Figures 3 to 5 shown, the difference between the second embodiment and the first embodiment is that: the transverse moving frame 51 is screwed with a lifting guide seat 511 corresponding to the lifting driving rack 56, and the lifting guide seat 511 is provided with a lifting guide groove for the vertical penetration of the lifting driving rack 56.

[0040] By guiding the lifting driving rack 56 through the lifting guide groove of the lifting guide seat 511, the second embodiment can effectively ensure the accurate and stable lifting movement of the lifting driving rack 56, the lifting moving frame 59, and the grasping claw 3.

[0041] Embodiment Three, as Figure 1 and Figure 2 shown, the difference between the third embodiment and the first embodiment is that: the traveling driving assembly 2 includes a motor mounting seat 21 screwed and fastened to the lower end of the vertical leg frame 12, a traveling driving wheel 22 rotatably mounted on the lower end of the vertical leg frame 12 through a rotating shaft, the motor mounting seat 21 is screwed with a traveling driving motor 23, and the power output shaft of the traveling driving motor 23 is drivingly connected to the traveling driving wheel 22; among them, the traveling driving motor 23 is electrically connected to the controller.

[0042] In addition, the traveling driving assembly 2 further includes two one - way wheels 24 respectively rotatably mounted on the lower end of the vertical leg frame 12, one of the one - way wheels 24 is located in front of the traveling driving wheel 22, and the other one - way wheel 24 is located behind the traveling driving wheel 22.

[0043] It should be noted that the traveling driving wheel 22 and the one - way wheels 24 are respectively silent wheels.

[0044] When the gantry - type mobile handling robot of the first embodiment moves, the controller controls the actions of the respective traveling driving motors 23, and the respective traveling driving motors 23 respectively drive the corresponding traveling driving wheels 22 to rotate, thereby realizing the overall movement.

[0045] The above content is only a preferred embodiment of the present utility model. For those of ordinary skill in the art, based on the idea of the present utility model, there will be changes in the specific implementation manners and application scopes. The content of this specification should not be construed as a limitation to the present utility model.

Claims

1. A gantry - type mobile handling robot, comprising a vehicle frame (1), a walking drive assembly (2), a grasping claw (3), a depth camera (4), and a grasping drive assembly (5) for driving the movement of the grasping claw (3); It is characterized in that: The vehicle frame (1) is of a gantry structure, and the vehicle frame (1) includes a top cross - frame (11) arranged horizontally. The left end and the right end of the top cross - frame (11) are respectively provided with vertical leg frames (12) arranged vertically. The lower ends of the respective vertical leg frames (12) are respectively provided with walking drive assemblies (2); The top cross - frame (11) is provided with two transverse movement guide rails (111) arranged at intervals front - to - back and extending horizontally along the left - right direction; The grasping drive assembly (5) includes a transverse movement movable frame (51) located above the top cross - frame (11). The front end and the rear end of the transverse movement movable frame (51) are respectively rotatably installed with transverse movement guide wheels (52) that move along the corresponding side of the transverse movement guide rail (111); The transverse movement movable frame (51) is also provided with two transverse movement drive motors (53) that act synchronously and are arranged at intervals front - to - back. The power output shafts of the respective transverse movement drive motors (53) are respectively installed with transverse movement drive synchronous wheels (54); A transverse movement drive synchronous belt (55) is tightly connected between the upper ends of the two vertical leg frames (12), and the respective transverse movement drive synchronous wheels (54) are respectively engaged with the transverse movement drive synchronous belt (55) on the corresponding side; The transverse movement movable frame (51) is vertically slidably installed with a lifting drive rack (56). The transverse movement movable frame (51) is provided with a lifting drive motor (57) beside the lifting drive rack (56). The power output shaft of the lifting drive motor (57) is installed with a lifting drive gear (58), and the lifting drive gear (58) is engaged with the lifting drive rack (56); The lower end of the lifting drive rack (56) extends below the top cross - frame (11), and the lower end of the lifting drive rack (56) is provided with a lifting movable frame (59). The grasping claw (3) and the depth camera (4) are respectively installed on the lifting movable frame (59).

2. The gantry-type mobile handling robot according to claim 1, wherein: The left end and the right end of the transverse movement drive synchronous belt (55) are respectively fastened to the upper ends of the corresponding side of the vertical leg frame (12) through locking blocks (6), and each locking block (6) is respectively screwed to the upper end of the corresponding side of the vertical leg frame (12).

3. A gantry - type mobile handling robot according to claim 1, characterized in that: The transverse movement movable frame (51) is screwed with a lifting guide seat (511) corresponding to the lifting drive rack (56). The lifting guide seat (511) is provided with a lifting guide groove for the vertical passing of the lifting drive rack (56).

4. A gantry-type mobile handling robot according to claim 1, characterized in that: The walking drive assembly (2) includes a motor mounting seat (21) screwed and fastened to the lower end of the vertical leg frame (12), a walking drive wheel (22) rotatably installed at the lower end of the vertical leg frame (12) through a rotating shaft. The motor mounting seat (21) is screwed with a walking drive motor (23), and the power output shaft of the walking drive motor (23) is drivingly connected to the walking drive wheel (22); The walking drive assembly (2) further includes two one-way wheels (24) respectively rotatably mounted at the lower ends of the vertical support legs (12), one of the one-way wheels (24) being located in front of the walking drive wheel (22), and the other one-way wheel (24) being located behind the walking drive wheel (22).

5. The gantry-type mobile handling robot according to claim 4, characterized in that: The walking drive wheel (22) and the one-way wheel (24) are respectively silent wheels.

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