Robot transfer device and control system thereof

Abstract

The invention discloses a robot transfer device and a control system thereof, the robot transfer device comprises a four-way trolley and a storage plate, a first mechanical arm is mounted above the four-way trolley, the first mechanical arm comprises a rotating seat and a plurality of swing arms above the rotating seat, output arms are arranged at the ends of the swing arms, connecting arms are arranged at the ends of the output arms, and the connecting arms are connected with the rotating seat. The outer side of the storage plate is fixedly connected with the connecting arm, the four-way trolley and the first mechanical arm can drive the storage plate to adjust the position and the height, a second mechanical arm is arranged on the side, away from the first mechanical arm, of the storage plate, and a transfer gripper for taking articles is arranged at the output end of the second mechanical arm. When the robot transfer device and the control system thereof are used, the driving direction can be switched, it can be guaranteed that objects are adjusted according to the needed position and height during transfer, the objects are not prone to toppling over during transfer, taking and placing are facilitated, and the robot transfer device and the control system thereof are suitable for application and popularization.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot transfer device and a control system thereof. BACKGROUND

[0002] In the scenarios of industrial production, warehouse logistics, etc., article transfer is one of the important links. The traditional transfer mode relies on manual trolley or fixed track type transfer equipment. The manual trolley not only has high labor intensity and low transfer efficiency, but also is prone to cause article damage or safety accidents due to human operation errors. The fixed track type transfer equipment has poor flexibility and cannot adapt to complex transfer environment. When the transfer path needs to be adjusted, the track needs to be re-laid, which is high in cost and time-consuming.

[0003] With the development of robot technology, automatic transfer robots are gradually applied to transfer scenarios. The existence of robot transfer devices not only can save manpower, but also can effectively improve the article transfer capacity and efficiency.

[0004] However, the existing robot transfer devices have the problems of single moving direction and inability to quickly switch the moving direction. In addition, the height and position of the articles cannot be adjusted, and the articles are prone to fall during transportation, which is not ideal in use. SUMMARY

[0005] The purpose of the present application is to solve the above problems and provide a robot transfer device and a control system thereof, which can switch the moving direction and ensure that the articles are adjusted according to the required position and height during transfer, and are not prone to fall during transfer.

[0006] To achieve the above purpose, the technical scheme of the present application is as follows: a robot transfer device, comprising a four-way trolley and a storage plate, a first mechanical arm is installed above the four-way trolley, the first mechanical arm comprises a rotating seat and a plurality of swing arms above, the end of the swing arm is provided with an output arm, the end of the output arm is provided with a connecting arm, the outer side of the storage plate is fixedly connected with the connecting arm, the four-way trolley and the first mechanical arm can drive the storage plate to adjust the position and height, a second mechanical arm is arranged on the side of the storage plate away from the first mechanical arm, and a transfer gripper for taking articles is arranged at the output end of the second mechanical arm.

[0007] Preferably, fixed travel wheels and lifting travel wheels are arranged on the opposite sides of the four-way trolley, and the output directions of the fixed travel wheels and the lifting travel wheels are perpendicular.

[0008] Preferably, the fixed travel wheels and the lifting travel wheels are all servo electric wheels, the lifting travel wheels are not in contact with the ground when the fixed travel wheels are running, and the fixed travel wheels are not in contact with the ground when the lifting travel wheels are running.

[0009] Preferably, the four-way trolley comprises a rectangular shell and a cover plate, fixed travel wheels and lifting travel wheels are arranged at the corners of the rectangular shell, opposite sides of the rectangular shell are provided with grooves, U-shaped slides are arranged in the grooves, dovetail grooves are arranged on both sides of the grooves, dovetail slides are arranged on both sides of the U-shaped slides and matched with the dovetail grooves, the rectangular shell is provided with a slot hole behind the U-shaped slide, the lifting travel wheel is rotatably arranged in the U-shaped slide, and the rotating shaft extends inward at the slot hole, and the lifting adjustment of the lifting travel wheel is realized by the lifting of the U-shaped slide.

[0010] Preferably, the lifting travel wheel is integrally connected with the frame in the rectangular shell, four stepping motors are arranged on the cover plate, the output shaft of the stepping motor is provided with a screw rod, the screw rod is rotatably connected with the inner bottom surface of the rectangular shell through the frame, and the four stepping motors are synchronously operated to drive the lifting travel wheel to lift.

[0011] Preferably, the surface of the cover plate is further provided with a mounting groove for mounting the first mechanical arm, and the inner wall of the mounting groove is provided with a telescopic clamping block.

[0012] Preferably, one side of the storage plate is provided with a mounting hole, the connecting arm is fixedly connected with the storage plate at the mounting hole, the surface of the storage plate is provided with a plurality of strip-shaped grooves, a plurality of counterbores are arranged in the strip-shaped grooves in an array, a vacuum suction pipe is arranged in the counterbores, a plurality of branch pipes communicating with the vacuum suction pipe are arranged in the storage plate, the plurality of branch pipes extend outward and communicate with a suction pipe, one end of the suction pipe is sealed, the other end is connected with a vacuum pump, and the vacuum pump is fixed on the bottom surface of the storage plate.

[0013] Preferably, the transfer gripper comprises three arrayed hinged arms, one end of the hinged arm is provided with a rubber pad, the other end is hinged with a driving seat through a hinged rod, and the three hinged arms can be gathered or spread to the center.

[0014] Preferably, a driving motor is arranged in the driving seat, the output shaft of the driving motor is provided with a worm, the bottom end of the hinged arm is provided with a turbine matched with the worm, and the driving motor drives the hinged arm to swing after operation.

[0015] A control system of a robot transfer device, comprising: a control host comprising a central processing unit and a storage module, the storage module being used for storing transfer path data, parameters of articles to be transferred and safety control thresholds; a driving control module used for controlling multi-directional operation of the four-way trolley; a wireless communication module electrically connected with the control host, realizing bidirectional data transmission between the control host and an external terminal device; wherein the control system is integrated in the four-way trolley.

[0016] The application discloses a robot transfer device and a control system thereof, which comprises a four-way trolley and a storage plate, a first mechanical arm is installed above the four-way trolley, the first mechanical arm comprises a rotating seat and a plurality of swing arms above the rotating seat, an output arm is arranged at the end of the swing arm, a connecting arm is arranged at the end of the output arm, the outer side of the storage plate is fixedly connected with the connecting arm, the four-way trolley and the first mechanical arm can drive the storage plate to adjust the position and the height, a second mechanical arm is arranged on the side of the storage plate away from the first mechanical arm, and a transfer gripper for taking articles is arranged at the output end of the second mechanical arm; compared with the prior art, the robot transfer device and the control system thereof have the beneficial effects that the driving direction can be switched, the articles can be adjusted according to the required position and height during the transfer, the articles are not easy to fall during the transfer, and the articles are convenient to take and place. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole structure schematic view of the transfer device in the robot transfer device and the control system thereof of the application.

[0018] Figure 2 It is a structure schematic view of the four-way trolley in the application.

[0019] Figure 3 It is an internal structure schematic view of the four-way trolley in the application.

[0020] Figure 4 It is an enlarged structure schematic view of A in the application. Figure 3

[0021] Figure 5 It is a structure schematic view of the first mechanical arm in the application.

[0022] Figure 6 It is a cooperation schematic view of the storage plate and the second mechanical arm in the application.

[0023] Figure 7 It is an enlarged structure schematic view of B in the application. Figure 6

[0024] Figure 8 It is a structure schematic view of the transfer gripper in the application.

[0025] Figure 9 It is an enlarged structure schematic view of C in the application. Figure 8

[0026] ​​​In the figure: 1, four-way dolly; 11, rectangular shell; 111, groove; 112, dovetail groove; 113, slot; 114, frame; 12, cover plate; 13, stepper motor; 14, fixed travel wheel; 15, lifting travel wheel; 151, U-shaped slider; 152, slider; 16, mounting groove; 17, telescopic clamping block; 2, first mechanical arm; 21, base; 22, clamping groove; 23, rotating seat; 24, swing arm; 25, output arm; 26, connecting arm; 3, storage plate; 31, mounting hole; 32, strip-shaped groove; 33, counterbore; 331, vacuum suction pipe; 34, air suction pipe; 35, branch pipe; 36, vacuum pump; 4, second mechanical arm; 5, transfer gripper; 51, hinged wall; 511, turbine; 52, rubber pad; 53, driving seat; 531, worm; 54, hinged rod. DETAILED DESCRIPTION

[0027] The application will now be described in further detail with reference to the drawings. The drawings are simplified schematic illustrations of the basic structure of the application and therefore only show the components relevant to the application.

[0028] Referring to Figure 1 A robot transfer device comprises a four-way dolly 1 and a storage plate 3, the four-way dolly 1 is provided with a first mechanical arm 2 on the top, the first mechanical arm 2 comprises a rotating seat 23 and a plurality of swing arms 24 on the top, the end of the swing arm 24 is provided with an output arm 25, the end of the output arm 25 is provided with a connecting arm 26, the outer side of the storage plate 3 is fixedly connected with the connecting arm 26, the four-way dolly 1 and the first mechanical arm 2 can drive the storage plate 3 to adjust the position and height, the storage plate 3 is provided with a second mechanical arm 4 on the side away from the first mechanical arm 2, the output end of the second mechanical arm 4 is provided with a transfer gripper 5 for picking up articles.

[0029] In use, the articles are placed one by one on the storage plate 3 by the second mechanical arm 4, after stable storage, the four-way dolly 1 runs to transport the whole cloud to the required position, wherein the first mechanical arm 2 can adjust the height and extension angle of the storage plate 3, greatly facilitating the transfer and storage of articles; The four-way dolly 1 can be in a transverse form, also in a longitudinal form, and can advance and retreat, and can travel in four directions according to needs, improving the transfer capacity.

[0030] Referring to Figures 2-4 In this embodiment, the opposite sides of the four-way dolly 1 are provided with a fixed travel wheel 14 and a lifting travel wheel 15, the output directions of the fixed travel wheel 14 and the lifting travel wheel 15 are perpendicular.

[0031] Four fixed wheels 14 run synchronously, four lifting wheels 15 run synchronously, the fixed wheels 14 run while the lifting wheels 15 are static, and the lifting wheels 15 run while the fixed wheels 14 are static; so as to meet the single direction running, and the cooperation can meet the four-way transfer.

[0032] In the embodiment, the fixed wheels 14 and the lifting wheels 15 are all servo electric wheels, the working principle of which is based on the characteristics of the servo motor, and the rotation speed and the steering of the wheels are adjusted by receiving the electric signal, so as to realize the functions such as the forward movement and the backward movement of the structure. The lifting wheels 15 are not in contact with the ground when the fixed wheels 14 run, and the fixed wheels 14 are not in contact with the ground when the lifting wheels 15 run. The four-way trolley 1 is also integrated with a battery pack and a controller, etc., to provide the electric quantity and the control for the wheels.

[0033] Specifically, the four-way trolley 1 comprises a rectangular shell 11 and a cover plate 12, the fixed wheels 14 and the lifting wheels 15 are arranged at the corners of the rectangular shell 1, opposite sides of the rectangular shell 11 are provided with grooves 111, the grooves 111 are provided with U-shaped sliding blocks 151, both sides of the grooves 151 are provided with dovetail grooves 112, both sides of the U-shaped sliding blocks 151 are provided with dovetail sliding blocks 152 matched with the dovetail grooves 112, the rectangular shell 151 is provided with a slot 113 behind the U-shaped sliding blocks 151, the lifting wheels 15 are rotatably arranged in the U-shaped sliding blocks 151, and the shafts of the lifting wheels 15 extend inwardly at the slot 131, and the height of the lifting wheels 15 is adjusted by the U-shaped sliding blocks 151.

[0034] It can be understood that the U-shaped sliding blocks 151 can slide up and down in the dovetail grooves 112 through the dovetail sliding blocks 152 on both sides, and since the lifting wheels 15 are rotatably arranged in the U-shaped sliding blocks 151 and the shafts of the lifting wheels 15 extend inwardly at the slot 131, the lifting wheels 15 can be lifted together with the U-shaped sliding blocks 151 when the U-shaped sliding blocks 151 move up and down, and the shafts of the lifting wheels 15 can rise and fall within the height range of the slot 131 when the lifting wheels 15 are lifted, so as to realize the lifting of the lifting wheels 15 and avoid the interference between the fixed wheels 14 and the lifting wheels 15 during the running.

[0035] In order to ensure the automatic lifting of the lifting wheels 15, the lifting wheels 15 are integrally connected in the rectangular shell 11 through a frame 114, four stepping motors 13 are arranged on the cover plate 12, the output shafts of the stepping motors 13 are provided with lead screws, the lead screws are rotatably connected with the inner bottom surface of the rectangular shell 11 through the frame 114, and the lifting wheels 15 are lifted by the four stepping motors 13 running synchronously; that is, the frame 114 can be lifted by the lead screws when the stepping motors 13 run, and the U-shaped sliding blocks 151 and the lifting wheels 15 can be lifted together when the frame 114 is lifted.

[0036] In use, the four stepping motors 13 are synchronously operated, and the rotating speed and direction are consistent, so that the frame 114 can be stably lifted or lowered; When the fixed traveling wheels 14 are operated, the stepping motors 13 drive the lifting traveling wheels 15 to retract into the grooves 111, so that the bottom of the lifting traveling wheels 15 does not exceed the bottom of the fixed traveling wheels 14, and the traveling stability is ensured; Similarly, when the lifting traveling wheels 15 are operated, the stepping motors 13 drive the frame 114 to descend, so that the four lifting traveling wheels 15 descend together until the bottom of the lifting traveling wheels 15 is lower than the bottom of the fixed traveling wheels 14; at this time, the circumference of the fixed traveling wheels 14 is not in contact with the ground / rail, and the operation of the lifting traveling wheels 15 is ensured; the above cycle can effectively switch the traveling and transferring directions, and greatly improves the convenience.

[0037] In order to stably install the first mechanical arm 2 on the four-way trolley 1, a mounting groove 16 for mounting the first mechanical arm 2 is further arranged on the surface of the cover plate 12, and the inner wall of the mounting groove 16 is provided with a telescopic clamping block 17. The bottom end of the first mechanical arm 2 is provided with a base 21, and the periphery of the base 21 is provided with a clamping groove 22 matched with the telescopic clamping block 17; after installation, the telescopic clamping block 17 extends into the clamping groove 22.

[0038] Specifically, the telescopic block 17 has a long strip-shaped structure, and the inner side is provided with a telescopic rod and a spring (arranged in the cover plate 12); before installing the first mechanical arm 2, the telescopic block 17 is manually pressed into the cover plate 12, and the telescopic block 17 is released after the base 21 falls into the mounting groove 16; at this time, the telescopic block 17 extends into the clamping groove 22 through the elastic force of the spring and the telescopic rod, thereby ensuring stable transfer.

[0039] In the present application, please refer to Figure 6 and Figure 7 In order to ensure that the articles are stably placed in the storage plate 3, one side of the storage plate 3 is provided with a mounting hole 31, and the connecting arm 26 is fixedly connected with the storage plate 3 at the mounting hole 31; at this time, the position and height of the storage plate 3 can be adjusted by the operation of the first mechanical arm 2 to match the transfer requirements of different positions; the surface of the storage plate 3 is provided with a plurality of strip-shaped grooves 32, a plurality of counterbores 33 are arranged in the strip-shaped grooves 32 in an array, a vacuum suction pipe 331 is arranged in the counterbores 33, a plurality of branch pipes 35 communicating with the vacuum suction pipes 331 are arranged in the storage plate 3, the plurality of branch pipes 35 extend outward and communicate with a suction pipe 34, one end of the suction pipe 34 is sealed, and the other end is connected with a vacuum pump 36, and the vacuum pump 36 is fixed on the bottom surface of the storage plate.

[0040] In use, the article is picked up by the second mechanical arm 4 and the transfer gripper 5 to the storage plate 3, so that the article falls into the counterbore 33; after the article is placed, the vacuum pump 36 is operated, and after operation, the air in the suction pipe 34, the branch pipe 35 and the vacuum suction pipe 331 is sequentially extracted, and after the internal air is extracted, the article is stably adsorbed by suction force, so that the article is prevented from falling during transfer, and the transfer quality is guaranteed; and no positioning clamp or the like tool needs to be arranged on the storage plate 3 during the whole process, which not only reduces the overall weight, but also saves equipment cost.

[0041] In the embodiment, the counterbore 33 corresponds to the article with a circular bottom surface, such as a battery; of course, the counterbore 33 can also be arranged as a square, a rectangle, an ellipse and the like to match articles with different bottom surface shapes, thereby increasing the application range.

[0042] Further, please refer to Figure 8 and Figure 9 , the transfer gripper 5 includes three hinge arms 51 arranged in an array, one end of the hinge arm 51 is provided with a rubber pad 52, the rubber pad 52 avoids damage to the surface of the article during clamping and transfer, the other end is hinged to the driving seat 53 through a hinge rod 54, and the three hinge arms 51 can be gathered or spread to the center of the circle, thereby realizing picking up and placing of the article.

[0043] Specifically, the driving seat 53 is provided with a driving motor, the driving motor is a servo motor or a stepping motor, the output shaft of the driving motor is provided with a worm 531, the bottom end of the hinge arm 51 is provided with a worm wheel 511 matched with the worm 531, the worm 531 rotates after the driving motor operates, the hinge arm 51 swings through cooperation with the worm wheel 511, the article can be clamped and taken when the three hinge arms are gathered to the worm 531; the article can be placed when the three hinge arms 51 are spread outward, so that picking up and placing of the article can be realized on the basis of transfer, human resources can be greatly saved, and work efficiency can be improved.

[0044] In addition, the application also discloses a control system of the robot transfer device, which comprises: a control host, comprising a central processing unit and a storage module, the storage module is used for storing transfer path data, parameters of articles to be transferred and safety control thresholds; a driving control module, used for controlling multi-directional operation of the four-way trolley; specifically, the driving control module can drive steering of the traveling wheels, adjust the height of the lifting traveling wheel 15, control the actions of the first mechanical arm 2 and the second mechanical arm 4, control the opening and closing of the vacuum pump 36 and the picking up and placing of the article by the transfer gripper 5; a wireless communication module, which is electrically connected with the control host and realizes bidirectional data transmission between the control host and an external terminal device; The control system is integrated in the four-way trolley, and the four-way trolley is provided with a storage battery, which provides power for the whole.

[0045] Based on the above embodiment, the path planning unit can also be provided. The path planning unit can adjust the transfer path in real time according to the obstacle distance data transmitted by the detection feedback module and in combination with the preset path in the storage module to avoid obstacles.

[0046] Based on the above embodiment, the emergency control module is further included. The emergency control module is electrically connected with the control host. When the data collected by the detection feedback module exceeds the safety control threshold in the storage module, the emergency control module can trigger an emergency stop instruction to control the transfer device to stop moving and send an alarm signal to an external terminal device through the wireless communication module.

[0047] Obviously, the above embodiment is only an example for clear illustration, and is not a limitation on the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments cannot be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A robotic transfer device, characterized by, The four-direction trolley is provided with a first mechanical arm on the top, the first mechanical arm comprises a rotating seat and a plurality of swing arms on the top, the end of the swing arm is provided with an output arm, the end of the output arm is provided with a connecting arm, the outer side of the storage plate is fixedly connected with the connecting arm, the four-direction trolley and the first mechanical arm can drive the storage plate to adjust the position and height, the second mechanical arm is arranged on the side away from the first mechanical arm, and the output end of the second mechanical arm is provided with a transfer gripper for taking articles.

2. The robotic transfer device of claim 1, wherein, The opposite sides of the four-direction trolley are provided with fixed running wheels and lifting running wheels, and the output directions of the fixed running wheels and the lifting running wheels are perpendicular.

3. The robotic transfer device of claim 2, wherein, The fixed running wheels and the lifting running wheels are all servo electric wheels, the lifting running wheels are not in contact with the ground when the fixed running wheels run, and the fixed running wheels are not in contact with the ground when the lifting running wheels run.

4. The robotic transfer device of claim 3, wherein, The four-direction trolley comprises a rectangular shell and a cover plate, the fixed running wheels and the lifting running wheels are arranged at the corners of the rectangular shell, the opposite sides of the rectangular shell are provided with grooves, the grooves are provided with U-shaped sliding blocks, the two sides of the grooves are provided with dovetail grooves, the two sides of the U-shaped sliding blocks are provided with dovetail sliding blocks matched with the dovetail grooves, the rectangular shell is provided with a slot behind the U-shaped sliding block, the lifting running wheels are rotatably arranged in the U-shaped sliding block, and the rotating shafts extend inward at the slot, and the lifting of the U-shaped sliding block adjusts the height of the lifting running wheels.

5. The robotic transfer device of claim 4, wherein, The lifting running wheels are integrally connected through a frame in the rectangular shell, the cover plate is provided with four stepping motors, the output shafts of the stepping motors are provided with lead screws, the lead screws are rotatably connected with the inner bottom surface of the rectangular shell through the frame, and the four stepping motors drive the lifting running wheels to lift after synchronous operation.

6. The robotic transfer device of claim 4 or 5, wherein, The surface of the cover plate is also provided with a mounting groove for mounting the first mechanical arm, and the inner wall of the mounting groove is provided with a telescopic clamping block.

7. The robotic transfer device of claim 1, wherein, One side of the storage plate is provided with a mounting hole, the connecting arm is fixedly connected with the storage plate at the mounting hole, the surface of the storage plate is provided with a plurality of strip-shaped grooves, a plurality of counterbores are arranged in the strip-shaped grooves in an array, a vacuum suction pipe is arranged in the counterbores, a plurality of branch pipes communicating with the vacuum suction pipes are arranged in the storage plate, the plurality of branch pipes extend outward and communicate with a suction pipe, one end of the suction pipe is sealed, the other end is connected with a vacuum pump, and the vacuum pump is fixed to the bottom surface of the storage plate.

8. The robotic transfer device of claim 1 or 7, wherein, The transfer gripper comprises three arrayed hinged arms, one end of the hinged arm is provided with a rubber pad, the other end is hinged with a driving seat through a hinged rod, and the three hinged arms can be gathered or spread to the center.

9. The robotic transfer device of claim 8, wherein, The driving seat is provided with a driving motor, the output shaft of the driving motor is provided with a worm, the bottom end of the hinged arm is provided with a turbine matched with the worm, and the driving motor drives the hinged arm to swing after operation.

10. A control system for a robotic transfer device, characterized in that, The control host comprises a central processing unit and a storage module, the storage module is used for storing the transfer path data, the parameters of the articles to be transferred and the safety control threshold value; The driving control module is used for controlling the multi-directional operation of the four-direction trolley; The wireless communication module is electrically connected with the control host to realize the bidirectional data transmission between the control host and the external terminal equipment; The control system is integrated in the four-direction trolley. ​

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