Carrying robot with limiting and clamping functions
By installing longitudinal and lateral clamping components and pressure sensors on AGV robots, the problems of cargo swaying and center of gravity shift during transportation are solved, enabling stable transportation and weight monitoring of goods and improving transportation efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- COAL DIVISION (TIANJIN) COAL TESTING CO LTD
- Filing Date
- 2025-02-14
- Publication Date
- 2026-04-17
AI Technical Summary
Existing AGV robots are prone to cargo shaking and center of gravity shifting due to bumps during transportation, which may cause cargo to fall off or the robot to tip over. At the same time, secondary weighing is required, which increases time costs.
A handling robot with limiting and clamping functions was designed. It adopts longitudinal and lateral clamping components, and uses pressure sensors and controllers to control the telescopic components to achieve stable clamping of goods. It is also equipped with a display screen to show the weight.
It enables real-time monitoring of cargo stability and weight during transportation, preventing cargo from falling off and robots from tipping over, reducing the need for secondary weighing, and improving transportation efficiency.
Smart Images
Figure CN224131187U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot transportation technology, and in particular to a handling robot with limiting and clamping functions. Background Technology
[0002] AGV stands for Automated Guided Vehicle. The most common applications of AGVs are as AGV handling robots or AGV carts. Their main function is to automatically transport goods to designated locations through navigation using special landmarks.
[0003] During the transportation of products, existing AGV robots may experience bumps due to obstacle avoidance turns or uneven road surfaces. In these situations, the transported goods may sway, causing them to move due to inertia. This shift in the center of gravity between the goods and the robot may result in the goods detaching from the robot or the robot tipping over.
[0004] Furthermore, the weight of products transported by existing AGV robots is unknown, requiring secondary weighing, which increases the time cost of the entire transportation process and may lead to cargo accumulation during the secondary weighing process. Utility Model Content
[0005] This utility model aims to at least partially solve one of the technical problems in the related art.
[0006] To achieve the above objectives, this utility model proposes a handling robot with limiting and clamping functions, including a robot body, a tray fixedly mounted on the top of the robot body, and multiple first pressure sensors mounted inside the tray; a placement plate is fixedly connected to the first pressure sensors on the side opposite to the tray, and a longitudinal clamping component and a transverse clamping component are mounted on the placement plate, with the clamping directions of the longitudinal clamping component and the transverse clamping component arranged at right angles; the first pressure sensors, the longitudinal clamping component, and the transverse clamping component are all electrically connected to the same controller.
[0007] This invention can clamp the goods transported by the robot by setting up horizontal clamping components and vertical clamping components, thereby ensuring the stable transportation of goods during the transportation process.
[0008] Optionally, the longitudinal clamping unit includes two longitudinal fixing seats facing each other, and a first clamping plate is provided on one side of each of the two longitudinal fixing seats facing each other. A first telescopic member is provided between the first clamping plate and the longitudinal fixing seat, and the first telescopic member is electrically connected to the controller.
[0009] Furthermore, the lateral clamping unit includes two lateral fixing seats arranged opposite each other, and a second clamping plate is provided on one side of each of the two lateral fixing seats facing each other. A second telescopic member is provided between the second clamping plate and the lateral fixing seat, and the second telescopic member is connected to the controller.
[0010] Furthermore, the first telescopic member and the second telescopic member have the same structure, both including a micro motor. The output shaft of the micro motor is fixedly connected to a constant force spring. The placement plate is provided with a limiting groove for the constant force spring to move. The end of the constant force spring is fixedly connected to the first support plate or the second support plate. The micro motor is fixedly connected to the longitudinal fixed seat or the transverse fixed seat.
[0011] Furthermore, both the longitudinal clamping seat and the transverse clamping seat are provided with receiving cavities, and the micro motor and the constant force spring are both disposed in the receiving cavities.
[0012] Furthermore, the first telescopic member and the second telescopic member have the same structure, both being electric telescopic rods. The base of the electric telescopic rod is fixedly connected to the longitudinal fixed seat or the transverse fixed seat, and the telescopic top end of the electric telescopic rod is fixedly connected to the first support plate or the second support plate.
[0013] Furthermore, the first and second supporting plates are provided with buffer plates facing the center of the placement plate, and a buffer spring is provided between the buffer plate and the first or second supporting plate.
[0014] Furthermore, a second pressure sensor is provided on one side of the first and second support plates facing the center of the placement plate, and the second pressure sensor is electrically connected to the controller.
[0015] Furthermore, a display screen is provided on the side wall of the tray, and the display screen is electrically connected to the controller.
[0016] Furthermore, multiple first pressure sensors are arranged in an array above the tray.
[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0018] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:
[0019] Figure 1 This is a side view of a handling robot with limiting and clamping functions according to the present invention.
[0020] Figure 2 This is a schematic diagram of the overall structure of a handling robot with limiting and clamping functions according to the present invention;
[0021] Figure 3 This is a schematic diagram of the internal structure of a pallet of a handling robot with limiting and clamping functions according to the present invention;
[0022] Figure 4 This is a schematic diagram of the first telescopic component of a handling robot with limiting and clamping functions according to the present invention;
[0023] Figure 5 This is a schematic diagram of the buffer plate and buffer spring structure of a handling robot with limiting and clamping functions according to the present invention;
[0024] Figure 6 This is a schematic diagram of the first telescopic component structure of another embodiment of a handling robot with limiting and clamping functions according to the present invention.
[0025] Explanation of reference numerals in the attached figures:
[0026] 1. Robot body; 2. Tray; 3. First pressure sensor; 4. Placement plate; 5. Longitudinal clamping assembly; 51. Longitudinal fixing seat; 52. First support plate; 521. Second pressure sensor; 53. First telescopic component; 531. Micro motor; 532. Constant force spring; 533. Limiting groove; 534. Receiving cavity; 6. Lateral clamping assembly; 61. Lateral fixing seat; 62. Second support plate; 7. Display screen; 8. Buffer plate; 81. Buffer spring; 9. Electric telescopic rod. Detailed Implementation
[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.
[0028] This invention proposes a handling robot with limiting and clamping functions, as described below. Figures 1 to 6 Please provide a detailed explanation.
[0029] A handling robot with limiting and clamping functions includes a robot body 1, a tray 2 fixedly mounted on the top of the robot body 1, and multiple first pressure sensors 3 mounted inside the tray 2; a placement plate 4 is fixedly connected to the side of the first pressure sensors 3 away from the tray 2, and a longitudinal clamping component 5 and a transverse clamping component 6 are mounted on the placement plate 4. The clamping directions of the longitudinal clamping component 5 and the transverse clamping component 6 are arranged at right angles, and the first pressure sensors 3, the longitudinal clamping component 5, and the transverse clamping component 6 are all electrically connected to the same controller.
[0030] This invention can clamp the goods transported by the robot by setting up a horizontal clamping component 6 and a vertical clamping component 5, thereby ensuring the stable transportation of the goods during the transportation process.
[0031] In some embodiments, the longitudinal clamping unit includes two opposing longitudinal fixing seats 51. Each of the two longitudinal fixing seats 51 has a first clamping plate on one side facing each other. A first telescopic member 53 is provided between the first clamping plate 52 and the longitudinal fixing seats 51, and the first telescopic member 53 is electrically connected to the controller. Under the control of the first telescopic member 53, the two opposing first clamping plates 52 can achieve longitudinal stable clamping of the transported goods. The controller electrically connects the two first telescopic members 53. When the first pressure sensor 3 detects a pressure value, goods are already loaded on the placement plate 4. At this time, after receiving the signal from the first pressure sensor 3, the controller controls the first telescopic member 53 to extend, causing the two first clamping plates 52 to move relative to each other, thereby achieving longitudinal clamping.
[0032] In some embodiments, the lateral clamping unit includes two opposing lateral fixing seats 61. Each of the two lateral fixing seats 61 has a second clamping plate on one side facing each other. A second telescopic member is provided between the second clamping plate 62 and the lateral fixing seats 61, and the second telescopic member is connected to a controller. Through the control of the second telescopic member, the two opposing second clamping plates 62 can achieve lateral stable clamping of the transported goods. The controller electrically connects the two second telescopic members. When the first pressure sensor 3 detects a pressure value, goods are already loaded on the placement plate 4. At this time, after receiving the signal from the first pressure sensor 3, the controller controls the second telescopic member to extend, causing the two second clamping plates 62 to move relative to each other, thereby achieving lateral clamping.
[0033] In some embodiments, the first telescopic member 53 and the second telescopic member have the same structure, both including a micro motor 531. A constant force spring 532, also known as a spring, is fixedly connected to the output shaft of the micro motor 531. A limiting groove 533 for the constant force spring 532 to move is provided on the placement plate 4. The end of the constant force spring 532 is fixedly connected to the first support plate 52 or the second support plate 62. The micro motor 531 is fixedly connected to the longitudinal fixed seat 51 or the transverse fixed seat 61. When the first telescopic member 53 or the second telescopic member needs to extend, the micro motor 531 drives the constant force spring 532 to rotate. The constant force spring 532 moves linearly in the limiting groove 533, and the end of the constant force spring 532 away from the micro motor 531 is fixedly connected to the first support plate 52 or the second support plate 62, thereby driving the first support plate 52 or the second support plate 62 to move linearly, thus completing the support action. When the clamping action needs to be withdrawn, the micro motor 531 will drive the constant force spring 532 to rotate in the opposite direction, performing a winding action on the constant force spring 532. The constant force spring 532 will drive the first clamping plate 52 or the second clamping plate 62 to move linearly along the limiting groove 533, thereby completing the withdrawal action.
[0034] In some embodiments, both the longitudinal clamping seat and the transverse clamping seat are provided with receiving cavities 534, and the micro motor 531 and the constant force spring 532 are both disposed in the receiving cavities 534. The receiving cavities 534 can protect the micro motor 531 and the constant force spring 532, and at the same time ensure that the first supporting plate 52 and the longitudinal clamping seat, and the second supporting plate 62 and the transverse clamping seat can fit completely together, providing more placement space for the transported goods.
[0035] In some embodiments, the first telescopic member 53 and the second telescopic member have the same structure, both being electric telescopic rods 9. The base of the electric telescopic rod 9 is fixedly connected to the longitudinal fixed seat 51 or the transverse fixed seat 61, and the telescopic top end of the electric telescopic rod 9 is fixedly connected to the first supporting plate 52 or the second supporting plate 62. The position of the first supporting plate 52 or the second supporting plate 62 can be controlled by the electric telescopic rod 9, and receiving cavities 534 can also be formed on the longitudinal supporting seat and the transverse clamping seat to house the electric telescopic rod 9, thereby providing more placement space for the transported goods.
[0036] In some embodiments, a buffer plate 8 is provided on the first support plate 52 and the second support plate 62 toward the center of the placement plate 4, and a buffer spring 81 is provided between the buffer plate 8 and the first support plate 52 or the second support plate 62. The buffer spring 81 and the buffer plate 8 can protect the goods and prevent damage to some fragile goods when the first support plate 52 and the second support plate 62 act directly on the surface of the goods.
[0037] In some embodiments, a second pressure sensor 521 is provided on one side of the first support plate 52 and the second support plate 62 facing the center of the placement plate 4. The second pressure sensor 521 is electrically connected to the controller. When the second pressure sensor 521 detects pressure, it indicates that the goods have come into contact. A threshold can be set for the second pressure sensor 521 in the controller. When the pressure value detected by the second pressure sensor 521 reaches the threshold, the second pressure sensor 521 sends a stop support signal to the controller. The controller then controls the first telescopic member 53 or the second telescopic member to stop its extension action, thereby preventing the pressure from continuously increasing and causing pressure damage to the goods.
[0038] In some embodiments, a buffer plate 8 and a buffer spring 81 are provided in front of the first support plate 52 or the second support plate 62, and a second pressure sensor 521 is also provided on the first support plate 52 or the second support plate 62. In this case, the buffer spring 81 is placed between the second pressure sensor 521 and the buffer plate 8. When the buffer spring 81 is compressed, the buffer spring 81 will apply elastic force to the second pressure sensor 521. At this time, the second pressure sensor 521 can work normally and is used to detect the support pressure on the goods.
[0039] In some embodiments, a display screen 7 is provided on the side wall of the pallet 2, and the display screen 7 is electrically connected to the controller. The display screen 7 is configured to clearly display the total weight of the goods being transported at this time.
[0040] In some embodiments, a plurality of first pressure sensors 3 are arranged in an array above the pallet 2. The array arrangement of the plurality of first pressure sensors 3 can perform balanced positive pressure measurement of the goods, thereby avoiding inaccurate pressure measurement due to uneven gravity distribution.
[0041] In the description of this utility model, it should be understood that the terms "center", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0043] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0044] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0045] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0046] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A handling robot with limiting and clamping functions, characterized in that, The system includes a robot body, on which a tray is fixedly mounted. Multiple first pressure sensors are mounted inside the tray. A placement plate is fixedly connected to the first pressure sensors on the side opposite to the tray. A longitudinal clamping component and a transverse clamping component are mounted on the placement plate. The clamping directions of the longitudinal clamping component and the transverse clamping component are arranged at right angles. The first pressure sensors, the longitudinal clamping component, and the transverse clamping component are all electrically connected to the same controller.
2. A carrying robot with a limiting and clamping function according to claim 1, characterized in that, The longitudinal clamping unit includes two longitudinal fixing seats facing each other. Each of the two longitudinal fixing seats has a first clamping plate on one side facing each other. A first telescopic member is provided between the first clamping plate and the longitudinal fixing seat. The first telescopic member is electrically connected to the controller.
3. A carrying robot with a limiting and clamping function according to claim 2, characterized in that, The lateral clamping unit includes two lateral fixing seats facing each other. Each of the two lateral fixing seats has a second clamping plate on one side facing each other. A second telescopic member is provided between the second clamping plate and the lateral fixing seat. The second telescopic member is connected to the controller.
4. A carrying robot with a limiting and clamping function according to claim 3, characterized in that, The first telescopic component and the second telescopic component have the same structure, both including a micro motor. The output shaft of the micro motor is fixedly connected to a constant force spring. The placement plate is provided with a limiting groove for the constant force spring to move. The end of the constant force spring is fixedly connected to the first support plate or the second support plate. The micro motor is fixedly connected to the longitudinal fixed seat or the transverse fixed seat.
5. A carrying robot with a limiting and clamping function according to claim 4, characterized in that, Both the longitudinal clamping seat and the transverse clamping seat have receiving cavities, and the micro motor and the constant force spring are both disposed in the receiving cavities.
6. The carrying robot with the limiting and clamping functions according to claim 3, characterized in that, The first telescopic member and the second telescopic member have the same structure and are both configured as electric telescopic rods. The base of the electric telescopic rod is fixedly connected to the longitudinal fixed seat or the transverse fixed seat, and the telescopic top end of the electric telescopic rod is fixedly connected to the first support plate or the second support plate.
7. A carrying robot with a limiting and clamping function according to any one of claims 3-6, characterized in that, Both the first and second support plates are provided with buffer plates facing the center of the placement plate, and a buffer spring is provided between the buffer plate and the first or second support plate.
8. A handling robot with limiting and clamping functions as described in claim 7, characterized in that, A second pressure sensor is provided on one side of the first and second support plates facing the center of the placement plate, and the second pressure sensor is electrically connected to the controller.
9. The carrying robot with the limiting and clamping functions according to claim 1, characterized in that, A display screen is provided on the side wall of the tray, and the display screen is electrically connected to the controller.
10. The carrying robot with the limiting and clamping functions according to claim 1, characterized in that, Multiple first pressure sensors are arranged in an array above the tray.