技术领域technical field
本实用新型涉及搬运机械技术领域，尤其涉及一种用于搬运物体或其他东西的搬运机器人。The utility model relates to the technical field of conveying machinery, in particular to a conveying robot used for conveying objects or other things.
背景技术Background technique
日常生活中经常会有意外事故发生，当有人员被困或有重要物品遗落时，一般是人为进行营救或取物工作，由于单个营救人员自身能力的限制，往往需要几个营救人员合作才能进行营救工作。此种营救工作异常危险，营救人员和被困人员均易受到伤害，因此，利用机器将被困人员救出或将物品取出是一种必然的趋势。Accidents often occur in daily life. When people are trapped or important items are left behind, rescue or fetching is usually done manually. Due to the limitation of a single rescuer's own ability, it often requires the cooperation of several rescuers. Carry out rescue work. This kind of rescue work is extremely dangerous, and both rescuers and trapped people are vulnerable. Therefore, it is an inevitable trend to use machines to rescue trapped people or take out items.
目前，用于进行营救工作的机械都为辅助型装置，用于辅助营救人员进行营救工作，不能完全代替人员进行营救。At present, the machines used for rescue work are all auxiliary devices, which are used to assist rescuers to carry out rescue work, and cannot completely replace personnel for rescue.
实用新型内容Utility model content
为了解决上述现有技术中存在的缺点和不足，本实用新型提供了一种能完全替代人工进行营救或取物的搬运机器人，有效提高作业安全性。In order to solve the shortcomings and deficiencies in the above-mentioned prior art, the utility model provides a handling robot that can completely replace manual rescue or picking up objects, and effectively improve the operation safety.
为了达到上述技术目的，本实用新型提供的搬运机器人，包括用于带动整体实现全方位移动的底座机构和用于夹紧物品的夹持臂。所述底座机构包括底座、转动设于所述底座上的丝杆一及用于带动所述丝杆一转动的电机二；所述底座包括并排设置的左底座和右底座，所述右底座上设有与所述丝杆一配合的固定座。所述丝杆一的一端转动设置在所述右底座上，所述丝杆一的另一端通过螺纹配合穿过所述固定座后与所述电机二连接在一起。所述底座机构上设有升降机构，所述升降机构包括底部转动设于所述底座上的丝杆二、用于带动所述丝杆二转动的电机三和传动机构一及配合套装在所述丝杆二上的升降座。所述夹持臂通过调整机构与所述升降机构连接在一起,所述调整机构包括成对设置在所述升降座上的滑块、用于带动所述滑块相向或背向移动的双向丝杆及用 于带动所述双向丝杆转动的电机四和传动机构二。所述升降座上设有与所述滑块适配的导轨，所述滑块通过与所述导轨的配合设置在所述升降座上，且所述滑块配合套装在所述双向丝杆上。In order to achieve the above technical purpose, the handling robot provided by the utility model includes a base mechanism for driving the whole body to move in all directions and a clamping arm for clamping objects. Described base mechanism comprises base, rotates screw mandrel 1 that is located on described base and is used to drive motor 2 that described screw mandrel rotates; Described base comprises left base and right base that are arranged side by side, and on described right base There is a fixed seat that cooperates with the screw rod. One end of the screw rod 1 is rotatably arranged on the right base, and the other end of the screw rod 1 is threaded through the fixing seat and connected with the motor 2. The base mechanism is provided with an elevating mechanism, and the elevating mechanism includes a screw rod 2 which is rotated at the bottom and is arranged on the base, a motor 3 for driving the screw rod 2 to rotate, a transmission mechanism 1 and a matching sleeve on the base. Lifting seat on screw mandrel 2. The clamping arm is connected with the lifting mechanism through an adjustment mechanism, and the adjustment mechanism includes a pair of sliding blocks arranged on the lifting seat, a two-way wire for driving the sliding blocks to move toward or back. rod and motor four and transmission mechanism two for driving the two-way screw mandrel to rotate. The lifting seat is provided with a guide rail adapted to the slider, and the slider is arranged on the lifting seat by cooperating with the guide rail, and the slider is matched and sleeved on the two-way screw rod .
进一步的改进，所述底座机构还包括成对设置在所述左底座和右底座相对外侧的带轮、套装在所述带轮上的皮带及用于带动相应带轮转动的电机一。As a further improvement, the base mechanism also includes a pair of pulleys arranged on the opposite outer sides of the left base and the right base, a belt fitted on the pulleys, and a motor 1 for driving the corresponding pulleys to rotate.
进一步的改进，所述升降机构还包括至少一根与所述丝杆二设置在所述底座同侧的导杆二，所述升降座滑动套装在所述导杆二上。As a further improvement, the lifting mechanism further includes at least one guide rod two arranged on the same side of the base as the screw rod two, and the lifting seat is slidably fitted on the second guide rod.
进一步的改进，所述升降座上设有与所述丝杆二配合的丝套，所述升降座通过丝套配合套装在所述丝杆二上；所述丝杆二的两端均设有与所述丝杆二配合的基座。As a further improvement, the lifting seat is provided with a wire sleeve that cooperates with the second screw rod, and the lifting base is fitted on the second screw rod through a wire sleeve; both ends of the second screw rod are provided with A base that cooperates with the screw mandrel two.
进一步的改进，所述升降座在所述导轨的两端均设有基板，所述双向丝杆的两端转动设置在所述基板上。As a further improvement, the lifting base is provided with a base plate at both ends of the guide rail, and the two ends of the two-way screw rod are rotatably arranged on the base plate.
进一步的改进，所述夹持臂包括与所述滑块连接在一起的支架、与所述支架固定连接的固定臂及与所述固定臂连接在一起的活动臂。As a further improvement, the clamping arm includes a bracket connected to the slider, a fixed arm fixedly connected to the bracket, and a movable arm connected to the fixed arm.
进一步的改进，所述支架上设有至少一根倾斜的推杆。As a further improvement, at least one inclined push rod is provided on the support.
本实用新型提供的搬运机器人，结构简单，能有效完全代替人工完成物品搬运工作。通过底座机构带动装置整体实现全方位移动，通过升降机构带动夹持臂上升或下降到最佳拾取物品高度。通过调整机构能将夹持臂之间的距离使之与被拾取物品的宽度适配，且在搬运过程中能夹紧物品。活动臂采用可调整方式设置在固定臂上，能根据不同的工作情况进行调整，使夹持臂在搬运过程中能顺利拾取物品。固定架上设置的推杆能在搬运过程中推开阻碍物，使搬运工作能顺利进行。该搬运机器人通用性好，不仅能搬运物品，且能用于特殊场合用于完成一些较为危险的工作，如搬运炸弹、有毒物质或放射性物质等。The handling robot provided by the utility model has a simple structure and can effectively and completely replace the work of manual handling of objects. The whole device is driven by the base mechanism to move in all directions, and the lifting mechanism drives the clamping arm to rise or fall to the optimum height for picking up items. By adjusting the mechanism, the distance between the clamping arms can be adapted to the width of the picked-up item, and the item can be clamped during the carrying process. The movable arm is set on the fixed arm in an adjustable manner, which can be adjusted according to different working conditions, so that the clamping arm can pick up objects smoothly during the handling process. The push rod arranged on the fixed frame can push away obstacles during the carrying process, so that the carrying work can be carried out smoothly. The handling robot has good versatility. It can not only carry items, but also can be used in special occasions to complete some relatively dangerous tasks, such as handling bombs, toxic substances or radioactive substances.
附图说明Description of drawings
图1为本实用新型实施例中搬运机器人的整体结构示意图；Fig. 1 is the overall structure schematic diagram of handling robot in the utility model embodiment;
图2为本实用新型实施例中底座机构的结构示意图；Fig. 2 is the structural representation of the base mechanism in the utility model embodiment;
图3为本实用新型实施例中升降机构和调整机构的结构示意图；Fig. 3 is the structural representation of lifting mechanism and adjustment mechanism in the utility model embodiment;
图4为本实用新型实施例中搬运机器人的整体电路控制图；Fig. 4 is the overall circuit control diagram of the handling robot in the embodiment of the utility model;
图5为与图4中各符号对应的附表。Fig. 5 is an attached table corresponding to each symbol in Fig. 4 .
图中，1-底座机构，11-底座，111-左底座，112-右底座，12-带轮，13-皮带，14-电机一，15-丝杆一，16-导杆一，161-固定杆，162-活动杆，17-电机二，18-联轴器，19-固定座，2-配重块，3-升降机构，31-电机三，32-丝杆二，33-导杆二，34-基座，35-传动机构一，36-顶座，37-限位块，4-升降座，41-导轨，42-基板，5-调整机构，51-滑块，52-电机四，53-传动机构二，54-固定板，55-双向丝杆，6-夹持臂，61-支架，62-固定臂，63-活动臂，7-推杆。In the figure, 1-base mechanism, 11-base, 111-left base, 112-right base, 12-pulley, 13-belt, 14-motor one, 15-screw rod one, 16-guide rod one, 161- Fixed rod, 162-movable rod, 17-motor two, 18-coupling, 19-fixed seat, 2-counterweight, 3-lifting mechanism, 31-motor three, 32-screw two, 33-guide rod Two, 34-base, 35-transmission mechanism 1, 36-top seat, 37-limit block, 4-lift seat, 41-guide rail, 42-base plate, 5-adjustment mechanism, 51-slider, 52-motor Four, 53-transmission mechanism two, 54-fixed plate, 55-two-way screw mandrel, 6-clamping arm, 61-support, 62-fixed arm, 63-movable arm, 7-push rod.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本实用新型作进一步说明。Below in conjunction with accompanying drawing and specific embodiment, the utility model is further described.
如图1所示，为本实用新型实施例中搬运机器人整体的结构示意图，包括用于带动整体实现全方位移动的底座机构1和用于夹持物品的夹持臂6，该底座机构上设有升降机构3，夹持臂通过调整机构5与该升降机构连接在一起。As shown in Figure 1, it is a schematic diagram of the overall structure of the handling robot in the embodiment of the utility model, including a base mechanism 1 for driving the whole body to move in all directions and a clamping arm 6 for clamping objects. There is a lifting mechanism 3, and the clamping arm is connected with the lifting mechanism through an adjustment mechanism 5.
如图2所示，底座机构1包括底座11、成对设置在底座左右两侧的带轮12、套装在带轮上的皮带13及用于带动相应带轮转动的电机一14，带轮与电机一的动力输出轴固定安装在一起。As shown in Figure 2, the base mechanism 1 includes a base 11, a pair of pulleys 12 arranged on the left and right sides of the base, a belt 13 sleeved on the pulleys and a motor-14 for driving the corresponding pulleys to rotate, the pulleys and The power take-off shaft of motor one is fixedly installed together.
该底座11包括并排设置的左底座111和右底座112，在左、右底座之间设有丝杆一15，左底座111上设有用于带动丝杆一转动的电机二17，右底座112上设有与丝杆一螺纹配合的固定座19。丝杆一15的一端转动设置在右底座上，丝杆一的另一端穿过固定座19后通过联轴器18与电机二17的动力输出轴连接在一起。This base 11 comprises the left base 111 and the right base 112 that are arranged side by side, is provided with screw mandrel one 15 between left and right base, is provided with the motor two 17 that is used to drive screw mandrel one rotation on the left base 111, on the right base 112 A fixing seat 19 threadedly engaged with the screw mandrel is provided. One end of screw mandrel one 15 rotates and is arranged on the right base, and the other end of screw mandrel one passes through holder 19 after being connected together by the power output shaft of shaft coupling 18 and motor two 17.
为了使底座11在调整时能平稳进行，在左、右底座之间还配合设有导杆一16，该导杆一采用可伸缩的结构形式，包括固定杆161和活动杆162，固定杆一端与右底座112固定连接，固定杆另一端与活动杆162的一端活动连接在一起，活动杆的另一端与左底座111连接在一起。In order to make the base 11 stable when adjusting, a guide rod 16 is also arranged between the left and right bases. The guide rod 1 adopts a telescopic structure, including a fixed rod 161 and a movable rod 162. It is fixedly connected with the right base 112 , the other end of the fixed rod is movably connected with one end of the movable rod 162 , and the other end of the movable rod is connected with the left base 111 .
如图3所示，升降机构3包括底部通过基座34设于底座11上的丝杆二32、用于带动丝杆二转动的电机三31和传动机构一35及套装在丝杆二上的升降座4还，包括与丝杆二设置在底座11同侧的导杆二33。As shown in Figure 3, the elevating mechanism 3 includes a screw rod two 32 whose bottom is arranged on the base 11 through a base 34, a motor three 31 for driving the screw rod two to rotate, a transmission mechanism one 35 and a screw rod set on the second screw rod. The lifting base 4 also includes a guide rod 2 33 arranged on the same side of the base 11 as the screw rod 2 .
升降座4上设有与丝杆二32配合的丝套，升降座通过丝套与丝杆二连接在一起，同时，升降座光滑套装在导杆二33上。在导杆二的顶部位置处设有顶座36，导杆二的顶部设有限位块37，该限位块位于顶座内，丝杆二的上端通过基座34与顶座36连接在一起。电机三31固定设置在该顶座36上，传动机构一35采用锥齿轮传动机构，主动轮固定安装在电机三的动力输出轴上，从动轮固定套装在丝杆二的顶部。Lifting seat 4 is provided with the silk sleeve that cooperates with screw mandrel two 32, and lifting seat is connected together with screw mandrel two by silk sleeve, and meanwhile, lifting seat is smoothly sleeved on guide rod two 33. The top position of the guide rod two is provided with a top seat 36, and the top of the guide rod two is provided with a limit block 37, which is located in the top seat, and the upper end of the screw rod two is connected with the top seat 36 through the base 34 . Motor three 31 are fixedly arranged on this top seat 36, transmission mechanism one 35 adopts bevel gear transmission mechanism, driving wheel is fixedly installed on the power output shaft of motor three, and driven wheel is fixedly sleeved on the top of screw mandrel two.
调整机构5包括成对设置在升降座4上的滑块51、用于带动滑块相向或背向移动的双向丝杆55及用于带动双向丝杆转动的电机四52和传动机构二53。Adjustment mechanism 5 comprises slide block 51 that is arranged on lifting base 4 in pairs, is used to drive the two-way screw mandrel 55 that slide block moves toward or back, and is used to drive motor four 52 and transmission mechanism two 53 that two-way screw mandrel rotates.
升降座4上设有与滑块适配的导轨41，滑块通过与导轨的配合设置在升降座上，且滑块通过螺纹配合套装在双向丝杆55上。电机四52通过固定板54设置在升降座4上，传动机构二53亦采用锥齿轮传动机构，主动轮固定安装在电机四的动力输出轴上，从动轮与双向丝杆的一端固定安装在一起。The lifting seat 4 is provided with a guide rail 41 adapted to the slide block, the slide block is arranged on the lift seat by cooperating with the guide rail, and the slide block is sleeved on the two-way screw rod 55 through thread fit. The motor 4 52 is arranged on the lifting seat 4 through the fixed plate 54, the transmission mechanism 2 53 also adopts a bevel gear transmission mechanism, the driving wheel is fixedly installed on the power output shaft of the motor 4, and the driven wheel is fixedly installed with one end of the two-way screw rod .
升降座4在导轨41的两端均设有基板42，基板上设有与双向丝杆55适配的轴承，双向丝杆的两端通过与轴承配合转动设置在基板上。The lifting base 4 is provided with a base plate 42 at both ends of the guide rail 41, and the base plate is provided with a bearing adapted to the two-way screw rod 55, and the two ends of the two-way screw rod are arranged on the base plate by cooperating with the bearing to rotate.
当升降机构3设置在底座的一侧时，为了使装置整体能够保持平衡，底座在与升降机构相对的另一侧设有配重块2。When the lifting mechanism 3 is arranged on one side of the base, in order to make the whole device maintain balance, the base is provided with a counterweight 2 on the other side opposite to the lifting mechanism.
夹持臂6包括与滑块连接在一起的支架61、固定设置在支架上的固定臂62及设置在固定臂一端的活动臂63。固定臂62的一端固定在支架上，活动臂的一端通过螺栓设置在固定臂的另一端。为了使夹持臂的长度能够调整，在固定臂另一端并排设置多个与螺栓配合的固定孔，调整时，拧开螺栓，使活动臂上的孔与固定臂上的固定孔的固定孔重合，然后拧紧螺栓。The clamping arm 6 includes a bracket 61 connected with the slider, a fixed arm 62 fixed on the bracket, and a movable arm 63 arranged at one end of the fixed arm. One end of the fixed arm 62 is fixed on the support, and one end of the movable arm is arranged on the other end of the fixed arm by a bolt. In order to adjust the length of the clamping arm, a plurality of fixing holes matched with bolts are arranged side by side at the other end of the fixing arm. When adjusting, unscrew the bolts so that the holes on the movable arm coincide with the fixing holes on the fixed arm. , and then tighten the bolts.
为了在搬运过程中推开阻碍物，使搬运工作能顺利进行，支架61上还设有至少一根倾斜的推杆7，推杆的一端通过螺栓安装在支架上。In order to push away obstacles during the handling process, so that the handling work can be carried out smoothly, the support 61 is also provided with at least one inclined push rod 7, and one end of the push rod is installed on the support by a bolt.
本实用新型实施例提供的搬运机器人在工作时，根据被拾取物品的置放情况调整活动臂63的角度和活动臂相对于固定臂的位置，根据障碍物情况调整推杆7的倾斜角度。开启电机一14，电机一带动带轮12转动，从而使皮带13转动；当左、右两侧电机一Ma、Mb、Mc及Md的转动方向相同时，装置整体实现前进动作SB1或后退动作SB2；当两侧电机一的转动方向不同时，装置整体实现左转动作SB3或右转动作SB4。当道路情况变化时，调整左、右底座之间的距离，开启电机二17，电机二Me转动并通过联轴器18带动丝杆一15转动，丝杆一通过螺纹配合带动固定座19在丝杆一上移动，右底座112和左底座111之间的距离扩大SB5或缩小SB6。同时，活动杆162和固定杆161之间相对移动，导杆一的整体长度发生变化。根据被拾取物品的高度调整升降座4的高度，开启电机三31，电机三Mf通过传动机构35带动丝杆二32转动，丝杆二通过与丝套的配合作用带动升降座4上升SB7或下降SB8至合适高度。根据被拾取物品的大小调整两个活动臂之间的距离，开启电机四52，电机四Mg通过传动机构二53带动双向丝杆55转动，双向丝杆通过螺纹配合带动两个滑块51沿着导轨41相互靠近夹紧SB10或远离松开SB9使两个活动臂之间的距离调整至合适大小。活动臂拾取物品后，通过电机四使两滑块略微靠近，以便活动臂63夹紧被拾取物品。夹紧后，通过电机一14带动带轮12、皮带13转动，从而将被拾取物品搬运至目标位置。When the handling robot provided by the embodiment of the utility model is working, the angle of the movable arm 63 and the position of the movable arm relative to the fixed arm are adjusted according to the placement of the picked-up items, and the inclination angle of the push rod 7 is adjusted according to the obstacles. Turn on the motor one 14, and the motor one drives the pulley 12 to rotate, so that the belt 13 rotates; when the rotation directions of the motors one Ma, Mb, Mc and Md on the left and right sides are the same, the device as a whole realizes the forward action SB1 or the backward action SB2 ; When the rotation directions of the motors on both sides are different, the device as a whole realizes the left-turning action SB3 or the right-turning action SB4. When the road conditions change, adjust the distance between the left and right bases, turn on motor two 17, motor two Me rotates and drives screw mandrel one 15 to rotate by shaft coupling 18, and screw mandrel one drives fixing seat 19 on wire by threaded cooperation. As soon as the rod moves up, the distance between the right base 112 and the left base 111 is enlarged by SB5 or reduced by SB6. At the same time, the relative movement between the movable rod 162 and the fixed rod 161 changes the overall length of the first guide rod. Adjust the height of the lifting seat 4 according to the height of the picked-up item, turn on the motor 3 31, the motor 3 Mf drives the screw rod 2 32 to rotate through the transmission mechanism 35, and the screw rod 2 drives the lifting seat 4 to rise SB7 or descend by cooperating with the wire sleeve SB8 to a suitable height. Adjust the distance between the two movable arms according to the size of the picked-up item, turn on the motor four 52, the motor four Mg drives the two-way screw mandrel 55 to rotate through the transmission mechanism two 53, and the two-way screw mandrel drives two slide blocks 51 along the The guide rails 41 are close to clamping SB10 or away from loosening SB9 so that the distance between the two movable arms is adjusted to a suitable size. After the movable arm picks up the article, the two slide blocks are slightly approached by the motor 4, so that the movable arm 63 clamps the picked-up article. After clamping, the motor one 14 drives the pulley 12 and the belt 13 to rotate, thereby transporting the picked-up item to the target position.
本实用新型实施例提供的搬运机器人，结构简单，通过底座机构能带动装置整体实现全方位移动，通过升降机构带动夹持臂上升或下降到最佳拾取物品高度。通过调整机构能将夹持臂之间的距离调整到最佳拾取宽度，且在搬运过程中能夹紧物品。活动臂采用可调整方式设置在固定臂上，能根据不同的工作情况进行调整，使夹持臂在搬运过程中能顺利拾取物品。固定架上设置的推杆能在搬运过程中推开阻碍物，使搬运工作能顺利进行。且该搬运机器人通用性好，不仅能搬运物品，且能用于特殊场合用于完成一些较为危险的工作，如搬运炸弹、有毒物质或放射性物质等。The handling robot provided by the embodiment of the utility model has a simple structure, and the base mechanism can drive the whole device to move in all directions, and the lifting mechanism can drive the clamping arm to rise or fall to the optimum height for picking up objects. The distance between the clamping arms can be adjusted to the optimum pick-up width through the adjustment mechanism, and the items can be clamped during the handling process. The movable arm is set on the fixed arm in an adjustable manner, which can be adjusted according to different working conditions, so that the clamping arm can pick up objects smoothly during the handling process. The push rod arranged on the fixed frame can push away obstacles during the carrying process, so that the carrying work can be carried out smoothly. Moreover, the handling robot has good versatility, not only can carry objects, but also can be used in special occasions to complete some relatively dangerous tasks, such as handling bombs, toxic substances or radioactive substances.
总之，以上所述仅为本实用新型的较佳实施例，凡是依据本实用新型所作的均等变化与修饰，皆应属于本实用新型申请专利的保护范围。In a word, the above descriptions are only preferred embodiments of the utility model, and all equal changes and modifications made according to the utility model shall all belong to the protection scope of the utility model patent application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420314848.7UCN203993868U (en) | 2014-06-13 | 2014-06-13 | A kind of transfer robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420314848.7UCN203993868U (en) | 2014-06-13 | 2014-06-13 | A kind of transfer robot |
| Publication Number | Publication Date |
|---|---|
| CN203993868Utrue CN203993868U (en) | 2014-12-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420314848.7UExpired - Fee RelatedCN203993868U (en) | 2014-06-13 | 2014-06-13 | A kind of transfer robot |
| Country | Link |
|---|---|
| CN (1) | CN203993868U (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20141210 Termination date:20150613 | |
| EXPY | Termination of patent right or utility model |