Novel fully automatic material handling machine system

Abstract

This utility model provides a novel fully automatic material handling mechanical system, relating to the field of automation equipment technology. It includes a base plate, a base fixedly mounted on the upper side of the base plate, a gear cavity between the base plate and the base plate, a bearing sleeve fixedly mounted on the upper side of the base, a single-row tapered roller bearing rotatably mounted inside the bearing sleeve, and a waist joint rotary shaft fixedly mounted inside the single-row tapered roller bearing. The lower end of the waist joint rotary shaft extends into the gear cavity. A stepper motor is connected to the waist joint rotary shaft via a gear set. A vertical hydraulic lifting arm is mounted on the upper side of the waist joint rotary shaft, a horizontal hydraulic moving arm is mounted on the upper side of the vertical hydraulic lifting arm, and a handling manipulator is mounted on one side of the horizontal hydraulic moving arm. This utility model achieves precise positioning and handling of materials in multiple directions, realizes 180° rotation at the end and hand opening and closing, has a simple structure, and low production cost.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically a novel fully automatic material handling mechanical system. Background Technology

[0002] Against the backdrop of continuous improvement in industrial automation and logistics efficiency, material handling machinery systems, as core equipment in the manufacturing and logistics industries, directly impact production efficiency and operating costs through technological development. Currently, material handling machinery systems are undergoing a critical transformation from traditional mechanization to intelligent and automated processes.

[0003] Traditional material handling equipment is mostly based on single-function mechanical structures, such as belt conveyors, forklifts, and stationary cranes. These devices suffer from insufficient mobility, making it difficult to move omnidirectionally in confined spaces, resulting in limited path planning and low operational efficiency. They also lack adaptive gripping capabilities, making it difficult to handle the handling of irregularly shaped materials or fragile items.

[0004] With the advancement of Industry 4.0 and intelligent manufacturing, automated material handling equipment is gradually being applied. However, existing automated material handling equipment often uses robotic arms with many degrees of freedom. For simple handling actions, too many degrees of freedom of robotic arms often lead to waste and high costs. Utility Model Content

[0005] The purpose of this utility model is to provide a new fully automated material handling machinery system to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A novel fully automated material handling machinery system is characterized by: a base plate, a base fixedly mounted on the upper side of the base plate, a gear cavity between the base plate and the base plate, a bearing sleeve fixedly mounted on the upper side of the base, a single-row tapered roller bearing rotatably mounted inside the bearing sleeve, a waist joint rotary shaft fixedly mounted inside the single-row tapered roller bearing, the lower end of the waist joint rotary shaft extending into the gear cavity, a stepper motor fixedly mounted on the upper side of the base, the stepper motor being connected to the waist joint rotary shaft via a gear set, a vertical hydraulic lifting arm mounted on the upper side of the waist joint rotary shaft, a horizontal hydraulic moving arm mounted on the upper side of the vertical hydraulic lifting arm, and a handling robot arm mounted on one side of the horizontal hydraulic moving arm.

[0008] In a preferred embodiment, the vertical hydraulic lifting arm includes a vertical arm support plate fixedly mounted on the upper side of the waist joint rotation shaft. A lifting hydraulic cylinder is fixedly mounted at the middle position of the upper side of the vertical arm support plate. A horizontal arm support plate is fixedly mounted at the upper output end of the lifting hydraulic cylinder. Multiple sets of vertical telescopic guide rod sleeves are provided between the horizontal arm support plate and the vertical arm support plate.

[0009] In a preferred embodiment, the horizontal hydraulic mobile arm includes a horizontal arm connecting seat fixedly mounted on a horizontal arm support plate, a mobile hydraulic cylinder fixedly mounted on the horizontal arm connecting seat, a horizontal arm rear support plate fixedly mounted at one end of the mobile hydraulic cylinder, a horizontal arm front support plate fixedly mounted at the other end of the mobile hydraulic cylinder, and multiple sets of horizontal telescopic guide rod sleeves provided between the horizontal arm front support plate and the horizontal arm rear support plate.

[0010] In a preferred embodiment, the handling robot includes a robot mounting base fixedly mounted on the front support plate of the horizontal arm. A rotary hydraulic cylinder is fixedly mounted on the outer side of the robot mounting base. A drive hydraulic cylinder is fixedly mounted on the output end of the rotary hydraulic cylinder. A hand is mounted on the output end of the drive hydraulic cylinder.

[0011] In a preferred embodiment, a spring is provided on the inner side of the driving hydraulic cylinder.

[0012] In a preferred embodiment, the gear set includes a large gear fixedly mounted at the lower end of the waist joint rotary shaft, and a small gear fixedly mounted at the output end of the stepper motor, wherein the small gear meshes with the large gear.

[0013] In a preferred embodiment, a sleeve is fixedly installed between the large gear and the single-row tapered roller bearing, located outside the waist joint rotation shaft, with the outer side of the sleeve corresponding to the cross-sectional position of the base.

[0014] The technical solution provided by this utility model has the following advantages compared with the known prior art:

[0015] This invention utilizes the coordinated movement of a waist joint rotary shaft, a vertical hydraulic lifting arm, and a horizontal hydraulic moving arm, combined with a stepper motor and hydraulic drive system, to achieve precise positioning and handling of materials in multiple directions. The gear set employs a reduction ratio design where a small gear drives a large gear, amplifying the output torque and enhancing heavy-duty handling capacity. A single-row tapered roller bearing bears the axial load, and combined with a closed gear cavity structure, ensures the sealing of the transmission system. The handling robot integrates a rotary hydraulic cylinder and a drive hydraulic cylinder, enabling 180° rotation at the end and hand opening and closing. The base and bottom plate form a closed gear cavity, isolating external impurities and reducing maintenance frequency. This invention has a simple structure and low production cost. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, 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.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of this utility model after removing the sorting robot arm;

[0019] Figure 3 This utility model Figure 1 A magnified structural diagram of part A;

[0020] Reference numerals: 1. Base plate; 2. Base; 3. Gear cavity; 4. Bearing sleeve; 5. Single-row tapered roller bearing; 6. Waist joint rotary shaft; 7. Stepper motor; 8. Gear set; 9. Vertical hydraulic lifting arm; 10. Horizontal hydraulic moving arm; 11. Handling robot; 12. Sleeve; 81. Large gear; 82. Small gear; 91. Vertical arm support plate; 92. Lifting hydraulic cylinder; 93. Horizontal arm support plate; 94. Vertical telescopic guide rod sleeve; 101. Horizontal arm connecting seat; 102. Moving hydraulic cylinder; 103. Horizontal arm rear support plate; 104. Horizontal arm front support plate; 105. Horizontal telescopic guide rod sleeve; 111. Robotic arm fixing seat; 112. Rotary hydraulic cylinder; 113. Drive hydraulic cylinder; 114. Hand; 115. Spring. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0022] The present invention will be further described below with reference to the embodiments.

[0023] Reference Figures 1 to 3A new type of fully automatic material handling machinery system includes a base plate 1, a base 2 fixedly mounted on the upper side of the base plate 1, a gear cavity 3 between the base 2 and the base plate 1, a bearing sleeve 4 fixedly mounted on the upper side of the base 2, a single-row tapered roller bearing 5 rotatably mounted inside the bearing sleeve 4, a waist joint rotary shaft 6 fixedly mounted inside the single-row tapered roller bearing 5, the lower end of the waist joint rotary shaft 6 extending into the interior of the gear cavity 3, a stepper motor 7 fixedly mounted on the upper side of the base 2, the stepper motor 7 being connected to the waist joint rotary shaft 6 via a gear set 8, a vertical hydraulic lifting arm 9 mounted on the upper side of the waist joint rotary shaft 6, a horizontal hydraulic moving arm 10 mounted on the upper side of the vertical hydraulic lifting arm 9, and a handling robot 11 mounted on one side of the horizontal hydraulic moving arm 10.

[0024] The vertical hydraulic lifting arm 9 includes a vertical arm support plate 91 fixedly installed on the upper side of the waist joint rotation shaft 6. A lifting hydraulic cylinder 92 is fixedly installed at the middle position of the upper side of the vertical arm support plate 91. A horizontal arm support plate 93 is fixedly installed at the upper output end of the lifting hydraulic cylinder 92. Multiple sets of vertical telescopic guide rod sleeves 94 are provided between the horizontal arm support plate 93 and the vertical arm support plate 91.

[0025] The horizontal hydraulic mobile arm 10 includes a horizontal arm connecting seat 101 fixedly mounted on a horizontal arm support plate 93. A mobile hydraulic cylinder 102 is fixedly mounted on the horizontal arm connecting seat 101. A horizontal arm rear support plate 103 is fixedly mounted at one end of the mobile hydraulic cylinder 102, and a horizontal arm front support plate 104 is fixedly mounted at the other end of the mobile hydraulic cylinder 102. Multiple sets of horizontal telescopic guide rod sleeves 105 are provided between the horizontal arm front support plate 104 and the horizontal arm rear support plate 103.

[0026] The handling robot 11 includes a robot mounting base 111 fixedly mounted on the front support plate 104 of the horizontal arm. A rotary hydraulic cylinder 112 is fixedly mounted on the outer side of the robot mounting base 111. A drive hydraulic cylinder 113 is fixedly mounted on the output end of the rotary hydraulic cylinder 112. A hand 114 is mounted on the output end of the drive hydraulic cylinder 113.

[0027] A spring 115 is provided on the inner side of the hydraulic cylinder 113.

[0028] The gear set 8 includes a large gear 81 fixedly installed at the lower end of the waist joint rotary shaft 6, and a small gear 82 fixedly installed at the output end of the stepper motor 7. The small gear 83 meshes with the large gear 81.

[0029] A sleeve 12 is fixedly installed between the large gear 81 and the single-row tapered roller bearing 5 and outside the waist joint rotary shaft 6. The outer side of the sleeve 12 corresponds to the cross-section of the base 2.

[0030] This invention employs a design combining multi-joint hydraulic drive and mechanical transmission to achieve automated material handling in three-dimensional space. A stepper motor 7 transmits rotational motion to the waist joint rotary shaft 6 via a small gear 82 meshing with a large gear 81. The gear reduction ratio amplifies the output torque, and a single-row tapered roller bearing 5 bears the axial load. The base 2 and the base plate 1 form a closed gear cavity 3, ensuring the sealing of the transmission system. The vertical arm support plate 91 is fixed to the top of the waist joint rotary shaft 6, and the lifting hydraulic cylinder 92 pushes the horizontal arm support plate 93 up and down using hydraulic oil pressure. Multiple sets of vertical telescopic guide sleeves 94 employ a precision guiding structure to eliminate radial offset during lifting, and lubricating medium is filled between the guide sleeves to reduce friction. The horizontal arm connecting seat 101 is fixed to the horizontal arm support plate 93, and the moving hydraulic cylinder 102 achieves relative movement between the front support plate 104 and the rear support plate 103 of the horizontal arm through hydraulic drive. A rotary hydraulic cylinder 112 drives a drive hydraulic cylinder 113 to achieve a 180° rotation at the end. The drive hydraulic cylinder 113, through a piston rod, pushes the hand 114 to open and close. An internal spring 115 forms a buffer system: the spring compresses to absorb impact force during gripping, and returns to its original position during release to ensure opening and closing stability. The hand 114 adopts a biomimetic curved surface design to increase the contact area with materials.

[0031] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this utility model.

Claims

1. A new and improved fully automated material handling machine system, characterized by: The system includes a base plate (1), a base (2) fixedly mounted on the upper side of the base plate (1), a gear cavity (3) between the base (2) and the base plate (1), a bearing sleeve (4) fixedly mounted on the upper side of the base (2), a single-row tapered roller bearing (5) rotatably mounted on the inner side of the bearing sleeve (4), a waist joint rotary shaft (6) fixedly mounted on the inner side of the single-row tapered roller bearing (5), the lower end of the waist joint rotary shaft (6) extending into the interior of the gear cavity (3), a stepper motor (7) fixedly mounted on the upper side of the base (2), the stepper motor (7) being connected to the waist joint rotary shaft (6) via a gear set (8), a vertical hydraulic lifting arm (9) mounted on the upper side of the waist joint rotary shaft (6), a horizontal hydraulic moving arm (10) mounted on the upper side of the vertical hydraulic lifting arm (9), and a handling robot (11) mounted on one side of the horizontal hydraulic moving arm (10).

2. The new and improved fully automated material handling machine system of claim 1, wherein: The vertical hydraulic lifting arm (9) includes a vertical arm support plate (91) fixedly installed on the upper side of the waist joint rotation shaft (6). A lifting hydraulic cylinder (92) is fixedly installed at the middle position of the upper side of the vertical arm support plate (91). A horizontal arm support plate (93) is fixedly installed at the upper output end of the lifting hydraulic cylinder (92). Multiple sets of vertical telescopic guide rod sleeves (94) are provided between the horizontal arm support plate (93) and the vertical arm support plate (91).

3. The new and improved fully automated material handling machine system of claim 2, wherein: The horizontal hydraulic mobile arm (10) includes a horizontal arm connecting seat (101) fixedly mounted on a horizontal arm support plate (93). A mobile hydraulic cylinder (102) is fixedly mounted on the horizontal arm connecting seat (101). A horizontal arm rear support plate (103) is fixedly mounted on one end of the mobile hydraulic cylinder (102), and a horizontal arm front support plate (104) is fixedly mounted on the other end of the mobile hydraulic cylinder (102). Multiple sets of horizontal telescopic guide rod sleeves (105) are provided between the horizontal arm front support plate (104) and the horizontal arm rear support plate (103).

4. The novel fully automated material handling vehicle system of claim 3, wherein: The handling robot (11) includes a robot mounting base (111) fixedly mounted on the front support plate (104) of the horizontal arm. A rotary hydraulic cylinder (112) is fixedly mounted on the outer side of the robot mounting base (111). A drive hydraulic cylinder (113) is fixedly mounted on the output end of the rotary hydraulic cylinder (112). A hand (114) is mounted on the output end of the drive hydraulic cylinder (113).

5. The novel fully automated material handling vehicle system of claim 4, wherein: A spring (115) is provided on the inner side of the driving hydraulic cylinder (113).

6. The new and improved, fully automated material handling vehicle system of claim 1, wherein: The gear set (8) includes a large gear (81) fixedly installed at the lower end of the waist joint rotary shaft (6), and a small gear (82) fixedly installed at the output end of the stepper motor (7), the small gear (82) meshing with the large gear (81).

7. The novel fully automated material handling machinery system according to claim 6, characterized in that: A sleeve (12) is fixedly installed between the large gear (81) and the single-row tapered roller bearing (5) and outside the waist joint rotating shaft (6), with the outer side of the sleeve (12) corresponding to the cross-sectional position of the base (2).

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