Robot suitable for carrying cigarette cartons

Abstract

The utility model discloses a robot suitable for carrying cigarette cartons, and relates to the field of tobacco transportation, the robot comprises a chassis mechanism, a portal storage mechanism and a pick-and-place execution mechanism, a walking module is arranged in the chassis mechanism, the walking module is used for driving the chassis mechanism to move in multiple directions, the portal storage mechanism is arranged on the chassis mechanism, and the pick-and-place execution mechanism is arranged on the portal storage mechanism. The portal storage mechanism is arranged on the chassis mechanism and used for storing goods in the carrying process, the taking and placing executing mechanism is arranged on the portal storage mechanism and used for achieving the taking and placing actions of the goods, multi-directional movement is achieved through the chassis mechanism, the taking and placing actions of the goods are completed through the taking and placing executing mechanism, and safe temporary storage of the multiple goods can be achieved in the transportation process. The robot not only can pick and place goods from a goods shelf in a forking mode, but also can be automatically in butt joint with external equipment such as a conveying line, 24-hour uninterrupted operation is supported, and human errors are eradicated while the in-out warehouse transfer efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of tobacco transportation, and more specifically, to a robot suitable for handling cigarette packs. Background Technology

[0002] As competition intensifies in the tobacco industry, streamlining processes and improving logistics efficiency have become crucial for companies to reduce costs and enhance competitiveness. Traditional manual handling methods cannot meet the growing demands for logistics efficiency, especially when dealing with high-frequency, small-batch orders, where manual labor is inefficient and prone to errors.

[0003] In conclusion, how to improve the efficiency of cigarette handling and reduce handling errors is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a robot suitable for handling cigarette packs, which can not only pick up and put goods from the shelf, but also automatically connect with external equipment such as conveyor lines, support 24-hour uninterrupted operation, improve the efficiency of inbound and outbound transfer while eliminating human error.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A robot suitable for handling cigarette packs includes:

[0007] A chassis mechanism, wherein a walking module is provided within the chassis mechanism, and the walking module is used to drive the chassis mechanism to move in multiple directions;

[0008] A gantry storage mechanism is disposed on one side of the chassis mechanism, and the gantry storage mechanism is used to store goods during the handling process;

[0009] A pick-and-place mechanism is installed on the gantry storage mechanism. The pick-and-place mechanism is used to pick up goods, move them onto the gantry storage mechanism, and can reverse to complete the placement of goods.

[0010] Preferably, the gantry storage mechanism includes:

[0011] The first frame is fixedly mounted on the chassis mechanism;

[0012] Fixed crossbeams are fixedly installed on the first frame, and a plurality of fixed crossbeams are provided along the extension direction of the first frame;

[0013] The storage platform is fixedly mounted on the fixed crossbeam, and the storage platform is mounted perpendicular to the extension direction of the first frame.

[0014] Preferably, the pick-and-place actuator includes:

[0015] The second frame is fixedly mounted on the chassis mechanism;

[0016] A loading platform is slidably mounted on the second frame. A mounting base is provided on the loading platform, and two forks are arranged opposite each other on the mounting base.

[0017] A drive assembly is disposed on the gantry storage mechanism, the drive assembly being used to drive the loading platform to slide along the second frame;

[0018] A telescopic assembly is disposed on the mounting base, the telescopic assembly being used to drive the forks to adjust the distance between them and the mounting base in the horizontal direction;

[0019] A rotating assembly is disposed on the loading platform, and the rotating assembly is used to drive the mounting base to rotate.

[0020] A clamping assembly is disposed on the mounting base and is used to drive the two forks to move toward each other or away from each other.

[0021] Preferably, the driving component includes:

[0022] A pulley is provided at one end of the second frame away from the chassis mechanism, and a steel wire rope is drivenly connected to the pulley. One end of the steel wire rope is fixedly connected to the loading platform.

[0023] A winch is mounted on the chassis mechanism, and the other end of the wire rope is wound around the winch. A first rotating motor is mounted on the chassis mechanism, and the rotating shaft of the first rotating motor is fixedly connected to the rotating shaft of the winch.

[0024] Preferably, the rotating assembly includes a second rotating motor fixedly mounted on the cargo platform, and the rotating shaft of the second rotating motor is fixedly connected to the middle part of the mounting base.

[0025] Preferably, the telescopic assembly includes a first electric actuator horizontally disposed on the mounting base, the output end of the first electric actuator being fixedly connected to one end of the fork.

[0026] Preferably, the clamping assembly includes a second electric actuator disposed on the mounting base, the second electric actuator being connected to one of the forks for driving it toward or away from the other fork.

[0027] Preferably, the walking module includes a steering wheel mounted on the chassis mechanism, and the chassis mechanism is equipped with a drive motor for driving the steering wheel to move.

[0028] Preferably, the outer peripheral surface of the chassis mechanism is provided with a mechanical safety contact edge, and the chassis mechanism is provided with a laser obstacle avoidance sensor that cooperates with the mechanical safety contact edge.

[0029] Preferably, the front end of the chassis mechanism is provided with a charging brush plate, which is configured to cooperate with the charging pile brush block of the charging pile.

[0030] The robot for handling cigarette packs provided by this utility model includes a chassis mechanism, a gantry storage mechanism, and a pick-and-place execution mechanism. The chassis mechanism is equipped with a walking module, which is used to drive the chassis mechanism to move in multiple directions. The gantry storage mechanism is located on one side of the chassis mechanism and is used to store goods during the handling process. The pick-and-place execution mechanism is located on one side of the gantry storage mechanism and is used to complete the pick-and-place action of the goods.

[0031] The robot for handling cigarette cartons provided in this application achieves multi-directional movement through a walking module, and completes the picking and placing of goods with a picking and placing actuator, while also safely storing multiple goods during transportation. This robot can not only pick up and place goods from shelves, but also automatically interface with external equipment such as conveyor lines, supporting 24-hour uninterrupted operation, improving inbound and outbound transfer efficiency while eliminating human error. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the overall structure of the robot applicable to handling cigarette packs in this embodiment;

[0034] Figure 2 This is a schematic diagram of the gantry storage mechanism in this embodiment;

[0035] Figure 3 This is a schematic diagram of the pick-and-place actuator in this embodiment;

[0036] Figure 4 This is a schematic diagram of the fork structure in this embodiment;

[0037] Figure 5 for Figure 4 Enlarged view of point A in the middle section;

[0038] Figure 6 This is a schematic diagram of the internal structure of the chassis in this embodiment.

[0039] Figures 1-6 In the accompanying drawings, the reference numerals include:

[0040] 1. Chassis structure; 11. Walking module;

[0041] 2. Gantry storage mechanism; 21. First frame; 22. Fixed crossbeam;

[0042] 3. Picking and placing actuator; 31. Second frame; 32. Loading platform; 33. Mounting base; 34. Forks; 351. Pulley; 352. Wire rope; 353. Winch;

[0043] 4. Mechanical safety contact edge; 5. Laser obstacle avoidance sensor; 6. Charging brush plate; 7. Charging pile brush block; 8. Charging pile. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar words used in this utility model do not indicate any order, quantity, or importance. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "up," "down," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly. This application discloses a robot suitable for handling cigarette packs.

[0046] The core of this invention is to provide a robot suitable for handling cigarette packs.

[0047] Please refer to Figures 1 to 6 .

[0048] The robot for handling cigarette packs provided by this utility model includes a chassis mechanism 1, a gantry storage mechanism 2, and a pick-and-place execution mechanism 3. The chassis mechanism 1 is equipped with a walking module 11, which is used to drive the chassis mechanism 1 to move in multiple directions. The gantry storage mechanism 2 is located on one side of the chassis mechanism 1 and is used to store goods during the handling process. The pick-and-place execution mechanism 3 is located on one side of the gantry storage mechanism 2 and is used to pick up goods, move them to the storage mechanism 2, and can reverse to complete the placement action.

[0049] Specifically, the walking module 11 is installed within the chassis mechanism 1. The walking module 11 is used to drive the chassis mechanism 1 to move in multiple directions, ensuring that the chassis mechanism 1 can transport cigarettes of different specifications, such as standard cigarettes, slim cigarettes, irregularly shaped cigarettes, and special-shaped cigarettes, to the designated location. The chassis mechanism 1 is equipped with a gantry storage mechanism 2 and a pick-and-place execution mechanism 3. The gantry storage mechanism 2 is located on one side of the chassis mechanism 1 and is used to temporarily store cigarettes during transportation. The pick-and-place execution mechanism 3 is located on one side of the gantry storage mechanism 2 and is used to remove cigarettes from the shelf and move them to the gantry storage mechanism 2 for temporary storage during transportation.

[0050] The aforementioned robot for handling cigarette packs achieves multi-directional movement using the walking module 11 and uses the pick-and-place actuator 3 to remove goods and move them to the storage mechanism 2 for storage during transportation. This robot can not only pick up and place goods from shelves, but also automatically connect with external equipment such as conveyor lines, supporting 24-hour uninterrupted operation, improving the efficiency of inbound and outbound transfers while eliminating human error.

[0051] The robot for handling cigarette packs provided by this utility model will be described in more detail below with reference to the accompanying drawings and specific embodiments.

[0052] In one specific implementation, reference is made to... Figure 1 and Figure 2 The gantry storage mechanism 2 includes a first frame 21, a fixed crossbeam 22, and a storage platform. The first frame 21 is fixedly mounted on the chassis mechanism 1. The fixed crossbeam 22 is fixedly mounted on the first frame 21. Multiple fixed crossbeams 22 are provided along the extension direction of the first frame 21. The storage platform is fixedly mounted on the fixed crossbeam 22. The storage platform is positioned perpendicular to the extension direction of the first frame 21.

[0053] Specifically, the first frame 21 includes a first left mast and a first right mast arranged opposite to each other. The first left mast and the first right mast are vertically mounted on the chassis mechanism 1. Fixed crossbeams 22 are horizontally arranged between the first left mast and the first right mast, and multiple fixed crossbeams 22 are arranged in an array along the length of the first frame 21. The spacing between every two fixed crossbeams 22 is set according to the size of the cigarette packs. A storage platform is horizontally fixed on one side of each fixed crossbeam 22 for storing cigarette packs.

[0054] Based on any of the above embodiments, refer to Figures 2 to 5 The pick-and-place actuator 3 includes a second frame 31, a loading platform 32, a drive assembly, a telescopic assembly, a rotating assembly, and a clamping assembly. The second frame 31 is fixedly mounted on the chassis mechanism 1. The loading platform 32 is slidably mounted on the second frame 31. A mounting base 33 is provided on the loading platform 32, and two forks 34 are arranged opposite each other on the mounting base 33. The drive assembly is mounted on the chassis mechanism 1 and is used to drive the loading platform 32 to slide along the second frame 31. The telescopic assembly is mounted on the mounting base 33 and is used to drive the forks 34 to adjust the distance between them and the mounting base 33 in the horizontal direction. The rotating assembly is mounted on the loading platform 32 and is used to drive the mounting base 33 to rotate. The clamping assembly is mounted on the mounting base 33 and is used to drive the two forks 34 to move towards or away from each other.

[0055] Specifically, the second frame 31 includes a second left mast and a second right mast arranged opposite each other. The second frame 31 can be vertically fixed on the chassis mechanism 1 or fixed inside the first frame 21. A sliding groove is provided on the inner side of the second frame 31. A loading platform 32 is fixedly provided with a loading platform fixing profile at the end near the second frame 31. The two ends of one side of the loading platform fixing profile are slidably disposed in the sliding groove through a guide wheel assembly. The drive assembly is disposed in the chassis mechanism 1. The drive assembly drives the loading platform 32 to move vertically along the sliding groove, thereby lifting the loading platform 32 to a position level with the corresponding storage platform, thus facilitating the transfer of cigarettes to the storage platform for storage. A mounting base 33 is provided on the loading platform 32. Two forks 34 are arranged opposite each other on the mounting base 33. A telescopic assembly is disposed on the mounting base 33 for driving the oppositely arranged forks 34 to extend or retract, facilitating the insertion of the forks 34 into the shelf for retrieving goods. A clamping assembly is mounted on the mounting base 33. The clamping assembly drives the two forks to move towards or away from each other, so that the forks 34 can be inserted to clamp the cigarette pack and remove it from the shelf. A rotating assembly is mounted on the loading platform 32. The rotating assembly can drive the mounting base 33 on the loading platform 32 to rotate, thereby facilitating the transfer of cigarette packs.

[0056] Based on any of the above embodiments, refer to Figure 3 and Figure 6 The drive assembly includes a pulley 351, a wire rope, and a winch 353. The pulley 351 is located at the end of the second frame 31 away from the chassis mechanism 1. A wire rope 352 is drivenly connected to the pulley 351. One end of the wire rope 352 is fixedly connected to the loading platform 32. The winch 353 is located on the chassis mechanism 1. The other end of the wire rope 352 is wound around the winch 353. A first rotating motor is located on the chassis mechanism 1. The rotating shaft of the first rotating motor is fixedly connected to the rotating shaft of the winch 353.

[0057] Specifically, pulley 351 is located at the end of the second frame 31 furthest from the chassis mechanism 1, winch 353 is mounted on the chassis mechanism 1, one end of wire rope 352 is fixedly connected to the loading platform 32, and the other end of wire rope 352 is wound around the winch 353. The wire rope 352, wound around pulley 351, allows the loading platform 32 to move along the chute via the rotation of the winch 353. It should be noted that the specific position of pulley 351 can be adjusted according to specific needs to achieve the lifting of the loading platform 32. A first rotating motor is located inside the chassis mechanism 1, which drives the winch 353 to rotate, thereby lifting the loading platform 32 with the help of the wire rope 352.

[0058] Based on any of the above embodiments, the rotating assembly includes a second rotating motor fixedly mounted on the loading platform 32, and the rotating shaft of the second rotating motor is fixedly connected to the middle part of the mounting base 33.

[0059] Specifically, the second rotary motor is located in the middle of the loading platform 32. The second rotary motor drives the mounting base 33 to rotate, thereby driving the forks 34 located on the mounting base 33 to rotate, and then driving the parts located between the forks 34 to rotate and move, thereby transporting them to the storage platform.

[0060] Based on any of the above embodiments, the telescopic assembly includes a first electric actuator horizontally disposed on the mounting base 33, the output end of the first electric actuator being fixedly connected to one end of the fork 34.

[0061] Specifically, the first electric actuator is positioned along the length of the forks 34, thus enabling the forks 34 to extend and retract, facilitating access to the cigarette pack to be retrieved. Other telescopic structures can also be used to extend and retract the forks 34.

[0062] Furthermore, a rotatable stop lever is provided at the front end of the fork 34, and a rotating motor is provided at the side end of the fork 34. By controlling the rotating motor, the stop lever is driven to swing, thereby preventing the parts from sliding out of the fork 34.

[0063] Based on any of the above embodiments, the clamping assembly includes a second electric actuator disposed on the mounting base 33, the second electric actuator being connected to one of the forks 34 for driving it toward or away from the other fork 34.

[0064] Specifically, the second electric actuator is located on one side of the mounting base 33, and its output end is connected to one of the forks 34. Simultaneously, it can drive the fork 34 and the first electric actuator to move laterally, thereby clamping the goods between the two forks 34. Optionally, a screw-slider structure can be used to move the two forks 34 towards or away from each other.

[0065] Based on any of the above embodiments, refer to Figure 6 The walking module 11 includes a steering wheel mounted on the chassis mechanism 1, and the chassis mechanism 1 is equipped with a drive motor for driving the steering wheel to move.

[0066] Specifically, the walking module 11 includes steering wheels mounted on the chassis mechanism 1 and driven by a drive motor. Optionally, two sets of walking modules 11 can be provided. Their main function is to enable the robot to move stably in a horizontal straight line on the ground, and to move forward and backward in both directions. Furthermore, through the differential speed movement of the two sets of steering wheels, the robot can be driven to rotate 360 ​​degrees in place.

[0067] Based on any of the above embodiments, refer to Figure 6 The outer periphery of the chassis mechanism 1 is provided with a mechanical safety contact edge 4, and the chassis mechanism 1 is provided with a laser obstacle avoidance sensor 5 that cooperates with the mechanical safety contact edge 4.

[0068] Specifically, the mechanical safety contact edge 4 is disposed on the periphery of the chassis mechanism 1, thereby realizing the mechanical anti-collision function of the chassis mechanism 1 during movement. In conjunction with this, a laser obstacle avoidance sensor 5 is disposed on the chassis mechanism 1 to realize the laser obstacle avoidance function of the chassis mechanism 1. Optionally, the intelligent robot provided by this utility model adopts QR code navigation technology to realize the navigation function of the chassis mechanism 1.

[0069] Based on any of the above embodiments, refer to Figure 1 The front end of the chassis mechanism 1 is equipped with a charging brush plate 6, which is configured in conjunction with the charging pile brush block 7 of the charging pile 8.

[0070] Specifically, a charging brush plate 6 is set at the front end of the chassis mechanism 1, and a charging pile brush block 7 is set on the charging pile 8 in cooperation with it. The charging pile brush block 7 connects with the intelligent robot charging brush plate 6 to achieve automatic charging function.

[0071] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0072] The above provides a detailed description of a robot suitable for handling cigarette cases according to this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make several improvements and modifications to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. A robot suitable for handling cigarette packs, characterized in that, include: A chassis mechanism (1) is provided with a walking module (11) inside the chassis mechanism (1), and the walking module (11) is used to drive the chassis mechanism (1) to move in multiple directions; A gantry storage mechanism (2) is disposed on one side of the chassis mechanism (1), and the gantry storage mechanism (2) is used to store goods during the handling process; A pick-and-place actuator (3) is disposed on the gantry storage mechanism (2), and the pick-and-place actuator (3) includes: The second frame (31) is fixedly mounted on the chassis mechanism (1); A loading platform (32) is slidably mounted on the second frame (31). A mounting base (33) is provided on the loading platform (32), and two forks (34) are arranged opposite each other on the mounting base (33). A drive assembly is disposed on the gantry storage mechanism (2), the drive assembly being used to drive the loading platform (32) to slide along the second frame (31); A telescopic assembly is provided on the mounting base (33), the telescopic assembly being used to drive the forks (34) to adjust the distance between them and the mounting base (33) in the horizontal direction; A rotating assembly is disposed on the loading platform (32), the rotating assembly being used to drive the mounting base (33) to rotate; A clamping assembly is disposed on the mounting base (33) and is used to drive the two forks (34) to move toward each other or away from each other.

2. The robot for handling cigarette packs according to claim 1, characterized in that, The gantry storage mechanism (2) includes: The first frame (21) is fixedly mounted on the chassis mechanism (1); A fixed crossbeam (22) is fixedly installed on the first frame (21), and a plurality of fixed crossbeams (22) are provided along the extension direction of the first frame (21); The storage platform is fixedly installed on the fixed crossbeam (22), and the installation direction of the storage platform is perpendicular to the extension direction of the first frame (21).

3. The robot for handling cigarette packs according to claim 1, characterized in that, The driving component includes: A pulley (351) is provided at one end of the second frame (31) away from the chassis mechanism (1). A steel wire rope (352) is connected to the pulley (351) for transmission. One end of the steel wire rope (352) is fixedly connected to the loading platform (32). A winch (353) is mounted on the chassis mechanism (1). The other end of the wire rope (352) is wound around the winch (353). A first rotating motor is mounted on the chassis mechanism (1). The rotating shaft of the first rotating motor is fixedly connected to the rotating shaft of the winch (353).

4. The robot for handling cigarette packs according to claim 1, characterized in that, The rotating assembly includes a second rotating motor fixedly mounted on the loading platform (32), and the rotating shaft of the second rotating motor is fixedly connected to the middle of the mounting base (33).

5. A robot suitable for handling cigarette packs according to claim 1, characterized in that, The telescopic assembly includes a first electric actuator horizontally disposed on the mounting base (33), the output end of the first electric actuator being fixedly connected to one end of the fork (34).

6. A robot suitable for handling cigarette packs according to claim 1, characterized in that, The clamping assembly includes a second electric actuator disposed on the mounting base (33), the second electric actuator being connected to one of the forks (34) for driving it toward or away from the other fork (34).

7. A robot suitable for handling cigarette packs according to any one of claims 1-6, characterized in that, The walking module (11) includes a steering wheel mounted on the chassis mechanism (1), and the chassis mechanism (1) is provided with a drive motor for driving the steering wheel to move.

8. A robot suitable for handling cigarette packs according to any one of claims 1-6, characterized in that, The outer peripheral surface of the chassis mechanism (1) is provided with a mechanical safety contact edge (4), and a laser obstacle avoidance sensor (5) that cooperates with the mechanical safety contact edge (4) is provided on the chassis mechanism (1).

9. A robot suitable for handling cigarette packs according to any one of claims 1-6, characterized in that, The front end of the chassis mechanism (1) is provided with a charging brush plate (6), which is configured in conjunction with the charging pile brush block (7) of the charging pile (8).

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