CN211768761U

CN211768761U - Luggage lifting robot

Info

Publication number: CN211768761U
Application number: CN201821644263.6U
Authority: CN
Inventors: 郑艳; 王智慧; 王淑浩; 张丽
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2018-10-10
Filing date: 2018-10-10
Publication date: 2020-10-27
Anticipated expiration: 2028-10-10

Abstract

The utility model discloses a luggage lifting robot, including removing and bearing device, lift drive, parallelly connected work arm and end effector. The movable bearing device of the utility model can realize the long-distance flexible and stable walking, and can prevent the robot from skidding or instability during operation by utilizing the adjustable supporting legs, realize the stationing point support and improve the stability of the operation; the lifting driving device can realize lifting adjustment, the parallel working arm with the 4UPR structure can adjust the posture of the end effector, the logarithm of the longitudinal clamping device can be selected according to the size of the luggage, the longitudinal clamping device and the transverse clamping device are matched in a coordinated mode to ensure the safety of the luggage in the carrying process, the carrying requirements of medium and small luggage can be met, the carrying efficiency and the carrying safety of the luggage are improved, and the labor intensity of manual carrying and the possibility of accident occurrence of half empty falling of the luggage are reduced.

Description

Luggage lifting robot

Technical Field

The utility model belongs to the technical field of the luggage transport, in particular to luggage lifting robot.

Background

The train is the more general vehicle in country, and present train luggage rack generally adopts fixed suspension type, fixes it on the car wall of carriage window top through the screw, and its height all is higher than the window generally, and the passenger puts and gets luggage and need lift luggage over the top of the head and just can put it to luggage rack, to the passenger that the stature is short and carry the trip of big luggage, need stand on the seat and just can deposit luggage to luggage rack. For the old, children, short and small groups, it is difficult to lift the luggage on the luggage rack, and once the passengers standing on the seats to carry the luggage are collided, the accident that the luggage falls off in a half-empty state is easy to happen, and the passengers and the people around the passengers can be injured.

To solve this problem, prior patent documents have also proposed some solutions. Chinese patent No. 201620742367.5 discloses a luggage lifting device, which comprises more than one rope, a lifting platform, a lifting device, a supporting device and a box body, and can change the direction of force, but the proposal has low efficiency and poor flexibility. Chinese patent application No. 201510328156.7 discloses an automatic train luggage picking and placing device, which comprises a top plate, a lifting mechanism, a luggage lifting mechanism, a baffle plate and a platform mechanism, and can automatically place luggage, but the scheme has poor flexibility and low efficiency, and the safety is low when fragile articles are picked and placed. Chinese patent application No. 201610093115.9 discloses a semi-automatic mechanical baggage lifting mechanism, which comprises a small cart, a lower platform, a first hydraulic cylinder, a lifting mechanism, an upper platform, a push plate, a second hydraulic cylinder and a manual vertical reversing valve, wherein the mechanism has small size and flexible movement, but the size of the mechanism platform is limited, so that the mechanism platform is not suitable for lifting large and medium-sized baggage and the limitation of the use object is large. The application number 201820287288.9 Chinese patent discloses a device for storing and assisting luggage in a train carriage, which comprises a climbing frame and a support frame hinged to the upper part of the climbing frame, wherein the climbing frame and the support frame can be folded and unfolded, a lifting tackle is arranged in an axial slideway on the inner side of the climbing frame, a pulley is arranged above the slideway, a reel is arranged on the support frame, a pull rope is wound on the reel, the free end of the pull rope is wound around the pulley and is connected with the lifting tackle, luggage placed on the lifting tackle can be lifted by rotating the reel, the climbing frame and the support frame can be folded and unfolded, the occupied space is small, the structure is light, and the carrying; the lifting pulley utilizes the fixed pulley principle to lift, reduces the carrying strength of passengers to a certain extent, but when the luggage is lifted to the height of the luggage rack, the luggage needs to be manually pushed onto the luggage rack, the efficiency is low, and meanwhile, the lifting pulley has limited space and is not suitable for lifting large and medium-sized luggage.

SUMMERY OF THE UTILITY MODEL

The utility model aims at prior art not enough, provide a luggage lifting robot, can be used for the transport operation of big, medium and small size luggage on the train, improve luggage transport efficiency and security, reduce luggage transport intensity and the half empty possibility that falls the occurence of failure of luggage, can overcome prior art's defect.

The utility model discloses the technical problem that will solve adopts following technical scheme to realize.

A luggage lifting robot comprises a movable bearing device, a lifting driving device, parallel working arms and an end effector. Wherein, removal bear the device be the utility model discloses a bear and moving platform, including base, front driving wheel, back drive wheel, adjustable landing leg, stand, back timber and handrail. The two front driving wheels are arranged at the front end of the base, and the two rear driving wheels are arranged at the rear end of the base and used for driving the movable bearing device to move and walk. The adjustable supporting legs are arranged on two sides in front of the base, and two upright columns are symmetrically arranged between the base and the top beam in a left-right mode and are fixedly connected with the base and the top beam; the front side surfaces of the two upright posts are fixedly provided with front linear guide rails, the rear side surfaces of the two upright posts are fixedly provided with rear linear guide rails, and the rear linear guide rails adopt omega-shaped linear guide rails. The lifting driving device is fixedly arranged on the top beam and the upright post, and the front end of the lifting driving device is connected with the rear end of the parallel working arm through a hinge and is used for driving the parallel working arm and the end effector to perform lifting movement. The parallel working arm is a parallel mechanism with a 4UPR structure, the end effector is arranged at the front end of the parallel working arm, and the rear end of the parallel working arm is arranged on the upright post and can slide up and down along the upright post. The number of the handrails is two, and the handrails are fixedly arranged on the outer side surface of the upright post in a bilateral symmetry manner.

The adjustable supporting legs comprise supporting leg boxes, telescopic arms, vertical supporting legs, supporting leg telescopic cylinders, swing angle adjusting cylinders and vertical telescopic cylinders. The rear end of the supporting leg box is connected with the base through a hinge; the rear end of the telescopic arm is sleeved in the supporting leg box and can slide in the supporting leg box; the supporting leg telescopic cylinder is arranged on the outer sides of the supporting leg box and the telescopic arm, the front end of the supporting leg telescopic cylinder is connected with the supporting leg box through a hinge, and the rear end of the supporting leg telescopic cylinder is connected with the telescopic arm through a hinge and used for driving the telescopic arm to slide along the supporting leg box; the top of the vertical supporting leg is fixedly arranged at the tail end of the front part of the telescopic arm; two ends of the swing angle adjusting cylinder are respectively connected with the base and the supporting leg box through hinges; the vertical telescopic cylinder is arranged in parallel to the vertical supporting leg, the upper end of the vertical telescopic cylinder is connected with the front end of the telescopic arm through a hinge, and the lower end of the vertical telescopic cylinder is connected with the bottom of the vertical supporting leg through a hinge and used for driving the vertical supporting leg to stretch; the supporting leg telescopic cylinder, the swing angle adjusting cylinder and the vertical telescopic cylinder adopt double-acting air cylinders.

The lifting driving device comprises a lifting motor, a guide chain wheel, a chain and a balancing weight. The number of the guide chain wheels and the number of the chains are two, and the guide chain wheels and the chains are symmetrically arranged on the top beam in a left-right mode; the lifting motor is fixedly arranged in the middle of the top beam and used for providing power for the rotation of the guide chain wheel; the two guide chain wheels are positioned at the two sides of the middle part of the top beam and are fixedly arranged on the output shaft of the lifting motor; the front end of the chain is connected with the top of the rear end of the parallel working arm through a hinge, the rear end of the chain is connected with the balancing weight through a hinge, and the chain is meshed with the guide chain wheel; the balancing weight is located on the rear side of the upright column and used for balancing the weight of the parallel working arm and the end effector, the front end of the balancing weight is connected with the rear linear guide rail on the upright column through a sliding pair, and the left balancing weight and the right balancing weight are connected through a U-shaped connecting rod. The balancing weight adopts a split structure, the weight of the balancing weight can be adjusted according to the load of the end effector, meanwhile, the number of the balancing weight can also be increased along the front-back direction, and the balancing weight arranged in the front-back direction is connected through screws.

The parallel working arm comprises a working arm mounting seat, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain. The working arm installation seat is positioned on the front side of the upright post, two rear sliding blocks which are symmetrically arranged are arranged on the rear end surface of the working arm installation seat, and the rear sliding blocks are connected with the front linear guide rail of the upright post through sliding pairs; the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure, and the topological structures of the mechanisms are UPR structures; the first branched chain and the third branched chain are symmetrically arranged on the working arm mounting seat from left to right, and the second branched chain and the fourth branched chain are symmetrically arranged on the working arm mounting seat from top to bottom; the working arm mounting seat is a fixed platform of a parallel mechanism formed by the parallel working arm and the end effector, and the end effector is a movable platform of the parallel mechanism formed by the parallel working arm and the end effector.

The first branch chain comprises a first rear universal joint, a first telescopic rod group and a first front hinge, the rear end of the first rear universal joint is fixedly connected with the working arm mounting seat, the rear end of the first telescopic rod group is fixedly connected with the front end of the first rear universal joint, the front end of the first telescopic rod group is fixedly connected with the rear end of the first front hinge, and the front end of the first front hinge is fixedly connected with the end effector.

The first telescopic rod group comprises a first rear connecting seat, a first telescopic rod, a first electric push rod and a first front connecting seat. The rear end of the first rear connecting seat is fixedly connected with the front end of the first rear universal joint; the rear end of the first telescopic rod is fixedly connected with the first rear connecting seat, and the front end of the first telescopic rod is fixedly connected with the first front connecting seat; two ends of the first electric push rod are respectively connected with the first rear connecting seat and the first front connecting seat through hinges and used for driving the first telescopic rod group to extend or shorten; the first electric push rod and the first telescopic rod are arranged between the first rear connecting seat and the first front connecting seat in parallel.

The tail end executor specifically adopts a multi-finger asynchronous gripper, and the multi-finger asynchronous gripper comprises a connecting seat, a connecting support, a mounting plate, a longitudinal clamping device and a transverse clamping device. The connecting seat is fixedly arranged at the front end of the parallel working arm, the connecting support is used for connecting the mounting plate and the connecting seat, the upper end of the connecting support is fixedly connected with the connecting seat, the lower end of the connecting support is fixedly connected with the top of the mounting plate, and the middle part of the connecting support is also provided with a reinforcing connecting rod; the bottom of the mounting plate is provided with a longitudinal guide sleeve for mounting a longitudinal clamping device; the connecting seat is provided with a connecting lug seat used for being connected with the parallel working arm interface; a circular fabrication hole is formed in the middle of the connecting seat and used for reducing the weight of the connecting seat; the mounting plate is provided with a long waist-shaped process hole, the left end and the right end of the mounting plate are provided with transverse guide sleeves for mounting a transverse clamping device, and the top of the mounting plate is provided with an electromagnetic directional valve and a safety valve; the longitudinal clamping devices are symmetrically arranged on the front side and the rear side of the mounting plate, and the logarithmic range of the longitudinal clamping devices is 4-10; the transverse clamping devices are symmetrically arranged at the left end and the right end of the mounting plate.

The longitudinal clamping device comprises a longitudinal clamping cylinder, a longitudinal clamping sleeve, a longitudinal guide shaft, a longitudinal clamping head and a longitudinal clamping head telescopic cylinder. The two ends of the longitudinal clamping cylinder are respectively connected with the tops of the two longitudinal clamping sleeves through hinges and used for providing power for longitudinal movement of the longitudinal clamping sleeves; the section of the longitudinal clamping sleeve is in a shape of Chinese character 'hui', the inner side of the upper end of the longitudinal clamping sleeve is provided with a longitudinal guide shaft, and the longitudinal guide shaft is sleeved in the longitudinal guide sleeve and is connected with the longitudinal guide sleeve through a linear bearing; the section of the middle upper part of the longitudinal chuck is rectangular, and the longitudinal chuck is sleeved in the longitudinal clamping sleeve; the longitudinal chuck telescopic cylinder is used for providing power for the longitudinal chuck to stretch in the longitudinal clamping sleeve, the upper end of the longitudinal chuck telescopic cylinder is connected with the longitudinal clamping sleeve through a hinge, and the lower end of the longitudinal chuck telescopic cylinder is connected with the longitudinal chuck through a hinge; the longitudinal clamping cylinder and the longitudinal chuck telescopic cylinder adopt double-acting air cylinders; the inner side of the lower end of the longitudinal chuck is provided with anti-skid rubber; the longitudinal guide shaft can slide along the longitudinal guide sleeve under the driving of the longitudinal clamping cylinder, and each pair of longitudinal clamping sleeves is independently connected and controlled through one longitudinal clamping cylinder.

The transverse clamping device comprises a transverse clamping cylinder, a transverse clamping sleeve, a transverse guide shaft, a transverse clamping head and a transverse clamping head telescopic cylinder. The inner side end of the transverse clamping cylinder is fixedly arranged below the mounting plate, and the outer side end of the transverse clamping cylinder is connected with the transverse clamping sleeve through a hinge and used for providing power for transverse movement of the transverse clamping sleeve; the cross section of the transverse clamping sleeve is in a shape of Chinese character 'hui', the inner side of the upper end of the transverse clamping sleeve is provided with a transverse guide shaft, and the transverse guide shaft is arranged in the transverse guide sleeve and is connected with the transverse guide sleeve through a linear bearing; the cross section of the middle-upper part of the transverse chuck is rectangular, and the transverse chuck is sleeved in the transverse clamping sleeve; the horizontal chuck telescopic cylinder is used for providing power for the horizontal chuck to stretch in the horizontal clamping sleeve, the upper end of the horizontal chuck telescopic cylinder is connected with the horizontal clamping sleeve through a hinge, the lower end of the horizontal chuck telescopic cylinder is connected with the horizontal chuck through a hinge, and the horizontal clamping cylinder and the horizontal chuck telescopic cylinder adopt double-acting air cylinders; and the inner side of the lower end of the transverse chuck is provided with anti-skid rubber.

The anti-slip rubber layer is corrugated or crossed anti-slip grooves are formed in the working surface of the anti-slip rubber layer, so that articles can be prevented from slipping in the carrying process, rigid contact between the longitudinal chuck and the transverse chuck and clamped articles during working can be avoided, and the friction force between the longitudinal chuck and the transverse chuck and the clamped articles can be effectively increased.

During the use, drive before starting according to the operation requirement, back drive wheel make remove bear device and remove walking to assigned position, put gesture and altitude mixture demand adjustment lift drive arrangement according to luggage article again, through the adjustment the utility model discloses a parallel operation arm adjusts suitable operation gesture and operation height with end effector, because preceding drive wheel and back drive wheel probably take place to skid or unstability, need adjust the pivot angle of adjustable landing leg to stretch the flexible arm and the perpendicular landing leg extension of adjustable landing leg simultaneously, realize removing the stationary point outrigger of bearing device. Selecting the number of longitudinal clamping heads used initially according to the size of the luggage items, and adjusting the transverse clamping device according to the length of the gripped luggage items; driving a longitudinal chuck telescopic cylinder to adjust the position of a longitudinal chuck in a longitudinal clamping sleeve according to the height of the grabbed luggage; when the longitudinal clamping device is only needed to be used for longitudinally clamping the grabbed luggage article, the output end of the longitudinal clamping cylinder is extended to enlarge the front-rear distance of the longitudinal chuck, then the longitudinal chuck telescopic cylinder is driven to enable the longitudinal chuck to move downwards along the longitudinal clamping sleeve, the anti-unhooking hook of the longitudinal chuck is arranged below the grabbed luggage article, then the output end of the longitudinal clamping cylinder is shortened to enable the longitudinal chuck to clamp the luggage article, and meanwhile, the longitudinal chuck telescopic cylinder is driven to enable the longitudinal chuck to move upwards along the longitudinal clamping sleeve, so that the upper end of the luggage article and the mounting plate are kept at a reasonable distance; after the grabbing and carrying tasks are completed, the longitudinal clamping cylinder is stretched, and then the longitudinal chuck can be loosened. When the transverse clamping device is required to be used, the transverse clamping sleeve and the transverse guide shaft can be loosened or clamped by extending or shortening the transverse clamping cylinder. In the process of carrying out the carrying operation, if the luggage rack for placing the luggage articles is higher and the working arm mounting seat is raised to the maximum height, the height of the end effector can be adjusted by adjusting the four branched chains of the parallel working arms, so that the luggage articles are placed on the luggage rack.

The utility model has the advantages that compared with the prior art, the movable bearing device of the utility model can realize the long-distance flexible and stable walking, and can prevent the robot from skidding or instability during operation by utilizing the adjustable supporting legs, realize the stationing support and improve the stability of the operation; the lifting driving device can realize lifting adjustment, the parallel working arm with the 4UPR structure has high load capacity, and the attitude of the end effector can be adjusted, so that the working space of the robot is enlarged, and the flexibility of the operation of the robot is improved; the end effector adopts a multi-finger asynchronous gripper, the state of the end effector can be adjusted according to the size of the luggage, the adaptability is strong, the effective gripping in a fitting mode can be realized, the carrying requirements of large, medium and small luggage articles can be met, the safety of the luggage articles in the carrying process can be ensured by the cooperative matching of the longitudinal clamping device and the transverse clamping device, the carrying efficiency and the safety of the luggage are improved, the intensity of manual carrying is reduced, and the possibility of the accident of half-empty falling of the luggage is reduced; the utility model discloses still have advantages such as degree of automation height, operation maintenance are simple and convenient, can overcome prior art's defect.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural view of the movable carrying device and the lifting driving device of the present invention;

fig. 3 is a schematic structural view of the adjustable leg of the present invention;

FIG. 4 is a schematic structural view of a parallel working arm according to the present invention;

fig. 5 is a schematic structural diagram of the first branch chain of the parallel working arm of the present invention;

fig. 6 is a schematic structural view of the multi-finger asynchronous gripper of the present invention;

fig. 7 is a schematic view of the bottom structure of the multi-finger asynchronous gripper of the present invention.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention will be further described with reference to the following embodiments and drawings.

As shown in fig. 1 and 2, a baggage lifting robot includes a moving carrier 1, a lifting driving device 2, a parallel working arm 3, and an end effector 4. Wherein, the movable bearing device 1 is the utility model discloses a bear and moving platform, including base 11, front driving wheel 12, back drive wheel 13, adjustable landing leg 14, stand 15, back timber 16 and handrail 17. Two front driving wheels 12 are arranged at the front end of the base 11, and two rear driving wheels 13 are arranged at the rear end of the base 11 and used for driving the movable carrying device to move and walk; the adjustable supporting legs 14 are arranged on two sides in front of the base 11, and two upright columns 15 are symmetrically arranged between the base 11 and the top beam 16 in a left-right manner and fixedly connected with the base 11 and the top beam 16; front linear guide rails 151 are fixedly installed on the front side surfaces of the two upright posts 15, rear linear guide rails 152 are fixedly installed on the rear side surfaces of the two upright posts 15, and the rear linear guide rails 152 are omega-shaped linear guide rails. The lifting driving device 2 is fixedly arranged on the top beam 16 and the upright post 15, and the front end of the lifting driving device 2 is connected with the rear end of the parallel working arm 3 through a hinge and is used for driving the parallel working arm 3 and the end effector 4 to perform lifting movement. The parallel working arm 3 is a parallel mechanism with a 4UPR structure, the end effector 4 is arranged at the front end of the parallel working arm 3, and the rear end of the parallel working arm 3 is arranged on the upright post 15 and can slide up and down along the upright post 15. The number of the handrails 17 is two, and the handrails are fixedly arranged on the outer side surface of the upright post 15 in a bilateral symmetry manner.

As shown in fig. 1, 2 and 3, the adjustable leg 14 includes a leg box 141, a telescopic arm 142, a vertical leg 143, a leg telescopic cylinder 144, a tilt angle adjusting cylinder 145 and a vertical telescopic cylinder 146. Wherein, the rear end of the leg box 141 is connected with the base 11 through a hinge; the rear end of the telescopic arm 142 is sleeved in the leg box 141 and can slide in the leg box 141; the leg telescopic cylinder 144 is installed outside the leg box 141 and the telescopic arm 142, the front end of the leg telescopic cylinder 144 is connected with the leg box 141 through a hinge, and the rear end of the leg telescopic cylinder 144 is connected with the telescopic arm 142 through a hinge and used for driving the telescopic arm 142 to slide along the leg box 141; the top of the vertical leg 143 is fixedly arranged at the front end of the telescopic arm 142; two ends of the swing angle adjusting cylinder 145 are respectively connected with the base 11 and the supporting leg box 141 through hinges; the vertical telescopic cylinder 146 is arranged parallel to the vertical supporting leg 143, the upper end of the vertical telescopic cylinder 146 is connected with the front end of the telescopic arm 142 through a hinge, and the lower end of the vertical telescopic cylinder 146 is connected with the bottom of the vertical supporting leg 143 through a hinge and used for driving the vertical supporting leg 143 to stretch; the leg telescopic cylinder 144, the swing angle adjusting cylinder 145 and the vertical telescopic cylinder 146 adopt double-acting air cylinders.

As shown in fig. 1 and 2, the elevation driving device 2 includes an elevation motor 21, a guide sprocket 22, a chain 23, and a weight 24. Wherein, the number of the guide chain wheels 22 and the number of the chains 23 are two, and the guide chain wheels and the chains are symmetrically arranged on the top beam 16; the lifting motor 21 is fixedly arranged at the middle position of the top beam 16 and used for providing power for the rotation of the guide chain wheel 22; two guide chain wheels 22 are positioned at two sides of the middle part of the top beam 16 and are fixedly arranged on the output shaft of the lifting motor 21; the front end of the chain 23 is connected with the top of the rear end of the parallel working arm 3 through a hinge, the rear end of the chain 23 is connected with a balancing weight 24 through a hinge, and the chain 23 is meshed with the guide chain wheel 22; the balancing weight 24 is located at the rear side of the upright post 15 and is used for balancing the weight of the parallel working arm 3 and the end effector 4, the front end of the balancing weight 24 is connected with a rear linear guide rail on the upright post 15 through a sliding pair, and the left balancing weight 24 and the right balancing weight 24 are connected through a U-shaped connecting rod 241. The balancing weight 24 adopts a split structure, the weight of the balancing weight can be adjusted according to the load of the end effector 4, meanwhile, the number of the balancing weight 24 can also be increased along the front-back direction, and the balancing weight 24 arranged in the front-back direction is connected through screws.

As shown in fig. 1, 2 and 4, the parallel working arm 3 includes a working arm mount 31, a first branch chain 32, a second branch chain 33, a third branch chain 34 and a fourth branch chain 35. The working arm mounting base 31 is positioned at the front side of the upright post 15, two rear sliding blocks 311 which are symmetrically arranged are arranged on the rear end surface of the working arm mounting base 31, and the rear sliding blocks 311 are connected with the front linear guide rail 151 of the upright post 15 through sliding pairs; the structures of the first branched chain 32, the second branched chain 33, the third branched chain 34 and the fourth branched chain 35 are completely the same, and the topological structures of the mechanisms are UPR structures; the first branched chain 32 and the third branched chain 34 are symmetrically arranged on the working arm mounting seat 31 from left to right, and the second branched chain 33 and the fourth branched chain 35 are symmetrically arranged on the working arm mounting seat 31 from top to bottom; the working arm mounting base 31 is a fixed platform of a parallel mechanism formed by the parallel working arm 3 and the end effector 4, and the end effector 4 is a movable platform of the parallel mechanism formed by the parallel working arm 3 and the end effector 4.

As shown in fig. 1, 4 and 5, the first branch chain 32 includes a first rear universal joint 321, a first telescopic rod set 322 and a first front hinge 323, the rear end of the first rear universal joint 321 is fixedly connected to the working arm mounting seat 31, the rear end of the first telescopic rod set 322 is fixedly connected to the front end of the first rear universal joint 321, the front end of the first telescopic rod set 322 is fixedly connected to the rear end of the first front hinge 323, and the front end of the first front hinge 323 is fixedly connected to the end effector 4.

As shown in fig. 4 and 5, the first telescopic rod set 322 includes a first rear connecting seat 3221, a first telescopic rod 3222, a first electric push rod 3223, and a first front connecting seat 3224. The rear end of the first rear connecting seat 3221 is fixedly connected to the front end of the first rear universal joint 321; the rear end of the first telescopic rod 3222 is fixedly connected with the first rear connecting seat 3221, and the front end of the first telescopic rod 3222 is fixedly connected with the first front connecting seat 3224; two ends of the first electric push rod 3223 are respectively connected to the first rear connecting seat 3221 and the first front connecting seat 3224 through hinges, and are configured to drive the first telescopic rod set 322 to extend or contract; the first electric push rod 3223 and the first telescopic rod 3222 are arranged in parallel between the first rear connecting seat 3221 and the first front connecting seat 3224.

As shown in fig. 1, 6 and 7, the end effector 4 specifically employs a multi-finger asynchronous gripper, and the multi-finger asynchronous gripper includes a connecting seat 41, a connecting bracket 42, a mounting plate 43, a longitudinal gripper 44 and a transverse gripper 45. Wherein, the connecting seat 41 is fixedly arranged at the front end of the parallel working arm 3; the upper end of the connecting bracket 42 is fixedly connected with the connecting seat 41, the lower end of the connecting bracket 41 is fixedly connected with the top of the mounting plate 43, and the middle part of the connecting bracket 42 is also provided with a reinforcing connecting rod 421; a longitudinal guide sleeve 432 is arranged at the bottom of the mounting plate 43 and used for mounting the longitudinal clamping device 44; the connecting seat 41 is provided with a connecting lug seat 411 which is used for being connected with the parallel working arm interface; a circular fabrication hole 412 is formed in the middle of the connection seat 41 to reduce the weight of the connection seat 41. The mounting plate 43 is provided with a long waist-shaped fabrication hole 431, the left end and the right end of the mounting plate 43 are provided with transverse guide sleeves 433 for mounting the transverse clamping device 45, and the top of the mounting plate 43 is provided with an electromagnetic directional valve and a safety valve. The longitudinal clamping devices 44 are symmetrically arranged at the front side and the rear side of the mounting plate 43, and the logarithmic range of the longitudinal clamping devices 44 is 4-10; the transverse clamping devices 45 are symmetrically arranged at the left end and the right end of the mounting plate 43.

As shown in fig. 1 and 7, the longitudinal clamping device 44 includes a longitudinal clamping cylinder 441, a longitudinal clamping sleeve 442, a longitudinal guide shaft 443, a longitudinal clamping head 444, and a longitudinal clamping head extension cylinder 445. Wherein, the two ends of the longitudinal clamping cylinder 441 are respectively connected with the tops of the two longitudinal clamping sleeves 442 through hinges for providing power for the longitudinal movement of the longitudinal clamping sleeves 442; the section of the longitudinal clamping sleeve 442 is in a shape of a Chinese character 'hui', a longitudinal guide shaft 443 is arranged on the inner side of the upper end of the longitudinal clamping sleeve 442, and the longitudinal guide shaft 443 is installed in the longitudinal guide sleeve 432 and connected with the longitudinal guide sleeve 432 through a linear bearing; the section of the middle upper part of the longitudinal chuck 444 is rectangular, and the longitudinal chuck 444 is sleeved in the longitudinal clamping sleeve 442; the longitudinal chuck telescopic cylinder 445 is used for providing power for the longitudinal chuck 444 to stretch in the longitudinal clamping sleeve 442, the upper end of the longitudinal chuck telescopic cylinder 445 is connected with the longitudinal clamping sleeve 442 through a hinge, the lower end of the longitudinal chuck telescopic cylinder 445 is connected with the longitudinal chuck 444 through a hinge, and the longitudinal clamping cylinder 441 and the longitudinal chuck telescopic cylinder 445 adopt double-acting air cylinders. The inner side of the lower end of the longitudinal chuck 444 is provided with an anti-skid rubber 4441; the longitudinal guide shafts 443 are slidably moved along the longitudinal guide sleeves 432 by the longitudinal clamping cylinders 441, and each pair of longitudinal clamping sleeves 442 is independently connected and controlled by one longitudinal clamping cylinder 441.

As shown in fig. 1, 6 and 7, the lateral clamp 45 includes a lateral clamping cylinder 451, a lateral clamping sleeve 452, a lateral guide shaft 453, a lateral clamp 454 and a lateral clamp extension cylinder 455. Wherein, the inner end of the transverse clamping cylinder 451 is fixedly arranged below the mounting plate 43, and the outer end of the transverse clamping cylinder 451 is connected with the transverse clamping sleeve 452 through a hinge; the cross section of the transverse clamping sleeve 452 is in a shape of a Chinese character 'hui', a transverse guide shaft 453 is arranged on the inner side of the upper end of the transverse clamping sleeve 452, and the transverse guide shaft 453 is installed in the transverse guide sleeve 433 and connected with the transverse guide sleeve 433 through a linear bearing; the section of the middle upper part of the transverse clamping head 454 is rectangular, and the transverse clamping head 454 is sleeved in the transverse clamping sleeve 452; the transverse chuck telescopic cylinder 455 is used for providing power for the stretching of the transverse chuck 454 in the transverse clamping sleeve 452, the upper end of the transverse chuck telescopic cylinder 455 is connected with the transverse clamping sleeve 452 through a hinge, the lower end of the transverse chuck telescopic cylinder 455 is connected with the transverse chuck 454 through a hinge, and the transverse clamping cylinder 451 and the transverse chuck telescopic cylinder 455 adopt double-acting cylinders; the inner side of the lower end of the transverse clamping head 454 is provided with an anti-skid rubber 4441.

As shown in fig. 1, 6 and 7, the lowermost ends of the longitudinal collet 444 and the transverse collet 454 are further provided with anti-slip hooks 4442, the working surface of the anti-slip rubber layer 4441 is corrugated or the working surface of the anti-slip rubber layer 4441 is provided with cross-shaped anti-slip grooves, so that the article can be prevented from slipping off during transportation, rigid contact between the longitudinal collet 444 and the transverse collet 454 and the clamped article can be avoided during operation, and the friction between the longitudinal collet 444 and the transverse collet 454 and the clamped article can be effectively increased.

During the use, start front driving wheel 12, back drive wheel 13 according to the operation requirement and make the removal load bearing device 1 move and walk to the assigned position, put gesture and altitude mixture demand adjustment lift drive 2 according to luggage article again, through the adjustment the utility model discloses a parallel operation arm 3 adjusts suitable operation gesture and operation height with end effector 4, because front driving wheel 12 and back drive wheel 13 probably take place to skid or unstability, need adjust the pivot angle of adjustable landing leg 14 to stretch out and draw back arm 142 and perpendicular landing leg 143 with adjustable landing leg 14 simultaneously, realize removing load bearing device's stationing point outrigger. Selecting the number of initially used longitudinal grippers 444 according to the size of the baggage item and adjusting the lateral grippers 45 according to the length of the grasped baggage item; actuating the longitudinal jaw extension cylinder 445 adjusts the position of the longitudinal jaw 444 within the longitudinal gripping sleeve 442 based on the height of the gripped luggage item; when the longitudinal clamping device 44 is only used for longitudinally clamping the grasped luggage article, firstly, the output end of the longitudinal clamping cylinder 441 is extended to expand the front-back distance of the longitudinal clamping head 444, then, the longitudinal clamping head telescopic cylinder 445 is driven to enable the longitudinal clamping head 444 to move downwards along the longitudinal clamping sleeve 442, the anti-drop hook 4442 of the longitudinal clamping head 444 is placed below the grasped luggage article, then, the output end of the longitudinal clamping cylinder 441 is shortened to enable the longitudinal clamping head 444 to clamp the luggage article, and meanwhile, the longitudinal clamping head telescopic cylinder 445 is driven to enable the longitudinal clamping head 444 to move upwards along the longitudinal clamping sleeve 442, so that the upper end of the luggage article and the mounting plate 43 keep a reasonable distance; after the gripping and handling task is completed, the longitudinal clamping cylinder 441 is extended, and the longitudinal clamp 444 can be loosened. When it is desired to use the lateral clamp 45, the lateral clamp sleeve 452 and the lateral guide shaft 453 can be loosened or clamped by extending or shortening the lateral clamp cylinder 451. In the process of carrying out the transporting operation, if the luggage rack for placing the luggage items is higher and the working arm mounting seat 31 is raised to the maximum height, the height of the end effector 4 can be adjusted by adjusting the four branched chains of the parallel working arm 3, so as to place the luggage items on the luggage rack.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a luggage lifting robot, carries device, lift drive arrangement, parallelly connected work arm and end effector including removing, its characterized in that: the movable bearing device comprises a base, front driving wheels, rear driving wheels, adjustable supporting legs, stand columns, top beams and handrails, wherein the two front driving wheels are installed at the front end of the base, the two rear driving wheels are installed at the rear end of the base, the adjustable supporting legs are installed on two sides in front of the base, the lifting driving device is fixedly installed on the top beams and the stand columns, the front ends of the lifting driving device are connected with the rear ends of the parallel working arms through hinges, the two stand columns are arranged between the base and the top beams in a bilateral symmetry mode and fixedly connected with the base and the top beams, front linear guide rails are fixedly installed on the front side surfaces of the two stand columns, rear linear guide rails are fixedly installed on the rear side surfaces of the two stand columns, and the rear linear guide rails adopt omega-shaped linear guide rails; the parallel working arm is a parallel mechanism with a 4UPR structure, the end effector is arranged at the front end of the parallel working arm, the rear end of the parallel working arm is arranged on the upright post and can slide up and down along the upright post, the number of the handrails is two, and the handrails are fixedly arranged on the outer side surface of the upright post in a bilateral symmetry manner;

the lifting driving device comprises two lifting motors, two guide chain wheels, two chains and two balancing weights, the two guide chain wheels and the two chains are arranged on the top beam in a bilateral symmetry mode, the lifting motors are fixedly installed in the middle of the top beam, the two guide chain wheels are located on two sides of the middle of the top beam and are fixedly installed on an output shaft of each lifting motor, the front ends of the chains are connected with the tops of the rear ends of the parallel working arms through hinges, the rear ends of the chains are connected with the balancing weights through hinges, and the chains are meshed with the guide chain wheels; the counterweight block is positioned at the rear side of the upright post, and the front end of the counterweight block is connected with the rear linear guide rail on the upright post through a sliding pair; the left balancing weight and the right balancing weight are connected through a U-shaped connecting rod, the balancing weights adopt split structures, the number of the balancing weights can be increased along the front-back direction, and the balancing weights arranged in front-back direction are connected through screws;

the parallel working arm comprises a working arm mounting seat, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, the working arm mounting seat is positioned on the front side of the upright post, two symmetrically-arranged rear sliding blocks are arranged on the rear end surface of the working arm mounting seat, and the rear sliding blocks are connected with a front linear guide rail of the upright post through sliding pairs; the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure, and the topological structures of the mechanisms are UPR structures; the first branched chain and the third branched chain are symmetrically arranged on the working arm mounting seat from left to right, and the second branched chain and the fourth branched chain are symmetrically arranged on the working arm mounting seat from top to bottom.

2. A baggage lifting robot according to claim 1, characterized in that: the adjustable supporting legs comprise supporting leg boxes, telescopic arms, vertical supporting legs, supporting leg telescopic cylinders, swing angle adjusting cylinders and vertical telescopic cylinders, the rear ends of the supporting leg boxes are connected with the base through hinges, and the rear ends of the telescopic arms are sleeved in the supporting leg boxes and can slide in the supporting leg boxes; the supporting leg telescopic cylinder is arranged on the outer sides of the supporting leg box and the telescopic arm, the front end of the supporting leg telescopic cylinder is connected with the supporting leg box through a hinge, and the rear end of the supporting leg telescopic cylinder is connected with the telescopic arm through a hinge; the top of the vertical supporting leg is fixedly arranged at the tail end of the front part of the telescopic arm; two ends of the swing angle adjusting cylinder are respectively connected with the base and the supporting leg box through hinges; the vertical telescopic cylinder is arranged in parallel to the vertical supporting leg, the upper end of the vertical telescopic cylinder is connected with the front end of the telescopic arm through a hinge, and the lower end of the vertical telescopic cylinder is connected with the bottom of the vertical supporting leg through a hinge; the supporting leg telescopic cylinder, the swing angle adjusting cylinder and the vertical telescopic cylinder adopt double-acting air cylinders.

3. A baggage lifting robot according to claim 1, characterized in that: the first branch chain comprises a first rear universal joint, a first telescopic rod group and a first front hinge, and the rear end of the first rear universal joint is fixedly connected with the working arm mounting seat; the rear end of the first telescopic rod group is fixedly connected with the front end of the first rear universal joint, the front end of the first telescopic rod group is fixedly connected with the rear end of the first front hinge, and the front end of the first front hinge is fixedly connected with the end effector;

the first telescopic rod group comprises a first rear connecting seat, a first telescopic rod, a first electric push rod and a first front connecting seat, the rear end of the first rear connecting seat is fixedly connected with the front end of the first rear universal joint, the rear end of the first telescopic rod is fixedly connected with the first rear connecting seat, the front end of the first telescopic rod is fixedly connected with the first front connecting seat, the two ends of the first electric push rod are respectively connected with the first rear connecting seat and the first front connecting seat through hinges, and the first electric push rod and the first telescopic rod are arranged between the first rear connecting seat and the first front connecting seat in parallel.

4. A baggage lifting robot according to claim 1, characterized in that: the end effector adopts a multi-finger asynchronous gripper, the multi-finger asynchronous gripper comprises a connecting seat, a connecting support, a mounting plate, a longitudinal clamp and a transverse clamp, the connecting seat is fixedly mounted at the front end of a parallel working arm, the upper end of the connecting support is fixedly connected with the connecting seat, the lower end of the connecting support is fixedly connected with the top of the mounting plate, the bottom of the mounting plate is provided with a longitudinal guide sleeve, the left end and the right end of the mounting plate are provided with transverse guide sleeves, and the top of the mounting plate is provided with an electromagnetic directional valve and a safety valve; the logarithm range of the longitudinal clamping device is 4-10;

the longitudinal clamping device comprises a longitudinal clamping cylinder, longitudinal clamping sleeves, a longitudinal guide shaft, a longitudinal chuck and a longitudinal chuck telescopic cylinder, wherein two ends of the longitudinal clamping cylinder are respectively connected with the tops of the two longitudinal clamping sleeves through hinges, the cross section of each longitudinal clamping sleeve is in a shape like a Chinese character 'hui', the longitudinal guide shaft is arranged on the inner side of the upper end of each longitudinal clamping sleeve, and the longitudinal guide shaft is sleeved in the longitudinal guide sleeve and connected with the longitudinal guide sleeve through a linear bearing; the section of the middle upper part of the longitudinal chuck is rectangular, the longitudinal chuck is sleeved in the longitudinal clamping sleeve, the upper end of the longitudinal chuck telescopic cylinder is connected with the longitudinal clamping sleeve through a hinge, the lower end of the longitudinal chuck telescopic cylinder is connected with the longitudinal chuck through a hinge, the inner side of the lower end of the longitudinal chuck is provided with anti-slip rubber, and the lowest end of the longitudinal chuck is also provided with an anti-drop hook; each pair of longitudinal clamping sleeves is independently connected and controlled through a longitudinal clamping cylinder; the longitudinal clamping cylinder and the longitudinal chuck telescopic cylinder adopt double-acting air cylinders;

the transverse clamping device comprises a transverse clamping cylinder, a transverse clamping sleeve, a transverse guide shaft, a transverse clamping head and a transverse clamping head telescopic cylinder, wherein the inner side end of the transverse clamping cylinder is fixedly arranged below the mounting plate, and the outer side end of the transverse clamping cylinder is connected with the transverse clamping sleeve through a hinge; the cross section of the transverse clamping sleeve is in a shape of Chinese character 'hui', the inner side of the upper end of the transverse clamping sleeve is provided with a transverse guide shaft, and the transverse guide shaft is sleeved in the transverse guide sleeve and is connected with the transverse guide sleeve through a linear bearing; the section of the middle-upper part of the transverse chuck is rectangular, the transverse chuck is sleeved in a transverse clamping sleeve, the upper end of a transverse chuck telescopic cylinder is connected with the transverse clamping sleeve through a hinge, the lower end of the transverse chuck telescopic cylinder is connected with the transverse chuck through a hinge, the inner side of the lower end of the transverse chuck is provided with anti-slip rubber, and the lowest end of the transverse chuck is also provided with an anti-drop hook; the transverse clamping cylinder and the transverse chuck telescopic cylinder adopt double-acting air cylinders.

5. A baggage lifting robot according to claim 1, characterized in that: the lifting motor adopts a servo speed reducing motor.