Engineering robot for carrying multiple materials

Abstract

The engineering robot comprises a machine frame, a moving mechanism is installed below the machine frame, the machine frame is connected with a lifting frame through a lifting mechanism, a material storage mechanism is arranged on the lifting frame, the material storage mechanism is composed of a ball storage bin and a block storage area, a forward extending mechanism is installed at the top of the lifting frame, and the forward extending mechanism is connected with the ball storage bin and the block storage area. A clamping assembly is arranged at the outer end of the forward extending mechanism, the block storage area is located below the clamping assembly and communicates with the ball storage bin, and an identification camera is installed on the lower surface of the forward extending mechanism. By arranging the ball storage bin and the block storage area, ball materials and block materials are stored in a partitioned mode for carrying, the material taking accuracy is high, the material taking height can be freely adjusted to be appropriate, and the multi-scene adaptability is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an engineering robot for multi-material handling. Background Technique

[0002] With the development of modernization, the labor cost has risen, and people prefer to use machinery instead of manual labor. In tedious repetitive labor such as material handling, material handling engineering robots can be used to replace it, liberating human resources and improving operation efficiency. Similar to the robots in the logistics industry, engineering robots are good at accurately identifying different objects at different heights and then starting to pick and place.

[0003] Most of the current engineering robots use a multi-degree-of-freedom robotic arm as the main material-taking device. The disadvantages are that a large area will be occupied during the use of the robotic arm, and at the same time, the maintenance cost of the robotic arm is relatively high, which does not meet the requirements of lightweight engineering equipment manufacturing.

[0004] The existing patent (CN115648167A) discloses a multi-functional robot for material transfer and storage. The material-taking object it applies to is single, and it can only handle box-shaped materials alone. Content of the Utility Model

[0005] The purpose of the utility model is to provide an engineering robot for multi-material handling to solve the above technical problems.

[0006] The utility model provides an engineering robot for multi-material handling, which includes a frame. A moving mechanism is installed below the frame. The frame is connected to a lifting frame through a lifting mechanism. A storage mechanism is arranged on the lifting frame. The storage mechanism is composed of a ball storage bin and a block storage area. A forward extension mechanism is installed at the top of the lifting frame. A clamping assembly is arranged at the outer end of the forward extension mechanism. The block storage area is located below the clamping assembly and is communicated with the ball storage bin. An identification camera is installed on the lower surface of the forward extension structure.

[0007] Further, the frame includes a bottom frame and columns. L-shaped angle plates are arranged at the corners of the bottom frame. The moving mechanism is installed on the bottom frame. A bottom plate installed on the bottom frame is arranged between the columns. A fixed beam is installed at the top of the columns.

[0008] Furthermore, a linear slide rail and a guide rail slider slidably connected to the linear slide rail are installed on the column, the bottom of the lifting frame is connected to the guide rail slider, the lifting mechanism includes a driving wheel and a synchronous wheel, the driving wheel is connected to a lifting motor that drives the driving wheel to rotate, the driving wheel and the lifting motor are installed on the upper cross beam of the lifting frame, the synchronous wheel is installed on the lower cross beam of the lifting frame, the driving wheel and the synchronous wheel are connected by an endless toothed belt meshing transmission, a pressure plate is installed on the fixed beam, and the toothed belt is clamped and fixed near the fixed beam by the pressure plate.

[0009] Furthermore, the lifting motor is installed on the upper beam through a motor bracket, and the synchronous wheel is installed on the lower beam through an angle iron, and the synchronous wheel is detachably rotatably connected to the angle iron.

[0010] Furthermore, the ball storage bin is surrounded by a ball storage bottom plate, side plates and partitions, the ball storage bottom plate is installed at the bottom of the lifting frame, the ball storage bottom plate is inclined, and the partitions are arranged between the side plates and parallel to the side plates.

[0011] Furthermore, the height of the feed port of the ball storage bin is not lower than the height of the discharge port of the ball storage bin, the block storage area is arranged at the feed port of the ball storage bin, the block storage area is connected to the lifting frame through a swing servo installed on the lifting frame, and the block storage area is driven by the swing servo to rotate relative to the lifting frame.

[0012] Furthermore, a ball dividing rod is arranged in the storage block area, a connecting rod is arranged at the bottom of the ball dividing rod, and the connecting rod penetrates the storage block area and extends downward to be connected with a ball dividing servo installed below the storage block area.

[0013] Furthermore, a ball pouring rack is provided at the discharge port of the ball storage bin, and the ball pouring rack is connected to the lifting frame via a bin door servo installed on the lifting frame, and the ball pouring rack is driven by the bin door servo to rotate relative to the lifting frame.

[0014] Furthermore, the extending mechanism is slidably connected to the upper crossbeam, a rack is mounted on the upper crossbeam, the extending mechanism includes an extending plate, a gear motor is mounted on the extending plate, an output shaft of the gear motor is connected to a gear meshing with the rack, and the recognition camera is mounted on the lower surface of the extending plate.

[0015] Furthermore, the clamping assembly includes a fixed claw and a rear claw, the fixed claw is installed at the front end of the forward plate and is arranged downward, and the rear claw is arranged on a side of the fixed claw close to the lifting frame and is connected to the forward plate through a claw servo.

[0016] The utility model stores and transports spherical materials and block materials in a partitioned manner by setting a ball storage bin and a block storage area, with high material taking accuracy, capable of freely adjusting to a suitable material taking height, and having multi-scenario adaptability. Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is one of the structural schematic diagrams of the present utility model;

[0019] Figure 2 It is the second structural schematic diagram of the present utility model;

[0020] Figure 3 It is the structural schematic diagram of the lifting frame of the present utility model;

[0021] Figure 4 It is the structural schematic diagram of the forward extension mechanism of the present utility model;

[0022] Figure 5 It is the structural schematic diagram of the moving mechanism of the present utility model;

[0023] Description of the Reference Numerals in the Drawings:

[0024] In the figure: 11 - bottom frame, 12 - column, 13 - fixed beam, 14 - bottom plate, 15 - angle plate, 16 - inter-wheel support rod, 2 - lifting frame, 21 - upper cross beam, 22 - lower cross beam, 31 - linear slide rail, 32 - guide rail slider, 33 - driving wheel, 34 - synchronous wheel, 341 - angle iron, 342 - screw, 343 - locknut, 35 - lifting motor, 351 - motor support, 36 - toothed belt, 37 - pressing plate, 41 - ball storage bottom plate, 42 - side plate, 43 - partition board, 44 - block storage area, 45 - lower swing servo, 46 - ball separating rod, 47 - ball separating servo, 48 - ball pouring frame, 49 - bin door servo, 51 - upper plate, 52 - rack, 53 - forward extension plate, 54 - gear motor, 541 - motor fixing plate, 542 - copper column, 55 - gear, 56 - recognition camera, 61 - fixed claw, 62 - rear claw, 63 - claw servo, 7 - moving mechanism, 71 - Mecanum wheel, 72 - suspension plate, 73 - planetary encoder reduction motor, 74 - motor flange seat, 75 - metal shock absorber, 76 - shock absorber support rod, 77 - shock absorber mounting seat, 78 - aluminum bushing, 81 - sliding plate, 82 - auxiliary guide rail; Detailed Embodiments

[0025] The technical solution of the present utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0026] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present utility model, "a plurality" means two or more, unless otherwise specifically defined. In addition, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0028] Embodiment 1

[0029] As Figures 1 - 5 shown:

[0030] An engineering robot for multi-material handling includes a frame. A moving mechanism 7 is installed below the frame. The frame is connected to a lifting frame 2 through a lifting mechanism. A storage mechanism is arranged on the lifting frame 2. The storage mechanism is composed of a ball storage bin and a block storage area 44. A forward extension mechanism is installed on the top of the lifting frame 2. A clamping assembly is arranged at the outer end of the forward extension mechanism. The block storage area 44 is located below the clamping assembly and communicates with the ball storage bin. An identification camera 56 is installed on the lower surface of the forward extension structure.

[0031] The rack includes a bottom frame 11 and columns 12. The corners of the bottom frame 11 are fixed and connected by L-shaped angle plates 15. The moving mechanism 7 is installed on the bottom frame 11. A bottom plate 14 installed on the bottom frame 11 is provided between the columns 12, and a fixed beam 13 is installed at the top of the columns 12.

[0032] A linear slide rail 31 and a guide rail slider 32 slidably connected to the linear slide rail 31 are installed on the column 12. The bottom of the lifting frame 2 is connected to the guide rail slider 32. The lifting frame 2 slides up and down relative to the rack through the linear slide rail 31 and the guide rail slider 32.

[0033] The lifting mechanism includes a driving wheel 33 and a synchronous wheel 34. The driving wheel 33 is connected to a lifting motor 35. The lifting motor 35 drives the driving wheel 33 to rotate. The lifting motor 35 is installed on the upper cross beam 21 of the lifting frame 2 through a motor bracket 351.

[0034] The synchronous wheel 34 is installed on the lower cross beam 22 of the lifting frame 2. Angle irons 341 are respectively arranged on both sides of the synchronous wheel 34. The angle irons 341 are installed on the lower cross beam 22. The synchronous wheel 34 and the angle irons 341 are connected by screws 342. The other end of the screw 342 passes through the synchronous wheel 34 and the angle irons 341 and is connected with a locknut 343. The synchronous wheel 34 and the angle irons 341 are detachably and rotatably connected.

[0035] The driving wheel 33 and the synchronous wheel 34 are connected by a ring-shaped toothed belt 36. Teeth are uniformly arranged on the inner side wall of the toothed belt 36. The toothed belt 36 meshes and drives with the driving wheel 33 and the synchronous wheel 34 respectively.

[0036] A pressing plate 37 is installed on the fixed beam 13. A toothed groove meshing with the teeth on the toothed belt 36 is formed on one inner side surface of the pressing plate 37. The toothed belt 36 is clamped and fixed at a position close to the fixed beam 13 through the pressing plate 37.

[0037] One section of the toothed belt 36 is fixed by the pressing plate 37. When the lifting motor 35 starts to drive the driving wheel 33 to rotate forward, the ring-shaped toothed belt 36 rotates in the same direction as the driving wheel 33. A section of the toothed belt 36 below the pressing plate 37 performs a movement similar to upward winding. The toothed belt 36 drives the synchronous wheel 34 to move up, thereby driving the lifting frame 2 to rise; when the lifting motor 35 starts to drive the driving wheel 33 to rotate backward, a section of the toothed belt 36 above the pressing plate 37 performs a movement similar to downward winding. The toothed belt 36 drives the driving wheel 33 to move down, thereby driving the lifting frame 2 to descend.

[0038] The ball storage bin is surrounded by a ball storage bottom plate 41, side plates 42 and a partition plate 43. The ball storage bottom plate 41 is installed at the bottom of the lifting frame 2. The ball storage bottom plate 41 is inclined. The height at the feeding port of the ball storage bin is not lower than the height at the discharging port of the ball storage bin. The partition plate 43 is arranged between the side plates 42 and is parallel to the side plates 42.

[0039] In this embodiment, the number of side plates 42 is two, and the number of partition plates 43 is one. Two ball storage channels are formed by the ball storage bottom plate 41, the two side plates 42 and the one partition plate 43.

[0040] The ball storage block area 44 is arranged at the feeding port of the ball storage bin. The ball storage block area 44 is connected to the lifting frame 2 through a lower swing servo 45 installed on the lifting frame 2. A rotating seat is arranged at the bottom of the ball storage block area 44, and the output end of the lower swing servo 45 is connected to the rotating seat. The lower swing servo 45 drives the ball storage block area 44 to rotate up and down relative to the lifting frame 2.

[0041] A ball dividing rod 46 is arranged in the ball storage block area 44. A connecting rod is arranged at the bottom of the ball dividing rod 46. The connecting rod extends downward through the ball storage block area 44 and is connected to a ball dividing servo 47 installed below the ball storage block area 44. The ball dividing servo 47 controls the rotation of the ball dividing rod 46.

[0042] The ball dividing rod 46 and the partition plate 43 are arranged on the same straight line. The ball dividing servo 47 drives the ball dividing rod 46 to rotate to temporarily close one of the ball storage channels and guide the ball materials into the other ball storage channel.

[0043] A ball pouring frame 48 is arranged at the discharging port of the ball storage bin. The ball pouring frame 48 is connected to the lifting frame 2 through a bin door servo 49 installed on the lifting frame 2. The ball pouring frame 48 is driven by the bin door servo 49 to rotate relative to the lifting frame 2.

[0044] The forward extension mechanism is slidably connected to the upper cross beam 21. An upper plate 51 is arranged between the upper cross beams 21. A rack 52 is installed on the lower surface of the upper plate 51. The forward extension mechanism includes a forward extension plate 53. A gear motor 54 is arranged on the forward extension plate 53. The gear motor 54 is installed on a motor fixing plate 541. Copper columns 542 connected to the forward extension plate 53 are arranged at the four corner edge positions of the motor fixing plate 541. The output shaft of the gear motor 54 penetrates through the motor fixing plate 541 and is connected to a gear 55 meshing with the rack 52. An identification camera 56 is installed on the lower surface of the forward extension plate 53.

[0045] Driven by the gear motor 54, the gear 55 rotates. The gear 55 meshes with the rack 52, and then the forward extension plate 53 and the gear motor 54 move synchronously.

[0046] The clamping assembly includes a fixed claw 61 and a rear claw 62. The fixed claw 61 is installed at the front end of the forward extension plate 53 and is arranged downward. The rear claw 62 is arranged on one side of the fixed claw 61 close to the lifting frame 2 and is connected to the forward extension plate 53 through a claw servo 63.

[0047] Such as Figure 5As shown, an inter-wheel support rod 16 is installed at the center position of the bottom frame 11. The moving mechanism 7 includes four Mecanum wheels 71 connected to the bottom frame 11 through suspension plates 72, and the suspension plates 72 are connected to the bottom frame 11 and the inter-wheel support rod 16.

[0048] The Mecanum wheel 71 is connected to the outer suspension plate 72 through a keyway coupling. An electric motor flange seat 74 is provided on the inner suspension plate 72, and a planetary encoder reduction motor 73 is installed on the electric motor flange seat 74. The planetary encoder reduction motor 73 is connected to and drives the Mecanum wheel 71 through a D-type shaft flange coupling.

[0049] The inter-wheel support rod 16 is installed with a shock-absorbing support rod 76, and a shock-absorbing mounting seat 77 is installed on the shock-absorbing support rod 76. The tops of the suspension plates 72 on both sides of the same Mecanum wheel 71 are connected through an aluminum bushing 78, and a metal shock absorber 75 is provided between the shock-absorbing mounting seat 77 and the aluminum bushing 78.

[0050] Working process: While the moving mechanism 7 drives the device to move to the designated material taking position, the lifting motor 35 drives the synchronous belt to lift the lifting frame 2; after reaching the target position, the forward extension mechanism is activated, the gear motor 54 drives the gear 55 to rotate, and the forward extension plate 53 and the gear motor 54 move forward synchronously along the direction of the rack 52.

[0051] The recognition camera 56 recognizes the materials and first screens and classifies the spherical materials. The clamping assembly transports the spherical materials into the storage block area 44, and according to the different characteristics of the spherical materials, the ball sorting servo 47 drives the ball sorting rod 46 to put the spherical materials into two ball storage channels. After taking the spherical materials, the recognition camera 56 recognizes the block-shaped materials, the clamping assembly clamps the block-shaped materials to the storage block area 44, and after the material taking is completed, the lifting frame 2 returns to its original position.

[0052] The moving mechanism 7 drives the device to the designated dropping point, the hatch servo responds and drives the ball pouring frame 48 to rotate downward. Through the provided inclined ball storage bottom plate 41, the spherical materials are discharged through the ball pouring frame 48; the lower swing servo 45 responds and drives the storage block area 44 to rotate downward to pour out the block-shaped materials, and the dropping is completed.

[0053] Embodiment 2

[0054] In this embodiment, auxiliary guide rails 82 are respectively provided on the upper and lower surfaces of the forward extension plate 53. Each auxiliary guide rail 82 is provided with a corresponding auxiliary slider. The lower auxiliary slider is connected to the upper plate 51 installed with the rack 52, and the lower auxiliary slider is connected to the sliding plate 81 installed with the fixed claw 61. A linear reciprocating driving device for driving the sliding plate 81 to move back and forth can be provided on the forward extension plate 53. The linear reciprocating driving device in this embodiment is a cylinder, an oil cylinder, an electric push rod or a linear reciprocating belt mechanism.

[0055] By providing the auxiliary guide rail 82, the forward extension mechanism can extend the material to take the material more smoothly; by providing the sliding plate 81, the clamping range between the fixed claw 61 and the rear clamping claw 62 can be adjusted to achieve the clamping of materials of different sizes.

[0056] The utility model arranges ball storage bins and block storage areas to store and transport ball materials and block materials in different areas. The material picking accuracy is high, and the material picking height can be freely adjusted to a suitable material picking height, which has adaptability to multiple scenarios.

[0057] 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 it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An engineering robot for multi-material handling, characterized in that It comprises a frame, a moving mechanism is installed under the frame, the frame is connected to a lifting frame through a lifting mechanism, a material storage mechanism is arranged on the lifting frame, the material storage mechanism consists of a ball storage bin and a block storage area, a forward extension mechanism is installed on the top of the lifting frame, a clamping assembly is arranged on the outer end of the forward extension mechanism, the block storage area is located under the clamping assembly and is connected with the ball storage bin, and an identification camera is installed on the lower surface of the forward extension mechanism.

2. The engineering robot for multi-material handling according to claim 1, characterized in that: The frame includes a bottom frame and columns, an L-shaped angle plate is arranged at the corner of the bottom frame, the moving mechanism is installed on the bottom frame, a bottom plate installed on the bottom frame is arranged between the columns, and a fixed beam is installed on the top of the column.

3. The engineering robot for multi-material handling according to claim 2, characterized in that: A linear slide rail and a guide rail slider slidably connected to the linear slide rail are installed on the column, the bottom of the lifting frame is connected to the guide rail slider, the lifting mechanism includes a driving wheel and a synchronous wheel, the driving wheel is connected to a lifting motor that drives the driving wheel to rotate, the driving wheel and the lifting motor are installed on the upper beam of the lifting frame, the synchronous wheel is installed on the lower beam of the lifting frame, the driving wheel and the synchronous wheel are connected by an endless toothed belt meshing transmission, a pressure plate is installed on the fixed beam, and the toothed belt is clamped and fixed by the pressure plate at a position close to the fixed beam.

4. The engineering robot for multi-material handling according to claim 3, characterized in that: The lifting motor is installed on the upper crossbeam through a motor bracket, and the synchronous wheel is installed on the lower crossbeam through an angle iron. The synchronous wheel is detachably rotatably connected to the angle iron.

5. The engineering robot for multi-material handling according to claim 1, characterized in that: The ball storage bin is surrounded by a ball storage bottom plate, side plates and partition plates. The ball storage bottom plate is installed at the bottom of the lifting frame. The ball storage bottom plate is tilted. The partition plates are arranged between the side plates and parallel to the side plates.

6. The engineering robot for multi-material handling according to claim 5, characterized in that: The height of the feed port of the ball storage bin is not lower than the height of the discharge port of the ball storage bin, the block storage area is arranged at the feed port of the ball storage bin, the block storage area is connected to the lifting frame through a swing servo installed on the lifting frame, and the block storage area is driven by the swing servo to rotate relative to the lifting frame.

7. The engineering robot for multi-material handling according to claim 6, characterized in that: A ball dividing rod is arranged in the storage block area, a connecting rod is arranged at the bottom of the ball dividing rod, and the connecting rod penetrates the storage block area and extends downward to be connected with a ball dividing steering gear installed below the storage block area.

8. The engineering robot for multi-material handling according to claim 6, characterized in that: A ball pouring rack is arranged at the discharge port of the ball storage bin, and the ball pouring rack is connected to the lifting frame via a bin door servo installed on the lifting frame, and the ball pouring rack is driven by the bin door servo to rotate relative to the lifting frame.

9. The engineering robot for multi-material handling according to claim 4, characterized in that: The forward extension mechanism is slidably connected to the upper crossbeam, a rack is installed on the upper crossbeam, the forward extension mechanism includes a forward extension plate, a gear motor is installed on the forward extension plate, an output shaft of the gear motor is connected to a gear meshing with the rack, and the recognition camera is installed on the lower surface of the forward extension plate.

10. The engineering robot for multi-material handling according to claim 9, characterized in that: The clamping assembly includes a fixed claw and a rear clamping claw. The fixed claw is installed at the front end of the front extension plate and is arranged downward. The rear clamping claw is arranged on a side of the fixed claw close to the lifting frame and is connected to the front extension plate through a clamping claw servo.

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