Material carrying and moving composite robot

Abstract

The material carrying and moving composite robot structurally comprises a lifting driving block, a connecting frame, a gear motor, a rotating column and a grabbing mechanism, the lifting driving block is slidably installed in the front end of the connecting frame, and two linkage rods are driven to be in synchronous linkage through driving of a driving rotating shaft; the supporting transverse plates on the two sides can be rotated and adjusted downwards at symmetrical angles, it is ensured that the suction cup mechanisms on the two sides can firmly suck the surface of the plate with the bent radian, and gaps are prevented from being generated between the suction cup mechanisms and the surface of the plate; the flow capacity of gas from bottom to top is improved through the guide pieces on the two sides, it is ensured that gas in the pipe body and at the lower end can be comprehensively pumped out upwards, after gas pumping is finished, elastic torsion can be applied to the opening and closing plate through the torsion shafts on the two sides, the opening and closing plate is automatically closed, and the upper end in the pipe body is sealed; air above is prevented from flowing back into the pipe body, and insufficient suction force of the suction cup on the surface of the plate is prevented.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a material handling and moving composite robot. Background Technology

[0002] Material handling refers to activities carried out within the same location with the primary goal of changing the storage state and spatial position of materials. Material handling is crucial for improving warehouse operation efficiency and directly impacts production efficiency. The use of material handling and moving composite robots can effectively improve the handling and movement of materials and reduce manual labor. However, the material handling and moving composite robot has the following shortcomings in the process of handling and moving materials: The robot operates by controlling its own gripping mechanism to grasp and move materials. For materials with relatively flat surfaces and low heights, such as sheet materials, the gripping mechanism uses suction cups to adsorb the upper surface of the material. The position of the suction cups on the gripping mechanism is relatively fixed. However, the area of ​​the sheet materials varies, and the suction cups have difficulty adsorbing the larger areas of the sheet material stably. During the adsorption process, the larger areas of the sheet material are prone to bending. Once the sheet material itself bends, gaps are easily formed between the sheet material surface and the suction cups, which can cause the larger areas of the sheet material to easily detach and fall off during the handling process. Summary of the Invention

[0003] The technical solution adopted by this invention to achieve its technical objective is as follows: A material handling and moving composite robot, the structure of which includes a supporting base plate, a rotating base, a lifting column, and a handling mechanism. The rotating base is fixedly installed on the upper surface of the supporting base plate and is installed at the bottom of the lifting column. The handling mechanism is slidably installed inside the front end of the lifting column. A drive motor is provided at the upper end of the lifting column, and a drive worm gear and two vertically installed guide slide rods are installed inside it. The handling mechanism includes a lifting drive block, a connecting frame, a reduction motor, a rotating column, and a gripping mechanism. The lifting drive block is slidably installed inside the front end of the connecting frame, and the front end of the lifting drive block is welded to the back of the connecting frame. A reduction motor is fixedly installed at the upper end of the connecting frame. The output end of the reduction motor rotates synchronously with the rear end of the rotating column. The rear end of the rotating column is installed inside the front end of the connecting frame with a clearance fit. A gripping mechanism is installed at the front end of the rotating column. The connecting frame has a "U" shaped structure, and the thickness of the rear end of the rotating column matches the internal spatial clearance of the connecting frame.

[0004] As a further improvement of the present invention, the gripping mechanism includes a pneumatic push rod, a connecting arm, a reduction motor, and an adjustment mechanism. The rear end of the pneumatic push rod is installed at the front end of the rotating column, and the front end of the pneumatic push rod is fixedly installed at the rear end of the connecting arm. A reduction motor is provided above the front end of the connecting arm. The reduction motor rotates synchronously with the upper middle axis of the adjustment mechanism. The upper middle part of the adjustment mechanism is installed below the front end of the connecting arm. The pneumatic push rod, the connecting arm, and the rotating column are all on the same horizontal center line.

[0005] As a further improvement of the present invention, the adjustment mechanism includes a limiting frame, a bidirectional cylinder, an extension rod, and an adsorption mechanism. The upper middle part of the limiting frame is installed below the front end of the connecting arm, and the upper middle part of the limiting frame rotates synchronously with the output end of the reduction motor. A bidirectional cylinder is installed in the middle of the inside of the limiting frame. The output end of the bidirectional cylinder is welded to the inner end of the extension rod. The inner end of the extension rod is slidably installed inside the limiting frame, and the adsorption mechanism is installed at the bottom of the extension rod. There are two extension rods, which are symmetrically installed inside the limiting frame. The two extension rods are respectively fixed to the output ends on both sides of the bidirectional cylinder, and two sets of adsorption mechanisms are installed at the bottom of each extension rod.

[0006] As a further improvement of the present invention, the adsorption mechanism includes a supporting horizontal plate, a driving shaft, a connecting rod, a connecting belt, and a suction cup mechanism. The supporting horizontal plate is installed at the bottom of the extension rod, and a connecting belt is provided in the middle of the supporting horizontal plate. The connecting belt and the driving shaft are both located at the bottom of the extension rod. The axis of the driving shaft is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the bottom of the supporting horizontal plate. The suction cup mechanism is installed at the outer end of the supporting horizontal plate. There are two supporting horizontal plates, two connecting rods, and two suction cup mechanisms, which are symmetrically installed. The two supporting horizontal plates are elastically connected by a connecting belt with good elasticity, and the two connecting rods form a "V" shaped structure.

[0007] As a further improvement of the present invention, the suction cup mechanism includes an air extraction connector, an air extraction pipe, a telescopic hose, and a suction cup. The air extraction connector is fixedly installed on the upper end of the support cross plate and is located at the top of the air extraction pipe. The air extraction pipe passes through the interior of the support cross plate. The lower end of the air extraction pipe is provided with a telescopic hose and is connected through it. The lower end of the telescopic hose is connected to the suction cup and is connected through it. The telescopic hose has a pleated structure and is made of rubber, which has good resilience.

[0008] As a further improvement of the present invention, the suction pipe includes a pipe body, guide plates, a torsion shaft, an opening and closing plate, and a limiting baffle. The suction connector is located at the top of the pipe body, and a guide plate is installed on the inner wall of the pipe body. A telescopic hose is provided at the lower end of the pipe body and is connected through it. The upper end of the inner side of the pipe body is hinged to the outer end of the opening and closing plate through the torsion shaft. The limiting baffle is fixedly installed at the upper end of the inner side of the pipe body. The bottom of the opening and closing plate abuts against the upper surface of the limiting baffle. There are four guide plates, and two are arranged in a group, respectively located on the left and right sides of the inner side of the pipe body. There is a certain height difference between the guide plates on both sides. There are two torsion shafts, two opening and closing plates, and two limiting baffles, which are installed symmetrically on the left and right sides.

[0009] The beneficial effects of this invention are as follows: 1. Based on the size of the material itself, the bidirectional cylinder is activated to push the extension rods on both sides out in opposite directions simultaneously inside the limit frame, thereby widening the distance between the adsorption mechanisms at the bottom of the two extension rods. The lifting column drives the adsorption mechanism to move downward, thus enabling stable adsorption on a larger area of ​​the board surface. 2. When encountering a large area of ​​board material with a certain degree of curvature, the drive shaft drives the two linkage rods to move synchronously, so that the support plates on both sides can rotate downwards symmetrically to ensure that the suction cup mechanism on both sides can firmly adhere to the surface of the board material with the curvature, avoiding gaps between the suction cup mechanism and the surface of the board material, which could cause the board material to fall off. 3. During the evacuation process, the guide plates on both sides enhance the ability of the gas to flow from bottom to top, ensuring that the gas inside the tube and at the bottom can be completely extracted upwards. After the evacuation is completed, the torsion shafts on both sides can apply elastic torque to the opening and closing plate, and the opening and closing plate automatically closes to seal the upper end of the tube, preventing the gas above from flowing back into the tube and preventing insufficient suction force of the suction cup on the surface of the plate. 4. During the process of suction cup adhering to the surface of the board, a certain pressure is applied to the telescopic hose. At this time, the telescopic hose contracts and squeezes out the air between the suction cup and the surface of the board, so that the suction cup can perform vacuum adsorption on the surface of the board, improving the firmness of the suction cup adhering to the surface of the board and preventing the board from falling off during the handling process. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of a material handling and moving composite robot according to the present invention.

[0011] Figure 2 This is a three-dimensional structural diagram of the conveying mechanism of the present invention.

[0012] Figure 3 This is a three-dimensional structural diagram of the gripping mechanism of the present invention.

[0013] Figure 4 This is a frontal view of the internal working structure of the adjustment mechanism of the present invention.

[0014] Figure 5 This is a side view of the working structure of the adsorption mechanism of the present invention.

[0015] Figure 6 This is a schematic diagram of the working state structure of the suction cup mechanism of the present invention.

[0016] Figure 7 This is a schematic diagram showing the internal structure and a partially enlarged view of the extraction pipe of the present invention.

[0017] In the diagram: Support base plate - D, Rotating base - Z, Lifting column - L, Transporting mechanism - B, Lifting drive block - b5, Connecting frame - b1, Gear motor - b8, Rotating column - b3, Gripping mechanism - b6, Pneumatic push rod - b64, Connecting arm - b69, Gear motor - b66, Adjusting mechanism - b61, Limit frame - 1k, Two-way cylinder - 1q, Extension rod - 1g, Adsorption mechanism - 1x, Supporting horizontal plate - x3, Drive shaft - x7, Linking rod - x2, Connecting belt - x6, Suction cup mechanism - x9, Air extraction connector - x97, Air extraction pipe - x92, Telescopic hose - x98, Suction cup - x94, Pipe body - 2g, Guide plate - 2y, Torsion shaft - 2n, Opening and closing plate - 2k, Limit baffle - 2x. Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings: Example

[0019] As attached Figure 1 To be continued Figure 5 As shown: This invention discloses a material handling and moving composite robot, the structure of which includes a supporting base plate D, a rotating base Z, a lifting column L, and a handling mechanism B. The rotating base Z is fixedly mounted on the upper surface of the supporting base plate D and is installed at the bottom of the lifting column L. The handling mechanism B is slidably mounted inside the front end of the lifting column L. A drive motor is provided at the upper end of the lifting column L, and a drive worm gear and two vertically mounted guide slide rods are installed inside. The drive motor drives the drive worm gear to rotate and the two guide slide rods to slide, thereby driving the handling mechanism B to move forward at the front end of the lifting column L. The conveying mechanism B, which operates smoothly in lifting and lowering mode, includes a lifting drive block b5, a connecting frame b1, a reduction motor b8, a rotating column b3, and a gripping mechanism b6. The lifting drive block b5 is slidably installed inside the front end of the connecting frame b1, and the front end of the lifting drive block b5 is welded to the back of the connecting frame b1. The reduction motor b8 is fixedly installed on the upper end of the connecting frame b1, and the output end of the reduction motor b8 rotates synchronously with the rear end of the rotating column b3. The rear end of the rotating column b3 is installed inside the front end of the connecting frame b1 with a clearance fit, and the gripping mechanism b6 is installed at the front end of the rotating column b3. The connecting frame b1 has a "ㄈ" shaped structure, and the thickness of the rear end of the rotating column b3 is exactly matched with the internal space gap of the connecting frame b1. This allows the rear end of the rotating column b3 to rotate stably inside the connecting frame b1 under the drive of the reduction motor b8, thereby driving the front gripping mechanism b6 to adjust its rotation position on the horizontal plane, which is convenient for gripping and transporting materials in different directions.

[0020] The gripping mechanism b6 includes a pneumatic push rod b64, a connecting arm b69, a reduction motor b66, and an adjustment mechanism b61. The rear end of the pneumatic push rod b64 is mounted on the front end of the rotating column b3, and the front end of the pneumatic push rod b64 is fixedly mounted on the rear end of the connecting arm b69. The reduction motor b66 is located above the front end of the connecting arm b69. The reduction motor b66 rotates synchronously with the upper middle axis of the adjustment mechanism b61. The upper middle part of the adjustment mechanism b61 is mounted below the front end of the connecting arm b69. The pneumatic push rod b64, connecting arm b69, and rotating column b3 are all on the same horizontal center line. The pneumatic push rod b64 can push and adjust the distance between the connecting arm b69 and the rotating column b3, so that the adjustment mechanism b61 at the lower end of the connecting arm b69 can be adjusted in the front and back position. Combined with the horizontal rotation driven by the rotating column b3, the range of material gripping and handling by the adjustment mechanism b61 is effectively increased.

[0021] The adjustment mechanism b61 includes a limiting frame 1k, a bidirectional cylinder 1q, an extension rod 1g, and an adsorption mechanism 1x. The upper middle part of the limiting frame 1k is installed below the front end of the connecting arm b69, and the upper middle part of the limiting frame 1k rotates synchronously with the output end of the reduction motor b66. The bidirectional cylinder 1q is installed in the middle of the inside of the limiting frame 1k. The output end of the bidirectional cylinder 1q is welded to the inner end of the extension rod 1g. The inner end of the extension rod 1g is slidably installed inside the limiting frame 1k, and the adsorption mechanism 1x is installed at the bottom of the extension rod 1g. Two extension rods 1g are provided and are installed symmetrically inside the limiting frame 1k. The two extension rods 1g are fixed to the output ends on both sides of the bidirectional cylinder 1q, and two sets of adsorption mechanisms 1x are installed at the bottom of each extension rod 1g. This allows the bidirectional cylinder 1q to push the extension rods 1g on both sides out in opposite directions at the same time when it is started, thereby increasing the distance between the adsorption mechanisms 1x at the bottom of the two extension rods 1g and enabling stable adsorption on a large area of ​​the board surface.

[0022] The adsorption mechanism 1x includes a support plate x3, a drive shaft x7, a connecting rod x2, a connecting belt x6, and a suction cup mechanism x9. The support plate x3 is installed at the bottom of the extension rod 1g, and the connecting belt x6 is provided in the middle of the support plate x3. The connecting belt x6 and the drive shaft x7 are both located at the bottom of the extension rod 1g. The axis of the drive shaft x7 is hinged to one end of the connecting rod x2, and the other end of the connecting rod x2 is hinged to the bottom of the support plate x3. The suction cup mechanism x9 is installed at the outer end of the support plate x3. The supporting horizontal plate x3, the connecting rod x2, and the suction cup mechanism x9 are all provided in twos and are installed symmetrically. The two supporting horizontal plates x3 are elastically connected by a connecting strip x6 with good elasticity, and the two connecting rods x2 form a "V" shape structure. The two connecting rods x2 are driven synchronously by the driving shaft x7, so that the supporting horizontal plates x3 on both sides can be adjusted symmetrically. This ensures that the suction cup mechanism x9 on both sides can firmly adhere to the curved surface of the board and avoid gaps between the suction cup mechanism x9 and the surface of the board. The specific usage and function of this embodiment are as follows: In this invention, the rotating base Z drives the lifting column L and the conveying mechanism B to rotate horizontally, thereby adjusting and moving the conveying mechanism B to the position of the material to be conveyed. Furthermore, by starting the reduction motor b8, the rotating column b3 rotates stably inside the connecting frame b1, thereby adjusting the rotational position of the front-end gripping mechanism b6 on the horizontal plane. The pneumatic push rod b64 adjusts the distance between the connecting arm b69 and the rotating column b3, allowing the adjustment mechanism b61 at the lower end of the connecting arm b69 to be adjusted forward and backward, ensuring that the adjustment mechanism b61 is directly above the material to be conveyed. Then, based on the size of the material, the bidirectional cylinder 1q is activated to move both sides... The extension rod 1g is pushed out in reverse synchronously inside the limiting frame 1k, widening the distance between the adsorption mechanism 1x at the bottom of the two extension rods 1g. The lifting column L drives the adsorption mechanism 1x to move downward, thus enabling stable adsorption on a larger area of ​​the board surface. During the adsorption process, when a larger area of ​​the board is bent, the drive shaft x7 drives the two linkage rods x2 to move synchronously, allowing the support plates x3 on both sides to rotate downward symmetrically. This ensures that the suction cup mechanism x9 on both sides can firmly adsorb the bent board surface, preventing gaps between the suction cup mechanism x9 and the board surface, which could cause the board to fall. Example

[0023] As attached Figure 6 To be continued Figure 7 As shown: The suction cup mechanism x9 includes an air extraction connector x97, an air extraction pipe x92, a telescopic hose x98, and a suction cup x94. The air extraction connector x97 is fixedly installed on the upper end of the support plate x3 and is located at the top of the air extraction pipe x92. The air extraction pipe x92 passes through the interior of the support plate x3. The lower end of the air extraction pipe x92 is provided with a telescopic hose x98 and is connected through it. The lower end of the telescopic hose x98 is connected to the suction cup x94 and is connected through it. The telescopic hose x98 has a pleated structure and is made of rubber, which has good resilience. During the process of suction cup x94 adhering to the surface of the board, it applies a certain pressure to the telescopic hose x98. At this time, the telescopic hose x98 contracts and squeezes out the gas between suction cup x94 and the surface of the board, so that suction cup x94 can perform vacuum adsorption on the surface of the board, thereby improving the firmness of suction cup x94 adsorption on the surface of the board.

[0024] The suction pipe x92 includes a pipe body 2g, a guide plate 2y, a torsion shaft 2n, an opening and closing plate 2k, and a limiting baffle 2x. The suction connector x97 is located at the top of the pipe body 2g, and the guide plate 2y is installed on the inner wall of the pipe body 2g. The lower end of the pipe body 2g is provided with a telescopic hose x98 and is connected through it. The upper end of the inner side of the pipe body 2g is hinged to the outer end of the opening and closing plate 2k through the torsion shaft 2n. The limiting baffle 2x is fixedly installed at the upper end of the inner side of the pipe body 2g, and the bottom of the opening and closing plate 2k abuts against the upper surface of the limiting baffle 2x. Four guide plates 2y are provided, and two are arranged in a group. They are respectively located on the left and right sides inside the tube body 2g. There is a certain height difference between the guide plates 2y on both sides, thereby improving the ability of gas to flow from bottom to top and ensuring that the gas inside the tube body 2g and the lower end can be completely extracted upwards. Two torque shafts 2n, two opening and closing plates 2k, and two limiting baffles 2x are provided and installed symmetrically on the left and right. The torque shafts 2n on both sides can apply elastic torque to the opening and closing plates 2k, ensuring that the opening and closing plates 2k can automatically close after the gas extraction is completed to seal the upper end of the tube body 2g, preventing the gas above from flowing back into the tube body 2g, thereby preventing insufficient suction force of the suction cup x94 on the surface of the plate. The specific usage and function of this embodiment are as follows: In this invention, during the adsorption process on the surface of the board by the suction cup mechanism x9, air is drawn through an external air compressor connected to the air extraction connector x97. During the air extraction process, the guide plates 2y on both sides enhance the upward flow of gas, ensuring that the gas inside the tube 2g and at its lower end is completely extracted upwards. Furthermore, the opening and closing plate 2k rotates upwards during air extraction to ensure the gas is discharged upwards. After the air extraction is completed, the torsion shafts 2n on both sides apply elastic torque to the opening and closing plate 2k, ensuring that the opening and closing plate 2k automatically closes after the air extraction is complete, thus closing the tube. The upper part of the tube body 2g is sealed to prevent gas from flowing back into the tube body 2g, thus preventing insufficient suction force of the suction cup x94 on the board surface. During the process of suction cup x94 adhering to the board surface, it applies a certain pressure to the telescopic hose x98. At this time, the telescopic hose x98 contracts and squeezes out the gas between the suction cup x94 and the board surface, so that the suction cup x94 can perform vacuum adsorption on the board surface, improving the firmness of the suction cup x94 adsorption on the board surface and preventing it from falling off during the handling of the board. Any technical solution that achieves the above-mentioned technical effects by utilizing the technical solutions described in this invention, or by designing similar technical solutions by those skilled in the art under the inspiration of the technical solutions described in this invention, falls within the protection scope of this invention.

Claims

1. A material handling and moving composite robot, comprising a supporting base plate (D), a rotating base (Z), a lifting column (L), and a handling mechanism (B), wherein the rotating base (Z) is fixedly mounted on the upper surface of the supporting base plate (D), and the rotating base (Z) is mounted on the bottom of the lifting column (L), and the handling mechanism (B) is slidably mounted inside the front end of the lifting column (L), characterized in that: The conveying mechanism (B) includes a lifting drive block (b5), a connecting frame (b1), a reduction motor (b8), a rotating column (b3), and a gripping mechanism (b6). The lifting drive block (b5) is slidably installed inside the front end of the connecting frame (b1), and the front end of the lifting drive block (b5) is welded to the back of the connecting frame (b1). The reduction motor (b8) is fixedly installed on the upper end of the connecting frame (b1). The output end of the reduction motor (b8) rotates synchronously with the rear end of the rotating column (b3). The rear end of the rotating column (b3) is installed inside the front end of the connecting frame (b1) with a clearance fit. The gripping mechanism (b6) is installed on the front end of the rotating column (b3).

2. The material handling and moving composite robot according to claim 1, characterized in that: The gripping mechanism (b6) includes a pneumatic push rod (b64), a connecting arm (b69), a reduction motor (b66), and an adjustment mechanism (b61). The rear end of the pneumatic push rod (b64) is mounted on the front end of the rotating column (b3), and the front end of the pneumatic push rod (b64) is fixedly mounted on the rear end of the connecting arm (b69). The reduction motor (b66) is located above the front end of the connecting arm (b69). The reduction motor (b66) rotates synchronously with the upper middle axis of the adjustment mechanism (b61). The upper middle part of the adjustment mechanism (b61) is mounted below the front end of the connecting arm (b69).

3. The material handling and moving composite robot according to claim 2, characterized in that: The adjustment mechanism (b61) includes a limiting frame (1k), a bidirectional cylinder (1q), an extension rod (1g), and an adsorption mechanism (1x). The upper middle part of the limiting frame (1k) is installed below the front end of the connecting arm (b69), and the upper middle part of the limiting frame (1k) rotates synchronously with the output end of the reduction motor (b66). The bidirectional cylinder (1q) is installed in the middle of the inside of the limiting frame (1k). The output end of the bidirectional cylinder (1q) is welded to the inner end of the extension rod (1g). The inner end of the extension rod (1g) is slidably installed inside the limiting frame (1k), and the adsorption mechanism (1x) is installed at the bottom of the extension rod (1g).

4. The material handling and moving composite robot according to claim 3, characterized in that: The adsorption mechanism (1x) includes a support plate (x3), a drive shaft (x7), a connecting rod (x2), a connecting belt (x6), and a suction cup mechanism (x9). The support plate (x3) is installed at the bottom of the extension rod (1g), and the connecting belt (x6) is provided in the middle of the support plate (x3). The connecting belt (x6) and the drive shaft (x7) are both located at the bottom of the extension rod (1g). The axis of the drive shaft (x7) is hinged to one end of the connecting rod (x2), and the other end of the connecting rod (x2) is hinged to the bottom of the support plate (x3). The suction cup mechanism (x9) is installed on the outer end of the support plate (x3).

5. A material handling and moving composite robot according to claim 4, characterized in that: The suction cup mechanism (x9) includes an air extraction connector (x97), an air extraction pipe (x92), a telescopic hose (x98), and a suction cup (x94). The air extraction connector (x97) is fixedly installed on the upper end of the support plate (x3) and is located at the top of the air extraction pipe (x92). The air extraction pipe (x92) passes through the interior of the support plate (x3). The lower end of the air extraction pipe (x92) is provided with a telescopic hose (x98) and is connected through it. The lower end of the telescopic hose (x98) is connected to the suction cup (x94) and is connected through it.

6. The material handling and moving composite robot according to claim 5, characterized in that: The suction pipe (x92) includes a pipe body (2g), a guide plate (2y), a torque shaft (2n), an opening and closing plate (2k), and a limiting baffle (2x). The suction connector (x97) is located at the top of the pipe body (2g), and the guide plate (2y) is installed on the inner wall of the pipe body (2g). The lower end of the pipe body (2g) is provided with a telescopic hose (x98) and is connected through it. The upper end of the inside of the pipe body (2g) is hinged to the outer end of the opening and closing plate (2k) through the torque shaft (2n). The limiting baffle (2x) is fixedly installed at the upper end of the inside of the pipe body (2g), and the bottom of the opening and closing plate (2k) abuts against the upper surface of the limiting baffle (2x).

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