Multipurpose material carrying robot

Abstract

The utility model discloses a multipurpose material carrying robot which comprises an AGV mobile vehicle, an identification lens, a controller, a translation module, a lifting module, a grabbing device and a bearing device. The bearing device is arranged, the servo motor is started to drive the transmission arm to swing, the transmission arm pushes the transmission block to move upwards, the transmission block pushes the lifting column to ascend and descend along the limiting column, the lifting column pushes the lifting plate to move to the bottom of the material container, and the material container is supported; the material container is supported by the bearing device, so that the grabbing device is assisted to grab the material container, abrasion of the grabbing device is reduced, the material container is supported in an auxiliary mode through the bearing device, meanwhile, the limiting effect can be achieved, abrasion of the grabbing device is reduced, and the possibility that the material container has an accident is reduced.

Description

Technical Field

[0001] The utility model relates to the relevant field of handling robots, in particular to a multi-purpose material handling robot. Background Art

[0002] With the development of robot technology, the application of intelligent mobile robots is becoming more and more common. Intelligent mobile robots have played a significant role in solving labor shortages, improving production efficiency, improving product quality and reducing production costs. They are intelligent, flexible, safe and efficient, and can independently and autonomously complete the warehousing, storage and transfer of unmanned materials in modern enterprises such as intelligent production lines and automated logistics transportation.

[0003] The Chinese patent document with the announcement number CN214398835U discloses a material container handling robot system. The device is equipped with two relatively independent horizontal linear motion modules, vertical linear lifting modules and material container clamping mechanisms on an autonomous navigation omnidirectional mobile vehicle (AGV), forming two independent subsystems with material container clamping, horizontal transfer and vertical lifting functions. This robotized logistics handling system with two independent material container fetching and transfer can ensure the high efficiency and speed of material container transfer in the field of intelligent manufacturing, and significantly improve production efficiency.

[0004] During the transportation process, the device transports materials by clamping the material container, but since there is no load-bearing device, it is unable to support the material container, resulting in long-term wear between the material container and the clamping module to ensure that the clamping module can clamp and fix the material container. However, over time, the clamping module is prone to loosening during the clamping process, which will inevitably cause the material container to fall off accidentally. Utility Model Content

[0005] Therefore, in order to solve the above-mentioned shortcomings, the utility model provides a multi-purpose material handling robot.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a multi-purpose material handling robot, including an AGV mobile vehicle, an identification lens, a controller, a translation module, a lifting module, a grasping device, and a carrying device. The controller is installed inside the AGV mobile vehicle, and the carrying device includes a mounting frame, a fixing plate, a fixing screw hole, a transmission, a clamping plate, a servo motor, a transmission arm, a limiting column, a transmission block, a lifting column, a rotating bearing, a moving seat, and a lifting plate. The front end of the mounting frame is provided with a fixing plate, and the top of the fixing plate is provided with a fixing screw hole, and the fixing screw hole cooperates with the fixing stud and The AGV mobile vehicle is connected, the transmission is fixed to the top of the lifting plate, the clamping plate is fixed to the front end of the transmission, the servo motor is installed inside the mounting frame, the servo motor is connected to the rear end of the transmission arm by a coupling, the transmission arm is connected to the right end of the transmission block, the limiting column is fixed to the inner bottom end of the mounting frame, the transmission block is connected to the bottom of the lifting column, the lifting column is slidably connected to the outside of the limiting column, a lifting plate is provided on the top of the lifting column, the rotating bearing is fixed to the bottom of the mounting frame, and the moving seat is installed at the bottom of the rotating bearing.

[0007] As a further solution of the utility model, the transmission device includes a shell, a transmission motor, a transmission gear, a transmission rack, a mounting block, and a limiting rail. The shell is fixed to the top of the lifting plate, the transmission motor is installed at the rear end of the shell, the transmission motor is connected to the internal transmission of the transmission gear, the outer side of the transmission gear is meshed with the transmission rack for transmission, the front end of the transmission rack is provided with a mounting block, and the bottom of the mounting block is slidably connected to the limiting rail, the front end of the mounting block is fixed to the clamping plate, and the limiting rail is arranged inside the shell.

[0008] As a further solution of the utility model, the translation module is provided with two groups, and the two groups of translation modules are both arranged at the top of the mobile vehicle. The translation module includes a fixed frame, a translation motor, a transmission screw, a guide block, a transmission slide, and a translation plate. The fixed frame is fixed to the top of the AGV mobile vehicle, and the translation motor is installed at the front end of the fixed frame. The translation motor adopts a coupling to connect with the front end of the transmission screw, and the transmission screw is transmitted to the internal thread of the transmission slide. The guide block is arranged at the top of the fixed frame, and the transmission slide is connected to the internal sliding of the fixed frame. A translation plate is provided on the top of the transmission slide, and the bottom of the translation plate slides with the guide block.

[0009] As a further solution of the utility model, the lifting module includes a lifting frame, a lifting motor, a transmission rod, a moving block, and a base plate. The lifting frame is fixed to the top of the base plate, the lifting motor is installed at the front end of the lifting frame, the lifting motor is connected to the top of the transmission rod by a coupling, the transmission rod is connected to the internal thread of the moving block, the moving block is connected to the internal sliding connection of the lifting frame, a grabbing device is installed at the rear end of the moving block, and the base plate is fixed to the top of the translation module.

[0010] As a further solution of the utility model, the grabbing device includes a fixed frame, a cylinder, a fixed clamp, a limiting shaft, and a movable clamp. The fixed frame is fixed to the rear end of the lifting module, the cylinder is installed at the left end of the fixed frame, the cylinder is transmission-connected to the front end of the movable clamp, the fixed clamp is installed inside the fixed frame and connected to the outside of the limiting shaft, the limiting shaft is fixed to the inside of the fixed frame, and the movable clamp is slidingly connected to the outside of the limiting shaft.

[0011] As a further solution of the utility model, the servo motor, the transmission arm, the limiting column, the transmission block, and the lifting column are symmetrically arranged at the bottom of the lifting plate.

[0012] As a further solution of the utility model, the transmission block and the lifting column are vertically arranged on the top of the limiting column.

[0013] As a further solution of the utility model, the transmission rack, the mounting block and the limiting rail are each provided with two groups, and are arranged in parallel at the upper and lower ends of the transmission gear.

[0014] As a further solution of the utility model, the identification lens is installed at the front end of the controller, the translation module is fixed to the top of the AGV mobile vehicle, the lifting module is installed on the top of the translation module, the grasping device is fixed to the rear end of the lifting module, and the carrying device is connected to the rear end of the AGV mobile vehicle.

[0015] As a further solution of the utility model, the AGV mobile vehicle can use existing products on the market, and the controller can use an AGV control system with model CCF-AGV-C1.

[0016] As a further solution of the utility model, the translation module, the lifting module and the grabbing device constitute a material picking mechanism.

[0017] Compared with the prior art, the utility model provides a multi-purpose material handling robot, which has the following beneficial effects:

[0018] 1. The utility model provides a bearing device, which starts the servo motor to swing the transmission arm, so that the transmission arm pushes the transmission block to move upward, and the transmission block pushes the lifting column to rise and fall along the limiting column, so that the lifting column pushes the lifting plate to move to the bottom of the material container, supporting the material container, thereby assisting the grasping device to grasp the material container, thereby reducing the wear of the grasping device, and further starting the transmission to cause the splint to retract inward, thereby causing the splint to play an auxiliary limiting role on the bottom of the material container, thereby preventing the bottom of the material container from accidentally sliding, thereby reducing the possibility of accidental falling off of the material container, thereby achieving the goal of supporting the material container through the bearing device while also playing a limiting role, thereby reducing the wear of the grasping device, thereby reducing the possibility of accidents to the material container.

[0019] 2. A transmission device is provided in the utility model, and the transmission motor is started to drive the transmission gear to rotate, so that the transmission gear is meshed with the transmission racks respectively provided at the upper and lower ends for transmission, so that the transmission rack brings the mounting block to move inward, and the mounting block brings the splint to retract inward, so as to achieve the effect of starting the transmission device to bring the splint to retract inward, and then bring the splint to play an auxiliary limiting role on the bottom of the material container, thereby preventing the bottom of the material container from accidentally sliding, and thereby reducing the problem of accidental falling off of the material container. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0021] Figure 2 This is a three-dimensional structural diagram of the material taking mechanism of the utility model;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the load-bearing device of the utility model;

[0023] Figure 4 This is a schematic diagram of the planar structure of the load-bearing device of the utility model;

[0024] Figure 5 It is a schematic diagram of the structure of the transmission device of the utility model.

[0025] Among them: AGV mobile vehicle-1, identification lens-2, controller-3, translation module-4, lifting module-5, grabbing device-6, carrying device-7, installation frame-71, fixing plate-72, fixing screw hole-73, transmission-74, clamping plate-75, servo motor-76, transmission arm-77, limiting column-78, transmission block-79, lifting column-7A, rotating bearing-7B, moving seat-7C, lifting plate-7D, shell-741 , transmission motor-742, transmission gear-743, transmission rack-744, mounting block-745, fixed frame-41, translation motor-42, transmission screw-43, guide block-44, transmission slide-45, translation plate-46, lifting frame-51, lifting motor-52, transmission rod-53, moving block-54, bottom plate-55, fixed frame-61, cylinder-62, fixed clamp-63, limiting shaft-64, movable clamp-65. DETAILED DESCRIPTION

[0026] In order to further explain the technical solution of the present utility model, it is described in detail through specific embodiments below.

[0027] See also Figure 1-2 In the present utility model embodiment:

[0028] A multi-purpose material handling robot comprises an AGV mobile vehicle 1, an identification lens 2, a controller 3, a translation module 4, a lifting module 5, a grasping device 6, and a carrying device 7. The controller 3 is installed inside the AGV mobile vehicle 1, the identification lens 2 is installed at the front end of the controller 3, the translation module 4 is fixed to the top of the AGV mobile vehicle 1, the lifting module 5 is installed at the top of the translation module 4, the grasping device 6 is fixed to the rear end of the lifting module 5, and the carrying device 7 is connected to the rear end of the AGV mobile vehicle 1.

[0029] There are two groups of translation modules 4, both of which are arranged at the top of the AGV mobile vehicle 1. The translation module 4 includes a fixed frame 41, a translation motor 42, a transmission screw 43, a guide block 44, a transmission slide 45, and a translation plate 46. The fixed frame 41 is fixed to the top of the AGV mobile vehicle 1, and the translation motor 42 is installed at the front end of the fixed frame 41. The translation motor 42 adopts a coupling to drive the front end of the transmission screw 43. The transmission screw 43 and the internal thread of the transmission slide 45 are driven. The guide block 44 is arranged at the top of the fixed frame 41, and the transmission slide 45 is connected to the internal sliding of the fixed frame 41. The top of the transmission slide 45 is provided with a translation plate 46, and the bottom of the translation plate 46 is slidably matched with the guide block 44.

[0030] The lifting module 5 includes a lifting frame 51, a lifting motor 52, a transmission rod 53, a moving block 54, and a base plate 55. The lifting frame 51 is fixed to the top of the base plate 55, the lifting motor 52 is installed at the front end of the lifting frame 51, the lifting motor 52 is connected to the top of the transmission rod 53 by a coupling, the transmission rod 53 is connected to the internal thread of the moving block 54, the moving block 54 is connected to the inside of the lifting frame 51 in a sliding manner, a grabbing device 6 is installed at the rear end of the moving block 54, and the base plate 55 is fixed to the top of the translation module 4.

[0031] The grabbing device 6 includes a fixed frame 61, a cylinder 62, a fixed clamp 63, a limiting shaft 64, and a movable clamp 65. The fixed frame 61 is fixed to the rear end of the lifting module 5, the cylinder 62 is installed at the left end of the fixed frame 61, and the cylinder 62 is transmission-connected to the front end of the movable clamp 65. The fixed clamp 63 is installed inside the fixed frame 61 and connected to the outer side of the limiting shaft 64. The limiting shaft 64 is fixed to the inside of the fixed frame 61, and the movable clamp 65 is slidingly connected to the outer side of the limiting shaft 64.

[0032] refer to Figure 3-Figure 4 , in the embodiment of the utility model:

[0033] The carrying device 7 includes a mounting frame 71, a fixing plate 72, a fixing screw hole 73, a transmission 74, a clamping plate 75, a servo motor 76, a transmission arm 77, a limiting column 78, a transmission block 79, a lifting column 7A, a rotating bearing 7B, a moving seat 7C, and a lifting plate 7D. The front end of the mounting frame 71 is provided with a fixing plate 72, the top of the fixing plate 72 is provided with a fixing screw hole 73, the fixing screw hole 73 cooperates with the fixing stud to connect with the AGV mobile vehicle 1, the transmission 74 is fixed to the top of the lifting plate 7D, the clamping plate 75 is fixed to the front end of the transmission 74, and the servo motor 76 is installed inside the mounting frame 71. The servo motor 76 adopts a coupling and a transmission The rear end of the arm 77 is transmission connected, the transmission arm 77 is transmission connected to the right end of the transmission block 79, the limiting column 78 is fixed to the inner bottom end of the mounting frame 71, the transmission block 79 is transmission connected to the bottom of the lifting column 7A, the lifting column 7A is slidingly connected to the outer side of the limiting column 78, a lifting plate 7D is provided on the top of the lifting column 7A, the rotating bearing 7B is fixed to the bottom of the mounting frame 71, the moving seat 7C is installed at the bottom of the rotating bearing 7B, the servo motor 76, the transmission arm 77, the limiting column 78, the transmission block 79, and the lifting column 7A are symmetrically arranged at the bottom of the lifting plate 7D, and the transmission block 79 and the lifting column 7A are vertically arranged on the top of the limiting column 78.

[0034] refer to Figure 5 , in the embodiment of the utility model:

[0035] The transmission device 74 includes a shell 741, a transmission motor 742, a transmission gear 743, a transmission rack 744, a mounting block 745, and a limiting rail 746. The shell 741 is fixed to the top of the lifting plate 7D, and the transmission motor 742 is installed at the rear end of the shell 741. The transmission motor 742 is connected to the internal transmission of the transmission gear 743. The outer side of the transmission gear 743 is meshed with the transmission rack 744 for transmission. The front end of the transmission rack 744 is provided with a mounting block 745, and its bottom is connected with the limiting rail 746. The transmission rack 744, the mounting block 745, and the limiting rail 746 are all provided with two groups, and are arranged in parallel at the upper and lower ends of the transmission gear 743.

[0036] refer to Figure 1-Figure 5 When in use, the AGV mobile vehicle 1 is moved to the side of the material rack, and the grabbing device 6 is manually released, and the translation motor 42 is started to drive the transmission screw 43 and the transmission slide 45 to perform threaded transmission, so that the transmission slide 45 moves outward with the translation plate 46 along the guide block 44, so that the translation plate 46 can move to the side of the material rack with the lifting module 5 and the grabbing device 6;

[0037] When the lifting motor 52 is started, the transmission rod 53 is driven to rotate, so that the transmission rod 53 and the transmission block 79 are threadedly matched, so that the transmission block 79 can move the grabbing device 6 to a suitable position for grabbing the material container. Further, when the cylinder 62 is started, the movable clamp 65 is pulled to cause the movable clamp 65 to shrink inward along the limiting axis 64, and then the fixed clamp 63 and the movable clamp 65 cooperate to clamp and fix the material container, and then the material container is grabbed through the mutual cooperation of the translation module 4, the lifting module 5, and the grabbing device 6.

[0038] Then, move the installation frame 71 to the rear of the AGV mobile vehicle 1 so that the fixing plate 72 can fit with the rear end of the AGV mobile vehicle 1, and insert the fixing stud into the fixing screw hole 73 to ensure that the installation frame 71 can move with the AGV mobile vehicle 1;

[0039] At the same time, the servo motor 76 is started to swing the transmission arm 77, so that the transmission arm 77 pushes the transmission block 79 to move upward, and the transmission block 79 pushes the lifting column 7A to move up and down along the limiting column 78, so that the lifting column 7A pushes the lifting plate 7D to move to the bottom of the material container, supporting the material container, and then assisting the grasping device 6 to grasp the material container, thereby reducing the wear of the grasping device 6;

[0040] Next, the transmission motor 742 is started to drive the transmission gear 743 to rotate, so that the transmission gear 743 is meshed with the transmission racks 744 respectively arranged at the upper and lower ends, so that the transmission rack 744 moves inward with the mounting block 745, and the mounting block 745 brings the clamping plate 75 to retract inward, and then the clamping plate 75 is retracted inward by starting the transmission device 74, and then the clamping plate 75 plays an auxiliary limiting role on the bottom of the material container, thereby preventing the bottom of the material container from accidentally sliding, thereby reducing the problem of the material container accidentally falling off;

[0041] Finally, the controller 3 is controlled and operated through the Internet, so that the controller 3 controls the AGV mobile vehicle 1 to move. During the process, the recognition lens 2 can recognize passing pedestrians and feedback the road conditions to the controller 3. The controller 3 controls the AGV mobile vehicle 1 to move, and the grabbing device 6 and the carrying device 7 cooperate to transport the materials, thereby completing the material transportation work through the equipment.

[0042] The control method of the present invention is to control by manually starting and closing the switch. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0043] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0044] The above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-purpose material handling robot, comprising an AGV mobile vehicle (1), an identification lens (2), a controller (3), a translation module (4), a lifting module (5), a grasping device (6), and a carrying device (7), wherein the controller (3) is installed inside the AGV mobile vehicle (1); Features: The bearing device (7) comprises a mounting frame (71), a fixing plate (72), a fixing screw hole (73), a transmission (74), a clamping plate (75), a servo motor (76), a transmission arm (77), a limiting column (78), a transmission block (79), a lifting column (7A), a rotary bearing (7B), a movable seat (7C), and a lifting plate (7D). The front end of the mounting frame (71) is provided with a fixing plate (72), the top of the fixing plate (72) is provided with a fixing screw hole (73), the fixing screw hole (73) cooperates with the fixing stud to be connected to the AGV mobile vehicle (1), the transmission (74) is fixed to the top of the lifting plate (7D), the clamping plate (75) and the transmission (74) are fixed to the top of the lifting plate (7D), and the clamping plate (75) and the transmission (74) are fixed to the top of the lifting plate (7D). The front ends are fixed, the servo motor (76) is installed inside the installation frame (71), the servo motor (76) is connected to the rear end of the transmission arm (77) by a coupling, the transmission arm (77) is connected to the right end of the transmission block (79), the limiting column (78) is fixed to the bottom end of the inside of the installation frame (71), the transmission block (79) is connected to the bottom of the lifting column (7A), the lifting column (7A) is connected to the outer side of the limiting column (78) in a sliding manner, a lifting plate (7D) is arranged on the top of the lifting column (7A), the rotating bearing (7B) is fixed to the bottom of the installation frame (71), and the moving seat (7C) is installed at the bottom of the rotating bearing (7B).

2. A multi-purpose material handling robot according to claim 1, characterized in that: The transmission device (74) includes a shell (741), a transmission motor (742), a transmission gear (743), a transmission rack (744), a mounting block (745), and a limiting rail (746). The shell (741) is fixed to the top of the lifting plate (7D), the transmission motor (742) is installed at the rear end of the shell (741), the transmission motor (742) is connected to the internal transmission of the transmission gear (743), the outer side of the transmission gear (743) is meshed with the transmission rack (744) for transmission, the front end of the transmission rack (744) is provided with a mounting block (745), and the bottom of the mounting block is slidably connected to the limiting rail (746), the front end of the mounting block (745) is fixed to the clamping plate (75), and the limiting rail (746) is arranged inside the shell (741).

3. The multi-purpose material handling robot according to claim 1, characterized in that: The translation module (4) is provided with two groups, and the two groups of translation modules (4) are both arranged on the top of the AGV mobile vehicle (1). The translation module (4) comprises a fixed frame (41), a translation motor (42), a transmission screw (43), a guide block (44), a transmission slide (45), and a translation plate (46). The fixed frame (41) and the AGV mobile vehicle are connected to each other. The top of the fixed frame (1) is fixed, the translation motor (42) is installed at the front end of the fixed frame (41), the translation motor (42) is connected to the front end of the transmission screw (43) by a coupling, the transmission screw (43) is connected to the internal thread of the transmission slide (45), the guide block (44) is arranged on the top of the fixed frame (41), the transmission slide (45) is connected to the inside of the fixed frame (41) in a sliding manner, and the top of the transmission slide (45) is provided with a translation plate (46), and the bottom of the translation plate (46) is slidably matched with the guide block (44).

4. The multi-purpose material handling robot according to claim 1, characterized in that: The lifting module (5) comprises a lifting frame (51), a lifting motor (52), a transmission rod (53), a moving block (54), and a bottom plate (55); the lifting frame (51) is fixed to the top of the bottom plate (55); the lifting motor (52) is installed at the front end of the lifting frame (51); the lifting motor (52) is connected to the top of the transmission rod (53) by a coupling; the transmission rod (53) is connected to the internal thread of the moving block (54); the moving block (54) is connected to the inside of the lifting frame (51) by sliding; a gripping device (6) is installed at the rear end of the moving block (54); and the bottom plate (55) is fixed to the top of the translation module (4).

5. The multi-purpose material handling robot according to claim 1, characterized in that: The gripping device (6) comprises a fixed frame (61), a cylinder (62), a fixed clamp (63), a limiting shaft (64), and a movable clamp (65); the fixed frame (61) is fixed to the rear end of the lifting module (5); the cylinder (62) is installed at the left end of the fixed frame (61); the cylinder (62) is transmission-connected to the front end of the movable clamp (65); the fixed clamp (63) is installed inside the fixed frame (61) and connected to the outer side of the limiting shaft (64); the limiting shaft (64) is fixed to the inside of the fixed frame (61); and the movable clamp (65) is slidingly connected to the outer side of the limiting shaft (64).

6. The multi-purpose material handling robot according to claim 2, characterized in that: The servo motor (76), the transmission arm (77), the limiting column (78), the transmission block (79), and the lifting column (7A) are symmetrically arranged at the bottom of the lifting plate (7D).

7. The multi-purpose material handling robot according to claim 1, characterized in that: The transmission block (79) and the lifting column (7A) are vertically arranged on the top of the limiting column (78).

8. The multi-purpose material handling robot according to claim 2, characterized in that: The transmission rack (744), the mounting block (745), and the limiting rail (746) are each provided in two groups and are arranged in parallel at the upper and lower ends of the transmission gear (743).

9. The multi-purpose material handling robot according to claim 1, characterized in that: The identification lens (2) is installed at the front end of the controller (3), the translation module (4) is fixed to the top of the AGV mobile vehicle (1), the lifting module (5) is installed at the top of the translation module (4), the grasping device (6) is fixed to the rear end of the lifting module (5), and the carrying device (7) is connected to the rear end of the AGV mobile vehicle (1).

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