CN217195350U - Lifting structure based on D-shaped shaft - Google Patents

Abstract

The utility model discloses a lifting structure based on a D-shaped shaft, which comprises a trunk structure, wherein the trunk structure consists of a lifting motor, a shrinkage motor, a D-shaped shaft, a linear guide rail, a mechanical arm lifting main body structure, a chain and a rack and pinion; the D shape axle is perpendicular to be left and right sides and distributes, and the epaxial sliding connection arm lift connecting block of D shape, linear guide distribute about being perpendicularly, and elevator motor is located arm lift major structure below, and elevator motor controls arm lift connecting block and moves along D shape axle direction, and linear guide plays firm and guide effect. The utility model discloses can protect manipulator and goods can not receive the striking or scrape and bump, the manipulator occupies that space is little and possess many flexibility ratios.

Description

Lifting structure based on D-shaped shaft

Technical Field

The utility model relates to a mobile robot technical field especially relates to elevation structure based on D type axle.

Background

Mobile robots play an increasing role in supporting medical personnel in a hospital environment, and are used to manage, among other things, the distribution of necessities in a hospital environment. The robot needs to read/parse task information through a work order board in a prescribed field, move in an autonomous control mode, control various target objects (cubes/beds) at different initial positions, and transport them to different destinations in the field.

Most of the existing equipped manipulators are in a parallel opening and closing type, the occupied space is large, the mechanism is complex, and goods grabbed by the manipulators can only be grabbed by the manipulators and placed outside the vehicle body.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the shortcoming that exists among the prior art, and the elevation structure based on D type axle that proposes to solve the problem that exists among the prior art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the lifting structure based on the D-shaped shaft comprises a trunk structure, wherein the trunk structure consists of a lifting motor, a contraction motor, the D-shaped shaft, a linear guide rail, a mechanical arm lifting main body structure, a chain and a gear rack;

the D-shaped shaft is vertically distributed in the left and right directions, the D-shaped shaft is connected with the mechanical arm lifting connecting block in a sliding mode, the linear guide rail is vertically distributed, the lifting motor is located below the mechanical arm lifting main body structure, the lifting motor controls the mechanical arm lifting connecting block to move in the direction of the D-shaped shaft, and the linear guide rail plays roles in stabilizing and guiding.

Preferentially, the mechanical arm lifting connecting block is provided with a copper sleeve, and the copper sleeve is connected with the D-shaped shaft in a sliding manner.

Preferentially, one side of the mechanical arm lifting connecting block is provided with a gripper structure, and the gripper structure consists of an opening and closing gripper, a horizontal turnover mechanism, an up-down turnover mechanism, an opening and closing mechanism, a horizontal turnover steering engine, an up-down turnover steering engine and an opening and closing steering engine; the opening and closing gripper is connected with the opening and closing mechanism, the opening and closing mechanism is connected with the horizontal turnover mechanism, and the horizontal turnover mechanism is connected with the upper and lower turnover mechanisms.

Preferably, the opening and closing gripper is scissors-type.

Preferentially, the device also comprises a chassis structure, wherein the chassis structure consists of three universal wheels, three direct current motors, a tracking sensor, three infrared sensors, two ultrasonic sensors and a camera.

Preferably, the included angle between the three universal wheels is 120 degrees and is distributed concentrically and equidistantly.

The utility model has the advantages that: the utility model provides a lifting structure based on D type axle can ensure in the motion process that the manipulator also can keep in the robot and the goods that the manipulator snatched, and protection manipulator and goods can not receive the striking or scrape and bump, and the manipulator occupation space is little and possess many flexibility ratios.

Drawings

FIG. 1 is a front view of the torso structure of the present invention;

FIG. 2 is a side view of the torso structure

Fig. 3 is a schematic structural view of the gripper structure of the present invention;

fig. 4 is a schematic structural view of the robot of the present invention;

FIG. 5 shows the state of the present invention for grabbing medicine materials;

FIG. 6 shows the material state of the hospital bed of the present invention;

fig. 7 is a top view of the chassis structure of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in fig. 1-7, the lifting structure based on D-shaped shaft provided by the present invention comprises a trunk structure, wherein the trunk structure is composed of a lifting motor, a shrinking motor, a D-shaped shaft, a linear guide rail, a mechanical arm lifting main structure 5, a chain, and a rack and pinion;

d shape axle 6 is perpendicular to be about distribution, sliding connection arm lift connecting block 7 on the D shape axle 6, and linear guide distributes about being perpendicular, and elevator motor 9 is located 5 below of arm lift major structure, and elevator motor 9 control arm lift connecting block 7 moves along D shape axle 6 direction, and linear guide plays firm and guide effect. To using D shape axle 6 to be perpendicularly about distribution and linear guide to be the elevation structure who distributes from top to bottom perpendicularly, arm lift connecting block 7 is equipped with the copper sheathing, copper sheathing and the 6 sliding connection of D shape axle, and the fixed lifing arm structure of linking is done between D shape axle 6 as the lift main part through copper sheathing to D shape axle 6 structure, adds linear guide in the middle of the lifing arm as the supporting role with the 6 lifts of D shape axle and prevents that D shape axle 6 warp and lead to the lifing arm not smooth and easy.

The device is used for a robot, and the robot comprises a chassis structure 1, wherein the chassis structure 1 comprises three universal wheels, three direct current motors, a tracing sensor, three infrared sensors 17, two ultrasonic sensors 16, a camera and a plurality of fixed connecting pieces. The included angle between the three universal wheels is 120 degrees and is concentrically and equidistantly distributed. The tracking sensor is used for identifying paths of the robot. And (4) calibrating the distance between the infrared sensor 17 and the ultrasonic sensor 16 and automatically avoiding obstacles. The controller is arranged at the bottom of the chassis.

The upper side of the chassis structure 1 is provided with a mechanical arm translation rack 11, the mechanical arm translation rack 11 is provided with a translation mechanism steering engine 10, the chassis structure 1 is provided with a mechanical arm translation mechanism 8, and the trunk structure is arranged on the mechanical arm translation mechanism 8.

A gripper structure is arranged on one side of the mechanical arm lifting connecting block 7 and consists of an opening and closing gripper 14, a horizontal turnover mechanism, an up-down turnover mechanism, an opening and closing mechanism, a horizontal turnover steering engine 12, an up-down turnover steering engine 13 and an opening and closing steering engine 15; the opening and closing hand grip 14 is in a scissor type, the opening and closing hand grip 14 is connected with an opening and closing mechanism, the opening and closing mechanism is connected with a horizontal turnover mechanism, and the horizontal turnover mechanism is connected with an upper turnover mechanism and a lower turnover mechanism; thereby controlling the state and the position of the opening and closing hand grip 14, realizing the form conversion required by the opening and closing hand grip 14 when gripping different articles, and gripping the article vertically below when the up-down turnover mechanism turns downwards; when the up-down turnover mechanism turns upwards, the device is used for grabbing articles in front of the horizontal direction. The position at which the opening and closing grip 14 grips the article can be changed when horizontally turned, for example, from the left-right direction or from the up-down direction.

When the robot works, the controller firstly obtains task information in the work order plate through the camera, the information comprises the position of a material, then the controller plans a walking path according to the position information, the omnidirectional movement of the robot is realized by controlling the driving torque of the motor connected with the universal wheels, and the robot is driven to walk according to a correct path through the combined rotation of the three universal wheels. When the robot moves to the goods area to be transported, the robot automatically identifies and positions the materials to be sorted through the self controller and the visual sensor. After identifying the materials to be sorted, the controller controls the arm structure to reach a proper position to grab.

When an object is grabbed, if an obstacle exists above the object, the lifting motor 9 controls the manipulator to move to the height of the object in the vertical direction, the up-down overturning steering engine 13 controls the manipulator to overturn upwards and move to the position right in front of the object, and the opening-closing steering engine 15 controls the gripper to close to complete grabbing the object; if obstacles exist around the article, the lifting motor 9 controls the manipulator to move above the article in the vertical direction, the up-down overturning steering engine 13 controls the manipulator to overturn downwards and move right above the article, the opening-closing steering engine 15 controls the gripper to open, the lifting motor 9 controls the manipulator to move to the height of the article in the vertical direction, the opening-closing steering engine 15 controls the gripper to close, and the article is gripped. When goods are carried, the shrinkage motor controls the trunk structure to shrink backwards, so that the mechanical arm and the goods are all shrunk into the robot, the mechanical arm places the goods on the robot and moves to an appointed position, when the goods are placed, the mechanical arm picks up the goods, the shrinkage motor controls the trunk structure to move forwards, the lifting motor 9 controls the mechanical arm to move to the height of a station in the vertical direction, and the opening and closing steering engine 15 is opened to complete the placement of the goods.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. Elevation structure based on D type axle, including trunk structure, its characterized in that: the trunk structure consists of a lifting motor, a contraction motor, a D-shaped shaft, a linear guide rail, a mechanical arm lifting main body structure (5), a chain and a gear rack;

d shape axle (6) are perpendicularly about being and distribute, sliding connection arm lift connecting block (7) on D shape axle (6), and linear guide distributes about being perpendicularly, and elevator motor (9) are located arm lift major structure (5) below, and elevator motor (9) control arm lift connecting block (7) move along D shape axle (6) direction, and linear guide plays firm and guide effect.

2. The D-axis based lifting structure of claim 1, wherein: the mechanical arm lifting connecting block (7) is provided with a copper sleeve, and the copper sleeve is connected with the D-shaped shaft (6) in a sliding mode.

3. The D-axis based lifting structure of claim 1, wherein: a gripper structure is arranged on one side of the mechanical arm lifting connecting block (7), and consists of an opening and closing gripper (14), a horizontal overturning mechanism, an upper and lower overturning mechanism, an opening and closing mechanism, a horizontal overturning steering engine (12), an upper and lower overturning steering engine (13) and an opening and closing steering engine (15); the opening and closing gripper (14) is connected with the opening and closing mechanism, the opening and closing mechanism is connected with the horizontal turnover mechanism, and the horizontal turnover mechanism is connected with the upper and lower turnover mechanisms.

4. The D-axis based lifting structure according to claim 3, wherein: the opening and closing gripper (14) is in a scissor type.

5. The D-axis based lifting structure of claim 1, wherein: the device is characterized by further comprising a chassis structure (1), wherein the chassis structure is composed of three universal wheels, three direct current motors, a tracking sensor, three infrared sensors (17), two ultrasonic sensors (16) and a camera.

6. The D-axis based lifting structure of claim 5, wherein: the included angle between the three universal wheels is 120 degrees and is distributed concentrically and equidistantly.

Images