A transport robot

Abstract

The present invention relates to the field of robot technology, and discloses a handling robot, including a clamping assembly, wherein the bottom of the first connection plate is fixedly connected to a second connection plate, the bottom of the second connection plate is fixedly connected to a second connection block, a cylinder is installed inside the second connection plate, the output end of the cylinder passes through the second connection block and is provided with a clamping assembly for clamping and handling materials, a flattening assembly, and a flattening assembly is provided at the bottom middle of the second connection block. In the present invention, when two shovel plates are close to each other, the material is shoveled onto the shovel plates for clamping, and while the turntable rotates, it drives the external threaded sleeve to rotate so that the internal threaded sleeve and the pressure plate, and the second limit rod moves upward, and when the material is clamped for the second time, the internal threaded sleeve and the pressure plate, and the second limit rod moves downward to flatten the material, so as to prevent the material from tilting during the clamping process, and at the same time, it is more stable during the process of clamping and handling to the handling robot.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a transport robot. Background Art

[0002] A handling robot is a robot that can autonomously perform object handling tasks, which means moving from one processing position to another, greatly reducing the heavy physical labor of humans. They are usually used in industries such as industry, warehousing, and logistics to improve production efficiency and reduce labor costs. They are industrial robots that can perform automated handling operations.

[0003] However, when the mechanical arm on the existing handling robot clamps the non-vacuum particle packaging bag and carries it to the handling robot, the material in the non-vacuum packaging will tilt during the clamping process. When the tilted material is placed on the handling robot, the material stacking will not be flat, which will cause the overall force of the handling robot to be uneven and cause it to tip over during movement.

[0004] In view of the above problems, a transport robot is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a handling robot, which solves the problem that when the mechanical arm on the existing handling robot clamps the non-vacuum particulate packaging bag and carries it to the handling robot in the background technology, the material in the non-vacuum packaging will be tilted during the clamping process. When the tilted material is placed on the handling robot, the material stacking will not be flat, which will cause the overall force of the handling robot to be uneven and cause it to tip over during movement.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a handling robot comprises a mobile chassis, a mechanical arm, which is installed on the top left side of the mobile chassis, a first connecting block; installed at the end of the mechanical arm, a vibration component comprises a servo motor, the servo motor is installed inside the first connecting block, the output end of the servo motor passes through the first connecting block and is fixedly connected to a connecting shaft, the bottom of the connecting shaft passes through and is slidably connected to a first connecting disk, an annular groove is provided inside the first connecting disk, a corrugated groove is provided at the bottom of the annular groove, the left and right sides of the bottom of the outer wall of the connecting shaft are fixedly connected to connecting seats and the connecting seats cooperate with the annular groove, and the two connecting seats are fixedly connected to the annular groove. A roller is installed inside the receiving seat and the roller cooperates with the corrugated groove, a clamping assembly, a second connecting plate is fixedly connected to the bottom of the first connecting plate, a second connecting block is fixedly connected to the bottom of the second connecting plate, a cylinder is installed inside the second connecting plate, the output end of the cylinder passes through the second connecting block and is provided with a clamping assembly for clamping and transporting materials, a flattening assembly, a flattening assembly is provided at the middle of the bottom of the second connecting block, and the non-vacuum-packed materials are flattened during the clamping process to prevent the tilted materials from being stacked unevenly when placed on the transport robot, resulting in uneven overall force on the transport robot;

[0007] As a further description of the above technical solution: the clamping assembly includes: the output end of the cylinder passes through the second connecting block and is fixedly connected to the piston rod, the upper left part of the outer wall of the piston rod is fixedly connected to the guide block, the outer wall of the piston rod is sleeved with a turntable and the turntable rotates in the middle part of the interior of the second connecting block, the inner wall of the turntable is provided with a threaded groove and the threaded groove cooperates with the guide block, the outer wall of the turntable is fixedly connected with uniformly distributed gear teeth, the front and rear sides of the gear teeth are meshed and connected with racks and the racks are slidably connected inside the second connecting block, the sides of the two racks that are away from each other pass through the second connecting block and are fixedly connected to the clamping plate, and the bottoms of the opposite sides of the two clamping plates are fixedly connected to shovel plates;

[0008] As a further description of the above technical solution: the flattening assembly includes: the bottom of the turntable is fixedly connected with an external threaded sleeve and the external threaded sleeve is rotatably connected to the second connecting block, the inner wall of the external threaded sleeve is threadedly connected with an internal threaded sleeve, and the bottom of the internal threaded sleeve is fixedly connected with a pressing plate to flatten the material during the clamping and handling process;

[0009] As a further description of the above technical solution: second limiting slide grooves are provided inside the left and right sides of the bottom of the second connecting block, and second limiting rods are slidably connected inside the two second limiting slide grooves, and the bottoms of the two second limiting rods are fixedly connected to the left and right sides of the top of the pressing plate, which is more stable when pressing down the material;

[0010] As a further description of the above technical solution: first limiting slide grooves are provided on both the front and rear sides of the first connecting block, first limiting slide rods are slidably connected inside the two first limiting slide grooves, and the bottoms of the two first limiting slide rods are fixedly connected to the top of the second connecting plate to prevent the material from shaking left and right when vibrating;

[0011] As a further description of the above technical solution: a rotating motor is installed in the middle of the left side of the mobile chassis, the output end of the rotating motor penetrates the mobile chassis and is rotatably connected to a bidirectional threaded rod, the left and right sides of the middle of the outer wall of the bidirectional threaded rod are threadedly connected with nut pairs, the tops of the two nut pairs are fixedly connected with a moving plate, and the moving plate cooperates with the material blocking plate;

[0012] As a further description of the above technical solution: the left and right sides of the top middle of the mobile chassis are fixedly connected with a material baffle plate, and when the mobile plate is close to the material baffle plate, the material can be clamped and fixed;

[0013] As a further description of the above technical solution: a moving groove is provided in the middle of the top of the moving chassis, so that the nut pair and the moving plate can slide left and right inside;

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. A handling robot provided by the present invention first turns on the piston rod and drives the turntable to rotate in the opposite direction, so that the clamping plate and the shovel plate are close to each other, and the material is shoveled onto the shovel plate to clamp the material. When the turntable rotates for the first time, it drives the external threaded sleeve to rotate so that the internal threaded sleeve and the pressure plate, and the second limit rod moves upward. When clamping the material for the second time, the internal threaded sleeve and the pressure plate, and the second limit rod moves downward to flatten the material to prevent the material from tilting during the clamping process. At the same time, it is more stable during the clamping and handling process to the handling robot.

[0016] 2. The present invention provides a handling robot, which starts a servo motor to drive the connecting shaft and the connecting seat to rotate in an annular groove while clamping the material, and drives the roller to rotate in the corrugated groove to shake the clamped material. At the same time, it drives the first limit slide bar to slide up and down in the first limit slide groove to make the material smoother.

[0017] 3. After the material is clamped and flattened, the material is placed between the baffle plate and the moving plate by the robotic arm, and then the rotating motor is turned on to make the moving plate approach the baffle plate to clamp and fix the material placed on the handling robot to prevent the material from falling during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2It is a schematic diagram of the clamping plate of the present invention;

[0020] Figure 3 is a cross-sectional view of the present invention;

[0021] Figure 4 For the present invention Figure 3 A magnified image of point A;

[0022] Figure 5 A cross-sectional view of the internal structure of the second connecting block of the present invention;

[0023] Figure 6 is a schematic diagram of the internal structure of the second connecting block of the present invention;

[0024] Figure 7 is a cross-sectional view of a second connecting block of the present invention;

[0025] Figure 8 It is a cross-sectional view of the mobile chassis of the present invention.

[0026] In the figure: 1. mobile chassis; 2. robotic arm; 3. first connecting block; 4. servo motor; 401. connecting shaft; 402. connecting seat; 403. roller; 404. first connecting plate; 405. annular groove; 406. corrugated groove; 407. first limiting slide groove; 408. first limiting slide rod; 5. second connecting plate; 6. cylinder; 601. piston rod; 602. guide block; 603. turntable; 604. threaded groove; 605. gear teeth; 606. rack; 607. clamping plate; 608. shovel plate; 7. external threaded sleeve; 701. internal threaded sleeve; 702. pressure plate; 8. second connecting block; 9. second limiting slide groove; 10. second limiting rod; 11. material blocking plate; 12. moving groove; 13. rotating motor; 14. bidirectional threaded rod; 15. nut pair; 16. moving plate. DETAILED DESCRIPTION

[0027] 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.

[0028] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings.

[0029] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4, including, a mobile chassis 1, a mechanical arm 2, installed on the top left side of the mobile chassis 1, a first connecting block 3; installed at the end of the mechanical arm 2, a vibration component including, a servo motor 4, the servo motor 4 is installed inside the first connecting block 3, the output end of the servo motor 4 passes through the first connecting block 3 and is fixedly connected with a connecting shaft 401, the bottom of the connecting shaft 401 passes through and is slidably connected with a first connecting disk 404, an annular groove 405 is provided inside the first connecting disk 404, and a corrugated groove 406 is provided at the bottom of the annular groove 405, the left and right sides of the outer wall bottom of the connecting shaft 401 are fixedly connected with a connecting seat 402 and the connecting seat 402 cooperates with the annular groove 405, and the two connecting seats 4 02 is equipped with a roller 403 inside and the roller 403 cooperates with the corrugated groove 406. While clamping the material, the servo motor 4 is turned on to drive the connecting shaft 401 and the connecting seat 402 to rotate in the annular groove 405, and at the same time, the roller 403 is driven to rotate in the corrugated groove 406 to make the clamped material shake. The front and rear sides of the first connecting block 3 are provided with a first limiting slide groove 407, and the two first limiting slide grooves 407 are internally slidably connected with a first limiting slide rod 408, and the bottoms of the two first limiting slide rods 408 are fixedly connected to the top of the second connecting plate 5. While shaking, the first limiting slide rod 408 is driven to slide up and down in the first limiting slide groove 407 to make the material smoother.

[0030] Combination Figure 3 , Figure 5 and Figure 6, a clamping assembly, a second connecting plate 5 is fixedly connected to the bottom of the first connecting plate 404, a second connecting block 8 is fixedly connected to the bottom of the second connecting plate 5, a cylinder 6 is installed inside the second connecting plate 5, the output end of the cylinder 6 passes through the second connecting block 8 and is provided with a clamping assembly for clamping and transporting materials, a flattening assembly, a flattening assembly is provided at the middle of the bottom of the second connecting block 8, and the non-vacuum packaged materials are flattened during the clamping process to prevent the tilted materials from being stacked unevenly when placed on the transport robot, resulting in uneven force on the transport robot as a whole, the clamping assembly includes, the output end of the cylinder 6 passes through the second connecting block 8 and is fixedly connected to a piston rod 601, the upper left part of the outer wall of the piston rod 601 is fixedly connected to a guide block 602, the outer wall of the piston rod 601 is sleeved with a turntable 603 and the turntable 603 is The inner middle part of the second connecting block 8 rotates, and a thread groove 604 is provided on the inner wall of the turntable 603 and the thread groove 604 cooperates with the guide block 602. The outer wall of the turntable 603 is fixedly connected with uniformly distributed gear teeth 605, and the front and rear sides of the gear teeth 605 are meshed with racks 606 and the racks 606 are slidably connected inside the second connecting block 8. The sides of the two racks 606 that are away from each other pass through the second connecting block 8 and are fixedly connected with a clamping plate 607. The bottoms of the opposite sides of the two clamping plates 607 are fixedly connected with shovel plates 608. After the mechanical arm 2 is aligned with the material, the clamping plate 607 and the shovel plate 608 are moved downward. When the piston rod 601 is opened and moved upward and the turntable 603 is driven to rotate in the opposite direction, the clamping plate 607 and the shovel plate 608 are close to each other, and the material is shoveled onto the shovel plate 608 through the shovel plate 608 to clamp the material.

[0031] Combination Figure 5 ,and Figure 7 The flattening assembly includes: an externally threaded sleeve 7 is fixedly connected to the bottom of the turntable 603, and the externally threaded sleeve 7 is rotatably connected to the second connecting block 8; the inner wall of the externally threaded sleeve 7 is threadedly connected to the internally threaded sleeve 701; the bottom of the internally threaded sleeve 701 is fixedly connected to a pressing plate 702, so that the material is flattened during the clamping and transportation process; the turntable 603 rotates for the first time and drives the externally threaded sleeve 7 to rotate so that the internally threaded sleeve 701 and the pressing plate 702 are rotated; the second limiting rod 10 moves upward, so that the internally threaded sleeve is clamped for the second time. 701 and the pressure plate 702, the second limiting rod 10 moves downward to flatten the material to prevent the material from tilting during the clamping process, and at the same time, it is more stable during the clamping and transportation to the handling robot. Second limiting grooves 9 are opened on the left and right sides of the bottom of the second connecting block 8, and the second limiting rods 10 are slidably connected inside the two second limiting grooves 9. The bottoms of the two second limiting rods 10 are fixedly connected to the left and right sides of the top of the pressure plate 702, which increases the force area when pressing down and makes the pressed material more stable.

[0032] Combination Figure 8A rotating motor 13 is installed in the middle of the left side of the mobile chassis 1, and the output end of the rotating motor 13 passes through the mobile chassis 1 and is rotatably connected to a bidirectional threaded rod 14. Nut pairs 15 are threadedly connected to the left and right sides of the middle of the outer wall of the bidirectional threaded rod 14, and the tops of the two nut pairs 15 are fixedly connected to moving plates 16, and the moving plates 16 cooperate with the baffle plates 11. The left and right sides of the top middle of the mobile chassis 1 are fixedly connected to the baffle plates 11. When the moving plates 16 are close to the baffle plates 11, the materials can be clamped and fixed. A moving groove 12 is provided in the middle of the top of the mobile chassis 1, which allows the nut pairs 15 and the moving plates 16 to slide left and right inside. After the material is clamped and flattened, the material is placed between the baffle plates 11 and the mobile plates 16 by the mechanical arm 2, and then the rotating motor 13 is turned on to make the moving plate 16 close to the baffle plate 11 to clamp and fix the materials placed on the handling robot to prevent the materials from falling during movement.

[0033] Working principle: when it is necessary to clamp and transport materials, first approach the materials through the mechanical arm 2, then open the cylinder 6 to drive the piston rod 601 downward to push through the guide block 602 to move downward in the thread groove 604 to drive the turntable 603 to rotate, and when the turntable 603 rotates, the gear teeth 605 engage with the rack 606, so that the two racks 606 move away from each other and the two clamping plates 607 and the shovel plate 608 move away from each other, and then align the materials through the mechanical arm 2, so that the clamping plates 607 and the shovel plates 608 move downward, and when the piston rod 601 is opened upward and the turntable 603 is driven to rotate in the opposite direction, the clamping plates 607 and the shovel plates 608 are close to each other, and the materials are shoveled onto the shovel plates 608 through the shovel plates 608 to clamp the materials, and when the turntable 603 rotates for the first time, it drives the external threaded sleeve 7 to rotate so that the internal threaded sleeve 701 and the pressure plate 702, and the second limit rod 10 moves upward. When clamping the material for the second time, the internal threaded sleeve 701 and the pressure plate 702, and the second limit rod 10 move downward to flatten the material to prevent the material from tilting during the clamping process. At the same time, it is more stable during the clamping and transportation to the handling robot. While clamping the material, the servo motor 4 is turned on to drive the connecting shaft 401 and the connecting seat 402 to rotate in the annular groove 405, and at the same time, the roller 403 is driven to rotate in the corrugated groove 406 to make the clamped material shake, and at the same time, the first limit slide bar 408 is driven to slide up and down in the first limit slide groove 407 to make the material flatter. After the material is clamped and flattened, the material is placed between the baffle plate 11 and the moving plate 16 through the mechanical arm 2, and then the rotating motor 13 is turned on to make the moving plate 16 close to the baffle plate 11 to clamp and fix the material placed on the handling robot to prevent the material from falling during movement.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A handling robot, characterized in that: include Mobile chassis (1); A mechanical arm (2) is mounted on the top left side of the mobile chassis (1); A first connecting block (3) is mounted on the end of the mechanical arm (2); The vibration component comprises a servo motor (4), wherein the servo motor (4) is mounted inside a first connection block (3), an output end of the servo motor (4) passes through the first connection block (3) and is fixedly connected to a connection shaft (401), a first connection disk (404) passes through and is slidably connected to the bottom of the connection shaft (401), an annular groove (405) is provided inside the first connection disk (404), a corrugated groove (406) is provided at the bottom of the annular groove (405), connection seats (402) are fixedly connected to the left and right sides of the bottom of the outer wall of the connection shaft (401), and the connection seats (402) and the annular groove (405) are matched, and rollers (403) are installed inside the two connection seats (402), and the rollers (403) and the corrugated grooves (406) are matched; A clamping assembly, wherein the bottom of the first connection plate (404) is fixedly connected to a second connection plate (5), the bottom of the second connection plate (5) is fixedly connected to a second connection block (8), a cylinder (6) is installed inside the second connection plate (5), an output end of the cylinder (6) passes through the second connection block (8) and is provided with a clamping assembly for clamping and transporting materials; A flattening component is provided at the middle of the bottom of the second connecting block (8), and is used to flatten the non-vacuum-packed material during the clamping process, so as to prevent the tilted material from being stacked unevenly when placed on the handling robot, resulting in uneven force on the entire handling robot; The clamping assembly comprises: the output end of the cylinder (6) passes through the second connecting block (8) and is fixedly connected to a piston rod (601); the upper left portion of the outer wall of the piston rod (601) is fixedly connected to a guide block (602); the outer wall of the piston rod (601) is sleeved with a rotating disk (603) and the rotating disk (603) rotates in the middle of the second connecting block (8); the inner wall of the rotating disk (603) is provided with a thread groove (604) and the thread groove (604) and the guide block (602) are fixedly connected. 2) in cooperation, the outer wall of the rotating disk (603) is fixedly connected with evenly distributed gear teeth (605), the front and rear sides of the gear teeth (605) are meshedly connected with racks (606), and the racks (606) are slidably connected inside the second connecting block (8), the sides of the two racks (606) that are away from each other penetrate the second connecting block (8) and are fixedly connected with a clamping plate (607), and the bottoms of the opposite sides of the two clamping plates (607) are fixedly connected with shovel plates (608); The flattening assembly comprises: an externally threaded sleeve (7) fixedly connected to the bottom of the rotating disk (603), and the externally threaded sleeve (7) is rotatably connected to the second connecting block (8); an internally threaded sleeve (701) is threadedly connected to the inner wall of the externally threaded sleeve (7); and a pressing plate (702) is fixedly connected to the bottom of the internally threaded sleeve (701), so as to flatten the material during the clamping and transportation process; The first connection block (3) is provided with a first limiting slide groove (407) on both the front and rear sides. The first limiting slide bars (408) are slidably connected inside the two first limiting slide grooves (407), and the bottoms of the two first limiting slide bars (408) are fixedly connected to the top of the second connection plate (5) to prevent the material from shaking left and right when vibrating. While clamping the material, the servo motor (4) is turned on to drive the connecting shaft (401) and the connecting seat (402) to rotate in the annular groove (405), and at the same time drive the roller (403) to rotate in the corrugated groove (406) to make the clamped material vibrate. While vibrating, the first limiting slide bars (408) are driven to slide up and down in the first limiting slide groove (407) to make the material smoother.

2. A handling robot according to claim 1, characterized in that: Second limiting slide grooves (9) are provided inside the left and right sides of the bottom of the second connecting block (8), and second limiting rods (10) are slidably connected inside the two second limiting slide grooves (9). The bottoms of the two second limiting rods (10) are fixedly connected to the left and right sides of the top of the pressing plate (702), so that the material is more stable when pressed down.

3. A handling robot according to claim 1, characterized in that: A rotating motor (13) is installed in the middle of the left side of the mobile chassis (1), the output end of the rotating motor (13) penetrates the mobile chassis (1) and is rotatably connected to a bidirectional threaded rod (14), nut pairs (15) are threadedly connected to the left and right sides of the middle of the outer wall of the bidirectional threaded rod (14), the tops of the two nut pairs (15) are fixedly connected to a moving plate (16), and the left and right sides of the top middle of the mobile chassis (1) are fixedly connected to a material blocking plate (11), and the moving plate (16) cooperates with the material blocking plate (11).

4. A handling robot according to claim 3, characterized in that: When the movable plate (16) is close to the material blocking plate (11), the material can be clamped and fixed.

5. A handling robot according to claim 3, characterized in that: A moving groove (12) is provided in the middle of the top of the moving chassis (1), allowing the nut pair (15) and the moving plate (16) to slide left and right inside.

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