A loading and unloading robot

Abstract

The present invention relates to an up and down unloading robot, comprising a machine base, a mounting frame being provided on the machine base, a rotating base shaft being installed on the mounting frame, a conveying mechanism being sleeved on the rotating base shaft, and a conveying rotating device being provided on the machine base for rotating the conveying mechanism around the rotating base shaft, a material picking mechanism being installed at the front end of the conveying mechanism, the material picking mechanism comprising two first belt conveying devices docked with the conveying mechanism and a material picking device between the two first belt conveying devices, the material picking device picking up and placing the product onto the first belt conveying device; the purpose of the present invention is to provide an up and down unloading robot, wherein the material picking mechanism is provided at the front end of the conveying mechanism, and the material picking mechanism is connected to the conveying rotating device, and then the up and down unloading of the material picking mechanism can be realized by the up and down rotation of the conveying mechanism, and the two can be transferred synchronously with high efficiency.

Description

Technical Field

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

[0002] During the handling and unloading process of goods, it is often necessary to unload the stacked goods. The existing unloading is generally done manually with a conveying mechanism, and the goods are manually moved to the conveying mechanism to realize unloading. In order to improve the unloading efficiency, a material-picking robot is designed to cooperate with the conveying mechanism to realize unloading, and the unloading robot is moved to the area where unloading is required. The goods are clamped by the unloading robot and placed into the conveying mechanism. However, the structure of the unloading robot is complicated and the transportation is inconvenient. In addition, the unloading robot and the conveying mechanism need to be moved separately for each transfer, which is inefficient and will also affect the unloading efficiency. In addition, the robot needs to perform multi-axis movement for each unloading, resulting in high unloading costs. Summary of the Invention

[0003] The purpose of the present invention is to provide an up and down unloading robot, in which the material picking mechanism is arranged at the front end of the conveying mechanism, and the material picking mechanism is connected to the conveying rotating device, so that the up and down unloading of the material picking mechanism can be realized by the up and down rotation of the conveying mechanism. The two can be transferred synchronously with high efficiency.

[0004] In order to achieve the above purpose, the technical solution adopted by the present invention is: a loading and unloading robot, including a machine base, a mounting frame is provided on the machine base, a rotating base shaft is installed on the mounting frame, the rotating base shaft is sleeved with a conveying mechanism, and the machine base is also provided with a conveying rotating device that makes the conveying mechanism rotate around the rotating base shaft, the front end of the conveying mechanism is installed with a material picking mechanism, the material picking mechanism includes two first belt conveying devices docked with the conveying mechanism and a material picking device between the two first belt conveying devices, and the material picking device picks and places the product onto the first belt conveying device.

[0005] Preferably, the two belt conveyors and the material picking device are both arranged on the material picking rack, and the material picking rack is connected to the conveying mechanism. The material picking device includes a material picking main block and a driving structure arranged on the material picking rack and driving the material picking main block to perform upward, forward, downward and backward reciprocating motions. A material picking sucker is provided at the front end of the material picking main block, and when the material picking main block is at the lowest point, it is lower than the height of the first belt conveyor at the corresponding position.

[0006] Preferably, the driving structure includes a feeding seat arranged on the feeding rack, a first feeding shaft and a second feeding shaft on the feeding seat, the first feeding shaft is sleeved with a first feeding arm at both ends, the second feeding shaft is sleeved with a second feeding arm at both ends, and the first feeding arm and the second feeding arm are both hinged on the side of the feeding main block, and the second feeding shaft is connected to the feeding motor arranged on the feeding rack through a transmission wheel and a feeding transmission belt.

[0007] Preferably, the material taking sucker includes three suction pipes arranged on the material taking main block, and the three suction pipes are connected to a suction air pump.

[0008] Preferably, the suction pipe includes a feeding air pipe provided on the feeding main body block and connected to the suction air pump, and the feeding air pipe is outer-connected with a feeding sealing sleeve with a front end extending beyond the feeding air pipe.

[0009] Preferably, the conveying mechanism includes a conveying frame that is sleeved with the rotating base shaft and connected to the conveying rotating device, and the conveying frame is provided with a second belt conveying device that is docked with the first belt conveying device, and a material picking interception block is provided on the outside of the first belt conveying device, and a conveying interception block is provided on the outside of the second belt conveying device.

[0010] Preferably, the conveying rotation device includes a conveying rotation motor arranged on the machine base, the conveying shaft of the conveying rotation motor is sleeved with a conveying rotation arm, the conveying rotation ratio is hinged with a conveying rotation connecting rod, and the upper part of the conveying rotation connecting rod is sleeved with the conveying rotation shaft arranged at the lower part of the conveying frame.

[0011] Preferably, the material picking mechanism is installed on the connecting mechanism of the conveying mechanism, and the connecting mechanism includes a connecting shaft arranged on the mounting frame, the connecting shaft is sleeved with a connecting rotating block, the connecting rotating block is connected to the material picking mounting block by bolts, the material picking mounting block is fixedly connected to the material picking mechanism, and the connecting shaft is connected to the rotation drive module.

[0012] Preferably, the rotating shaft drive module includes a connecting drive shaft arranged on the conveying frame, the connecting drive shaft and the connecting rotating shaft are connected by a connecting transmission belt, the connecting drive shaft is sleeved with a driving gear, the driving gear is engaged with the gear on the rotating base shaft, and the connecting drive shaft is above the rotating base shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the main view of a loading and unloading robot.

[0014] Figure 2 A top view of a loading and unloading robot.

[0015] Figure 3This is a three-dimensional schematic diagram of a loading and unloading robot.

[0016] Figure 4 It is a three-dimensional schematic diagram of the conveying mechanism and the conveying rotating device.

[0017] Figure 5 It is a partial three-dimensional schematic diagram of the connecting mechanism.

[0018] Figure 6 It is a partial three-dimensional schematic diagram of the conveying mechanism and the connecting mechanism.

[0019] Figure 7 It is a three-dimensional schematic diagram of the material taking mechanism.

[0020] Figure 8 It is a three-dimensional schematic diagram of the material taking device.

[0021] Figure 9 Schematic diagram of the structure of the suction tube.

[0022] The text labels shown in the figure are as follows: 1. Machine base; 2. Mounting frame; 3. Rotating base shaft; 4. Conveying mechanism; 5. Conveying rotating device; 6. Retrieving mechanism; 7. Connecting mechanism; 11. Conveying frame; 12. Second belt conveyor; 13. Conveying intercepting block; 14. Conveying rotating motor; 15. Conveying rotating arm; 16. Conveying rotating connecting rod; 16. Conveying rotating shaft; 21. Connecting shaft; 22. Connecting rotating block; 23. Retrieving mounting block; 24. Connecting Connect the transmission belt; 25. Connect the drive shaft; 26. Connect the drive gear; 31. The material picking rack; 32. The first belt conveyor; 33. The material picking intercepting block; 34. The material picking device; 35. The material picking seat; 36. The first material picking shaft; 37. The second material picking shaft; 38. The first material picking arm; 39. The second material picking arm; 40. The material picking transmission belt; 41. The material picking motor; 42. The material picking main block; 43. The material picking suction device; 44. The material picking air pipe; 45. The material picking sealing sleeve. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the scope of protection of the present invention.

[0024] like Figure 1-3 and Figure 7As shown, the specific structure of the present invention is: a loading and unloading robot, including a base 1, a mounting frame 2 is provided on the base 1, a rotating base shaft 3 is installed on the mounting frame 2, the rotating base shaft 3 is sleeved with a conveying mechanism 4, and the base 1 is also provided with a conveying rotating device 5 that rotates the conveying mechanism 4 around the rotating base shaft 3, a material picking mechanism 6 is installed at the front end of the conveying mechanism 4, and the material picking mechanism 6 includes two first belt conveying devices 32 docked with the conveying mechanism 4 and a material picking device 34 between the two first belt conveying devices 32, and the material picking device 34 picks the product and places it on the first belt conveying device 32.

[0025] When in use, the entire upper and lower unloading robot is first moved to the corresponding position (rollers can be installed under the machine base 1 for easy movement), and then the conveying rotating device 5 drives the conveying mechanism 4 to rotate up and down around the rotating base shaft 3, so that the material picking mechanism 6 is docked with the corresponding product height. Then, the material picking device 34 is used to pick up the product and place it on the two first belt conveyor devices 32. After being transported by the first belt conveyor device 32, it enters the conveying mechanism 4, thereby completing the unloading of one product. When the product enters the first belt conveyor device 32, the conveying rotating device 5 can be made to work synchronously, so that the height of the material picking device 34 is docked with the next product, thereby realizing upper and lower unloading. Compared with the structure of the existing manipulator combined with the conveying mechanism, the present application integrates the material picking part into the conveying mechanism, which can facilitate the overall transportation. At the same time, the height of the next material picking can be adjusted while the material is being picked up and transferred. The overall unloading efficiency is high, and the structure is simpler than the transfer of the manipulator, which can save energy.

[0026] like Figure 7-8 As shown, the two belt conveyors 32 and the material picking device 34 are both arranged on the material picking rack 31, and the material picking rack is connected to the conveying mechanism 4. The material picking device 34 includes a material picking main block 42 and a driving structure arranged on the material picking rack 31 and driving the material picking main block 42 to perform upward, forward, downward and backward reciprocating motions. A material picking sucker 43 is provided at the front end of the material picking main block 42, and when the material picking main block 42 is at the lowest point, it is lower than the height of the first belt conveyor 32 at the corresponding position.

[0027] The specific material picking is as follows: the driving structure drives the material picking main block 42 to move upward and forward, so that the height of the material picking main block 42 exceeds the first belt conveyor 32, and the material picking suction device 43 contacts the product to be unloaded and completes the suction, and then the driving structure drives the material picking main block 42 to move downward and backward, so that the material picking suction device 43 drives the sucked product to be placed on the first belt conveyor 32, and the material picking suction device 43 no longer sucks the product, and the material picking main body 42 continues to move until it reaches the lowest point of movement, and will not interfere with the conveying of the product by the first belt conveyor 32. In this way, the entire material picking process is completed, the material picking operation is simple, and there will be no mutual interference. During the material picking and conveying process, it can be carried out synchronously with the rotation of the conveying mechanism.

[0028] like Figure 7-8 As shown, the driving structure includes a feeding seat 35 arranged on the feeding frame 31, a first feeding shaft 36 and a second feeding shaft 37 on the feeding seat 35, the two ends of the first feeding shaft 36 are sleeved with a first feeding arm 38, the two ends of the second feeding shaft 37 are sleeved with a second feeding arm 39, and the first feeding arm 38 and the second feeding arm 39 are both hinged on the side of the feeding main block 42, and the second feeding shaft 37 is connected to the feeding motor 41 set on the feeding frame 33 through a transmission wheel and a feeding transmission belt 40.

[0029] The specific operation of the driving structure is that the feeding motor 41 drives the second feeding shaft 37 to rotate through the transmission wheel and the feeding transmission belt 40, and then drives the second feeding arm 39 connected to the second feeding shaft 37 to rotate, which will drive the feeding main body block 42 to move. Due to the design of the first feeding arm 38, the feeding main body block 42 cannot rotate, so the second feeding arm 39 and the first feeding arm 38 are hinged to the feeding main body block 42. There will be relative rotation, and the feeding main body block 42 will perform the operation of rising, moving forward or falling backward. The reciprocating operation of rising, moving forward and falling backward of the feeding main body block 42 can be realized by the forward and reverse rotation of the feeding motor 41, and the design of the second feeding arm 39 and the first feeding arm can limit the maximum rising and forward position and the maximum falling and backward position, ensuring that the material can be picked up without interfering with the second belt conveyor device.

[0030] like Figure 8 As shown, the material taking sucker 43 includes three suction pipes arranged on the material taking main block 42, and the three suction pipes are connected to a suction air pump.

[0031] The material sucker 43 is designed to be three suction pipes, and the suction pipes are connected to the suction air pump, so that the product can be sucked from three parts, which can ensure stable material collection of the product.

[0032] like Figure 9As shown, the suction pipe includes a feeding air pipe 44 provided on the feeding main body block 42 and connected to the suction air pump, and the feeding air pipe 44 is outer-connected with a feeding sealing sleeve 45 whose front end extends beyond the feeding air pipe 44 .

[0033] The suction tube is designed to be a material extraction air pipe 44 and a material extraction sealing sleeve 45 on the outer shell. The material extraction sealing sleeve 45 is generally made of a material with a certain elasticity, so as to ensure that the three suction tubes can contact and seal with the product, further ensuring the stable extraction of the product; the material extraction sealing sleeve 45 and the material extraction air pipe 44 can be threaded, so that they can be easily disassembled and replaced.

[0034] like Figure 1-4 As shown, the conveying mechanism 4 includes a conveying frame 11 that is sleeved with the rotating base shaft 3 and connected to the conveying rotating device 5, and the conveying frame 11 is provided with a second belt conveying device 12 that is docked with the first belt conveying device 32, and a material picking interception block 33 is provided on the outside of the first belt conveying device 32, and a conveying interception block 13 is provided on the outside of the second belt conveying device 12.

[0035] The conveying mechanism adopts a second belt conveyor device 12 in conjunction with the first belt conveyor device 32, and a conveying interception block 13 and a material picking interception block 33 are respectively designed on the outside of the second belt conveyor device 12 and the first belt conveyor device 32, thereby ensuring that the unloaded products can be stably delivered to the conveying mechanism, and can be stably and accurately conveyed in the conveying mechanism, and the product will not deviate and leave the conveying mechanism.

[0036] like Figure 4 As shown, the conveying rotation device 5 includes a conveying rotation motor 14 arranged on the machine base 1, the conveying shaft of the conveying rotation motor 14 is sleeved with a conveying rotation arm 15, the conveying rotation ratio 15 is hinged with a conveying rotation connecting rod 16, and the upper part of the conveying rotation connecting rod 16 is sleeved with the conveying rotation shaft 16 arranged at the lower part of the conveying frame 11.

[0037] The specific operation of the conveying rotating device 5 is to drive the conveying rotating arm 15 to rotate through the conveying rotating motor 14, thereby adjusting the height of the lowest point of the conveying rotating connecting rod 16, and then adjusting the height of the conveying rotating shaft 16, so as to realize the rotation of the conveying frame 11 around the rotating base shaft 3, so that the height of the front end of the conveying frame 11 and the material picking mechanism installed at the front end can be adjusted.

[0038] like Figure 1-5As shown, the material picking mechanism 6 is installed on the connecting mechanism 7 of the conveying mechanism 4, and the connecting mechanism 7 includes a connecting shaft 21 arranged on the mounting frame 2, and the connecting shaft 21 is sleeved with a connecting rotating block 22, and the connecting rotating block 22 is connected to the material picking mounting block 23 by bolts, and the material picking mounting block 23 is fixedly connected to the material picking mechanism 6, and the connecting shaft 21 is connected to the rotation drive module.

[0039] The material picking mechanism 6 is installed through the connecting mechanism 7, and through the structural design of the connecting mechanism 7, the connecting shaft 21 can be driven to rotate by rotating the driving module, and then the connecting rotating block 22 and the material picking installation block 23 can be driven to rotate, so that the angle between the material picking mechanism 6 and the conveying mechanism 4 can be adjusted. Especially in the process of upward rotation of the conveying mechanism 4, reducing the angle between the material picking mechanism 6 and the conveying mechanism 4 can ensure that the products on the first belt conveyor 32 will not slip and can be stably conveyed to the conveying mechanism.

[0040] like Figure 4-6 The rotating shaft drive module includes a connecting drive shaft 25 arranged on the conveying frame 11, the connecting drive shaft 25 and the connecting rotating shaft 21 are connected by a connecting transmission belt 24, the connecting drive shaft 25 is sleeved with a driving gear 26, the driving gear 26 is engaged with the gear on the rotating base shaft 3, and the connecting drive shaft 25 is above the rotating base shaft 3.

[0041] The specific structural design of the shaft drive module is that during actual use, when the conveyor frame 11 rotates upward, the driving gear 26 and the gear will engage and rotate, which will drive the connecting drive shaft 25 to rotate, and then drive the connecting shaft 21 to rotate in the same direction as the conveyor frame 11 through the connecting transmission belt 24, thereby adjusting the angle between the material picking mechanism and the conveying mechanism, so that the rotation of the conveying rotating device can provide power for the rotation of the connecting mechanism, and the rotation of the two can be synchronized.

[0042] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements that are inherent to such process, method, article or apparatus.

[0043] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method of the present invention and its core ideas. The above is only a preferred implementation method of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of the present invention.

Claims

1. A loading and unloading robot, comprising a base (1), characterized in that: The machine base (1) is provided with a mounting frame (2), a rotating base shaft (3) is installed on the mounting frame (2), a conveying mechanism (4) is sleeved on the rotating base shaft (3), and a conveying rotating device (5) for rotating the conveying mechanism (4) around the rotating base shaft (3) is also provided on the machine base (1), a material picking mechanism (6) is installed at the front end of the conveying mechanism (4), and the material picking mechanism (6) includes two first belt conveying devices (32) docked with the conveying mechanism (4) and a material picking device (34) between the two first belt conveying devices (32), and the material picking device (34) ) takes the product and places it on the first belt conveyor (32), the conveying mechanism (4) includes a conveying frame (11) which is sleeved with the rotating base shaft (3) and connected to the conveying rotating device (5), the conveying frame (11) is provided with a second belt conveyor (12) which is docked with the first belt conveyor (32), and a material intercepting block (33) is provided on the outside of the first belt conveyor (32), and a conveying intercepting block (13) is provided on the outside of the second belt conveyor (12), the conveying rotating device (5) includes a conveying rotating motor (14) provided on the machine base (1), The conveying shaft of the conveying rotating motor (14) is sleeved with a conveying rotating arm (15), and the conveying rotating arm (15) is hinged with a conveying rotating connecting rod (16). The upper part of the conveying rotating connecting rod (16) is sleeved with the conveying rotating shaft provided at the lower part of the conveying frame (11). The material picking mechanism (6) is installed on the connecting mechanism (7) of the conveying mechanism (4). The connecting mechanism (7) includes a connecting rotating shaft (21) provided on the mounting frame (2). The connecting rotating shaft (21) is sleeved with a connecting rotating block (22), and the connecting rotating block (22) is connected by bolts. There is a material picking installation block (23), the material picking installation block (23) is fixedly connected to the material picking mechanism (6), the connecting shaft (21) is connected to a rotation drive module, the rotation drive module includes a connecting drive shaft (25) provided on the conveying frame (11), the connecting drive shaft (25) and the connecting shaft (21) are connected by a connecting transmission belt (24), the connecting drive shaft (25) is sleeved with a driving gear (26), the driving gear (26) is engaged with a gear on the rotating base shaft (3), and the connecting drive shaft (25) is located above the rotating base shaft (3).

2. The loading and unloading robot according to claim 1, characterized in that: The two belt conveyors and the material taking device (34) are both arranged on the material taking frame (31), and the material taking frame is connected to the conveying mechanism (4). The material taking device (34) includes a material taking main body block (42) and a driving structure arranged on the material taking frame (31) and driving the material taking main body block (42) to perform upward, forward, downward and backward reciprocating motions. A material taking sucker (43) is provided at the front end of the material taking main body block (42), and when the material taking main body block (42) is at the lowest point, it is lower than the height of the first belt conveyor (32) at the corresponding position.

3. The loading and unloading robot according to claim 2, characterized in that: The driving structure includes a feeding seat (35) arranged on a feeding frame (31), a first feeding shaft (36) and a second feeding shaft (37) on the feeding seat (35), first feeding arms (38) being sleeved at both ends of the first feeding shaft (36), second feeding arms (39) being sleeved at both ends of the second feeding shaft (37), and both the first feeding arm (38) and the second feeding arm (39) being hinged to the side of a feeding main body block (42), and the second feeding shaft (37) being connected to a feeding motor (41) arranged on the feeding frame (31) via a transmission wheel and a feeding transmission belt (40).

4. The loading and unloading robot according to claim 2, characterized in that: The material taking sucker (43) comprises three suction pipes arranged on the material taking main body block (42), and the three suction pipes are connected to a suction air pump.

5. The loading and unloading robot according to claim 4, characterized in that: The suction pipe includes a material taking air pipe (44) arranged on the material taking main block (42) and connected to the suction air pump, and the material taking air pipe (44) is outer-connected with a material taking sealing sleeve (45) with a front end extending beyond the material taking air pipe (44).

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