Efficient moving and stacking composite robot

Abstract

The utility model discloses an efficient moving stacking composite robot which comprises a moving chassis, a vertical moving device and a multi-axis manipulator, the moving chassis is movably arranged, a platform is arranged on the upper wall of the moving chassis, the vertical moving device is arranged on the platform, and the multi-axis manipulator is arranged on the platform. The vertical moving device comprises a cylinder body provided with an inner cavity, a ball screw pivotally mounted in the middle of the inner cavity and a telescopic rod slidably mounted on the cylinder body, a driving cavity is formed in the middle of the telescopic rod, the driving cavity is provided with a screw nut matched with the ball screw, and a positioning seat is arranged at the top end of the telescopic rod; a guide device is arranged at the position, located on the side of the positioning seat, of the platform, and a base of the multi-axis manipulator is installed on the upper wall of the positioning seat. The guide device is arranged on the positioning seat, so that the stability and precision of vertical movement of the multi-axis manipulator are guaranteed, the load of the vertical movement device is reduced, the precision of vertical movement can be guaranteed, the movement radius of the multi-axis manipulator is increased, and the carrying stability is improved.

Description

Technical Field

[0001] The utility model relates to the field of mobile robots, in particular to a high-efficiency mobile palletizing composite robot. Background Art

[0002] With the development of industrial automation, mobile robots (AGV robots) have also developed, which play a role in the transportation and handling of materials, realizing unmanned production and processing.

[0003] At that time, one problem with existing robots was that when the materials were high (such as stacked) or the products were large, the robot arm would often be insufficient in length or height. The existing practice was generally to increase the number of joints in the robot arm and thus increase its range of motion to achieve multi-dimensional material handling.

[0004] However, in actual work, it is found that when a robot arm is added, its working clearance will increase accordingly, and the torque will also increase with the addition of the robot arm. Therefore, the requirements for the machinery are also higher, and the production cost will also increase accordingly. Utility Model Content

[0005] The main purpose of this utility model is to propose an efficient mobile palletizing compound robot, aiming to improve the structure of the mobile robot, thereby increasing the activity radius of the robot arm, ensuring production stability while ensuring travel accuracy, and with less increase in mechanical costs.

[0006] To achieve the above objectives, the present invention proposes a highly efficient mobile palletizing composite robot, comprising:

[0007] A mobile chassis, the mobile chassis is movably arranged, and an upper wall of the mobile chassis is provided with a platform;

[0008] A vertical moving device is provided on the platform. The vertical moving device includes a cylinder body with an inner cavity, a ball screw pivotally mounted in the middle of the inner cavity, and a telescopic rod slidably mounted on the cylinder body. A driving cavity is provided in the middle of the telescopic rod. The driving cavity is provided with a screw nut that cooperates with the ball screw. A positioning seat is provided at the top of the telescopic rod.

[0009] The platform is provided with a guide device at the side of the positioning seat.

[0010] The driving device is located on the side of the platform wall away from the guide device.

[0011] A multi-axis manipulator, wherein the base of the multi-axis manipulator is installed on the upper wall of the positioning seat.

[0012] In the actual design, the vertical movement of the multi-axis manipulator is realized through the cooperation of the cylinder, telescopic rod, ball screw, screw nut and drive device. At the same time, a guide device is set on the positioning seat to ensure the stability and accuracy of the vertical movement of the multi-axis manipulator, reduce the load blown to the moving device, and ensure the accuracy of the vertical movement, thereby increasing the moving radius of the multi-axis manipulator and improving the stability of handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0014] Figure 2 It is a three-dimensional schematic diagram of the vertical moving device;

[0015] Figure 3 It is a cross-sectional view of the vertical moving device;

[0016] Figure 4 This is a schematic diagram of the mobile chassis;

[0017] Figure 5 Schematic diagram of the drive wheel.

[0018] In the figure,

[0019] 1 is a mobile chassis, 10 is a platform, 11 is a universal wheel, 12 is a driving wheel, 13 is a base, 14 is a sliding seat, 15 is a guide rod, 16 is a driving motor, 17 is a spring,

[0020] 2 is a vertical moving device, 20 is a positioning seat, 21 is a cylinder, 22 is a telescopic rod,

[0021] 31 is a ball screw, 32 is a screw nut, 33 is a rotary servo motor,

[0022] 4 is a pivot cavity,

[0023] 5 is a positioning frame, 51 is a vertical guide rail, 52 is a vertical slider, 53 is a connecting frame,

[0024] 6 is a manipulator. DETAILED DESCRIPTION

[0025] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...), then the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0027] In addition, if there are descriptions involving "first" or "second" in the embodiments of the present invention, the descriptions of "first" or "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] like Figures 1 to 5 As shown, a high-efficiency mobile palletizing composite robot includes:

[0029] A mobile chassis 1, wherein the mobile chassis 1 is movably provided, and a platform 10 is provided on the upper wall of the mobile chassis 1;

[0030] The vertical moving device 2 is provided on the platform 10. The vertical moving device 2 includes a cylinder 21 with an inner cavity, a ball screw 31 pivotally mounted in the middle of the inner cavity, and a telescopic rod 22 slidably mounted on the cylinder 21. The middle of the telescopic rod 22 is provided with a drive cavity, and the drive cavity is provided with a screw nut 32 that cooperates with the ball screw 31. The top of the telescopic rod 22 is provided with a positioning seat 20.

[0031] The platform 10 is provided with a guide device at the side of the positioning seat 20.

[0032] The driving device is arranged on the side of the upper wall of the platform 10 away from the guide device.

[0033] The multi-axis manipulator 6 has its base mounted on the upper wall of the positioning seat 20 .

[0034] In the actual design, the vertical movement of the multi-axis manipulator is realized through the cooperation of the cylinder 21, the telescopic rod 22, the ball screw 31, the screw nut 32 and the driving device. At the same time, a guide device is set on the positioning seat 20 to ensure the stability and accuracy of the vertical movement of the multi-axis manipulator, reduce the load blown to the moving device, and ensure the accuracy of the vertical movement, thereby increasing the moving radius of the multi-axis manipulator and improving the stability of transportation.

[0035] Specifically, the guiding device includes a positioning frame 5 arranged on one side of the cylinder body 21, vertical guide rails 51 arranged on both sides of the positioning frame 5, and a vertical slider 52 slidably installed on the vertical guide rail 51. The vertical slider 52 has a connecting frame 53 extending horizontally, and the connecting frame is connected to both sides of the lower wall of the positioning seat 20.

[0036] In the embodiment of the present invention, the height of the connecting frame is adapted to the height of the cylinder body 21 , thereby ensuring the load-bearing capacity of the vertical moving device 2 and thus ensuring the sliding stability.

[0037] Specifically, a pivot cavity 4 is provided at the bottom of the cylinder body 21, and the bottom end of the ball screw 31 extends into the pivot cavity 4 as the first driving end. The driving device is provided on one side of the cylinder body 21 and on the other side of the positioning frame 5, thereby ensuring the maximization of the volume and making the mechanism more streamlined.

[0038] In the embodiment of the present invention, the driving device is a rotary servo motor 33, and the second driving end of the rotary servo motor 33 and the first driving end of the ball screw 31 are connected through a gear set or a gear belt, thereby ensuring a predetermined torque and a predetermined load-bearing capacity.

[0039] Specifically, the mobile chassis 1 includes four universal wheels 11 provided on its bottom wall and two sets of driving wheels 12 provided between two adjacent universal wheels 11.

[0040] The two groups of driving wheels 12 are driven by two groups of rotating devices respectively. In the actual movement of the mobile chassis 1, the speed difference of the two rotating devices is used to realize the turning of the mobile chassis 1, thereby reducing the steering device (no need to specially set the steering mechanism).

[0041] In an embodiment of the present utility model, the driving wheel 12 includes a base 13 detachably mounted on the mobile chassis 1, a guide rod 15 extending downward from the base 13, and a sliding seat 14 slidably mounted on the guide rod 15. A driving wheel 18 is pivotally mounted on one side of the sliding seat 14, and a rotating device connected to the driving wheel is provided on the other side of the sliding seat 14, and the rotating device is a driving motor 16.

[0042] Specifically, the sliding seat 14 is provided with a guide sleeve for the guide rod 15 to extend into.

[0043] In the embodiment of the present utility model, there are two groups of guide rods 15, and a spring 17 is provided between the two guide rods 15. The two ends of the spring 17 are respectively connected to the upper wall of the sliding seat 14 provided on the lower wall of the base 13, thereby realizing the elastic movement of the driving wheel.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the practical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A high-efficiency mobile palletizing composite robot, characterized in that: include: A mobile chassis, wherein the mobile chassis is movably arranged, and an upper wall of the mobile chassis is provided with a platform; A vertical moving device is provided on the platform. The vertical moving device includes a cylinder body with an inner cavity, a ball screw pivotally mounted in the middle of the inner cavity, and a telescopic rod slidably mounted on the cylinder body. A driving cavity is provided in the middle of the telescopic rod. The driving cavity is provided with a screw nut that cooperates with the ball screw. A positioning seat is provided at the top of the telescopic rod. The platform is provided with a guide device at the side of the positioning seat. The driving device is located on the side of the platform wall away from the guide device. A multi-axis manipulator, wherein the base of the multi-axis manipulator is installed on the upper wall of the positioning seat.

2. The high-efficiency mobile palletizing compound robot according to claim 1, characterized in that: The guiding device includes a positioning frame arranged on one side of the cylinder body, vertical guide rails arranged on both sides of the positioning frame, and a vertical slider slidably installed on the vertical guide rails. The vertical slider is horizontally extended with a connecting frame, and the connecting frame is connected to both sides of the lower wall of the positioning seat.

3. The high-efficiency mobile palletizing compound robot according to claim 2, characterized in that: The height of the connecting frame is consistent with the height of the cylinder body.

4. The high-efficiency mobile palletizing compound robot according to claim 2, characterized in that: A pivot cavity is provided at the bottom of the cylinder body, and the bottom end of the ball screw extends into the pivot cavity to form a first driving end. The driving device is provided on one side of the cylinder body and on the other side of the positioning frame.

5. The high-efficiency mobile palletizing compound robot according to claim 1, characterized in that: The driving device is a rotary servo motor, and the second driving end of the rotary servo motor and the first driving end of the ball screw are connected through a gear set or a gear belt.

6. The high-efficiency mobile palletizing compound robot according to claim 1, characterized in that: The mobile chassis includes four universal wheels arranged on its bottom wall and two sets of driving wheels arranged between two adjacent universal wheels. The two sets of driving wheels are driven by two sets of rotating devices respectively.

7. The high-efficiency mobile palletizing compound robot according to claim 6, characterized in that: The driving wheel includes a base detachably mounted on the mobile chassis, a guide rod extending downward from the base, and a sliding seat slidably mounted on the guide rod. A driving wheel is pivotally mounted on one side of the sliding seat, and a rotating device connected to the driving wheel is provided on the other side of the sliding seat. The rotating device is a driving motor.

8. The high-efficiency mobile palletizing compound robot according to claim 7, characterized in that: The sliding seat is provided with a guide sleeve for the guide rod to extend into.

9. The high-efficiency mobile palletizing compound robot according to claim 8, characterized in that: The guide rods are provided with two groups, a spring is provided between the two guide rods, and the two ends of the spring are respectively connected with the upper wall of the sliding seat provided on the lower wall of the base.

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