Multifunctional material carrying instrument

Abstract

The utility model discloses a multifunctional material handling apparatus, which relates to the technical field of material handling equipment and comprises a placing platform and Mecanum wheels around the placing platform. The rotating seat body is arranged on the front side of the placing platform, and a lifting frame is arranged on the rotating seat body; the mechanical arm is arranged on the lifting frame; the mechanical arm comprises a mounting frame, a first machine arranged on the mounting frame, a first supporting arm arranged at the output end of the first machine and a second machine arranged on the first supporting arm, and a second supporting arm is fixed to the output end of the second machine. The device further comprises a grabbing and clamping structure arranged on the second supporting arm. The grabbing and clamping structure has the functions of circumferential rotation, longitudinal sliding and primary and secondary angle adjustment in the pitching direction at the same time, various automatic grabbing actions are achieved, and due to the design, the efficiency of processing materials of different shapes and sizes is improved, and meanwhile the grabbing and clamping structure adapts to the carrying height of different materials.

Description

TECHNICAL FIELD

[0001] The utility model relates to material handling equipment technical field, concretely is a multifunctional material handling equipment. BACKGROUND

[0002] In modern industrial production, automated material handling equipment plays a vital role, these instruments reduce manual operation, not only improve production efficiency, also reduce the cost caused by human error, but although the application of automated material handling equipment in industry is quite extensive, but they still face some challenges and limitations.

[0003] Firstly, many existing handling mechanical arms have deficiencies in handling efficiency.

[0004] Secondly, the existing mechanical arm design is usually simple, can only perform limited handling operations, lacks flexibility in operation, which limits their application in complex environments.

[0005] Therefore, a multifunctional material handling equipment is proposed. UTILITY MODEL CONTENTS

[0006] The utility model aims at providing a multifunctional material handling equipment, the grab structure that the utility model discloses is provided with, and it simultaneously has one, two level angle adjustment in circumferential rotation, longitudinal slip, pitch direction, realizes multiple automated grabbing actions, multiple grabbing actions not only improve the efficiency when handling different shape and size materials, and simultaneously adapt to the handling demand of different materials, and the utility model is strong in adaptability, and high in operation flexibility.

[0007] To achieve the above object, the utility model provides the following technical scheme: a multifunctional material handling equipment, comprising: a placing platform, a Mecanum wheel arranged around the placing platform, and a rotating seat body arranged on the front side of the placing platform, wherein the rotating seat body is provided with a lifting frame; further comprising a mechanical arm arranged on the lifting frame for material handling; wherein the mechanical arm comprises a mounting frame, a first robot arranged on the mounting frame, and a first branch arm arranged on the output end of the first robot, a second robot arranged on the first branch arm, and a second branch arm fixed on the output end of the second robot; further comprising a grab structure arranged on the second branch arm, wherein the first robot and the second robot jointly act on the grab structure and are respectively used for one level and two level pitch angle adjustment of the grab structure; and the rotating seat body and the lifting frame can drive the grab structure to adjust the horizontal circumferential direction and the height respectively.

[0008] Preferably, the rotating seat body comprises a frame body detachably mounted on the front side of the placing platform, and a driving motor arranged in the frame body, wherein the output shaft of the driving motor penetrates through the first through hole formed in the top of the frame body and is connected with the lifting frame.

[0009] Preferably, the lifting frame comprises a support plate arranged on the output shaft of the driving motor, and a transmission assembly arranged on the support plate, the transmission assembly comprising two transmission wheels rotatably arranged on the support plate, and a transmission chain sleeved on the two transmission wheels, wherein the transmission chain is fixedly connected with the mounting frame; and a servo motor arranged on the top of the placing platform, and the output end of the servo motor passes through a second through hole formed in the side wall of the support plate and is fixedly connected with the lower transmission wheel, serving as the driving source of the lower transmission wheel.

[0010] Preferably, two slide rails are longitudinally formed on the two sides of the support plate respectively, and two sliding blocks are fixedly arranged on the side of the mounting frame away from the first robot, and the two sliding blocks are longitudinally moved in the two slide rails respectively.

[0011] Preferably, the grabbing structure comprises a mounting box detachably arranged on the second supporting arm, and two micro-motors arranged in the mounting box; and two claw hands arranged on the bottom of the mounting box and oppositely moving, and the output shafts of the two micro-motors are fixedly connected with the two claw hands respectively.

[0012] Preferably, rubber pads are arranged on the opposite sides of the two claw hands respectively.

[0013] Preferably, a plurality of placing seats are arranged in the placing area where the placing platform is located.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] 1、The Mecanum wheel arranged in the utility model can provide flexible omnidirectional movement function for the instrument, and meets the daily movement demand of material handling.

[0016] 2、As other embodiments of the utility model, the rotating seat arranged on the front side of the placing platform, the lifting frame arranged on the rotating seat, and the mechanical arm arranged on the lifting frame, further comprise the first robot and the second robot where the mechanical arm is located, so that the grabbing structure arranged on the second supporting arm simultaneously has the functions of circumferential rotation, longitudinal sliding, and one-level and two-level angle adjustment in the pitch direction, thereby realizing multi-level and multi-directional angle operation of the grabbing structure, improving the operation flexibility of the grabbing structure, and the multi-angle operation of the grabbing structure can improve the efficiency when handling materials with different shapes and sizes, especially in the scene where the grabbing tool needs to be frequently replaced or the grabbing strategy needs to be adjusted, and simultaneously makes the mechanical arm have high adaptability in complex working environment. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a first perspective three-dimensional structure schematic view of the utility model;

[0018] Figure 2The second perspective three-dimensional structure schematic view of the utility model;

[0019] Figure 3 The third perspective three-dimensional structure schematic view of the utility model;

[0020] Figure 4 The fourth perspective three-dimensional structure schematic view of the utility model;

[0021] Figure 5 The side view structure schematic view of the utility model.

[0022] In the figure: 1, the placing platform; 2, the Mecanum wheel; 3, the support plate; 4, the rotating seat body; 5, the slide rail; 6, the mounting frame; 7, the transmission assembly; 701, the transmission wheel; 702, the transmission chain; 703, the servo motor; 8, the first robot arm; 9, the first support arm; 10, the second robot arm; 11, the second support arm; 12, the installation box; 13, the claw hand; 14, the placing seat. DETAILED DESCRIPTION

[0023] In the description of the utility model, it needs to be understood that the orientation or position relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relationship shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model. The embodiments of the utility model will be described in detail below with reference to the drawings.

[0024] Please refer to Figures 1 to 5 The utility model optimally provides technical scheme: a multifunctional material carrying instrument, include: placing platform 1, be located at the four around of placing platform 1 Mecanum wheel 2, and be located at the front side of placing platform 1 rotating seat body 4, rotating seat body 4 is provided with lifting frame on, still include the mechanical arm of setting up on lifting frame, for the carrying of material, wherein, the mechanical arm includes mounting frame 6, the first robot arm 8 of setting up on mounting frame 6, and the first support arm 9 of setting up at the output end of first robot arm 8, the second robot arm 11 of being fixed with second support arm 9 on the output end of second robot arm 10 that sets up, still include the grabbing structure of setting up on second support arm 11, wherein, first robot arm 8, second robot arm 10 jointly act grabbing structure and are respectively used for the one, two grade pitch angle adjustment of grabbing structure, rotating seat body 4, lifting frame can drive grabbing structure to carry out horizontal circumferential and height adjustment respectively.

[0025] It is known that the Mecanum wheel 2 is a mature technology, and its structural features include: composed of a hub and a roller around the hub, the roller axis is at an angle of 45 degrees with the hub axis, which enables the wheel to continuously roll forward while achieving lateral sliding, thereby providing flexible all-directional movement function for the device to meet the daily movement needs of material handling.

[0026] The rotating seat body 4 provided on the front side of the placing platform 1, the lifting frame provided thereon, and the mechanical arm provided on the lifting frame also include a first robot 8 and a second robot 10 in which the mechanical arm is located, so that the gripping structure provided on the second arm 11 has circumferential rotation, longitudinal sliding, and one- or two-level angle adjustment in the pitch direction, thereby realizing multi-level and multi-directional angle operation of the gripping structure and improving the operation flexibility of the gripping structure. The multi-angle operation of the gripping structure can improve the efficiency when handling materials of different shapes and sizes, especially in scenarios where the gripping tool needs to be frequently replaced or the gripping strategy needs to be adjusted. Figure 1 The device can realize the process of transporting materials to the placing platform 1 for movement and transportation or transporting materials on the placing platform 1 to the site, and the mechanical arm has high adaptability in complex working environments. For example, many existing mechanical arms have only a few rotating joints, which makes them unable to grasp materials in complex poses or difficult-to-reach positions. In addition, the adjustment capability of the mechanical arm is limited, and manual intervention is usually required for necessary adjustments. The gripping structure of the device has angle and multi-level angle operation means, which overcomes the above-mentioned shortcomings of existing mechanical arms.

[0027] Therefore, the gripping structure provided by the present application has circumferential rotation, longitudinal sliding, and one- or two-level angle adjustment in the pitch direction, realizes various automatic gripping actions, and adapts to the handling needs of different materials. The device has strong adaptability and high operation flexibility.

[0028] Further, the rotating seat body 4 includes a frame body that can be detachably installed on the front side of the placing platform 1, and a drive motor that is internally provided in the frame body. The output shaft of the drive motor passes through a first through hole opened at the top of the frame body and is connected with the lifting frame.

[0029] It is known that the output shaft of the drive motor is upward and connected with the lifting frame, and in combination with Figure 1 Therefore, when it is started, it can drive the lifting frame, the mechanical arm on the lifting frame, and the material held by the mechanical arm to rotate horizontally as a whole, thereby realizing the transportation of materials to the placing platform 1 or the transportation of materials on the placing platform 1 to the site.

[0030] Further, the lifting frame comprises a support plate 3 arranged on the output shaft of the driving motor, and a transmission assembly 7 arranged on the support plate 3, the transmission assembly 7 comprising two transmission wheels 701 rotatably arranged on the support plate 3, and a transmission chain 702 sleeved on the two transmission wheels 701, wherein the transmission chain 702 is fixedly connected with the mounting frame 6; and further comprising a servo motor 703 arranged on the top of the placing platform 1, and the output end of the servo motor 703 penetrates through the second through hole of the side wall of the support plate 3 and is fixedly connected with the lower transmission wheel 701, serving as the driving source of the lower transmission wheel 701.

[0031] In combination with Figure 1 , 2 , it is shown that the transmission assembly 7 is longitudinally arranged on the support plate 3, and the support plate 3 is fixed on the output shaft of the driving motor of the rotating seat body 4, and the transmission chain 702 where the transmission assembly 7 is arranged is connected with the mounting frame 6, so that when the mounting frame 6 is horizontally rotated under the driving of the rotating seat body 4, the servo motor 703 is started to further drive the mounting frame 6 to reciprocate in the vertical direction, so as to satisfy the horizontal and vertical position adjustment of the mechanical arm.

[0032] Further, two slide rails 5 are longitudinally arranged on the two sides of the support plate 3 respectively, and two sliding blocks are fixed on the side of the mounting frame 6 away from the first motor 8, and the two sliding blocks are longitudinally moved in the two slide rails 5 respectively.

[0033] In combination with Figure 1 , it is shown that the arrangement of the slide rails 5 and the sliding blocks can keep the mounting frame 6 stable when the mounting frame 6 moves longitudinally back and forth through the transmission chain 702 where the transmission assembly 7 is arranged, so as to improve the operation stability of the mechanical arm.

[0034] Further, the grabbing structure comprises a mounting box 12 detachably arranged on the second supporting arm 11, and two micro-motors arranged in the mounting box 12; and further comprising two claw hands 13 arranged on the bottom of the mounting box 12 and oppositely moving, and the two claw hands 13 are fixedly connected with the output shafts of the two micro-motors respectively.

[0035] Here, the two claw hands 13 are symmetrically distributed and fixed with the output ends of the two micro-motors, in combination with Figure 1 , so that when the two micro-motors are oppositely driven, the two claw hands 13 can be moved towards or away from each other, so as to complete the clamping or discharging process of the materials;

[0036] And the second supporting arm 11 where the grabbing structure is arranged and the mounting box 12 are detachably arranged, so that the mechanical arm can quickly adapt to different carrying tasks and environments, and the flexibility of the instrument is improved.

[0037] Further, rubber pads are arranged on the opposite sides of the two claw hands 13 respectively, as shown in Figure 1 , 2, 3, 4, the setting can reduce the risk of material falling off in the process of carrying material by the grabbing structure, thereby ensuring the safety of material transfer.

[0038] Further, the placing area where the placing platform 1 is located is provided with a plurality of placing seats 14, which is a mature technology. Figure 1 、 2 , 3, 5.

[0039] In the utility model, unless there is definite stipulation and limitation, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated, and there are many ways for detachable mounting, for example, it can be through the way of cooperating with buckles by inserting, or for example, through the way of bolt connection and the like.

[0040] The above embodiments are only used for further illustrating the utility model, and cannot be understood as limiting the protection scope of the utility model, and the skilled in the art can make some non-essential improvements and adjustments to the utility model according to the content of the above utility model, which falls within the protection scope of the utility model.

Claims

1. A multi-functional material handling apparatus, characterized by, The utility model relates to a multifunctional material handling device, including: A placing platform (1) is equipped with a Mecanum wheel (2) around the placing platform (1); And a rotating seat body (4) is arranged at the front side of the placing platform (1), and the rotating seat body (4) is provided with a lifting frame; Further including a mechanical arm arranged on the lifting frame for material handling; Wherein the mechanical arm includes a mounting frame (6), a first servo motor (8) arranged on the mounting frame (6), a first branch arm (9) arranged at the output end of the first servo motor (8), a second servo motor (10) arranged on the first branch arm (9), and a second branch arm (11) fixed at the output end of the second servo motor (10); Further including a grabbing structure arranged on the second branch arm (11), wherein the first servo motor (8) and the second servo motor (10) jointly act on the grabbing structure and are respectively used for adjusting the first and second grade pitch angles of the grabbing structure; The rotating seat body (4) and the lifting frame can drive the grabbing structure to adjust the horizontal circumferential direction and the height respectively.

2. The multifunctional material handling device according to claim 1, wherein: The rotating seat body (4) includes a frame body detachably mounted at the front side of the placing platform (1), and a drive motor arranged in the frame body, and the output shaft of the drive motor penetrates through a first through hole formed in the top of the frame body and is connected with the lifting frame.

3. The multifunctional material handling device according to claim 2, wherein: The lifting frame includes a support plate (3) arranged on the output shaft of the drive motor, and a transmission assembly (7) arranged on the support plate (3), the transmission assembly (7) includes two transmission wheels (701) rotatably mounted on the support plate (3), and a transmission chain (702) sleeved on the two transmission wheels (701), wherein the transmission chain (702) is fixedly connected with the mounting frame (6); Further including a servo motor (703) arranged on the top of the placing platform (1), and the output end of the servo motor (703) penetrates through a second through hole formed in the side wall of the support plate (3) and is fixedly connected with the lower transmission wheel (701), and the servo motor (703) is used as the driving source of the lower transmission wheel (701).

4. The multifunctional material handling device according to claim 3, wherein: The support plate (3) is further provided with a slide rail (5) longitudinally formed on each side thereof, and two sliding blocks fixedly arranged on the side of the mounting frame (6) away from the first servo motor (8), and the two sliding blocks are longitudinally moved in the two slide rails (5) respectively.

5. The multifunctional material handling device according to claim 1, wherein: The grabbing structure includes a mounting box (12) detachably arranged on the second branch arm (11), and two micro motors arranged in the mounting box (12); further including two claw hands (13) arranged on the bottom of the mounting box (12) and oppositely moving, and the output shafts of the two micro motors are fixedly connected with the two claw hands (13) respectively.

6. The multifunctional material handling device according to claim 1, wherein: Rubber pads are further arranged on the opposite sides of the two claw hands (13).

7. The multi-functional material handling apparatus according to claim 1, characterized in that: The placing area where the placing platform (1) is located is provided with a plurality of placing seats (14).

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