Cargo carrying robot
By designing a cargo handling robot, which utilizes clamping and lifting mechanisms, the problem of AGVs being unable to move goods independently has been solved, achieving automated cargo handling and improving efficiency.
Patent Information
- Application Number
- CN202520042253.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-09
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2035-01-09
AI Technical Summary
Existing AGVs cannot lift goods placed on the ground or stacked on top of each other on their own, requiring manual operation, which results in low handling efficiency.
Design a cargo handling robot that uses components such as a frame, clamping mechanism, traveling device, lifting mechanism and pneumatic suction cup to automatically clamp and place cargo. The robot includes a clamping bracket, a first clamping plate and a second clamping plate. Through the cooperation of the drive component and the lifting mechanism, the robot can automatically handle cargo.
It enables automated handling of goods from the ground or stacked states onto AGV carts, improving handling efficiency and reducing manual intervention.
Smart Images
Figure CN223591909U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of auxiliary transfer goods, especially relates to a goods carrying robot. BACKGROUND
[0002] AGV has the advantages of high automation degree and high intelligent level, and is gradually applied to industries such as warehousing and manufacturing in recent years; the goods are placed on the AGV trolley in the loading area, the AGV trolley carries the goods from the loading area to the unloading area, and the goods are taken off from the AGV trolley in the unloading area, completing the transfer of the goods.
[0003] However, part of the goods is placed on the ground and stacked, the AGV trolley cannot automatically pick up and place the goods on the vehicle, and manual carrying and placing are required, and due to the limited physical strength of workers, long-time work will lead to low carrying efficiency and reduce the efficiency of goods transfer. UTILITY MODEL CONTENT
[0004] The utility model discloses a goods carrying robot can automatically clamp the goods placed on the ground and stacked and place the goods on the AGV trolley.
[0005] The utility model discloses a kind of goods carrying robots, and the technical scheme adopted is:
[0006] Including frame and clamping mechanism, the frame is equipped with loading and unloading area, the loading and unloading area penetrates frame, the frame is equipped with two traveling devices, two The traveling device is respectively close to loading and unloading area two sides, the frame is equipped with two lifting mechanisms, two The lifting mechanism is respectively close to loading and unloading area two sides, the clamping mechanism includes clamping support, first clamping plate and second clamping plate, the two sides of the clamping support are slidably connected with two lifting mechanisms, the first clamping plate and second clamping plate are slidably connected with clamping support, the clamping support is equipped with drive assembly, the first clamping plate and second clamping plate are connected with drive assembly, the first clamping plate and second clamping plate are equipped with a plurality of pneumatic suction cups.
[0007] As a preferred scheme, the drive assembly includes drive motor and chain, the output shaft of the drive motor is fixedly connected with first ratchet, the clamping support is rotatably connected with second ratchet, the chain is sleeved on first ratchet and second ratchet, the chain is equipped with two connection zones, the first ratchet and second ratchet are located between two connection zones, the first clamping plate and second clamping plate are fixedly connected with two connection zones respectively.
[0008] As a preferred scheme, two second light poles are arranged on the clamping support, the second light poles are parallel to the chain, and the two second light poles are located at two sides of the chain respectively.
[0009] As a preferred scheme, the lifting mechanism comprises a lead screw, a lifting motor and two first light poles, the lead screw is rotationally connected with the frame, the lifting motor is fixedly connected with the frame, an output shaft of the lifting motor is fixedly connected with one end of the lead screw, the first light poles are fixedly connected with the frame, the two first light poles are located at two sides of the lead screw respectively, a lifting slide plate is slidably connected with the lead screw, the lifting slide plate is slidably connected with the first light poles, and two sides of the clamping support are fixedly connected with the two lifting slide plates respectively.
[0010] As a preferred scheme, the loading and unloading area is internally provided with a first vision device and a second vision device, the first vision device faces the outside of the loading and unloading area, and the second vision device faces the lower side of the clamping mechanism.
[0011] As a preferred scheme, an infrared sensor is arranged on the clamping support, the infrared sensor is located on the same horizontal plane as the second light poles, and the infrared sensor faces the outside of the loading and unloading area.
[0012] As a preferred scheme, the traveling device is a track traveling device.
[0013] The cargo carrying robot has the following beneficial effects:
[0014] The traveling device drives the device to move close to the cargo, and the cargo enters the loading and unloading area, the lifting mechanism drives the clamping mechanism to slide and descend, and the cargo is located between the first clamping plate and the second clamping plate, the driving assembly drives the first clamping plate and the second clamping plate to slide on the clamping support and move close to each other, so that the first clamping plate and the second clamping plate clamp the cargo, and the pneumatic suction cup adsorbs the cargo to prevent the cargo from falling; the lifting mechanism drives the clamping mechanism to slide and ascend, and the clamped cargo is away from the ground, and if the clamped cargo is stacked on other cargos, the clamped cargo is away from the upper side of the stacked other cargos; the traveling device drives the device to move close to the AGV car, and the AGV car enters the loading and unloading area, the lifting mechanism drives the clamping mechanism to slide and descend, the clamping mechanism places the cargo on the AGV car, the pneumatic suction cup releases the cargo, the driving assembly drives the first clamping plate and the second clamping plate to slide on the clamping support and move away from each other, and after the cargo loses the clamping of the first clamping plate and the second clamping plate, the AGV car carries the cargo and drives out of the loading and unloading area, so that the cargo placed on the ground or stacked and placed is automatically carried to the AGV car. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 is a running schematic view of the cargo carrying robot.
[0016] Figure 2 is a frame structure schematic view of the cargo carrying robot.
[0017] Figure 3 is a structure schematic view of the lifting mechanism and the clamping mechanism of the cargo carrying robot.
[0018] Figure 4 is a clamping mechanism plan view (partial section view of the clamping support) of the cargo carrying robot. DETAILED DESCRIPTION
[0019] The utility model makes further elaboration and illustration in combination with specific embodiment and the drawing of specification:
[0020] Please refer to Figure 1 and Figure 2 .
[0021] The utility model discloses a kind of cargo carrying robots, including frame 1 and clamping mechanism 3.
[0022] Frame 1 is equipped with loading and unloading area, loading and unloading area penetrates frame 1, so that frame 1 is inverted U character shape;Frame 1 is equipped with two traveling devices 11, and the traveling device 11 is preferred to be caterpillar traveling device in the embodiment, two traveling devices 11 are respectively close to the two sides of loading and unloading area, and two traveling devices 11 are respectively located at the two ends of inverted U character shape frame 1, and the equipment is moved by traveling device 11.
[0023] Frame 1 is equipped with two lifting mechanisms 2, two lifting mechanisms 2 are mutually symmetrical, two lifting mechanisms 2 are respectively close to the two sides of loading and unloading area, and lifting mechanism 2 includes screw rod 21, lifting motor 22 and two first light poles 23;The both ends of screw rod 21 are rotatably connected with frame 1, screw rod 21 is vertically placed on frame 1, lifting motor 22 is fixedly connected with frame 1, lifting motor 22 is close to the top of frame 1, the output shaft of lifting motor 22 is fixedly connected with one end of screw rod 21, and the design that lifting motor 22 is close to the top of frame 1 can make the other end of screw rod 21 closer to ground, so that clamping mechanism 3 can be lowered to be closer to ground, and smaller cargo 4 is clamped.
[0024] Further, the both ends of first light pole 23 are fixedly connected with frame 1, and two first light poles 23 are respectively located at the two sides of screw rod 21, first light pole 23 is mutually parallel with screw rod 21, and lifting slide plate 211 is slidably connected on screw rod 21, and lifting slide plate 211 is slidably connected with first light pole 23.
[0025] The two lifting motors 22 are synchronously operated, the lifting motor 22 drives the screw rod 21 to rotate forward, the screw rod 21 drives the lifting slide plate 211 to slide upward on the first light rod 23, and the lifting motor 22 drives the screw rod 21 to rotate reversely, the screw rod 21 drives the lifting slide plate 211 to slide downward on the first light rod 23.
[0026] Please refer to Figures 2-4 .
[0027] The clamping mechanism 3 comprises a clamping support 31, a first clamping plate 32 and a second clamping plate 33, two sides of the clamping support 31 are fixedly connected with the two lifting slide plates 211 respectively, and the two sides of the clamping support 31 are slidably connected with the screw rods 21 of the two lifting mechanisms 2 through the lifting slide plates 211 respectively.
[0028] Further, the clamping support 31 is provided with a driving assembly, the first clamping plate 32 and the second clamping plate 33 are connected with the driving assembly, the driving assembly comprises a driving motor 311 and a chain 314, a first ratchet wheel 312 is fixedly connected on an output shaft of the driving motor 311, a second ratchet wheel 313 is rotatably connected on the clamping support 31, and the first ratchet wheel 312 and the second ratchet wheel 313 are respectively close to the two sides of the clamping support 31; the chain 314 is sleeved on the first ratchet wheel 312 and the second ratchet wheel 313, two connection sections are arranged on the chain 314, and the first ratchet wheel 312 and the second ratchet wheel 313 are located between the two connection sections.
[0029] The driving motor 311 drives the first ratchet wheel 312 to rotate forward, the first ratchet wheel 312 drives the chain 314 to move, and the two connection sections move away from each other in the reverse direction; the driving motor 311 drives the first ratchet wheel 312 to rotate reversely, the first ratchet wheel 312 drives the chain 314 to move, and the two connection sections move close to each other in the reverse direction.
[0030] Further, two second light rods 315 are arranged on the clamping support 31, the second light rods 315 are parallel to each other, the two second light rods 315 are respectively located on the two sides of the chain 314, and the first clamping plate 32 and the second clamping plate 33 are slidably connected with the second light rods 315 of the clamping support 31.
[0031] Further, a notch is arranged on each of the first clamping plate 32 and the second clamping plate 33, the chain 314 is located in the notch, a first connecting piece 321 and a second connecting piece 331 are fixedly connected in the notch of the first clamping plate 32 and the notch of the second clamping plate 33 respectively, and the first connecting piece 321 and the second connecting piece 331 are fixedly connected with the two connection sections respectively.
[0032] The driving motor 311 drives the first ratchet 312 to rotate forward, so that the chain 314 pulls the first clamping plate 32 and the second clamping plate 33 to slide on the second light pole 315 and move close to each other; the driving motor 311 drives the first ratchet 312 to rotate reversely, so that the chain 314 pulls the first clamping plate 32 and the second clamping plate 33 to slide on the second light pole 315 and move away from each other;
[0033] Further, the top of the frame 1 is provided with an air compressor, the first clamping plate 32 and the second clamping plate 33 are embedded with a shunt seat, the air compressor is communicated with the shunt seat, a plurality of pneumatic suction cups 34 are arranged on the first clamping plate 32 and the second clamping plate 33, and the pneumatic suction cups 34 are communicated with the shunt seat. By running or stopping of the air compressor, the pneumatic suction cups 34 are controlled to adsorb or release the goods 4, the friction force of the first clamping plate 32 and the second clamping plate 33 on the goods 4 is increased, and the goods 4 is prevented from sliding when being clamped by the clamping mechanism 3.
[0034] Please refer to Figures 1-4 .
[0035] The loading and unloading area is provided with a first visual device 12 and a second visual device 13, the first visual device 12 faces the outside of the loading and unloading area, and the second visual device 13 faces the lower side of the clamping mechanism 3; the clamping support 31 is provided with an infrared sensor 316, the infrared sensor 316 is located on the same horizontal plane as the second light pole 315, and the infrared sensor 316 faces the outside of the loading and unloading area.
[0036] When loading the goods 4:
[0037] The first visual device 12 confirms the position of the goods 4, the traveling device 11 drives the equipment to move towards the goods 4, and the goods 4 enters the loading and unloading area, and the second visual device 13 confirms that the goods 4 is located below the clamping mechanism 3; when the infrared ray of the infrared sensor 316 hits the goods 4, it is determined that the height of the clamping support 31 is too low, and the clamping support 31 will hit the goods 4, the lifting mechanism 2 drives the clamping mechanism 3 to slide and rise until the infrared sensor 316 is not blocked by the goods 4, so as to avoid hitting the goods 4; after the goods 4 is located between the first clamping plate 32 and the second clamping plate 33, the driving assembly drives the first clamping plate 32 and the second clamping plate 33 to move close to each other to clamp the goods 4, and the pneumatic suction cups 34 simultaneously adsorb the goods 4; the lifting mechanism 2 drives the clamping mechanism 3 to slide and rise, so that the clamped goods 4 is away from the ground, and when the clamped goods 4 is stacked on other goods 4, the clamped goods 4 is away from the upper side of the stacked other goods 4;
[0038] The specific position of the AGV 5 is confirmed by the second vision device 13, the traveling device 11 drives the device to move towards the AGV 5, and the AGV 5 enters the loading and unloading area, the second vision device 13 confirms the height of the AGV 5 and the position below the clamping mechanism 3; the lifting mechanism 2 drives the clamping mechanism 3 to slide and descend, and the clamping mechanism 3 places the goods 4 on the AGV 5, the driving assembly drives the first clamping plate 32 and the second clamping plate 33 to move away from each other to release the goods 4, and the pneumatic suction cup 34 simultaneously releases the goods 4, the AGV 5 carries the goods 4 out of the loading and unloading area, and the loading of the goods 4 is completed.
[0039] When the goods 4 are unloaded:
[0040] The device can also be used to unload the goods 4 on the AGV 5, and place the goods 4 on the ground or stack them;
[0041] The AGV 5 carrying the goods 4 enters the loading and unloading area, the second vision device 13 confirms that the goods 4 loaded on the AGV 5 are located below the clamping mechanism 3, the lifting mechanism 2 drives the clamping mechanism 3 to slide and descend, and the clamping mechanism 3 clamps the goods 4 loaded on the AGV 5, and the pneumatic suction cup 34 simultaneously adsorbs the goods 4; the lifting mechanism 2 drives the clamping mechanism 3 to slide and ascend, and the clamped goods 4 move away from the AGV 5, and the AGV 5 exits the loading and unloading area;
[0042] The goods 4 placement area is confirmed by the first vision device 12, the traveling device 11 drives the device to move towards the goods 4 placement area, and the goods 4 placement area enters the loading and unloading area, the second vision device 13 confirms that the goods 4 placement area is located below the clamping mechanism 3; the lifting mechanism 2 drives the clamping mechanism 3 to slide and descend, and the clamping mechanism 3 places the goods 4 in the placement area or stacks them above other goods 4, the clamping mechanism 3 releases the goods 4, and the pneumatic suction cup 34 simultaneously releases the goods 4, the traveling device 11 drives the device to move away, and the unloading of the goods 4 is completed.
[0043] The utility model provides a kind of goods carrying robot, approach goods by advancing device and let goods enter loading and unloading area, let goods be located between first clamping plate and second clamping plate by lifting mechanism driving clamping mechanism sliding down, drive assembly drives first clamping plate and second clamping plate sliding on clamping support and mutually approach, so that first clamping plate and second clamping plate clamp goods, pneumatic suction cup adsorbs goods, avoid goods to drop;Lifting mechanism drives clamping mechanism sliding up, let the goods being clamped away from ground, if the goods being clamped is stacked on other goods, the goods being clamped is away from the top of other goods stacked;Approach AGV dolly by advancing device and let AGV dolly enter loading and unloading area, let clamping mechanism place goods on AGV dolly by lifting mechanism driving clamping mechanism sliding down, pneumatic suction cup loosens goods, drive assembly drives first clamping plate and second clamping plate sliding on clamping support and mutually away, after goods lose the clamping of first clamping plate and second clamping plate, AGV dolly carries goods and drives out loading and unloading area, realize and place on AGV dolly automatically carrying to the goods of ground or stacking.
[0044] Finally, it should be noted that the above embodiments are merely used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.
Claims
1. A cargo carrying robot characterized by, Frame and clamping mechanism are included. The frame is provided with a loading and unloading area penetrating through the frame, two travel devices are arranged on the frame and close to both sides of the loading and unloading area, and two lifting mechanisms are arranged on the frame and close to both sides of the loading and unloading area. The clamping mechanism includes a clamping support, a first clamping plate and a second clamping plate, the two sides of the clamping support are slidably connected with the two lifting mechanisms respectively, the first clamping plate and the second clamping plate are slidably connected with the clamping support, a driving assembly is arranged on the clamping support, the first clamping plate and the second clamping plate are connected with the driving assembly, and a plurality of pneumatic suction cups are arranged on the first clamping plate and the second clamping plate.
2. A goods handling robot as claimed in claim 1, characterized in that The driving assembly includes a driving motor and a chain, a first ratchet is fixedly connected to the output shaft of the driving motor, a second ratchet is rotatably connected to the clamping support, the chain is sleeved on the first ratchet and the second ratchet, two connection areas are arranged on the chain, the first ratchet and the second ratchet are located between the two connection areas, and the first clamping plate and the second clamping plate are fixedly connected with the two connection areas respectively.
3. A goods handling robot as claimed in claim 2, characterized in that Two second light poles are arranged on the clamping support and parallel to the chain, the two second light poles are located on both sides of the chain respectively, the first clamping plate and the second clamping plate are slidably connected with the second light poles, a first connecting piece and a second connecting piece are fixedly connected to the first clamping plate and the second clamping plate respectively, and the first connecting piece and the second connecting piece are fixedly connected with the two connection areas respectively.
4. A goods handling robot as claimed in claim 3, characterized in that The lifting mechanism includes a lead screw, a lifting motor and two first light poles, the lead screw is rotatably connected with the frame, the lifting motor is fixedly connected with the frame, the output shaft of the lifting motor is fixedly connected with one end of the lead screw, the first light poles are fixedly connected with the frame, and the two first light poles are located on both sides of the lead screw respectively, a lifting slide plate is slidably connected with the lead screw, the lifting slide plate is slidably connected with the first light poles, and the two sides of the clamping support are fixedly connected with the two lifting slide plates respectively.
5. A goods handling robot as claimed in claim 4, characterized in that A first visual device and a second visual device are arranged in the loading and unloading area, the first visual device faces outward of the loading and unloading area, and the second visual device faces downward of the clamping mechanism.
6. A goods handling robot as claimed in claim 5, characterized in that An infrared sensor is arranged on the clamping support, the infrared sensor is located on the same horizontal plane with the second light pole, and the infrared sensor faces outward of the loading and unloading area.
7. A goods handling robot as claimed in claim 6, characterized in that The travel device is a track travel device.