Manual dragging type mobile robot system

Abstract

The utility model discloses a manual dragging type mobile robot system, which relates to the field of mobile robot systems, and comprises a base, the top end of the base is connected with a stand column, one end of the stand column far away from the base is provided with a lifting stand column, and one end of the lifting stand column close to the stand column is rotatably connected with the stand column through a slewing bearing; one side end of the lifting stand column is connected with a rotating large arm, the end, away from the lifting stand column, of the rotating large arm is connected with a floating mechanism, and the end, away from the rotating large arm, of the floating mechanism is connected with a machining tool and a handle assembly. According to the robot system, a series of design improvements are carried out on the basis of an original system structure, the labor intensity of operators is greatly relieved through the robot system, and the operation efficiency is improved; operation is easy, using is flexible, the tail end tool is good in stability and stable in machining, and the machining quality is improved.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot systems, specifically a manually dragged mobile robot system. Background Technology

[0002] In production and processing, some production processes require workers to use hand-held processing tools. However, some processing tools are quite heavy, making it difficult for workers to hold them. Moreover, it is difficult to ensure the stability of the tools, which leads to a lack of quality control. Hand-held processing increases the workload of workers and also increases the risk factor for their operations. Utility Model Content

[0003] The objective of this utility model is achieved through the following technical solution:

[0004] A manually draggable mobile robot system includes a base, a column connected to the top of the base, a lifting column at the end of the column away from the base, and a rotatable connection between the lifting column and the column at the end near the column via a slewing bearing.

[0005] A rotating arm is connected to one end of the lifting column. A floating mechanism is installed at the end of the rotating arm away from the lifting column. A processing tool and handle assembly are installed at the end of the floating mechanism away from the rotating arm.

[0006] Preferably, the base is provided with extension legs on all four sides, one end of the extension leg is movably inserted into the base and is limited to the base by a pin, and the other end of the extension leg is connected to an adjustable foot cup.

[0007] Support feet for supporting and stabilizing the base are installed around the bottom of the base.

[0008] Preferably, a clamp is installed and connected to one end of the lifting column near the column, and the clamp is used to limit the rotation of the lifting column and the column.

[0009] The lifting column is also equipped with an NMI human-machine interface system at one end near the column.

[0010] Preferably, the rotating arm includes a first cantilever and a second cantilever;

[0011] One end of the first cantilever is fixedly connected to the lifting column, and the other end of the first cantilever is rotatably connected to the second cantilever through a rotating structure.

[0012] The end of the second cantilever away from the first cantilever is used for connection with the floating mechanism.

[0013] Preferably, the rotating structure includes a rotating shaft;

[0014] The rotating shaft is used to rotatably connect the first cantilever and the second cantilever.

[0015] Preferably, the floating mechanism includes a floating connecting column;

[0016] One end of the floating connecting column is used to connect with the second cantilever, and the other end of the floating connecting column is connected to a linear guide rail. A floating seat is provided at the end of the floating connecting column away from the second cantilever. The floating seat is movable up and down through the linear guide rail and the floating connecting column.

[0017] A balancing cylinder is provided at one end of the floating connecting column near the floating seat. The cylinder body of the balancing cylinder is fixed to the floating connecting column by bolts, and the output rod of the balancing cylinder is connected to the floating seat through a hinged seat.

[0018] Preferably, the end of the floating seat away from the floating connecting column is connected to a mounting base via a rotating forearm, and the processing tool and handle assembly are used for mounting on the mounting base.

[0019] The beneficial effects of this utility model are as follows: The purpose of this utility model is to provide a manually draggable mobile robot system. This robot system has undergone a series of design improvements on the original system structure. Through this robot system:

[0020] 1. It will greatly reduce the labor intensity of operators and improve work efficiency;

[0021] 2. Simple to operate, flexible to use, with good stability of the end tool, stable processing, and improved processing quality. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the connection structure of the manually dragged mobile robot system of this utility model;

[0023] Figure 2 This is a schematic diagram of the base connection structure of the manually dragged mobile robot system of this utility model;

[0024] Figure 3 This is a schematic diagram of the rotating arm connection structure of the manually dragging mobile robot system of this utility model;

[0025] Figure 4 This is a schematic diagram of the floating mechanism connection structure of the manually dragged mobile robot system of this utility model;

[0026] In the diagram, 1. Chassis, 2. Column, 3. NMI human-machine interface system, 4. Slewing bearing, 5. Clamping device, 6. Lifting column, 7. Rotating boom, 8. Floating mechanism, 10. Machining tool, 11. Handle assembly, 1-1. Base, 1-2. Level, 1-3. Extension support leg, 1-4. Adjustable foot cup, 1-5. Pin, 1-6. Support foot cup, 7-1. First cantilever, 7-2. Second cantilever, 7-3. Rotating shaft, 7-4. Tapered roller bearing, 7-7. Floating connecting column, 8-1. Balance cylinder, 8-2. Floating seat, 8-4. Linear guide rail. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] Example 1

[0029] like Figures 1 to 4 As shown, a manually draggable mobile robot system has undergone a series of design improvements based on the original system structure. The robot system includes a base 1, with a column 2 connected to the top of the base 1. A lifting column 6 is located at the end of the column 2 furthest from the base 1. The end of the lifting column 6 closest to the column 2 is rotatably connected to the column 2 via a slewing bearing 4. A rotating arm 7 is connected to one side of the lifting column 6. A floating mechanism 8 is installed at the end of the rotating arm 7 furthest from the lifting column 6. A processing tool 10 and a handle assembly 11 are installed at the end of the floating mechanism 8 furthest from the rotating arm 7.

[0030] Furthermore, the base 1 is provided with extension legs 1-3 on all four sides. One end of the extension legs 1-3 is movably inserted into the base 1 and is limited in movement with the base 1 by a pin 1-5. The other end of the extension legs 1-3 is connected to an adjustable foot cup 1-4. Support feet 1-6 for supporting and stabilizing the base are installed on all four sides of the bottom of the base 1. A level 1-2 is also installed on the top surface of the base 1. A clamp 5 is installed on the end of the lifting column 6 near the column 2, which is used to limit the rotation of the lifting column 6 and the column 2. An NMI human-machine interface system 3 is also installed on the end of the lifting column 6 near the column 2.

[0031] In this embodiment, the robot system's base 1 is equipped with extended support legs 1-3 to adjust its level, thereby increasing chassis stability. The base 1 can be an AGV or a passively towed chassis. The lifting column 6 is placed on the column 2, connected by a slewing bearing 4 and fitted with a clamp 5 to achieve 360-degree rotation and locking of the entire rotating arm 7. The robot system includes an NMI (Network Machine Interface) system 3, which allows for setting machining tool parameters and displaying robot system machining information.

[0032] Meanwhile, the rotating boom 7 includes a first cantilever 7-1 and a second cantilever 7-2; one end of the first cantilever 7-1 is connected and fixed to the lifting column 6, and the other end of the first cantilever 7-1 is rotatably connected to the second cantilever 7-2 through a rotating structure; the end of the second cantilever 7-2 away from the first cantilever 7-1 is used to connect to the floating mechanism.

[0033] The rotating structure includes a rotating shaft 7-3, which rotatably connects the first cantilever 7-1 and the second cantilever 7-2. A tapered roller bearing 7-4 is mounted on the rotating shaft 7-3, which is connected to the first cantilever 7-1. The other end of the rotating shaft 7-3 is connected to the second cantilever 7-2, thus rotatably connecting the first cantilever 7-1 and the second cantilever 7-2. Furthermore, a brake disc is mounted on the end of the rotating shaft 7-3 near the first cantilever 7-1 to limit the rotation of the rotating shaft 7-3.

[0034] The rotating boom 7 is moved manually by dragging. Each joint is equipped with a stop brake disc 7-6, which can fix each joint and ensure the stability of the end processing tool 10 when it is working.

[0035] Example 2

[0036] Based on Embodiment 1, the floating mechanism 8 includes a floating connecting column 7-7; one end of the floating connecting column 7-7 is connected to the second cantilever 7-2, and the other end of the floating connecting column 7-7 is connected to a linear guide rail 8-4. A floating seat 8-2 is provided at the end of the floating connecting column 7-7 away from the second cantilever 7-2. The floating seat 8-2 is movable up and down with the floating connecting column 7-7 via the linear guide rail 8-4. A balancing cylinder 8-1 is provided at the end of the floating connecting column 7-7 near the floating seat 8-2. The cylinder body of the balancing cylinder 8-1 is fixed to the floating connecting column 7-7 by bolts, and the output rod of the balancing cylinder 8-1 is connected to the floating seat 8-2 via a hinge. A mounting base is connected to the end of the floating seat 8-2 away from the floating connecting column 7-7 via a rotating arm. The processing tool 10 and the handle assembly 11 are mounted on the mounting base.

[0037] Example 3

[0038] Furthermore, in the embodiments, such as Figure 1 The overall structure diagram is shown below:

[0039] 1) The operator moves the equipment to the required position and extends the extended support legs to adjust the levelness and stability of the chassis 1;

[0040] 2) Both the clamp and the brake disc are normally closed. When the operator presses the button on the handle 11 to open the clamp and the brake disc, the operator can drag the processing tool 10 to the approximate processing position and release the button to fix the rotating arm.

[0041] 3) Press the open button on the floating mechanism 8 and the rotating arm 9, fine-tune the position of the machining tool 10, and adjust the machining tool 10 to the final machining position;

[0042] 4) The operator presses the run button on machining tool 10 to perform workpiece machining operations;

[0043] 5) Operators can set the processing parameters of the processing tool 10 and query the processing information of the equipment through the NMI human-machine interface system 3.

[0044] like Figure 2 The base structure diagram is shown below:

[0045] After the chassis 1 is moved to the desired position, pull out the extension support leg 1-3 and insert the pin to fix the extension support leg; adjust the adjusting foot cup 1-4 and the observation level 1-2 to adjust the level of the chassis; the extension support leg can increase the stability of the chassis, thereby ensuring the stability of the machining tool.

[0046] like Figure 3 The schematic diagram of the rotating boom is shown below:

[0047] The rotating boom 7 includes a first cantilever 7-1 and a second cantilever 7-2, which are connected by a rotary bearing in the middle, allowing the machining tool 10 to move a large horizontal distance. A normally closed brake disc is provided at the joint. By controlling the brake disc to open with a button, the angle of the first cantilever 7-1 and the second cantilever 7-2 can be adjusted.

[0048] like Figure 4 The schematic diagram of the floating mechanism is shown below:

[0049] The floating mechanism 8 is guided by double linear guide rails 8-4 and supported by a balance cylinder 8-1, which facilitates fine-tuning of the machining tool 10 up and down. After fine-tuning, the clamp locks to ensure the stability of the machining tool 10 during operation.

[0050] In summary, this robot system will greatly reduce the labor intensity of operators and improve work efficiency; moreover, the robot system is simple to operate, flexible to use, has good end-effector stability, stable processing, and improves processing quality.

Claims

1. A mobile robot system of the artificial towed type, characterized in that, Including base, the top end of base is connected with stand, the end away from base of stand is provided with lifting column, the end close to stand of lifting column is connected with stand through swing support and is connected with stand rotation; One side end of lifting column is connected with rotating large arm, the end away from lifting column of rotating large arm is installed and is connected with floating mechanism, the end away from rotating large arm of floating mechanism is installed and is connected with processing tool and handle assembly.

2. The mobile robot system of artificial towed type according to claim 1, characterized in that, The periphery of the base is provided with an extension leg, one end of the extension leg is movably arranged in the base, and the extension leg is movably arranged in the base by a latch, the other end of the extension leg is movably arranged in the base by a latch, and the other end of the extension leg is movably arranged in the base by a latch. The bottom end of the base is movably arranged in the base by a latch, and the bottom end of the base is movably arranged in the base by a latch.

3. The mobile robot system of artificial towed type according to claim 2, characterized in that, The bottom end of the base is movably arranged in the base by a latch, and the bottom end of the base is movably arranged in the base by a latch. The end close to the stand of the lifting column is installed and is connected with a clamp, and the clamp is used for limiting the rotation of the lifting column and the stand; 4. The mobile robot system of artificial towed type according to claim 3, characterized in that, The end close to the stand of the lifting column is installed and is connected with an NMI man-machine interface system. The rotating large arm includes a first cantilever and a second cantilever. One end of the first cantilever is connected with the lifting column, and the other end of the first cantilever is rotatably connected with the second cantilever through a rotating structure.

5. The mobile robot system of artificial towed type according to claim 4, characterized in that, The end away from the first cantilever of the second cantilever is used for connecting with the floating mechanism. The rotating structure includes a rotating shaft.

6. The mobile robot system of artificial towed type according to claim 5, characterized in that, The rotating shaft is used for rotatably connecting the first cantilever with the second cantilever. The floating mechanism includes a floating connecting column. One end of the floating connecting column is used for connecting with the second cantilever, the other end of the floating connecting column is connected with a linear guide rail, the end away from the second cantilever of the floating connecting column is provided with a floating seat, and the floating seat is movably arranged with the floating connecting column through the linear guide rail.

7. The mobile robot system of artificial towed type according to claim 6, characterized in that, The end close to the floating seat of the floating connecting column is provided with a balance cylinder, the cylinder body of the balance cylinder is fixed on the floating connecting column through bolts, and the output end rod body of the balance cylinder is connected with the floating seat through a hinged seat. The end away from the floating connecting column of the floating seat is connected with a mounting seat through a rotating small arm, and the processing tool and handle assembly are used for mounting and connecting on the mounting seat.

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