Movable grabbing and sub-packaging robot

Abstract

The utility model discloses a mobile grabbing and sub-packaging robot, which is characterized in that a traveling mechanism, a support frame, an objective table, a lifting mechanism, a material box and a material taking arm are arranged on a mobile base, so that multiple functions of material temporary storage, material grabbing, material sub-packaging and material transfer are integrated, the space for arranging sub-packaging stations is saved, and the working efficiency is improved. Stations for executing the next procedure can be arranged close to the area where the material frame is located, and the length of a production line can be shortened; according to the movable grabbing and subpackaging robot, grabbing and subpackaging of various materials are directly completed in the area where the material frame is located, then the material box is transferred to the station where the next working procedure is executed, repeated transferring and material basket transferring between the area where the material frame is located and the subpackaging station are omitted, time and efficiency are saved, and the working efficiency is improved. The movable grabbing and sub-packaging robot can transfer a small amount of materials through the material box every time, and energy consumption can be better reduced; the problem that at present, material grabbing and sub-packaging consume long time can be effectively solved, and the effect of improving the material sub-packaging efficiency is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of material transportation and packaging, and in particular relates to a mobile grabbing and packaging robot. Background Art

[0002] Grabbing materials and matching and packaging them as needed are involved in all walks of life, such as grabbing multiple drugs according to prescriptions in hospitals and packaging them to obtain multiple sets of medicines, or grabbing multiple raw materials according to the ratio in pharmaceutical factories and packaging them to obtain multiple sets of raw material combinations, or grabbing multiple parts according to the composition of the parts in auto parts factories and packaging them to obtain multiple combinations of parts to be assembled. The process of grabbing and packaging materials generally includes the following steps: 1) First, take the material basket containing the materials from the material rack, and then transfer the material basket to the packaging station, grab the materials at the packaging station for multiple times and put them into multiple material boxes respectively, and then transport the material frame back to its original position, 2) Take the material frame containing another material to the packaging station, grab the materials at multiple times and put them into multiple material boxes respectively, and then transport the material frame back to its original position, 3) Repeat step 2 according to the requirements of the material combination, and finally make each material box contain the required material combination, so that the components can be packaged and shipped, mixed and pharmaceutically prepared, or assembled to obtain the product.

[0003] In order to improve efficiency and reduce manual labor intensity, a forklift is generally used to remove the material basket from the material rack and transfer it to the filling station, such as an intelligent forklift disclosed in Chinese patent CN106744523B, and a mechanical structure for grabbing and filling materials is set at the filling station, such as an automatic filling device and assembly device disclosed in Chinese patent CN217554384U; although the material transfer is carried out mechanically, the material frame is transferred to the filling station, and then the material is taken and returned, and the picking and placing of multiple materials are completed in this way. The whole process is still time-consuming and inefficient. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a mobile grabbing and packaging robot to solve the current technical problem of time-consuming material grabbing and packaging, thereby achieving the effect of improving material packaging efficiency.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] A mobile grabbing and packaging robot comprises a mobile base with a walking mechanism at the bottom, a support frame is vertically provided on the mobile base, a loading platform is vertically slidably provided on the support frame, the loading platform is used to place a material frame, and a lifting mechanism is provided on the mobile base or the loading platform to drive the loading platform to slide vertically; a packaging platform is also fixedly provided on the support frame, the packaging platform is higher than the loading platform and is laterally spaced from the loading platform, a material box with an opening facing upward is placed on the packaging platform, and the interior of the material box is divided by partitions to form a plurality of material grids; a material picking arm is provided on the support frame above the loading platform, and the material picking arm is used to grab the material on the loading platform and pack it into each material grid when the loading platform is close to the packaging platform.

[0007] Furthermore, a visual capture device is provided on the support frame above the dispensing platform, and the visual capture device is electrically connected to the material picking arm through a controller to assist the material picking arm to accurately complete the grasping and dispensing actions.

[0008] Furthermore, a telescopic mechanism is provided between the material box and the support frame, the fixed end of the telescopic mechanism is connected to the support frame, and the telescopic end is connected to the material box. The telescopic mechanism is used to drive the material box to move horizontally in the direction of the interval between the loading platform and the filling platform; a unloading port is opened at the bottom of the material grid.

[0009] Furthermore, the support frame is a gantry frame, and the loading platform and the loading platform are respectively arranged on both sides of the support frame.

[0010] Furthermore, the picking arm adopts a horizontal multi-joint mechanical arm, the maximum horizontal dimension of the picking arm is smaller than the inner width of the support frame, and the end of the picking arm is provided with a vertically movable gripper or negative pressure suction cup.

[0011] Furthermore, the walking mechanism includes four universal wheels and two independently driven driving wheels. The four universal wheels are respectively arranged at the four corners of the mobile base, and the two driving wheels are respectively located in the middle of two opposite sides of the walking mechanism.

[0012] Furthermore, a storage box is horizontally rotatably connected to the loading platform, and the loading platform is provided with a driving mechanism for driving the storage box to rotate horizontally. The opening of the storage box faces upward and there is a notch on one lateral side so that a material basket containing materials can be horizontally placed in the storage box.

[0013] Furthermore, on the side where the notch is located, there are levers rotatably connected to the notch through a rotating shaft on both sides of the notch, the rotating shaft is arranged along the direction of the notch, the lever is perpendicular to the rotating shaft, one end of the rotating shaft is fixedly connected to the lever, and the other end is transmission connected to the motor in the storage box shell.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. The mobile grabbing and packaging robot described in the utility model can directly complete the grabbing and packaging of various materials in the area where the material rack is located, and then transfer the material box to the workstation for executing the next process, eliminating the need for repeated transportation and transfer of material baskets between the area where the material rack is located and the packaging workstation, which is not only conducive to saving time and efficiency, but also the mobile grabbing and packaging robot only transfers a small amount of material through the material box each time, which is more conducive to reducing energy consumption; it can effectively solve the problem of long time consumption in material grabbing and packaging, and achieve the effect of improving material packaging efficiency.

[0016] 2. The mobile grabbing and packaging robot of the utility model integrates multiple functions of material temporary storage, material grabbing, material packaging and material transportation by arranging a walking mechanism, a support frame, a loading platform, a lifting mechanism, a material box and a material picking arm on a mobile base, thereby saving space for arranging packaging stations, and arranging stations for performing the following processes near the area where the material rack is located, which is conducive to shortening the length of the production line; the mobile grabbing and packaging robot

[0017] 3. The mobile grabbing and packaging robot described in the utility model occupies a small area and can be flexibly moved. Through coordinated control, multiple mobile grabbing and packaging robots can be simultaneously moved around the area where the material rack is located to perform various material picking and packaging tasks, thereby further improving the utilization of space and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A front perspective view of the mobile grabbing and packaging robot described in the embodiment;

[0019] Figure 2 A rear perspective view of the mobile grabbing and packaging robot described in the embodiment;

[0020] Figure 3 It is a front view of the mobile grabbing and packaging robot described in the embodiment;

[0021] Figure 4 It is a partial schematic diagram of the mobile grabbing and packing robot (the inner wall panel of the storage box is hidden) described in the embodiment;

[0022] Figure 5 A bottom view of the mobile grabbing and packaging robot described in the embodiment;

[0023] Among them, there are a mobile base 1, a universal wheel 11, a driving wheel 12, a support frame 2, a vertical beam 21, a horizontal beam 22, a slide 23, a slide seat 24, a guide wheel 25, a first motor 26, a loading platform 3, a storage box 31, a lever 32, a second motor 33, a loading platform 4, a material box 5, a partition 51, a material grid 52, a material picking arm 6, and a screw 61. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model.

[0025] Example:

[0026] See also Figure 1 , a mobile grabbing and packaging robot, comprising a mobile base 1 with a walking mechanism at the bottom, a support frame 2 is vertically provided on the mobile base 1, a loading platform 3 is vertically slidably provided on the support frame 2, the loading platform 3 is used to place a material frame, and a lifting mechanism is provided on the mobile base 1 or the loading platform 3 to drive the loading platform 3 to slide vertically; a loading platform 4 is also fixedly provided on the support frame 2, the loading platform 4 is higher than the loading platform 3 and is arranged horizontally spaced from the loading platform 3, a material box 5 with an opening facing upward is placed on the loading platform 4, and the interior of the material box 5 is divided by a partition 51 to form a plurality of material grids 52; a material picking arm 6 is provided on the support frame 2 above the loading platform 4, and the material picking arm 6 is used to grab the material on the loading platform 3 and pack it into each material grid 52 when the loading platform 3 is close to the loading platform 4; in this embodiment, a visual capturer (not shown in the figure) is also provided on the support frame 2 above the loading platform 4, and the visual capturer is electrically connected to the material picking arm 6 through a controller to assist the material picking arm 6 to accurately complete the grabbing and packaging actions.

[0027] The working process of the mobile grabbing and packaging robot described in the utility model is roughly as follows: 1) the walking mechanism drives the mobile grabbing and packaging robot to move to the vicinity of the material rack; 2) the material basket containing materials on the material rack is taken down manually, by forklift or even by the material rack, and is placed on the loading platform 3; 3) the lifting mechanism drives the loading platform 3 to rise, so that the material frame is close to the packaging platform 4 or is at the same height as the packaging platform 4 in the vertical direction; then the material grabbing arm 6 grabs the material multiple times and loads it into each material grid 52 respectively, so as to realize the packaging of the same material; 4) repeat steps 2) and 3) to complete the material grabbing and packaging tasks of multiple materials, so that the multiple material grids 52 of the material box 5 can respectively hold multiple complete material combinations; 5) the walking mechanism drives the mobile grabbing and packaging robot to move to subsequent workstations, such as the transfer station, the packaging station and the assembly station, unloads the materials in the material box 5 and returns to the vicinity of the material rack, waiting for the next material grabbing and packaging task.

[0028] The mobile grabbing and packaging robot of the utility model integrates multiple functions of material temporary storage, material grabbing, material packaging and material transportation by arranging a walking mechanism, a support frame 2, a loading platform 3, a lifting mechanism, a material box 5 and a material picking arm 6 on a mobile base 1, thereby saving space for arranging packaging stations, and arranging stations for performing the following process near the area where the material rack is located, which is conducive to shortening the length of the production line; the mobile grabbing and packaging robot directly completes the grabbing and packaging of multiple materials in the area where the material rack is located, and then transports the material box 5 to the station for performing the following process, eliminating the need for a space between the area where the material rack is located and the packaging station Repeatedly transporting and passing material baskets is not only conducive to saving time and efficiency, but the mobile grasping and packaging robot only transports a small amount of material through the material box 5 each time, which is more conducive to reducing energy consumption; in addition, the mobile grasping and packaging robot occupies a small area and can be flexibly moved. Through coordinated control, multiple mobile grasping and packaging robots can be simultaneously shuttled in the area where the material rack is located to perform various material picking and packaging tasks respectively, thereby further improving the utilization rate of space and time; the mobile grasping and packaging robot described in the utility model can effectively solve the problem of long time-consuming material grasping and packaging at present, and achieve the effect of improving material packaging efficiency.

[0029] In the mobile grasping and packaging robot, when the loading platform 3 descends to abut against the mobile base 1, it is at the lowest position. In order to facilitate the transfer of the material basket containing materials to the loading platform 3, the lowest position should be as close to the ground as possible; and the subsequent workstations generally have a certain height from the ground, such as the workstations for transporting the material box 5 or packaging the materials in each material grid 52 separately. Therefore, in order to facilitate the connection with the subsequent working procedures and avoid accidentally touching the material box 5 when taking and placing the material basket on the loading platform 3, the packaging platform 4 needs to be set higher than the loading platform 3 and adapted to the corresponding height of the subsequent workstations; in addition, in order to further avoid interference between the taking and placing operations of the material basket and the packaging platform 4, in this embodiment, the support frame 2 adopts a gantry frame, and the loading platform 3 and the packaging platform 4 are respectively arranged on both sides of the support frame 2.

[0030] In addition, a telescopic mechanism (not shown in the figure) is also provided between the material box and the support frame, the fixed end of the telescopic mechanism is connected to the support frame, and the telescopic end is connected to the material box, and the telescopic mechanism is used to drive the material box to move horizontally in the direction of the interval between the loading platform and the sub-packaging platform; a discharge port is provided at the bottom of the material grid; when implemented, the telescopic mechanism can adopt an electric telescopic rod or a cylinder, and a discharge platform with the same height as the sub-packaging platform can be provided at the subsequent station, and a discharge port corresponding to each discharge port and openable and closable can be provided on the discharge platform; in this way, when the mobile grabbing and sub-packaging robot is finished picking up materials and sub-packaging, when it arrives at the subsequent station, the sub-packaging platform is connected to the discharge platform, and the telescopic mechanism pushes the material box to move to the discharge platform, and the discharge ports on the discharge platform can be opened one by one to discharge the grouped materials in each material grid, so that the grouped materials can be packaged, transported or assembled one by one, so that there is no need to take and put the material box when discharging, which is conducive to improving efficiency; of course, if the subsequent station can process multiple grouped materials at the same time, all the discharge ports on the discharge platform can be opened at the same time to discharge the grouped materials in each material grid at the same time.

[0031] Based on the premise that the loading platform 4 is higher than the loading platform 3, the loading platform 3 or the material picking arm 6 can be set to rise and fall vertically to complete the material picking and packing tasks. However, considering that for each material, the material picking arm 6 must be grabbed multiple times and placed in multiple material grids 52 respectively, if the material picking arm 6 is raised and lowered, it will not only lead to a longer time-consuming grabbing and packing of the same material, but also cause the material picking arm 6 to rise and fall too frequently, which is energy-consuming and prone to malfunctions. Therefore, the utility model chooses to complete the material picking and packing tasks by lifting the loading platform 3 to cooperate with the material picking arm 6 and the loading platform 4. During implementation, the lifting mechanism can adopt a variety of structural forms, such as vertically arranging a hydraulic cylinder between the mobile base 1 and the loading platform 3; such as vertically arranging a rack on the support frame 2, arranging a motor on the loading platform 3, installing a gear on the rotating shaft of the motor, and limiting the lateral position of the motor so that the gear on it remains in meshing with the rack; such as arranging an electric hoist on the support frame 2, The rope of the electric hoist is connected to the loading platform 3; in this embodiment, the support frame 2 is a gantry frame, and the support frame 2 includes two vertical beams 21 and a horizontal beam 22 connected between the upper ends of the two vertical beams 21. A vertically extending slide 23 is opened on the vertical beam 21, and a slide seat 24 is provided on the vertical beam 21. A guide wheel 25 is rotatably connected to the slide seat 24. The guide wheel 25 is located in the slide slot 23 and can slide along the slide slot 23. The loading platform 3 is fixedly connected to the two slide seats 24 respectively to achieve vertical sliding along the support frame 2; there is a vertically through inner cavity in the vertical beam 21, and a pulley (not shown in the figure) is rotatably connected near the upper end of the vertical beam 21. A first motor 26 is provided on the mobile base 1, and a winding wheel is connected to the output end of the first motor 26. A traction rope (not shown in the figure) is wound around the winding wheel. One end of the traction rope is fixedly connected to the winding wheel, and the other end extends upward, passes over the top of the pulley, and then extends downward to the slide seat 24 for connection.

[0032] See also Figure 1In this embodiment, the picking arm 6 adopts a horizontal multi-joint mechanical arm, the maximum horizontal dimension of the picking arm 6 is smaller than the inner width of the support frame 2, and the end of the picking arm 6 is provided with a vertically movable gripper or a negative pressure suction cup; in this way, when the picking arm 6 is not in motion, it can be stored between the two vertical beams 21 to avoid interference with the lifting and lowering of the loading platform 3 and the placement and taking of the material box 5. In this embodiment, a screw rod 61 is vertically penetrated at the end of the picking arm 6, and a negative pressure suction cup (not shown in the figure) is connected to the lower end of the screw rod 61. The nut seat of the screw rod 61 is vertically fixed in the picking arm 6 and is driven to rotate by a motor, thereby driving the screw rod 61 and the negative pressure suction cup to rise and fall.

[0033] See also Figure 1 In this embodiment, the walking mechanism includes four universal wheels 11 and two independently driven driving wheels 12. The four universal wheels 11 are respectively arranged at the four corners of the mobile base 1, and the two driving wheels 12 are respectively located in the middle of the two opposite sides of the walking mechanism; in this way, the four universal wheels 11 play a major supporting role, and steering is achieved by adjusting the rotation speed of the two driving wheels 12 respectively. The driving wheels 12 are located in the middle, which is beneficial to reducing the turning radius, so that the mobile grasping and packaging robot can move and turn more flexibly.

[0034] See also Figure 1 In this embodiment, a storage box 31 is horizontally rotatably connected to the loading platform 3, and the loading platform 3 is provided with a driving mechanism for driving the storage box 31 to rotate horizontally. The opening of the storage box 31 faces upward and there is a notch on one side of the lateral side; in this way, the storage box 31 is not only used to position and place the material basket so that the material picking arm 6 can grab the material, but also serves as a limit for the material basket to prevent the material basket from sliding off the loading platform 3 during the movement and lifting process; when the material basket needs to be taken and placed, the driving mechanism drives the storage box 31 to rotate so that the notch faces the side away from the support frame 2, so as to cooperate with manual labor or forklifts to put the material basket into the storage box 31.

[0035] See also Figure 1 Furthermore, on the side where the notch is located, there are levers 32 rotatably connected to the two sides of the notch through a rotating shaft, the rotating shaft is arranged along the direction of the notch, the lever 32 is perpendicular to the rotating shaft, one end of the rotating shaft is fixedly connected to the lever 32, and the other end is transmission-connected to the second motor 33 in the housing of the storage box 31; in this way, when the driving mechanism drives the storage box 31 to rotate so that the notch faces the side away from the support frame 2, the second motor 33 drives the lever 32 to rotate to the vertical direction to make way for the material basket to be taken out of the notch; after the material basket is placed in the storage box 31, the second motor 33 drives the lever 32 to rotate to the horizontal direction to prevent the material basket from slipping out of the notch. In addition, it can also cooperate with the forklift to retreat, so that the forklift can unload the material basket in the storage box 31 more smoothly.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit the technical solution. Ordinary technicians in this field should understand that those modifications or equivalent replacements of the technical solution of the utility model without departing from the purpose and scope of the technical solution of the utility model should be included in the scope of the claims of the utility model.

Claims

1. A mobile grabbing and packaging robot, characterized in that: It includes a mobile base with a walking mechanism at the bottom, a support frame is vertically provided on the mobile base, a loading platform is vertically slidably provided on the support frame, the loading platform is used to place a material frame, and a lifting mechanism is provided on the mobile base or the loading platform to drive the loading platform to slide vertically; a filling platform is also fixedly provided on the support frame, the filling platform is higher than the loading platform and is horizontally spaced from the loading platform, a material box with an opening facing upward is placed on the filling platform, and the interior of the material box is divided by partitions to form a plurality of material grids; a material picking arm is provided on the support frame above the filling platform, and the material picking arm is used to grab the material on the loading platform and fill it into each material grid when the loading platform is close to the filling platform.

2. A mobile grabbing and packaging robot according to claim 1, characterized in that: A visual capture device is also provided on the support frame above the dispensing table. The visual capture device is electrically connected to the material picking arm through a controller to assist the material picking arm to accurately complete the grasping and dispensing actions.

3. The mobile grabbing and packaging robot according to claim 1, characterized in that: A telescopic mechanism is provided between the material box and the support frame, the fixed end of the telescopic mechanism is connected to the support frame, and the telescopic end is connected to the material box. The telescopic mechanism is used to drive the material box to move horizontally in the direction of the interval between the loading platform and the filling platform; a discharge port is provided at the bottom of the material grid.

4. The mobile grabbing and packaging robot according to claim 1, characterized in that: The supporting frame is a gantry frame, and the loading platform and the dispensing platform are respectively arranged on both sides of the supporting frame.

5. The mobile grabbing and packaging robot according to claim 4, characterized in that: The picking arm adopts a horizontal multi-joint mechanical arm. The maximum horizontal dimension of the picking arm is smaller than the inner width of the support frame. The end of the picking arm is provided with a vertically movable gripper or negative pressure suction cup.

6. The mobile grabbing and packaging robot according to claim 1, characterized in that: The walking mechanism comprises four universal wheels and two independently driven driving wheels. The four universal wheels are respectively arranged at the four corners of the mobile base, and the two driving wheels are respectively located in the middle of two opposite sides of the walking mechanism.

7. The mobile grabbing and packaging robot according to claim 1, characterized in that: A storage box is connected to the loading platform for horizontal rotation. The loading platform is provided with a driving mechanism for driving the storage box to rotate horizontally. The opening of the storage box faces upward and there is a notch on one side of the lateral side so that a material basket filled with materials can be placed horizontally in the storage box.

8. The mobile grabbing and packaging robot according to claim 7, characterized in that: On the side where the notch is located, a lever is rotatably connected to both sides of the notch through a rotating shaft. The rotating shaft is arranged along the direction of the notch, the lever is perpendicular to the rotating shaft, one end of the rotating shaft is fixedly connected to the lever, and the other end is transmission connected to the motor in the storage box shell.

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