Material taking manipulator

Abstract

The utility model relates to a material taking mechanical arm which comprises two multi-axis mechanical arms which are opposite left and right and can be matched with each other to achieve clamping and carrying operation, and a switching module arranged on tail end joints of the multi-axis mechanical arms. The switching module comprises a first shaft and a second shaft which are perpendicular to each other, and a rotary driving module for driving the first shaft; first bevel gears are coaxially arranged at the two ends of the first shaft, and second bevel gears are coaxially arranged at the two ends of the second shaft; the two first bevel gears are meshed with the two second bevel gears; the first bevel gear is fixed with the first shaft; one of the two second bevel gears is fixed with the second shaft, and the other is rotationally connected with the second shaft; the side wall, deviating from the first shaft, of the second bevel gear is at least provided with a first mounting position for mounting an executing mechanism; in the material taking process, a plurality of different executing mechanisms can be installed on a plurality of first installation positions correspondingly, direction switching is achieved through rotation matching of the four bevel gears, and the four bevel gears not only have the function of angle and position switching, but also have the function of angle adjustment of the tail end joint of the mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a material handling robot. Background Technology

[0002] In warehouses with shelving-based material retrieval, traditional methods mostly rely on people walking to the shelf location, bending over, or standing on tiptoe to reach and retrieve the materials from the corresponding storage location. This involves long walking distances for warehouse staff, is inconvenient for retrieving materials, requires a high level of experience and memory from pickers, and is prone to errors.

[0003] Traditional shelving has low material storage density and narrow spacing between shelving units side by side. Traditional three-axis gantry cranes are too large to be suitable for this purpose.

[0004] Furthermore, since the items on the shelves are not unique, the robotic arm needs to be able to switch the appropriate actuator for each type of item to pick them up. However, currently, the industry uses either XYZ three-axis gantry robots or multi-axis industrial robots. The former has obvious drawbacks, while the latter requires mounting a bracket on the end joint of the robotic arm and then installing an additional set of actuators on the bracket. Although this method can basically meet the requirements, it requires an additional drive mechanism on the bracket to drive the switching of actuators, which makes the overall size still relatively large and restricts its practical use, and the overall structure is not simplified enough.

[0005] Therefore, based on the above situation, we have proposed a new material handling robot to meet the needs of the market. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a material handling robot that can effectively solve the aforementioned problems.

[0007] To achieve the above requirements, the technical solution adopted by this utility model to solve its technical problem is as follows:

[0008] A material handling robot is provided, the material handling robot includes a multi-axis robotic arm, the multi-axis robotic arm is provided in two, which are opposite to each other and can cooperate with each other to realize clamping and handling operations;

[0009] It also includes a switching module located on the end joint of the multi-axis robotic arm;

[0010] The switching module includes a first shaft and a second shaft that are perpendicular to each other, and a rotary drive module that drives the first shaft to rotate; both ends of the first shaft are coaxially provided with a first bevel gear, and both ends of the second shaft are coaxially provided with a second bevel gear; both first bevel gears mesh with both second bevel gears; the first bevel gears are fixed to the first shaft; one of the two second bevel gears is fixed to the second shaft, and the other is rotatably connected to the second shaft; at least one first mounting position for mounting an actuator is provided on the side wall of the second bevel gear away from the first shaft.

[0011] The material handling robot of this utility model has a channel extending axially through both ends of the second shaft, and the channel forms a second mounting position.

[0012] The material handling robot of this utility model has an air shaft running through the channel, with the two ends of the air shaft passing through the two first mounting positions respectively.

[0013] The material handling robot of this utility model has an air nozzle at one end of the air shaft and a support arm at the first mounting position. Both the air nozzle and the support arm are the actuators.

[0014] In the material handling robot of this utility model, the angle between the support arm and the rotating shaft of the second bevel gear is an acute angle.

[0015] The material handling robot of this utility model includes a first shaft comprising a connecting seat disposed between two first bevel gears and a connecting shaft body connecting the first bevel gears and the connecting seat; the connecting shaft body is rotatably connected to the first bevel gears on the same axis; the connecting seat is provided with a through hole for the second shaft to pass through.

[0016] The material handling robot of this utility model has a third mounting position on both sides of the connecting seat located on the second bevel gear, and the third mounting position is located between the two first bevel gears.

[0017] The material handling robot of this utility model includes a rotary drive module comprising a drive motor, and two drive motors are provided corresponding to the two first bevel gears; the two drive motors are respectively located on opposite sides of the two first bevel gears.

[0018] The material handling robot of this utility model further includes a first lifting module for driving the multi-axis robotic arm to rise and fall, and a second lifting module for driving the first lifting module to rise and fall.

[0019] The material handling robot of this utility model further includes a lateral movement module that drives the second lifting module to move horizontally on the ground.

[0020] The beneficial effects of this utility model are as follows:

[0021] During material handling, multiple different actuators can be installed on multiple first mounting positions and the orientation can be switched by the rotation of four bevel gears. The four bevel gears not only serve to switch angles and positions, but also act as angle adjustment functions for the end joints of the robot, increasing the robot's degree of freedom.

[0022] This robotic arm has a simple overall structure and a small size. Each multi-axis robotic arm can be used independently or combined with each other to form a module with clamping function, making it more adaptable to material handling operations in small spaces.

[0023] Specifically, before material handling, the suction nozzle or support arm can be installed in the first mounting position. For example, the suction nozzle can be installed on one of the second bevel gears, and the support arm can be installed on another second bevel gear. For objects that require vacuum suction, they can be picked up through the suction nozzle. At this time, the two multi-axis robotic arms can work independently, each picking up different materials, or they can work together to pick up the same material synchronously. For objects that need to be clamped, the two multi-axis robotic arms can work together to bring the ends of the two support arms together to form a clamping state. When clamping an object, the two support arms abut against the two sides of the object, thus clamping the object.

[0024] During the material handling process, if the material type changes and the handling method changes after the previous material handling operation is completed, the positions of the two second bevel gears can be swapped by rotating the two first bevel gears synchronously. This allows the actuator corresponding to the current object to be adjusted to the corresponding state for material handling. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is an overall bird's-eye view of this utility model.

[0027] Figure 2 This is a longitudinal sectional view of the present invention in the left-right direction.

[0028] Figure 3 This is an overall structural diagram of the switching module of this utility model.

[0029] Figure 4 yes Figure 3 Another perspective view.

[0030] Figure 5 This is a cross-sectional view of the switching module of this utility model.

[0031] Figure 6 This is a diagram showing the connection relationship between the first and second axes of the switching module of this utility model. Detailed Implementation

[0032] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0035] Furthermore, the terms indicating orientation, such as "up," "down," "left," "right," "upper end," "lower end," and "longitudinal," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0037] The preferred embodiment of this utility model is a material handling robot, such as... Figure 1-6As shown, the material handling robot includes a multi-axis robotic arm 10. The multi-axis robotic arm 10 has two arms that are opposite each other and can cooperate with each other to perform clamping and handling operations. Specifically, the multi-axis robotic arm 10 has three joints 102. Adjacent joints 102 can rotate horizontally through joint motors 101. Of course, the rotating shafts of these joint motors 101 can also be arranged at an angle, and they do not have to be parallel to each other. They can be adjusted according to actual needs.

[0038] Furthermore, the material handling robot of this solution also includes a switching module 20 disposed on the end joint of the multi-axis robotic arm 10. The switching module 20 includes a first axis 21 and a second axis 22 that are perpendicular to each other, and a rotary drive module 23 that drives the first axis 21 to rotate. Both ends of the first axis 21 are coaxially provided with a first bevel gear 30, and both ends of the second axis 22 are coaxially provided with a second bevel gear 40. Both first bevel gears 30 mesh with both second bevel gears 40. The first bevel gear 30 is fixed to the first axis 21. One of the two second bevel gears 40 is fixed to the second axis 22, and the other is rotatably connected to the second axis 22. At least one first mounting position 60 for mounting an actuator is provided on the side wall of the second bevel gear 40 away from the first axis 21. The actuator can be directly mounted on the first mounting position 60 without the need for an additional support bracket with drive.

[0039] During material handling, multiple different actuators can be installed on multiple first mounting positions 60 and the orientation can be switched by the rotation of four bevel gears. The four bevel gears not only serve to switch angles and positions, but also act as angle adjustment functions for the end joints of the robot, increasing the degree of freedom of the robot.

[0040] The overall structure of this robotic arm is simple and compact. Each multi-axis robotic arm 10 can be used individually or combined with each other to form a module with clamping function, making it more adaptable to material handling operations in small spaces and more versatile.

[0041] Specifically, before material handling, the suction nozzle or support arm can be installed on the first mounting position 60. For example, the suction nozzle can be installed on one of the second bevel gears 40, and the support arm can be installed on another second bevel gear 40. For objects that require vacuum suction, they can be picked up through the suction nozzle. At this time, the two multi-axis robotic arms 10 can work independently and pick up different materials, or they can work together to pick up the same material synchronously. For objects that need to be clamped, the two multi-axis robotic arms 10 can work together to bring the ends of the two support arms together to form a clamping state. When clamping an object, the two support arms abut against the two sides of the object, and the object can be clamped up.

[0042] During the material picking process, if the current material category changes and a different picking method is required when picking the current material after the previous picking operation is completed, the positions of the two second bevel gears 40 can be swapped by rotating the two first bevel gears 30 synchronously. This allows the actuator corresponding to the current object to be adjusted to the corresponding state for picking operation.

[0043] In this embodiment, the second shaft 22 is provided with a channel 221 that extends axially through both ends of it. The channel 221 forms a second mounting position. Specifically, a pneumatic shaft 70 is provided through the channel 221, and two first mounting positions 60 extend from both ends of the pneumatic shaft 70. The second mounting position can be used to install the pneumatic shaft 70 or other shaft-type actuators. One or more actuators can be provided on the first mounting position. If multiple actuators are provided, they can be arranged around the second mounting position. When the second bevel gear 40 rotates, the corresponding actuator can be adjusted to perform the material picking operation.

[0044] In this embodiment, one end of the air shaft 70 is provided with an air nozzle 80, and the first mounting position 60 is also provided with a support arm 90. Both the air nozzle 80 and the support arm 90 are actuators. Furthermore, the angle between the support arm 90 and the shaft of the second bevel gear 40 is an acute angle to reduce the interference of the support arm 90 on the air nozzle 80 during rotation. When encountering materials that need to be clamped, the ends of the two multi-axis mechanical arms 10 on the left and right sides come together, and the first bevel gear 30 rotates to adjust the support arm 90 on the second bevel gear 40 to a suitable position and angle. At this time, the materials or material boxes can be clamped by the two multi-axis mechanical arms 10 on the left and right sides and the support arm 90 at their ends.

[0045] The support arm 90 is an L-shaped plate structure with an obtuse angle between its transverse end 91 and longitudinal end 92. The length of its transverse end 91 is less than the length of its longitudinal end 92, and the transverse end 91 is radially fixed to the end face of the second bevel gear 40 by bolts. Furthermore, there is an inclined surface 93 on the side wall of the longitudinal end 92 of the support arm 90 away from the transverse end 91. The plate structure, together with the inclined surface 93, can be used to lift the bottom of the material for easy insertion, thus playing a role in assisting in material handling.

[0046] In this embodiment, the first shaft 21 includes a connecting seat 210 disposed between two first bevel gears 30, and a connecting shaft body 211 connecting the first bevel gears 30 and the connecting seat 210; the connecting shaft body 211 is coaxially rotatably connected to the first bevel gears 30; the connecting seat 210 is provided with a through hole for the second shaft 22 to pass through. Through the combined design of the connecting shaft body 211 and the connecting seat 210, the connecting shaft body 211 and the connecting seat 210 can be easily connected together radially using bolts 100, and the bolt position can be rotated to the position where the connecting seat 210 is directly opposite the second bevel gear 40, thereby leaving space for the installation and processing module 200 in other positions of the connecting seat 210.

[0047] In this embodiment, the connecting seat 210 is provided with a third mounting position 110 on both sides of the second bevel gear 40. The third mounting position 110 is located between the two first bevel gears 30, so that the positions on both sides of the first bevel gear 30 and located between the two second bevel gears 40 form an empty third mounting position 110, so as to further improve the space utilization of the connecting seat 210 and allow more other actuators to be installed at the end of the robot.

[0048] Furthermore, the connecting seat 210 is rectangular in shape and the two first bevel gears 30 are located at both ends of the connecting seat 210. The second shaft 22 passes perpendicularly through the shaft core of the connecting seat 210. The side wall of the connecting seat 210 forms a third mounting position 110. Of course, the cross-section of the connecting seat 210 is not limited to a square, but can also be other polygons such as pentagons or hexagons, so that each side wall plane can serve as a position for installing a processing module 200. This allows adjacent processing modules 200 to have a certain angle after being installed in place, thus avoiding mutual interference.

[0049] In this embodiment, the rotary drive module 23 includes a drive motor 231, and two drive motors 231 are provided corresponding to the two first bevel gears 30. Each of the two back-to-back sides of the two first bevel gears 30 is provided with a bracket 130. The bracket 130 is used to mount the entire structure on the end joint of the multi-axis robotic arm 10. The two drive motors 231 are provided corresponding to the two first bevel gears 30. The two drive motors 231 are respectively located on the back-to-back side of the two first bevel gears 30, wherein the first bevel gears 30 are rotatably connected to the bracket 130, and the drive motors 231 are provided on the bracket 130 and located on the side of the first bevel gears 30 away from the connecting seat 210. Specifically, the bracket 130 is a long strip-shaped plate structure, which reduces weight and also reduces the distance between the drive motor 231 and the first bevel gears 30.

[0050] In this embodiment, the material handling robot also includes a first lifting module 140 for driving the multi-axis robotic arm 10 to rise and fall, and a second lifting module 150 for driving the first lifting module 140 to rise and fall. Specifically, both the first lifting module 140 and the second lifting module 150 are lead screw motor modules. Of course, they can also be commonly used linear modules such as linear motors, cylinders, or motor belt modules. Through the cooperation of the first lifting module 140 and the second lifting module 150, the two multi-axis robotic arms 10 on the left and right can cooperate to clamp and pick up materials, as well as operate independently to pick up materials.

[0051] In this embodiment, the material handling robot of this solution also includes a transverse module 160 that drives the second lifting module 150 to move horizontally on the ground. The transverse module 160 can be a rail-mounted or trackless moving trolley, or other linear drive modules, such as a screw motor module or a motor belt module.

[0052] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A material handling robot, characterized in that, The material handling robot includes two multi-axis robotic arms, which are arranged opposite each other and can cooperate with each other to achieve clamping and handling operations. It also includes a switching module located on the end joint of the multi-axis robotic arm; The switching module includes a first shaft and a second shaft that are perpendicular to each other, and a rotary drive module that drives the first shaft to rotate; both ends of the first shaft are coaxially provided with a first bevel gear, and both ends of the second shaft are coaxially provided with a second bevel gear; both first bevel gears mesh with both second bevel gears; the first bevel gears are fixed to the first shaft; one of the two second bevel gears is fixed to the second shaft, and the other is rotatably connected to the second shaft; at least one first mounting position for mounting an actuator is provided on the side wall of the second bevel gear away from the first shaft.

2. The material handling robot according to claim 1, characterized in that, The second shaft has a channel that extends axially through both ends, and the channel forms a second mounting position.

3. The material handling robot according to claim 2, characterized in that, An air shaft is installed through the channel, with its two ends passing through the two first mounting positions respectively.

4. The material handling robot according to claim 3, characterized in that, One end of the air shaft is provided with an air nozzle, and the first mounting position is also provided with a support arm. Both the air nozzle and the support arm are the actuators.

5. The material handling robot according to claim 4, characterized in that, The angle between the support arm and the shaft of the second bevel gear is an acute angle.

6. The material handling robot according to claim 1, characterized in that, The first shaft includes a connecting seat disposed between the two first bevel gears, and a connecting shaft body connecting the first bevel gears and the connecting seat; the connecting shaft body is rotatably connected to the first bevel gears on the same axis; the connecting seat is provided with a through hole for the second shaft to pass through.

7. The material handling robot according to claim 6, characterized in that, The connecting seat is located on both sides of the second bevel gear and is also provided with a third mounting position, which is located between the two first bevel gears.

8. The material handling robot according to claim 1, characterized in that, The rotary drive module includes drive motors, and two drive motors are provided corresponding to the two first bevel gears; the two drive motors are respectively located on opposite sides of the two first bevel gears.

9. The material handling robot according to any one of claims 1-8, characterized in that, The material handling robot also includes a first lifting module that drives the multi-axis robotic arm to rise and fall, and a second lifting module that drives the first lifting module to rise and fall.

10. The material handling robot according to claim 9, characterized in that, The material handling robot also includes a traversing module that drives the second lifting module to move horizontally on the ground.

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