Wheel type single-arm robot capable of being lifted up and down

Abstract

The utility model discloses a wheel type one-armed robot capable of lifting up and down, which comprises a movable chassis and a lifting part arranged on the movable chassis, a robot body is arranged at the lifting end of the lifting part, a six-degree-of-freedom mechanical arm is arranged on the robot body, and the six-degree-of-freedom mechanical arm is arranged on the movable chassis. A balance weight plate is arranged on the side, opposite to the six-degree-of-freedom mechanical arm, of the robot body. According to the wheeled single-arm robot capable of being lifted up and down, the structure is simple, the working range of the six-degree-of-freedom mechanical arm in the vertical direction is conveniently enlarged through the lifting piece, the load of the robot is conveniently increased through the arrangement of the balance weight plate, and the stability of the robot in the working process is guaranteed; and furthermore, the dustproof effect of the robot is improved through the structure of the lifting piece.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms with drive devices, and more particularly to a wheeled single-arm robot with vertical lifting capability. Background Technology

[0002] Currently, three main operational modes are used in industrial settings: manual operation, specialized automated equipment, and general-purpose industrial robots. Practical experience shows that while manual operation offers flexibility, it suffers from low efficiency, with average single-piece operation time significantly longer than that of robots. Quality stability is also poor; human error and fatigue contribute to higher product defect rates, leading to increased product costs. In well-maintained factory environments, wheeled robots offer numerous advantages over traditional legged robots, including higher reliability, better economy, and greater applicability.

[0003] Existing wheeled robots are equipped with six-axis robotic arms (six-degree-of-freedom robotic arms) to perform expected tasks such as handling and picking. However, the height of these six-axis robotic arms is not adjustable, which limits their operational height range. For example, Chinese patent CN 218313576 U, entitled "A Six-Axis Handling Robotic Arm and Intelligent Robot," discloses a robot including a base and a six-axis robotic arm. The drawback of this patent is that the height of the six-axis robotic arm is not adjustable, which restricts its operational height range. Utility Model Content

[0004] To address the technical problems existing in the background art, this utility model proposes a wheeled single-arm robot with vertical lifting capability.

[0005] This utility model proposes a wheeled single-arm robot with vertical lifting capability, including a mobile chassis and a lifting component mounted on the mobile chassis. The lifting end of the lifting component is equipped with a robot body, and the robot body is provided with a six-degree-of-freedom robotic arm. A counterweight plate is provided on the side of the robot body opposite to the six-degree-of-freedom robotic arm.

[0006] The counterweights ensure the single-arm robot has good precision and facilitates high-load movements, while the movable chassis and lifting components ensure flexibility.

[0007] To facilitate the installation of the lifting component, as a further optimization of this utility model, the bottom of the lifting component extends outward with an extension plate, which is connected to the mobile chassis by fasteners.

[0008] As a further optimization of this utility model, the lifting component includes an outer sleeve, an inner sleeve, and a lifting mechanism. The inner sleeve is vertically slidably mounted on the outer sleeve, and the lifting mechanism is sleeved inside the inner sleeve. The lifting mechanism drives the inner sleeve to rise and fall. The robot body is mounted on the top of the inner sleeve. The lifting mechanism can be a component that can drive the components to rise and fall, such as an electric cylinder in the prior art.

[0009] As a further optimization of this utility model, a rolling guide is provided between the outer sleeve and the inner sleeve. The rolling guide includes a mounting base and a roller mounted on the mounting base. The mounting base is mounted on the outer sleeve or the inner sleeve, and the roller is in contact with the inner sleeve.

[0010] As a further optimization of this utility model, the rolling guide includes a first rolling guide and a second rolling guide. The mounting seat of the first rolling guide is mounted on the outer sleeve, and the roller of the first rolling guide contacts the inner sleeve. The second rolling guide is mounted on the inner sleeve, and the roller of the second rolling guide contacts the outer sleeve. When the inner sleeve extends beyond the maximum displacement of the outer sleeve, the second rolling guide and the first rolling guide come into contact.

[0011] This design facilitates limiting the movement of the inner sleeve relative to the outer sleeve, and also allows for the restriction of the inner sleeve's displacement.

[0012] As a further optimization of this utility model, the mounting flange of the lifting mechanism can be detachably mounted on the mobile chassis.

[0013] As a further optimized solution of this utility model, the robot body includes a base plate and a side plate. The side plate is fixed on the base plate, and the base plate is fixed on the lifting end of the lifting component. The six-degree-of-freedom robotic arm is mounted on the side plate, and the counterweight plate is mounted on the base plate, with the counterweight plate opposite to the side plate.

[0014] As a further optimization of this utility model, the robot body is provided with a single-axis gimbal, the single-axis gimbal is provided with a sensor, the single-axis gimbal includes a rotary motor mounted on the robot body, the rotary motor has a support plate, and the sensor is mounted on the support plate.

[0015] As a further optimization of the present invention, the mobile chassis is an Ackerman chassis. The mobile chassis weighs approximately 50 kg, has a maximum load capacity of 100 kg, and its dimensions are 893 mm * 558 mm * 353.5 mm. The chassis has four sets of wheels, each with independent suspension. The wheels are 8-inch solid rubber wheels, providing good passability. The chassis acceleration is 2 m / s². 2 The driving speed is 4m / s.

[0016] The proposed wheeled single-arm robot with vertical lifting capability has a simple structure. The lifting mechanism facilitates the increase of the working range of the six-degree-of-freedom robotic arm in the vertical direction, and the counterweight plate facilitates the increase of its load and ensures its stability during operation. Furthermore, the structure of the lifting mechanism enhances the dustproof effect of the robot.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the connection structure between the lifting component and the mobile chassis of this utility model;

[0020] Figure 3 This is a sectional view of the lifting component of this utility model;

[0021] Figure 4 This is a partial enlarged view of the rolling guide component of this utility model;

[0022] Figure 5 This is a partial enlarged view of the robot body of this utility model;

[0023] Figure 6 This is a partially enlarged structural diagram of the single-axis gimbal of this utility model;

[0024] In the diagram: 1. Mobile chassis; 2. Lifting component; 20. Outer sleeve; 21. Inner sleeve; 22. Lifting mechanism; 220. Servo motor; 221. Mounting flange; 3. Robot body; 30. Base plate; 31. Side plate; 32. Top plate; 33. Reinforcing plate; 4. Six-degree-of-freedom robotic arm; 5. Extension plate; 6. Fastener; 7. Roller; 8. Mounting base; 90. First rolling guide; 91. Second rolling guide; 10. Counterweight plate; 11. Sensor; 12. Rotary motor; 13. Support plate; 14. Outer shell. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0026] like Figures 1-6 The illustrated wheeled single-arm robot features vertical lifting capabilities and includes a mobile chassis 1 and a lifting component 2 mounted on the chassis 1. The mobile chassis 1 is an Ackerman chassis. The chassis 1 weighs approximately 50 kg, has a maximum load capacity of 100 kg, and measures 893 mm * 558 mm * 353.5 mm. The chassis has four sets of wheels, each with independent suspension. The wheels are 8-inch solid rubber wheels, providing good maneuverability. The chassis has an acceleration of 2 m / s² and a travel speed of 4 m / s.

[0027] The lifting end of the lifting component 2 is equipped with a robot body 3, and a six-degree-of-freedom robotic arm 4 is provided on the robot body 3. A counterweight plate 10 is provided on the side of the robot body 3 opposite to the six-degree-of-freedom robotic arm 4.

[0028] The end of the six-degree-of-freedom robotic arm 4 is equipped with a material clamping mechanism (end effector) via a flange, and different material clamping mechanisms can be replaced according to different materials; the counterweight plate 10 ensures that the single-arm robot has good precision and is easy to perform high-load movements, and the movable chassis 1 and lifting component 2 ensure flexibility.

[0029] To facilitate the installation of the lifting component 2, preferably, the bottom of the lifting component 2 extends outward with an extension plate 5. The extension plate 5 is connected to the mobile chassis 1 by a fastener 6, which can be a screw or a fixing pin in the prior art.

[0030] Preferably, the lifting component 2 includes an outer sleeve 20, an inner sleeve 21, and a lifting mechanism 22. The outer sleeve 20 is mounted on the mobile chassis 1 by fasteners 6. The inner sleeve 21 is vertically slidably mounted on the inner sleeve 21. The lifting mechanism 22 is located inside the inner sleeve 21. The lifting mechanism 22 drives the inner sleeve 21 to rise and fall. The robot body 3 is mounted on the top of the inner sleeve 21. The lifting mechanism 22 can be a component that can drive the lifting of parts, such as an electric cylinder in the prior art. The cylinder body of the electric cylinder is driven to move by a servo motor 220, which increases the overall dustproof effect while ensuring that the six-degree-of-freedom robotic arm 4 can be lifted and fallen.

[0031] Preferably, a rolling guide is provided between the outer sleeve 20 and the inner sleeve 21. The rolling guide includes a mounting base 8 and a roller 7 mounted on the mounting base 8. The mounting base 8 is mounted on the outer sleeve 20 or the inner sleeve 21, and the roller 7 contacts the inner sleeve 21. Specifically, the outer sleeve 20 has a sliding hole, and the inner sleeve 21 slides within the sliding hole. A guide groove is formed at the intersection of two adjacent side walls of the sliding hole, and the inner sleeve 21 has a guide side opposite to the guide groove. The rolling guide is located in the guide groove. This ensures the accuracy of the vertical lifting of the inner sleeve 21.

[0032] Preferably, the rolling guide includes a first rolling guide 90 and a second rolling guide 91. The mounting seat 8 of the first rolling guide 90 is installed in the guide groove of the outer sleeve 20, and the roller 7 of the first rolling guide 90 contacts the guide side of the inner sleeve 21. The second rolling guide 91 is installed on the guide side of the inner sleeve 21, and the roller 7 of the second rolling guide 91 contacts the guide groove of the outer sleeve 20. When the inner sleeve 21 extends beyond the maximum displacement of the outer sleeve 20, the mounting seat 8 of the second rolling guide 91 contacts the mounting seat 8 of the first rolling guide 90. This increases the guiding effect while limiting the displacement of the inner sleeve 21.

[0033] Preferably, the mounting flange 221 of the lifting mechanism 22 is detachably mounted on the mobile chassis 1.

[0034] The robot body 3 includes a base plate 30 and a side plate 31. The side plate 31 is fixed on the base plate 30. The base plate 30 is fixed on the lifting end of the lifting component 2. The six-degree-of-freedom robotic arm 4 is mounted on the side plate 31. The counterweight plate 10 is mounted on the base plate 30 and is opposite to the side plate 31.

[0035] As a further optimization of this utility model, a top plate 32 is provided above the side plate 31 and the counterweight plate 10. In order to increase the support effect, a reinforcing plate 33 is provided between the bottom plate 30 and the top plate 32. A single-axis gimbal is provided on the top plate 32 of the robot body 3. A sensor 11 is provided on the single-axis gimbal. The single-axis gimbal includes a rotary motor 12 installed on the robot body 3. A support plate 13 is provided on the rotary motor 12. In order to achieve the dustproof effect, a shell 14 is provided on the outside of the rotary motor 12. The sensor 11 is installed on the support plate 13. The sensor 11 can be a distance sensor or the like in the prior art.

[0036] It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature.

[0040] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A wheeled single-arm robot with up-and-down lifting, characterized by, It includes a mobile chassis (1) and a lifting component (2) mounted on the mobile chassis (1). The lifting end of the lifting component (2) is equipped with a robot body (3). The robot body (3) is equipped with a six-degree-of-freedom robotic arm (4). A counterweight plate (10) is provided on the side of the robot body (3) opposite to the six-degree-of-freedom robotic arm (4).

2. The wheel-based single-arm robot with up-and-down lifting according to claim 1, wherein, The lifting component (2) has an extension plate (5) extending outward from its bottom, and the extension plate (5) is connected to the mobile chassis (1) by fasteners (6).

3. The wheel-based single-arm robot with up-and-down lifting according to claim 1, wherein, The lifting component (2) includes an outer sleeve (20), an inner sleeve (21), and a lifting mechanism (22). The inner sleeve (21) is vertically slidably mounted on the outer sleeve (20). The lifting mechanism (22) is sleeved inside the inner sleeve (21). The lifting mechanism (22) drives the inner sleeve (21) to rise and fall. The robot body (3) is mounted on the top of the inner sleeve (21).

4. The wheeled single-arm robot with vertical lifting capability according to claim 3, characterized in that, A rolling guide is provided between the outer sleeve (20) and the inner sleeve (21). The rolling guide includes a mounting base (8) and a roller (7) mounted on the mounting base (8). The mounting base (8) is mounted on the outer sleeve (20) or the inner sleeve (21), and the roller (7) is in contact with the inner sleeve (21).

5. The wheel-based single-arm robot with up-and-down lifting according to claim 4, wherein, The rolling guide includes a first rolling guide (90) and a second rolling guide (91). The mounting base (8) of the first rolling guide (90) is mounted on the outer sleeve (20). The roller (7) of the first rolling guide (90) is in contact with the inner sleeve (21). The second rolling guide (91) is mounted on the inner sleeve (21). The roller (7) of the second rolling guide (91) is in contact with the outer sleeve (20). When the inner sleeve (21) extends beyond the maximum displacement of the outer sleeve (20), the second rolling guide (91) and the first rolling guide (90) are in contact.

6. The wheel-based single-arm robot with up-and-down lifting according to claim 3, wherein, The mounting flange (221) of the lifting mechanism (22) can be detachably mounted on the mobile chassis (1).

7. The wheel-based, single-arm robot with up-and-down elevation of claim 1, wherein, The robot body (3) includes a base plate (30) and a side plate (31). The side plate (31) is fixed on the base plate (30). The base plate (30) is fixed on the lifting end of the lifting component (2). The six-degree-of-freedom robotic arm (4) is mounted on the side plate (31). The counterweight plate (10) is mounted on the base plate (30). The counterweight plate (10) is opposite to the side plate (31).

8. The wheel-based, single-arm robot with up-and-down elevation of claim 1, wherein, The robot body (3) is equipped with a single-axis gimbal, and the single-axis gimbal is equipped with a sensor (11). The single-axis gimbal includes a rotary motor (12) installed on the robot body (3). The rotary motor (12) has a support plate (13), and the sensor (11) is installed on the support plate (13).

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