Robots that move in a circle

Abstract

The application relates to the technical field of surround-type mobile robots, and discloses a surround-type mobile robot, which comprises a surround-type mobile robot and a mechanical arm body, the mechanical arm body is installed on the top of the surround-type mobile robot, one end of the mechanical arm body away from the surround-type mobile robot is provided with a clamping mechanism, and a protection mechanism is arranged outside the surround-type mobile robot; the clamping mechanism comprises a guide rod, a supporting block, a clamping jaw one, a clamping jaw two, a connecting sheet and a gasket. When the clamping jaw one and the clamping jaw two are close to each other, the clamping jaw one and the clamping jaw two drive the gasket to move to the inside through the connecting sheet, the gasket is inserted into the bottom of a workpiece, and the clamping jaw one and the clamping jaw two clamp the outside of shaft or columnar workpieces, so that the surround-type mobile robot can stably clamp the workpieces, and the surround-type mobile robot is safer to use.

Description

Technical Field

[0001] This application relates to the field of surround-type mobile robot technology, specifically surround-type mobile robots. Background Technology

[0002] Circular-moving robots primarily refer to robots that employ a ring-shaped structure or achieve movement through ring-shaped motion. Circular-moving robots mainly rely on ring-driven systems or center-of-gravity rotation mechanisms to achieve motion, driving the robot to roll or move in a ring by changing the position of its center of gravity. During use, circular-moving robots can clamp and move workpieces to a predetermined position.

[0003] Existing surround-type mobile robots use robotic arms to grip workpieces and move them to the appropriate position. However, when placing cylindrical workpieces on storage racks, the robotic arms of surround-type mobile robots can only grip the outer side of the workpiece, making it inconvenient to support the bottom of the workpiece. This causes the workpiece to easily fall, affecting the use of surround-type mobile robots.

[0004] Therefore, there is an urgent need for a robot that moves in a circular motion to solve the problem that circular mobile robots are not convenient for clamping workpieces. Utility Model Content

[0005] To address the shortcomings of existing technologies, this application provides a surround-moving robot, which has the advantage of improving the stability of workpiece transportation and solves the problem that surround-moving robots are not convenient for clamping workpieces.

[0006] To achieve the above objectives, this application provides the following technical solution: a surround-moving robot, including a surround-moving robot and a robotic arm body, wherein the robotic arm body is mounted on the top of the surround-moving robot, a clamping mechanism is mounted on the end of the robotic arm body away from the surround-moving robot, and a protective mechanism is provided on the outside of the surround-moving robot. The clamping mechanism includes a guide rod, a support block, a first gripper, a second gripper, a connecting piece, and a gasket. The two ends of the guide rod are fixedly connected to one end of the robotic arm body by bolts. The inner side of the support block is slidably connected to the outer surface of the guide rod. One end of the first gripper and the second gripper are fixedly connected to the outer side of the support block by bolts. One end of the connecting piece is welded to the bottom of the first gripper and the second gripper. The gasket is disposed on the inner side of the connecting piece.

[0007] When gripper one and gripper two approach each other, gripper one and gripper two drive the pad to move inward through the connecting plate. The pad is inserted into the bottom of the workpiece, and gripper one and gripper two clamp the outside of the shaft or cylindrical workpiece, so that the surround mobile robot can stably clamp the workpiece, making the surround mobile robot safer to use.

[0008] Preferably, the top of one end of the gasket is an inclined surface.

[0009] Preferably, several sets of connecting pieces and gaskets are arranged in a circular pattern at the bottom of clamp one and clamp two.

[0010] Preferably, the second gripper is a plate with an arc-shaped structure.

[0011] Preferably, the protective mechanism includes a support frame, a shaft, rubber wheels, and bolt bodies. The support frame is fixedly connected to the outside of the surround-type mobile robot by the bolt bodies. The two ends of the shaft are rotatably connected to the inside of the support frame, and the rubber wheels are fixedly connected to the outer surface of the shaft by bolts.

[0012] Preferably, a square slot is provided on the outer side of the support frame at the position corresponding to the rubber wheel.

[0013] In summary, this application includes at least one of the following beneficial effects: 1. In this surround-moving robot, when the robot clamps the workpiece using its robotic arm, the robotic arm moves gripper one and gripper two closer together. Gripper one and gripper two then move a pad inward through a connecting plate, inserting the pad into the bottom of the workpiece. Gripper one and gripper two clamp the outer side of the shaft-like or cylindrical workpiece, thus enabling the surround-moving robot to stably clamp the workpiece and making its use safer.

[0014] 2. The surrounding mobile robot, when transporting workpieces, uses the support frame on the outer side of the surrounding mobile robot to support the rubber wheels. This allows the rubber wheels to act as a buffer when the surrounding mobile robot collides with shelves or goods, preventing damage to the surrounding mobile robot and thus improving its safety. Attached Figure Description

[0015] Figure 1 This is a structural diagram of the surround-type mobile robot of this application; Figure 2 This is a rear-view structural diagram of the surround-type mobile robot of this application; Figure 3 This is a structural diagram of the clamping mechanism in this application; Figure 4 This is a structural diagram of the connection between the gripper, connecting piece, and gasket in this application; Figure 5 This is a diagram of the overall structure of the protective structure used in this application.

[0016] Among them: 1. Surrounding mobile robot; 111. Guide rod; 112. Support block; 113. Gripper one; 114. Gripper two; 115. Connecting piece; 116. Gasket; 2. Robotic arm body; 211. Support frame; 212. Shaft; 213. Rubber wheel; 214. Bolt body. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] Please see Figure 1-5 The circular mobile robot includes a circular mobile robot 1 and a robotic arm body 2. The robotic arm body 2 is mounted on top of the circular mobile robot 1. A gripping mechanism is installed at the end of the robotic arm body 2 away from the circular mobile robot 1. The robotic arm achieves precise operation with multiple degrees of freedom through joint drive and motion control. Its core principle includes three elements: mechanical structure, drive system and intelligent control. The robotic arm is composed of multiple rotational or translational joints connected in series. Each joint corresponds to one degree of freedom and is connected by linkages to form a kinematic chain. The gripper installed at the end of the robotic arm directly completes tasks such as grasping and welding. Its posture is controlled by the last three joints. A protective mechanism is set on the outside of the circular mobile robot 1.

[0019] Specifically, the clamping mechanism includes a guide rod 111, a support block 112, a first gripper 113, a second gripper 114, a connecting piece 115, and a gasket 116. The two ends of the guide rod 111 are fixedly connected to one end of the robotic arm body 2 by bolts. The inner side of the support block 112 is slidably connected to the outer surface of the guide rod 111. One end of the first gripper 113 and the second gripper 114 are fixedly connected to the outer side of the support block 112 by bolts. One end of the connecting piece 115 is welded to the bottom of the first gripper 113 and the second gripper 114. The second gripper 114 is an arc-shaped plate. The gasket 116 is located inside the connecting piece 115. The top of one end of the gasket 116 is an inclined surface. Several sets of connecting pieces 115 and gaskets 116 are located at the bottom of the first gripper 113 and the second gripper 114 in a circular distribution.

[0020] Through the above technical solution, when the surround mobile robot 1 clamps the workpiece through the robotic arm body 2, the cylinder inside the robotic arm body 2 drives the support block 112 to slide on the guide rod 111. The support block 112 drives the gripper 113 and gripper 2 114 to move. When the gripper 113 and gripper 2 114 approach each other, the gripper 113 and gripper 2 114 drive the pad 116 to move inward through the connecting piece 115. The pad 116 inserts into the bottom of the workpiece. The gripper 113 and gripper 2 114 clamp the outer side of the shaft or cylindrical workpiece, so that the surround mobile robot 1 can stably clamp the workpiece, making the surround mobile robot safer to use.

[0021] Specifically, the protective mechanism includes a support frame 211, a shaft 212, a rubber wheel 213, and a bolt body 214. The support frame 211 is fixedly connected to the outside of the surround mobile robot 1 by the bolt body 214. The two ends of the shaft 212 are rotatably connected to the inside of the support frame 211. The rubber wheel 213 is fixedly connected to the outer surface of the shaft 212 by bolts. A square slot is provided on the outside of the support frame 211 at the position corresponding to the rubber wheel 213.

[0022] Through the above technical solution, when the surround mobile robot 1 is transporting workpieces, the rubber wheel 213 is supported by the outer support frame 211 of the surround mobile robot 1. This allows the rubber wheel 213 to act as a buffer when the surround mobile robot 1 collides with the shelf or goods, preventing the surround mobile robot 1 from being damaged by the impact and thus improving the safety of the surround mobile robot 1. The support frame 211 is fixed to the outside of the surround mobile robot 1 by bolt body 214, and the shaft 212 supports the rubber wheel 213, allowing the rubber wheel 213 to rotate stably.

[0023] When in use, when gripper 113 and gripper 214 approach each other, gripper 113 and gripper 214 drive the pad 116 to move inward through the connecting piece 115. The pad 116 inserts into the bottom of the workpiece, and gripper 113 and gripper 214 clamp the outer side of the shaft or cylindrical workpiece, so that the surround mobile robot 1 can stably clamp the workpiece, making the surround mobile robot safer to use.

[0024] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A circular mobile robot, comprising a circular mobile robot (1) and a robotic arm body (2), characterized in that: The robotic arm body (2) is mounted on the top of the surround mobile robot (1). A clamping mechanism is installed at the end of the robotic arm body (2) away from the surround mobile robot (1). A protective mechanism is provided on the outside of the surround mobile robot (1). The clamping mechanism includes a guide rod (111), a support block (112), a first gripper (113), a second gripper (114), a connecting piece (115), and a gasket (116). The two ends of the guide rod (111) are fixedly connected to one end of the robotic arm body (2) by bolts. The inner side of the support block (112) is slidably connected to the outer surface of the guide rod (111). One end of the first gripper (113) and the second gripper (114) are fixedly connected to the outer side of the support block (112) by bolts. One end of the connecting piece (115) is welded to the bottom of the first gripper (113) and the second gripper (114). The gasket (116) is disposed on the inner side of the connecting piece (115).

2. The robot capable of circular movement according to claim 1, characterized in that: The top of one end of the gasket (116) is an inclined surface.

3. The robot capable of circular movement according to claim 1, characterized in that: Several sets of connecting pieces (115) and gaskets (116) are arranged in a circular pattern at the bottom of jaw one (113) and jaw two (114).

4. The robot capable of circular movement according to claim 1, characterized in that: The second gripper (114) is an arc-shaped plate.

5. The robot capable of circular movement according to claim 1, characterized in that: The protective mechanism includes a support frame (211), a shaft (212), a rubber wheel (213), and a bolt body (214). The support frame (211) is fixedly connected to the outside of the surround mobile robot (1) by the bolt body (214). The two ends of the shaft (212) are rotatably connected to the inside of the support frame (211). The rubber wheel (213) is fixedly connected to the outer surface of the shaft (212) by bolts.

6. The robot capable of circular movement according to claim 5, characterized in that: A square slot is provided on the outer side of the support frame (211) at the position corresponding to the rubber wheel (213).

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