Intelligent carrying robot with material positioning function

Abstract

The utility model discloses an intelligent carrying robot with a material positioning function. The intelligent carrying robot comprises a walking mechanism, a material carrying device and a material positioning mechanism. The material carrying device comprises a storage mechanism and a material transfer mechanism; the material positioning mechanism comprises a positioning support, two positioning claws and a positioning driving mechanism, the positioning support is fixedly arranged at the front end of the walking mechanism, and the two positioning claws are oppositely arranged; the positioning driving mechanism comprises a positioning driving steering engine and a positioning transmission assembly, and the positioning transmission assembly comprises two synchronous gears which are meshed with each other; the two synchronous gears are fixedly connected with one ends of the two positioning claws respectively; wherein one synchromesh gear is fixedly connected with an output shaft of the positioning driving steering engine, and the other synchromesh gear is rotationally connected to a frame of the walking mechanism. The intelligent carrying robot can position the materials in advance, so that the materials are accurately grabbed, and the carrying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a handling robot, in particular to an intelligent handling robot with a material positioning function. Background Art

[0002] With the rapid development of industrial automation and information technology, traditional manual handling methods can no longer meet the needs of modern production efficiency and safety, especially in situations with high repetitiveness, harsh environments, or high precision requirements. Therefore, it is particularly important to develop a four-wheeled robot that can automatically complete cargo handling tasks, improve logistics efficiency, and reduce labor costs.

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

[0004] Existing handling robots lack a positioning mechanism for positioning materials, so it is difficult to accurately grasp materials every time, and the handling efficiency needs to be improved. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned problems and provide an intelligent handling robot with a material positioning function, which can pre-position the material so as to accurately grasp the material, thereby improving the handling efficiency.

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

[0007] An intelligent handling robot with a material positioning function comprises a walking mechanism and a material handling device and a material positioning mechanism arranged on the walking mechanism;

[0008] The material handling device includes a storage mechanism for storing materials and a material transfer mechanism for transferring materials to the storage mechanism or transferring materials from the storage mechanism;

[0009] The material positioning mechanism includes a positioning bracket, a positioning claw and a positioning drive mechanism, the positioning bracket is fixedly arranged at the front end of the traveling mechanism, and two positioning claws are provided and arranged opposite to each other; the positioning drive mechanism includes a positioning drive servo and a positioning transmission assembly, and the positioning transmission assembly includes two mutually meshing synchronous gears; the two synchronous gears are respectively fixedly connected to one end of the two positioning claws; one of the synchronous gears is fixedly connected to the output shaft of the positioning drive servo, and the other synchronous gear is rotatably connected to the frame of the traveling mechanism; the axis of the output shaft of the positioning drive servo extends vertically.

[0010] The working principle of the above-mentioned intelligent handling robot with material positioning function is:

[0011] When working, the material handling device and the material positioning mechanism are carried by the walking mechanism to move to the location of the material to be transported; before that, the two positioning claws are driven away from each other by the positioning drive servo, forming an eight-shaped shape; after approaching the material, the two positioning claws are driven close to each other by the positioning drive servo, so as to drive the material to the designated position and realize the positioning of the material; finally, the material at the designated position is transferred to the storage mechanism through the material transfer mechanism.

[0012] In a preferred solution of the utility model, the positioning drive steering gear is inverted on the positioning bracket, and the positioning claw is located below the positioning drive steering gear.

[0013] 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.

[0014] 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.

[0015] Furthermore, the travel wheels are Mecanum wheels; and the travel drive motors and Mecanum wheels are each provided with four.

[0016] A preferred solution of the utility model, wherein the walking mechanism also includes a tracking navigation module, which includes a tracking mounting plate and a laser tracking plate; a tracking avoidance hole is provided on the frame; and a tracking laser transmitter and a tracking laser receiver are provided on the laser tracking plate.

[0017] In a preferred embodiment of the present invention, the storage mechanism comprises a material bin, and a plurality of the material bins are provided and fixed on the frame of the traveling mechanism.

[0018] In a preferred embodiment of the present invention, the material transfer mechanism comprises a grabbing fixture for grabbing materials and a handling manipulator for driving the grabbing fixture to move in space.

[0019] Furthermore, the grabbing fixture is a negative pressure suction cup connected to the negative pressure device.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] The intelligent handling robot of the utility model can pre-position the material by arranging the material positioning mechanism, thereby greatly reducing the search range of the material transfer mechanism so that the material transfer mechanism can grasp the material more accurately and improve the handling efficiency at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1-2 The three-dimensional structure diagrams of the intelligent handling robot with material positioning function of the utility model are shown in two different perspectives.

[0023] Figure 3 It is a three-dimensional structural schematic diagram of the material positioning mechanism of the utility model. DETAILED DESCRIPTION

[0024] 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.

[0025] See also Figure 1-2 The intelligent handling robot with material positioning function of this embodiment includes a walking mechanism and a material handling device and a material positioning mechanism 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.

[0026] 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 .

[0027] Furthermore, the travel wheel 2 is a Mecanum wheel; and the travel drive motor 3 and the Mecanum wheel are each provided with four.

[0028] See also Figure 1-2 The walking mechanism also includes a tracking and navigation module, which includes a tracking installation plate 4 and a laser tracking plate 5; a tracking avoidance hole is provided on the frame 1; and a tracking laser transmitter and a tracking laser receiver are provided on the laser tracking plate 5.

[0029] See also Figure 1-2 The material handling device includes a storage mechanism for storing materials and a material transfer mechanism for transferring materials to the storage mechanism or transferring materials from the storage mechanism; wherein the storage mechanism includes a material bin 6, which is provided with a plurality of material bins 6 and fixed on the frame 1 of the walking mechanism.

[0030] See also Figure 1-2 The material transfer mechanism includes a grabbing fixture for grabbing materials and a handling robot 7 for driving the grabbing fixture to move in space.

[0031] Further, the grabbing fixture is a negative pressure suction cup 8 connected to the negative pressure device. Specifically, the handling robot 7 and the negative pressure suction cup 8 of this embodiment both adopt the existing structure.

[0032] See also Figure 1-3 The material positioning mechanism includes a positioning bracket 9, a positioning claw 10 and a positioning drive mechanism. The positioning bracket 9 is fixedly arranged at the front end of the traveling mechanism. Two positioning claws 10 are provided and are arranged opposite to each other. The positioning drive mechanism includes a positioning drive servo 11 and a positioning transmission assembly. The positioning transmission assembly includes two mutually meshing synchronous gears 12. The two synchronous gears 12 are respectively fixedly connected to one end of the two positioning claws 10. One of the synchronous gears 12 is fixedly connected to the output shaft of the positioning drive servo 11, and the other synchronous gear 12 is rotatably connected to the frame 1 of the traveling mechanism. The axis of the output shaft of the positioning drive servo 11 extends vertically.

[0033] Furthermore, the positioning driving servo 11 is inverted on the positioning bracket 9 , and the positioning claw 10 is located below the positioning driving servo 11 .

[0034] See also Figure 1-3 The working principle of the intelligent handling robot with material positioning function in this embodiment is as follows:

[0035] During operation, the material handling device and the material positioning mechanism are carried by the walking mechanism to move to the location of the material to be handled; before that, the two positioning claws 10 are driven away from each other by the positioning drive servo 11 to form an eight-shaped shape; after approaching the material, the two positioning claws 10 are driven to approach each other by the positioning drive servo 11, so as to drive the material to the designated position and realize the positioning of the material; finally, the material at the designated position is transferred to the storage mechanism by the material transfer mechanism.

[0036] 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. An intelligent handling robot with material positioning function, characterized in that: It includes a traveling mechanism and a material handling device and a material positioning mechanism arranged on the traveling mechanism; The material handling device includes a storage mechanism for storing materials and a material transfer mechanism for transferring materials to the storage mechanism or transferring materials from the storage mechanism; The material positioning mechanism includes a positioning bracket, a positioning claw and a positioning drive mechanism, the positioning bracket is fixedly arranged at the front end of the traveling mechanism, and two positioning claws are provided and arranged opposite to each other; the positioning drive mechanism includes a positioning drive servo and a positioning transmission assembly, and the positioning transmission assembly includes two mutually meshing synchronous gears; the two synchronous gears are respectively fixedly connected to one end of the two positioning claws; one of the synchronous gears is fixedly connected to the output shaft of the positioning drive servo, and the other synchronous gear is rotatably connected to the frame of the traveling mechanism; the axis of the output shaft of the positioning drive servo extends vertically.

2. The intelligent handling robot with material positioning function according to claim 1, characterized in that: The positioning drive steering gear is inverted on the positioning bracket, and the positioning claw is located below the positioning drive steering gear.

3. The intelligent handling robot with material positioning function according to claim 1, 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.

4. The intelligent handling robot with material positioning function according to claim 3, characterized in that: The travel drive mechanism comprises a travel drive motor, which is arranged on the vehicle frame and connected to at least one set of travel wheels.

5. The intelligent handling robot with material positioning function according to claim 4, characterized in that: The travel wheels are Mecanum wheels; four travel drive motors and four Mecanum wheels are provided.

6. The intelligent handling robot with material positioning function according to claim 3, characterized in that: The walking mechanism also includes a tracking navigation module, which includes a tracking installation plate and a laser tracking plate; the frame is provided with a tracking avoidance hole; the laser tracking plate is provided with a tracking laser transmitter and a tracking laser receiver.

7. The intelligent handling robot with material positioning function according to claim 1, characterized in that: The storage mechanism comprises a material bin, and a plurality of the material bins are provided and fixed on the frame of the traveling mechanism.

8. The intelligent handling robot with material positioning function according to claim 1, characterized in that: The material transfer mechanism comprises a grabbing fixture for grabbing materials and a handling robot for driving the grabbing fixture to move in space.

9. The intelligent handling robot with material positioning function according to claim 8, characterized in that: The grabbing fixture is a negative pressure suction cup connected to the negative pressure device.

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