Transfer manipulator

Abstract

The utility model relates to the technical field of transferring manipulators, and provides a transferring manipulator which comprises a base, a sliding bottom plate is arranged on the outer wall of the top of the base, a first motor is fixedly connected to the outer wall of the top of the sliding bottom plate through screws, and a gear is fixedly connected to an output shaft of the first motor. A rack is fixedly connected to the outer wall of the top of the base through screws, the gear is meshed with the outer wall of the rack, and symmetrically-distributed arm frames are welded to the outer wall of the top of the base. A guide rail type moving mechanism is adopted, a first motor drives a gear to be meshed with a rack, a traditional wheel type trolley is replaced, the transmission efficiency is improved, the structure is further simplified, the self weight is reduced, a cable and a tank chain are omitted for a sliding contact line power supply system, friction loss is reduced, and the durability of equipment is enhanced; the first-layer material taking manipulator and the second-layer material taking manipulator which are longitudinally arranged can grab the materials on the upper layer and the lower layer at the same time, and the operation efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of transfer manipulator technology, and in particular to a transfer manipulator. Background Technology

[0002] Transfer robots are automated devices widely used in logistics warehousing, production lines, and other scenarios, primarily for the efficient and precise grasping and transfer of materials. Traditional transfer robots often employ a design where a cart drives the robotic arm, using ground markers for positioning and movement. These devices rely on complex navigation systems during operation and have limited movement speed, making them unsuitable for the demands of modern high-throughput operations.

[0003] In existing technologies, transfer robots generally suffer from the following shortcomings: First, the moving mechanism mostly uses wheeled trolleys in conjunction with ground markers, resulting in low transmission efficiency and slow overall operating speed; Second, the power supply system relies on cables and tank chains, which not only increases the structural weight but also causes problems such as line wear and high maintenance costs; Third, robots are mostly designed in a single layer or horizontal parallel arrangement, which limits the material handling efficiency and makes it difficult to meet the high-density storage needs of multi-layer racks. Utility Model Content

[0004] To address the aforementioned problems, this invention proposes a transfer robot to more accurately resolve the issues of slow overall operating speed, reliance on cables and tank chains for power supply, and limited material handling efficiency.

[0005] This utility model is achieved through the following technical solution:

[0006] This utility model proposes a transfer robot, including a base. A sliding base plate is provided on the top outer wall of the base, and a first motor is fixedly connected to the top outer wall of the sliding base plate by screws. A gear is fixedly connected to the output shaft of the first motor. A rack is fixedly connected to the top outer wall of the base by screws, and the gear meshes with the outer wall of the rack. Symmetrically distributed arms are welded to the top outer wall of the base, and a transmission assembly is installed on the bottom side of one side of the sliding base plate at the bottom of the arms. A second motor is provided on the outer wall of one end of the transmission assembly. A synchronous belt is provided between the transmission assembly and the arms. A lifting block is fixedly connected to the outer wall of the synchronous belt, and a lifting platform is installed on the outer wall of one side of the lifting block. A third motor is fixedly connected to the outer wall of one end of the lifting platform by screws, and a screw is installed on the third motor through a belt pair. A linear guide rail is screwed to the outer wall of the screw, and a first-layer and second-layer material handling robots are installed on the slider of the linear guide rail.

[0007] Furthermore, the transmission assembly includes pulleys and a connecting rod, wherein there are two pulleys and the connecting rod is installed between the two pulleys. The outer wall of one end of the connecting rod is fixedly connected to the output shaft of the second motor through a coupling, and the synchronous belt meshes with the outer wall of the pulley.

[0008] Furthermore, the lifting platform is slidably connected between the two booms.

[0009] Furthermore, the first layer of material handling robot is located above the second layer of material handling robot, and materials are placed on the top outer walls of both the first layer of material handling robot and the second layer of material handling robot.

[0010] Furthermore, a photoelectric sensor is fixedly connected to the outer wall of one end of the lifting platform by screws.

[0011] Furthermore, a motor mount is fixedly connected to the top outer wall of the base by screws, and a second motor is fixedly connected to one side outer wall of the motor mount by screws. A tensioning wheel is rotatably connected to the other side outer wall of the motor mount, and the tensioning wheel is in close contact with the outer wall of the timing belt.

[0012] Furthermore, a bottom guide rail is fixedly connected to the top outer wall of the base by screws, and a first slider is installed on the bottom outer wall of the sliding base plate. The slider is slidably connected to the top outer wall of the bottom guide rail, and a second slider is installed on the top outer wall of the boom. A top guide rail is slidably connected to the outer wall of the second slider, and the top guide rail is located above the base.

[0013] Furthermore, arrayed support seats are installed on both sides of the top outer wall of the base.

[0014] The beneficial effects of this utility model are:

[0015] This utility model proposes a transfer robot that employs a guide rail-type moving mechanism. A first motor drives a gear and rack, replacing the traditional wheeled trolley and improving transmission efficiency. Furthermore, the combination of synchronous belt drive and a sliding design between the lifting platform and the double-arm frame further simplifies the structure and reduces weight. In addition, the sliding contact line power supply system eliminates cables and tank chains, reducing frictional loss and enhancing equipment durability.

[0016] The vertically arranged first-layer and second-layer material handling robots can simultaneously grasp materials from the upper and lower layers, improving work efficiency. Photoelectric sensors monitor the material position in real time, and combined with the tensioning wheel's precise control of the synchronous belt, ensure operational stability and positioning accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0018] Figure 2This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the overall structure of the present invention. Figure 3 ;

[0020] Figure 4 This is an enlarged structural diagram of part A of the present invention;

[0021] Figure 5 This is an enlarged structural diagram of part B of the present invention;

[0022] Figure 6 This is an enlarged structural diagram of part C of the present invention;

[0023] Figure 7 This is a schematic diagram of the overall structure of the second type of transfer robot of this utility model.

[0024] The attached figures are labeled as follows:

[0025] In the diagram: 1. Base; 2. Sliding base plate; 3. First motor; 4. Gear; 5. Rack; 6. Boom; 7. Transmission assembly; 71. Pulley; 72. Connecting rod; 8. Second motor; 9. Synchronous belt; 10. Lifting block; 11. Lifting platform; 12. Third motor; 13. Screw; 14. Linear guide rail; 15. First-layer material handling robot; 16. Second-layer material handling robot; 17. Material; 18. Photoelectric sensor; 19. Tensioning wheel; 20. Bottom guide rail; 21. Support base; 22. Top guide rail. Detailed Implementation

[0026] To more clearly and completely illustrate the technical solution of this utility model, the following description, in conjunction with the accompanying drawings, will further explain this utility model.

[0027] Example 1, please refer to Figures 1-6This utility model proposes a transfer manipulator, including a base 1. A sliding base plate 2 is provided on the top outer wall of the base 1, and a first motor 3 is fixedly connected to the top outer wall of the sliding base plate 2 by screws. A gear 4 is fixedly connected to the output shaft of the first motor 3. A rack 5 is fixedly connected to the top outer wall of the base 1 by screws, and the gear 4 meshes with the outer wall of the rack 5. Symmetrically distributed arms 6 are welded to the top outer wall of the base 1, and a transmission assembly 7 is installed on the bottom side of the top outer wall of the sliding base plate 2 on one side of the arms 6. One end of the transmission assembly 7... A second motor 8 is provided on the outer wall. A synchronous belt 9 is provided between the transmission assembly 7 and the boom 6. A lifting block 10 is fixedly connected to the outer wall of the synchronous belt 9. A lifting platform 11 is installed on one side of the outer wall of the lifting block 10. A third motor 12 is fixedly connected to the outer wall of one end of the lifting platform 11 by screws. A screw 13 is installed on the third motor 12 through a belt pair. A linear guide rail 14 is screwed onto the outer wall of the screw 13. A first layer of material handling robot 15 and a second layer of material handling robot 16 are installed on the slider of the linear guide rail 14.

[0028] The end effectors of the first-layer picking robot 15 and the second-layer picking robot 16 are configured as pluggable grippers, supporting the picking and placing of carriers on one or both sides. The insertion and removal of the carriers are achieved through precise control of the third motor 12. The base 1 integrates a wireless communication module, adopting industrial-grade Wi-Fi or 5G communication protocols, to interact with the host computer system in real time with task instructions and status information, enabling remote monitoring and scheduling.

[0029] The second motor 8 drives the synchronous belt 9 via the pulley 71 and connecting rod 72 of the transmission assembly 7, causing the lifting block 10 to move vertically along the boom 6. The tension wheel 19 presses the synchronous belt 9 to prevent slippage. The lifting platform 11 is fixed to the lifting block 10, and its two sides are slidably connected to the top guide rail 22 via the second slider to ensure smooth lifting. The third motor 12 drives the linear guide rail 14 to move horizontally via the screw 13, so that the first-layer picking robot 15 and the second-layer picking robot 16 can accurately reach into the shelf compartment. After the photoelectric sensor 18 detects that the material 17 is in place, the robot performs the grasping action. The support bases 21 are symmetrically distributed on both sides of the base 1 to enhance the overall load-bearing capacity.

[0030] In addition, infrared safety light curtains are installed on the outer walls of both sides of the boom 6. The light curtain transmitters and receivers are symmetrically arranged to form a safety net covering the working area of ​​the robotic arm. When personnel or foreign objects are detected to intrude, the light curtain signal triggers the control system to stop the robotic arm's movement immediately and issue an alarm.

[0031] Example 2, please refer to Figures 1-7 In Example 1 with double-sided material intake (see attached) Figures 1-6 The robotic arm is positioned between two rows of shelves and can operate in both directions; in the single-sided embodiment 2 (attached) Figure 7The robotic arm structure can be adapted to single-row shelving, exhibiting high structural versatility. The wireless communication module supports multi-machine collaboration; the host computer dynamically allocates task priorities through intelligent scheduling algorithms, and optimizes the robotic arm's movement trajectory through real-time path planning, avoiding multi-machine conflicts and improving overall operational efficiency.

[0032] The transmission assembly 7 includes pulleys 71 and connecting rods 72. There are two pulleys 71, and the connecting rod 72 is installed between the two pulleys 71. One end of the outer wall of the connecting rod 72 is fixedly connected to the output shaft of the second motor 8 through a coupling. The synchronous belt 9 is engaged with the outer wall of the pulleys 71.

[0033] The lifting platform 11 is slidably connected between the two booms 6.

[0034] The first layer of material handling robot 15 is located above the second layer of material handling robot 16, and materials 17 are placed on the top outer walls of both the first layer of material handling robot 15 and the second layer of material handling robot 16.

[0035] A photoelectric sensor 18 is fixedly connected to the outer wall of one end of the lifting platform 11 by screws.

[0036] The base 1 has a motor mount fixedly connected to its top outer wall by screws, and the second motor 8 is fixedly connected to one side outer wall of the motor mount by screws. The other side outer wall of the motor mount is rotatably connected to a tension wheel 19, which is in close contact with the outer wall of the timing belt 9.

[0037] The base 1 has a bottom guide rail 20 fixedly connected to its top outer wall by screws, and a first slider is installed on the bottom outer wall of the sliding base plate 2. The slider is slidably connected to the top outer wall of the bottom guide rail 20. The arm 6 has a second slider installed on its top outer wall. A top guide rail 22 is slidably connected to the outer wall of the second slider, and the top guide rail 22 is located above the base 1.

[0038] A rack 5 is mounted on the top of the base 1, and the sliding base plate 2 is slidably connected to the first slider via the bottom guide rail 20. The first motor 3 drives the gear 4 to mesh with the rack 5, causing the sliding base plate 2 to move rapidly along the guide rail, thereby increasing the speed of the traditional trolley.

[0039] The base 1 has arrayed support seats 21 installed on both sides of the top outer wall.

[0040] In this embodiment, a guide rail type moving mechanism is adopted, in which the first motor 3 drives the gear 4 to mesh with the rack 5, replacing the traditional wheeled trolley and improving transmission efficiency. Furthermore, the synchronous belt 9 transmission combined with the sliding design of the lifting platform 11 and the double boom 6 further simplifies the structure and reduces weight. In addition, the sliding contact line power supply system eliminates cables and tank chains, reducing frictional loss and enhancing equipment durability.

[0041] The vertically arranged first-layer material-grabbing robot 15 and second-layer material-grabbing robot 16 can simultaneously grasp materials 17 from both the upper and lower layers, improving work efficiency. The photoelectric sensor 18 monitors the position of the material 17 in real time, and combined with the tensioning wheel 19 to precisely control the synchronous belt 9, ensures operational stability and positioning accuracy.

[0042] Working principle:

[0043] The workflow of the transfer robot consists of the following steps:

[0044] First, the first motor 3 drives the gear 4 to mesh with the rack 5, causing the sliding base plate 2 to move along the bottom guide rail 20 to the target shelf position. Then, the second motor 8 drives the synchronous belt 9 through the transmission component 7, causing the lifting block 10 to rise and fall along the boom 6, adjusting the lifting platform 11 to the corresponding shelf height. Next, the third motor 12 drives the screw 13 to rotate, pushing the linear guide rail 14 to extend horizontally. The first-layer picking robot 15 and the second-layer picking robot 16 enter the shelf compartment to grab the material 17. The photoelectric sensor 18 provides real-time feedback on the position of the material 17, ensuring accurate grabbing. Finally, after grabbing, the robot moves in the opposite direction, transferring the material 17 to the designated location. The dual-sided embodiment 1 allows for alternating operation, while the single-sided embodiment 2 is suitable for narrow spaces. Both modes are continuously powered by a sliding contact line, ensuring efficient and continuous operation.

[0045] Of course, there may be other implementations of this utility model. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model.

Claims

1. A transfer robot characterized by comprising: The system includes a base, a sliding base plate on the top outer wall of the base, and a first motor fixedly connected to the top outer wall of the sliding base plate by screws. A gear is fixedly connected to the output shaft of the first motor. A rack is fixedly connected to the top outer wall of the base by screws, and the gear meshes with the outer wall of the rack. Symmetrically distributed booms are welded to the top outer wall of the base. A transmission assembly is installed on the bottom side of one side of the boom on the top outer wall of the sliding base plate. A second motor is installed on the outer wall of one end of the transmission assembly. A synchronous belt is provided between the transmission assembly and the boom. A lifting block is fixedly connected to the outer wall of the synchronous belt. A lifting platform is installed on the outer wall of one side of the lifting block. A third motor is fixedly connected to the outer wall of one end of the lifting platform by screws. A screw is installed on the third motor via a belt pair. A linear guide rail is screwed to the outer wall of the screw. A first-layer and second-layer material handling robots are installed on the slider of the linear guide rail.

2. The transfer robot according to claim 1, wherein The transmission assembly includes pulleys and a connecting rod. There are two pulleys, and the connecting rod is installed between the two pulleys. One end of the connecting rod is fixedly connected to the output shaft of the second motor via a coupling, and the synchronous belt meshes with the outer wall of the pulley.

3. The transfer robot according to claim 1, wherein The lifting platform is slidably connected between the two booms.

4. The transfer robot according to claim 1, wherein The first layer of material handling robot is located above the second layer of material handling robot, and materials are placed on the top outer walls of both the first layer of material handling robot and the second layer of material handling robot.

5. The transfer robot according to claim 1, wherein A photoelectric sensor is fixedly connected to the outer wall of one end of the lifting platform by screws.

6. The transfer robot according to claim 1, wherein The base is fixedly connected to the outer wall of the top by screws, and the second motor is fixedly connected to the outer wall of one side of the motor base by screws. The tensioning wheel is rotatably connected to the outer wall of the other side of the motor base, and the tensioning wheel is in close contact with the outer wall of the timing belt.

7. The transfer robot according to claim 1, wherein The base has a bottom guide rail fixedly connected to its top outer wall by screws, and a first slider is installed on the bottom outer wall of the sliding base plate. The slider is slidably connected to the top outer wall of the bottom guide rail. A second slider is installed on the top outer wall of the boom. A top guide rail is slidably connected to the outer wall of the second slider, and the top guide rail is located above the base.

8. The transfer robot according to claim 1, wherein The base has arrayed support seats installed on both sides of the top outer wall.

Images