Warehousing material automatic grabbing robot equipment

Abstract

The invention relates to the technical field of grabbing robots, and discloses warehouse material automatic grabbing robot equipment which comprises a moving base, a first visual recognition module is installed on the side face of the moving base, a rotating disc is rotationally arranged on the moving base, a Z-axis adjusting module is installed on the rotating disc, and a Y-axis adjusting module is installed on the Z-axis adjusting module. And an X-axis adjusting module is installed on the frame, a second visual recognition module is embedded in the bottom of the grabbing frame body, and the grabbing device further comprises an external PLC. The positions and the sizes of the stored materials can be recognized through the first visual recognition module, an instruction is sent to the PLC, the PLC selects a proper grabbing mode according to the sizes of the stored materials, energy consumption generated in the grabbing process is reduced, the specific positions of the stored materials are recognized through the second visual recognition module, the instruction is sent to the PLC, and the energy consumption generated in the grabbing process is reduced. And the PLC sends an instruction to accurately grab the stored materials, so that the grabbing error rate is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of grabbing robots and discloses an automatic grabbing robot device for storage materials. Background Art

[0002] ‌‌Storage materials‌ refer to all items and materials involved in the warehousing process, including various items used for storage, safekeeping, sorting, packaging and distribution. These materials play a vital role in warehousing logistics, ensuring the smooth flow of goods in the supply chain. In the warehouse, these materials need to be transferred from the storage location to the designated location. The traditional way of handling is manual handling, which not only consumes human resources, but also has certain safety hazards. With the rise of the machinery industry, automatic grabbing robots for storage materials have gradually entered the handling of storage materials. The use of automatic grabbing robots for storage materials can improve work efficiency and reduce labor costs.

[0003] For example, the public document with publication number CN110877346A discloses a vacuum grabbing device and a robot. The application document installs the vacuum grabbing device on a mechanical arm to improve the grabbing efficiency of the robot. At the same time, the robot replaces manual material grabbing and handling, reducing the safety hazards of manual handling.

[0004] Another example is the public document with publication number CN118183302A, which discloses a robot grasping device for palletizing. The application document sets a support component, and two groups of slidable transmission components are set below the support component. A plurality of adjustment components and material forks are set below the transmission component. The transmission component can drive the adjustment component and the material fork to move, so as to fork or clamp the material, thereby facilitating the palletizing robot to perform the palletizing operation. At the same time, the material fork can rotate at the bottom end of the adjustment component to switch the grasping method of the palletizing robot for the material, so that the grasping mechanism of the palletizing robot can be switched according to the material shape without replacing the grasping mechanism of the palletizing robot, thereby facilitating the palletizing operation.

[0005] Although the above-mentioned application documents can use robots to replace manual labor in warehouse logistics grabbing and handling work, thereby reducing the safety hazards of handling in warehouse logistics, the same grabbing method is used for materials of different sizes. In this way, for some robots that specialize in grabbing large objects, it is very resource-consuming, and most of the existing warehouse material grabbing robots grab materials in designated areas according to planned routes. For some randomly placed materials, it is easy to cause the robot's grabbing error rate to increase, making it difficult to quickly perform grabbing work, which has limitations. Summary of the invention

[0006] In response to the defects in the prior art, the present invention provides an automatic grabbing robot equipment for stored materials, which can grab stored materials through the automatic grabbing robot. At the same time, the corresponding grabbing method can be selected according to the size of the material, thereby reducing energy consumption, preventing waste of resources, and reducing the error rate of the robot in grabbing stored materials.

[0007] In order to solve the above technical problems, the present invention proposes the following technical solutions: A storage material automatic grabbing robot device comprises a mobile base, a first visual recognition module is installed on the side of the mobile base, a turntable is rotatably provided on the mobile base, a Z-axis adjustment module is installed on the turntable, a Y-axis adjustment module is installed on the Z-axis adjustment module, a frame is slidably provided on the side of the Y-axis adjustment module, an X-axis adjustment module is installed on the frame, a connecting rod is connected to the end of the X-axis adjustment module, a grabbing frame is movably provided at the bottom of the connecting rod, a second visual recognition module is embedded in the bottom of the grabbing frame, a first clamping plate is symmetrically provided along the Z axis at the bottom of the grabbing frame, and a second clamping plate is symmetrically provided along the X axis, and an external PLC controller is also included, the PLC controller is electrically connected to the mobile base, the X-axis adjustment module, the Z-axis adjustment module, and the Y-axis adjustment module, and the first visual recognition module and the second visual recognition module are both electrically connected to the PLC controller.

[0008] Furthermore, moving wheels are installed around the bottom of the mobile base, and the side drives of the moving wheels are provided with drive motors, which are electrically connected to the PLC controller. A first motor is installed on the mobile base, and an annular groove is opened on the mobile base. The output end of the first motor is connected to the turntable, and the first motor is electrically connected to the PLC controller. A protrusion is provided at the bottom of the turntable, and the protrusion is slidably set in the annular groove.

[0009] Furthermore, the Z-axis adjustment module includes a second motor, a movable seat, a mounting frame, a movable sleeve, and a first screw. The mounting frame is installed on a turntable, the second motor is installed on the side of the mounting frame, the output end of the second motor is connected to the first screw, the first screw is rotatably arranged inside the mounting frame, the movable sleeve is arranged on the mounting frame, both ends of the movable seat are abutted against the movable sleeve, the movable sleeve is arranged in a corrugated shape, the movable seat is slidably arranged on the mounting frame, a threaded block is provided at the bottom of the movable seat, and the threaded block is threadedly installed on the first screw.

[0010] Furthermore, the Y-axis adjustment module includes a mounting base, a third motor, a threaded movable seat and a connecting slider. The mounting base is arranged in a U-shape as a whole. The bottom of the mounting base is fixed on the movable seat. The third motor is installed on the top of the mounting base. The third motor is electrically connected to the PLC controller. A second screw is provided in the middle of the mounting base. The output end of the third motor is connected to the second screw. The threaded movable seat is threadedly installed on the second screw. The outer side of the threaded movable seat is fixedly connected to the connecting slider. A guide rail is provided on the mounting base, and the connecting slider is slidably arranged on the guide rail.

[0011] Furthermore, the overall cross-section of the frame is triangular, the side of the frame is fixedly connected to the connecting slider, the X-axis adjustment module is a hydraulic cylinder, the storage part of the hydraulic cylinder is fixed on the top of the frame, the telescopic part of the hydraulic cylinder is connected to the connecting rod, and the hydraulic cylinder is electrically connected to the PLC controller.

[0012] Furthermore, a casing is fixed at the bottom of the connecting rod, a rotating motor is installed inside the casing, the rotating motor is electrically connected to the PLC controller, the casing is rotationally connected to the grabbing frame, and the output end of the rotating motor is connected to the grabbing frame.

[0013] Furthermore, the grabbing frame is provided with a first servo motor and a second servo motor along the Z axis and the X axis respectively, the first servo motor and the second servo motor are electrically connected to the PLC controller, the bottom of the grabbing frame is alternately provided with a first threaded rod and a second threaded rod, a first guide rod and a second guide rod, the first threaded rod and the second threaded rod are both bidirectional threaded rods, the first clamping plate is provided with two pieces, which are symmetrically arranged and are threadedly installed on the first threaded rod, and the two first clamping plates are slidably arranged on the first guide rod, the second clamping plates are provided with two pieces, which are symmetrically arranged and are threadedly installed on the second threaded rod, and the two second clamping plates are slidably arranged on the second guide rod.

[0014] Furthermore, the interior of the first clamping plate is hollow, and a cylinder is installed inside the first clamping plate, which is electrically connected to the PLC controller. The telescopic end of the cylinder is connected to a sliding plate, and the sliding plate is slidingly arranged inside the first clamping plate. An auxiliary rod and a limit plate are respectively fixed to the bottom of the sliding plate, and the auxiliary rod and the limit plate are both slidably arranged on the inner wall of the first clamping plate. The bottom of the auxiliary rod is movably connected to an auxiliary support plate, and the auxiliary support plate is movably arranged in the first clamping plate, and the bottom of the limit plate is movably connected to the auxiliary support plate.

[0015] Furthermore, a hinge block is installed at the bottom of the auxiliary rod, and the hinge block is connected to the auxiliary support plate. A through hole is opened on the side of the first clamping plate, and the auxiliary support plate is matched with the through hole. A first inclined surface is opened at the end of the auxiliary support plate, and a second inclined surface is opened at the bottom of the through hole. The first inclined surface and the second inclined surface are matched.

[0016] Furthermore, a first limiting mechanism is installed on the side of the first clamping plate, and the first limiting mechanism is an anti-slip pad or an electric suction cup. A second limiting mechanism is installed on the side of the second clamping plate, and the second limiting mechanism is an anti-slip pad or an electric suction cup.

[0017] It can be seen from the above technical solution that the beneficial effects of the present invention are: The present invention can drive the grabbing frame to move along the three-axis directions of X, Y and Z by setting an X-axis adjustment module, a Y-axis adjustment module and a Z-axis adjustment module, and can also adjust the positions of the X-axis adjustment module, the Y-axis adjustment module and the Z-axis adjustment module according to needs, so that the grabbing frame can better grab the stored materials; The first visual recognition module and the second visual recognition module are both electrically connected to the PLC controller. The first visual recognition module can be used to identify the location and size of stored materials, and send instructions to the PLC controller. The PLC controller selects a suitable grasping method according to the size of the stored materials to reduce the energy consumption generated during the grasping process. The second visual recognition module can be used to identify the specific location of the stored materials, and send instructions to the PLC controller. The PLC controller sends instructions to accurately grasp the stored materials and reduce the grasping error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0019] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 This is a schematic diagram of the connection between the Y-axis adjustment module and the frame in the present invention; Figure 3 It is a structural schematic diagram of the mobile base in the present invention; Figure 4 It is a bottom view connection diagram of the grab frame in the present invention; Figure 5 It is a first structural schematic diagram of the first clamping plate in the present invention; Figure 6 It is a second structural schematic diagram of the first clamping plate in the present invention; Figure 7 It is a schematic structural diagram of the second clamping plate in the present invention.

[0020] Reference numerals: 1-mobile base, 101-mobile wheel, 102-drive motor, 103-first visual recognition module, 104-annular groove, 105-first motor, 2-turntable, 3-Z-axis adjustment module, 301-second motor, 302-mobile seat, 303-mounting frame, 304-movable sleeve, 305-first screw, 4-Y-axis adjustment module, 401-mounting base, 402-second screw, 403-third motor, 404-threaded mobile seat, 405-guide rail, 406-connecting slider, 5-frame, 6-X-axis adjustment module, 7-connecting rod, 701-casing, 8-grabbing frame , 801-first servo motor, 802-first clamping plate, 8020-first limiting mechanism, 8021-cylinder, 8022-sliding plate, 8023-auxiliary rod, 8024-hinge block, 8025-auxiliary support plate, 8026-limiting plate, 8027-through hole, 8028-first inclined plane, 8029-second inclined plane, 803-second servo motor, 804-second clamping plate, 8040-second limiting mechanism, 805-second visual recognition module, 806-first threaded rod, 807-first guide rod, 808-second threaded rod, 809-second guide rod. DETAILED DESCRIPTION

[0021] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0022] Reference Figure 1-7 A storage material automatic grabbing robot device comprises a mobile base 1, a first visual recognition module 103 is installed on the side of the mobile base 1, a turntable 2 is rotatably provided on the mobile base 1, a Z-axis adjustment module 3 is installed on the turntable 2, a Y-axis adjustment module 4 is installed on the Z-axis adjustment module 3, a frame 5 is slidably provided on the side of the Y-axis adjustment module 4, an X-axis adjustment module 6 is installed on the frame 5, a connecting rod 7 is connected to the end of the X-axis adjustment module 6, a grabbing frame 8 is movably provided at the bottom of the connecting rod 7, a second visual recognition module 805 is embedded at the bottom of the grabbing frame 8, a first clamping plate 802 is symmetrically provided along the Z axis at the bottom of the grabbing frame 8, and a second clamping plate 804 is symmetrically provided along the X axis, and an external PLC controller is also included, the PLC controller is electrically connected to the mobile base 1, the X-axis adjustment module 6, the Z-axis adjustment module 3, and the Y-axis adjustment module 4, and the first visual recognition module 103 and the second visual recognition module 805 are both electrically connected to the PLC controller.

[0023] In actual use, by setting the X-axis adjustment module 6, the Y-axis adjustment module 4, the Z-axis adjustment module 3, and the turntable 2, the grabbing frame 8 can be driven to move along the X, Y, and Z axes. At the same time, the positions of the X-axis adjustment module 6, the Y-axis adjustment module 4, and the Z-axis adjustment module 3 can be adjusted according to needs, so that the grabbing frame 8 can better grab the stored materials; The first visual recognition module 103 and the second visual recognition module 805 are both electrically connected to the PLC controller. The first visual recognition module 103 can be used to identify the location and size of the stored materials, and send instructions to the PLC controller. The PLC controller selects a suitable grasping method according to the size of the stored materials to reduce the energy consumption generated during the grasping process. The second visual recognition module 805 can be used to identify the specific location of the stored materials, and send instructions to the PLC controller. The PLC controller sends instructions to accurately grasp the stored materials and reduce the grasping error rate.

[0024] like Figure 1 and Figure 3 As shown, in this embodiment, moving wheels 101 are installed around the bottom of the moving base 1, and a driving motor 102 is provided on the side drive of the moving wheel 101. The driving motor 102 is electrically connected to the PLC controller. A first motor 105 is installed on the moving base 1, and an annular groove 104 is provided on the moving base 1. The output end of the first motor 105 is connected to the turntable 2, and the first motor 105 is electrically connected to the PLC controller. A convex block is provided at the bottom of the turntable 2, and the convex block is slidably arranged in the annular groove 104; specifically, the driving motor 102 can be driven to start by the PLC controller, so that the driving motor 102 can drive the moving wheel 101 to move, drive the entire grabbing robot to move to a specified position, and perform the storage material grabbing work. The first motor 105 is controlled to start by the PLC controller, and the turntable 2 can be driven to rotate, so that it is convenient to adjust the positions of the X-axis adjustment module 6, the Y-axis adjustment module 4, and the Z-axis adjustment module 3 according to the instructions, so as to better grab the storage materials. The setting of the convex block and the annular groove 104 makes the turntable 2 more stable during the rotation process.

[0025] like Figure 1As shown, in this embodiment, the Z-axis adjustment module 3 includes a second motor 301, a moving seat 302, a mounting frame 303, a movable sleeve 304, and a first screw 305. The mounting frame 303 is installed on the turntable 2, the second motor 301 is installed on the side of the mounting frame 303, the output end of the second motor 301 is connected to the first screw 305, the first screw 305 is rotatably set inside the mounting frame 303, the movable sleeve 304 is set on the mounting frame 303, both ends of the moving seat 302 are in contact with the movable sleeve 304, the movable sleeve 304 is arranged in a corrugated shape, and the moving seat 302 is slidably set on the mounting frame 303. On the frame 303, a threaded block is provided at the bottom of the movable seat 302, and the threaded block is threadedly installed on the first screw 305, and the second motor 301 is electrically connected to the PLC controller; specifically, the second motor 301 can be controlled to start by the PLC controller, thereby driving the first screw 305 to rotate, driving the movable seat 302 to move, thereby driving the Y-axis adjustment module 4, the X-axis adjustment module 6 and the grabbing frame 8 to move along the Z-axis direction, so as to facilitate the grabbing of stored materials according to needs. Through the setting of the movable sleeve 304, the inertia of the movable seat 302 during movement can be buffered, making it more stable when moving.

[0026] like Figure 1 and Figure 2 As shown, in this embodiment, the Y-axis adjustment module 4 includes a mounting base 401, a third motor 403, a threaded movable seat 404 and a connecting slider 406. The mounting base 401 is arranged in a mouth shape as a whole. The bottom of the mounting base 401 is fixed on the movable seat 302. The third motor 403 is mounted on the top of the mounting base 401. The third motor 403 is electrically connected to the PLC controller. The middle rotation of the mounting base 401 is provided with a second screw 402. The output end of the third motor 403 is connected to the second screw 402. The threaded movable seat 404 is threadedly mounted On the second screw rod 402, the outer sides of the threaded movable seat 404 are fixedly connected to the connecting slider 406, and the mounting base 401 is provided with a guide rail 405, and the connecting slider 406 is slidably set on the guide rail 405; specifically, the third motor 403 can be controlled by the PLC controller to drive the second screw rod 402 to rotate, drive the threaded movable seat 404 to rise and fall, thereby driving the connecting slider 406 and the frame 5 connected to the connecting slider 406 to rise and fall, so as to facilitate the X-axis adjustment module 6 and the grabbing frame 8 to move along the Y-axis direction, thereby facilitating the grabbing of stored materials.

[0027] like Figure 1 and Figure 2As shown, in this embodiment, the overall cross-section of the frame 5 is set in a triangular shape, the side of the frame 5 is fixedly connected to the connecting slider 406, the X-axis adjustment module 6 is a hydraulic cylinder, the storage part of the hydraulic cylinder is fixed on the top of the frame 5, the telescopic part of the hydraulic cylinder is connected to the connecting rod 7, and the hydraulic cylinder is electrically connected to the PLC controller; specifically, by setting the cross-section of the frame 5 in a triangular shape, the frame 5 is more stable, which is convenient for stable movement after grabbing the stored materials. By starting the X-axis adjustment module 6, the connecting rod 7 and the grabbing frame 8 can be driven to move along the X-axis direction to better grab the stored materials.

[0028] like Figure 1 As shown, in this embodiment, a casing 701 is fixed to the bottom of the connecting rod 7, a rotating motor is installed inside the casing 701, the rotating motor is electrically connected to the PLC controller, the casing 701 is rotatably connected to the grabbing frame 8, and the output end of the rotating motor is connected to the grabbing frame 8; specifically, the rotating motor can be started by controlling the PLC controller to drive the grabbing frame 8 to rotate, so that the stored materials can be accurately grabbed according to needs, without driving the X-axis adjustment module 6, the Y-axis adjustment module 4, and the Z-axis adjustment module 3 to rotate, thereby reducing energy consumption.

[0029] like Figure 1 and Figure 4 As shown, in this embodiment, the grabbing frame 8 is provided with a first servo motor 801 and a second servo motor 803 along the Z axis and the X axis respectively, and the first servo motor 801 and the second servo motor 803 are both electrically connected to the PLC controller, and the bottom of the grabbing frame 8 is staggered with a first threaded rod 806 and a second threaded rod 808, a first guide rod 807 and a second guide rod 809, and the first threaded rod 806 and the second threaded rod 808 are both bidirectional threaded rods, and the first clamping plate 802 is provided with two pieces, which are symmetrically arranged and are threadedly installed on the first threaded rod 806, and the two first clamping plates 802 are slidably arranged on the first guide rod 807, and the second clamping plate 804 is provided with two , are symmetrically arranged, and are all threadedly installed on the second threaded rod 808. The two second clamping plates 804 are slidably arranged on the second guide rod 809; specifically, the size of the stored materials can be determined by the PLC controller, and the first servo motor 801 and the second servo motor 803 can be controlled to start synchronously or separately. By starting the first servo motor 801, the first threaded rod 806 is driven to rotate, thereby driving the two first clamping plates 802 to move toward each other, thereby facilitating the clamping operation of the stored materials. By starting the second servo motor 803, the second threaded rod 808 is driven to rotate, thereby driving the two second clamping plates 804 to move toward each other, thereby clamping the stored materials.

[0030] Among them, the first visual recognition module 103 and the second visual recognition module 805 are both high-definition cameras, and the first threaded rod 806 and the second threaded rod 808, and the first guide rod 807 and the second guide rod 809 do not affect the normal photography of the second visual recognition module 805.

[0031] like Figure 5 and Figure 6 As shown, in this embodiment, the interior of the first clamping plate 802 is hollow, and a cylinder 8021 is installed inside the first clamping plate 802, and the cylinder 8021 is electrically connected to the PLC controller. The telescopic end of the cylinder 8021 is connected to a sliding plate 8022, and the sliding plate 8022 is slidingly arranged inside the first clamping plate 802. The bottom of the sliding plate 8022 is respectively fixed with an auxiliary rod 8023 and a limit plate 8026, and the auxiliary rod 8023 and the limit plate 8026 are both slidably arranged on the inner wall of the first clamping plate 802, and the bottom of the auxiliary rod 8023 is movably connected to an auxiliary support plate 8025, and the auxiliary support plate 8025 is movably arranged in the first clamping plate 802, and the bottom of the limit plate 8026 is connected to the auxiliary support plate 8026. The auxiliary support plate 8025 is movably connected; a hinge block 8024 is installed at the bottom of the auxiliary rod 8023, and the hinge block 8024 is connected to the auxiliary support plate 8025. A through hole 8027 is provided on the side of the first clamping plate 802, and the auxiliary support plate 8025 is matched with the through hole 8027. A first inclined surface 8028 is provided at the end of the auxiliary support plate 8025, and a second inclined surface 8029 is provided at the bottom of the through hole 8027. The first inclined surface 8028 and the second inclined surface 8029 are matched. Specifically, the cylinder 8021 can be controlled by the PLC controller to drive the sliding plate 8022 to slide, thereby driving the auxiliary rod 8023 to move, and the auxiliary rod 8023 continues to move downward to push the auxiliary support plate 8025 out of the through hole 8027. Figure 6 As shown, the auxiliary support plate 8025 is used to provide auxiliary support for the stored materials, and the limit plate 8026 moves along with the sliding plate 8022. After the auxiliary rod 8023 moves to the longest moving distance, the bottom of the limit plate 8026 fits against the auxiliary support plate 8025. The limit plate 8026 limits the auxiliary support plate 8025 to prevent the auxiliary support plate 8025 from being misplaced when supporting larger materials. The first inclined surface 8028 and the second inclined surface 8029 are arranged to facilitate the placement of the auxiliary support plate 8025 when storing.

[0032] like Figure 5 , Figure 6 and Figure 7As shown, in this embodiment, a first limiting mechanism 8020 is installed on the side of the first clamping plate 802, and the first limiting mechanism 8020 is an anti-slip pad or an electric suction cup, and a second limiting mechanism 8040 is installed on the side of the second clamping plate 804, and the second limiting mechanism 8040 is an anti-slip pad or an electric suction cup; specifically, the first limiting mechanism 8020 and the second limiting mechanism 8040 can be used to facilitate the clamping of stored materials according to needs, and the clamping is stable.

[0033] Among them, Figure 5 As shown, the auxiliary support plate 8025 is placed at the position after the cylinder 8021 is contracted to the extreme, that is, in the initial state, the first inclined surface 8028 and the second inclined surface 8029 are arranged in close contact, and the auxiliary support plate 8025 is stored in the first clamping plate 802, as shown in FIG. Figure 6 As shown, the auxiliary support plate 8025 is placed at the position after the cylinder 8021 is extended to the extreme, that is, in the final state, the auxiliary support plate 8025 and the inner bottom end of the first clamping plate 802 are close to horizontal fit, and the limit plate 8026 presses the auxiliary support plate 8025 to assist in positioning the auxiliary support plate 8025 to prevent the auxiliary support plate 8025 from failing to ensure stability when supporting heavy objects. Among them, the actual length ratio of the auxiliary support plate 8025 is not as large as Figure 6 As shown, the length of the auxiliary support plate 8025 can be set according to actual needs. The first inclined surface 8028 and the second inclined surface 8029 are provided with weak magnets that attract each other, so that when the auxiliary support plate 8025 is stored, the first inclined surface 8028 and the second inclined surface 8029 are arranged in a close fit to achieve the storage work and prevent the auxiliary support plate 8025 from swinging after storage. At the same time, the setting of the weak magnet does not affect the movement of the auxiliary support plate 8025 when the cylinder 8021 is extended.

[0034] Working principle: The first visual recognition module 103 recognizes the size and position of the stored materials and sends instructions to the PLC controller. The PLC controller controls the drive motor 102 to move around the position of the stored materials. The PLC controller controls the first motor 105, the second motor 301, the third motor 403 and the hydraulic cylinder, so that the entire grasping robot can move along the three-axis directions of X, Y, and Z and rotate as a whole, which is convenient for grasping the stored materials. The second visual recognition module 805 recognizes the placement angle of the material and transmits the recognized angle to the PLC controller. The PLC controller controls the rotating motor in the housing 701 to achieve fine-tuning of the grasping frame 8, which is convenient for the grasping frame 8 to accurately grasp the stored materials. If the storage material identified by the first visual recognition module 103 is a large material, the instruction is transmitted to the PLC controller, and the PLC controller controls the first servo motor 801, the second servo motor 803 and the cylinder 8021 to start, driving the first clamping plate 802, the second clamping plate 804 and the auxiliary support plate 8025 inside the first clamping plate 802 to move, so as to effectively clamp the large storage material, stably clamp it and prevent it from slipping; If the storage material identified by the first visual recognition module 103 is a medium-sized material, the instruction is transmitted to the PLC controller, and the PLC controller controls the first servo motor 801 and the second servo motor 803 to start, drive the first clamping plate 802 and the second clamping plate 804 to move, and realize the clamping work of the medium-sized storage material; If the storage material identified by the first visual recognition module 103 is a small material, the instruction is transmitted to the PLC controller, and the PLC controller controls the second servo motor 803 to start, drive the second clamping plate 804 to move, and realize the clamping work of the small storage material.

[0035] Among them, the second visual recognition module 805 identifies the placement position of the material, and the identified position is transmitted to the PLC controller. The PLC controller controls the rotating motor in the housing 701, and the rotating motor adjusts the angle of the grabbing frame 8, so that the first clamping plate 802 and the second clamping plate 804 at the bottom of the grabbing frame 8 can clamp the side of the material, preventing the first clamping plate 802 and the second clamping plate 804 from accidentally clamping the corners of the material, resulting in unstable clamping.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A storage material automatic grabbing robot device, comprising a mobile base (1), characterized in that: A first visual recognition module (103) is installed on the side of the mobile base (1); a turntable (2) is rotatably provided on the mobile base (1); a Z-axis adjustment module (3) is installed on the turntable (2); a Y-axis adjustment module (4) is installed on the Z-axis adjustment module (3); a frame (5) is slidably provided on the side of the Y-axis adjustment module (4); an X-axis adjustment module (6) is installed on the frame (5); a connecting rod (7) is connected to the end of the X-axis adjustment module (6); a grabbing frame (8) is movably provided at the bottom of the connecting rod (7); A second visual recognition module (805) is embedded in the bottom of the grabbing frame (8); a first clamping plate (802) is symmetrically provided along the Z axis, and a second clamping plate (804) is symmetrically provided along the X axis. The grabbing frame (8) also includes an external PLC controller, wherein the PLC controller is electrically connected to the mobile base (1), the X-axis adjustment module (6), the Z-axis adjustment module (3), and the Y-axis adjustment module (4); and the first visual recognition module (103) and the second visual recognition module (805) are both electrically connected to the PLC controller.

2. The automatic storage material grabbing robot device according to claim 1 is characterized in that: The bottom of the mobile base (1) is provided with moving wheels (101) around it, and the side drive of the moving wheels (101) is provided with a driving motor (102), and the driving motor (102) is electrically connected to a PLC controller. A first motor (105) is installed on the mobile base (1), and an annular groove (104) is provided on the mobile base (1). The output end of the first motor (105) is connected to the rotating disk (2), and the first motor (105) is electrically connected to the PLC controller. A protrusion is provided at the bottom of the rotating disk (2), and the protrusion is slidably arranged in the annular groove (104).

3. The automatic storage material grabbing robot device according to claim 1 is characterized in that: The Z-axis adjustment module (3) comprises a second motor (301), a movable seat (302), a mounting frame (303), a movable sleeve (304), and a first screw (305); the mounting frame (303) is mounted on the turntable (2); the second motor (301) is mounted on the side of the mounting frame (303); the output end of the second motor (301) is connected to the first screw (305); the first screw (305) is rotatably arranged inside the mounting frame (303); the movable sleeve (304) is arranged on the mounting frame (303); both ends of the movable seat (302) are in contact with the movable sleeve (304); the movable sleeve (304) is arranged in a corrugated shape; the movable seat (302) is slidably arranged on the mounting frame (303); a threaded block is provided at the bottom of the movable seat (302); the threaded block is threadedly mounted on the first screw (305); and the second motor (301) is electrically connected to a PLC controller.

4. The automatic storage material grabbing robot device according to claim 3 is characterized in that: The Y-axis adjustment module (4) comprises a mounting base (401), a third motor (403), a threaded movable seat (404) and a connecting slider (406); the mounting base (401) is arranged in a square shape as a whole; the bottom of the mounting base (401) is fixed on the movable seat (302); the third motor (403) is mounted on the top of the mounting base (401); the third motor (403) is electrically connected to a PLC controller; a second screw rod (402) is provided in the middle of the mounting base (401); the output end of the third motor (403) is connected to the second screw rod (402); the threaded movable seat (404) is threadedly mounted on the second screw rod (402); the outer periphery of the threaded movable seat (404) is fixedly connected to the connecting slider (406); a guide rail (405) is provided on the mounting base (401); and the connecting slider (406) is slidably arranged on the guide rail (405).

5. The automatic storage material grabbing robot device according to claim 4 is characterized in that: The overall cross-section of the frame (5) is triangular in shape, the side of the frame (5) is fixedly connected to the connecting slider (406), the X-axis adjustment module (6) is a hydraulic cylinder, the storage portion of the hydraulic cylinder is fixed to the top of the frame (5), the telescopic portion of the hydraulic cylinder is connected to the connecting rod (7), and the hydraulic cylinder is electrically connected to the PLC controller.

6. The automatic storage material grabbing robot device according to claim 1 is characterized in that: A housing (701) is fixed at the bottom of the connecting rod (7), a rotating motor is installed inside the housing (701), the rotating motor is electrically connected to the PLC controller, the housing (701) is rotationally connected to the grabbing frame (8), and the output end of the rotating motor is connected to the grabbing frame (8).

7. The automatic storage material grabbing robot device according to claim 1 is characterized in that: The grabbing frame (8) is provided with a first servo motor (801) and a second servo motor (803) along the Z axis and the X axis respectively, and the first servo motor (801) and the second servo motor (803) are both electrically connected to the PLC controller. The bottom of the grabbing frame (8) is staggered with a first threaded rod (806) and a second threaded rod (808), a first guide rod (807) and a second guide rod (809), and the first threaded rod (806) and the second threaded rod (808) are both bidirectional threaded rods. The first clamping plate (802) is provided with two pieces, which are symmetrically arranged and are both threadedly mounted on the first threaded rod (806). The two first clamping plates (802) are slidably arranged on the first guide rod (807). The second clamping plates (804) are provided with two pieces, which are symmetrically arranged and are both threadedly mounted on the second threaded rod (808). The two second clamping plates (804) are slidably arranged on the second guide rod (809).

8. The automatic storage material grabbing robot device according to claim 7 is characterized in that: The interior of the first clamping plate (802) is hollow, and a cylinder (8021) is installed inside the first clamping plate (802), and the cylinder (8021) is electrically connected to a PLC controller. The telescopic end of the cylinder (8021) is connected to a sliding plate (8022), and the sliding plate (8022) is slidingly arranged inside the first clamping plate (802). The bottom of the sliding plate (8022) is respectively fixed with an auxiliary rod (8023) and a limit plate (8026), and the auxiliary rod (8023) and the limit plate (8026) are both slidably arranged on the inner wall of the first clamping plate (802), and the bottom of the auxiliary rod (8023) is movably connected to an auxiliary support plate (8025), and the auxiliary support plate (8025) is movably arranged in the first clamping plate (802), and the bottom of the limit plate (8026) is movably connected to the auxiliary support plate (8025).

9. The automatic storage material grabbing robot device according to claim 8, characterized in that: A hinge block (8024) is installed at the bottom of the auxiliary rod (8023), and the hinge block (8024) is connected to the auxiliary support plate (8025). A through hole (8027) is provided on the side of the first clamping plate (802), and the auxiliary support plate (8025) and the through hole (8027) are matched. A first inclined surface (8028) is provided at the end of the auxiliary support plate (8025), and a second inclined surface (8029) is provided at the bottom of the through hole (8027), and the first inclined surface (8028) and the second inclined surface (8029) are matched.

10. The automatic storage material grabbing robot device according to claim 7, characterized in that: A first limiting mechanism (8020) is installed on the side of the first clamping plate (802), and the first limiting mechanism (8020) is an anti-slip pad or an electric suction cup. A second limiting mechanism (8040) is installed on the side of the second clamping plate (804), and the second limiting mechanism (8040) is an anti-slip pad or an electric suction cup.

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