CN210557475U

CN210557475U - Portable auxiliary carrying robot

Info

Publication number: CN210557475U
Application number: CN201921004020.0U
Authority: CN
Inventors: ***; 孟凌宇; 尹波康; 卢山; 单钰茗
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-05-19
Anticipated expiration: 2029-06-28

Abstract

A portable auxiliary transfer robot is designed, and comprises a vertical transport mechanism, a loading sensing device, a plane transport mechanism and a central control system. In the handling engineering, people gently push the objective platform, can let the revolute pair produce certain rotation, and transport mechanical equipment sends rotation signal for the singlechip through the encoder of installing in joint department, thereby realizes the removal realization transport function of the processing of signal and the drive of motor and realization overall mechanism. The equipment is used as a transfer robot, and an input device of a manual operation part is also an end effector at the same time, so that the closer cooperation relationship between a human and the machine is realized. Compared with the traditional transfer robot, the robot has the advantages of flexible operation space, small volume, multiple operation modes and paths, portability and the like. The portable auxiliary transfer robot can realize detection and movement of the movement signals in the three directions of XYZ.

Description

Portable auxiliary carrying robot

Technical Field

The utility model relates to a field is put things in good order to cargo handling, product, concretely relates to portable supplementary transfer robot.

Background

2015 government work report, the first time, proposes an important guideline for implementing "2025 manufacturing in china", that is, china decides to shift from a production mode with low efficiency to an intelligent and innovative green development channel, and the increase of the investment in the manufacturing industry by the country is undoubtedly intended to improve the automation degree of the industry. Therefore, the novel robot can help people to manufacture more industrial products better, faster and more efficiently, and realize a semi-automatic or full-automatic production mode of production in China, so that the labor intensity of workers is reduced, and the working environment of the workers is improved. However, in many fields, pure robots are limited in the number of tasks that they can perform and cannot meet the wide variety of tasks in actual production activities. Thus, at the end of the last century, the concept of an intelligent auxiliary Device IAD (intelligent assistance Device) was born. The primary purpose of this concept is to improve the production efficiency of material handling assembly, and the intelligent auxiliary device is a power-assisted device with a high degree of automation, which is mainly used for positioning and moving materials and operating in three-dimensional space, and does not need great effort of an operator, and only needs the operator to give out the movement trend and direction, and the intelligent auxiliary device can quickly sense the movement intention and movement mode of human beings, thereby completing the handling work. Such a power-assisted robot is working in many developed countries in the world, in germany and the united states. They are particularly suitable for situations where conventional handling tasks are inadequate, such as handling very heavy loads and parts of very irregular shape, very large volume and assembly of parts.

The intelligent auxiliary equipment is an application technology with great development prospect, can realize relatively accurate motion track in a limited working space with relatively small speed in a small space, and simultaneously can realize efficient and safe carrying work by combining advanced technologies such as a computer vision technology, an electronic technology, a sensor technology and the like, so that the application scene of the intelligent auxiliary equipment is very wide in the future.

Stanley, Inc. in the United states has been working on intelligent assistance. An operator applies force to the sensor through related equipment, and the sensor collects and digitizes a force-applied signal and transmits the force-applied signal to a processor with a control function. And after specific control operation, the processor sends the driving signal to the intelligent auxiliary equipment. The auxiliary equipment generates certain movement according to the received driving signal, and simultaneously feeds back the movement information to the processor so that the processor can control the whole body. Based on the above principle, the company designs a cobotics intelligent power assisting device. The equipment mainly comprises a guide rail in the horizontal direction, a moving mechanism moving horizontally, a lifting mechanism in the vertical direction, an operating handle and the like. The device is designed, and the guide rail module mainly comprises two guide rails in an orthogonal state. And a motor is arranged on each guide rail and used for realizing free movement in a plane. The top end of the guide rail module is provided with a non-contact cable angle sensor for detecting the movement tendency of an operator. A double-slide rail trolley, a bridge type moving trolley, a hoisting mechanical arm and a hoisting mechanical device are arranged below the guide rail. The cable angle sensor transmits the angle value to the controller, and the controller sends out a signal to drive the motor arranged on the guide rail, thereby driving the double-slide rail trolley and the bridge type moving trolley to realize plane motion. The force detection device collects the operation tendency of an operator on the weight in the vertical direction and transmits the operation tendency to the controller, and the controller sends an actual control signal to the lifting mechanical device and the lifting mechanical arm according to a set control algorithm, so that the action of lifting or descending the weight by the operator in the vertical direction is realized. Therefore, the operation of the operator in the horizontal direction and the vertical direction can be realized, and the heavy object can be carried easily.

Currently, China is still in the preliminary stage for the research work of the IAD technology. Because of the robot technology in China, the motion control aspect has a certain gap with the international advanced level, but the robot cooperation robot cobot developed by the mechanical and electrical integration laboratory of Harbin engineering university represents a staged progress of the research of the cooperation type robot in China. The robot has three rotational degrees of freedom and one degree of freedom of movement. The tail end mechanical arm can move freely in the direction by adopting a rail type, and the tail end wrist adopts a revolute pair design, so that an operator can easily control the robot to carry heavy objects.

The research condition analysis of domestic and foreign auxiliary carrying robots shows that the existing products are large in size or fixed in working area, and are inconvenient to carry flexibly at different positions. Therefore, in order to solve the above-mentioned problems, it is necessary to provide a small and portable auxiliary transfer robot.

Disclosure of Invention

In order to solve the problem that the current auxiliary transfer robot is not portable and the moving range is limited, the utility model provides a portable auxiliary transfer robot.

The utility model discloses a solve the technical scheme that technical problem adopted as follows:

a portable auxiliary transfer robot comprising: the vertical transportation mechanism is a loading induction device consisting of a Chebyshev link mechanism and a Sarrus structure, and the plane transportation mechanism is characterized in that the vertical transportation mechanism comprises: ball, the optical axis, connecting rod and whole frame, two lead screw symmetries are fixed in the relative both sides of frame, the top is fixed on the top of whole device, peripheral hardware step motor drives the lead screw and arranges the top connecting rod top in, its lower extreme height is half of the whole device height, the optical axis is laid to first lead screw, second lead screw both sides, ball pair links to each other with the optical axis, the connecting rod links to each other two ball pairs relative, will carry the thing device to fix the centre at the connecting rod, constitute whole perpendicular transport mechanism.

The loading induction device comprises a Chebyshev link mechanism with the upper end connected in a staggered manner and a Sarrus structure with the lower end. The Chebyshev link mechanism is composed of a crank link and a coupling link, and an encoder is arranged at the revolute pair.

In the Sarrus structure, an extension spring is horizontally arranged at the upper part, the left side of the Sarrus structure is fixed, and a pulley is arranged at the right side of the Sarrus structure and is connected with an outer side pull rod through the pulley. The rotary pair is provided with an encoder, and the whole loading sensing device is fixed in the middle of the middle connecting rod of the vertical conveying mechanism.

The portable auxiliary transfer robot is characterized in that the plane transport mechanism comprises: a mecanum wheel and a stepper motor. The outer sides of the four legs of the whole device are respectively fixed with a Mecanum wheel, the inner sides of the four legs of the whole device are respectively fixed with a stepping motor, and the stepping motors are connected with the Mecanum wheels.

The portable auxiliary transfer robot is characterized by further comprising a control system, the control system comprising: the device comprises a singlechip, encoders arranged on each revolute pair, a power supply module and a motor drive circuit. The stepping motors are all connected with a motor driving circuit; the encoders are connected with the single chip microcomputer; and the power supply module is respectively connected with the singlechip and the motor drive circuit.

The utility model has the advantages that:

1. the upper part of the loading induction device is provided with the double four-bar Chebyshev mechanism, so that the linear motion of the device can be realized, and a central control system can conveniently control the motion route. And the Chebyshev connecting rod has robustness and good mechanical property.

2. The lower part of the loading induction device of the invention adopts a Sarrus structure, and realizes gravity balance together with the extension spring.

3. The plane transportation mechanism adopts Mecanum wheels, and can realize any plane motion under the control of a central control system.

4. Compared with other auxiliary carrying robots, the invention has the remarkable characteristics of portability and flexible movement, is suitable for carrying in a plurality of occasions, and has wide carrying range.

Drawings

Fig. 1 is a schematic view of an overall structure of a portable auxiliary transfer robot according to the present invention;

FIG. 2 is a front side view of the body of the portable auxiliary transfer robot according to the present invention;

FIG. 3 is a left side view of the portable auxiliary transfer robot of the present invention;

FIG. 4 is a schematic view of a vertical transport mechanism of the portable auxiliary transfer robot according to the present invention;

fig. 5 is a schematic view of an object sensing device of the portable auxiliary transfer robot according to the present invention.

In the figure: the device comprises a 1-vertical conveying mechanism, a 2-object carrying induction device, a 3-plane conveying mechanism, a 4-stepping motor (screw), a 5-stepping motor (Mecanum wheel), a 6-frame, a 7-connecting rod, an 8-ball screw pair, a 9-ball screw, a 10-optical axis, an 11-Sarrus structure, a 12-Mecanum wheel, a 13-crank connecting rod, a 14-coupling connecting rod and a 15-spring.

As shown in fig. 1 to 5, the portable auxiliary transfer robot includes: vertical transport mechanism 1, carry thing induction system 2 by chebyshev link mechanism and Sarrus structure 11 constitution, plane transport mechanism 3, its characterized in that, vertical transport mechanism includes: ball 9, optical axis 10, connecting rod 7 and whole frame 6, two screw symmetries are fixed in the relative both sides of frame, the top is fixed on the top of whole device, peripheral hardware step motor 4 drives the lead screw and arranges the top connecting rod top in, its lower extreme height is half of the whole device height, the optical axis is laid to first lead screw, the second lead screw both sides, ball 8 is vice continuous with the optical axis, the connecting rod links to each other two ball pairs relative, will carry the thing device to fix the centre at the connecting rod, constitute whole perpendicular transport mechanism.

The portable auxiliary carrying robot is characterized in that the carrying sensing device comprises a Chebyshev link mechanism with the upper end connected in a staggered mode and a Sarrus structure with the lower end connected in a staggered mode. The Chebyshev link mechanism is composed of a crank link 13 and a coupling link 14, and an encoder is arranged at a revolute pair.

In the Sarrus structure, an extension spring 15 is horizontally arranged at the upper part, the left side of the Sarrus structure is fixed, and a pulley is arranged at the right side of the Sarrus structure and is connected with an outer side pull rod through the pulley. The rotary pair is provided with an encoder, and the whole loading sensing device is fixed in the middle of the middle connecting rod of the vertical conveying mechanism.

The plane transport mechanism comprises: a mecanum wheel 12 and a stepper motor 5. The outer sides of the four legs of the whole device are respectively fixed with a Mecanum wheel, the inner sides of the four legs of the whole device are respectively fixed with a stepping motor, and the stepping motors are connected with the Mecanum wheels. Still include control system, control system includes: the device comprises a singlechip, encoders arranged on each revolute pair, a power supply module and a motor drive circuit. The stepping motors are all connected with a motor driving circuit; the encoders are connected with the single chip microcomputer; and the power supply module is respectively connected with the singlechip and the motor drive circuit.

Detailed Description

In the handling engineering, on placing cargo platform with the goods, Sarrus is structural to convert gravitational potential energy into elastic potential energy, realize local gravity balance effect this moment mankind and promote this equipment gently, can let the revolute pair of coupling connecting rod joint department produce certain rotation, the device passes through artificial pivoted input signal through the encoder of installing in joint department this moment, give the singlechip with the rotation signal, realize the processing of signal and the drive of motor and realize the removal of overall structure, step motor through perpendicular transport mechanism and plane transport mechanism provides power, it removes to drive the goods, thereby realize the transport function. The portable auxiliary carrying robot can realize detection and movement of movement signals in three directions of XYZ in principle.

Claims

1. A portable auxiliary transfer robot comprising: the vertical transportation mechanism is a loading induction device consisting of a Chebyshev link mechanism and a Sarrus structure, and a plane transportation mechanism; characterized in that, the vertical transportation mechanism includes: ball, the optical axis, connecting rod and whole frame, two screw symmetries are fixed in the relative both sides of frame, the top is fixed on the top of whole device, peripheral hardware step motor drives the lead screw and arranges the top connecting rod top in, its lower extreme height is half of the whole device height, the optical axis is laid to first lead screw, second lead screw both sides, ball pair links to each other with the optical axis, the connecting rod links to each other two ball pairs relative, will carry the thing device to fix the centre at the connecting rod, constitute whole perpendicular transport mechanism.

2. The portable auxiliary transfer robot as claimed in claim 1, wherein the plane transportation mechanism comprises: the device comprises Mecanum wheels and stepping motors, wherein the outer sides of four legs of the whole device are respectively fixed with one Mecanum wheel, the inner sides of the four legs of the whole device are respectively fixed with one stepping motor, and the stepping motors are connected with the Mecanum wheels.

3. The portable auxiliary transfer robot of claim 1, further comprising a control system comprising: the single chip microcomputer, the encoders arranged on the revolute pairs, the power supply module and the motor driving circuit; the stepping motors are all connected with a motor driving circuit; the encoders are connected with the single chip microcomputer; and the power supply module is respectively connected with the singlechip and the motor drive circuit.