Wheel type mobile composite truss robot

Abstract

This utility model discloses a wheeled mobile composite gantry robot, including a fixed frame. The fixed frame has a frame structure, and support columns are fixedly connected to the four corners of the bottom of the fixed frame. A moving mechanism for automatic movement of the device is provided at the bottom of the support columns. Support rods are provided between the two inner walls of the fixed frame. A first linear module is provided inside the fixed frame, and the sliding platform end of the first linear module is fixedly connected to the support rod. A second linear module is provided on the outside of the support rod, and a lifting column is provided at the moving platform end of the second linear module. A third linear module is provided on the outside of the lifting column. The beneficial effects of this utility model are: by cleverly setting multiple linear modules, this utility model realizes the flexible movement of the clamping mechanism in three-dimensional space. Combined with four independently steerable and geared motor-driven moving wheels, the robot can move freely in the work area, improving overall production efficiency and reducing production costs.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment technology, specifically a wheeled mobile composite gantry robot. Background Technology

[0002] With the accelerating pace of industrial automation, manufacturing enterprises have an increasingly urgent need for efficient and flexible material handling and processing equipment. Traditional gantry robots, with their high precision and high load capacity, perform excellently in material handling and processing tasks at fixed workstations and are widely used in various production lines. However, their fixed installation in specific locations within the workshop greatly limits their operating range. Once the production layout is adjusted or the processing tasks are changed, large-scale modifications or even reinstallation of the gantry structure are often required, which is costly, time-consuming, and labor-intensive.

[0003] Meanwhile, with the deepening promotion of the intelligent manufacturing concept, flexible production lines and intelligent warehousing and logistics have become industry development trends. These scenarios require equipment to move flexibly between different work areas, quickly respond to diverse material handling needs, and achieve collaborative operations across multiple tasks and workstations. Existing fixed gantry robots clearly cannot meet this requirement, while conventional mobile robots, although possessing flexible mobility, are difficult to match gantry robots in terms of load capacity and motion accuracy. Therefore, we propose a wheeled mobile composite gantry robot. Utility Model Content

[0004] The purpose of this invention is to provide a wheeled mobile composite gantry robot to solve the problems of limited operating range and difficulty in adapting to production layout adjustments and diversified needs of traditional gantry robots.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a wheeled mobile composite gantry robot, including a fixed frame, the fixed frame being a frame structure, with support columns fixedly connected to the four corners of the bottom of the fixed frame, a moving mechanism for realizing automatic movement of the device being provided at the bottom of the support columns, a support rod being provided between the two inner walls of the fixed frame, a first linear module being provided inside the fixed frame, and the sliding platform end of the first linear module being fixedly connected to the support rod, a second linear module being provided outside the support rod, and a lifting column being provided at the moving platform end of the second linear module, a third linear module being provided outside the lifting column, and the sliding block of the third linear module being fixedly connected to the moving platform of the second linear module, and a clamping mechanism being provided at the bottom of the lifting column.

[0006] Preferably, the moving mechanism includes a mounting plate, the bottom of the support column is fixedly connected to the mounting plate, the top of the mounting plate is fixedly mounted outside the support column, a first reduction motor is fixedly mounted, the output shaft end of the first reduction motor passes through the mounting plate and is fixedly connected to a U-shaped mounting seat, a moving wheel is rotatably connected inside the U-shaped mounting seat through a bearing, a second reduction motor is fixedly mounted on the side wall of the U-shaped mounting seat, and the output shaft end of the second reduction motor passes through the U-shaped mounting seat and is fixedly connected to the central shaft of the moving wheel.

[0007] Preferably, the clamping mechanism includes a support plate, the bottom of the lifting column is fixedly connected to the support plate, and clamping plates are symmetrically arranged at the bottom of the support plate. Clamping cylinders are symmetrically installed at both ends of the bottom of the support plate, and the piston rod ends of the two clamping cylinders are respectively fixedly connected to the two clamping plates. A sliding groove is opened at the bottom of the support plate, and a slider is integrally provided at the top of the clamping plate, and the slider is slidably connected in the sliding groove.

[0008] Preferably, the surface of the clamping plate is provided with an anti-slip pad.

[0009] Preferably, reinforcing ribs are provided between the support column and the fixing frame, as well as between the support column and the mounting plate.

[0010] Preferably, a controller is installed at the bottom end of the support column at one bottom end of the fixed frame, and laser radar sensors are installed on all four side walls of the fixed frame.

[0011] Preferably, the bottom of the lifting column is integrally provided with a protruding plate, and the top four corners of the protruding plate are provided with vertical mounting holes. The top of the mounting plate is integrally provided with a connecting plate, and the connecting plate and the protruding plate are fixedly connected by bolts.

[0012] Preferably, the clamping mechanism includes a mounting plate and suction cups mounted on the bottom of the mounting plate. The mounting plate is fixed to the bottom of the lifting column by bolts, and suction cups are evenly spaced on the bottom of the mounting plate.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This invention achieves flexible movement of the clamping mechanism in three-dimensional space by setting up multiple linear modules. The first linear module drives the support rod to move horizontally in the X-axis direction, causing the second linear module, the lifting column, and the clamping mechanism mounted on the support rod to move accordingly. The second linear module drives the lifting column to move horizontally in the Y-axis direction, further expanding the working range of the clamping mechanism in the horizontal direction. The third linear module controls the lifting of the lifting column, driving the clamping mechanism to move up and down in the vertical direction. This multi-dimensional movement design allows the robot to easily reach working points at different positions and heights, greatly expanding the operating range and meeting the handling needs in various complex scenarios, thus improving the versatility and practicality of the equipment.

[0015] The four independently steering and geared motor-driven wheels of this invention enable the robot to move freely within the work area and flexibly adjust its working position according to production needs, without the need for complex installation and modification.

[0016] The robot of this invention is equipped with a lidar sensor that can scan the surrounding environment in real time and transmit the environmental data to the controller. The controller then plans the optimal movement path based on the data, achieving trackless autonomous transport. This intelligent navigation method enables the robot to autonomously avoid obstacles in complex environments without frequent human intervention, significantly improving the accuracy and efficiency of transport. Simultaneously, the robot can be integrated into an AGV scheduling system to interact and collaborate with other intelligent devices. On the production line, it can work closely with other robots and automated equipment, completing various tasks systematically according to a pre-set production process. This reduces waiting time and human error in the production process, further improving overall production efficiency and lowering production costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a side view structural diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the present invention when clamping materials;

[0020] Figure 4 This is a structural diagram of the feeding process of this utility model.

[0021] In the diagram: 1. Fixed frame; 2. Support column; 21. Reinforcing rib; 3. Moving mechanism; 31. Mounting plate; 32. First geared motor; 33. U-shaped mounting base; 34. Second geared motor; 35. Moving wheel; 4. First linear module; 5. Support rod; 6. Second linear module; 7. Lifting column; 8. Clamping mechanism; 81. Support plate; 82. Clamping plate; 83. Clamping cylinder; 84. Anti-slip pad; 85. Slide groove; 9. Third linear module; 10. Controller; 11. LiDAR sensor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1 , Figure 3 and Figure 4 This utility model provides a technical solution: a wheeled mobile composite gantry robot, including a fixed frame 1, which is a frame structure, with support columns 2 fixedly connected to the four corners of the bottom of the fixed frame 1. A moving mechanism 3 for automatic movement of the device is provided at the bottom of the support columns 2. Support rods 5 are provided between the two inner walls of the fixed frame 1. A first linear module 4 is provided inside the fixed frame 1, and the sliding platform end of the first linear module 4 is fixedly connected to the support rods 5. A second linear module 6 is provided outside the support rods 5, and a lifting column 7 is provided at the moving platform end of the second linear module 6. A third linear module 9 is provided outside the lifting column 7, and the sliding block of the third linear module 9 is fixedly connected to the moving platform of the second linear module 6. A clamping mechanism 8 is provided at the bottom of the lifting column 7. Please refer to [link to relevant documentation]. Figure 1The moving mechanism 3 includes a mounting plate 31. The mounting plate 31 is fixedly connected to the bottom of the support column 2. A first reduction motor 32 is fixedly installed on the top of the mounting plate 31 outside the support column 2. The output shaft end of the first reduction motor 32 passes through the mounting plate 31 and is fixedly connected to a U-shaped mounting seat 33. A moving wheel 35 is rotatably connected inside the U-shaped mounting seat 33 through a bearing. A second reduction motor 34 is fixedly installed on the side wall of the U-shaped mounting seat 33, and the output shaft end of the second reduction motor 34 passes through the U-shaped mounting seat 33 and is fixedly connected to the central axis of the moving wheel 35. The first reduction motor 32 can drive the U-shaped mounting seat 33 to rotate, thereby turning the moving wheel 35 and adjusting the overall movement direction of the robot. The second reduction motor 34 directly drives the rotation of the moving wheel 35, providing the robot with forward and backward power. The four independently turning moving wheels 35 enable the robot to move freely in the work area and flexibly adjust its working position according to production needs without the need for complex installation and modification.

[0024] Please see Figure 2 The clamping mechanism 8 includes a support plate 81. The bottom of the lifting column 7 is fixedly connected to the support plate 81, and the bottom of the support plate 81 is symmetrically provided with clamping plates 82. The bottom ends of the support plate 81 are symmetrically installed with clamping cylinders 83, and the piston rod ends of the two clamping cylinders 83 are respectively fixedly connected to the two clamping plates 82. The bottom of the support plate 81 is provided with a sliding groove 85, and the top of the clamping plate 82 is integrally provided with a slider, which is slidably connected in the sliding groove 85.

[0025] It should be noted that when using this utility model, the robot is first moved to the appropriate loading / unloading area and palletizing area in manual mode. Then, the controller 10 is programmed and debugged to set parameters such as the handling path, gripping and placement positions. After that, the robot can automatically complete the work tasks according to the preset program. The first reduction motor 32 drives the U-shaped mounting base 33 to rotate, realizing the steering of the moving wheels 35 and adjusting the overall movement direction of the robot. The second reduction motor 34 directly drives the rotation of the moving wheels 35, providing the robot with forward and backward power. The laser radar sensor 11 scans the surrounding environment in real time and transmits the data to the controller 10. The controller 10 plans the robot's movement path based on this data to achieve trackless navigation and autonomous handling. At the same time, by connecting to the AGV scheduling system, the robot can interact with other intelligent devices to collaboratively complete various tasks on the production line. A linear module 4 can drive the support rod 5 to move horizontally along the inner walls of the fixed frame 1 in the X-axis direction, thereby driving the second linear module 6 and the lifting column 7 mounted on the support rod 5 to move horizontally as a whole, so that the clamping mechanism 8 on the lifting column 7 can be adjusted in the horizontal direction. The second linear module 6 can drive the lifting column 7 to move horizontally in the Y-axis direction, further expanding the working range of the clamping mechanism 8. The lifting column 7 can be raised and lowered by the third linear module 9, thereby driving the clamping mechanism 8 to move up and down in the vertical direction to meet the clamping of objects of different heights. When the clamping mechanism 8 reaches above the target object and descends to a suitable position, the two clamping cylinders 83 are activated to control the two clamping plates 82 to clamp the object. If a suction cup clamping mechanism 8 is used, when the clamping mechanism 8 moves to a suitable position above the target object, the object is clamped and fixed by the suction cup to achieve the grasping of the object.

[0026] Please see Figure 2 The surface of the clamping plate 82 is provided with an anti-slip pad 84, which can increase the friction between the clamping plate 82 and the target object and prevent the object from slipping during the clamping process.

[0027] Please see Figure 2 Reinforcing ribs 21 are provided between the support column 2 and the fixing frame 1, as well as between the support column 2 and the mounting plate 31. The setting of reinforcing ribs 21 can enhance the overall stability of the device.

[0028] Please see Figure 3A controller 10 is installed at the bottom of the support column 2 at one end of the bottom of the fixed frame 1. LiDAR sensors 11 are installed on the four side walls of the fixed frame 1. The LiDAR sensors 11 equipped with the robot can scan the surrounding environment in real time and transmit the environmental data to the controller 10. The controller 10 plans the optimal movement path based on the data to realize trackless navigation and autonomous handling. This intelligent navigation method enables the robot to avoid obstacles autonomously in complex environments without frequent human intervention, which greatly improves the accuracy and efficiency of handling.

[0029] Please see Figure 3 The bottom of the lifting column 7 is integrally provided with a protruding plate, and the top four corners of the protruding plate are provided with vertical mounting holes. The top of the mounting plate 31 is integrally provided with a connecting plate, and the connecting plate and the protruding plate are fixed together by bolts, so as to realize the detachable connection between the mounting plate 31 and the lifting column 7, which facilitates the replacement of different clamping mechanisms 8.

[0030] The clamping mechanism 8 includes a mounting plate 31 and suction cups mounted on the bottom of the mounting plate 31. The mounting plate 31 is fixed to the bottom of the lifting column 7 by bolts. Suction cups are evenly spaced on the bottom of the mounting plate 31. The clamping mechanism 8 can choose to use grippers or suction cups depending on the object to be clamped. The mounting plate 31 of the clamping mechanism 8 and the bottom of the lifting column 7 can be detachably connected for easy replacement.

[0031] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of those features.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection 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.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wheeled mobile composite gantry robot, characterized in that, The device includes a fixed frame (1), which is a frame structure, and a support column (2) is fixedly connected to each of the four corners of the bottom of the fixed frame (1). A moving mechanism (3) for realizing automatic movement of the device is provided at the bottom of the support column (2). A support rod (5) is provided between the two inner walls of the fixed frame (1). A first linear module (4) is provided inside the fixed frame (1), and the sliding platform end of the first linear module (4) is fixedly connected to the support rod (5). A second linear module (6) is provided on the outside of the support rod (5), and a lifting column (7) is provided at the moving platform end of the second linear module (6). A third linear module (9) is provided on the outside of the lifting column (7), and the sliding block of the third linear module (9) is fixedly connected to the moving platform of the second linear module (6). A clamping mechanism (8) is provided at the bottom of the lifting column (7).

2. The wheeled mobile composite gantry robot according to claim 1, characterized in that: The moving mechanism (3) includes a mounting plate (31). The bottom of the support column (2) is fixedly connected to the mounting plate (31). The top of the mounting plate (31) is fixedly installed outside the support column (2). The output shaft end of the first geared motor (32) passes through the mounting plate (31) and is fixedly connected to a U-shaped mounting seat (33). A moving wheel (35) is rotatably connected inside the U-shaped mounting seat (33) through a bearing. A second geared motor (34) is fixedly installed on the side wall of the U-shaped mounting seat (33), and the output shaft end of the second geared motor (34) passes through the U-shaped mounting seat (33) and is fixedly connected to the central shaft of the moving wheel (35).

3. The wheeled mobile composite gantry robot according to claim 1, characterized in that: The clamping mechanism (8) includes a support plate (81), the bottom of the lifting column (7) is fixedly connected to the support plate (81), and the bottom of the support plate (81) is symmetrically provided with clamping plates (82). The bottom ends of the support plate (81) are symmetrically installed with clamping cylinders (83), and the piston rod ends of the two clamping cylinders (83) are respectively fixedly connected to the two clamping plates (82). The bottom of the support plate (81) is provided with a sliding groove (85), and the top of the clamping plate (82) is integrally provided with a slider, and the slider is slidably connected in the sliding groove (85).

4. A wheeled mobile composite gantry robot according to claim 3, characterized in that: The surface of the clamping plate (82) is provided with an anti-slip pad (84).

5. A wheeled mobile composite gantry robot according to claim 2, characterized in that: Reinforcing ribs (21) are provided between the support column (2) and the fixing frame (1) as well as between the support column (2) and the mounting plate (31).

6. The wheeled mobile composite gantry robot according to claim 1, characterized in that: A controller (10) is installed at the bottom end of the support column (2) at one bottom end of the fixed frame (1), and a laser radar sensor (11) is installed on each of the four side walls of the fixed frame (1).

7. A wheeled mobile composite gantry robot according to claim 2, characterized in that: The bottom of the lifting column (7) is integrally provided with a protruding plate, and the top four corners of the protruding plate are provided with vertical mounting holes. The top of the mounting plate (31) is integrally provided with a connecting plate, and the connecting plate and the protruding plate are fixedly connected by bolts.

8. A wheeled mobile composite gantry robot according to claim 1, characterized in that: The clamping mechanism (8) includes a mounting plate (31) and suction cups installed at the bottom of the mounting plate (31). The mounting plate (31) is fixed to the bottom of the lifting column (7) by bolts. Suction cups are provided at equal intervals at the bottom of the mounting plate (31).

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