Door frame type transfer robot

Abstract

The utility model provides a door frame type transfer robot which comprises a vehicle body, the vehicle body comprises two symmetrically-arranged supporting pieces, and the upper ends of the two supporting pieces are connected through a cross beam; an operation area is defined by the supporting piece and the cross beam; the two driving mechanisms are arranged on the outer side of the supporting piece; the two swing arm mechanisms comprise swing arms arranged on the inner sides of the supporting pieces; a swing arm steering engine is arranged on the side portion of the supporting piece, and an output shaft of the swing arm steering engine penetrates through the connecting groove to be connected with the swing arm and controls the swing arm to rotate in the operation area. The two clamping arm mechanisms are arranged on the side portions of the swing arms and located in the operation area. By means of the carrying robot, objects can be surrounded, the good protection effect is achieved, the composition structure of the robot is simpler, and the problems that an existing carrying robot is complex in structure and poor in anti-interference capacity are solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a portal frame transport robot. Background Technology

[0002] With the continuous development of automated equipment, its application in industrial manufacturing is becoming increasingly widespread. Because automated equipment can replace a large amount of manpower, it not only saves labor costs and improves operational efficiency, but also greatly reduces the pollution and environmental impact of human activity.

[0003] In industrial manufacturing, the handling of produced goods is frequently required. Traditionally, this is done manually by workers, which is resource-intensive, labor-intensive, and inefficient. To improve production efficiency, some handling robots have emerged to replace manual labor. For example, Chinese patent CN108515508A discloses a two-wheeled robot, which is described as mainly consisting of a body, wheels, a gyroscope assembly, and a drive motor. Its innovation lies in enhancing the robot's stability and motion control through the combination of the gyroscope assembly and a control system. The gyroscope assembly includes at least one pair of gyroscopes, which are key components for providing motion stability. The movement of the gyroscopes effectively controls the robot's posture and stability. However, the described structure is overly complex and exhibits poor anti-interference capabilities, potentially leading to collisions with objects.

[0004] There is currently no effective solution to the problems of complex structure and poor anti-interference ability of existing handling robots. Utility Model Content

[0005] This invention provides a portal frame-type handling robot to address the shortcomings of existing handling robots, such as complex structure and poor anti-interference ability.

[0006] This utility model provides a door frame type handling robot, including:

[0007] The vehicle body includes two symmetrically arranged support members, the upper ends of which are connected by a crossbeam; the support members and the crossbeam surround and form an operating area.

[0008] Two drive mechanisms are provided, which are located on the outside of the support member;

[0009] Two swing arm mechanisms, each including a swing arm disposed inside the support member; a swing arm servo is disposed on the side of the support member, the output shaft of the swing arm servo passes through a connecting groove and is connected to the swing arm to control the swing arm to rotate within the operating area;

[0010] Two clamping arm mechanisms are disposed on the side of the swing arm and located within the operating area, and the clamping arm mechanisms are used to clamp the items to be transported.

[0011] According to the present invention, a gantry-type handling robot is provided, wherein the driving mechanism includes a drive motor, the output shaft of the drive motor is connected to a hub coupling via a roller bearing and a motor conversion component, and a wheel is connected to the end of the hub coupling away from the drive motor.

[0012] According to the present invention, a door frame type handling robot is provided, wherein the lower end of the support member is provided with a mounting groove, and the drive motor is fixed in the mounting groove.

[0013] According to the present invention, a gantry-type handling robot is provided, wherein the clamping arm mechanism includes a clamping arm servo motor, the clamping arm servo motor is fixedly disposed at the lower end of the swing arm, and the output shaft of the clamping arm servo motor is connected to an end hand through an extension component.

[0014] According to the present invention, a gantry-type handling robot is provided, wherein the lower end of the swing arm is provided with a mounting cavity, and the clamping arm servo is fixedly installed in the mounting cavity.

[0015] According to the present invention, a portal frame-type handling robot includes an extension assembly comprising a gear connected to the output shaft of the gripper arm servo motor; a slider and a rack are provided in the mounting cavity, and the rack meshes with the gear; a guide rail is provided on the inner wall of the mounting cavity, and the slider is slidably connected to the guide rail; a rib is provided on the side of the rack, and the rib is slidably connected to the guide rail; the rack and the slider are connected to the end hand via a scissor assembly.

[0016] According to the present invention, a gantry-type handling robot includes a scissor assembly comprising two scissor arms rotatably connected at their middle portions, and each of the two scissor arms having a limiting groove on one opposite side; one scissor arm having an end away from the end arm rotatably connected to the rack, and the other scissor arm having an end away from the end arm rotatably connected to the slider; a strip groove is provided on the back of the end arm, and the ends of both scissor arms having an end away from the rack extend into the strip groove and are movably connected to the inner wall of the strip groove.

[0017] According to the present invention, a door frame type handling robot is provided, wherein a battery assembly is provided on the side of the support member, a circuit board is provided on the crossbeam, and the battery assembly is connected to the circuit board.

[0018] According to the present invention, a portal frame type handling robot is provided, wherein the side of the support member is provided with a plurality of route planning slots, and the route planning slots are arranged at equal intervals.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] This utility model provides a portal frame-type handling robot. A swing arm servo motor drives the swing arm to rotate at a certain angle, which in turn slightly rotates the clamping arm mechanism, lifting the item to be handled off the ground and preventing friction between the item and the ground during handling, thus protecting the item. During robot movement, the main body and crossbeams act as a protective shell for the item, preventing collisions or friction with other objects, providing excellent protection. The position of the swing arm mechanism can be adjusted according to the environment during robot movement, thereby adjusting the item's position for greater flexibility. In the above process, adjusting the position of the swing arm mechanism allows for flexible adjustment of the item's position. Combined with the operating area formed by the crossbeams and supports of the main body, it can "surround" the item, providing excellent protection. Furthermore, the robot's structure is simpler, solving the problems of complex structures and poor anti-interference capabilities of existing handling robots. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram of the portal frame-type handling robot provided by this utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the vehicle body in an embodiment of this utility model;

[0024] Figure 3 This is a schematic diagram of the drive mechanism in an embodiment of this utility model;

[0025] Figure 4 This is a schematic diagram of the swing arm mechanism in an embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of the clamping arm mechanism in an embodiment of this utility model.

[0027] Figure label:

[0028] 1: Drive mechanism; 11: Wheel; 12: Hub coupling; 13: Motor conversion component; 14: Roller bearing; 15: Drive motor; 2: Body body; 21: Battery assembly; 22: Swing arm servo; 23: Circuit board; 24: Circuit planning slot; 201: Connection slot; 202: Mounting slot; 3: Swing arm mechanism; 31: Clamping arm servo; 32: Guide rail; 301: Connector; 4: Clamping arm mechanism; 41: Gear; 42: Rack; 43: Scissor lift assembly; 44: Slider; 45: Handle; 431: Scissor arm; 432: Limit slot. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0030] This utility model provides a door frame type handling robot. Figure 1 This is a structural schematic diagram of the portal frame-type handling robot provided by this utility model, as shown below. Figure 1 As shown, the robot includes:

[0031] The main body 2 includes two symmetrically arranged support members, the upper ends of which are connected by a crossbeam; the support members and the crossbeam surround and form an operating area.

[0032] Two drive mechanisms 1 are provided, and the drive mechanisms 1 are located on the outside of the support member;

[0033] Two swing arm mechanisms 3, such as Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of the main body of the vehicle body in this embodiment of the utility model. The swing arm mechanism 3 includes a swing arm disposed inside the support member; a swing arm servo 22 is disposed on the side of the support member. The output shaft of the swing arm servo 22 passes through the connecting groove 201 and is connected to the swing arm to control the swing arm to rotate inside the operating area.

[0034] Two clamping arm mechanisms 4 are located on the side of the swing arm and within the operating area. The clamping arm mechanisms 4 are used to clamp the items to be transported.

[0035] When using the robot, the drive mechanism 1 moves the robot body 2 to the object to be transported, placing the object within the robot's operating area. Then, the swing arm servo 22 adjusts the position of the swing arm, which in turn adjusts the position of the gripping arm mechanism 4, clamping the object. Next, the swing arm servo 22 rotates the swing arm at a certain angle, causing the gripping arm mechanism 4 to rotate slightly, lifting the object off the ground to prevent friction during transport and protect it. It's important to note that the swing arm should not rotate too much; simply lifting the object off the ground is sufficient. Keeping the object within the operating area as much as possible allows the robot body and crossbeams to act as a protective shell, preventing collisions or friction with other objects. After gripping the object, the drive mechanism 1 moves the robot and object to the target area, and then the swing arm mechanism 3 and gripping arm mechanism 4 release the object. It's worth noting that the position of the swing arm mechanism 3 can be adjusted according to the environment during robot movement, thus adjusting the object's position for greater flexibility. In the above process, the position of the object can be flexibly adjusted by adjusting the position of the swing arm mechanism. Combined with the operating area formed by the crossbeam and support of the main body of the robot, the object can be "surrounded" and play a good protective role. Moreover, the robot's composition structure is simpler, which solves the problems of complex structure and poor anti-interference ability of existing handling robots.

[0036] In addition, when it is necessary to move or place items at a high place, the angle of the swing arm can be adjusted in advance so that the swing arm moves closer to the item, and then the item is picked up or put down, which further improves the robot's flexibility.

[0037] Figure 3 This is a schematic diagram of the drive mechanism in an embodiment of this utility model, as shown below. Figure 3 As shown, in some embodiments, the drive mechanism includes a drive motor 15, the output shaft of which is connected to a hub coupling 12 via a roller bearing 14 and a motor conversion component 13, and a wheel 11 is connected to the end of the hub coupling 12 away from the drive motor 15.

[0038] Specifically, the lower end of the support member is provided with a mounting groove 202, and the drive motor 15 is fixed in the mounting groove 202.

[0039] In actual use, the drive motor 15 is started, and the output shaft of the drive motor drives the wheel 11 to rotate through the motor conversion component 13 and the wheel hub coupling 12, thereby driving the robot to walk.

[0040] Figure 4 This is a schematic diagram of the swing arm mechanism in an embodiment of this utility model. Figure 5This is a schematic diagram of the clamping arm mechanism in an embodiment of this utility model, as shown below. Figure 4 and Figure 5 As shown, in some embodiments, the clamping arm mechanism 4 includes a clamping arm servo 31, which is fixedly mounted on the lower end of the swing arm, and the output shaft of the clamping arm servo 31 is connected to an end hand 45 via an extension assembly.

[0041] In this embodiment, a mounting cavity is provided at the lower end of the swing arm, and the clamping arm servo 31 is fixedly installed in the mounting cavity.

[0042] Specifically, the extension assembly includes a gear 41 connected to the output shaft of the clamp arm servo 31; a slider 44 and a rack 42 are provided inside the mounting cavity, and the rack 42 meshes with the gear 41; a guide rail 32 is provided on the inner wall of the mounting cavity, and the slider 44 is slidably connected to the guide rail 32; a rib is provided on the side of the rack 42, and the rib is slidably connected to the guide rail 32; the rack 42 and the slider 44 are connected to the end hand 45 through the scissor assembly 43.

[0043] More specifically, the scissor lift assembly 43 includes two scissor arms 431, which are rotatably connected at their middle parts. Each of the two scissor arms 431 has a limit groove 432 on one of its opposite sides. One of the scissor arms 431 is rotatably connected to the rack 42 at the end away from the end handle 45, and the other scissor arm 431 is rotatably connected to the slider 44 at the end away from the end handle 45. A strip groove is provided on the back of the end handle 45, and the ends of the two scissor arms 431 that are away from the gear 41 extend into the strip groove and are movably connected to the inner wall of the strip groove.

[0044] In actual use, the clamping arm servo motor 31 drives the gear 41 to rotate, which in turn drives the rack 42 to move up and down. The rack 42 and the slider 44 cooperate to drive the two scissor arms 431 to clamp or loosen.

[0045] For the connection method of the scissor arms 431 and the end handles 45, for example, strip-shaped grooves can be provided on both sides of the strip groove, and a round rod can be provided laterally at the end of the scissor arms 431. The two ends of the round rod are respectively inserted into the two grooves and fit against the inner wall of the groove. With the above structure, the ends of the two scissor arms 431 can not only rotate relative to the end handles 45, but also slide up and down in the strip groove, thereby realizing the clamping and releasing states. When the two scissor arms 431 are clamped, the end handles 45 can be pushed outward, so that the two end handles 45 are close to each other and clamp the item; when the two scissor arms 431 are released, the end handles 45 can be pulled inward, so that the two end handles 45 are separated and the item is released.

[0046] In some embodiments, a battery assembly 21 is provided on the side of the support member, and a circuit board 23 is provided on the crossbeam, with the battery assembly 21 connected to the circuit board 23.

[0047] In this embodiment, the circuit board 23 is connected to the drive motor 15, the swing arm servo motor 22, and the gripper arm servo motor 31. The circuit board 23 can control the robot's walking, the rotation of the swing arm, and the clamping and releasing of the end effector, making the robot more intelligent. Furthermore, the battery assembly 21 powers all electrical components, eliminating the need for an external power source and making the robot more convenient.

[0048] Furthermore, the side of the support component is provided with several wiring planning slots 24, which are evenly spaced. By providing wiring planning slots 24, it is convenient to fix and arrange the wires connecting the various components on the robot, which facilitates later maintenance and the overall aesthetics of the robot. It also prevents the wires from getting tangled with other objects during robot movement, thus improving the stability of the robot during movement.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A door frame type carrying robot characterized by, Include: The body main body (2) includes two symmetrical support, the upper end of two support is connected by beam; The support and the beam enclose the operation area; Two drive mechanism (1), the drive mechanism (1) is arranged in the outside of the support; Two swing arm mechanism (3), the swing arm mechanism (3) includes the swing arm arranged in the inside of the support; The side of the support is provided with swing arm steering wheel (22), the output shaft of swing arm steering wheel (22) passes through connecting groove (201) and is connected with the swing arm and controls the swing arm rotates in the operation area inside; Two clamping arm mechanism (4), the clamping arm mechanism (4) is arranged in the side of the swing arm and is located in the operation area, the clamping arm mechanism (4) is used for clamping the article to be carried.

2. The doorframe-style handling robot of claim 1, wherein, The drive mechanism includes drive motor (15), the output shaft of drive motor (15) is connected with wheel hub coupling (12) through roller bearing (14) and motor conversion component (13), one end of wheel hub coupling (12) away from drive motor (15) is connected with wheel (11).

3. The doorframe-style handling robot of claim 2, wherein, The lower end of the support is provided with mounting groove (202), and the drive motor (15) is fixed in the mounting groove (202).

4. The doorframed handling robot according to claim 1, characterized in that, The clamping arm mechanism (4) includes clamping arm steering wheel (31), and the clamping arm steering wheel (31) is fixedly arranged at the lower end of the swing arm, and the output shaft of the clamping arm steering wheel (31) is connected with end hand (45) through extension assembly.

5. The doorframe-style handling robot of claim 4, wherein, The lower end of the swing arm is provided with a mounting cavity, and the clamping arm steering wheel (31) is fixedly arranged in the mounting cavity.

6. The doorframe-style handling robot of claim 5, wherein, The extension assembly includes a gear (41) connected to the output shaft of the clamping arm steering wheel (31); A sliding block (44) and a rack (42) are arranged in the mounting cavity, and the rack (42) is engaged with the gear (41); The inner wall of the mounting cavity is provided with a guide rail (32), and the sliding block (44) is slidably connected with the guide rail (32); The side of the rack (42) is provided with a rib, and the rib is slidably connected with the guide rail (32); The rack (42) and the sliding block (44) are connected with the end hand (45) through a scissors assembly (43).

7. The doorframe-style handling robot of claim 6, wherein, The scissors assembly (43) includes two scissors arms (431), and the middle parts of the two scissors arms (431) are rotatably connected; One end of one of the scissors arms (431) away from the end hand (45) is rotatably connected with the rack (42), and the other end of the other scissors arm (431) away from the end hand (45) is rotatably connected with the sliding block (44); The back of the end hand (45) is provided with a slot, and the ends of the two scissors arms (431) away from the gear (41) extend into the slot and are movably connected with the inner wall of the slot.

8. The doorframe-style handling robot of claim 7, wherein, The opposite sides of the two scissors arms (431) are provided with limit grooves (432).

9. The doorframing handling robot according to claim 1, characterized in that, The side of the support is provided with a battery assembly (21), and the circuit board (23) is arranged on the beam, and the battery assembly (21) is connected with the circuit board (23).

10. The door-framing handling robot according to claim 1, characterized in that, The side of the support is provided with several circuit planning grooves (24) which are arranged at equal intervals.

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