Carrying mechanism and carrying robot having the same

Abstract

The utility model relates to robot technical field, concretely is carrying mechanism and has its carrying robot. Including mobile car, placing frame mechanism, clamping hand mounting plate and three axle drive mechanism, placing frame mechanism includes a plurality of commodity placing plate and respectively installs in mobile car both ends for driving a plurality of commodity placing plate synchronous and equidistantly moving scissor -type lift, a plurality of commodity placing plate are arranged side by side along the vertical direction, and a plurality of movable holes are arranged side by side on commodity placing plate, three axle drive mechanism is used for driving clamping hand mounting plate horizontal removal and lifting motion, and clamping device is installed on clamping hand mounting plate. The utility model has the function of carrying and temporary storage goods, and the goods are through the concentrated stacking, concentrated unloading mode, improve work efficiency, and still have the function of folding, and the functionality is strong.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a handling mechanism and a handling robot having the same. Background Technology

[0002] With the rapid development of the logistics industry and machine intelligence, the efficiency of handling and storing goods in logistics is becoming increasingly higher. For example, in order to save on manual handling costs and greatly improve handling efficiency, many e-commerce warehouses now use intelligent robots to handle goods.

[0003] In the existing technology, most robots are equipped with pallets, which are used to stack goods on the pallets and unload them in a centralized manner after reaching the designated location. However, stacking goods can easily flatten the bottom goods, and the stacked goods can easily tip over. Utility Model Content

[0004] The purpose of this utility model is to address the problems existing in the background technology by proposing a handling mechanism and a handling robot having the same.

[0005] On the one hand, this utility model proposes a conveying mechanism, comprising:

[0006] Mobile vehicle;

[0007] The placement rack mechanism includes multiple storage shelves and scissor lifts installed at both ends of the mobile vehicle to drive the multiple storage shelves to move synchronously and at equal distances; the multiple storage shelves are arranged side by side in a vertical direction, and multiple movable holes are opened side by side on the storage shelves;

[0008] The gripper mounting plate and a three-axis drive mechanism for driving the gripper mounting plate to move horizontally and vertically are mounted on the top of multiple scissor lifts; the gripper mounting plate is equipped with a gripping device.

[0009] Preferably, the three-axis drive mechanism includes a horizontal drive device and a lifting drive device.

[0010] Preferably, the horizontal drive device includes a rectangular frame, a movable frame, a sliding seat, a first drive assembly, and a second drive assembly. The rectangular frame is installed at the top of multiple scissor lifts. First sliding holes are provided on both sides of the rectangular frame. The two ends of the movable frame are slidably installed in the first sliding holes on both sides. The first drive assembly includes a third servo motor and a second threaded rod. The second threaded rod is rotatably installed in the first sliding hole on one side. The movable frame is threadedly connected to the second threaded rod. The third servo motor is installed on the rectangular frame and its output shaft is connected to the second threaded rod. The movable frame has a second sliding hole. The second drive assembly includes a first servo motor and a first threaded rod. The first threaded rod is rotatably installed inside the second sliding hole. The sliding seat is slidably installed on the movable frame and threadedly connected to the first threaded rod. The first servo motor is installed on the movable frame and its output shaft is connected to the first threaded rod. The sliding seat and the gripper mounting plate are connected through a lifting drive device.

[0011] Preferably, the lifting drive device includes a second servo motor, a gear assembly, two drive shafts, four winding reels, and four wire ropes. Both drive shafts are rotatably mounted on a sliding seat. The second servo motor is mounted on the sliding seat, and its output shaft is connected to either drive shaft. The two drive shafts have the same number of winding reels. The four wire ropes are fixedly wound around the four winding reels. All four wire ropes movably pass through the sliding seat and are connected to the gripper mounting plate. The gear assembly includes a gear and two gear rings. The two gear rings are respectively mounted on the two drive shafts. The gear is rotatably mounted on the sliding seat, and the gear meshes with both gear rings.

[0012] Preferably, a first ranging sensor is installed on the rectangular frame, a second ranging sensor is installed on the movable frame, and a third ranging sensor is installed on the periphery of the gripper mounting plate.

[0013] Preferably, the clamping device includes two sets of clamping assemblies, each set of clamping assemblies including a linear drive mechanism and a clamping plate, the linear drive mechanism being mounted on the clamping plate, and the clamping plate being connected to the output shaft of the linear drive mechanism.

[0014] Preferably, the shelf has multiple stops around its perimeter.

[0015] On the other hand, this utility model also proposes a handling robot, including the aforementioned handling mechanism.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects:

[0017] 1. This utility model has the functions of handling and temporarily storing goods. The goods are stacked and unloaded in a centralized manner, which improves work efficiency.

[0018] 2. By setting up a scissor lift, multiple storage trays can be driven to move downwards synchronously to achieve a folding function, thereby reducing the space occupied by the equipment. In addition, the scissor lift can adjust the spacing between two adjacent storage trays, which can meet the stacking needs of goods of different heights and has strong applicability. Attached Figure Description

[0019] Figure 1 and Figure 2 All of these are schematic diagrams of the structure of this utility model.

[0020] Figure 3 for Figure 1 A magnified schematic diagram of the structure at point A.

[0021] Figure 4 for Figure 1 A magnified schematic diagram of the structure at point B.

[0022] Reference numerals: 1. Moving vehicle; 2. Storage plate; 201. Movable hole; 3. Rectangular frame; 301. First sliding hole; 4. Moving frame; 401. Second sliding hole; 51. First servo motor; 52. First threaded rod; 6. Scissor lift; 7. Stop block; 8. Sliding seat; 9. Second servo motor; 10. Drive shaft; 11. Rewinding reel; 12. Wire rope; 131. Gear ring; 132. Gear; 14. Linear drive mechanism; 15. Grip mounting plate; 16. Clamping plate; 171. Third servo motor; 172. Second threaded rod. Detailed Implementation

[0023] Example 1

[0024] like Figures 1-4 As shown, the conveying mechanism proposed in this embodiment includes a mobile vehicle 1, a placement rack mechanism, a gripper mounting plate 15, and a three-axis drive mechanism.

[0025] The placement rack mechanism includes multiple storage plates 2 and scissor lifts 6 installed at both ends of the mobile vehicle 1 to drive the multiple storage plates 2 to move synchronously and at equal distances; the multiple storage plates 2 are arranged side by side in the vertical direction, and multiple movable holes 201 are opened side by side on the storage plates 2; multiple stops 7 are provided on the periphery of the storage plates 2, and the stops 7 are used to limit the position of the goods.

[0026] The three-axis drive mechanism is used to drive the gripper mounting plate 15 to move horizontally and lift. The three-axis drive mechanism is installed on the top of multiple scissor lifts 6. A gripping device is installed on the gripper mounting plate 15. The gripping device includes two sets of clamping components. Each set of clamping components includes a linear drive mechanism 14 and a clamping plate 16. The linear drive mechanism 14 is installed on the gripper mounting plate 15, and the clamping plate 16 is connected to the output shaft of the linear drive mechanism 14.

[0027] The three-axis drive mechanism includes a horizontal drive device and a lifting drive device. The horizontal drive device includes a rectangular frame 3, a movable frame 4, a sliding seat 8, a first drive assembly, and a second drive assembly. The rectangular frame 3 is installed on the top of multiple scissor lifts 6. First sliding holes 301 are provided on both sides of the rectangular frame 3. The two ends of the movable frame 4 are slidably installed in the first sliding holes 301 on both sides. The first drive assembly includes a third servo motor 171 and a second threaded rod 172. The second threaded rod 172 is rotatably installed in the first sliding hole 301 on one side. The movable frame 4 is threadedly connected to the second threaded rod 172. The third servo motor 171 is installed on the rectangular frame 3, and its output shaft is connected to the second threaded rod 172. The frame 4 has a second sliding hole 401. The second drive assembly includes a first servo motor 51 and a first threaded rod 52. The first threaded rod 52 is rotatably mounted inside the second sliding hole 401. The sliding seat 8 is slidably mounted on the movable frame 4 and threadedly connected to the first threaded rod 52. The first servo motor 51 is mounted on the movable frame 4 and its output shaft is connected to the first threaded rod 52. The sliding seat 8 is connected to the gripper mounting plate 15 through a lifting drive device. By adjusting the rotation direction of the second threaded rod 172, the movable frame 4 can be driven to move along the length direction of the second threaded rod 172. By adjusting the rotation direction of the first threaded rod 52, the sliding seat 8 can be driven to move along the length direction of the first threaded rod 52. The lifting drive device includes a second servo motor 9, a gear assembly, two drive shafts 10, four winding reels 11, and four wire ropes 12. Both drive shafts 10 are rotatably mounted on a sliding seat 8. The second servo motor 9 is mounted on the sliding seat 8, and its output shaft is connected to either drive shaft 10. The two drive shafts 10 have the same number of winding reels 11. The four wire ropes 12 are fixedly wound around the four winding reels 11, and each of the four wire ropes 12 movably passes through the sliding seat 8 and is connected to a gripper mounting plate 15. The gear assembly includes gears 132 and... Two gear rings 131 are respectively mounted on two drive shafts 10. Gear 132 is rotatably mounted on sliding seat 8. Gear 132 is meshed with both gear rings 131. The second servo motor 9 drives one drive shaft 10 to rotate. Under the transmission action of the gear assembly, the other drive shaft 10 is driven, thereby driving four winding reels 11 to rotate synchronously. By adjusting the rotation direction of the winding reels 11, the winding and unwinding of the wire rope 12 can be realized. The setting of four wire ropes 12 makes the hoisting of the clamp mounting plate 15 more stable.

[0028] Specifically, in this technical solution, the placement rack mechanism can be set up in one or more groups. The PLC controller controls the scissor lift 6 to drive multiple storage plates 2 to move synchronously, making the spacing between adjacent storage plates 2 adjustable to accommodate stacking goods of different heights. When moving boxes on the ground, the mobile vehicle 1 (either an electric transport vehicle or an AGV) moves the entire equipment to the designated position. A horizontal drive device drives the clamping device to move above the goods, and then a lifting drive device drives the clamping device closer to the goods. Initially, the spacing between the two clamping plates 16 is at its maximum value, allowing the goods to... Placed between two clamping plates 16, the two linear drive mechanisms 14 can be activated simultaneously to clamp the goods. The lifting drive mechanism moves the goods to the required stacking height, and then the horizontal drive device drives the goods to move in a plane at the corresponding height. The movable hole 201 on the shelf 2 allows the steel wire rope 12 to pass through, so that the goods can be moved smoothly to the upper placement area of ​​the shelf 2. After the goods reach the designated placement area, the fixing of the goods is released, that is, the goods fall onto the corresponding shelf 2. Furthermore, in order to realize automated control, multiple cameras can be installed on the equipment to facilitate real-time monitoring of the working environment and unmanned operation.

[0029] It should be further added that the scissor lift 6 includes a drive mechanism and multiple sets of X-shaped frames. The multiple sets of X-shaped frames are arranged side by side and connected end to end. Each X-shaped frame consists of two rotating rods. The middle of the two rotating rods is rotatably connected to a first rotating shaft. The ends of the rotating rods are rotatably connected to the corresponding rotating rods on the adjacent X-shaped frames through a second rotating shaft. Slide plates are installed at both ends of the placement plate 2 and at both ends of the bottom of the rectangular frame 3. Multiple slide plates on the same side correspond one-to-one with multiple X-shaped frames on the corresponding side. Multiple second rotating shafts are movably installed in the slide grooves of the slide plates at corresponding height positions. The drive mechanism includes a fourth servo motor, a bidirectional lead screw, and two connecting sliders. Both connecting sliders are slidably installed on the moving carriage 1. The bottom ends of the lowest X-shaped frame are rotatably connected to the two connecting sliders respectively. The fourth servo motor is installed on the moving carriage 1 and connected to the bidirectional lead screw. Both slide plates are threadedly connected to the bidirectional lead screw.

[0030] Example 2

[0031] like Figure 1As shown, in this embodiment, compared to Embodiment 1, the conveying mechanism proposed in this embodiment has the following features: a first distance sensor is installed on the rectangular frame 3 to measure the distance between it and the movable frame 4; a second distance sensor is installed on the movable frame 4 to measure the distance between it and the sliding seat 8; furthermore, in order to measure the moving height of the gripper mounting plate 15, a third distance sensor is installed on the periphery of the gripper mounting plate 15 to measure the height of the gripper mounting plate 15 from the ground; the first, second, and third distance sensors are all connected to the PLC controller signal; based on the three sets of measured data, the spatial position of the gripper mounting plate 15 can be determined, thereby determining the position of the housing.

[0032] A transport robot includes the transport mechanism described in the above embodiments.

[0033] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A carrying mechanism, characterized by, include: Mobile vehicle (1); The placement rack mechanism includes multiple storage plates (2) and scissor lifts (6) installed at both ends of the mobile vehicle (1) to drive the multiple storage plates (2) to move synchronously and at equal distances; the multiple storage plates (2) are arranged side by side in the vertical direction, and multiple movable holes (201) are opened side by side on the storage plates (2); The gripper mounting plate (15) and a three-axis drive mechanism for driving the gripper mounting plate (15) to move horizontally and vertically are mounted on the top of multiple scissor lifts (6); a gripping device is mounted on the gripper mounting plate (15).

2. The carrying mechanism according to claim 1, characterized in that The three-axis drive mechanism includes a horizontal drive unit and a lifting drive unit.

3. The carrying mechanism according to claim 2, wherein The horizontal drive device includes a rectangular frame (3), a movable frame (4), a sliding seat (8), a first drive assembly, and a second drive assembly. The rectangular frame (3) is installed on the top of multiple scissor lifts (6). First sliding holes (301) are provided on both sides of the rectangular frame (3). The two ends of the movable frame (4) are slidably installed in the first sliding holes (301) on both sides. The first drive assembly includes a third servo motor (171) and a second threaded rod (172). The second threaded rod (172) is rotatably installed in the first sliding hole (301) on one side. The movable frame (4) is threadedly connected to the second threaded rod (172). The third servo motor... The machine (171) is mounted on the rectangular frame (3) and its output shaft is connected to the second threaded rod (172). The moving frame (4) has a second sliding hole (401). The second drive assembly includes a first servo motor (51) and a first threaded rod (52). The first threaded rod (52) is rotatably mounted on the inner side of the second sliding hole (401). The sliding seat (8) is slidably mounted on the moving frame (4) and threadedly connected to the first threaded rod (52). The first servo motor (51) is mounted on the moving frame (4) and its output shaft is connected to the first threaded rod (52). The sliding seat (8) is connected to the clamp mounting plate (15) through a lifting drive device.

4. The carrying mechanism according to claim 3, wherein The lifting drive device includes a second servo motor (9), a gear assembly, two drive shafts (10), four winding reels (11), and four wire ropes (12). The two drive shafts (10) are rotatably mounted on the sliding seat (8). The second servo motor (9) is mounted on the sliding seat (8) and its output shaft is connected to either drive shaft (10). The number of winding reels (11) mounted on the two drive shafts (10) is the same. The four wire ropes (12) are fixedly wound on the four winding reels (11). The four wire ropes (12) movably pass through the sliding seat (8) and are connected to the clamp mounting plate (15). The gear assembly includes a gear (132) and two gear rings (131). The two gear rings (131) are respectively mounted on the two drive shafts (10). The gear (132) is rotatably mounted on the sliding seat (8). The gear (132) is meshed with the two gear rings (131).

5. The handling mechanism of claim 4, wherein, A first ranging sensor is installed on the rectangular frame (3), a second ranging sensor is installed on the movable frame (4), and a third ranging sensor is installed on the periphery of the gripper mounting plate (15).

6. The transport mechanism of claim 1, wherein, The clamping device includes two sets of clamping components. Each set of clamping components includes a linear drive mechanism (14) and a clamping plate (16). The linear drive mechanism (14) is mounted on the clamping mounting plate (15), and the clamping plate (16) is connected to the output shaft of the linear drive mechanism (14).

7. The carrying mechanism of claim 1, wherein Multiple blocks (7) are provided around the shelf (2).

8. A transport robot characterized by Includes the handling mechanism described in any one of claims 1-7.

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