Multi-station feeding positioning device for transfer robot

Abstract

This utility model discloses a multi-station feeding and positioning device for a handling robot, specifically relating to the field of handling robot technology. It includes a base frame with two drive rollers rotatably connected to its inner side. The drive rollers are symmetrically distributed within the base frame. A conveyor belt for conveying materials is located on the outer side of the drive rollers, and multiple pads are fixedly connected to the outer side of the conveyor belt. A servo motor is fixedly connected to the outer side of the base frame. This utility model utilizes an inclined guide frame, guide wheels one and two to guide and position the handling robot, improving its repeatability and positioning accuracy. Combined with elastic support rollers to absorb collision energy from placed materials, it avoids the impact of collisions and can also provide rolling support for the handling robot and materials, ensuring smooth movement and continuous conveying. Multiple robotic arms and positioning plates form a multi-station feeding system, and multiple electric suction cups one and two provide multi-point adsorption and positioning of materials, improving the efficiency of large-volume material feeding and ensuring stable conveying.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, and more specifically, to a multi-station feeding and positioning device for material handling robots. Background Technology

[0002] The logistics industry is an important pillar of the modern economy. Efficient and accurate logistics sorting systems are key to improving logistics efficiency. Traditional manual sorting methods are inefficient and susceptible to human factors, resulting in a high sorting error rate. Although some logistics systems have introduced automation technology, many links still rely on manual operation, which limits the speed and accuracy of logistics processing.

[0003] In actual use, when multiple robotic arms are used to place materials onto the handling robot for movement, the handling robot needs to be aligned with the material feeding port. During this process, collisions between the material and the handling robot may occur, which will adversely affect both the material and the handling robot and reduce the stability of the conveying process. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a multi-station feeding and positioning device for a handling robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A multi-station feeding and positioning device for a handling robot includes a base frame. Two drive rollers are rotatably connected to the inner side of the base frame, symmetrically distributed within it. A conveyor belt for conveying materials is located on the outer side of the drive rollers. Multiple pads are fixedly connected to the outer side of the conveyor belt. A servo motor is fixedly connected to the outer side of the base frame, with its output end penetrating the inner side of the base frame and fixedly connected to one end of one of the drive rollers. Multiple fixing rods are fixedly connected to the bottom of the base frame, and multiple positioning seats are fixedly connected to the outer side of the base frame. A guide mechanism is provided at the bottom of each fixing rod. The guiding mechanism includes a bracket, with two guide frames fixedly connected to one end of the bracket. The two guide frames are distributed outwardly on one side of the bracket. A guide wheel is rotatably connected to the inner side of each guide frame. Two guide wheels are rotatably connected to the inner side of the bracket. Multiple support rods are slidably connected to the inner side of the bracket. The support rods are symmetrically distributed on both sides of the bracket. A sliding block is fixedly connected to one end of each support rod. The outer side of the sliding block is slidably connected to the inner side of the bracket. A spring is sleeved on the outer side of the support rod. A rotating roller is rotatably connected to the upper surface of the support rod. A feeding mechanism is provided on the top of the positioning seat.

[0007] By adopting the above technical solution: using the bracket, guide frame, guide wheel one and guide wheel two to roll and guide the handling robot, and then combining the spring-driven support rod and rotating roller to roll and support the bottom of the material, the handling robot can smoothly start and transport the material.

[0008] As a further description of the above technical solution: the feeding mechanism includes a robotic arm, the bottom of which is fixedly connected to the upper surface of the positioning seat. A positioning plate is installed at one end of the robotic arm, and three vision cameras are provided at the bottom of the positioning plate. Multiple electric suction cups are fixedly connected to the inner side of the positioning plate. Two support arms are fixedly connected to both sides of the positioning plate, and electric suction cups are fixedly connected to the inner side of the support arms. The multiple electric suction cups are symmetrically distributed on both sides of the base frame.

[0009] By adopting the above technical solution, multiple robotic arms and positioning plates are used to achieve multi-station feeding of materials, and multiple electric suction cups are combined to perform multi-point positioning of materials, so as to avoid the weight of materials being too concentrated.

[0010] The technical effects and advantages of this utility model are as follows:

[0011] 1. By setting up a guiding mechanism, compared with the existing technology, the inclined guide frame and guide wheel one, together with guide wheel two, guide and position the entry of the handling robot, improve the repeatability of the handling robot, and, together with multiple elastically supported rollers, can effectively absorb the collision energy generated by the placement of materials, avoid the impact between materials and handling robot due to collision, and at the same time provide rolling support for the initial movement of the handling robot and materials, ensuring that the handling robot smoothly drives the material movement and improves the continuity of material conveying by the handling robot;

[0012] 2. By setting up a feeding mechanism, compared with the existing technology, multiple robotic arms and positioning plates are used to form a multi-station feeding system, which improves the feeding efficiency of large quantities of materials. In addition, multiple electric suction cups 1 and 2 are used to perform multi-point adsorption and positioning of materials, ensuring the smooth positioning and conveying of materials. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 This is a schematic diagram of the bottom structure of this utility model.

[0015] Figure 3 This is a partial schematic diagram of the connection between the bracket and the guide wheel of this utility model.

[0016] Figure 4 This is a partial schematic diagram of the connection between the base frame and the transmission roller of this utility model.

[0017] Figure 5 This is a partial schematic diagram of the connection between the robotic arm and the positioning plate of this utility model.

[0018] Figure 6 For the present utility model Figure 3 Enlarged diagram of A in the middle.

[0019] The attached diagram is labeled as follows: 1. Base frame; 2. Drive roller; 3. Conveyor belt; 4. Pad strip; 5. Servo motor; 6. Fixed rod; 7. Positioning seat; 8. Bracket; 9. Guide frame; 10. Guide wheel one; 11. Support rod; 12. Sliding block; 13. Spring; 14. Rotating roller; 15. Guide wheel two; 16. Robotic arm; 17. Positioning plate; 18. Vision camera; 19. Electric suction cup one; 20. Support arm; 21. Electric suction cup two. Detailed Implementation

[0020] 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.

[0021] The embodiments disclosed in this application are as follows: Figures 1-6The multi-station feeding and positioning device for the handling robot shown includes a base frame 1. Two drive rollers 2 are rotatably connected to the inner side of the base frame 1, and the drive rollers 2 are symmetrically distributed on the inner side of the base frame 1. A conveyor belt 3 for conveying materials is provided on the outer side of the drive rollers 2. Multiple pads 4 are fixedly connected to the outer side of the conveyor belt 3. A servo motor 5 is fixedly connected to the outer side of the base frame 1, and the output end of the servo motor 5 passes through the inner side of the base frame 1 and is fixedly connected to one end of one of the drive rollers 2. Multiple fixing rods 6 are fixedly connected to the bottom of the base frame 1. Multiple positioning seats 7 are fixedly connected to the outer side of the base frame 1. A guide mechanism is provided at the bottom of the fixing rods 6. The guide mechanism includes a bracket 8, and two guide frames 9 are fixedly connected to one end of the bracket 8. The two guide frames 9 are inclined outward and distributed on one side of the bracket 8. A guide is rotatably connected to the inner side of the guide frame 9. Wheel 10, two guide wheels 15 are rotatably connected to the inner side of the bracket 8, and multiple support rods 11 are slidably connected to the inner side of the bracket 8. The support rods 11 are symmetrically distributed on both sides of the bracket 8. A sliding block 12 is fixedly connected to one end of the support rod 11. The outer side of the sliding block 12 is slidably connected to the inner side of the bracket 8. A spring 13 is sleeved on the outer side of the support rod 11. A rotating roller 14 is rotatably connected to the upper surface of the support rod 11. A feeding mechanism is set on the top of the positioning seat 7. The bracket 8 and the outwardly inclined guide frame 9, together with the rotation of the guide wheels 10 and 15, assist the handling robot in guiding and moving to the predetermined position. In addition, the elastically extendable spring 13, support rods 11 and rotating roller 14 provide multi-point rolling support for the bottom of the material to avoid strong collisions between the material and the handling robot.

[0022] Reference Figure 2 and Figure 5 As shown, the feeding mechanism includes a robotic arm 16. The bottom of the robotic arm 16 is fixedly connected to the upper surface of the positioning seat 7. A positioning plate 17 is installed at one end of the robotic arm 16. Three vision cameras 18 are set at the bottom of the positioning plate 17. Multiple electric suction cups 19 are fixedly connected to the inner side of the positioning plate 17. Two support arms 20 are fixedly connected to both sides of the positioning plate 17. Electric suction cups 21 are fixedly connected to the inner side of the support arms 20. Multiple electric suction cups 21 are symmetrically distributed on both sides of the base frame 1. The multiple robotic arms 16 and the positioning plate 17 realize multi-station conveying of materials. The multiple electric suction cups 19 at the bottom of the positioning plate 17 cooperate with the two electric suction cups 21 on both sides to push the materials in opposite directions and realize multi-point positioning, keep the weight of the materials evenly distributed, and keep the material conveying stable.

[0023] The working principle of this utility model is as follows: When using a handling robot to transport materials, the materials are first transported to the surface of the conveyor belt 3 and the pads 4 by external equipment. The servo motor 5 is started to drive the transmission roller 2 connected to its output end, which works in conjunction with the transmission roller 2 on the other side, so that the conveyor belt 3 and the pads 4 can transport the materials. The stability of the materials is maintained by the multi-point support of multiple pads 4. Then, multiple robotic arms 16 are started to move the positioning plate 17 above the conveyor belt 3. The materials on the top of the conveyor belt 3 and the pads 4 are visually detected by three vision cameras 18 at the bottom of the positioning plate 17. Then, multiple robotic arms 16 sequentially control the positioning plate 17 to move above the materials, forming a multi-station feeding, so that the materials are between the multiple electric suction cups 19 and 21 at the bottom of the positioning plate 17. The electric suction cups 21 on both sides of the positioning plate 17 are started to push the materials on both sides of the bottom of the positioning plate 17 in opposite directions, so that the materials are aligned with the positioning plate 17. Then, the multiple electric suction cups 19 at the bottom of the positioning plate 17 are attached to the upper surface of the materials, and the materials are transported by multiple electric suction cups. The material is adsorbed onto the upper surface of the frame 1 by the robotic arm 19, and then multiple electric suction cups 21 adsorb onto both sides of the material to maintain stability during material feeding. Then, the material is moved from above the base frame 1 by the robotic arm 16 and the positioning plate 17, so that the material is moved to the top of the support 8. At the same time, multiple handling robots enter the inside of the support 8 in sequence. The corners of the handling robots are assisted by the guide frame 9 and the guide wheel 10 set outward, and the edges of the handling robots are further rolled by the two guide wheels 25 on the inside of the support 8, so that the handling robots can smoothly enter the inside of the support 8 to wait for the material to be placed and transported. Then, when the robotic arm 16 and the positioning plate 17 place the material on the top of the handling robot, multiple springs 13 push the support rod 11 and the rotating roller 14 to provide elastic support for the edge of the falling material. Then, when the material is completely placed on the top of the handling robot, the handling robot moves to the outside of the support 8. The rolling of multiple rotating rollers 14 will support the stability of the handling robot when it starts to move the material. Finally, the multi-station feeding of the handling robot is realized.

[0024] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited. Conventional equipment can be used. The vision camera can be a Basler ace 2. Electrical control components not mentioned in this technical solution are not shown in the figure because they are existing technologies, and will not be described here.

[0025] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multi-station feeding positioning device for a transfer robot, comprising a chassis (1), characterized in that: The base frame (1) has two drive rollers (2) rotatably connected to its inner side. The drive rollers (2) are symmetrically distributed on the inner side of the base frame (1). A conveyor belt (3) for conveying materials is provided on the outer side of the drive rollers (2). Multiple pads (4) are fixedly connected to the outer side of the conveyor belt (3). A servo motor (5) is fixedly connected to the outer side of the base frame (1). The output end of the servo motor (5) passes through the inner side of the base frame (1) and is fixedly connected to one end of one of the drive rollers (2). Multiple fixing rods (6) are fixedly connected to the bottom of the base frame (1). Multiple positioning seats (7) are fixedly connected to the outer side of the base frame (1). A guide mechanism is provided at the bottom of the fixing rods (6). The guiding mechanism includes a bracket (8), one end of which is fixedly connected to two guide frames (9). The two guide frames (9) are distributed outwardly on one side of the bracket (8). A guide wheel (10) is rotatably connected to the inner side of the guide frame (9), and two guide wheels (15) are rotatably connected to the inner side of the bracket (8). The top of the positioning seat (7) is provided with a feeding mechanism.

2. The multi-station feeding and positioning device for a transfer robot according to claim 1, characterized in that: Multiple support rods (11) are slidably connected to the inner side of the bracket (8), and the support rods (11) are symmetrically distributed on both sides of the bracket (8).

3. The multi-station feeding and positioning device for a transfer robot according to claim 2, characterized in that: One end of the support rod (11) is fixedly connected to a sliding block (12), and the outer side of the sliding block (12) is slidably connected to the inner side of the bracket (8).

4. The multi-station feeding and positioning device for a transfer robot according to claim 2, characterized in that: A spring (13) is sleeved on the outside of the support rod (11), and a roller (14) is rotatably connected to the upper surface of the support rod (11).

5. The multi-station feeding and positioning device for a transfer robot according to claim 1, characterized in that: The feeding mechanism includes a robotic arm (16), the bottom of which is fixedly connected to the upper surface of the positioning seat (7), and a positioning plate (17) is installed at one end of the robotic arm (16). Three vision cameras (18) are provided at the bottom of the positioning plate (17).

6. The multi-station feeding and positioning device for a transfer robot according to claim 5, characterized in that: Multiple electric suction cups (19) are fixedly connected to the inner side of the positioning plate (17), and two support arms (20) are fixedly connected to both sides of the positioning plate (17).

7. The multi-station feeding and positioning device for handling robots according to claim 6, characterized in that: An electric suction cup 2 (21) is fixedly connected to the inner side of the support arm (20), and multiple electric suction cups 2 (21) are symmetrically distributed on both sides of the base frame (1).

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