An intelligent material handling manipulator

Abstract

The present invention discloses an intelligent material handling robot, comprising a first housing, a lifting device, a clamping device and a driving wheel. The lifting device comprises a motor, a worm gear, a worm, a first bearing, a first connecting rod, a first support platform, a first sleeve, a second bearing, a hydraulic cylinder, a second support platform, a guide hole, a support rod, a limit hole, a limit block, a guide rod and a stop block. The clamping device comprises a second housing, a cylinder, a second connecting rod, a connecting block, a first rotating shaft, a second sleeve, a third connecting rod, a third sleeve, a second rotating shaft, a clamping claw, a through hole, a third rotating shaft and a fixed block. Compared with the existing material handling robot, the present invention is designed with a lifting device, can carry out a wide range of material handling, and is more flexible than the existing material handling robot. The clamping device designed by the present invention can clamp materials of different sizes and shapes, has fewer mechanical movements, and can greatly improve its work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of material handling manipulators, and in particular to an intelligent material handling manipulator. Background Art

[0002] With the development of science and technology, the degree of automation in factories is gradually improving. Robots are gradually liberating people from heavy and boring work. Material handling robots are one of them. However, the existing material handling robots are fixed next to the production line, so the handling range is small and cannot meet production needs. The existing material handling robots have low flexibility and require multiple actions to clamp materials, resulting in low efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent material handling robot to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent material handling manipulator comprises a first housing, a lifting device, a clamping device and a driving wheel, wherein a lifting device is arranged on an outer wall of one side of the first housing, and the lifting device comprises a motor, a worm gear, a worm, a first bearing, a first connecting rod, a first supporting platform, a first sleeve, a second bearing, a hydraulic cylinder, a second supporting platform, a guide hole, a supporting rod, a limiting hole, a limiting block, a guide rod and a stopper, a motor is fixedly connected to the inner wall of the bottom end of the first housing, a worm gear is fixedly connected to the outer wall of one side of the output end of the motor, a worm gear is meshingly connected to the outer wall of one side of the worm gear, and a worm gear is sleeved on the outer wall of one side of the worm gear. A first bearing is provided, and the first bearing is fixedly connected to the inner wall of the bottom end of the first housing, a first connecting rod is fixedly connected to the outer wall of the top end of the worm, a first supporting platform is fixedly connected to the outer wall of the bottom end of the first connecting rod, a first sleeve is fixedly connected to the outer wall of the bottom end of the first supporting platform, a second bearing is sleeved on the outer wall of one side of the first sleeve, and the second bearing is inlaid and fixed on the inner wall of one side of the first housing, a hydraulic cylinder is fixedly connected to the outer wall of the top end of the first supporting platform, a second supporting platform is fixedly connected to the outer wall of one side of the output end of the hydraulic cylinder, guide holes are distributed on the outer wall of one side of the second supporting platform, and a clamping device is provided on the outer wall of the top end of the second supporting platform;

[0005] The clamping device includes a second housing, a cylinder, a second connecting rod, a connecting block, a first rotating shaft, a second sleeve, a third connecting rod, a third sleeve, a second rotating shaft, a clamping claw, a through hole, a third rotating shaft and a fixed block. The second housing is fixedly connected to the top outer wall of the second support platform, the cylinder is fixedly connected to the inner wall of one side of the second housing, the second connecting rod is fixedly connected to the outer wall of one side of the cylinder output end, the second connecting rod is fixedly connected to the connecting block on the outer wall of one side, the first rotating shaft is symmetrically fixed to the inner wall of one side of the connecting block, and the second connecting rod is fixedly connected to the inner wall of one side of the connecting block. A second sleeve is sleeved on the outer wall of one side of a rotating shaft, a third connecting rod is fixedly connected to the outer wall of one side of the second sleeve, a third sleeve is fixedly connected to the outer wall of one side of the third connecting rod, a second rotating shaft is sleeved on the inner wall of one side of the third sleeve, clamping jaws are symmetrically fixed on the outer walls on both sides of the second rotating shaft, a through hole is opened on the outer wall of one side of the clamping jaw, the third rotating shaft is sleeved on the inner wall of one side of the through hole, fixing blocks are symmetrically fixed on the outer walls on both sides of the third rotating shaft, and the fixing blocks are fixedly connected to the outer wall of one side of the second casing.

[0006] Furthermore, a support rod is fixed on the top outer wall of the first support platform, a limiting hole is opened on the inner wall of one side of the support rod, a limiting block is slidably connected to the inner wall of one side of the limiting hole, a guide rod is fixedly connected to the top outer wall of the limiting block, and the guide rod is sleeved in the inside of the guide hole, and a stop block is fixedly connected to the top outer wall of the guide rod.

[0007] Furthermore, a driving wheel is distributed on an outer wall of one side of the first housing.

[0008] Furthermore, saw teeth are provided on one side outer wall of the clamping jaw.

[0009] Furthermore, the number of the support rods is four.

[0010] Furthermore, any cross-section of the second rotating shaft includes two opposite first arc-shaped connecting parts and two opposite first clamping limit parts, the second rotating shaft is wrapped with an elastic member on the outside, and the inner side of the third sleeve is provided with a second arc-shaped connecting part and two opposite second clamping limit parts. When the clamping jaws and the fixed block are perpendicular to each other, the third connecting rod is perpendicular to the first clamping limit part, and the two first arc-shaped connecting parts are respectively opposite to the two second arc-shaped connecting parts, and the two first clamping limit parts are opposite to the two second clamping limit parts.

[0011] Compared with the prior art, the beneficial effects achieved by the present invention are: compared with the existing material handling robot, the invention is designed with a lifting device, can carry out a wide range of material handling, and is more flexible than the existing material handling robot. The clamping device designed in the present invention can clamp materials of different sizes and shapes, has fewer mechanical movements, and can greatly improve its work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0013] Figure 1 It is a schematic diagram of the overall side view structure of the present invention;

[0014] Figure 2 is a schematic diagram of a side cutaway structure of a first housing of the present invention;

[0015] Figure 3 It is a schematic diagram of the cross-sectional structure of the support rod of the present invention from a side view;

[0016] Figure 4 It is a schematic diagram of the side cutaway structure of the clamping device of the present invention;

[0017] Figure 5 It is a schematic diagram of the cross-sectional structure of the clamping device of the present invention viewed from above;

[0018] Figure 6 It is a schematic diagram of the connection structure of the third connecting rod, the third sleeve and the second rotating shaft of the present invention;

[0019] Figure 7 yes Figure 6 A schematic diagram of the local enlarged structure at point A in the middle;

[0020] In the figure: 1, first housing; 2, lifting device; 3, clamping device; 4, driving wheel; 21, motor; 22, worm wheel; 23, worm; 24, first bearing; 25, first connecting rod; 26, first support platform; 27, first sleeve; 28, second bearing; 29, hydraulic cylinder; 210, second support platform; 211, guide hole; 212, support rod; 213, limit hole; 214, limit block; 215, guide rod; 216, stop block; 3 1. Second housing; 32. Cylinder; 33. Second connecting rod; 34. Connecting block; 35. First rotating shaft; 36. Second sleeve; 37. Third connecting rod; 38. Third sleeve; 381. Second arc-shaped connecting portion; 382. Second clamping limit portion; 39. Second rotating shaft; 391. First arc-shaped connecting portion; 392. First clamping limit portion; 393. Elastic member; 310. Clamp; 311. Through hole; 312. Third rotating shaft; 313. Fixed block. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-5 The present invention provides a technical solution: an intelligent material handling manipulator, comprising a first housing 1, a lifting device 2, a clamping device 3 and a driving wheel 4. The lifting device 2 is arranged on an outer wall of one side of the first housing 1. The lifting device 2 comprises a motor 21, a worm wheel 22, a worm 23, a first bearing 24, a first connecting rod 25, a first supporting platform 26, a first sleeve 27, a second bearing 28, a hydraulic cylinder 29, a second supporting platform 210, a guide hole 211, a supporting rod 212, a limiting hole 213, a limiting block 214, a guide rod 215 and a stopper 216. The motor 21 is fixedly connected to the inner wall of the bottom end of the first housing 1, and a worm wheel 22 is fixedly connected to the outer wall of one side of the output end of the motor 21. The worm 23 is meshingly connected to the outer wall of one side of the worm wheel 22, and one side of the worm 23 A first bearing 24 is sleeved on the outer wall, and the first bearing 24 is fixedly connected to the inner wall of the bottom end of the first housing 1. A first connecting rod 25 is fixedly connected to the outer wall of the top end of the worm 23. A first supporting platform 26 is fixedly connected to the outer wall of the bottom end of the first connecting rod 25. A first sleeve 27 is fixedly connected to the outer wall of the bottom end of the first supporting platform 26. A second bearing 28 is sleeved on the outer wall of one side of the first sleeve 27, and the second bearing 28 is embedded and fixed on the inner wall of one side of the first housing 1. A hydraulic cylinder 29 is fixedly connected to the outer wall of the top end of the first supporting platform 26. A second supporting platform 210 is fixedly connected to the outer wall of one side of the output end of the hydraulic cylinder 29. Guide holes 211 are distributed on the outer wall of one side of the second supporting platform 210, and a clamping device 3 is provided on the outer wall of the top end of the second supporting platform 210.

[0023] The clamping device 3 includes a second housing 31, a cylinder 32, a second connecting rod 33, a connecting block 34, a first rotating shaft 35, a second sleeve 36, a third connecting rod 37, a third sleeve 38, a second rotating shaft 39, a clamping claw 310, a through hole 311, a third rotating shaft 312 and a fixing block 313. The second housing 31 is fixedly connected to the outer wall of the top of the second support platform 210, the cylinder 32 is fixedly connected to the inner wall of one side of the second housing 31, and the second housing 31 is fixedly connected to the outer wall of one side of the output end of the cylinder 32. The connecting rod 33, a connecting block 34 is fixedly connected to one side outer wall of the second connecting rod 33, a first rotating shaft 35 is symmetrically fixed to one side inner wall of the connecting block 34, a second sleeve 36 is sleeved on one side outer wall of the first rotating shaft 35, a third connecting rod 37 is fixedly connected to one side outer wall of the second sleeve 36, a third sleeve 38 is fixedly connected to one side outer wall of the third connecting rod 37, a second rotating shaft 39 is sleeved on one side inner wall of the third sleeve 38, and clamps are symmetrically fixed to the outer walls of both sides of the second rotating shaft 39 310, a through hole 311 is opened on one side outer wall of the clamping claw 310, a third shaft 312 is sleeved on one side inner wall of the through hole 311, and fixing blocks 313 are symmetrically fixed on both sides of the outer walls of the third shaft 312, and the fixing blocks 313 are fixedly connected to one side outer wall of the second housing 31; a support rod 212 is distributed and fixed on the top outer wall of the first support platform 26, a limiting hole 213 is opened on one side inner wall of the support rod 212, and a limiting hole 213 is slidably connected to the limiting hole 213 on one side inner wall The first housing 1 has a first outer wall 214, a guide rod 215 is fixedly connected to the top outer wall of the limit block 214, and the guide rod 215 is sleeved in the guide hole 211, and a stopper 216 is fixedly connected to the top outer wall of the guide rod 215, which is used to guide the second support platform 210; a driving wheel 4 is distributed on the outer wall of one side of the first housing 1 for easy movement; a sawtooth is provided on the outer wall of one side of the clamping claw 310 for easy grasping; there are four support rods 212 for supporting the second support platform 210;

[0024] See also Figure 6-7The cross section of any of the second rotating shafts 39 of the present invention includes two opposite first arc-shaped connecting parts 391 and two opposite first clamping limiting parts 392. The second rotating shaft 39 is wrapped with an elastic member 393. The inner side of the third sleeve 38 is provided with a second arc-shaped connecting part 381 and two opposite second clamping limiting parts 382. When the clamping jaws 310 and the fixing block 313 are perpendicular to each other, the third connecting rod 37 is perpendicular to the first clamping limiting part 392, and the two first arc-shaped connecting parts 391 are respectively opposite to the two second arc-shaped connecting parts 381, and the two first clamping limiting parts 392 are opposite to the two second clamping limiting parts 382. The elastic member 393 can be made of rubber. When it is necessary to clamp the material, the two clamping jaws 310 open in a V shape. At this time, the first arc-shaped connecting portion 391 and the second arc-shaped connecting portion 381 are misaligned, and the first clamping limit portion 392 and the second clamping limit portion 382 are misaligned. This process relies on the thrust of the cylinder 32 to overcome the friction between the elastic member 393 and the third sleeve 38, as well as the elastic force of the elastic member 393 itself being compressed (arc-shaped portion position). After the material is taken, the two jaws 310 are clamped. At this time, the two jaws 310 are parallel to each other, the two first arc-shaped connecting parts 391 are respectively opposite to the two second arc-shaped connecting parts 381, and the two first clamping limit parts 392 are opposite to the two second clamping limit parts 382; at this time, since the elastic member 393 has a certain elastic force, it can avoid the clamped material from shaking in a large arc during transportation, and under the action of the gravity of the material, the jaws 310 will not rotate around the second rotating shaft 39 (because the rotation of the jaws 310 around the second rotating shaft 39 needs to overcome the friction between the elastic member 393 and the third sleeve 38, as well as the elastic force of the elastic member 393 itself being compressed).

[0025] When the present invention is used for material handling, the driving wheel 4 is first started to move the equipment to the handling point, and the lifting device 2 is started to adjust the position of the clamping device 3 according to the position height of the material. The specific operation is as follows: the hydraulic cylinder 29 is started to push the second support platform 210 to move in the direction of the support rod 212. Under the action of the stopper 216, the support rod 212 drives the guide rod 215, and the guide rod 215 drives the limit block 214 to move along the limit hole 213. After reaching the clamping position, the cylinder 32 is started to push the second connecting rod 33, which drives the connecting block 34, the first rotating shaft 35 and the second sleeve 36. Under the action of the second sleeve 36 and the third connecting rod 37, the third sleeve 38 drives The second rotating shaft 39 is moved, and the clamping jaw 310 fixed on the second rotating shaft 39 rotates around the third rotating shaft 312 under the action of the through hole 311. At this time, the clamping jaw 310 is in an open state, and the driving wheel 4 drives the equipment to move forward, so that the material is in the open clamping jaw 310, and the cylinder 32 is retracted. The clamping jaw 310 clamps the material, and the trolley can be driven to transport the material to the destination. In this process, the motor 21 can be started to drive the worm wheel 22, and the first support platform 26 can be rotated in the second bearing 28 through the action of the worm 23, the first bearing 24 and the first connecting rod 25, so that the position of the clamping jaw 310 can be adjusted by rotating the lifting device 2 to facilitate the clamping and placement of the material.

[0026] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned 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. An intelligent material handling manipulator, comprising a first housing (1), a lifting device (2), a gripping device (3) and a driving wheel (4), characterized in that: A lifting device (2) is provided on an outer wall of one side of the first housing (1), and the lifting device (2) comprises a motor (21), a worm wheel (22), a worm (23), a first bearing (24), a first connecting rod (25), a first support platform (26), a first sleeve (27), a second bearing (28), a hydraulic cylinder (29), a second support platform (210), a guide hole (211), a support rod (212), a limit hole (213), a limit block (214), a guide rod (215) and a stop block (216); a motor (21) is fixedly connected to an inner wall of a bottom end of the first housing (1); a worm wheel (22) is fixedly connected to an outer wall of one side of an output end of the motor (21); a worm wheel (23) is meshingly connected to an outer wall of one side of the worm wheel (22); a first bearing (24) is sleeved on an outer wall of one side of the worm (23); and the first bearing (24) is sleeved on an outer wall of one side of the worm (23). 4) fixedly connected to the bottom inner wall of the first housing (1), the top outer wall of the worm (23) is fixedly connected to a first connecting rod (25), the bottom outer wall of the first connecting rod (25) is fixedly connected to a first support platform (26), the bottom outer wall of the first support platform (26) is fixedly connected to a first sleeve (27), a second bearing (28) is sleeved on one side outer wall of the first sleeve (27), and the second bearing (28) is embedded and fixed on one side inner wall of the first housing (1), a hydraulic cylinder (29) is fixedly connected to the top outer wall of the first support platform (26), a second support platform (210) is fixedly connected to one side outer wall of the output end of the hydraulic cylinder (29), a guide hole (211) is distributed on one side outer wall of the second support platform (210), and a clamping device (3) is provided on the top outer wall of the second support platform (210); The clamping device (3) comprises a second housing (31), a cylinder (32), a second connecting rod (33), a connecting block (34), a first rotating shaft (35), a second sleeve (36), a third connecting rod (37), a third sleeve (38), a second rotating shaft (39), a clamping claw (310), a through hole (311), a third rotating shaft (312) and a fixing block (313); the second housing (31) is fixedly connected to an outer wall at the top end of the second support platform (210); the cylinder (32) is fixedly connected to an inner wall on one side of the second housing (31); the cylinder (32) A second connecting rod (33) is fixedly connected to an outer wall of one side of the output end; a connecting block (34) is fixedly connected to an outer wall of one side of the second connecting rod (33); a first rotating shaft (35) is symmetrically fixed to an inner wall of one side of the connecting block (34); a second sleeve (36) is sleeved on an outer wall of one side of the first rotating shaft (35); a third connecting rod (37) is fixedly connected to an outer wall of one side of the second sleeve (36); a third sleeve (38) is fixedly connected to an outer wall of one side of the third connecting rod (37); and a second rotating shaft is sleeved on an inner wall of one side of the third sleeve (38). (39), clamping claws (310) are symmetrically fixed on the outer walls of both sides of the second rotating shaft (39), a through hole (311) is opened on the outer wall of one side of the clamping claw (310), a third rotating shaft (312) is sleeved on the inner wall of one side of the through hole (311), and fixing blocks (313) are symmetrically fixed on the outer walls of both sides of the third rotating shaft (312), and the fixing blocks (313) are fixedly connected to the outer wall of one side of the second housing (31); support rods (212) are distributed and fixed on the outer wall of the top end of the first supporting platform (26), and one side of the support rods (212) A limit hole (213) is provided on the inner wall, a limit block (214) is slidably connected to the inner wall of one side of the limit hole (213), a guide rod (215) is fixedly connected to the outer wall at the top end of the limit block (214), and the guide rod (215) is sleeved inside the guide hole (211), and a stopper (216) is fixedly connected to the outer wall at the top end of the guide rod (215); a driving wheel (4) is distributed on the outer wall of one side of the first housing (1); a sawtooth is provided on the outer wall of one side of the clamping claw (310); and the number of the support rods (212) is four;The cross section of any of the second rotating shafts (39) comprises two opposite first arc-shaped connecting parts (391) and two opposite first clamping limiting parts (392); the second rotating shaft (39) is wrapped with an elastic member (393) on the outside; the third sleeve (38) is provided with a second arc-shaped connecting part (381) and two opposite second clamping limiting parts (382) on the inside; when the clamping claw (310) and the fixing block (313) are perpendicular to each other, the third connecting rod (37) is perpendicular to the first clamping limiting part (392), and the two first arc-shaped connecting parts (391) are respectively opposite to the two second arc-shaped connecting parts (381), and the two first clamping limiting parts (392) and the two second clamping limiting parts (382) are opposite to each other. ;

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