Automatic transport machine

Abstract

The utility model provides an automatic transporter, which belongs to the field of material handling. The device includes: a driving platform and a moving seat, wherein the side end of the driving platform is provided with a rack along the direction in which the driving platform extends; the moving seat is provided with a fixed seat for fixing the mechanical arm of the transporter, the moving seat is placed on the driving platform, and slides relative to the driving platform; a driving motor is provided at a position adjacent to the fixed seat on the moving seat, the output shaft sleeve of the driving motor is provided with a roller, and the roller is provided with gear teeth that can mesh with the rack; a force unloading component is provided in the direction in which the driving platform moves toward the mechanical arm, which is used to unload the gravity of the mechanical arm. The utility model changes the existing chain transmission mode, so that the mechanical arm gradually decomposes the decomposition force of the mechanical arm's gravity during the movement, avoids the failure of the transmission mechanism due to force, and ensures that the mechanical arm can move normally under the action of the driving force.

Description

Technical Field

[0001] The utility model belongs to the field of material handling, and more specifically relates to an automatic handling machine. Background Art

[0002] Material handling is the process of moving goods, materials or products from one location to another. This process can involve manual handling, the use of mechanical equipment or transportation tools. Mechanical equipment handling mainly refers to the use of conveyor belts to drive lifting machinery to move materials from A to B. In actual working conditions, linear slide-type mechanical handling equipment is often used, using a motor to drive a chain, and the chain drives the mechanical arm to move the material to a specified location.

[0003] The above-mentioned handling equipment adopts chain transmission. Under the action of its own gravity, the chain of the mechanical arm will bear the decomposition force of the mechanical arm's gravity. Under the dual action of this decomposition force and the driving force, the chain is easily damaged, resulting in chain breakage, and ultimately making the mechanical arm unable to move normally. At the same time, since the chains are connected by pins, they often break at the connection during use. In addition, due to the limited space of the workstation of the existing handling machine, when the cart enters and exits the workstation, it is easy to get stuck, resulting in the cart being unable to enter and exit the workstation smoothly. Utility Model Content

[0004] The main purpose of this application is to provide an automatic transporter, which changes the existing chain transmission method so that the robot arm gradually decomposes the gravity decomposition force of the robot arm during movement, avoids failure of the transmission mechanism due to force, and ensures that the robot arm can move normally under the action of the driving force.

[0005] In order to achieve the above objectives, the present application proposes an automatic transport machine, comprising:

[0006] A driving platform, a side end of which is provided with a rack along the direction in which the driving platform extends;

[0007] The movable seat is provided with a fixed seat for fixing the mechanical arm of the transporter, and the movable seat is placed on the driving platform and slides relative to the driving platform;

[0008] A driving motor is provided at a position adjacent to the fixed seat on the movable seat, and a roller is provided on the output shaft sleeve of the driving motor, and gear teeth that can mesh with the rack are provided on the roller;

[0009] The driving platform is provided with a force unloading component in the direction of movement of the robotic arm, for unloading the gravity of the robotic arm.

[0010] On the one hand, the driving platform provides a bearing platform for the moving seat, and on the other hand, it builds a sliding platform for the moving seat to guide the moving seat to move in the direction in which the driving platform extends, that is, it can provide a moving direction for the robotic arm.

[0011] The output shaft of the driving motor meshes with the rack through a roller provided with gear teeth, so that the driving motor drives the roller to rotate in the direction in which the rack extends, thereby driving the moving seat to move.

[0012] Furthermore, the driving platform is provided with a slide rail along the moving direction of the moving seat, and the moving seat is provided with a slide groove at one end facing the slide rail, and the slide groove is placed on the slide rail to slide.

[0013] This stage is the first gravity unloading stage. The moving seat slides on the slide rail. On the one hand, the slide rail can provide a sliding track for the moving seat. On the other hand, the gravity of the moving seat and the robotic arm located on the moving seat is shared by the slide rail, which can support the moving seat and the robotic arm. Therefore, for the rack located at the side end of the driving platform, it can unload part of the gravity to avoid this part of the gravity acting directly on the rack.

[0014] Furthermore, both ends of the unloading assembly are fixedly connected to the driving platform to form an unloading plane, and both ends of the movable seat are provided with bearing platforms facing the unloading plane, and a sliding area is formed between the relatively arranged bearing platforms, and the unloading plane slides in the sliding area.

[0015] This stage is the second gravity unloading stage. The unloading assembly is a unloading plate fixed between the driving platforms. The moving seat slides on the unloading plate. Its bearing platform can apply part of the gravity to the unloading plate. For the rack located at the side end of the driving platform, it can unload part of the gravity to avoid this part of the gravity acting directly on the rack.

[0016] Furthermore, a dustproof plate is provided at a side end of the driving platform near the rack to prevent dust from entering the rack gap.

[0017] Furthermore, a plurality of workstations are provided at both ends of the driving platform.

[0018] When the needs of different workstations need to be met, multi-workstation settings can improve work efficiency.

[0019] Furthermore, guide components are provided on both sides of any one of the workstations to provide guidance for the cart on the workstation.

[0020] In the prior art, due to the limited space of the workstation of the transporter, when the cart enters and exits the workstation, it is easy to get stuck, resulting in the cart being unable to enter and exit the workstation smoothly. Therefore, the technical solution can smoothly allow the cart to enter and exit the workstation through the guide assembly.

[0021] Furthermore, the guiding component comprises:

[0022] Fixed frames are arranged on both sides of the cart entry and exit direction, and an area for the cart to enter and exit is formed between the fixed frames;

[0023] A plurality of guide wheels are linearly arranged along the in-and-out direction of the cart, and the guide wheels are rotationally connected to the fixed frame.

[0024] When the cart needs to enter or be pushed out of the workstation, the side end of the cart contacts the guide wheel, and the guide wheel rotates under the action of the mutual friction between the guide wheel and the side end of the cart. The rotating guide wheel provides a push-out force or a push-in force for the cart. With the help of this force, the cart can smoothly enter and exit the workstation to avoid getting stuck.

[0025] Furthermore, the guide wheel facing the side of the cart is a spherical structure, and a base is fixedly connected between the fixing frame and the spherical structure. The spherical structure is placed in the base and extends to the outer end of the base, and the spherical structure rotates along the axis of the base.

[0026] The guide wheel with a spherical structure can rotate freely in the base under the action of external force, and the freely rotating guide wheel can easily provide guidance for the cart.

[0027] Furthermore, the guide wheel facing the other side of the cart is a columnar structure, a rotating shaft is provided on the fixed frame, and the guide wheel of the columnar structure is placed on the rotating shaft and rotates along the rotating shaft.

[0028] Since the distance between adjacent workstations is relatively short and the guide wheel of the columnar structure is placed in the middle of the adjacent workstations, it can provide guidance for the adjacent sides of the two workstations at the same time, thereby saving the number of guide wheels and effectively saving costs.

[0029] Furthermore, the robotic arm is a six-axis robotic arm.

[0030] Due to the advantages of the six-axis robotic arm itself, this application adopts a six-axis robotic arm to improve the overall flexibility. Combined with the multi-station setting, it can provide usage requirements with different degrees of freedom for operations at different stations.

[0031] The automatic transporter proposed by the utility model has the following beneficial effects:

[0032] (1) The utility model changes the existing chain-driven conveyor into a roller-rack-driven conveyor, and utilizes a force-unloading assembly to decompose and unload the weight of the robot arm on the moving seat, thereby preventing the roller and the rack from being directly subjected to the decomposed force of the weight of the robot arm, greatly reducing the bearing capacity of the roller and rack transmission, thereby avoiding wear of the rack or roller, and the rack will not be easily broken due to the friction of the roller, thus avoiding transmission failure caused by the force of the transmission mechanism, and ensuring that the robot arm can move normally under the action of the driving force.

[0033] (2) The utility model provides a guide assembly on the workstation in the direction of the cart's entry and exit, thereby facilitating the guidance of the cart in and out of the workstation and effectively avoiding jamming of the cart when the cart enters and exits the workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall structure of an automatic transport machine of the utility model;

[0035] Figure 2 This is a positional relationship diagram of the driving platform and the mechanical arm of the utility model;

[0036] Figure 3 For this utility model Figure 2 A schematic diagram of the partially enlarged structure of aa in the figure;

[0037] Figure 4 This is a positional relationship diagram of the driving platform and the moving seat of the utility model;

[0038] Figure 5 For this utility model Figure 4 Schematic diagram of the local enlarged structure of the middle bb;

[0039] Figure 6 This is a schematic diagram of the structure of the mobile seat of the utility model;

[0040] Figure 7 For this utility model Figure 6 Schematic diagram of the three-dimensional structure;

[0041] Figure 8 It is a structural schematic diagram of the fixing frame and one of the guide wheels of the utility model;

[0042] Fig. 9 It is a structural schematic diagram of the fixing frame and another guide wheel of the utility model.

[0043] In the figure, 1, driving platform, 2, moving seat, 21, slide, 22, bearing platform, 3, mechanical arm, 4, driving motor, 5, roller, 6, rack, 7, dustproof plate, 8, cart, 9, guide assembly, 91, fixed frame, 92, guide wheel, 93, base, 10, unloading assembly. DETAILED DESCRIPTION

[0044] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0045] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0046] In the description of the present invention, it should be understood that the terms "middle", "length", "up", "down", "front", "back", "vertical", "horizontal", "inside", "outside", "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 device or element referred to 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.

[0047] In the present invention, unless otherwise clearly specified and limited, the first feature "on" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. "Multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0048] 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 one; it can be a mechanical connection, an electrical connection, or communication with each other; 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.

[0049] Example

[0050] The handling equipment in the prior art usually adopts chain transmission. Under the action of the mechanical arm's own weight, the chain must bear the decomposition force of the mechanical arm's weight. However, the chain is easily damaged under the dual action of the traction force and the decomposition force, which may cause the chain to break, and then make the mechanical arm unable to move normally. In addition, since the chains are connected by pins, the connection is prone to breakage during use.

[0051] Based on this, reference Figure 1-4 This embodiment provides an automatic transporter, including: a driving platform 1 and a moving seat 2. The driving platform 1 is a cubic structure as a whole, and its length extends in the direction of movement of the moving seat 2. A rack 6 is fixedly installed on one side of the driving platform 1 along the length direction of the driving platform 1, and a driving motor 4 is installed on the moving seat 2 through bolts and other fixings. The output shaft of the driving motor 4 is fixedly connected to a Figure 5 The roller 5 shown in the figure is provided with gear teeth that can mesh with the rack 6. When the drive motor 4 starts to work, its output shaft rotates clockwise or counterclockwise, thereby driving the roller 5 to rotate. Since the drive motor 4 is fixed on the moving seat 2, it will bring the moving seat 2 to move. On the drive platform 1, parallel double slide rails are provided along its length direction, and the moving seat 2 is provided with a slide groove 21 on the side facing the slide rail (refer to Figure 6 ), the slide 21 is located on the slide rail and can slide, so the mobile seat 2 can slide under the action of the drive motor 4, the roller 5, the rack 6, the slide rail, and the slide 21. A six-axis robot arm 3 is fixedly installed at a position adjacent to the drive motor 4 on the mobile seat 2 to transport materials. So far, this embodiment changes the existing chain-driven conveyor into a conveyor driven by the roller 5 and the rack 6, ensuring that the robot arm 3 can move normally under the action of the driving force.

[0052] It should be noted that the automatic transporter proposed in this embodiment can also be called a transporter, which aims to realize the movement of the mobile seat 2 by driving the roller 5 with the power of the drive motor 4. This solution can be directly implemented by supplying power to the drive motor 4, and the transporter can usually be used in the field of automation, so the technical solution can still be implemented without the need for an assembly program.

[0053] In some embodiments, please refer to Figure 2 The driving platform 1 is provided with a force unloading assembly 10 in the direction of movement of the robot arm 3, which is used to unload the gravity of the robot arm 3. Specifically, the driving platform 1 is provided with extension ends at both ends, and a force unloading plane (which can be a force unloading plate) for unloading the gravity of the robot arm 3 is directly set up between the extension ends to form an unloading plane, and a bearing platform 22 (refer to Figure 7 ), a sliding area is formed between the bearing platforms 22 arranged opposite to each other, and the unloading plane slides in the sliding area. The driving platform 1 provides a bearing platform for the moving seat 2 on the one hand, and builds a sliding platform for the moving seat 2 on the other hand, guiding the moving seat 2 to move in the direction in which the driving platform 1 extends, that is, it can provide a moving direction for the robot arm 3.

[0054] So far, in this embodiment, the gravity bearing effect of the moving base 2 and the mechanical arm 3 is divided into two stages:

[0055] The first stage is: the moving seat 2 slides on the slide rail, and the slide rail shares part of the gravity of the moving seat 2 and the robotic arm 3 located on the moving seat 2, so that for the rack 6 located at the side end of the driving platform 1, it can unload part of the gravity and avoid this part of the gravity directly acting on the rack 6.

[0056] The second stage: the unloading assembly 10 is a unloading plate fixed between the driving platforms 1, and the moving seat 2 slides on the unloading plate. Its bearing platform 22 can apply part of the gravity to the unloading plate. For the rack 6 located at the side end of the driving platform 1, it can unload part of the gravity to avoid that part of the gravity directly acts on the rack 6.

[0057] Through the above two stages, gravity can be directly decomposed to other components except the transmission mechanism, so as to avoid the transmission mechanism being disturbed by gravity. In the present invention, the transmission mechanism is a drive motor 4 driving the roller 5 to roll back and forth on the rack 6.

[0058] In some embodiments, please refer to Figure 3 In order to prevent dust from entering the gap of the rack 6, a long strip of dustproof plate 7 is fixedly installed at a position adjacent to the rack 6, that is, above the rack 6 shown in the figure.

[0059] In addition, the material handling equipment in the prior art has limited workstation space, and when the cart enters and exits the workstation, it is easy to get stuck, resulting in the cart being unable to enter and exit the workstation smoothly.

[0060] Based on this, this embodiment sets multiple workstations at both ends of the starting platform, and each workstation is arranged in sequence along the length direction of the driving platform 1. A guide component 9 is set on any of the workstations, and the auxiliary cart 8 can smoothly enter and exit the workstation. For details, please refer to Figure 1 Among them, workstation No. ①, workstation No. ②, workstation No. ③, workstation No. ④, and workstation No. ⑤, in this figure, workstation No. ③ and workstation No. ④ are respectively provided with guide components 9.

[0061] For details, please refer to Figure 1 , Figure 8 , Fig. 9The guide assembly 9 includes: a fixed frame 91 and a guide wheel 92. The fixed frames 91 are arranged on both sides along the direction of entry and exit of the cart 8, and a cart 8 entry and exit area is formed between the relatively arranged fixed frames 91, which can allow the cart 8 to enter and exit smoothly. A plurality of guide wheels 92 are arranged on the fixed frame 91 along the direction of entry and exit of the cart 8, and the guide wheels 92 can rotate relative to the fixed frame 91. When the cart 8 needs to enter or exit the workstation, the side end of the cart 8 contacts the guide wheel 92, and the guide wheel 92 rotates under the action of the mutual friction between the guide wheel 92 and the side end of the cart 8. The rotating guide wheel 92 provides the cart 8 with a push-out force or a push-in force. With the help of this force, the cart 8 can smoothly enter and exit the workstation to avoid being stuck.

[0062] In some embodiments, reference Figure 8 The guide wheel 92 facing the side of the cart 8 is a spherical structure. A base 93 is fixedly connected between the fixing frame 91 and the spherical structure. The spherical structure is placed in the base 93 and extends to the outer end of the base 93. The spherical structure rotates along the axis of the base 93. Fig. 9 , the guide wheel 92 facing the other side of the cart 8 is a columnar structure, and a rotating shaft is provided on the fixed frame 91. The guide wheel 92 of the columnar structure is placed on the rotating shaft and rotates along the rotating shaft. The guide wheel 92 of the spherical structure can rotate freely in the base 93 under the action of external force, and the freely rotating guide wheel 92 can easily provide guidance for the cart 8. Since the distance between adjacent workstations is relatively close, and the guide wheel 92 of the columnar structure is placed in the middle position of the adjacent workstations, it can provide guidance for the adjacent sides of the two workstations at the same time, thereby saving the number of guide wheels 92 and effectively saving costs. Among them, the adjacent side refers to the A side and the B side in the figure, that is, one side of the A side and one side of the B side use the same guide component to save the number of guide wheels 92.

[0063] The six-axis robot arm 3 mentioned in the present invention can improve the overall flexibility, and with the setting of multiple workstations, it can provide usage requirements with different degrees of freedom for operations at different workstations.

[0064] The above is only for explaining the implementation mode of the utility model and is not used to limit the utility model. For those skilled in the art, any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the utility model without creative work should be included in the protection scope of the utility model.

Claims

1. An automatic transport machine, characterized in that: include: A driving platform, a side end of which is provided with a rack along the direction in which the driving platform extends; The movable seat is provided with a fixed seat for fixing the mechanical arm of the transporter, and the movable seat is placed on the driving platform and slides relative to the driving platform; A driving motor is provided at a position adjacent to the fixed seat on the movable seat, and a roller is provided on the output shaft sleeve of the driving motor, and gear teeth that can mesh with the rack are provided on the roller; The driving platform is provided with a force unloading component in the direction of movement of the robotic arm, for unloading the gravity of the robotic arm.

2. The automatic transport machine according to claim 1, characterized in that: The driving platform is provided with a slide rail along the moving direction of the moving seat, and the moving seat is provided with a slide groove at one end facing the slide rail, and the slide groove is placed on the slide rail for sliding.

3. The automatic transport machine according to claim 1, characterized in that: The two ends of the unloading assembly are fixedly connected to the driving platform to form an unloading plane. The two ends of the movable seat are provided with bearing platforms on one side facing the unloading plane. A sliding area is formed between the relatively arranged bearing platforms, and the unloading plane slides in the sliding area.

4. The automatic transport machine according to claim 1, characterized in that: A dustproof plate is provided at the side end of the driving platform near the rack to prevent dust from entering the rack gap.

5. The automatic transport machine according to claim 1, characterized in that: A plurality of workstations are arranged at both ends of the driving platform.

6. The automatic transport machine according to claim 5, characterized in that: Guiding components are provided on both sides of any of the workstations to provide guidance for the cart on the workstation.

7. The automatic transport machine according to claim 6, characterized in that: The guide component comprises: Fixed frames are arranged on both sides of the cart entry and exit direction, and an area for the cart to enter and exit is formed between the fixed frames; A plurality of guide wheels are linearly arranged along the in-and-out direction of the cart, and the guide wheels are rotationally connected to the fixing frame.

8. The automatic transport machine according to claim 7, characterized in that: The guide wheel facing the cart side is a spherical structure, a base is fixedly connected between the fixing frame and the spherical structure, the spherical structure is placed in the base and extends to the outer end of the base, and the spherical structure rotates along the axis of the base.

9. The automatic transport machine according to claim 8, characterized in that: The guide wheel facing the other side of the cart is a columnar structure, a rotating shaft is arranged on the fixed frame, and the guide wheel of the columnar structure is placed on the rotating shaft and rotates along the rotating shaft.

10. The automatic transport machine according to claim 1, characterized in that: The robotic arm is a six-axis robotic arm.

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