Article fixing device of mobile robot

Abstract

The utility model discloses an article fixing device of a mobile robot, which structurally comprises a base, a support frame fixedly arranged on the upper portion of the front side of the base, a support fixedly arranged on the upper portion of the rear side of the base, a connecting mechanism arranged on the upper portion of the support frame, and a clamping mechanism arranged on the upper portion of the support frame. The connecting mechanism comprises a rotating disc, a first connecting shaft and a third connecting shaft, the rotating disc is rotationally connected with the upper portion of the supporting frame and penetrates through the supporting frame, one end of the first connecting shaft is rotationally connected with the rotating disc and penetrates through the rotating disc, and the other end of the first connecting shaft is rotationally connected with a second connecting shaft; one end of the third connecting shaft is rotationally connected with the other end of the second connecting shaft and penetrates through the second connecting shaft, and the clamping mechanism is arranged on the third connecting shaft. The utility model belongs to the field of mobile robots, and particularly relates to an article fixing device of a mobile robot.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of mobile robot, specifically point to a kind of mobile robot's article fixing device. BACKGROUND

[0002] Mobile robot is also called automatic guided vehicle, and it is an intelligent device that can move autonomously and execute work automatically. It can move on the ground or other surfaces. With the progress of science and technology, mobile robots are applied in various fields such as production, service and logistics.

[0003] During the transportation of workpiece articles by mobile robots, external instruments are needed to participate in the transportation of workpiece articles to mobile robots, which is inconvenient to use. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is the inconvenience of external instruments in mobile use.

[0005] To solve the above problems, the technical scheme adopted by the utility model is as follows: the utility model provides an article fixing device for mobile robot, which comprises a base, a support frame is fixedly arranged on the upper part of the front side of the base, a support is fixedly arranged on the upper part of the rear side of the base, and further comprises a connecting mechanism and a clamping mechanism. The connecting mechanism is arranged on the upper part of the support frame, and comprises a rotating disc, a first connecting shaft and a third connecting shaft. The rotating disc is rotatably connected to the upper part of the support frame and penetrates the support frame. One end of the first connecting shaft is rotatably connected to the rotating disc and penetrates the rotating disc. The other end of the first connecting shaft is rotatably connected to a second connecting shaft. One end of the third connecting shaft is rotatably connected to the other end of the second connecting shaft and penetrates the second connecting shaft. The clamping mechanism is arranged on the third connecting shaft, and comprises a mounting bracket, a second hydraulic cylinder, a connecting block and a sliding block. The fixed end of the second hydraulic cylinder is fixedly connected to the other end of the third connecting shaft. The mounting bracket is fixedly connected to the fixed end of the second hydraulic cylinder. The connecting block is fixedly connected to the movable end of the second hydraulic cylinder. The sliding block is slidably connected to the connecting block on both sides. The sliding block is slidably connected to the mounting bracket and penetrates the mounting bracket.

[0006] Further, the connecting mechanism further comprises a fourth motor, which is arranged in the support frame. The lower end of the rotating disc is shaft-connected to the fourth motor.

[0007] Further, a first motor is fixedly arranged on the side of the rotating disc. The first connecting shaft is shaft-connected to the first motor. A second motor is fixedly arranged on the outer side of one end of the second connecting shaft. The first connecting shaft and the second connecting shaft are penetratedly connected. The other end of the first connecting shaft is shaft-connected to the second motor. A third motor is fixedly arranged on the outer side of the other end of the second connecting shaft. One end of the third connecting shaft is shaft-connected to the third motor.

[0008] Further, the connecting block is provided with a first guide block on both sides, the sliding block and the connecting block are provided with a first guide groove, the first guide block and the first guide groove are in sliding fit, the first guide block and the first guide groove are in trapezoidal structure, and the connecting block is in isosceles trapezoidal structure.

[0009] Further, the mounting frame is provided with a limiting groove on the surface farthest from the second hydraulic cylinder, the sliding block is provided with a clamping plate, and the clamping plate and the limiting groove are in sliding fit.

[0010] Further, the bracket is provided with a fixing mechanism, the fixing mechanism comprises a first hydraulic cylinder, the first hydraulic cylinder is fixed to the bracket, and the first hydraulic cylinder is provided with a pressure plate at the movable end.

[0011] Further, the base is rotatably connected with universal wheels.

[0012] The mobile robot fixing device has the advantages that the connecting mechanism is used for controlling the clamping mechanism to move and clamp the workpiece, and the universal wheels are used for fixing the workpiece, so that the workpiece can be conveniently moved and fixed.

[0013] The mobile robot fixing device has the advantages that the connecting mechanism is used for controlling the clamping mechanism to move and clamp the workpiece, and the universal wheels are used for fixing the workpiece, so that the workpiece can be conveniently moved and fixed. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 It is a first overall structure schematic view of the utility model;

[0015] Fig. 2 It is a second overall structure schematic view of the utility model;

[0016] Fig. 3 It is a first local structure schematic view of the utility model;

[0017] Fig. 4 It is a second local structure schematic view of the utility model;

[0018] Fig. 5 It is a third local structure schematic view of the utility model.

[0019] Wherein, 1, base, 101, support frame, 102, support, 2, connecting mechanism, 201, rotating disc, 202, first motor, 203, first connecting shaft, 204, second motor, 205, second connecting shaft, 206, third motor, 207, third connecting shaft, 208, fourth motor, 3, clamping mechanism, 301, mounting frame, 302, second hydraulic cylinder, 303, connecting block, 304, first guide block, 305, first guide groove, 306, sliding block, 307, second guide block, 308, second guide groove, 309, limiting groove, 310, clamping plate, 4, fixing mechanism, 401, first hydraulic cylinder, 402, pressure plate, 5, universal wheel.

[0020] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0022] As Figs. 1-5 shown, the present application provides an article fixing device of a mobile robot, which comprises a base 1, a support frame 101 fixed on the upper front side of the base 1, and a support 102 fixed on the upper rear side of the base 1, further comprising a connecting mechanism 2 and a clamping mechanism 3, the connecting mechanism 2 is arranged on the upper part of the support frame 101, the connecting mechanism 2 comprises a rotating disc 201, a first connecting shaft 203 and a third connecting shaft 207, the rotating disc 201 is rotatably connected with the upper part of the support frame 101 and penetrates the support frame 101, one end of the first connecting shaft 203 is rotatably connected with the rotating disc 201 and penetrates the rotating disc 201, the other end of the first connecting shaft 203 is rotatably connected with a second connecting shaft 205, one end of the third connecting shaft 207 is rotatably connected with the other end of the second connecting shaft 205 and penetrates the second connecting shaft 205, the clamping mechanism 3 is arranged on the third connecting shaft 207, the clamping mechanism 3 comprises a mounting frame 301, a second hydraulic cylinder 302, a connecting block 303 and a sliding block 306, the fixed end of the second hydraulic cylinder 302 is fixedly connected with the other end of the third connecting shaft 207, the mounting frame 301 is fixedly connected with the fixed end of the second hydraulic cylinder 302, the connecting block 303 is fixedly connected with the movable end of the second hydraulic cylinder 302, the sliding block 306 is slidably connected with the two sides of the connecting block 303, and the sliding block 306 is slidably connected with the mounting frame 301 and penetrates the mounting frame 301.

[0023] AsFigs. 1-3 As shown, the connecting mechanism 2 further comprises a fourth motor 208, which is arranged inside the support frame 101, and the lower end of the rotating disc 201 is connected with the shaft of the fourth motor 208, for controlling the rotation of the rotating disc 201. The first motor 202 is fixedly arranged on the side of the rotating disc 201. The first connecting shaft 203 is connected with the first motor 202. The second motor 204 is fixedly arranged on the outer side of one end of the second connecting shaft 205. The other end of the first connecting shaft 203 is connected with the second connecting shaft 205. The other end of the first connecting shaft 203 is connected with the second motor 204. The third motor 206 is fixedly arranged on the outer side of the other end of the second connecting shaft 205. The first end of the third connecting shaft 207 is connected with the third motor 206, for controlling the relative rotation between the rotating disc 201, the first connecting shaft 203, the second connecting shaft 205 and the third connecting shaft 207.

[0024] As shown in the figure, Figs. 3-5 The connecting block 303 is fixedly arranged with a first guide block 304 on both sides. The sliding block 306 is slidingly connected with the connecting block 303, and a first guide groove 305 is arranged at the sliding connection position. The first guide block 304 and the first guide groove 305 are slidingly and fitly connected. The first guide block 304 and the first guide groove 305 are arranged in a trapezoidal structure. The connecting block 303 is arranged in an isosceles trapezoidal structure. Two groups of sliding blocks 306 are arranged. The sliding block 306 is fixedly arranged with a second guide block 307. A second guide groove 308 is arranged in the mounting frame 301. The second guide block 307 and the second guide groove 308 are slidingly and fitly connected. A limiting groove 309 is arranged on the surface of the mounting frame 301 which is farthest from the second hydraulic cylinder 302. The sliding block 306 is fixedly arranged with a clamping plate 310. The clamping plate 310 and the limiting groove 309 are slidingly connected, for limiting the position of the limiting groove 309.

[0025] As shown in the figure, Figs. 1-2 The bracket 102 is fixedly arranged with a fixing mechanism 4, which comprises a first hydraulic cylinder 401. The first hydraulic cylinder 401 is fixedly connected with the bracket 102. The movable end of the first hydraulic cylinder 401 is fixedly arranged with a pressing disc 402, for assisting in fixing the workpiece to be moved. The angles controlled by the first motor 202, the second motor 204, the third motor 206 and the fourth motor 208 are all less than 360°. The first motor 202, the second motor 204, the third motor 206 and the fourth motor 208 are all remotely controlled by a controller. The base 1 is rotatably connected with a universal wheel 5 at the lower part.

[0026] In use, the device is moved to the workpiece to be moved by the universal wheel 5, the fourth motor 208 is started to rotate the rotating disc 201, the first motor 202 is started to rotate the first connecting shaft 203, the second motor 204 is started to rotate the second connecting shaft 205, the third motor 206 is started to rotate the third connecting shaft 207, the clamping mechanism 3 is moved to the workpiece position, the first motor 202, the second motor 204, the third motor 206 and the fourth motor 208 are paused, the second hydraulic cylinder 302 is shortened to drive the connecting block 303 to move, under the limiting and guiding actions of the first guide groove 305 and the first guide block 304 and the second guide block 307 and the second guide groove 308, the two side sliding blocks 306 are relatively moved to be close to each other, the clamping of the workpiece is completed, then the first motor 202 is started to rotate the first connecting shaft 203, the second motor 204 is started to rotate the second connecting shaft 205, the third motor 206 is started to rotate the third connecting shaft 207, the workpiece clamped on the clamping mechanism 3 is moved to be below the fixing mechanism 4, the first hydraulic cylinder 401 is elongated to control the movement of the pressing disc 402, the clamping and fixing of the workpiece are completed, the device carrying the workpiece is moved by the universal wheel 5, the rapid carrying and moving of the workpiece can be completed, an external clamping and moving mechanism is not needed, and the use is convenient.

[0027] The above describes the utility model and its implementation mode, which is not limited, and the drawings only show one of the implementation modes of the utility model, and the actual structure is not limited thereto. In summary, if a person skilled in the art is inspired thereby, without departing from the creative purpose of the utility model, similar structural modes and embodiments are not creatively designed, which should belong to the protection scope of the utility model.

Claims

1. A mobile robot article securing device comprising a base, a support frame fixedly attached to an upper front portion of the base, and a bracket fixedly attached to an upper rear portion of the base, wherein: Also include connecting mechanism and clamping mechanism, the connecting mechanism is equipped on the upper part of the support frame, the connecting mechanism includes a rotating disc, a first connecting shaft and a third connecting shaft, the rotating disc and the upper part of the support frame are rotatably connected and penetrate the support frame, one end of the first connecting shaft is rotatably connected with the rotating disc and penetrates the rotating disc, the other end of the first connecting shaft is rotatably connected with a second connecting shaft, one end of the third connecting shaft is rotatably connected with the other end of the second connecting shaft and penetrates the second connecting shaft, the clamping mechanism is arranged on the third connecting shaft, the clamping mechanism includes a mounting frame, a second hydraulic cylinder, a connecting block and a sliding block, the fixed end of the second hydraulic cylinder is fixedly connected with the other end of the third connecting shaft, the mounting frame is fixedly connected with the fixed end of the second hydraulic cylinder, the connecting block is fixedly connected with the movable end of the second hydraulic cylinder, the sliding block is slidably connected with the two sides of the connecting block, and the sliding block is slidably connected with the mounting frame and penetrates the mounting frame.

2. The article securing device of claim 1, wherein: The connecting mechanism further comprises a fourth motor, the fourth motor is arranged in the support frame, and the lower end of the rotating disc is connected with the fourth motor.

3. The article securing device of claim 2, wherein: The first motor is fixedly arranged on the side of the rotating disc, the first connecting shaft is connected with the first motor, the second motor is fixedly arranged on the outer side of one end of the second connecting shaft, the first connecting shaft and the second connecting shaft are connected, the other end of the first connecting shaft is connected with the second motor, and the third motor is fixedly arranged on the outer side of the other end of the second connecting shaft.

4. The article securing device of claim 3, wherein: The first guide block is fixedly arranged on the two sides of the connecting block, the first guide groove is arranged on the sliding connection position of the sliding block and the connecting block, the first guide block and the first guide groove are slidably connected, the first guide block and the first guide groove are arranged in a trapezoidal structure, and the connecting block is arranged in an isosceles trapezoidal structure.

5. The article securing device of claim 4, wherein: The mounting frame is slidably connected with the limiting groove arranged on the surface farthest from the second hydraulic cylinder, the clamping plate is fixedly arranged on the sliding block, and the clamping plate is slidably connected with the limiting groove.

6. The article securing device of claim 5, wherein: The fixing mechanism is fixedly arranged on the support frame, the fixing mechanism comprises a first hydraulic cylinder, the first hydraulic cylinder is fixedly connected with the support frame, and the pressure plate is fixedly arranged on the movable end of the first hydraulic cylinder.

7. The article securing device of claim 6, wherein: The universal wheel is rotatably connected to the lower part of the base.

Images