Handling devices, handling robots, and handling systems

Abstract

This application relates to a handling device, a handling robot, and a handling system. The handling device includes a support and at least one handling mechanism mounted on the support. The handling mechanism includes a gripping component for gripping materials and a drive component connected to the gripping component for driving the gripping component to move relative to the support. The solution provided by this application can simultaneously grip multiple materials, enabling simultaneous handling of multiple materials, improving handling efficiency, and reducing labor costs.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to handling devices, handling robots and handling systems. Background Technology

[0002] In the heat treatment production process of some large-size bearing inner and outer rings, the product processing technology is transferred, and the product is moved out of the storage box.

[0003] However, due to the large size and close arrangement of the products, as well as the varying heights and different levels of the products in the storage bin during the gripping process, the robotic arm cannot grip multiple products at once and must grip them one by one. Furthermore, after gripping, the limited space or narrow conveyor belt width may only allow a single product to pass through, necessitating the robotic arm to place the products one by one. This requires multiple people to operate multiple robotic arms simultaneously, resulting in low handling efficiency and increased labor costs. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides a handling device, a handling robot, and a handling system that can simultaneously grasp multiple materials, enabling the simultaneous handling of multiple materials, improving handling efficiency, and reducing labor costs.

[0005] A first aspect of this application provides a conveying device, including a support and at least one conveying mechanism disposed on the support, the conveying mechanism comprising:

[0006] Gripping components for gripping materials;

[0007] A drive assembly is connected to the gripping assembly and is used to drive the gripping assembly to move relative to the support.

[0008] As an optional embodiment, the driving component includes a lifting driving component, one end of which is disposed on the support, and the other end passes through the support and is connected to the clamping component, and is used to drive the clamping component to move in the vertical direction toward or away from the support.

[0009] As an optional embodiment, the lifting drive assembly includes:

[0010] A first driver is disposed on the support;

[0011] A first drive shaft, one end of which is connected to the first driver, and the other end of which passes through the support and is connected to the clamping assembly.

[0012] As an optional embodiment, the drive assembly further includes a rotary drive assembly, which is disposed on the support and is movably connected to the first drive shaft, and is used to drive the first drive shaft to rotate.

[0013] As an optional embodiment, the rotary drive assembly includes:

[0014] A transmission assembly, one end of which is connected to the first drive shaft;

[0015] A second driver is connected to the other end of the transmission assembly and is used to drive the first drive shaft to rotate via the transmission assembly.

[0016] As an optional embodiment, the transmission assembly includes:

[0017] A drive wheel, which is connected to the second driver;

[0018] A passive wheel is mounted on the first drive shaft;

[0019] A transmission belt is rotatably disposed between the driving pulley and the driven pulley, and the driving pulley is used to drive the driven pulley to rotate via the transmission belt under the action of the second driver.

[0020] As an optional embodiment, the driving assembly further includes a translation driving assembly disposed between the first driving shaft and the clamping assembly, and used to drive the clamping assembly to move horizontally relative to the first driving shaft.

[0021] As an optional embodiment, the translation drive component includes:

[0022] The fixing part is connected to the first drive shaft;

[0023] The movable part is slidably disposed on the side of the fixed part away from the first drive shaft, and the side of the movable part away from the fixed part is connected to the clamping assembly;

[0024] A third driver is connected to the movable part and is used to drive the movable part to move horizontally on the fixed part, so as to drive the clamping assembly to move horizontally.

[0025] A second aspect of this application provides a handling robot, comprising:

[0026] The robotic arm and the aforementioned handling device, wherein the robotic arm is movably connected to the support and is used to drive the handling mechanism to move via the support.

[0027] A third aspect of this application provides a transport system, comprising:

[0028] Shelves;

[0029] Conveying platform;

[0030] At least one of the aforementioned handling robots, each of the handling robots being used to simultaneously grip multiple materials on the shelf and transfer the multiple materials to the conveying platform;

[0031] A visual inspection device is used to detect the posture of the material gripped by the handling robot and output the posture of the material to the control mechanism that controls the handling robot, so that the control mechanism controls the handling robot to adjust the posture of the material to the target posture.

[0032] The technical solution provided in this application may include the following beneficial effects:

[0033] This application constructs a handling device by independently arranging at least one handling mechanism on a support, thereby enabling the simultaneous handling of at least one material. Each handling mechanism includes a gripping component and a driving component. The gripping component clamps or releases materials, while the driving component drives the gripping component to move relative to the support, including but not limited to lifting, translation, and rotation, thus achieving multi-directional movement of the gripping component and completing the material handling. Furthermore, because each handling mechanism moves independently, multiple handling mechanisms can grip materials located at different levels and with varying heights, enabling the simultaneous grasping of materials in multiple different positions. Even in situations with limited space or narrow conveyor lines, materials can be transferred sequentially, significantly improving handling efficiency. Moreover, only 1-2 operators are needed to operate one handling device to simultaneously handle multiple materials, greatly reducing labor costs.

[0034] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0035] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0036] Figure 1 This is a schematic diagram of the structure of the conveying device shown in the embodiments of this application;

[0037] Figure 2 This is a perspective view of the conveying mechanism shown in the embodiments of this application;

[0038] Figure 3 yes Figure 2 The main view;

[0039] Figure 4 This is a perspective view of the handling robot shown in the embodiments of this application;

[0040] Figure 5 yes Figure 4 The main view.

[0041] In the picture:

[0042] 1. Support;

[0043] 2. Transport mechanism; 20. Clamping assembly; 21. Drive assembly; 22. Lifting drive assembly; 220. First driver; 221. First drive shaft; 23. Rotation drive assembly; 230. Transmission assembly; 231. Second driver; 2301. Drive wheel; 2302. Driven wheel; 2303. Transmission belt; 24. Translation drive assembly; 240. Fixed part; 241. Moving part; 242. Third driver;

[0044] 3. Robotic arm. Detailed Implementation

[0045] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0046] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0047] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0048] In the heat treatment production process of some large-size bearing inner and outer rings, the product processing technology is transferred, and the product is moved out of the storage box.

[0049] However, due to the large size and close arrangement of the products, as well as the varying heights and different levels of the products in the storage bin during the gripping process, the robotic arm cannot grip multiple products at once and must grip them one by one. Furthermore, after gripping, the limited space or narrow conveyor belt width may only allow a single product to pass through, necessitating the robotic arm to place the products one by one. This requires multiple people to operate multiple robotic arms simultaneously, resulting in low handling efficiency and increased labor costs.

[0050] To address the aforementioned issues, this application provides a handling device capable of simultaneously grasping multiple materials, thereby improving handling efficiency and reducing labor costs.

[0051] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0052] Figure 1 This is a schematic diagram of the structure of the conveying device shown in the embodiments of this application.

[0053] See Figure 1 A conveying device includes a support 1 and at least one conveying mechanism 2 disposed on the support 1. The conveying mechanism 2 includes a gripping component 20 for gripping materials and a driving component 21 connected to the gripping component 20 and used to drive the gripping component 20 to move relative to the support 1.

[0054] This embodiment of the application forms a conveying device with at least one conveying mechanism 2 independently arranged on the support 1, thereby enabling the simultaneous conveying of at least one material. Each conveying mechanism 2 includes a gripping component 20 and a driving component 21. The gripping component 20 performs gripping operations to hold or release materials, and the driving component 21 drives the gripping component 20 to move relative to the support, including but not limited to lifting, translation, and rotation, thereby achieving multi-directional movement of the gripping component 20 and completing the material conveying. Furthermore, since each conveying mechanism 2 moves independently, multiple conveying mechanisms 2 can grip materials located at different levels and with inconsistent placement heights, enabling the simultaneous grasping of materials in multiple different positions. Even when the placement space is small or the conveyor line width is narrow, materials can be transferred sequentially, greatly improving conveying efficiency. Moreover, only 1-2 operators are needed to operate one conveying device to simultaneously convey multiple materials, significantly reducing labor costs.

[0055] As an optional embodiment, see Figure 2 and Figure 3 As shown, the drive assembly 21 includes a lifting drive assembly 22. One end of the lifting drive assembly 22 is disposed on the support 1, and the other end passes through the support 1 and is connected to the clamping assembly 20. It is used to drive the clamping assembly 20 to move in the vertical direction toward or away from the support 1.

[0056] In this embodiment, the drive component 21 drives the gripping component 20 to move relative to the support, including but not limited to lifting, translation, and rotation. The lifting, translation, and rotation can be achieved by different drive components. In this embodiment, the lifting drive component 22 is used to achieve the lifting movement of the gripping component 20, thereby adjusting the gripping height of the material.

[0057] The clamping component 20 is located below the support 1. The lifting drive component 22 drives the clamping component 20 to move vertically toward or away from the support 1, without exceeding the height of the support 1. Therefore, the height of the material can be adjusted over a wide range by setting the height of the support 1.

[0058] As a preferred embodiment, see Figure 2 and Figure 3 As shown, the lifting drive assembly 22 includes a first driver 220 and a first drive shaft 221. The first driver 220 is mounted on the support 1. One end of the first drive shaft 221 is connected to the first driver 220, and the other end passes through the support 1 and is connected to the clamping assembly 20.

[0059] In this embodiment, the first driver 220 can be a lead screw motor, and the first drive shaft 221 can be a structure of a lead screw plus a lifting rod. The top end of the lifting rod is movably connected to the lead screw via a nut, and the bottom end is connected to the clamping assembly 20. The lead screw is driven to rotate by the lead screw motor, the nut moves up and down along the lead screw, and drives the lifting rod to rise and fall. The nut and the lead screw motor have a certain lifting stroke for the lifting rod to rise and fall.

[0060] In a preferred embodiment, the drive assembly 21 further includes a rotary drive assembly 23, which is disposed on the support 1 and is movably connected to the first drive shaft 221 and is used to drive the first drive shaft 221 to rotate.

[0061] In this embodiment, the driving component 21 drives the gripping component 20 to move relative to the support, including but not limited to lifting, translation, and rotation. The lifting, translation, and rotation can be achieved by different driving components. In this embodiment, the rotation of the gripping component 20 is achieved by the rotation driving component 23, thereby adjusting the posture of the material.

[0062] The rotary drive assembly 23 is movably connected to the first drive shaft 221 and is used to drive the first drive shaft 221 to rotate. This allows the first drive shaft 221 to not only rotate but also move up and down relative to the rotary drive assembly, while the rotary drive assembly 23 does not move up or down with the first drive shaft 221.

[0063] In addition, the support 1 in this embodiment is divided into upper and lower layers, with the first driver 220 disposed on the upper support and the rotation drive assembly 23 disposed on the lower support.

[0064] In a preferred embodiment, the rotary drive assembly 23 includes a transmission assembly 230 and a second driver 231. One end of the transmission assembly 230 is connected to the first drive shaft 221; the second driver 231 is connected to the other end of the transmission assembly 230 and is used to drive the first drive shaft 221 to rotate through the transmission assembly 230.

[0065] In this embodiment, the second driver 231 drives the transmission assembly 230 to rotate, and the transmission assembly 230 transmits the rotational power to the first drive shaft 221, thereby driving the first drive shaft 221 to rotate.

[0066] In a preferred embodiment, the transmission assembly 230 includes a driving wheel 2301, a driven wheel 2302, and a transmission belt 2303. The driving wheel 2301 is connected to the second driver 231. The driven wheel 2302 is disposed on the first drive shaft 221. The transmission belt 2303 is rotatably disposed between the driving wheel 2301 and the driven wheel 2302, and the driving wheel 2301 is used to drive the driven wheel 2302 to rotate through the transmission belt 2303 under the action of the second driver 231.

[0067] The second driver 231 can be a rotary motor used to drive the drive wheel 2301 to rotate.

[0068] The transmission principle of the transmission assembly 230 in this embodiment is as follows:

[0069] When the second driver 231 is working, it drives the driving wheel 2301 to rotate. The driving wheel 2301 drives the driven wheel 2302 to rotate through the transmission belt 2303, so that the first drive shaft 221 rotates together with the driven wheel 2302, and finally realizes the rotation of the clamping assembly 20.

[0070] In addition, the transmission belt 2303 of this application can be a belt or a chain. When it is a belt, the driving wheel 2301 and the driven wheel 2302 are belt pulleys. When it is a chain, the driving wheel 2301 and the driven wheel 2302 are sprockets.

[0071] In a preferred embodiment, the drive assembly 21 further includes a translation drive assembly 24, which is disposed between the first drive shaft 221 and the clamping assembly 20 and is used to drive the clamping assembly 20 to move horizontally relative to the first drive shaft 221.

[0072] In this embodiment, the drive component 21 drives the gripping component 20 to move relative to the support, including but not limited to lifting, translation, and rotation. The lifting, translation, and rotation can be achieved by different drive components. In this embodiment, the horizontal movement of the gripping component 20 is achieved by the translation drive component 24, thereby adjusting the horizontal position of the material.

[0073] In this embodiment, the translation drive component 24 is disposed between the first drive shaft 221 and the clamping component 20, separating the first drive shaft 221 and the clamping component 20 into two parts, so that the first drive shaft 221 does not move when the clamping component 20 moves horizontally.

[0074] In a preferred embodiment, the translation drive assembly 24 includes a fixed part 240, a movable part 241, and a third driver 242. The fixed part 240 is connected to the first drive shaft 221. The movable part 241 is slidably disposed on the side of the fixed part 240 away from the first drive shaft 221, and the side of the movable part 241 away from the fixed part 240 is connected to the gripping assembly 20. The third driver 242 is connected to the movable part 241 and is used to drive the movable part 241 to move horizontally on the fixed part 240, so as to drive the gripping assembly 20 to move horizontally.

[0075] In this embodiment, the fixed part 240 can be a fixed block, and the first drive shaft 221 is connected to the upper end of the fixed block. A slide rail is provided on the side of the movable part 241 near the fixed part 240 (e.g., the upper side of the movable part 241), and the slide rail slides on the side of the fixed part 240 away from the first drive shaft 221 (e.g., the lower side of the fixed part 240). The top end of the clamping component 20 is connected to the side of the movable part 241 away from the fixed part 240 (e.g., the lower side of the movable part 241). The third driver 242 drives the movable part 241 to move horizontally, thereby causing the slide rail to move horizontally on the lower side of the fixed part 240, and ultimately driving the clamping component 20 to move horizontally.

[0076] Additionally, the gripping assembly 20 in this embodiment may include a movable rod, the top end of which is connected to the movable part 241, and the bottom end of which is connected to a gripper structure. The gripper structure includes a gripping component and an opening / closing actuator for driving the gripping component to open and close. The gripping component and the opening / closing actuator are detachably connected, allowing for the gripping of materials with different inner and outer diameters by replacing gripping components of different sizes. Preferably, the gripping component may be a plurality of L-shaped structural components spaced apart along the circumferential direction of the opening / closing actuator. The plurality of L-shaped structural components may move closer or further apart under the action of the opening / closing actuator, thereby achieving the clamping or release of materials.

[0077] Corresponding to the aforementioned application function implementation method embodiments, this application also provides a handling robot, a handling system, and corresponding embodiments.

[0078] Figure 4 This is a perspective view of the handling robot shown in the embodiments of this application; Figure 5 yes Figure 4 The main view.

[0079] See Figure 4 and Figure 5 A handling robot includes a robotic arm 3 and the aforementioned handling device. The robotic arm 3 is movably connected to a support 1 and is used to drive the handling mechanism 2 to move via the support 1.

[0080] The robotic arm 3 in this embodiment can be a multi-degree-of-freedom robotic arm. The robotic arm 3 can control the handling device to perform multi-directional movements, such as driving the handling device to move along the XYZ direction and rotate around the XYZ axis, thereby realizing the handling of materials in different positions and greatly improving handling efficiency.

[0081] This embodiment of the application forms a conveying device with at least one conveying mechanism 2 independently arranged on the support 1, thereby enabling the simultaneous conveying of at least one material. Each conveying mechanism 2 includes a gripping component 20 and a driving component 21. The gripping component 20 performs gripping operations to hold or release materials, and the driving component 21 drives the gripping component 20 to move relative to the support, including but not limited to lifting, translation, and rotation, thereby achieving multi-directional movement of the gripping component 20 and completing the material conveying. Furthermore, since each conveying mechanism 2 moves independently, multiple conveying mechanisms 2 can grip materials located at different levels and with inconsistent placement heights, enabling the simultaneous grasping of materials in multiple different positions. Even when the placement space is small or the conveyor line width is narrow, materials can be transferred sequentially, greatly improving conveying efficiency. Moreover, only 1-2 operators are needed to operate one conveying device to simultaneously convey multiple materials, significantly reducing labor costs.

[0082] This application also provides a material handling system, including a shelf, a conveying platform, at least one of the aforementioned material handling robots, and a vision detection device. Each material handling robot is used to simultaneously pick up multiple materials from the shelf and transfer the multiple materials to the conveying platform. The vision detection device is used to detect the posture of the materials picked up by the material handling robot and output the posture of the materials to the control mechanism that controls the material handling robot, so that the control mechanism controls the material handling robot to adjust the posture of the materials to the target posture.

[0083] The working principle of the handling system in this embodiment is as follows:

[0084] By manipulating the robotic arm 3 of the handling robot, the handling mechanism 2 is moved to the vicinity of the shelf. Then, the drive component 21 drives the gripping component 20 to move, enabling multiple gripping components 20 of each handling robot to work simultaneously and grip multiple materials at different positions. Continuing to manipulate the robotic arm 3 of the handling robot, the handling mechanism 2 is moved to the vicinity of the conveying platform. Again, the drive component 21 drives the gripping component 20 to move, allowing multiple gripping components 20 of each handling robot to place multiple materials onto the conveying platform simultaneously or sequentially. During placement on the conveying platform, a vision detection device detects the posture of the materials gripped by the gripping components 20 and outputs the material posture to the control mechanism that controls the handling robot. The control mechanism then adjusts the material posture to the target posture before placing the materials onto the conveying platform, ensuring consistent placement of each material and improving handling efficiency and accuracy.

[0085] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0086] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A conveying device, characterized in that, Includes a support, and at least one conveying mechanism disposed on the support, the conveying mechanism comprising: Gripping components for gripping materials; A driving assembly, connected to the clamping assembly, is used to drive the clamping assembly to move relative to the support; the driving assembly includes a lifting driving assembly, one end of which is disposed on the support, and the other end passes through the support and is connected to the clamping assembly, and is used to drive the clamping assembly to move vertically toward or away from the support; the lifting driving assembly includes: A first driver is disposed on the support; A first drive shaft, one end of which is connected to the first driver, and the other end passing through the support and connected to the clamping assembly; the drive assembly further includes a rotary drive assembly, which is disposed on the support and movably connected to the first drive shaft, and is used to drive the first drive shaft to rotate; the drive assembly further includes a translation drive assembly, which is disposed between the first drive shaft and the clamping assembly, and is used to drive the clamping assembly to move horizontally relative to the first drive shaft; the first drive shaft can not only rotate but also move up and down relative to the rotary drive assembly, and the rotary drive assembly does not move up and down with the first drive shaft; the support is divided into upper and lower layers, with the first driver disposed on the upper layer support and the rotary drive assembly disposed on the lower layer support.

2. The conveying device according to claim 1, characterized in that, The rotation drive assembly includes: A transmission assembly, one end of which is connected to the first drive shaft; A second driver is connected to the other end of the transmission assembly and is used to drive the first drive shaft to rotate via the transmission assembly.

3. The conveying device according to claim 2, characterized in that, The transmission assembly includes: A drive wheel, which is connected to the second driver; A passive wheel is mounted on the first drive shaft; A transmission belt is rotatably disposed between the driving pulley and the driven pulley, and the driving pulley is used to drive the driven pulley to rotate via the transmission belt under the action of the second driver.

4. The conveying device according to claim 1, characterized in that, The translation drive component includes: The fixing part is connected to the first drive shaft; The movable part is slidably disposed on the side of the fixed part away from the first drive shaft, and the side of the movable part away from the fixed part is connected to the clamping assembly; A third driver is connected to the movable part and is used to drive the movable part to move horizontally on the fixed part, so as to drive the clamping assembly to move horizontally.

5. A transport robot, characterized in that, include: A robotic arm, and a handling device as described in any one of claims 1-4, wherein the robotic arm is movably connected to the support and is used to drive the handling mechanism to move via the support.

6. A handling system, characterized in that, include: Shelves; Conveying platform; At least one handling robot as described in claim 5, each of the handling robots being configured to simultaneously grip multiple materials on the shelf and transfer the multiple materials to the conveying platform; A visual inspection device is used to detect the posture of the material gripped by the handling robot and output the posture of the material to the control mechanism that controls the handling robot, so that the control mechanism controls the handling robot to adjust the posture of the material to the target posture.

Images