Intelligent transport vehicle for machine tool cutter storage

Abstract

The utility model relates to the field of operation transportation, and provides an intelligent transport vehicle for storing machine tool cutters, which comprises a chassis and a clamping mechanism, and a plurality of wheel units capable of walking in multiple directions are arranged on the chassis; the clamping mechanism comprises a rotating power unit, a lifting sliding rail and a clamping jaw unit. The storage bin is arranged on the top surface of the chassis; the controller is provided with a wireless communication module, the wheel unit is electrically connected with the first input end of the controller, and the rotating power unit, the lifting sliding rail and the clamping jaw unit are electrically connected with the second input end of the controller. The multi-directional walking wheel units are used for flexible control or scheduling, so that flexible movement in a complex warehouse is facilitated. And furthermore, the clamping mechanism is used for clamping and placing the articles, the effect of assisting warehouse management personnel to take and place the articles is achieved, the management efficiency is improved, meanwhile, the labor intensity of the personnel can be reduced, and the practicability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of operation transportation, concretely relates to an intelligent transport vehicle for machine tool cutter storage. BACKGROUND

[0002] With the continuous development of science and technology, the warehousing technology is also constantly improving, and the way of warehousing is also more and more, the original warehousing mode relies on forklift to store and take goods, the space utilization rate is extremely low and the safety is poor, which makes more and more enterprises seek a warehousing mode that can increase the space utilization rate of the warehouse, reduce the labor cost and reduce the safety risk existing in the warehouse, therefore, the intelligent warehousing mode also emerges as the times require. In the cutter storage warehouse, the cutters are similar and various, such as drilling cutter, polishing cutter, slotting cutter, cutting cutter and the like, and the sizes of the cutter heads are different, and the types are various, which increases the management difficulty.

[0003] And the intelligent warehousing mode can solve the problem, but the efficiency of the manual way of storing and taking goods is low. And in the relatively narrow and complex passageway of the warehouse, the manual operation mode is easy to make mistakes, or spend more time to find goods, resulting in the problems of large labor intensity and high labor cost of warehousing. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing an intelligent transport vehicle for machine tool cutter storage, aiming at improving the problems of large manual labor intensity and time-consuming and labor-consuming of the existing warehousing.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an intelligent transport vehicle for machine tool cutter storage, comprising:

[0006] A chassis, a plurality of wheel units with multidirectional walking are arranged on the chassis;

[0007] A clamping mechanism, comprising a rotating power unit arranged on the chassis, a lifting slide rail arranged on the output end of the rotating power unit, a fixed plate slidingly arranged on the lifting slide rail, and a clamping jaw unit arranged on the fixed plate;

[0008] A storage warehouse arranged on the top surface of the chassis; and

[0009] A controller provided with a wireless communication module, the wheel unit and the first input end of the controller are electrically connected, the rotating power unit, the lifting slide rail and the clamping jaw unit are electrically connected with the second input end of the controller.

[0010] Preferably, the storage warehouse comprises a storage disc and a rotating motor driving the storage disc to rotate, the rotating motor is arranged on the chassis, and a plurality of storage grooves are arranged on the storage disc.

[0011] Preferably, the wheel unit comprises a Mecanum wheel and a wheel hub motor driving the Mecanum wheel.

[0012] Preferably, the gripper unit comprises a first gripper and a second gripper symmetrically arranged, and a clamping motor synchronously driving the first gripper and the second gripper to separate or clamp.

[0013] The driving end of the first gripper is provided with a first gear, the driving end of the second gripper is provided with a second gear, and the inner hole of the first gear or the second gear is arranged on the output shaft of the clamping motor.

[0014] Preferably, the lifting slide rail comprises a fixed frame arranged on the rotating power unit, a sliding rod arranged on the fixed frame, and a lifting power unit driving the fixed plate to move up and down, the fixed plate being slidingly arranged on the sliding rod, and the lifting power unit being arranged on the fixed frame.

[0015] Preferably, the lifting power unit comprises a transmission member and a lifting motor driving the transmission member to perform lifting operation, and the transmission member is a belt, a toothed belt, a chain, a threaded rod or a cable.

[0016] Preferably, the top of the fixed plate is provided with a height detector, and the height detector is electrically connected to the third input end of the controller.

[0017] Preferably, the top surface of the fixed plate is provided with a horizontally extending detection plate, and the detection plate is provided with a rotary detector arranged in a rotary position, the rotary detector being located above the gripper unit, and the rotary detector being electrically connected to the fourth input end of the controller.

[0018] Preferably, the chassis comprises a bottom plate and a top plate arranged in a spaced stacked manner, and a plurality of mounting seats for mounting the wheel hub motor are arranged between the bottom plate and the top plate.

[0019] Compared with the background art, the present application has the following advantages:

[0020] 1. The wireless communication module of the controller can be used to establish wireless communication with an external terminal, so that the intelligent transport vehicle for storing machine tool cutters can be remotely controlled, and the convenience of use is improved.

[0021] 2. The wheel unit capable of multi-direction walking can be flexibly controlled or dispatched to move flexibly in a complex warehouse. Furthermore, the clamping mechanism is used to clamp and place the articles, so as to assist the warehouse personnel to take and place the articles, improve the management efficiency, reduce the labor intensity of personnel work, and improve the practicability. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 FIG. 1 is a structural schematic diagram of the intelligent transport vehicle for machine tool cutter storage in a first perspective view according to the present application;

[0023] Figure 2 FIG. 2 is an enlarged view of the A-marked diagram in FIG. 1; Figure 1

[0024] Figure 3 FIG. 3 is a structural schematic diagram of the intelligent transport vehicle for machine tool cutter storage in a second perspective view according to the present application;

[0025] Figure 4 FIG. 4 is an enlarged view of the B-marked circle in FIG. 3; Figure 3

[0026] Figure 5 FIG. 5 is a structural schematic diagram of the clamping mechanism of the intelligent transport vehicle for machine tool cutter storage in a front direction according to the present application;

[0027] Figure 6 FIG. 6 is a structural schematic diagram of the clamping mechanism of the intelligent transport vehicle for machine tool cutter storage in a back direction according to the present application.

[0028] BRIEF DESCRIPTION OF DRAWINGS

[0029] 10, chassis; 101, wheel unit; 102, hub motor; 103, bottom plate; 104, top plate;

[0030] 20, clamping mechanism; 201, rotating power unit; 202, lifting slide rail; 203, fixed plate; 204, clamping jaw unit;

[0031] 2021, fixed frame; 2022, sliding rod; 2023, lifting power unit; 2024, transmission member; 2025, lifting motor;

[0032] 2031, height detector; 2032, rotation detector;

[0033] 2041, first clamping jaw; 2042, second clamping jaw; 2043, clamping motor; 2044, first gear; 2045, second gear;

[0034] 30, storage bin; 301, storage disc; 302, rotating motor; 3011, storage groove;​​

[0035] 40. The controller. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the utility model is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and not to limit the utility model.

[0037] In addition, it should be noted that: the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the utility model and simplify the description, and do not indicate or imply that the devices or elements of the utility model must have a particular orientation, therefore, it cannot be understood as a limitation on the utility model.

[0038] When an element is referred to as "fixed to" or "set to" or "provided on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] Unless otherwise expressly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. EMBODIMENTS

[0040] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the present embodiment provides an intelligent transport vehicle for machine tool tool storage, which comprises a chassis 10 and a clamping mechanism 20, the chassis 10 is provided with a plurality of wheel units 101 with multidirectional walking; the clamping mechanism 20 comprises a rotating power unit 201 arranged on the chassis 10, a lifting slide rail 202 arranged on the output end of the rotating power unit 201, and a clamping jaw unit 204 arranged on a fixed plate 203, the fixed plate 203 is slidingly arranged on the lifting slide rail 202; a storage bin 30 is arranged on the top surface of the chassis 10; a controller 40 is provided with a wireless communication module, the wheel unit 101 is electrically connected with the first input end of the controller 40, and the rotating power unit 201, the lifting slide rail 202 and the clamping jaw unit 204 are electrically connected with the second input end of the controller 40.

[0041] Specifically, the controller 40 can be an STM32F407 type single-chip microcomputer, which realizes bottom layer motion control, sensor driving and human-computer interaction as a lower computer; at the same time, in order to facilitate automatic operation, a camera and a Rock5B platform can be installed to form a vision module, realize intelligent detection of materials and stacking area and task driving, and realize the whole carrying task through the cooperation of the lower computer.

[0042] In use, a moving instruction is sent through the wireless communication module, then the wheel unit 101 is driven to drive the chassis 10 to enter the specified position, the lifting slide rail 202 is driven to rotate by the rotating power unit 201 (which can be a motor or a rudder), different orientation alignment can be performed, then the lifting slide rail 202 is driven to move in the height direction, and finally the clamping jaw unit 204 is driven to grab the object at the specified position. After taking the object, it can be placed in the storage bin 30 for temporary storage, so a certain number of objects can be taken and stored. At this time, the wheel unit 101 is driven again to move, the objects in the storage bin 30 are placed at the specified position or taken, the purpose of carrying and storing the objects is achieved, the effect of carrying, transporting and storing the objects is realized, and the labor intensity of warehousing is reduced.

[0043] As shown in Figure 3 and Figure 4 As shown, the storage bin 30 in the present embodiment comprises a storage disc 301 and a rotating motor 302 driving the storage disc 301 to rotate, the rotating motor 302 is arranged on the chassis 10, and a plurality of storage grooves 3011 are arranged on the storage disc 301. In this way, the number of storage grooves 3011 can be set, so that a certain number of objects can be placed and then moved and stored, thereby improving the work efficiency. At the same time, in order to facilitate the efficient movement of the intelligent transport vehicle for machine tool tool storage, the rotating motor 302 is used to rotate and switch the storage grooves 3011, so that the clamping jaw unit 204 can be clamped and placed, thereby improving the practicability.

[0044] As shown inFigure 3 As shown in the figure, the wheel unit 101 in the embodiment includes a Mecanum wheel and a wheel hub motor 102 driving the Mecanum wheel. The Mecanum wheel is a device that can move in all directions, and the all-directional movement is based on the principle of a central wheel with many wheel shafts on the periphery of the wheel, which converts part of the wheel steering force to a wheel normal force. Depending on the direction and speed of each wheel, all-directional movement is often a necessary function of the Mecanum wheel, which means that it can make any directional translation in the plane while rotating. In order to achieve all-directional movement, two special wheels, omnidirectional wheels or Mecanum wheels, are generally used.

[0045] With the wheel unit 101 that can walk in multiple directions, flexible control or scheduling can be performed to move flexibly in a complex warehouse. Furthermore, the clamping mechanism 20 is used to clamp and place the articles, which realizes the effect of assisting the warehouse personnel to take and place the articles, improves the management efficiency, reduces the labor intensity of personnel work, and improves the practicability.

[0046] As shown in the figure, Figure 2 and Figure 5 As shown in the figure, the clamping jaw unit 204 in the embodiment includes a first jaw 2041 and a second jaw 2042 arranged symmetrically, and a clamping motor 2043 driving the first jaw 2041 and the second jaw 2042 to separate or clamp; the driving end of the first jaw 2041 is provided with a first gear 2044, the driving end of the second jaw 2042 is provided with a second gear 2045, and the inner hole of the first gear 2044 or the second gear 2045 is arranged on the output shaft of the clamping motor 2043.

[0047] Specifically, the clamping jaw unit 204 adopts a two-jaw design, and the end of the jaw can be a semicircular clamping, so that when the two jaws are clamped, the accommodation space in the semicircle is avoided. At the same time, the clamping motor 2043 drives the jaw to move in the form of gear meshing, which can provide good clamping force, and is convenient for controlling the angle or force of clamping, avoiding damage to the articles, improving the practicability.

[0048] As shown in the figure, Figure 5 and Figure 6As shown, the lifting slide rail 202 in the embodiment includes a fixed frame 2021 arranged at the rotating power unit 201, a sliding rod 2022 arranged at the fixed frame 2021, a fixed plate 203 slidingly arranged at the sliding rod 2022, and a lifting power unit 2023 driving the fixed plate 203 to move up and down, and the lifting power unit 2023 is arranged at the fixed frame 2021. The lifting power unit 2023 includes a transmission member 2024 and a lifting motor 2025 driving the transmission member 2024 to move up and down; the transmission member 2024 is a belt, a toothed belt, a chain, a threaded rod or a cable.

[0049] Further, in the embodiment, the fixed frame 2021 facilitates the installation of the sliding rod 2022, and the sliding rod 2022 can be two, so that the fixed plate 203 can be stably installed, so that the fixed plate 203 can stably move up and down. Specifically, a toothed belt is installed between the top of the fixed frame 2021 and the lifting motor 2025, a gear meshing with the toothed belt is installed on the output end of the lifting motor 2025, and the fixed plate 203 has a protrusion locked with the toothed belt, so that the fixed plate 203 moves up and down with the toothed belt.

[0050] The same as the principle of lifting by the toothed belt, the belt can be driven by a belt pulley, and then the fixed plate 203 is lifted; the chain can be driven by a sprocket, and the cable can be wound and unwound by a winding drum to achieve the effect of lifting. The threaded rod is driven by the motor to reverse, and the fixed plate 203 is provided with a threaded hole engaged with the threaded rod, so as to drive the fixed plate 203 to move up and down along the sliding rod 2022.

[0051] As shown in Figure 3 and Figure 5 , the top of the fixed plate 203 in the embodiment is provided with a height detector 2031, and the height detector 2031 is electrically connected with the third input end of the controller 40. The height detector 2031 can be an industrial camera, which detects the height by visual detection. At the same time, the environmental information can be obtained to accurately move the height and clamp the object, improve the efficiency and safety of operation.

[0052] Further, as shown in Figure 3 and Figure 5 , the top surface of the fixed plate 203 in the embodiment is provided with a horizontally extending detection plate, and the detection plate is provided with a rotary detector 2032 rotatingly positioned, and the rotary detector 2032 is located above the clamping jaw unit 204, and the rotary detector 2032 is electrically connected with the fourth input end of the controller 40. The rotary detector 2032 can also be an industrial camera, which detects the position by the camera to form the rotary positioning condition, and forms the purpose of accurately placing the object, and improves the accuracy and efficiency of clamping and placing the object.

[0053] As Figure 3 shown in the embodiment, the chassis 10 includes a bottom plate 103 and a top plate 104 arranged in a spaced stacked manner, and a plurality of mounting seats for mounting the hub motor 102 are arranged between the bottom plate 103 and the top plate 104. Through the structural design of the double-layer plate, the structure of the chassis 10 can be flexibly designed, and different weight chassis structures are formed by using the counterweight blocks. In this way, the intelligent transport vehicle for machine tool tool storage with the required weight can be designed, the driving is light and fast, the cruising energy is higher, and good practicability is achieved.

[0054] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An intelligent transport vehicle for machine tool storage, characterized in that, The utility model relates to a multi-directional walking robot, comprising: a chassis provided with a plurality of wheel units capable of multi-directional walking; a clamping mechanism comprising a rotating power unit provided on the chassis, a lifting slide rail provided on the output end of the rotating power unit, a fixed plate slidingly provided on the lifting slide rail, and a clamping jaw unit provided on the fixed plate; a storage compartment provided on the top surface of the chassis; and a controller provided with a wireless communication module, wherein the wheel units are electrically connected to the first input end of the controller, and the rotating power unit, the lifting slide rail, and the clamping jaw unit are electrically connected to the second input end of the controller. The storage compartment comprises a storage disc and a rotating motor for rotating the storage disc, wherein the rotating motor is provided on the chassis, and the storage disc is provided with a plurality of storage grooves.

2. The intelligent transport vehicle for machine tool storage of claim 1, wherein: The wheel unit comprises a Mecanum wheel and a hub motor for driving the Mecanum wheel.

3. The intelligent transport vehicle for machine tool storage of claim 1, wherein: The clamping jaw unit comprises a first jaw and a second jaw symmetrically arranged, and a clamping motor for synchronously driving the first jaw and the second jaw to separate or clamp.

4. The intelligent transport vehicle for machine tool storage of claim 1, wherein: The driving end of the first jaw is provided with a first gear, and the driving end of the second jaw is provided with a second gear, and the inner hole of the first gear or the second gear is arranged on the output shaft of the clamping motor. The lifting slide rail comprises a fixed frame provided on the rotating power unit, a sliding rod provided on the fixed frame, and a lifting power unit for driving the fixed plate to move up and down, wherein the fixed plate is slidingly provided on the sliding rod, and the lifting power unit is provided on the fixed frame.

5. The intelligent transport vehicle for machine tool storage of claim 1, wherein: The lifting power unit comprises a transmission member and a lifting motor for driving the transmission member to perform lifting operation.

6. The intelligent transport vehicle for machine tool storage of claim 5, wherein: The transmission member is a belt, a toothed belt, a chain, a threaded rod, or a cable. The top of the fixed plate is provided with a height detector electrically connected to the third input end of the controller.

7. The intelligent transport vehicle for machine tool storage of claim 5, wherein: The top surface of the fixed plate is provided with a horizontally extending detection plate, and the detection plate is provided with a rotation detector rotationally arranged thereon, wherein the rotation detector is located above the clamping jaw unit and is electrically connected to the fourth input end of the controller.

8. The intelligent transport vehicle for machine tool storage of claim 7, wherein: The chassis comprises a bottom plate and a top plate arranged in a stacked manner with a spacing, and a plurality of mounting seats for mounting the hub motor are arranged between the bottom plate and the top plate.

9. The intelligent transport vehicle for machine tool storage of claim 3, wherein: ​

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