Transfer robot capable of adjusting storage position

Abstract

The utility model discloses a carrying robot capable of adjusting storage positions. The carrying robot comprises a walking mechanism and a material carrying device arranged on the walking mechanism. The material carrying device comprises a storage mechanism and a transfer mechanism; the storage mechanism comprises a storage hopper and a rotation driving mechanism used for driving the storage hopper to rotate. The storage hopper is rotationally connected to the walking mechanism, and the rotating center of the storage hopper vertically extends; the storage hopper is in power connection with the rotary driving mechanism; the material transferring mechanism comprises a grabbing clamp used for grabbing materials and a carrying manipulator used for driving the grabbing clamp to move spatially, and the grabbing clamp is arranged on a tail end joint of the carrying manipulator. The carrying robot can adjust the position of the storage hopper, operation is flexible, and the working efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to a transport robot, in particular to a transport robot with an adjustable storage position. Background Art

[0002] Intelligent sorting and handling robots are one of the hottest research directions today. With the development of the logistics industry and the greatly increased demand for warehousing, whether in military, express delivery or industrial automation operations, the use of intelligent handling robots can not only use their own sensors and motion devices to identify and carry goods stored in related paths, which can help alleviate the accumulation of goods and reduce the pressure on personnel; but also use the robot's own warehouse to store rescue materials, and then carry out random route intelligent handling.

[0003] The existing handling robot mainly includes a walking mechanism and a material handling device, wherein the material handling device includes a storage bucket, a grabbing fixture for grabbing materials, and a mobile driving mechanism for driving the grabbing fixture to move in space. Although it can automatically complete the handling task, it still has the following shortcomings:

[0004] Since the storage bucket is fixedly set at a specific position of the frame, no matter where the material is located, a grabbing clamp is required to transfer the material to the fixed position. The position of the storage bucket cannot be adjusted according to the actual position of the material. The operation is not flexible enough and the work efficiency needs to be improved. Utility Model Content

[0005] The utility model aims to overcome the above-mentioned problems and provide a handling robot with adjustable storage position, wherein the handling robot can adjust the position of the storage bucket, is more flexible in operation, and is conducive to improving work efficiency.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] A handling robot with adjustable storage position, comprising a walking mechanism and a material handling device arranged on the walking mechanism;

[0008] The material handling device includes a storage mechanism and a transfer mechanism; the storage mechanism includes a storage bucket and a rotation drive mechanism for driving the storage bucket to rotate; the storage bucket is rotatably connected to the walking mechanism, and the rotation center of the storage bucket extends vertically; the storage bucket is power-connected to the rotation drive mechanism; the material transfer mechanism includes a grabbing clamp for grabbing materials and a handling manipulator for driving the grabbing clamp to move in space, and the grabbing clamp is arranged on the end joint of the handling manipulator.

[0009] The working principle of the above-mentioned handling robot with adjustable storage position is as follows:

[0010] When working, the material handling device is carried by the walking mechanism and moved to the location of the material to be handled; the handling manipulator drives the grabbing fixture to move so that the grabbing fixture is close to the material to be handled, and then the grabbing fixture grabs the material into the storage bucket. Furthermore, before handling the next material, the storage bucket can be driven to rotate by the rotary drive mechanism so that the storage bucket is correspondingly close to the location of the next material, changing the position of the storage bucket, thereby reducing the handling route of the handling manipulator; or the position in the storage bucket that has not been loaded is switched to the handling point, which can simplify the handling route of the handling manipulator, make the operation more flexible, and help improve work efficiency.

[0011] In a preferred embodiment of the utility model, the travel mechanism comprises a vehicle frame, travel wheels and a travel drive mechanism, and the travel wheels are rotatably connected to the vehicle frame and connected to the travel drive mechanism.

[0012] Furthermore, the travel drive mechanism includes a travel drive motor, which is arranged on the frame and connected to at least one set of travel wheels.

[0013] Furthermore, the travel wheels are Mecanum wheels; and the travel drive motors and Mecanum wheels are each provided with four.

[0014] Furthermore, a suspension plate is provided under the frame, which increases the available space of the robot and can be used to place items such as batteries.

[0015] A preferred solution of the utility model is that four infrared sensors located in different directions are provided under the frame, which can judge the walking state of the robot and correct the error caused by the robot's walking by changing the differential speed of the inner and outer wheels, thereby reducing the deviation range of the radius of the circle; two infrared sensors are respectively provided on the left and right sides of the frame for identifying the working position, thereby improving the walking stability and positioning accuracy to a certain extent.

[0016] In a preferred embodiment of the present invention, the storage bucket is an annular structure and is provided with a plurality of storage slots.

[0017] In a preferred embodiment of the present utility model, the rotary drive mechanism comprises a rotary drive motor and a rotary transmission assembly, and the rotary drive motor is arranged on the frame of the walking mechanism;

[0018] The rotary transmission assembly includes a driving gear and a driven gear, wherein the driving gear is coaxially connected to the output shaft of the rotary drive motor, and the driven gear is rotatably connected to the frame of the traveling mechanism through a bearing; the storage bucket is fixedly connected to the driven gear. Through the above structure, the storage bucket can be driven to rotate relative to the frame under the drive of the rotary drive motor to adapt to different scenarios, which is very flexible.

[0019] Furthermore, the driven gear is a hollow structure; and the transport robot is arranged at the hollow position of the driven gear.

[0020] In a preferred embodiment of the present invention, the grabbing fixture is a negative pressure suction cup connected to a negative pressure device.

[0021] In a preferred embodiment of the utility model, a visual recognition module is provided on the end joint of the handling manipulator to obtain the location of the material and ensure the grasping work of the grasping clamp.

[0022] Compared with the prior art, the utility model has the following beneficial effects:

[0023] The handling robot of the utility model can drive the storage bucket to rotate through the rotary drive mechanism, so that the storage bucket is correspondingly close to the position of the next material, thereby reducing the handling route of the handling manipulator; or the empty space in the storage bucket that has not been loaded is switched to the loading point, which can simplify the handling route of the handling manipulator, is more flexible in operation, and is conducive to improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1-2 The three-dimensional structure diagrams of the transfer robot with adjustable storage position from two different perspectives of the present invention are shown. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0026] See also Figure 1-2 The transport robot with adjustable storage position of this embodiment includes a walking mechanism and a material handling device arranged on the walking mechanism; wherein, the walking mechanism includes a frame 1, walking wheels 2 and a walking drive mechanism, and the walking wheels 2 are rotatably connected to the frame 1 and connected to the walking drive mechanism.

[0027] Furthermore, the travel drive mechanism includes a travel drive motor 3 , which is disposed on the vehicle frame 1 and connected to at least one set of travel wheels 2 .

[0028] Furthermore, the travel wheel 2 is a Mecanum wheel; and the travel drive motor 3 and the Mecanum wheel are each provided with four.

[0029] Furthermore, a suspension plate 4 is provided below the frame 1 to increase the available space of the robot, which can be used to place items such as batteries.

[0030] See also Figure 1-2Four infrared sensors 5 located at different positions are provided under the frame 1, which can judge the walking state of the robot and correct the error caused by the robot's walking by changing the differential speed of the inner and outer wheels, thereby reducing the deviation range of the radius of the circle; two infrared sensors 5 are provided on the left and right sides of the frame 1 respectively, which are used to identify the working position, thereby improving the walking stability and positioning accuracy to a certain extent.

[0031] See also Figure 1-2 The material handling device includes a storage mechanism and a transfer mechanism; the storage mechanism includes a storage bucket 6 and a rotation drive mechanism for driving the storage bucket 6 to rotate; the storage bucket 6 is rotatably connected to the walking mechanism, and the rotation center of the storage bucket 6 extends vertically; the storage bucket 6 is power-connected to the rotation drive mechanism; the material transfer mechanism includes a grabbing fixture for grabbing materials and a handling manipulator 7 for driving the grabbing fixture to move in space, and the grabbing fixture is arranged on the end joint of the handling manipulator 7.

[0032] See also Figure 1-2 The storage bucket 6 is an annular structure and is provided with a plurality of storage slots.

[0033] See also Figure 1-2 The rotary drive mechanism includes a rotary drive motor 8 and a rotary transmission assembly, wherein the rotary drive motor 8 is arranged on the frame 1 of the traveling mechanism; the rotary transmission assembly includes a driving gear 9 and a driven gear 10, wherein the driving gear 9 is coaxially connected to the output shaft of the rotary drive motor 8, and the driven gear 10 is rotatably connected to the frame 1 of the traveling mechanism through a bearing; the storage bucket 6 is fixedly connected to the driven gear 10. Through the above structure, under the drive of the rotary drive motor 8, the storage bucket 6 can be driven to rotate relative to the frame 1 to adapt to different scenarios, which is very flexible.

[0034] Furthermore, the driven gear 10 is a hollow structure; the transport robot 7 is arranged at the hollow position of the driven gear 10 .

[0035] See also Figure 1-2 The grabbing fixture is a negative pressure suction cup 11 connected to the negative pressure device.

[0036] See also Figure 1-2 The end joint of the handling manipulator 7 is provided with a visual recognition module 12 to obtain the location of the material and ensure the grasping work of the grasping fixture. Specifically, the handling manipulator and the visual recognition module of this embodiment both adopt the existing structure.

[0037] See also Figure 1-2 The working principle of the transport robot with adjustable storage position in this embodiment is as follows:

[0038] When working, the material handling device is carried by the walking mechanism and moved to the location of the material to be handled; the handling manipulator 7 drives the grabbing fixture to move so that the grabbing fixture is close to the material to be handled, and then the grabbing fixture grabs the material into the storage bucket 6. Furthermore, before handling the next material, the storage bucket 6 can be driven to rotate by the rotary drive mechanism so that the storage bucket 6 is correspondingly close to the position of the next material, and the position of the storage bucket 6 is changed, thereby reducing the handling route of the handling manipulator 7; or the position in the storage bucket 6 that has not been loaded is switched to the handling point, which can simplify the handling route of the handling manipulator 7, and the operation is more flexible, which is conducive to improving work efficiency.

[0039] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A handling robot with adjustable storage position, comprising a walking mechanism and a material handling device arranged on the walking mechanism; It is characterized in that The material handling device includes a storage mechanism and a transfer mechanism; the storage mechanism includes a storage bucket and a rotation drive mechanism for driving the storage bucket to rotate; the storage bucket is rotatably connected to the walking mechanism, and the rotation center of the storage bucket extends vertically; the storage bucket is power-connected to the rotation drive mechanism; the transfer mechanism includes a grabbing clamp for grabbing materials and a handling manipulator for driving the grabbing clamp to move in space, and the grabbing clamp is arranged on the end joint of the handling manipulator.

2. The transport robot with adjustable storage position according to claim 1, It is characterized in that The traveling mechanism comprises a vehicle frame, traveling wheels and a traveling driving mechanism, wherein the traveling wheels are rotatably connected to the vehicle frame and are connected to the traveling driving mechanism.

3. The transport robot with adjustable storage position according to claim 2, It is characterized in that The travel drive mechanism comprises a travel drive motor, which is arranged on the frame and connected to at least one set of travel wheels; The running wheels are Mecanum wheels; The walking drive motors and Mecanum wheels are each provided with four.

4. The transport robot with adjustable storage position according to claim 2, It is characterized in that A suspension plate is provided below the frame.

5. The transport robot with adjustable storage position according to claim 2, It is characterized in that Four infrared sensors located at different positions are arranged below the frame; two infrared sensors are arranged on the left and right sides of the frame respectively.

6. The transport robot with adjustable storage position according to claim 1, It is characterized in that The storage bucket is an annular structure and is provided with a plurality of storage slots.

7. The transport robot with adjustable storage position according to claim 1, It is characterized in that The rotary drive mechanism comprises a rotary drive motor and a rotary transmission assembly, and the rotary drive motor is arranged on the frame of the walking mechanism; The rotary transmission assembly comprises a driving gear and a driven gear, wherein the driving gear is coaxially connected to the output shaft of the rotary drive motor, and the driven gear is rotatably connected to the frame of the traveling mechanism through a bearing; and the storage bucket is fixedly connected to the driven gear.

8. The transport robot with adjustable storage position according to claim 7, It is characterized in that The driven gear is a hollow structure; the handling robot is arranged at the hollow position of the driven gear.

9. The transport robot with adjustable storage position according to claim 1, It is characterized in that The grabbing fixture is a negative pressure suction cup connected to the negative pressure device.

10. The transport robot with adjustable storage position according to claim 1, It is characterized in that A visual recognition module is provided on the end joint of the handling robot.

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