Carrying robot load balance adjusting device

Abstract

The utility model discloses a load balance adjusting device for a transfer robot, which belongs to the technical field of transfer robots and comprises a cargo carrying platform for placing cargoes and an adjusting component for adjusting the position of the center of gravity. The adjusting assembly comprises an adjusting frame, a longitudinal moving seat is fixedly mounted in the middle of the bottom of the adjusting frame, and the longitudinal moving seat is mounted on the surface of the longitudinal lead screw; the adjusting assembly is arranged, the structure is simple, convenience and practicability are achieved, the position of the counterweight device in the cargo carrying platform can be adjusted according to the position and the gravity center of cargos above the cargo carrying platform, cargo sliding, inclination and falling caused by the unstable gravity center in the carrying process are avoided, meanwhile, local excessive abrasion of the robot is reduced, and the service life of the robot is prolonged. And through the arrangement of the access hole, the number of the U-shaped lead plates can be conveniently adjusted according to the type and weight of the goods, the effect of adjusting the gravity center of the load is improved, and meanwhile, the load can be reduced so as to reduce energy consumption.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, specifically a load balancing adjustment device for handling robots. Background Technology

[0002] AGVs, or Automated Guided Vehicles, are a type of material handling robot. They are intelligent devices that use electromagnetic, laser, and vision guidance technologies to achieve unmanned operation and automatically transport goods along a pre-defined path. Typically equipped with sensors, navigation systems, and robotic arms, they can operate in factories, warehouses, logistics centers, and other similar settings, following preset paths or autonomously planned routes. They are highly efficient and precise, capable of replacing human labor in repetitive and high-intensity material handling tasks, significantly improving logistics efficiency, reducing labor costs, and enabling operation in hazardous or harsh environments while ensuring personnel safety.

[0003] A search revealed that in the prior art, Chinese Patent Publication No. CN221625788U discloses a handling robot, which includes a base, a moving fork, a drive unit, and a pull-cord incremental encoder. The moving fork is movably mounted on the base, and the drive unit is used to drive the moving fork to reciprocate relative to the base in a straight line. The pull-cord incremental encoder includes a pull cord, a hub, a central shaft, and an encoder. The hub can drive the central shaft to rotate relative to the encoder. The first end of the pull cord is fixed to the hub, and one of the second end of the pull cord and the encoder is fixed to the base, while the other end is fixed to the moving fork.

[0004] However, this device also has the following drawbacks:

[0005] Uneven loading of goods on the robot pallet leads to instability of the center of gravity. The shift in the center of gravity of the goods can cause the robot to deviate from its course, or even cause the goods to slide, tilt or fall during handling. It also accelerates local wear and tear on the robot. This device does not solve this problem. Utility Model Content

[0006] The purpose of this utility model is to provide a load balancing adjustment device for a handling robot. By setting an adjustment component, the position of the counterweight inside the loading platform can be adjusted according to the position and center of gravity of the goods above the loading platform, so as to avoid the goods from sliding, tilting and falling due to unstable center of gravity during the handling process, and at the same time reduce the excessive wear of the robot in certain areas, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A load balancing adjustment device for a handling robot includes a cargo platform for placing goods and an adjustment component for adjusting the center of gravity position.

[0009] The adjustment assembly includes an adjustment frame, a longitudinal moving seat is fixedly installed at the bottom center of the adjustment frame, the longitudinal moving seat is installed on the surface of the longitudinal lead screw, a transverse lead screw is rotatably installed at the top center of the adjustment frame, a transverse moving seat is installed on the surface of the transverse lead screw, and the transverse moving seat is fixedly installed in the middle of the counterweight.

[0010] The counterweight includes a mounting box, inside which multiple sets of mounting slots are equally spaced, and U-shaped lead plates are inserted into the mounting slots.

[0011] Preferably, the cargo platform includes a base for mounting adjustment components and a top plate for supporting cargo, the top plate being fixedly mounted on top of the top base.

[0012] Preferably, an inspection port is provided on one side of the top plate, and an inspection plate is installed on the outside of the inspection port by screws.

[0013] Preferably, the longitudinal lead screw is disposed at the bottom of the base, and both ends of the longitudinal lead screw are rotatably connected to the inner wall of the base. A longitudinal drive motor is fixedly installed on the outer wall of the base, and the output end of the longitudinal drive motor is connected to one end of the longitudinal lead screw for transmission.

[0014] Preferably, two sets of longitudinal guide rods are provided on both sides of the longitudinal lead screw, and the two ends of the longitudinal guide rods are fixedly connected to the inner wall of the base.

[0015] Preferably, a longitudinal slide block is slidably mounted on the surface of the longitudinal guide rod, and the longitudinal slide block is fixedly mounted on both sides of the bottom of the adjustment frame.

[0016] Preferably, one end of the transverse lead screw is connected to the output end of the transverse drive motor, and the transverse drive motor is fixedly installed on one side of the outer wall of the adjustment frame.

[0017] Preferably, two sets of transverse guide rods are provided on both sides of the transverse lead screw, and the two ends of the transverse guide rods are fixedly connected to the adjustment frame.

[0018] Preferably, a transverse slide block is slidably mounted on the surface of the transverse guide rod, and the transverse slide block is fixedly mounted on both sides of the mounting box.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] This utility model features a simple and convenient structure with adjustable components. It can adjust the position of the counterweight inside the cargo platform according to the position and center of gravity of the goods above the platform, preventing goods from sliding, tilting, or falling during handling due to an unstable center of gravity. It also reduces localized excessive wear on the robot. Furthermore, the inclusion of an inspection port allows for easy adjustment of the number of U-shaped lead plates based on the type and weight of the goods, improving the effectiveness of load center of gravity adjustment and reducing the load, thereby lowering energy consumption. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the conditional component structure;

[0023] Figure 3 This is a schematic diagram of the adjustment frame structure;

[0024] Figure 4 This is a schematic diagram of the counterweight structure.

[0025] In the diagram: 1. Cargo platform; 101. Base; 102. Top plate; 2. Adjustment frame; 3. Longitudinal moving seat; 4. Longitudinal lead screw; 5. Transverse lead screw; 6. Transverse moving seat; 7. Counterweight; 701. Mounting box; 702. Mounting slot; 703. U-shaped lead plate; 8. Inspection port; 9. Inspection plate; 10. Longitudinal drive motor; 11. Longitudinal guide rod; 12. Longitudinal slide; 13. Transverse drive motor; 14. Transverse guide rod; 15. Transverse slide. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figures 1-4 This utility model provides a technical solution:

[0028] A load balancing adjustment device for a handling robot includes a cargo platform 1 for placing goods. The cargo platform 1 includes a base 101 for installing adjustment components and a top plate 102 for supporting the goods. Multiple sets of six-dimensional force sensors, model ATINano17, are installed on the bottom of the top plate 102 to measure the force and torque in the X, Y, and Z axis directions in real time and calculate the center of gravity offset. The top plate 102 is fixedly installed on the top of the top base. An inspection port 8 is opened on one side of the top plate 102, and an inspection plate 9 is installed on the outside of the inspection port 8 by screws.

[0029] The cargo platform 1 is the basic load-bearing structure of the load balancing adjustment device of the handling robot. It mainly consists of two parts: the base 101 and the top plate 102. It plays an important role in placing goods and installing adjustment components. By setting up inspection ports 8 and inspection plates 9, it is convenient for operators to maintain and service the adjustment components and counterweights 7.

[0030] It also includes an adjustment assembly for adjusting the center of gravity position. The adjustment assembly includes an adjustment frame 2, a longitudinal moving seat 3 fixedly installed at the bottom center of the adjustment frame 2, the longitudinal moving seat 3 being mounted on the surface of the longitudinal lead screw 4, a transverse lead screw 5 rotatably installed at the top center of the adjustment frame 2, a transverse moving seat 6 mounted on the surface of the transverse lead screw 5, the transverse moving seat 6 being fixedly installed in the middle of the counterweight 7, the longitudinal lead screw 4 being located at the bottom of the base 101, both ends of the longitudinal lead screw 4 being rotatably connected to the inner wall of the base 101, and a longitudinal drive motor 10 fixedly installed on the outer wall of the base 101, the output end of the longitudinal drive motor 10 being drively connected to one end of the longitudinal lead screw 4. Two sets of longitudinal guide rods 11 are provided on both sides of the adjustment frame 2. The two ends of the longitudinal guide rods 11 are fixedly connected to the inner wall of the base 101. A longitudinal slide block 12 is slidably installed on the surface of the longitudinal guide rods 11. The longitudinal slide block 12 is fixedly installed on both sides of the bottom of the adjustment frame 2. One end of the transverse screw 5 is connected to the output end of the transverse drive motor 13. The transverse drive motor 13 is fixedly installed on one side of the outer wall of the adjustment frame 2. Two sets of transverse guide rods 14 are provided on both sides of the transverse screw 5. The two ends of the transverse guide rods 14 are fixedly connected to the adjustment frame 2. A transverse slide block 15 is slidably installed on the surface of the transverse guide rod 14. The transverse slide block 15 is fixedly installed on both sides of the mounting box 701.

[0031] By setting up adjustment components, the adjustment frame 2 and counterweight 7 can be driven to move in a two-dimensional plane via the longitudinal lead screw 4 and the transverse lead screw 5. Combined with the longitudinal guide rod 11, the transverse guide rod 14, the longitudinal slide 12, and the transverse slide 15, the movement is guaranteed to be smooth. The position of the counterweight 7 can be dynamically adjusted according to the position of the goods and the center of gravity to counteract the off-center load torque, avoid the goods from sliding, tilting, falling, and excessive wear of the robot in certain areas during handling. It has the advantages of simple structure, strong adaptability, and convenient maintenance, which improves the handling stability and equipment life.

[0032] The counterweight 7 includes a mounting box 701, which has multiple sets of mounting slots 702 equidistantly arranged inside. U-shaped lead plates 703 are inserted into the mounting slots 702.

[0033] By setting up a counterweight 7, and flexibly adjusting its own weight and position, dynamic balance control of the center of gravity of the cargo platform 1 can be achieved. Driven by the adjustment components, the counterweight 7 can move precisely along the longitudinal and lateral directions of the cargo platform 1, so that its center of gravity forms an opposite torque with the center of gravity of the cargo, which counteracts the center of gravity shift caused by the cargo's unbalanced loading, and prevents the robot from tilting, running off course, or cargo falling during handling. By setting up U-shaped lead plates 703 and mounting slots 702, the number of U-shaped lead plates 703 in the mounting slots 702 can be flexibly increased or decreased according to the type and weight of the cargo actually being handled. When handling heavier cargo, the number of U-shaped lead plates 703 is increased to increase the counterweight and improve the effect of center of gravity adjustment. When handling lighter cargo, the number of U-shaped lead plates 703 is reduced to avoid unnecessary energy waste caused by excessive counterweight.

[0034] In practical use, the device is moved to a designated position, and after the goods are loaded onto the top plate 102 of the loading platform 1, the six-dimensional force sensor at the bottom of the top plate 102 measures the force and torque data in real time and calculates the offset of the center of gravity of the goods. Then, the controller inside the robot controls the longitudinal drive motor 10 and the transverse drive motor 13 to drive the longitudinal lead screw 4 and the transverse lead screw 5 to rotate respectively. Through the longitudinal moving seat 3 and the transverse moving seat 6, the adjusting frame 2 and the counterweight 7 are driven to move in a two-dimensional plane along the longitudinal guide rod 11 and the transverse guide rod 14 within the loading platform 1, adjusting the counterweight 7 to the corresponding position to counteract the off-center load torque. If it is necessary to handle goods of different weights, the inspection plate 9 of the inspection port 8 of the top plate 102 can be opened. According to actual needs, the number of U-shaped lead plates 703 can be flexibly increased or decreased in the mounting slot 702 of the counterweight 7 mounting box 701 to complete the counterweight adjustment, so as to adapt to diverse handling scenarios and ensure the stable operation of the robot.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A load balancing adjustment device for a handling robot, characterized in that: Includes a cargo platform (1) for placing goods and an adjustment component for adjusting the center of gravity position; The adjustment assembly includes an adjustment frame (2), a longitudinal moving seat (3) is fixedly installed at the bottom center of the adjustment frame (2), the longitudinal moving seat (3) is installed on the surface of the longitudinal lead screw (4), a transverse lead screw (5) is rotatably installed at the top center of the adjustment frame (2), a transverse moving seat (6) is installed on the surface of the transverse lead screw (5), and the transverse moving seat (6) is fixedly installed in the middle of the counterweight (7); The counterweight (7) includes a mounting box (701), and multiple sets of mounting slots (702) are equally spaced inside the mounting box (701). U-shaped lead plates (703) are inserted into the mounting slots (702).

2. The load balancing adjustment device for a handling robot according to claim 1, characterized in that: The cargo platform (1) includes a base (101) for mounting adjustment components and a top plate (102) for supporting cargo, the top plate (102) being fixedly mounted on the top of the base.

3. The load balancing adjustment device for a handling robot according to claim 2, characterized in that: An inspection port (8) is provided on one side of the top plate (102), and an inspection plate (9) is installed on the outside of the inspection port (8) by screws.

4. The load balancing adjustment device for a handling robot according to claim 1, characterized in that: The longitudinal lead screw (4) is located at the bottom of the base (101). Both ends of the longitudinal lead screw (4) are rotatably connected to the inner wall of the base (101). A longitudinal drive motor (10) is fixedly installed on the outer wall of the base (101). The output end of the longitudinal drive motor (10) is connected to one end of the longitudinal lead screw (4) for transmission.

5. The load balancing adjustment device for a handling robot according to claim 4, characterized in that: Two sets of longitudinal guide rods (11) are provided on both sides of the longitudinal lead screw (4), and the two ends of the longitudinal guide rods (11) are fixedly connected to the inner wall of the base (101).

6. The load balancing adjustment device for a handling robot according to claim 5, characterized in that: The longitudinal guide rod (11) is slidably mounted with a longitudinal slide block (12), which is fixedly mounted on both sides of the bottom of the adjustment frame (2).

7. The load balancing adjustment device for a handling robot according to claim 1, characterized in that: One end of the transverse lead screw (5) is connected to the output end of the transverse drive motor (13), which is fixedly installed on one side of the outer wall of the adjustment frame (2).

8. The load balancing adjustment device for a handling robot according to claim 7, characterized in that: Two sets of transverse guide rods (14) are provided on both sides of the transverse lead screw (5), and the two ends of the transverse guide rods (14) are fixedly connected to the adjusting frame (2).

9. A load balancing adjustment device for a handling robot according to claim 8, characterized in that: A transverse slide block (15) is slidably mounted on the surface of the transverse guide rod (14), and the transverse slide block (15) is fixedly mounted on both sides of the mounting box (701).

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