Carrying robot

Abstract

The utility model discloses a transfer robot, which comprises a trolley, a lifting mechanism, a lifting mechanism and a lifting mechanism, a bearing plate is arranged on the trolley, and at least one group of adsorption units and a transverse clamping unit arranged on the adsorption units are arranged on the bearing plate; the adsorption unit at least comprises a first driving unit arranged on the bearing plate in the first direction, a supporting plate arranged on the first driving unit in the second direction, a second driving unit arranged on the supporting plate in the vertical direction, a support vertically driven by the second driving unit to ascend and descend and a suction cup assembly arranged on the support. The transverse clamping units are arranged on the two sides of the support in the second direction and used for clamping the sheets in the second direction. The sheet conveying device can solve the problems that traditional sheet conveying equipment is low in conveying efficiency and narrow in application range.

Description

Technical Field

[0001] This utility model relates to the field of sheet material handling equipment, specifically to a handling robot. Background Technology

[0002] In the fields of industrial automation and material handling, improving the efficiency and flexibility of material handling is a key objective for enterprises to optimize their production processes. Traditional material handling equipment has many limitations when handling sheets of different sizes and quantities, making it difficult to meet the demands of modern industrial production for efficient, precise, and stable material handling.

[0003] Sheet materials such as metal sheets, plastic sheets, and composite material sheets are widely used in manufacturing. Sheet materials need to be frequently transferred during production. Traditional handling equipment generally uses robotic arms and suction cups to pick up and move sheet materials, but it can only transfer sheet materials to a predetermined position over short distances, which is difficult to meet the needs of long-distance sheet material transportation. In addition, traditional handling equipment can generally only pick up and move single sheet materials, resulting in low sheet material transfer efficiency. Utility Model Content

[0004] To overcome the above-mentioned shortcomings, the purpose of this utility model is to provide a handling robot.

[0005] To achieve the above objectives, the technical solution adopted by this utility model includes: a trolley with a support plate on it, wherein at least one set of adsorption units and a transverse clamping unit disposed on the adsorption units are arranged on the support plate; the adsorption unit includes at least a first driving unit disposed on the support plate along a first direction, a support plate disposed on the first driving unit along a second direction, a second driving unit disposed on the support plate along a vertical direction, a bracket that is vertically driven to rise and fall by the second driving unit, and a suction cup assembly disposed on the bracket; the transverse clamping unit is disposed on both sides of the bracket along the second direction for clamping the sheet material along the second direction.

[0006] In the preferred embodiment of the above-mentioned handling robot, the lateral clamping unit includes a first gripper and a second gripper respectively placed on both sides of the support along the second direction, and a third drive unit disposed on the support. The third drive unit is used to drive the first gripper and the second gripper to move towards or away from each other along the second direction.

[0007] In the preferred embodiment of the above-mentioned handling robot, the bottom end of the first gripper has a first gripping protrusion, the bottom end of the second gripper has a second gripping protrusion, and the cross-sections of the first gripping protrusion and the second gripping protrusion are sloping.

[0008] In the preferred embodiment of the above-mentioned handling robot, the trolley is provided with a fourth drive unit, which is used to drive the support plate to move up and down in the vertical direction.

[0009] In the preferred embodiment of the above-mentioned handling robot, the top of the trolley is provided with at least two light rods, which pass through the support plate.

[0010] In the preferred technical solution of the above-mentioned handling robot, the suction cup assembly consists of a plurality of suction cups, the suction cups are mounted on the bracket by means of an extension plate, the extension plate has a first waist hole along a first direction and a second waist hole along a second direction, and the suction cups are mounted on the extension plate through the first waist hole.

[0011] In the preferred embodiment of the above-mentioned handling robot, the third drive unit is a dual-axis motor and a first screw and a second screw installed on the shaft end of the dual-axis motor. The thread of the first screw is configured to be forward, and the thread of the second screw is configured to be reverse.

[0012] In the preferred embodiment of the above-mentioned handling robot, the first gripper is provided with a first rubber pad layer on the surface near the support, and the second gripper is provided with a second rubber pad layer on the surface near the support. Attached Figure Description

[0013] Figure 1 This is the front view of the present invention;

[0014] Figure 2 This is a structural schematic diagram of the support plate, adsorption unit, and lateral clamping unit.

[0015] Figure 3 This is a schematic diagram of the adsorption unit and the lateral clamping unit.

[0016] In the diagram: 1. Cart 2. Adsorption unit 3. First drive unit 31. Support plate 32. Second drive unit 33. Bracket 34. Suction cup assembly 35. Lateral clamping unit 4. First gripper 41. First clamping protrusion 411. Second gripper 42. Second clamping protrusion 421. Third drive unit 43. Dual-axis motor 431. First screw 432. Second screw 433. Extension plate 5. First waist hole 51. Second waist hole 52. Smooth rod 6. Detailed Implementation

[0017] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0018] It should be noted that in the description of this utility model, terms such as "upper," "lower," "left," "right," "front," and "rear," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0020] like Figures 1 to 3 As shown, the handling robot of this utility model includes: a trolley 1, on which a support plate 2 is provided, and the support plate 2 is provided with at least a set of adsorption units 3 and a transverse clamping unit 4 provided on the adsorption units 3; the adsorption unit 3 includes at least a first drive unit 31 provided on the support plate 2 along a first direction, a support plate 32 provided on the first drive unit 31 along a second direction, a second drive unit 33 provided on the support plate 32 along a vertical direction, a bracket 34 that is vertically driven and lifted by the second drive unit 33, and a suction cup assembly 35 provided on the bracket 34; the transverse clamping unit 4 is provided on both sides of the bracket 34 along the second direction for clamping sheet materials along the second direction.

[0021] See Figure 1 , Figure 2 The trolley 1 is used to support and control the carrier plate 2 and the adsorption unit 3 and the transverse clamping unit 4 on the carrier plate 2 to move to a predetermined position; the adsorption unit 3 is used to adsorb a single layer of sheet material, and the transverse clamping unit 4 can clamp at least one set of sheet material. The adsorption unit 3 or the transverse clamping unit 4 can be selected to work according to the number of sheet materials to be transported.

[0022] It should be noted that the first direction refers to the length direction of the support plate 2, and the second direction refers to the width direction of the support plate 2; the adsorption unit 3 includes a first driving unit 31, a support plate 32, a second driving unit 33, a bracket 34, and a suction cup assembly 35. The first driving unit 31 is disposed on the support plate 2 along the first direction. The first driving unit 31 can be a linear module or a lead screw module driven by a servo motor. The support plate 32 is disposed on the first driving unit 31 along the second direction. The first driving unit 31 can drive the support plate 32 to move along the first direction. The support plate 32 extends out of the side of the support plate 2. The second drive unit 33 is set on the part of the support plate 32 that extends out of the support plate 2. The second drive unit 33 can be a drive cylinder. The bracket 34 is driven to rise and fall by the second drive unit 33. The suction cup assembly 35 is composed of several sets of suction cups. The suction cups are connected to an external vacuum generator through pipes. The suction cup assembly 35 is installed on the bracket 34 and is driven to rise and fall by the second drive unit 33. The transverse clamping unit 4 is set on the bracket 34 and placed on both sides of the bracket 34 along the second direction. The transverse clamping unit 4 clamps the sheet material in the center along the second direction.

[0023] In the specific transfer and conveying of the sheet material, the trolley 1 first transports the carrying plate 2, the suction unit 3, and the transverse clamping unit 4 to the predetermined position, with the suction cups positioned directly above the sheet material and the transverse clamping units 4 positioned on both sides of the sheet material. Then, the first drive device controls the suction cups to move to the suction position on the sheet material. Next, the second drive device controls the support 34 to move downwards, causing the suction cups to press firmly against the sheet material. An external vacuum generator then controls the suction cups to adsorb the sheet material. When handling a large number of sheets, the second drive device is first used... The control bracket 34 is moved downward, causing the transverse clamping unit 4 to move to a predetermined position. Then, the transverse clamping unit 4 is used to center and clamp multiple layers of sheets. After the sheets are fixed, the trolley 1 is used to transfer the sheets to the predetermined position for unloading. This method has the characteristics of high transfer efficiency and simple structure. In addition, by setting the adsorption unit 3 and the transverse clamping unit 4, this application allows users to choose to adsorb a single sheet or clamp multiple sheets at the same time, thereby further improving the applicability of this application, improving the efficiency of sheet transfer, and making it practical.

[0024] In one or more embodiments, the transverse clamping unit 4 includes a first clamping jaw 41 and a second clamping jaw 42 respectively placed on both sides of the bracket 34 along the second direction, and a third drive unit 43 disposed on the bracket 34. The third drive unit 43 is used to drive the first clamping jaw 41 and the second clamping jaw 42 to move towards or away from each other along the second direction. The third drive unit 43 is a dual-axis motor 431 and a first screw 432 and a second screw 433 installed on the shaft end of the dual-axis motor 431. The thread of the first screw 432 is configured to be forward, and the thread of the second screw 433 is configured to be reverse.

[0025] See Figure 2 , Figure 3 The third drive unit 43 is mounted on the bracket 34. The third drive unit 43 can be a dual-axis motor 431. A first screw 432 with a forward thread and a second screw 433 with a reverse thread are respectively mounted on the two shafts of the dual-axis motor 431. The first screw 432 is threadedly connected to the first gripper 41, and the second screw 433 is threadedly connected to the second gripper 42. When clamping multi-layer sheets, the first gripper 41 and the second gripper 42 are first placed on both sides of the stacked sheets. Then, the third drive unit 43 controls the first gripper 41 and the second gripper 42 to move towards each other to clamp the stacked sheets, achieving synchronous clamping of multiple sheets and improving the sheet transfer efficiency of this application.

[0026] In one or more embodiments, the bottom end of the first gripper 41 has a first gripping protrusion 411, and the bottom end of the second gripper 42 has a second gripping protrusion 421. The cross-sections of the first gripping protrusion 411 and the second gripping protrusion 421 are sloped. See also Figure 3 With this configuration, when the first gripper 41 and the second gripper 42 clamp the sheet, the first gripping protrusion 411 of the first gripper 41 and the second gripping protrusion 421 of the second gripper 42 can easily enter the bottom of the sheet, reducing the possibility of the first gripper 41 or the second gripper 42 damaging the sheet.

[0027] In one or more embodiments, the suction cup assembly 35 consists of a plurality of suction cups, which are mounted on the bracket 34 by means of an extension plate 5. The extension plate 5 has a first waist hole 51 along a first direction and a second waist hole 52 along a second direction. The suction cups are mounted on the extension plate 5 through the first waist hole 51.

[0028] See Figure 2 , Figure 3 The extension plate 5 has a second waist hole 52 at one end near the bracket 34 and a first waist hole 51 at one end away from the bracket 34. The first waist hole 51 is arranged along a first direction and the second waist hole 52 is arranged along a second direction. The suction cup is installed in the first waist hole 51 and the extension plate 5 is installed on the bracket 34 by means of bolts passing through the second waist hole 52. With this arrangement, it is convenient for the user to adjust the position of the suction cup and improve the adsorption and fixation of sheets of different sizes.

[0029] In one or more embodiments, a first rubber pad is mounted on the surface of the first gripper 41 near the support 34, and a second rubber pad is mounted on the surface of the second gripper 42 near the support 34. When the sheet is gripped by the first gripper 41 and the second gripper 42, the two sides of the sheet can be pressed against the first rubber pad and the second rubber pad respectively, thereby reducing damage to the sheet when it is gripped.

[0030] In one or more embodiments, the trolley 1 is provided with a fourth drive unit, which is used to drive the support plate 2 to move up and down in the vertical direction; the top of the trolley 1 is provided with at least two light rods 6, which pass through the support plate 2.

[0031] See Figure 1 The fourth drive unit can be a lifting cylinder. The support plate 2 has a through hole corresponding to the light rod 6. The light rod 6 passes through the through hole of the support plate 2. By limiting the support plate 2 with the light rod 6, the support plate 2 can only move in the vertical direction, so as to improve the stability of the movement of the support plate 2 and improve the stability of sheet material handling in this application. In addition, by controlling the lifting and lowering of the support plate 2 through the fourth drive unit, the height of the adsorption unit 3 and the transverse clamping unit 4 can be further adjusted, so that the adsorption unit 3 and the transverse clamping unit 4 can clamp and fix the sheet material at different heights.

[0032] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A transport robot, characterized in that, include: The trolley is equipped with a support plate, and the support plate is equipped with at least one set of adsorption units and a transverse clamping unit on the adsorption unit; The adsorption unit includes at least a first driving unit disposed on the support plate along a first direction, a support plate disposed on the first driving unit along a second direction, a second driving unit disposed on the support plate along a vertical direction, a bracket that is vertically driven to rise and fall by the second driving unit, and a suction cup assembly disposed on the bracket. The lateral clamping unit is disposed on both sides of the bracket along the second direction and is used to clamp the sheet material along the second direction.

2. The transport robot of claim 1, wherein: The lateral clamping unit includes a first clamp and a second clamp respectively positioned on both sides of the bracket along the second direction, and a third drive unit disposed on the bracket. The third drive unit is used to drive the first clamp and the second clamp to move towards or away from each other along the second direction.

3. The transport robot of claim 2, wherein: The first gripper has a first gripping protrusion at its bottom end, and the second gripper has a second gripping protrusion at its bottom end. The cross-sections of the first gripping protrusion and the second gripping protrusion are sloped.

4. The transport robot of claim 1, wherein: The trolley is equipped with a fourth drive unit, which is used to drive the support plate to move up and down in the vertical direction.

5. The transport robot of claim 4, wherein: The trolley is equipped with at least two light rods on its top, which pass through the support plate.

6. The transport robot of claim 1, wherein: The suction cup assembly consists of a plurality of suction cups, which are mounted on the bracket by means of an extension plate. The extension plate has a first waist hole along a first direction and a second waist hole along a second direction. The suction cup is mounted on the extension plate through the first waist hole.

7. The transport robot of claim 2, wherein: The third drive unit is a dual-axis motor and a first screw and a second screw installed on the shaft end of the dual-axis motor. The thread of the first screw is configured to be forward, and the thread of the second screw is configured to be reverse.

8. A handling robot according to claim 2 or 3, characterized in that: The first gripper has a first rubber pad layer installed on the surface near the bracket, and the second gripper has a second rubber pad layer installed on the surface near the bracket.

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