阅读说明：本技术 一种大型货物搬运机器人 (Large-scale cargo handling robot ) 是由 张学莉 陈三益 于 2020-12-26 设计创作，主要内容包括：一种大型货物搬运机器人,包括：移动机构、伸缩连接机构、夹持机构；伸缩连接机构固定连接于移动机构上表面,伸缩连接机构设置有连接伸缩液压杆,连接伸缩液压杆与夹持机构铰接；通过伸缩连接机构可实现整体装置的伸展收缩以适应更复杂的环境,同时与夹持机构相配合能够对夹持机构上的夹爪操作范围进一步扩大,夹持机构上安装有机械夹爪,每个机械夹爪都能单独转动以对物料进行加持角度的调整；本装置通过多角度旋转夹爪的组合可以对多种不同形状、大小的物料进行夹紧并移动,伸缩连接机构使本发明能够在不同空间中配合夹持机构,可适用于各种空间的作业环境；两种装置配合极大的提升了货物搬运内容的丰富性,以及机械的实用性。(A large cargo handling robot comprising: the device comprises a moving mechanism, a telescopic connecting mechanism and a clamping mechanism; the telescopic connecting mechanism is fixedly connected to the upper surface of the moving mechanism and provided with a connecting telescopic hydraulic rod which is hinged with the clamping mechanism; the telescopic connection mechanism can realize the expansion and contraction of the whole device to adapt to more complex environments, and simultaneously, the clamping jaw operation range on the clamping mechanism can be further expanded by matching with the clamping mechanism; the device can clamp and move materials with different shapes and sizes through the combination of the multi-angle rotating clamping jaws, and the telescopic connecting mechanism enables the device to be matched with the clamping mechanism in different spaces, so that the device is suitable for operating environments of various spaces; the two devices are matched with each other, so that the richness of goods carrying contents is greatly improved, and the practicability of machinery is improved.)

1. A large cargo handling robot comprising: the moving mechanism (1) is characterized by further comprising: a telescopic connecting mechanism (2) and a clamping mechanism (3); the telescopic connecting mechanism (2) is fixedly connected to the upper surface of the moving mechanism (1), and the clamping mechanism (3) is hinged to the telescopic connecting mechanism (2);

the number of the moving mechanisms (1) is at least three, and the moving mechanisms comprise: the device comprises a rotating bracket (101), a steering motor (102), a steering gear pair (103), a movable connecting frame (104), a movable motor (105), a rotating wheel group (106) and a driving belt (107); the steering motor (102) is fixed on the inner side surface of the rotating support (101), a driving gear in the steering gear pair (103) is fixedly connected with an output shaft of the steering motor (102), a transmission gear is rotatably connected to the inner bottom surface of the moving support (101) and penetrates through the inner bottom surface of the moving support (101) to be fixedly connected with the moving connecting frame (104), the moving motor (105) is fixedly connected to the lower surface of the moving connecting frame (104), the rotating wheel set (106) rotatably penetrates through the moving connecting frame (104), and a driving belt (107) is sleeved between a wheel shaft of the rotating wheel set (106) and the output shaft of the moving motor (105);

the telescopic connecting mechanism (2) comprises: the hydraulic telescopic support frame comprises a multi-stage hydraulic telescopic support frame (201) and a multi-stage hydraulic connecting rod (202); the multi-stage hydraulic telescopic supporting frame (201) is fixedly connected to the upper surface of the rotating support (101), and the multi-stage hydraulic connecting rod (202) is hinged between the multi-stage hydraulic telescopic supporting frame (201) and the clamping mechanism (3);

the clamping mechanism (3) comprises: the clamping device comprises a clamping connecting plate (301), a clamping jaw connecting piece (302), a clamping cylinder I (303), a clamping jaw arm (304), a clamping cylinder II (305), a clamping jaw head (306), a connecting rod I (307), a connecting rod II (308) and a clamping jaw rotating motor (309); the upper surface of the clamping connecting plate (301) is hinged to the multistage hydraulic connecting rod (202), at least two clamping jaw connecting pieces (302) are rotatably connected with the clamping connecting plate (301), a first clamping cylinder (303) steel body is hinged to the outer end portion of each clamping jaw connecting piece (302), a first telescopic end of each clamping cylinder (303) is hinged to a clamping jaw arm (304), the upper end of each clamping jaw arm (304) is hinged to the clamping jaw connecting piece (302), a second clamping cylinder (305) steel body is hinged to the clamping jaw arm (304), the telescopic end of each clamping cylinder is hinged to a clamping jaw head (306), and the upper end portion of each clamping jaw head (306) is hinged to the lower end portion of each clamping jaw arm (304); the first connecting rod (307) is rotatably connected between the side face of the clamping jaw connecting piece (302) and the end part of the second connecting rod (308), the other end of the second connecting rod (308) is fixedly connected with an output shaft of a clamping jaw rotating motor (309), and the clamping jaw rotating motor (309) is fixedly connected to the side face of the clamping connecting plate (301).

2. A large cargo handling robot according to claim 1, wherein the moving mechanism (1) is configured such that the steering motor (102) and the moving motor (105) are disposed in at least one moving mechanism as a driving moving mechanism, and the remaining moving mechanisms are configured as driven moving mechanisms to follow the driving moving mechanism.

3. A large goods handling robot as claimed in claim 1, wherein the internal space formed by the multi-stage hydraulic telescopic support frames (201) is composed of at least three side elevations, every two side elevations are fixedly connected, and each side elevation is formed by connecting four multi-stage hydraulic support columns (2011).

4. A large goods handling robot as claimed in claim 3, wherein the multi-stage hydraulic support columns (2011) are fixedly installed with column connecting seats (2012), and the number of the column connecting seats (2012) is at least six.

5. A large goods handling robot according to claim 3 or 4, characterized in that the number of said multi-stage hydraulic support columns (2011) is twelve, corresponding to eight support column connection seats (2012).

6. A large goods handling robot according to any of claims 1, 3, characterized in that said telescopic connection (2) further comprises: hinged support (203), hinged support (203) articulates respectively in the steel body, the flexible end of multistage hydraulic pressure connecting rod (202), steel body end hinged support (203) fixed connection in upper portion pillar connecting seat (2012) lower surface, flexible end hinged support (203) fixed connection in centre gripping connecting plate (301) upper surface.

Technical Field

The invention relates to the technical field of carrying equipment, in particular to a large-sized cargo carrying robot.

Background

The history of the carrying equipment has been long, China has description and record about the prototype- 'deer vehicle' of the monocycle in two Hans, and all equipment capable of enabling people or articles to move horizontally and rise can be regarded as carrying equipment in the expansion, after the monocycle enters an industrial society, the production efficiency of a factory is improved sharply, a series of links from the transportation and the transfer of products to the sale cannot be met by only manpower, the manual carrying efficiency is low, the cost is high, the quality cannot be unified, and therefore a plurality of carrying equipment capable of saving manpower can be produced by transportation;

the current transport arm is by PLC control + touch-sensitive screen + servo motor control, adopts the frame rack structure that occupation space is few, and production capacity is big, and the mode of pile up neatly can adopt the teaching to be the programming, and the computer can store 100 sets of pile up neatly schemes, all adopts domestic and foreign famous brand components, is applicable to carton packing product and the pile up neatly of thermal contraction membrane product, the stack operation of trades such as electron, food, beverage, cigarette wine, patent number: 201720322207X discloses an industrial mechanical claw with accurate positioning, which comprises a head end mechanical arm and a hydraulic push rod, wherein a mechanical claw seat is fixedly arranged at the upper end of the head end mechanical arm, the side surface of the upper end of the mechanical claw seat is movably connected with the mechanical claw through a mechanical claw rotating shaft, a driving rod device is arranged on the mechanical claw, the driving rod device is movably arranged on the side surface of a driving disc, and a spring is wound on the hydraulic push rod. The utility model discloses the structure passes through controller system hydraulic push rod drive, make driving-disc up-and-down motion, thereby actuating lever device moves at the drive inslot of gripper, thereby make the gripper open or tighten up and carry out the centre gripping transportation to the goods, pressure sensor can show the pressure value between goods and the gripper, and show on the pressure display, when pressure reaches a definite value, the gripper can rise, realize the accurate positioning of gripper, it makes to break down when hydraulic push rod, the spring extrudees the driving-disc under the elasticity of its self high strength, its gripper keeps the clamping state.

Researches find that the industrial mechanical claw can not be adjusted according to the shape and size of materials to be conveyed, and has a small application range; the production condition of contrast reality can not be faced comparatively and send out complicated production environment, consequently urgently needs one kind can freely adjust material centre gripping angle, satisfies the haulage equipment that carries multiple material and solves above-mentioned technical problem.

Disclosure of Invention

Aiming at the problems, the invention provides a large-scale cargo handling robot, which can realize the expansion and contraction of the whole device through a telescopic connection mechanism so as to adapt to more complex environments, and simultaneously can further expand the operation range of a clamping jaw on a clamping mechanism by matching with the clamping mechanism; the device can clamp and move materials with different shapes and sizes through the combination of the multi-angle rotating clamping jaws, and the telescopic connecting mechanism enables the device to be matched with the clamping mechanism in different spaces, so that the device is suitable for operating environments of various spaces; the two devices are matched with each other, so that the richness of goods carrying contents is greatly improved, and the practicability of machinery is improved.

The technical scheme adopted by the invention is as follows: the moving mechanism is characterized by further comprising: a telescopic connecting mechanism and a clamping mechanism; the telescopic connecting mechanism is fixedly connected to the upper surface of the moving mechanism, and the clamping mechanism is hinged with the telescopic connecting mechanism;

the moving mechanism is at least three in number, including: the steering mechanism comprises a rotating bracket, a steering motor, a steering gear pair, a movable connecting frame, a movable motor, a rotating wheel set and a driving belt; the steering motor is fixed on the inner side surface of the rotating support, a driving gear in the steering gear pair is fixedly connected with an output shaft of the steering motor, the transmission gear is rotatably connected to the inner bottom surface of the movable support and fixedly connected with the movable connecting frame by penetrating through the inner bottom surface of the movable support, the movable motor is fixedly connected to the lower surface of the movable connecting frame, the rotating wheel group rotatably penetrates through the movable connecting frame, and the driving belt is sleeved between a wheel shaft of the rotating wheel group and the output shaft of the movable motor;

the telescopic connecting mechanism comprises: the multi-stage hydraulic telescopic support frame comprises a multi-stage hydraulic connecting rod; the multi-stage hydraulic telescopic supporting frame is fixedly connected to the rotating support, and the multi-stage hydraulic connecting rod is hinged between the multi-stage hydraulic telescopic supporting frame and the clamping mechanism;

the fixture includes: the clamping device comprises a clamping connecting plate, a clamping jaw connecting piece, a first clamping cylinder, a clamping jaw arm, a second clamping cylinder, a clamping jaw head, a first connecting rod, a second connecting rod and a clamping jaw rotating motor; the upper surface of the clamping connecting plate is hinged with the multistage hydraulic connecting rods, at least two clamping jaw connecting pieces are rotatably connected to the upper surface of the clamping connecting plate, a clamping cylinder steel body is hinged to the outer end part of each clamping jaw connecting piece, a clamping cylinder telescopic short rod is hinged to a clamping jaw arm, the upper end of the clamping jaw arm is hinged to the clamping jaw connecting pieces, a clamping cylinder steel body is hinged to the clamping jaw arms, the telescopic ends of the clamping cylinders are hinged to clamping jaw heads, and the upper end parts of the clamping jaw heads are hinged to the lower end parts of the clamping jaw arms; one end of the connecting rod is rotatably connected between the side face of the clamping jaw connecting piece and the end part of the connecting rod, the other end of the connecting rod is fixedly connected with an output shaft of the clamping jaw rotating motor, and the clamping jaw rotating motor is fixedly connected to the side face of the clamping connecting plate.

Furthermore, in the moving mechanism, the steering motor and the moving motor are at least required to be arranged in one moving mechanism to be a driving moving mechanism, and the other moving mechanisms are used as driven moving mechanisms to move along with the driving moving mechanism.

Furthermore, the inner space formed by the multistage hydraulic telescopic supporting frames is at least composed of three side vertical faces, every two side vertical faces are fixedly connected, and each side vertical face is formed by connecting four multistage hydraulic supporting columns.

Further, the junction of the multi-stage hydraulic support columns is fixedly provided with support connecting seats, and the number of the support connecting seats is at least six.

Furthermore, multistage hydraulic pressure support column quantity is twelve, and is corresponding, prop connecting seat quantity is eight.

Further, the telescopic connection mechanism further comprises: the hinged supports are hinged to the steel body and the telescopic ends of the multistage hydraulic connecting rods respectively, the steel body end hinged support is fixedly connected to the lower surface of the upper pillar connecting seat, and the telescopic end hinged support is fixedly connected to the upper surface of the clamping connecting plate.

Due to the adoption of the technical scheme, the invention has the following advantages:

(1) the clamping mechanism can clamp materials and move in a matched manner, and the telescopic connecting mechanism can carry the materials, wherein the clamping jaws of the clamping mechanism can be respectively and independently adjusted in angle according to the shape and size of the materials so as to handle the carrying of different materials.

(2) The telescopic connecting mechanism can work in various changing environments, can change the length, the width and the height with larger freedom degree to adapt to the working environment, and can be matched with the clamping mechanism to expand the clamping working range.

(3) The invention has certain mobility by arranging the moving mechanism, so that the invention optimizes the integral mobility and the use convenience on one hand, and improves the working efficiency and ensures the operation quality by matching with the auxiliary clamping mechanism on the other hand.

Drawings

Fig. 1 is a schematic view of the overall three-dimensional structure of the present invention.

Fig. 2 is a schematic view of another overall angular three-dimensional structure according to the present invention.

Fig. 3 is a schematic three-dimensional structure diagram of the clamping mechanism of the present invention.

FIG. 4 is a schematic view of another angle three-dimensional structure of the clamping mechanism of the present invention.

FIG. 5 is a schematic top view of a three-dimensional structure of the clamping mechanism of the present invention.

FIG. 6 is a schematic view of a partially enlarged three-dimensional structure of a clamping mechanism according to the present invention

FIG. 7 is a schematic three-dimensional structure of the telescopic connecting mechanism of the present invention

FIG. 8 is a schematic view of a three-dimensional mechanism of a multi-stage hydraulic connecting rod and a hinged support according to the present invention

FIG. 9 is a schematic view of a partial three-dimensional mechanism of a multi-stage hydraulic prop and a prop connecting seat according to the present invention

Fig. 10 is a schematic structural diagram of a three-dimensional mechanism of the moving mechanism of the present invention.

FIG. 11 is a schematic view of a three-dimensional mechanism of the movable bracket and the pillar connecting seat of the present invention.

Reference numerals: 1-a moving mechanism; 2-a telescopic connecting mechanism; 3-a clamping mechanism; 101-moving the support; 102-a steering motor; 103-steering gear pair; 104-mobile link; 105-a moving motor; 106-a running gear set; 107-drive belt; 201-multistage hydraulic telescopic supporting frame; 202-multi-stage hydraulic connecting rods; 203-hinged support; 301-clamping the connection plate; 302-jaw connection; 303-a clamping cylinder I; 304-gripper arms; 305-a pinch cylinder two; 306-jaw head; 307-link one; 308-link two; 309-a jaw rotation motor; 2011-multi-stage hydraulic support columns; 2012-strut connecting seat.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways other than those described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In an embodiment, as shown in fig. 1-11, a large cargo handling robot includes: the moving mechanism 1 is characterized by further comprising: the telescopic connecting mechanism 2 and the clamping mechanism 3; the telescopic connecting mechanism 2 is fixedly connected to the upper surface of the moving mechanism 1, and the clamping mechanism 3 is hinged with the telescopic connecting mechanism 2;

the moving mechanisms 1 are four in number and include: a rotating bracket 101, a steering motor 102, a steering gear pair 103, a movable connecting frame 104, a movable motor 105, a rotating wheel group 106 and a driving belt 107; the steering motor 102 is fixedly arranged on the inner side surface of the rotating bracket 101, a driving gear in the steering gear pair 103 is fixedly connected with an output shaft of the steering motor 102 and is not contacted with the inner bottom surface of the moving bracket 101, a transmission gear rotatably penetrates through the inner bottom surface of the moving bracket 101 and is fixedly connected with the moving connecting frame 104, the moving motor 105 is fixedly arranged on the lower surface of the moving connecting frame 104, the rotating wheel set 106 rotatably penetrates through the moving connecting frame 104, and the moving motor 105 and the wheel shaft of the rotating wheel set 106 are mutually sleeved through a driving belt 107; in the moving mechanism, the rotation including the rotating bracket 101 and the connected parts thereof can be realized through the steering motor 102, and the moving motor 105 provides rotating force for the rotating wheel set 106 through the sliding friction force of the driving belt 107;

the telescopic connection mechanism 2 includes: a multistage hydraulic telescopic support frame 201 and a multistage hydraulic connecting rod 202; the multistage hydraulic telescopic supporting frame 201 is of a cuboid frame structure and is fixedly mounted on the upper surface of the rotating support 101, the multistage hydraulic connecting rods 202 are hinged between the multistage hydraulic telescopic supporting frame 201 and the clamping mechanisms 3, the number of the multistage hydraulic connecting rods 202 is four in total and are connected in parallel, and the positions of the clamping mechanisms 3 are controlled by stretching and contracting at the same time, so that material handling work is completed;

the chucking mechanism 3 includes: the clamping device comprises a clamping connecting plate 301, a clamping jaw connecting piece 302, a first clamping cylinder 303, a clamping jaw arm 304, a second clamping cylinder 305, a clamping jaw head 306, a first connecting rod 307, a second connecting rod 308 and a clamping jaw rotating motor 309; the upper surface of the clamping connecting plate 301 is hinged with the multistage hydraulic connecting rod 202 and is controlled by the multistage hydraulic connecting rod 202 to complete the lifting function, the number of the clamping jaw connecting pieces 302 is four, the clamping cylinder I303 steel body is hinged at the outer end part of the clamping jaw connecting piece 302, the clamping cylinder I303 is hinged to the clamping jaw arm 304 in a telescopic short mode, the upper end of the clamping jaw arm 304 is hinged with the clamping jaw connecting piece 302, the clamping cylinder I303 is telescopic to control the tightening and loosening actions of the clamping jaw arm 304 by taking the upper end of the clamping jaw arm 304 as a rotation center, the clamping cylinder II 305 steel body is hinged to the clamping jaw arm 304, the telescopic end of the clamping cylinder II is hinged with the clamping jaw head 306, the upper end part of the clamping jaw head 306 is hinged with the lower end part of the clamping jaw arm 304, and the clamping cylinder II 305 is telescopic to control the; the first connecting rod 307 is rotatably connected between the side face of the clamping jaw connecting piece 302 and the end part of the second connecting rod 308, the other end of the second connecting rod 308 is fixedly connected with an output shaft of the clamping jaw rotating motor 309, the clamping jaw rotating motor 309 is fixedly connected to the side face of the clamping connecting plate 301, when the clamping mechanism needs to rotate, the clamping jaw rotating motor 309 rotates to drive the second connecting rod 308 to rotate by taking the output shaft of the clamping jaw rotating motor 309 as a circle center, and the first connecting rod 307 makes a curve motion along with the rotating connection part of the first.

In an optional implementation manner of the embodiment of the present invention, as shown in fig. 10 and 11, in the moving mechanism 1, the steering motor 102 and the moving motor 105 are provided with active moving mechanisms among four moving mechanisms, so that the moving power is enhanced, and the operation and construction can be performed on complex terrains.

In an optional implementation manner of the embodiment of the present invention, as shown in fig. 7 and 9, the multi-stage hydraulic telescopic supporting frame 201 is formed by fixedly connecting end-to-end multi-stage hydraulic supporting columns 2011 formed by fixedly connecting telescopic ends of every two multi-stage hydraulic supporting rods, the number of the multi-stage hydraulic supporting columns 2011 is twelve, and each multi-stage hydraulic supporting column 2011 controls the telescopic motion through the multi-stage hydraulic supporting rods formed by the multi-stage hydraulic supporting column 2011, so that the change of the height, the width and the length of the overall frame of the multi-stage hydraulic telescopic supporting frame 201 can be completed to adapt to various.

In an optional implementation manner of the embodiment of the present invention, as shown in fig. 7, strut connecting seats 2012 are fixedly installed at the joints of the multi-stage hydraulic support columns 2011, the number of the strut connecting seats 2012 is eight, and each strut connecting seat 2012 is fixedly connected to three multi-stage hydraulic support columns 2011.

In an alternative implementation of the embodiment of the present invention, as shown in fig. 8, the telescopic connection mechanism 2 further includes: hinged support 203, hinged support 203 articulate in multistage hydraulic connecting rod 202's steel body, flexible end respectively, steel body end hinged support 203 fixed connection in upper portion pillar connecting seat 2012 lower surface, flexible end hinged support 203 fixed connection in centre gripping connecting plate 301 upper surface, hinged support 203 is totally eight in quantity, guarantees the articulated steadiness of multistage hydraulic connecting rod 202.

The working principle is as follows: the invention is suitable for areas such as production and processing factories, logistics transportation centers and the like which need to carry out a large amount of materials; when carrying out the carrying operation, the whole device is rotationally moved to a proper position by the steering motor 102 and the moving motor 105 in the moving mechanism 1 in cooperation with the steering gear pair 103, the moving connecting frame 104, the rotating wheel set 106 and the driving belt 107, the multistage hydraulic telescopic supporting frame 201 is controlled and changed in height, width and length according to the construction environment in the moving process to adapt to the operation, the multistage hydraulic connecting rod 202 is matched with the clamping mechanism 3 and simultaneously extends to control the position of the clamping mechanism 3 to descend to a material proper position, at the moment, the first connecting rod 307 and the second connecting rod 308 are controlled to rotate by the clamping jaw rotating motor 309, the first connecting rod 307 drives the clamping jaw connecting piece 302 and the connecting piece thereof to rotate, when the first clamping cylinder 303, the clamping jaw arm 304 is controlled to clamp by the first clamping cylinder 303, and the clamping jaw head 306 is controlled to further clamp and reinforce by the second clamping cylinder 305, the material is clamped, and then the position of the clamping mechanism 3 is simultaneously extended and controlled to rise through the multistage hydraulic connecting rod 202, and the material is conveyed by matching with the moving mechanism 1.