Material transport robots

Abstract

The present invention provides a material transport robot, which includes a main body, a lifting device and a loading platform, wherein the lifting device is installed on the main body, the loading platform is installed on the lifting device, the loading platform can be lifted and moved vertically, and the loading platform has a bearing surface; the material transport robot also includes a reversing device, which is installed on the main body; the reversing device includes a first rotation drive unit and a lifting structure connected to the first rotation drive unit, and the lifting structure is located directly below the loading platform; the lifting structure passes through the loading platform from bottom to top, the lifting structure is located above the horizontal position where the bearing surface is located, and the lifting structure can rotate relative to the loading platform. The material box can be reversing synchronously during the process of being transported by the material transport robot, eliminating the capital investment in the reversing equipment, saving the subsequent reversing time, and improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation equipment, and in particular to a material transportation robot. Background Art

[0002] An existing material transport robot includes a main body, a driving wheel group, a lifting device and a loading platform, wherein the driving wheel group is arranged at the bottom of the main body, the lifting device is installed on the main body, and the loading platform is installed on the lifting device. Under the drive of the driving device, the loading platform can be lifted and moved vertically. A conveyor belt is arranged on the loading platform, and the surface of the conveyor belt is a bearing surface for carrying goods.

[0003] The problem with existing material transport robots is that the orientation of the material box at the loading and unloading points needs to be changed due to production processes or subsequent transportation needs, and the existing means is to add robots or transport lines to reverse the material boxes unloaded from the material transport robots, which has high production costs and reduced production efficiency. Summary of the invention

[0004] The object of the present invention is to provide a material transport robot which can perform reversing on a material box.

[0005] The material transport robot provided by the present invention includes a main body, a lifting device and a loading platform, the lifting device is installed on the main body, the loading platform is installed on the lifting device, the loading platform can be lifted and moved vertically, and the loading platform has a bearing surface; the material transport robot also includes a reversing device, which is installed on the main body; the reversing device includes a first rotation drive unit and a lifting structure connected to the first rotation drive unit, and the lifting structure is located directly below the loading platform; the lifting structure passes through the loading platform from bottom to top, the lifting structure is located above the horizontal position where the bearing surface is located, and the lifting structure can rotate relative to the loading platform.

[0006] It can be seen from the above scheme that when a material box or material tray is carried on a material transport robot and is being transported, when the loading platform drops to the extreme position, the lifting structure passes through the loading platform from bottom to top and lifts the material box. Then the first rotation drive unit is started to rotate the lifting structure by a preset angle, thereby changing the direction of the material box during unloading, thereby eliminating the capital investment in subsequent reversing equipment, and the reversing step is executed simultaneously in the transportation step, saving subsequent reversing time and improving production efficiency.

[0007] A further solution is that the loading platform has two guard walls on opposite sides, and the distance between the two guard walls is adjustable.

[0008] As can be seen from the above, this arrangement enables the material box after the reversal to still be effectively blocked and protected by the protective wall, thereby improving the stability of transportation.

[0009] A further solution is that at least two first conveyor belts are provided on opposite sides of the loading platform, and the first surfaces of multiple first conveyor belts constitute a bearing surface; the guard wall can be moved to a first horizontal position, and the guard wall in the first horizontal position blocks at least one first conveyor belt from above.

[0010] Another further solution is that second conveyor belts are arranged on opposite sides of the loading platform, and the second surface of the second conveyor belt is the bearing surface; the guard wall can be moved to a second horizontal position, and the guard wall in the second horizontal position blocks at least a part of the second surface from above.

[0011] As can be seen from the above, the above two configurations can ensure that after the material box is reversed, the material box is still carried on the first conveyor belt or the second conveyor belt, thereby ensuring that the material transport robot can independently complete the unloading work.

[0012] A further solution is that the loading platform includes a base frame, a movable frame, a horizontal screw nut, a horizontal screw and a second rotation drive unit; the base frame and the movable frame are slidably connected in the horizontal direction, the wall guard is fixed on the movable frame, the horizontal screw is connected to the second rotation drive unit, and the horizontal screw nut is sleeved outside the horizontal screw; the horizontal screw nut is fixed on the base frame and the second rotation drive unit is fixed on the movable frame, or the horizontal screw nut is fixed on the movable frame and the second rotation drive unit is fixed on the base frame.

[0013] It can be seen from the above that this arrangement can achieve stable horizontal movement of the retaining wall.

[0014] A further solution is that the stage includes a base plate and a turntable rotatably mounted on the base plate, the turntable is provided with a plurality of through holes; the lifting structure includes a turntable and a plurality of lifting columns protruding from the turntable, the lifting columns pass through the through channels.

[0015] As can be seen from the above, this arrangement can ensure the integrity of the upper surface of the loading platform, and can prevent the material box from falling or objects from falling during rotation and affecting or causing damage to the reversing device. Secondly, the smaller lifting column can form a better positioning match with the socket or insertion position formed on the bottom of the material box, thereby ensuring the rotation conversion ratio of the first rotation drive unit and the accuracy of the rotation angle of the material box.

[0016] A further solution is that the top of the lifting column is in the shape of a truncated cone.

[0017] As can be seen from the above, this arrangement makes it easier for the lifting column to be inserted into the insertion hole or insertion position at the bottom of the material box.

[0018] A further solution is that the through hole is a stepped hole; the lifting column has a first column segment and a second column segment, the outer diameter of the first column segment is greater than the outer diameter of the second column segment; the first column segment and the second column segment are located in the stepped hole.

[0019] It can be seen from the above that this setting can effectively improve the coordination stability between the lifting column and the turntable.

[0020] A further solution is that at least four through holes are arranged on the turntable in a rectangular array.

[0021] It can be seen from the above that this arrangement can further improve the supporting stability of the lifting column to the material box.

[0022] A further solution is that an interpenetrating channel is provided on the loading platform, and the lifting structure passes through the interpenetrating through hole from bottom to top.

[0023] As can be seen from the above, this arrangement can also achieve the lifting and support of the material box by the lifting structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural diagram of the first state of an embodiment of the material transport robot of the present invention.

[0025] Figure 2 Schematic diagram of the structure of the loading platform in the material transport robot embodiment of the present invention.

[0026] Figure 3 It is a cross-sectional view of the loading platform in the embodiment of the material transport robot of the present invention.

[0027] Figure 4 for Figure 1 Enlarged view of point A in the middle.

[0028] Figure 5 This is a structural diagram of the second state of an embodiment of the material transport robot of the present invention.

[0029] Figure 6 It is a partial schematic diagram of the first working state of the material transport robot embodiment of the present invention.

[0030] Figure 7 It is a partial schematic diagram of the second working state of the material transport robot embodiment of the present invention.

[0031] Figure 8 It is a partial schematic diagram of the third working state of the material transport robot embodiment of the present invention.

[0032] Fig. 9 It is a partial schematic diagram of the fourth working state of the material transport robot embodiment of the present invention.

[0033] Fig.10 It is a partial schematic diagram of the fifth working state of the material transport robot embodiment of the present invention. DETAILED DESCRIPTION

[0034] See also Figure 1 , Figure 1This is the structural diagram of the first state of the material transportation robot according to the embodiment of the present invention. The material transportation robot provided by the present invention is an AGV automatic tracking robot, which can achieve navigation through electromagnetic induction, laser induction, RFID induction, visual recognition, fluorescence recognition or other methods. The electromagnetic induction method realizes automatic driving by pasting magnetic tapes on the ground and setting electromagnetic sensors at the bottom of the material transportation robot, and the electromagnetic sensors sense the magnetic stripe landmarks on the bottom surface. The laser induction method determines its coordinate position by setting a laser scanner on the material transportation robot to identify several positioning marks set within its activity range, so as to guide the operation of the AGV. The RFID induction method automatically detects the coordinate position through RFID tags and reading equipment to realize the automatic operation of the material transportation robot, and the site definition can be arbitrarily defined through chip tags. The visual recognition method includes the QR code recognition method, that is, QR codes are set at fixed positions on the site, a camera device is set at the bottom of the material transportation robot, after the camera device acquires and recognizes the QR code, the control system obtains the driving instruction represented by the QR code and controls the material transportation robot to move to the next step. The fluorescence recognition method realizes automatic driving by setting fluorescent strips on the site path and setting fluorescence sensors at the bottom of the material transportation robot, and the fluorescence sensors sense the fluorescent strip landmarks.

[0035] The material transportation robot includes a main body 1, a driving wheel set 2, a lifting device (not shown in the figure), a load platform 3 and a reversing device 4. The main body 1 is generally in a "U" shape, and the main body 1 includes a base 11 and two side walls 12 respectively erected on the two lateral sides of the base 11 horizontally. A transportation space 100 is formed between the two side walls 12 and runs through horizontally. The lifting device is installed in the side wall 12, and the lifting device mainly includes a vertical lead screw and a motor for driving the vertical lead screw to rotate. The load platform 3 is located in the transportation space 100, and the load platform 3 is installed on the vertical lead screw of the lifting device through a vertical lead screw nut 391 ( Figure 2 shown), so that under the drive of the lifting device, the load platform 3 can move vertically up and down. The reversing device 4 is arranged on the base 11, and the reversing device 4 is located directly below the load platform 3.

[0036] See Figure 2 and Figure 3 , Figure 2 This is the structural diagram of the load platform in the embodiment of the material transportation robot of the present invention. Figure 3The cross-sectional view of the loading platform in the embodiment of the material transport robot of the present invention. The loading platform 3 includes a base frame 31, a base plate 32, a turntable 33 rotatably mounted on the base plate 32, and a movable frame 361 slidably connected to the base frame 31 in the horizontal direction. The base frame 31 is formed by a plurality of plates fixedly connected to each other. The lifting platform 31 is provided with a vertical screw nut 391 matched with a vertical screw on both opposite sides of the base frame 31, and the lifting platform 31 also includes four guide sleeves 392 arranged on the opposite sides of the base frame 31, and the guide sleeves 392 are used to match with the guide rods vertically arranged in the side wall 12.

[0037] The base plate 32 is fixedly mounted on the upper end of the base frame 31, and the base plate 32 is the upper side panel of the stage 3. The turntable 33 is rotatably mounted at the center of the base plate 32, and the turntable 33 is provided with four through holes 331 arranged in a rectangular array on the outer periphery of the rotation axis of the turntable 33, and the through holes 331 are stepped holes, and the through holes 331 penetrate the turntable 33 from bottom to top.

[0038] The loading platform 3 also includes four first conveyor belts 34. Two flush first conveyor belts 34 are arranged on opposite sides of the base frame 31. The first conveyor belts 34 are driven by a motor and can be operated after being driven by a belt transmission assembly. The first surfaces of the four first conveyor belts 34 constitute a bearing surface 340 for bearing the material box.

[0039] The stage 3 further includes two protective walls 35, which are arranged on opposite sides of the stage 3; the stage 3 further includes a horizontal screw nut 363, a horizontal screw 364 and a second rotation drive unit 362, and the second rotation drive unit 362 is a motor. The base frame 31 and the movable frame 361, the protective wall 35 is fixed on the movable frame 361, the horizontal screw 364 is connected to the second rotation drive unit 362, the horizontal screw nut 363 is sleeved outside the horizontal screw 364, the horizontal screw nut 363 is fixed on the base frame 31 and the second rotation drive unit 362 is fixed on the movable frame 361. Under this setting, the horizontal movement of the two protective walls 35 and the change of the distance between the two protective walls 35 can be achieved under the drive of the second rotation drive unit 362.

[0040] The loading platform 3 further includes a horizontal guide sleeve 371, a horizontal guide rod 372, a detection member 373 and three proximity switches 375. The horizontal guide sleeve 371 is fixedly connected to the base frame 31, the horizontal guide rod 372 is fixedly connected to the movable frame 361, the horizontal guide sleeve 371 is sleeved outside the horizontal guide rod 372, and the detection member 373 is fixed to the extended end of the horizontal guide rod 372.

[0041] Three proximity switches 375 are arranged on the base frame 31 at intervals in the horizontal direction. The three proximity switches 375 are respectively used to detect whether the guard wall 35 moving along the horizontal position reaches the first detection position, the second detection position and the third detection position, wherein the first detection position is the first horizontal position. Take a guard wall 35 on one side of the loading platform 3 as an example. When the guard wall 35 reaches the first detection position, the guard wall 35 blocks one of the first conveyor belts 34, and the other first conveyor belt 34 is exposed; when the guard wall 35 reaches the second detection position, the guard wall 35 does not block the two first conveyor belts 34, and the two first conveyor belts 34 are exposed; when the guard wall 35 reaches the third detection position, the two first conveyor belts 34 are exposed, and in the horizontal direction, a large distance is formed between the guard wall 35 and the two first conveyor belts 34.

[0042] The purpose of detecting whether the guard wall 35 reaches the first detection position, the second detection position or the third detection position is: first, the purpose of the invention is to provide a material transport robot that can change the direction of the material box, and the length of the material box in the longitudinal direction and the width in the width direction have a size difference. Therefore, if the material box is to be restricted from both sides by the guard wall 35, the guard wall 35 at least has the ability to move between the first detection position and the second detection position, so that the distance between the two guard walls 35 can be changed between two values. Secondly, since the diagonal of the material box is actually the maximum dimension on the material box during the 90-degree rotation of the material box, if the 90-degree rotation of the material box is to be completed, the distance between the two guard walls 35 should be at least greater than the diagonal length of the material box during the rotation of the material box. Therefore, the guard wall 35 needs to have the ability to move from the second detection position to the third detection position, thereby further increasing the distance between the two guard walls 35.

[0043] See also Figure 4 , Figure 4 for Figure 1 The enlarged view of the A in the figure. The reversing device 4 includes a first rotation drive unit (not shown in the figure) and a lifting structure 40. The first rotation drive unit is a rotating motor fixed in the base 11. The lifting structure 40 is fixedly connected to the rotating shaft of the first rotation drive unit. The lifting structure 40 includes a turntable 41 and four lifting columns 42 protruding from the turntable 41. The four lifting columns 42 are arranged in a rectangular array on the periphery of the rotating axis of the turntable 41.

[0044] The lifting column 42 has a first column section 421, a second column section 422 and a third column section 423 which are sequentially connected along the axial direction thereof, wherein the first column section 421 is the extension of the lifting column 42, and the third column section 423 is the top of the lifting column 42. The outer diameters of the first column section 421, the second column section 422 and the third column section 423 decrease sequentially, and the upper portion of the third column section 423 is truncated cone-shaped.

[0045] Combination Figure 4 and Figure 5 , Figure 5 This is a structural diagram of the second state of the material transport robot embodiment of the present invention. When the loading platform 3 is lowered to the limit position, the lifting column 42 passes through the insertion hole 331 of the turntable 33 from bottom to top, the first column section 421 and the second column section 422 are located in the insertion hole 331, the third column section 423 extends above the turntable 33, and the upper surface of the third column section 423 is located above the horizontal position where the bearing surface 340 is located.

[0046] See also Figure 6 , Figure 6 This is a partial schematic diagram of the first working state of the material transport robot embodiment of the present invention. At this time, the material transport robot carries a material box 900, the material box 900 is supported on two first conveyor belts 34, and two protective walls 35 located at the first detection position restrict the material box 900 from both sides. At this time, the first surface side 901 of the material box 900 faces forward, and the second surface side 902 faces the protective wall 35.

[0047] See also Figure 7 , Figure 7 This is a partial schematic diagram of the second working state of the material transport robot embodiment of the present invention. At this time, the loading platform 3 is lowered to the limit position, the lifting column 42 passes through the turntable 33 and lifts the material box 900, and the material box 900 leaves the first conveyor belt 34.

[0048] See also Figure 8 , Figure 8 This is a partial schematic diagram of the third working state of the material transport robot embodiment of the present invention. At this time, the protective wall 35 moves to the third detection position, at this time, the four first conveyor belts 34 are exposed, and the distance between the two protective walls 35 is greater than the length of the diagonal of the material box 900.

[0049] See also Fig. 9 , Fig. 9 This is a partial schematic diagram of the fourth working state of the material transport robot embodiment of the present invention. At this time, the first rotation drive unit is activated to drive the multiple lifting columns 42 to rotate, and the material box 900 also rotates 90 degrees. At this time, the second surface side 902 faces forward and the first surface side 901 faces the protective wall 35. Then the protective wall 35 moves from the third detection position to the second detection position, and the two protective walls 35 restrict the material box 900 from both sides.

[0050] See also Fig.10 , Fig.10 This is a partial schematic diagram of the fifth working state of the material transport robot embodiment of the present invention. At this time, the loading platform 3 rises, the lifting column 42 passes through the loading platform 3, and the material box 900 is supported on the four first conveyor belts 34 again. At this time, the direction of the material box 900 has been successfully rotated 90 degrees.

[0051] When a material box or a material tray is carried on the material transport robot and is being transported, when the loading platform 3 drops to the extreme position, the lifting structure 40 passes through the loading platform 3 from bottom to top and lifts the material box. Then, the first rotation drive unit is started to rotate the lifting structure 40 by a preset angle, thereby changing the direction of the material box during unloading, thereby eliminating the capital investment in subsequent reversing equipment, and the reversing step is performed simultaneously in the transport step, saving subsequent reversing time and improving production efficiency.

[0052] In other embodiments, a second conveyor belt with a larger width may be used on each side of the loading platform to replace the two first conveyor belts in the above embodiment, and the guard wall at the first detection position blocks a portion of the second conveyor belt from above.

[0053] In other embodiments, the horizontal screw nut is fixed on the movable frame and the second rotation drive device is fixed on the base frame.

[0054] In other embodiments, no turntable is provided on the loading platform, a larger insertion channel is opened on the loading platform, and the lifting structure passes through the insertion channel from bottom to top.

[0055] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material transport robot, comprising a main body, a lifting device and a loading platform, wherein the lifting device is mounted on the main body, the loading platform is mounted on the lifting device, the loading platform can be lifted and moved vertically, and the loading platform has a bearing surface; Features: The material transport robot further comprises a reversing device, wherein the reversing device is mounted on the main body; The reversing device includes a first rotation driving unit and a lifting structure connected to the first rotation driving unit, and the lifting structure is located directly below the loading platform; The lifting structure passes through the loading platform from bottom to top, the lifting structure is located above the horizontal position where the carrying surface is located, and the lifting structure can rotate relative to the loading platform; The loading platform has two protective walls on opposite sides, and the distance between the two protective walls is adjustable; At least two first conveyor belts are disposed on opposite sides of the loading platform, and the first surfaces of a plurality of the first conveyor belts constitute the carrying surface; The guard wall can be moved to a first horizontal position, and the guard wall in the first horizontal position shields at least one of the first conveyor belts from above; The stage comprises a base plate and a turntable rotatably mounted on the base plate, wherein the turntable is provided with a plurality of through holes; The lifting structure includes a turntable and a plurality of lifting columns protruding from the turntable, and the lifting columns pass through the insertion holes.

2. The material transport robot according to claim 1, characterized in that: The loading platform includes a base frame, a movable frame, a horizontal screw nut, a horizontal screw and a second rotation drive unit; The base frame is slidably connected to the movable frame in the horizontal direction, the protective wall is fixed on the movable frame, the horizontal screw rod is connected to the second rotation drive unit, and the horizontal screw rod nut is sleeved outside the horizontal screw rod; The horizontal screw nut is fixed on the base frame and the second rotation drive unit is fixed on the movable frame, or the horizontal screw nut is fixed on the movable frame and the second rotation drive unit is fixed on the base frame.

3. The material transport robot according to claim 1, characterized in that: The top of the lifting column is in a frustum shape.

4. The material transport robot according to claim 1, characterized in that: The through-hole is a stepped hole; The lifting column has a first column section and a second column section, and the outer diameter of the first column section is greater than the outer diameter of the second column section; The first column segment and the second column segment are located in the stepped hole.

5. The material transport robot according to claim 1, characterized in that: At least four of the through holes are arranged on the turntable in a rectangular array.

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