Multifunctional modular material carrying manipulator based on warehouse logistics
Patent Information
- Application Number
- CN202421261304.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-04
- Publication Date
- 2025-01-28
- Estimated Expiration
- 2034-06-04
AI Technical Summary
The existing warehousing and logistics field lacks a multi-functional modular handling equipment integrating palletization, stacking, handling and hoisting, resulting in low handling efficiency and high cost.
Designed a multi -functional module chemical handling robot based on warehousing and logistics, including modular beam modules, trolley structure modules, rolling deceleration motor modules, clamping driving devices, fork robotic modules, and other components. Realize multifunctional handling operations.
It has significantly improved the efficiency of warehousing logistics, reduced costs, achieved multi -functional handling operations, and low installation costs and high advancedness.
Smart Images
Figure CN222409613U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of handling machinery, in particular to a multifunctional modular material handling manipulator based on warehousing logistics. Background Art
[0002] The existing warehousing and logistics fields often need to transport materials. The existing material handling methods often include the following: one is manual handling, and the other is handling by a variety of handling mechanical carts. The first handling method consumes a lot of manpower and material resources. The second handling method requires different handling carts for transfer, so its handling efficiency is low. There is a lack of a multifunctional modular handling equipment that integrates palletizing, stacking, handling, and lifting suitable for the warehousing and logistics field. Utility Model Content
[0003] To this end, the utility model provides a multifunctional modular material handling manipulator based on warehousing and logistics to solve the above-mentioned problems in the prior art. In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: According to the first aspect of the utility model, a multifunctional modular material handling manipulator based on warehousing and logistics includes a modular end beam module, a trolley structure module, a modular end beam assembly, a winch reduction motor module, a clamping drive device, an external fixed structure frame, a first-order clamping structure, a second-order driven structure, a third-order lifting structure and a fork manipulator module; the modular end beam module has two mutually parallel beams, each of which is slidably connected to a modular end beam assembly, and a trolley structure module is installed on the top of the two modular end beam assemblies, and the trolley structure module is installed on the top of the two modular end beam assemblies. An external fixed structure frame is fixed at the lower part of the structure module group, a clamping drive device is arranged in the middle part of the trolley structure module, first-order clamping structures are respectively installed on both sides of the clamping drive device, the first-order clamping structure is horizontally slidably connected to the crossbeam of the external fixed structure frame, each first-order clamping structure is slidably connected to a second-order driven structure in the vertical direction, each second-order driven structure is slidably connected to a third-order lifting structure in the vertical direction, a fork manipulator module is installed at the bottom of each third-order lifting structure, and winch reduction motor modules are respectively arranged on the two edges of the trolley structure module, and the winch reduction motor modules correspond to the three-order lifting structures for lifting.
[0004] Furthermore, the clamping drive device includes a clamping drive motor A and a clamping screw A. The clamping drive motor A is arranged at the middle position of the trolley structure module. The two output shafts of the clamping drive motor A are respectively connected to the clamping screws A. The two clamping screws A are respectively and correspondingly passed through the top cross beam of the first-order clamping structure on both sides and are connected with the straight thread.
[0005] Furthermore, the winch reduction motor module includes a winch reduction motor, a drum and a fixed pulley. The winch reduction motor is arranged in the middle of the edge of the trolley structure at the upper end of the modular end beam assembly. Each winch reduction motor is installed with a drum on the rotating shaft extending to both ends. A steel wire rope is wound on the drum. A fixed pulley is installed on the top of the first-order clamping structure. The steel wire rope passes around the fixed pulley and is connected to the movable pulley installed on the top of the third-order lifting structure.
[0006] Furthermore, the winch reduction motor module also includes a brake, and a brake is provided at the end of each drum away from the winch reduction motor.
[0007] Furthermore, it also includes a limit buffer, and a limit buffer is arranged at a position between two fixed pulleys on the top of the three-step lifting structure.
[0008] Furthermore, the fork manipulator module includes a clamping drive motor B, a commutator, a clamping screw B, a manipulator jacket and a mechanical claw; a clamping drive motor B is installed in the middle of the bottom crossbeam of the three-stage lifting structure, and a commutator is installed on the output shaft of the clamping drive motor B. The commutator has clamping screws B extending to both sides of the clamping drive motor B. The clamping screws B are passed through the top of the manipulator jacket and threadedly connected thereto, and a mechanical claw is installed at the bottom of the manipulator jacket, and the mechanical claw has an L-shaped bending structure.
[0009] Furthermore, the fork manipulator module also includes a rotary drive motor, which is installed on the top of the manipulator jacket and whose output shaft is vertically downward and connected to the mechanical claw through a coupling.
[0010] Furthermore, an end beam travel motor is installed at the end of the modular end beam assembly, and a crane travel motor is installed at the end of the modular end beam module.
[0011] Furthermore, it also includes an electric control cabinet. The electric control cabinet is installed on the top of the trolley structure module. A controller is installed in the electric control cabinet. The modular end beam module, the modular end beam assembly, the winch reduction motor module, the clamping drive device and the power drive device of the fork manipulator module are all electrically connected to the controller.
[0012] Furthermore, it also includes a wireless antenna, which is installed on the top of the electric control cabinet and is wirelessly connected to the controller in the electric control cabinet.
[0013] The utility model has the following advantages: through the utility model, a multifunctional modular material handling manipulator based on warehousing logistics is integrated with the functions of palletizing, stacking, handling and lifting, which significantly improves the handling efficiency of warehousing logistics and greatly reduces the cost required for warehousing logistics. The device realizes multifunctional handling with low cost and high advancement. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 A first-person perspective stereoscopic structural diagram of a multifunctional modular material handling manipulator based on warehousing logistics is provided in some embodiments of the utility model.
[0015] Figure 2 A second-perspective stereoscopic structural diagram of a multifunctional modular material handling manipulator based on warehousing logistics is provided in some embodiments of the utility model.
[0016] Figure 3 A top partial structural diagram of a multifunctional modular material handling manipulator based on warehousing logistics provided in some embodiments of the utility model.
[0017] Figure 4 A structural diagram of a fork manipulator assembly of a multifunctional modular material handling manipulator based on warehousing logistics provided in some embodiments of the utility model.
[0018] Figure 5 A plan view of a multifunctional modular material handling manipulator based on warehousing logistics provided in some embodiments of the utility model.
[0019] In the figure, 1. Modular end beam module, 2. Trolley structure module, 3. Modular end beam assembly, 4. Winch reduction motor module, 5. Clamping drive device, 6. External fixed structure frame, 7. First-order clamping structure, 8. Second-order driven structure, 9. Third-order lifting structure, 10. Fork manipulator module, 11. Electric control cabinet, 12. Wireless antenna, 13. Winch reduction motor, 14. Drum, 15. Brake, 16. Fixed pulley, 17. Clamping drive motor A, 18. Clamping screw A, 19. End beam travel motor, 20. Limit buffer, 21. Moving pulley, 22. Clamping drive motor B, 23. Commutator, 24. Rotary drive motor, 25. Clamping screw B, 26. Manipulator jacket, 27. Mechanical claw, 28. Travel motor. DETAILED DESCRIPTION
[0020] The following is a specific embodiment of the present invention. People familiar with the technology can easily understand the other advantages and functions of the present invention from the contents disclosed in this specification. Obviously, the described embodiment is a part of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0021] Example 1
[0022] like Figures 1 to 5As shown, a multifunctional modular material handling manipulator based on warehousing logistics in the embodiment of the first aspect of the utility model comprises a modular end beam module 1, a trolley structure module 2, a modular end beam assembly 3, a winch reduction motor module 4, a clamping drive device 5, an external fixed structure frame 6, a first-order clamping structure 7, a second-order driven structure 8, a third-order lifting structure 9 and a fork manipulator module 10; the modular end beam module 1 has two mutually parallel beams, each of which is slidably connected to a modular end beam assembly 3, a trolley structure module 2 is installed on the top of the two modular end beam assemblies 3, and the lower part of the trolley structure module 2 is fixed with an external fixed structure. A clamping drive device 5 is arranged in the middle of the fixed structure frame 6 and the trolley structure module 2. First-order clamping structures 7 are respectively installed on both sides of the clamping drive device 5. The first-order clamping structures 7 are horizontally slidably connected to the crossbeam of the external fixed structure frame 6. Each first-order clamping structure 7 is slidably connected to a second-order driven structure 8 in the vertical direction. Each second-order driven structure 8 is slidably connected to a third-order lifting structure 9 in the vertical direction. A fork manipulator module 10 is installed at the bottom of each third-order lifting structure 9. Winch reduction motor modules 4 are respectively arranged on the two edges of the trolley structure module 2. The winch reduction motor modules 4 correspond to the three-order lifting structures 9 for lifting.
[0023] The technical effect achieved by the above embodiment is: through a multifunctional modular material handling robot based on warehousing logistics in this embodiment, the functions of palletizing, stacking, handling and lifting are integrated, which significantly improves the handling efficiency of warehousing logistics and greatly reduces the cost required for warehousing logistics. The device realizes multifunctional handling with low cost and high advancement.
[0024] Example 2
[0025] like Figures 1 to 5 As shown, a multifunctional modular material handling robot based on warehousing logistics includes all the contents of Example 1. In addition, the clamping drive device 5 includes a clamping drive motor A17 and a clamping screw A18. The clamping drive motor A17 is arranged at the middle position of the trolley structure module 2. The two output shafts of the clamping drive motor A17 are respectively connected to the clamping screws A18. The two clamping screws A18 are respectively and correspondingly passed through the top cross beams of the first-order clamping structure 7 on both sides and are connected with the straight threads.
[0026] The technical effect achieved by the above embodiment is: when working, the output shaft of the clamping drive motor A17 drives the clamping screw A18 extending at both ends to rotate. Since the clamping screw A18 and the top crossbeam of the first-order clamping structure 7 constitute a nut-screw pair, the top crossbeams of the first-order clamping structure 7 are moved closer to and farther away from each other, thereby driving the fork manipulator module 10 at the bottom to clamp and release the goods.
[0027] Example 3
[0028] like Figures 1 to 5 As shown, a multifunctional modular material handling robot based on warehousing logistics includes all the contents of Example 2. In addition, the winch reduction motor module 4 includes a winch reduction motor 13, a roller 14 and a fixed pulley 16. The winch reduction motor 13 is arranged in the middle of the edge of the trolley structure at the upper end of the modular end beam assembly 3, and each winch reduction motor 13 is installed with a roller 14 on the rotating shaft extending to both ends respectively, and a steel wire rope is wound on the roller 14. A fixed pulley 16 is installed on the top of the first-order clamping structure 7, and the steel wire rope passes around the fixed pulley 16 and is connected to the movable pulley 21 installed on the top of the third-order lifting structure 9.
[0029] Optionally, the winch reduction motor module 4 also includes a brake 15, and a brake 15 is provided at the end of each roller 14 away from the winch reduction motor 13. The winch reduction motor 13 is also equipped with heavy-duty four-column bearing seats on both sides, which can bear and share the force from the lower hoisting.
[0030] The technical effect achieved by the above embodiment is as follows: when working, the output shaft of the winch reduction motor 13 rotates, driving the gear commutator at its output shaft to rotate. The two output shafts of the gear commutator are respectively connected to the drum 14. When the drum 14 rotates, it drives the wire rope wound thereon. The wire rope passes through the fixed pulley 16 and is wound around the movable pulley 21, thereby driving the lifting and lowering of the three-stage lifting structure 9, and then driving the lifting and lowering of the fork manipulator module 10; when braking is required, the brake 15 is actuated to achieve braking of the drum 14. In addition, the winch reduction motor 13 also has a braking function, thereby realizing a dual braking mode.
[0031] Example 4
[0032] like Figures 1 to 5 As shown, a multifunctional modular material handling robot based on warehousing logistics includes all the contents of Example 3, and in addition, also includes a limit buffer 20. The limit buffer 20 is set at the top of the three-step lifting structure 9 between the two fixed pulleys 16.
[0033] The technical effect achieved by the above embodiment is: by providing the limit buffer 20, the limit position of the top of the three-stage lifting structure 9 is achieved.
[0034] Example 5
[0035] like Figures 1 to 5As shown, a multifunctional modular material handling manipulator based on warehousing logistics includes all the contents of Example 4. In addition, the fork manipulator module 10 includes a clamping drive motor B22, a commutator 23, a clamping screw B25, a manipulator jacket 26 and a mechanical claw 27; a clamping drive motor B22 is installed in the middle of the bottom crossbeam of the three-stage lifting structure 9, and a commutator 23 is installed on the output shaft of the clamping drive motor B22. The commutator 23 has clamping screws B25 extending to both sides of the clamping drive motor B22. The clamping screw B25 is passed through the top of the manipulator jacket 26 and is threadedly connected thereto. A mechanical claw 27 is installed at the bottom of the manipulator jacket 26, and the mechanical claw 27 is an L-shaped bending structure.
[0036] Optionally, the fork manipulator module 10 further includes a rotary drive motor 24, which is mounted on the top of the manipulator jacket 26 and whose output shaft is vertically downwardly connected to the mechanical claw 27 through a coupling.
[0037] The technical effect achieved by the above embodiment is: when working, the clamping drive motor B22 drives the commutator 23 to rotate, thereby driving the clamping screws B25 extending on both sides to rotate, and under the action of the nut-screw pair formed by the clamping screws B25 and the manipulator jacket 26, the two manipulator jackets 26 are moved closer to and farther away from each other, thereby realizing the adjustment of the position of the mechanical claw 27; by setting the rotating drive motor 24, the rotation of the mechanical claw 27 is realized.
[0038] Example 6
[0039] like Figures 1 to 5 As shown, a multifunctional modular material handling robot based on warehousing logistics includes all the contents of Example 5. In addition, an end beam travel motor 19 is installed at the end of the modular end beam assembly 3, and a traveling motor 28 is installed at the end of the modular end beam module 1; the end beam travel motor 19 realizes the reciprocating movement of the modular end beam assembly 3 on the crossbeam of the modular end beam module 1, and the traveling motor 28 realizes the reciprocating movement of the modular end beam module 1.
[0040] Optionally, it also includes an electric control cabinet 11. The electric control cabinet 11 is installed on the top of the trolley structure module 2. A controller is installed in the electric control cabinet 11. The modular end beam module 1, the modular end beam assembly 3, the winch reduction motor module 4, the clamping drive device 5 and the power drive device of the fork manipulator module 10 are all electrically connected to the controller. By setting the electric control cabinet 11 and the controller, intelligent control of the device is realized.
[0041] Optionally, a wireless antenna 12 is also included. The wireless antenna 12 is installed on the top of the electric control cabinet 11. The wireless antenna 12 is radio-connected to the controller in the electric control cabinet 11. By setting the wireless antenna 12, remote control of the device is achieved.
[0042] In the above embodiment, it should be noted that, during installation, a longitudinal slide rail is provided on the top surface of the trolley structure module 2, and the top of the first-order clamping structure 7 is slidably connected to the slide rail. At the same time, a cross beam and a slide rail are provided in the longitudinal direction of the external fixed structure frame 6, and a slider is provided on the vertical beam of the first-order clamping structure 7, and the slider of the first-order clamping structure 7 is slidably connected to the slide rail of the external fixed structure frame 6.
[0043] In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0047] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.
[0048] In the description of this specification, the description with reference to the terms "embodiment one", "embodiment two", "example", "specific example", or "some examples" means that the specific method, device or feature described in conjunction with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, methods, devices or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.
[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A multifunctional modular material handling manipulator based on warehousing logistics, characterized in that: The invention comprises a modular end beam module (1), a trolley structure module (2), a modular end beam assembly (3), a winch reduction motor module (4), a clamping drive device (5), an external fixed structure frame (6), a first-order clamping structure (7), a second-order driven structure (8), a third-order lifting structure (9) and a forklift manipulator module (10); the modular end beam module (1) has two mutually parallel cross beams, each cross beam is slidably connected with a modular end beam assembly (3), the top of the two modular end beam assemblies (3) is installed with a trolley structure module (2), the lower part of the trolley structure module (2) is fixed with an external fixed structure frame (6), and the middle part of the trolley structure module (2) is provided with a A clamping drive device (5) is provided, and first-order clamping structures (7) are respectively installed on both sides of the clamping drive device (5). The first-order clamping structures (7) are horizontally slidably connected to the crossbeam of the external fixed structure frame (6), and each first-order clamping structure (7) is slidably connected to a second-order driven structure (8) in the vertical direction, and each second-order driven structure (8) is slidably connected to a third-order lifting structure (9) in the vertical direction. A forklift manipulator module (10) is installed at the bottom of each third-order lifting structure (9), and winch reduction motor modules (4) are respectively arranged on the two edges of the trolley structure module (2), and the winch reduction motor modules (4) are respectively used to lift the third-order lifting structures (9).
2. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 1 is characterized in that: The clamping drive device (5) comprises a clamping drive motor A (17) and a clamping screw A (18). The clamping drive motor A (17) is arranged at the middle position of the trolley structure module (2). The two output shafts of the clamping drive motor A (17) are respectively connected to the clamping screws A (18). The two clamping screws A (18) are respectively correspondingly arranged at the top cross beams of the first-order clamping structure (7) on both sides and are connected with straight threads.
3. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 2 is characterized in that: The winch reduction motor module (4) comprises a winch reduction motor (13), a roller (14) and a fixed pulley (16). The winch reduction motor (13) is arranged at the middle of the edge of the trolley structure at the upper end of the modular end beam assembly (3). A roller (14) is installed on the rotating shaft extending to both ends of each winch reduction motor (13). A steel wire rope is wound around the roller (14). A fixed pulley (16) is installed on the top of the first-stage clamping structure (7). The steel wire rope passes around the fixed pulley (16) and is connected to a movable pulley (21) installed on the top of the third-stage lifting structure (9).
4. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 3 is characterized in that: The hoisting reduction motor module (4) also includes a brake (15), and a brake (15) is provided at the end of each roller (14) away from the hoisting reduction motor (13).
5. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 3 is characterized in that: It also includes a limit buffer (20), and the limit buffer (20) is arranged at a position between two fixed pulleys (16) at the top of the three-step lifting structure (9).
6. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 1 is characterized in that: The fork manipulator module (10) comprises a clamping drive motor B (22), a commutator (23), a clamping screw B (25), a manipulator jacket (26) and a mechanical claw (27); a clamping drive motor B (22) is installed in the middle of the bottom crossbeam of the three-stage lifting structure (9); a commutator (23) is installed on the output shaft of the clamping drive motor B (22); a clamping screw B (25) extends from the commutator (23) to both sides of the clamping drive motor B (22); the clamping screw B (25) is passed through the top of the manipulator jacket (26) and is threadedly connected thereto; a mechanical claw (27) is installed at the bottom of the manipulator jacket (26); and the mechanical claw (27) is in an L-shaped bending structure.
7. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 6 is characterized in that: The fork manipulator module (10) further comprises a rotary drive motor (24), which is mounted on the top of the manipulator jacket (26) and whose output shaft is vertically downwardly connected to the mechanical claw (27) through a coupling.
8. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 1 is characterized in that: An end beam travel motor (19) is installed at the end of the modular end beam assembly (3), and a crane travel motor (28) is installed at the end of the modular end beam module (1).
9. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 1 is characterized in that: The invention also comprises an electric control cabinet (11), the electric control cabinet (11) is installed on the top of the trolley structure module (2), a controller is installed in the electric control cabinet (11), and the modular end beam module (1), the modular end beam assembly (3), the winch reduction motor module (4), the clamping drive device (5) and the power drive device of the fork manipulator module (10) are all electrically connected to the controller.
10. The multifunctional modular material handling manipulator based on warehousing logistics according to claim 9 is characterized in that: It also includes a wireless antenna (12), which is installed on the top of the electric control cabinet (11) and is connected to the controller in the electric control cabinet (11) by radio.