A mobile robot for large component handling and posture adjustment

Abstract

The utility model discloses a kind of mobile robots for large component handling and attitude adjustment, including mobile chassis, lifting platform, six degrees of freedom posture adjusting mechanism and backing plate, driving assembly is provided on mobile chassis, to make mobile chassis azimuth movement;Lifting platform is set on mobile chassis;Six degrees of freedom posture adjusting mechanism is set on lifting platform, and follow lifting platform and lift;Backing plate is set in six degrees of freedom posture adjusting mechanism top, and posture is adjusted by six degrees of freedom posture adjusting mechanism. Six degrees of freedom posture adjusting mechanism can replace traditional manual realization large component's handling posture adjusting work, simultaneously by sinking scissor type lifting platform backing six degrees of freedom posture adjusting mechanism, under the premise that equipment stationary height is invariable, expand the vertical posture adjusting stroke of six degrees of freedom posture adjusting mechanism, different height equipment component handling installation can be completed. Backing plate can be quickly replaced with six degrees of freedom posture adjusting mechanism Installation, widen equipment application scenario.

Description

Technical Field

[0001] This utility model generally relates to the field of intelligent manufacturing technology, and more specifically, to a mobile robot for handling and adjusting the posture of large components. Background Technology

[0002] Under the goal of high-quality development in the new era, my country's aviation equipment manufacturing and maintenance sector faces new challenges in quality improvement and upgrading. In recent years, robotics technology has gradually become a new trend in high-end equipment manufacturing and logistics support systems. Compared with traditional manual operations, mobile robotic equipment has advantages such as a wide range of operating scenarios, high operating precision, and strong functional expandability. It is also easy to integrate multiple sensors, adapt to complex on-site operating environments, and can complete multiple tasks such as handling large components, adjusting their attitude, and towing large equipment. It can significantly reduce the equipment and human resources required on-site, playing an important supporting role in high-quality development such as improving quality, increasing efficiency, and reducing costs.

[0003] However, current mobile robots suitable for the manufacturing, maintenance, and repair of aerospace equipment still have many shortcomings. For example, some robots lack stability when handling large components, which can easily wobble or even slip during transport; in terms of attitude adjustment, precision and flexibility need improvement, making it difficult to meet the assembly requirements of high-precision aerospace equipment; moreover, the robots have poor versatility, often only able to operate on specific types of components, and unable to adapt to diverse operational needs. Therefore, the development of a mobile robot capable of efficiently, stably, and accurately handling and adjusting the attitude of large components is urgently needed. Utility Model Content

[0004] This application provides a mobile robot for handling and adjusting the attitude of large components, in order to solve the technical problems of handling and adjusting the attitude of large components in existing aerospace equipment.

[0005] This application provides a mobile robot for handling and adjusting the attitude of large components, including: a mobile chassis, a lifting platform, a six-degree-of-freedom (DOF) attitude adjustment mechanism, and a pallet. The mobile chassis is equipped with a drive assembly to enable directional movement of the mobile chassis; the lifting platform is mounted on the mobile chassis; the six-DOF attitude adjustment mechanism is mounted on the lifting platform and moves up and down with the lifting platform; the pallet is mounted on top of the six-DOF attitude adjustment mechanism and its attitude is adjusted by the six-DOF attitude adjustment mechanism.

[0006] According to some embodiments of the present invention, the lifting platform includes a scissor lift mechanism, an upper frame and a lower frame. The lower frame is disposed on the mobile chassis, and the two scissor lift mechanisms are respectively disposed at both ends of the lower frame and support the upper frame.

[0007] According to some embodiments of the present invention, a shock-absorbing component is provided between the upper frame and the lower frame.

[0008] According to some embodiments of the present invention, the upper frame includes a sunken bottom plate, connecting rods, and an installation frame. The two installation frames are respectively installed on the top of the scissor lift mechanism. The sunken bottom plate is provided between the two installation frames, and the installation frame and the sunken bottom plate are connected by multiple sets of vertically arranged connecting rods. The horizontal height of the sunken bottom plate is lower than the horizontal height of the upper frame.

[0009] According to some embodiments of the present invention, the six-degree-of-freedom attitude adjustment mechanism includes an attitude adjustment platform and telescopic components, and the six sets of telescopic components are arranged between the sunken base plate and the attitude adjustment platform in a Stewart structure.

[0010] According to some embodiments of the present invention, the telescopic assembly adopts an electric push cylinder.

[0011] According to some embodiments of the present invention, the tray is detachably mounted on the attitude adjustment platform, and a fixing device is provided on the tray.

[0012] According to some embodiments of the present invention, the driving component includes a driving motor and driving wheels. The driving wheels are symmetrically arranged at the front and rear ends of the mobile chassis. The driving motor is mounted on the mobile chassis and drives the driving wheels to rotate.

[0013] According to some embodiments of the present invention, the robot is equipped with a lidar and / or a monitoring camera.

[0014] As can be seen from the above technical solution, the advantages and positive effects of this utility model of a mobile robot for handling and adjusting the posture of large components are as follows:

[0015] 1. The six-degree-of-freedom attitude adjustment mechanism can replace the traditional manual handling of large components, enabling high-precision and rapid attitude adjustment of equipment. At the same time, the platform height is optimized to achieve a lower initial height, which can complete the handling and installation of equipment components with lower assembly height.

[0016] 2. A sunken scissor lift platform is used to support the six-degree-of-freedom attitude adjustment mechanism. Under the premise that the static height of the equipment remains unchanged, the vertical attitude adjustment stroke of the six-degree-of-freedom attitude adjustment mechanism is extended, which can complete the handling and installation of equipment components with higher assembly height.

[0017] 3. The device adopts a detachable pallet, and the pallet size and fixing device are designed for large components of different sizes. The surface of the fixing device is covered with flexible cushioning material to protect the supported equipment from scratches and damage during loading and docking. The pallet can be quickly replaced and installed with the six-degree-of-freedom attitude adjustment mechanism, which broadens the application scenarios of the equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of a mobile robot for handling and adjusting the posture of large components, as disclosed in an embodiment of this application.

[0020] Figure 2 This is a front view schematic diagram of a mobile robot for handling and adjusting the posture of large components disclosed in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a mobile chassis structure for a mobile robot for handling and adjusting the posture of large components, as disclosed in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of a lifting platform structure for a mobile robot for handling and adjusting the posture of large components, as disclosed in an embodiment of this application.

[0023] Figure 5 This is a front view schematic diagram of a lifting platform for a mobile robot for handling and adjusting the posture of large components, as disclosed in an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of a six-degree-of-freedom attitude adjustment mechanism for a mobile robot for handling and adjusting the attitude of large components, as disclosed in an embodiment of this application.

[0025] Figure 7 This is a schematic diagram of the telescopic assembly of a mobile robot for handling and adjusting the posture of large components, as disclosed in an embodiment of this application, arranged according to the Stewart structure.

[0026] Figure 8 This is a schematic diagram of a pallet structure for a mobile robot for handling and adjusting the posture of large components, as disclosed in an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Mobile chassis; 2. Lifting platform; 3. Six-degree-of-freedom attitude adjustment mechanism; 4. Support plate; 20. Scissor lift mechanism; 21. Upper frame; 22. Lower frame; 23. Shock absorption assembly; 210. Sinking base plate; 211. Connecting rod; 212. Mounting frame; 30. Attitude adjustment platform; 31. Telescopic assembly; 40. Fixing device; 10. Drive motor; 11. Drive wheel. Detailed Implementation

[0029] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application. This application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0030] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0031] It should be noted that, in the description of this application, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0033] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0034] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0035] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0036] like Figure 1 and Figure 2 As shown in the embodiment, a mobile robot for handling and adjusting the posture of large components includes: a mobile chassis 1, a lifting platform 2, a six-degree-of-freedom (6DOF) attitude adjustment mechanism 3, and a pallet 4. The mobile chassis 1 is equipped with a drive assembly to enable directional movement. The lifting platform 2 is mounted on the mobile chassis 1. The 6DOF attitude adjustment mechanism 3 is mounted on the lifting platform 2 and moves up and down with it. The pallet 4 is positioned on top of the 6DOF attitude adjustment mechanism 3 and its posture is adjusted by the mechanism. The mobile chassis 1, as the basic support of the entire robot, has a stable structure and can bear the weight of the components above it. The mobile chassis 1 moves directionally via the drive assembly, including forward, backward, and turning movements, enabling it to handle the handling of large components in outdoor work scenarios. The lifting platform 2 is stably mounted on the mobile chassis 1 and can smoothly raise and lower the 6DOF attitude adjustment mechanism 3 to a specified height according to actual needs, meeting the handling requirements of large components of different heights. The six-degree-of-freedom attitude adjustment mechanism 3 is the core attitude adjustment component of the robot. Its high load capacity, high precision, and wide range of attitude adjustment characteristics enable it to replace traditional manual methods and accurately adjust the posture of large components on the pallet 4. The pallet 4 is specially designed according to the shape and size of the large components, and has good load-bearing capacity and adaptability.

[0037] like Figure 4 and Figure 5As shown, in some embodiments of this utility model, the lifting platform 2 includes a scissor lift mechanism 20, an upper frame 21, and a lower frame 22. The lower frame 22 is mounted on the movable chassis 1. Two scissor lift mechanisms 20 are respectively mounted at both ends of the lower frame 22, supporting the upper frame 21. The upper frame 21 achieves smooth lifting movement through the coordinated action of the two scissor lift mechanisms 20, and the lifting process is flexible and controllable. The scissor lift mechanism 20 consists of two fork arms. One fork arm is hinged to the lower frame 22 at its bottom and equipped with a movable pulley at its top, allowing it to slide within a groove in the upper frame 21. The other fork arm is equipped with a movable pulley at its bottom, allowing it to slide within a groove in the lower frame 22, and is hinged to the upper frame 21 at its top. The two fork arms are connected at their centers by a pin, allowing the fork arms to move around the pin. An electric push cylinder is installed between the two fork arms. The base of the electric push cylinder is hinged to the lower frame 22 via a connecting plate and a pre-reserved connecting piece. A fisheye bearing is installed on the top of the push cylinder, and a pivot pin passes through the fisheye bearing. The pivot pin is connected to the left and right sets of fork arms, thereby fixing the electric push cylinder. By extending and retracting the electric push cylinder, the fork arms can be moved around the pivot pin, enabling the upper frame 21 to achieve the lifting function. The scissor lift mechanism 20 is made of high-strength material, has good load-bearing capacity and stability, and can ensure that the lifting platform 2 will not shake or tilt when transporting large parts. Preferably, the two scissor lift mechanisms 20 have the same structure and are symmetrically arranged. The lower frame 22 is tightly connected to the mobile chassis 1, providing a solid foundation for the entire lifting platform 2 and further enhancing the stability of the lifting platform 2.

[0038] like Figure 5 As shown, in some embodiments of this utility model, a shock-absorbing component 23 is provided between the upper frame 21 and the lower frame 22. The shock-absorbing component 23 may be four sets of nitrogen spring shock-absorbing components 23, which are symmetrically arranged on both sides of the lower frame 22. When the upper frame 21 falls to a certain height, it will compress the shock-absorbing spring, so that the upper frame 21 runs smoothly.

[0039] like Figure 5 As shown, in some embodiments of this utility model, the upper frame 21 includes a recessed base plate 210, connecting rods 211, and mounting frames 212. Two mounting frames 212 are respectively mounted on the top of the scissor lift mechanism 20. The recessed base plate 210 is positioned between the two mounting frames 212, and the mounting frames 212 and the recessed base plate 210 are connected by multiple sets of vertically arranged connecting rods 211. The horizontal height of the recessed base plate 210 is lower than the horizontal height of the upper frame 21. By adopting a recessed design for the upper frame 21, the recessed base plate 210 carries the six-degree-of-freedom attitude adjustment mechanism 3 to complete vertical lifting, thus widening the vertical lifting range of large components while effectively reducing the static height of the all-terrain mobile robot and efficiently utilizing vertical space.

[0040] Furthermore, the shock-absorbing components 23 are symmetrically arranged on both sides of the sunken base plate 210.

[0041] like Figure 6 and Figure 7 As shown, in some embodiments of this utility model, the six-degree-of-freedom attitude adjustment mechanism 3 includes an attitude adjustment platform 30 and telescopic components 31. Six sets of telescopic components 31 are arranged between the sunken base plate 210 and the attitude adjustment platform 30 in a Stewart structure. Preferably, the telescopic components 31 are electric push cylinders. Each set of electric push cylinders has a U-shaped hinge at the bottom, which is hinged to a horizontal Hooke hinge riveted to the sunken base plate 210, and a U-shaped hinge at the top, which is hinged to a horizontal Hooke hinge riveted to the bottom of the attitude adjustment platform 30. The six sets of electric push cylinders are arranged and connected in a Stewart structure. The Stewart structure is a six-degree-of-freedom parallel structure, consisting of upper and lower platforms and six telescopic support rods connected by ball joints or Hooke hinges, which can realize translation and rotation in three-dimensional space. The specific installation position can be calculated and verified through simulation models to optimize the distance between each hinge point to achieve suitable stroke requirements and optimize the motion flexibility of the six-degree-of-freedom attitude adjustment mechanism 3. By controlling the extension and retraction of each electric cylinder through an algorithm, six-degree-of-freedom movement control of the supported equipment can be achieved. It features high rigidity, strong load-bearing capacity, and extremely high control accuracy with no accumulation of positional errors.

[0042] like Figure 8 As shown, in some embodiments of this utility model, the tray 4 is detachably mounted on the attitude adjustment platform 30, and a fixing device 40 is provided on the tray 4. The use of a detachable tray 4, along with the design of the tray 4 size and fixing device 40 for large components of different dimensions, and the surface of the fixing device 40 being covered with flexible cushioning material, protects the supported equipment from scratches and damage during loading and docking. The tray 4 can be quickly replaced and installed with the six-degree-of-freedom attitude adjustment mechanism 3, broadening the application scenarios of the equipment.

[0043] like Figure 3As shown, in some embodiments of this utility model, the driving assembly includes a drive motor 10 and drive wheels 11. Four drive wheels 11 are symmetrically arranged at the front and rear ends of the mobile chassis 1. The drive motor 10 is mounted on the mobile chassis 1 and drives the drive wheels 11 to rotate. The drive motor 10 can further be a servo motor, and a planetary reducer can be installed at the output end of the servo motor. Four servo motors are riveted and fixed to the mobile chassis 1. After being reduced in speed by the planetary reducer and increasing the torque output, the drive wheels 11 are driven to rotate through the shaft connected to the reducer. This provides multi-speed adjustment and fixed-step movement functions, improving the accuracy of coarse-tuning of components. The drive wheels 11 use rubber tires, effectively reducing noise during equipment operation and damage to the road surface, allowing it to operate on indoor epoxy flooring and outdoor roads with a gradient >10%.

[0044] In some embodiments of this invention, the robot is equipped with lidar and / or monitoring cameras. Preferably, two sets of lidar and four sets of monitoring cameras can be deployed on the outside of the lifting platform 2 for obstacle detection and visual information acquisition, facilitating perception of the surrounding environment.

[0045] The embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0046] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any manner.

Claims

1. A mobile robot for handling and adjusting the posture of large components, characterized in that, include: A mobile chassis (1) is provided with a drive assembly to enable the mobile chassis (1) to move in a certain direction; A lifting platform (2) is mounted on the mobile chassis (1); A six-degree-of-freedom attitude adjustment mechanism (3) is mounted on the lifting platform (2) and moves up and down with the lifting platform (2); The tray (4) is located on top of the six-degree-of-freedom attitude adjustment mechanism (3) and its attitude is adjusted by the six-degree-of-freedom attitude adjustment mechanism (3).

2. The mobile robot for handling and adjusting the attitude of large components according to claim 1, characterized in that: The lifting platform (2) includes a scissor lift mechanism (20), an upper frame (21) and a lower frame (22). The lower frame (22) is mounted on the mobile chassis (1). The two scissor lift mechanisms (20) are respectively mounted at both ends of the lower frame (22) and support the upper frame (21).

3. The mobile robot for handling and adjusting the attitude of large components according to claim 2, characterized in that: A shock-absorbing component (23) is provided between the upper frame (21) and the lower frame (22).

4. The mobile robot for handling and adjusting the attitude of large components according to claim 2, characterized in that: The upper frame (21) includes a sunken base plate (210), connecting rods (211) and mounting frames (212). The two mounting frames (212) are respectively installed on the top of the scissor lift mechanism (20). The sunken base plate (210) is provided between the two mounting frames (212), and the mounting frames (212) and the sunken base plate (210) are connected by multiple sets of vertically arranged connecting rods (211). The horizontal height of the sunken base plate (210) is lower than the horizontal height of the upper frame (21).

5. The mobile robot for handling and adjusting the attitude of large components according to claim 4, characterized in that: The six-degree-of-freedom attitude adjustment mechanism (3) includes an attitude adjustment platform (30) and telescopic components (31). The six sets of telescopic components (31) are arranged between the sunken base plate (210) and the attitude adjustment platform (30) in a Stewart structure.

6. The mobile robot for handling and attitude adjustment of large components according to claim 5, characterized in that: The telescopic assembly (31) is powered by an electric push cylinder.

7. The mobile robot for handling and adjusting the attitude of large components according to claim 5, characterized in that: The tray (4) is detachably mounted on the attitude adjustment platform (30), and a fixing device (40) is provided on the tray (4).

8. The mobile robot for handling and adjusting the attitude of large components according to claim 1, characterized in that: The drive assembly includes a drive motor (10) and drive wheels (11). The drive wheels (11) are symmetrically arranged at the front and rear ends of the mobile chassis (1). The drive motor (10) is mounted on the mobile chassis (1) and drives the drive wheels (11) to rotate.

9. The mobile robot for handling and adjusting the attitude of large components according to any one of claims 1 to 8, characterized in that: The robot is equipped with a lidar and / or a monitoring camera.

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