A transport robot

Abstract

The present invention relates to the field of material transport robot equipment and discloses a handling robot comprising a chassis, a material picking module disposed on the chassis, the material picking module comprising a material picking slide, a material picking assembly slidably connected to the material picking slide, and a first drive device for driving the material picking assembly to slide along the material picking slide; the material picking assembly comprises a support plate slidably connected to a side of the material picking slide away from the chassis, a first material conveyor belt disposed on the support plate, and a second drive device; the second drive device is configured to drive the first material conveyor belt to transport material in a predetermined first direction. When material is located on the first material conveyor belt, the second drive device drives the first material conveyor belt to operate, moving the material in the predetermined first direction, allowing the front end of the first material conveyor belt to continue loading material, thereby fully utilizing the handling capacity of the handling robot.

Description

Technical Field

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

[0002] Existing handling robots use forks to carry materials. The robot inserts the fork's load-bearing section under the pallet of the material to be carried, and then uses a lifting mechanism to lift the fork, thereby lifting the material off the ground or off the machine. The robot then drives the material through its drive wheels.

[0003] Problems with existing handling robots include: after the material is lifted by the handling fork, its position on the handling fork cannot be changed. The handling fork in the existing technology can generally only use the front half of the carrying section of the handling fork to carry the material, and the handling capacity of the back half of the carrying section is difficult to be fully utilized. Summary of the Invention

[0004] The object of the present invention is to provide a transport robot that can fully utilize the transport capability of the transport robot.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A handling robot comprises a chassis, wherein a material picking module is provided on the chassis, wherein the material picking module comprises a material picking rail, a material picking assembly slidably connected to the material picking rail, and a first driving device for driving the material picking assembly to slide along the material picking rail;

[0007] The material picking assembly includes a support plate slidably connected to the side of the material picking rail away from the chassis, a first material conveyor belt and a second drive device arranged on the support plate; the second drive device is used to drive the first material conveyor belt to transport material along a predetermined first direction.

[0008] Optionally, a bearing module and a lifting module are provided on the chassis;

[0009] The lifting module includes a lifting guide column fixedly connected to the chassis, a lifting platform slidably connected to the lifting guide column, and a lifting drive device for driving the lifting platform to slide along the lifting guide column;

[0010] The carrying module includes a carrying slide rail provided on the lifting platform, a carrying platform slidably provided on the carrying slide rail, and a third driving device for driving the carrying platform to move along the carrying slide rail;

[0011] The material taking slide rail is arranged on the bearing platform, and the bearing slide rail is parallel to the material taking slide rail.

[0012] Optionally, a third slide rail perpendicular to the material-retrieving slide rail is provided on the carrying platform, and the material-retrieving slide rail and the third slide rail are both parallel to the top surface of the carrying platform; a sliding frame is slidably provided on the third slide rail, and a fixed frame is fixedly provided at one end of the third slide rail; the material-retrieving module is located between the sliding frame and the fixed frame, and a fourth driving device for driving the sliding frame to move along the third slide rail is further provided on the carrying platform;

[0013] A first carrying conveyor belt is provided on one side of the sliding frame close to the material taking module, and a second carrying conveyor belt is provided on the other side of the fixed frame close to the material taking module; a fifth driving device for simultaneously driving the first carrying conveyor belt and the second carrying conveyor belt is also provided on the carrying platform;

[0014] The conveying directions of the first load-bearing conveyor belt and the second load-bearing conveyor belt are both parallel to the conveying direction of the first material conveyor belt; the conveying surfaces of the first material conveyor belt, the first load-bearing conveyor belt and the second load-bearing conveyor belt are flush.

[0015] Optionally, a first clamping plate is vertically provided on the fixed frame, and a second clamping plate is vertically provided on the sliding frame, and the plate surfaces of the first clamping plate and the second clamping plate are both parallel to the extension direction of the material-retrieving slide rail.

[0016] Optionally, a first buffer baffle is provided on a board surface of the first clamping plate facing the second clamping plate, and a second buffer baffle is provided on a board surface of the second clamping plate facing the first clamping plate corresponding to the first buffer baffle; the board surface of the first buffer baffle used to stop the material is flush with the board surface of the second buffer baffle used to stop the material.

[0017] Optionally, a bracket for fixing the second driving device is provided on the support plate, and the bracket is provided with a stopping surface for stopping materials;

[0018] When the material on the first material conveyor belt is moved to the set stop position, the stopping surface of the bracket, the plate surface of the first buffer baffle for stopping the material, and the plate surface of the second buffer baffle for stopping the material are located in the same plane.

[0019] Optionally, the handling robot also includes a detection device, which includes a control device and a detection device for detecting the flatness of the material stack; the detection device includes a detection sensor arranged on the first clamping plate and a reflective plate arranged on the second clamping plate, and the reflective surface of the reflective plate faces the detection sensor; the control device is electrically connected to the detection sensor and the fourth drive device, respectively.

[0020] Optionally, the first material conveyor belt includes two transfer belts that are spaced apart and arranged in parallel, and the transfer speed and moving direction of the two transfer belts are consistent.

[0021] Optionally, the support plate is in the shape of an elongated plate, and the width of the support plate is smaller than the width of the carrying platform.

[0022] Optionally, the handling robot also includes a control system, an AGV navigation module arranged in the chassis, and a driving wheel group arranged at the bottom of the chassis; the AGV navigation module is used to receive commands from the control system and control the driving wheel group to drive the chassis along a preset path.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The handling robot provided by the present invention includes a material picking module, which includes a support plate, a first material conveyor belt arranged on the support plate, and a second driving device; when the material is located on the first material conveyor belt, the second driving device drives the first material conveyor belt to operate so that the material moves along a predetermined first direction, so that the material can be transported from the end of the first material conveyor belt away from the chassis to the end of the first material conveyor belt close to the chassis. At this time, it is equivalent to freeing up the front end of the first material conveyor belt, so that the front end of the first material conveyor belt can continue to load materials, thereby achieving the purpose of fully utilizing the handling capacity of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and objectives that can be achieved by the present invention.

[0027] Figure 1 A schematic diagram of the structure of the transport robot provided by an embodiment of the present invention with the telescopic table module not extended;

[0028] Figure 2 A schematic structural diagram of a transport robot with a carrying module in an extended state provided by an embodiment of the present invention;

[0029] Figure 3 Provides a schematic diagram of the connection structure between the load-bearing module and the material taking module in accordance with an embodiment of the present invention;

[0030] Figure 4 A schematic structural diagram of a state in which a material taking module is extended from a supporting module is provided for an embodiment of the present invention;

[0031] Figure 5 A schematic structural diagram of a material taking module provided in an embodiment of the present invention.

[0032] Illustrations: 1. Chassis; 21. Lifting platform; 22. Lifting guide column; 3. Carrying module; 31. Carrying slide rail; 32. Carrying platform; 33. Third driving device; 34. Fifth driving device; 35. First carrying conveyor belt; 36. Second carrying conveyor belt; 4. Material picking module; 41. Material picking slide rail; 42. Material picking assembly; 421. Support plate; 4211. Bracket; 422. First material conveyor belt; 423. Second driving device; 43. First driving device; 51. Third slide rail; 52. Sliding frame; 521. Second clamping plate; 5211. Second buffer baffle; 53. Fixed frame; 531. First clamping plate; 5311. First buffer baffle; 54. Fourth driving device. DETAILED DESCRIPTION

[0033] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below 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 making creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component.

[0035] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0036] See also Figure 1-5An embodiment of the present invention provides a handling robot, including a chassis 1, a driving wheel set is provided at the bottom of the chassis 1 to drive the chassis 1 to move, and a carrying module 3, a material picking module 4 and a lifting module for driving the carrying module 3 to rise and fall are also provided on the chassis 1, and the material picking module 4 is provided on the carrying module 3.

[0037] In this embodiment, the lifting module includes a lifting platform 21 and a lifting drive device for driving the lifting platform 21 to move up and down along a lifting guide column 22 . The lifting guide column 22 is fixedly connected to the chassis 1 .

[0038] The carrying module 3 includes a carrying rail 31 provided on the lifting platform 21 , a carrying platform 32 slidably connected to the carrying rail 31 , and a third driving device 33 for driving the carrying platform 32 to move along the carrying rail 31 .

[0039] The retrieving module 4 comprises a retrieving rail 41, a retrieving assembly 42 slidably connected to the retrieving rail 41, and a first drive device 43 for driving the retrieving assembly 42 to slide along the retrieving rail 41. The retrieving assembly 42 includes a support plate 421 slidably connected to the side of the retrieving rail 41 away from the chassis 1, a first material conveyor belt 422 disposed on the support plate 421, and a second drive device 423; the second drive device 423 is used to drive the first material conveyor belt 422 to convey material along a predetermined first direction.

[0040] The material-retrieving slide rail 41 is parallel to the supporting slide rail 31 so that the material-retrieving assembly 42 can move to a farther place for retrieving materials.

[0041] Specifically, the material handling process of the handling robot is as follows:

[0042] ① The transport robot is in position, and the carrying platform 32 is extended outward along the carrying slide 31 in the opposite direction of the predetermined first direction under the action of the third drive device 33. Then, the material picking assembly 42 is extended outward along the extension direction of the material picking slide 41 under the action of the first drive device 43 until the first material conveyor belt 422 extends under the tray loaded with materials;

[0043] ② The lifting module drives the telescopic table module to lift the tray along the lifting guide column 22, and the material is lifted synchronously at this time;

[0044] ③ The second driving device 423 drives the material along a predetermined first direction through the first material conveyor belt 422 to be transported into the interior of the handling robot until the material is transported to a preset position.

[0045] After loading a pallet, the handling robot can move the pallet from the front end of the first material conveyor belt 422, closer to the outside world, to the rear end, farther away from the outside world. The handling robot can then move to another material handling position to load or unload the next pallet. Furthermore, after loading a pallet, the handling robot adjusts the pallet to an internal position convenient for the robot to handle. The robot then moves the pallet and the materials inside it to the unloading area. The reverse operation of the second drive device 423 allows the pallet inside the robot to be transported via the first material conveyor belt 422 to the outer end, which is convenient for unloading, thereby improving the convenience of unloading.

[0046] The advantages of the handling robot in this embodiment are as follows: after lifting the material tray, the handling robot transports the lifted pallet and material toward the inside of the robot through the first material conveyor belt 422, making room for the loading of the next pallet, maximizing the use of the handling capacity of the first material conveyor belt 422 on the support plate 421, and improving the efficiency of handling materials; when unloading, the second drive device 423 operates in reverse to allow the pallet located inside to be transported to the outer end of the support plate 421 for easy unloading through the first material conveyor belt 422, thereby improving the convenience of unloading.

[0047] In an optional implementation of this embodiment, a third slide rail 51 is provided on the carrying platform 32, which is perpendicular to the material-retrieving slide rail 41, and the material-retrieving slide rail 41 and the third slide rail 51 are both parallel to the top surface of the carrying platform 32; a sliding frame 52 is slidably provided on the third slide rail 51, and a fixed frame 53 is fixedly provided at one end of the third slide rail 51; the material-retrieving module 4 is located between the sliding frame 52 and the fixed frame 53, and the carrying platform 32 is further provided with a fourth driving device 54 for driving the sliding frame 52 to move along the third slide rail 51; the sliding frame 52 is close to the material-retrieving A first carrying conveyor belt 35 is installed on one side of the module 4, and a second carrying conveyor belt 36 is installed on the other side of the fixed frame 53 near the material reclaiming module 4. A fifth drive device 34 is also installed on the carrying platform 32 for simultaneously driving the first carrying conveyor belt 35 and the second carrying conveyor belt 36. The conveying directions of the first and second carrying conveyor belts 35, 36 are parallel to the conveying direction of the first material conveyor belt 422. The conveying surfaces of the first material conveyor belt 422, the first carrying conveyor belt 35, and the second carrying conveyor belt 36 are flush. It should be noted that the conveying speeds of the first and second carrying conveyor belts 35, 36 are the same.

[0048] Specifically, when the retrieving assembly 42 retracts onto the carrying platform 32, the first carrying conveyor belt 35 and the second carrying conveyor belt 36 cooperate with the first material conveyor belt 422 to transport the pallet into the interior of the transfer robot. Furthermore, the first carrying conveyor belt 35 and the second carrying conveyor belt 36 jointly support the pallet, improving the stability of the transfer and storage of materials on the pallet within the transfer robot and preventing the stacked materials from excessively deflecting and spilling.

[0049] A first clamping plate 531 is vertically mounted on the fixed frame 53, and a second clamping plate 521 is vertically mounted on the sliding frame 52. The surfaces of the first clamping plate 531 and the second clamping plate 521 are both parallel to the extension direction of the material retrieving rail 41. Specifically, the fourth drive device 54 drives the second clamping plate 521 toward the first clamping plate 531. The first clamping plate 531 cooperates with the second clamping plate 521 to clamp the two sides of the material, thereby correcting any unevenness of the material and improving the flatness of the material stacked on the pallet.

[0050] Optionally, a first buffer baffle 5311 is provided on a surface of the first clamping plate 531 facing the second clamping plate 521, and a second buffer baffle 5211 is provided on a surface of the second clamping plate 521 facing the first clamping plate 531, corresponding to the first buffer baffle 5311. The first buffer baffle 5311 is used to stop the material, and the second buffer baffle 5211 is used to stop the material so that the surface is flush. Specifically, the first buffer baffle 5311 and the second buffer baffle are used to stop the material tray and also have a certain function of correcting the stacking flatness of the materials.

[0051] Optionally, a bracket 4211 for fixing the second driving device 423 is provided on the support plate 421, and the bracket 4211 is provided with a stopping surface for stopping the material; when the material on the first material conveyor belt 422 is conveyed to the set stop position, the stopping surface of the bracket 4211, the stopping surface of the first buffer baffle 5311 and the stopping surface of the second buffer baffle 5211 are located in the same vertical plane to stop the material or pallet, and the vertical plane is perpendicular to the top surface of the chassis 1.

[0052] In this embodiment, the first material conveyor belt 422 includes two spaced-apart parallel transfer belts, and the transfer speeds and movement directions of the two first material conveyor belts are consistent. The spaced-apart two transfer belts are conducive to reducing the material used for the transfer belts.

[0053] Optionally, the support plate 421 is in the shape of an elongated plate, and the width of the support plate 421 is smaller than the width of the carrying platform 32. In particular, the support plate 421 is in the shape of an elongated plate, which is conducive to extending into a narrow space to achieve the function of transporting materials in a narrow space.

[0054] Optionally, the handling robot further includes a detection device for detecting the flatness of the material stack. The detection device comprises a detection sensor disposed on the first clamping plate 531 and a reflector disposed on the second clamping plate 521, with the reflective surface of the reflector facing the detection sensor. The control device is electrically connected to the detection sensor and the fourth drive device 54. Specifically, the detection sensor emits a detection light, which is reflected by the reflector and then returned to the detection sensor. The detection sensor transmits the received reflected signal to the control device. Based on this reflected signal, the control device determines whether the flatness of the material stack exceeds tolerance. If the flatness of the material stack exceeds tolerance, the control device activates the fourth drive device 54 to correct the flatness of the material using the second clamping plate 521 and the first clamping plate 531.

[0055] Optionally, the handling robot also includes a control system, an AGV navigation module arranged in the chassis 1 and a driving wheel group arranged at the bottom of the chassis 1; the AGV navigation module is used to receive control system commands and control the driving wheel group to drive the chassis 1 along a preset path.

[0056] Optionally, the power device of the lifting drive device is a servo motor, which has high transmission accuracy and is conducive to improving the positioning accuracy during material handling.

[0057] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A handling robot comprising a chassis (1), characterized in that: A material taking module (4) is provided on the chassis (1), and the material taking module (4) includes a material taking slide rail (41), a material taking component (42) slidably connected to the material taking slide rail (41), and a first driving device (43) for driving the material taking component (42) to slide along the material taking slide rail (41); The material taking assembly (42) comprises a support plate (421) slidably connected to a side of the material taking rail (41) away from the chassis (1), a first material conveying belt (422) and a second driving device (423) provided on the support plate (421); the second driving device (423) is used to drive the first material conveying belt (422) to convey material along a predetermined first direction; The chassis (1) is provided with a bearing module (3) and a lifting module; The bearing module (3) includes a bearing slide rail (31) provided on the lifting module, and a bearing platform (32) slidably provided on the bearing slide rail (31); the material taking slide rail (41) is provided on the bearing platform (32), and the bearing slide rail (31) is parallel to the material taking slide rail (41); A third slide rail (51) perpendicular to the material-retrieving slide rail (41) is provided on the carrying platform (32), and the material-retrieving slide rail (41) and the third slide rail (51) are both parallel to the top surface of the carrying platform (32); a sliding frame (52) is slidably provided on the third slide rail (51), and a fixed frame (53) is fixedly provided at one end of the third slide rail (51); the material-retrieving module (4) is located between the sliding frame (52) and the fixed frame (53); A first carrying conveyor belt (35) is provided on one side of the sliding frame (52) close to the material taking module (4), and a second carrying conveyor belt (36) is provided on the other side of the fixed frame (53) close to the material taking module (4); The conveying directions of the first load-bearing conveyor belt (35) and the second load-bearing conveyor belt (36) are both parallel to the conveying direction of the first material conveyor belt (422); the conveying surfaces of the first material conveyor belt (422), the first load-bearing conveyor belt (35) and the second load-bearing conveyor belt (36) are flush; A first clamping plate (531) is vertically provided on the fixed frame (53), and a second clamping plate (521) is vertically provided on the sliding frame (52), wherein the plate surface of the first clamping plate (531) and the plate surface of the second clamping plate (521) are both parallel to the extension direction of the material taking slide rail (41); It also includes a detection device for detecting the flatness of the material stacking. If the flatness of the material stacking exceeds the tolerance, the flatness of the material is corrected by the second clamping plate (521) and the first clamping plate (531).

2. The transport robot according to claim 1, characterized in that: The lifting module comprises a lifting guide column (22) fixedly connected to the chassis (1), a lifting platform (21) slidably connected to the lifting guide column (22), and a lifting drive device for driving the lifting platform (21) to slide along the lifting guide column (22); The bearing module (3) further comprises a third driving device (33) for driving the bearing platform (32) to move along the bearing slide rail (31).

3. The transport robot according to claim 2, characterized in that: The carrying platform (32) is further provided with a fourth driving device (54) for driving the sliding frame (52) to move along the third slide rail (51); The carrying platform (32) is also provided with a fifth driving device (34) for simultaneously driving the first carrying conveyor belt (35) and the second carrying conveyor belt (36) to operate.

4. The transport robot according to claim 3, characterized in that: A first buffer baffle (5311) is provided on a plate surface of the first clamping plate (531) facing the second clamping plate (521), and a second buffer baffle (5211) is provided on a plate surface of the second clamping plate (521) facing the first clamping plate (531) corresponding to the first buffer baffle (5311); the plate surface of the first buffer baffle (5311) used for stopping materials is flush with the plate surface of the second buffer baffle (5211) used for stopping materials.

5. The transport robot according to claim 4, characterized in that: The support plate (421) is provided with a bracket (4211) for fixing the second driving device (423), and the bracket (4211) is provided with a stopping surface for stopping materials; When the material on the first material conveyor belt (422) is transferred to the set material stopping position, the stopping surface of the bracket (4211), the plate surface of the first buffer baffle (5311) for stopping the material, and the plate surface of the second buffer baffle (5211) for stopping the material are located in the same plane.

6. The transport robot according to claim 4, characterized in that: The detection device comprises a detection sensor arranged on the first clamping plate (531) and a reflective plate arranged on the second clamping plate (521), wherein the reflective surface of the reflective plate faces the detection sensor; and further comprises a control device, wherein the control device is electrically connected to the detection sensor and the fourth driving device (54).

7. The transport robot according to claim 1, characterized in that: The first material conveyor belt (422) comprises two transfer belts arranged in parallel at intervals, and the transfer speed and moving direction of the two transfer belts are consistent.

8. The transport robot according to claim 2, characterized in that: The support plate (421) is in the shape of a long strip, and the width of the support plate (421) is smaller than the width of the carrying platform (32).

9. The transport robot according to claim 1, characterized in that: It also includes a control system, an AGV navigation module arranged in the chassis (1), and a driving wheel group arranged at the bottom of the chassis (1); the AGV navigation module is used to receive commands from the control system and control the driving wheel group to drive the chassis (1) to move along a preset path.

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