A steerable, grabbing, laneway robot

Abstract

The utility model belongs to the field of robot technology, concretely relates to a lane robot of steering and grabbing, including frame assembly, portal assembly, pallet fork subassembly and support assembly, frame assembly can reciprocate along X axle direction, portal assembly is slidably installed on frame assembly along Y axle direction, pallet fork subassembly is slidably installed on portal assembly along Z axle direction, and pallet fork subassembly includes rotating pallet fork that reciprocates along Y axle direction and can rotate around Z axle, support assembly sets up at the bottom of portal assembly and is used for providing support when pallet fork subassembly grabs goods, the utility model integrates rotating pallet fork in truss robot, not only can grab goods located in front, but also can grab goods located in side, thereby improve the overall handling efficiency, support assembly is used to provide support in the process that rotating pallet fork grabs goods, thereby improve the stability of whole device.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a steerable grasping tunnel robot. Background Technology

[0002] In logistics and warehousing systems, efficient and accurate cargo transfer is a core component, primarily involving inbound and outbound operations, as well as transfers between different areas or storage locations within the warehouse. Currently, cargo transfer within warehouses mainly relies on two methods: manually operated forklifts and gantry robots.

[0003] Manual operation of forklifts is highly dependent on human labor, which not only leads to higher costs, but also causes problems such as unstable operating efficiency, easy human error such as damage to goods, collisions with shelves, and potential safety risks.

[0004] Gantry robots are typically mounted above warehouses and move in three-dimensional space via a track system to automatically grasp and transport goods. However, the working range of gantry robots is limited by their track layout, and they can usually only efficiently transport goods located directly below or in front of their movement path, i.e., axially aligned positions. For goods located to the side of their movement path or requiring non-axial angle handling, gantry robots often need to perform a series of complex compound movements to complete the transport task. This complex movement path planning and frequent start-stop and turning operations significantly increase the time consumption of a single transport operation and reduce the overall transfer efficiency of the system. Utility Model Content

[0005] The technical problem to be solved by this utility model is: in order to solve the problem that the existing technology of manual handling of goods leads to high costs, and that gantry robots often need to perform a series of complex compound movements to complete the handling task for goods located on the side of their movement path or requiring non-axial angle picking and placing, which significantly increases the time consumption of a single handling operation and reduces the overall transfer efficiency of the system, a steerable gripping lane robot is provided.

[0006] To solve the above-mentioned technical problems, this utility model adopts the following technical solution: a steerable grasping tunnel robot, comprising: A frame component that can reciprocate along the X-axis; A gantry assembly that is slidably mounted on the frame assembly along the Y-axis direction; A fork assembly that is slidably mounted on the mast assembly along the Z-axis, and the fork assembly includes a rotating fork that reciprocates along the Y-axis and is rotatable about the Z-axis. A support assembly is provided at the bottom of the mast assembly to provide support when the fork assembly grips goods.

[0007] Furthermore, it also includes a Y-axis drive mechanism for driving the gantry assembly, the Y-axis drive mechanism including a Y-axis motor mounted on the gantry assembly, a Y-axis gear connected to the output end of the Y-axis motor, and a Y-axis rack meshing with the Y-axis gear and mounted on the frame assembly.

[0008] Furthermore, it also includes a Z-axis drive mechanism for driving the fork assembly, the Z-axis drive mechanism including a Z-axis motor mounted on the mast assembly, a take-up reel connected to the output end of the Z-axis motor, and a belt connected between the take-up reel and the fork assembly.

[0009] Furthermore, the fork assembly also includes a fork carriage, a lateral drive mechanism for driving the rotating fork to move laterally along the Y-axis, and a rotary drive mechanism for driving the rotating fork to rotate about the Z-axis.

[0010] Furthermore, the traverse drive mechanism includes a fork mount, a traverse motor mounted on the fork mount, a traverse gear connected to the output end of the traverse motor, and a traverse rack meshing with the traverse gear and mounted on the fork carriage.

[0011] Furthermore, the rotary drive mechanism includes a rotary motor mounted on the fork seat, and the output end of the rotary motor is connected to the rotary fork.

[0012] Furthermore, the frame assembly includes two side-by-side crossbeams and two traveling trolleys connected to both ends of the crossbeams and capable of reciprocating along the X-axis. Furthermore, it also includes an X-axis drive mechanism for driving the movement of the traveling trolley, the X-axis drive mechanism including an X-axis motor and traveling wheels connected to the output end of the X-axis motor. Furthermore, the support assembly includes a support base, a support motor mounted on the support base, a lead screw and nut pair connected to the output end of the support motor, and two support leg units connected to the output end of the lead screw and nut pair and capable of being brought close to each other for retraction or moved away from each other for support. Furthermore, each support leg unit includes a main support leg hinged to the output end of the lead screw and nut pair, a support plate hinged to the end of the main support leg for support, and a side support leg hinged to the middle of the main support leg, wherein the end of the side support leg opposite to the main support leg is hinged to the support seat.

[0013] The beneficial effects of this utility model are as follows: This utility model integrates a rotating fork into a gantry robot, which can not only grab goods located in front of it, but also grab goods located to its side, thereby improving the overall handling efficiency. At the same time, the support components provide support during the process of the rotating fork grabbing goods, thereby improving the stability of the entire device. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is the front view of this utility model; Figure 3 This is a first-view structural schematic diagram of the gantry assembly in this utility model; Figure 4 This is a structural schematic diagram of the gantry assembly in this utility model from a second perspective; Figure 5 This is a first-view structural schematic diagram of the fork assembly in this utility model; Figure 6 This is a structural schematic diagram of the fork assembly in this utility model from a second perspective; Figure 7 This is a schematic diagram of the support component in this utility model; Figure 8 This is a structural schematic diagram of the frame component in this utility model; In the picture: 1. Frame components; 101. Crossbeam; 102. Traveling trolley; 2. Gantry assembly; 3. Fork assembly; 301. Swiveling fork; 302. Fork carriage; 303. Fork seat; 304. Transverse motor; 305. Transverse rack; 306. Swivel motor; 4. Support components; 401. Support base; 402. Support motor; 403. Lead screw and nut pair; 404. Support leg unit; 4041. Main support leg; 4042. Side support leg; 4043. Support plate; 4044. Support pad.

[0016] 5. X-axis drive mechanism; 501. X-axis motor; 502. Traveling wheel; 503. X-axis drive gear; 504. Synchronous chain; 505. X-axis driven gear; 6. Y-axis drive mechanism; 601. Y-axis motor; 602. Y-axis gear; 603. Y-axis rack; 7. Z-axis drive mechanism; 701. Z-axis motor; 702. Rewinding reel; 703. Belt. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0018] like Figures 1-8 As shown, this utility model is a steerable grasping tunnel robot, comprising: Frame component 1, which can reciprocate along the X-axis direction of the main beam (not shown in the attached figure), and is generally rectangular in shape; The gantry assembly 2 extends along the Z-axis and is slidably mounted on the frame assembly 1 along the Y-axis. The fork assembly 3 is slidably mounted on the mast assembly 2 along the Z-axis direction, and the fork assembly 3 includes a rotating fork 301 that reciprocates along the Y-axis direction and can rotate around the Z-axis. The rotating fork 301 can be a telescopic structure to extend and grab goods, or it can extend under the drive of the frame assembly 1 or the mast assembly 2 to grab goods. Preferably, there are two sets of fork assemblies 3, which are located on both sides of the mast assembly 2 along its X-axis direction, so as to realize the grabbing of goods in different directions. And support component 4, which is disposed at the bottom of the mast assembly 2, for providing support when the fork assembly 3 grabs goods.

[0019] During operation, the frame assembly 1 and the gantry assembly 2 move together to move the fork assembly 3 to the target position. The support assembly 4 at the bottom of the gantry assembly 2 provides support for it. Then, the rotating fork 301 can move to the cargo position and grab the cargo located in front of or to the side by rotating. In this embodiment, the rotating fork 301 is integrated into the gantry robot, which can not only grab the cargo located in front of it, but also grab the cargo located to its side at the same time, thereby improving the overall handling efficiency.

[0020] In some examples, a Y-axis drive mechanism 6 for driving the gantry assembly 2 is also included. Preferably, the Y-axis drive mechanism 6 has two sets. The Y-axis drive mechanism 6 includes a Y-axis motor 601 mounted on the gantry assembly 2, a Y-axis gear 602 connected to the output end of the Y-axis motor 601, and a Y-axis rack 603 meshing with the Y-axis gear 602 and mounted on the frame assembly 1. The Y-axis rack 603 extends along the Y-axis direction. When the Y-axis motor 601 is started, the Y-axis gear 602 moves along the extension direction of the Y-axis rack 603, driving the gantry assembly 2 to move along the Y-axis direction. A Y-axis slider and a Y-axis slide rail are installed between the gantry assembly 2 and the frame assembly 1 to provide guidance for the movement of the gantry assembly 2.

[0021] In some examples, a Z-axis drive mechanism 7 for driving the fork assembly 3 is also included. Preferably, the Z-axis drive mechanism 7 has two sets. The Z-axis drive mechanism 7 includes a Z-axis motor 701 mounted on the mast assembly 2, a take-up reel 702 connected to the output end of the Z-axis motor 701, and a belt 703 connected between the take-up reel 702 and the fork assembly 3. One end of the belt 703 is connected to the fork assembly 3, and the other end is connected to the take-up reel 702. When the Z-axis motor 701 is started, the take-up reel 702 is driven to rotate, thereby driving the belt 703 to take up or unwind, thereby realizing the lifting and lowering of the fork assembly 3. Rollers are installed on the fork assembly 3, and the mast assembly 2 forms a raceway for the rollers to roll. The rollers and the raceway cooperate to provide guidance for the movement of the fork assembly 3.

[0022] In some examples, the fork assembly 3 further includes a fork carriage 302, a lateral drive mechanism for driving the rotating fork 301 to move laterally along the Y-axis, and a rotary drive mechanism for driving the rotating fork 301 to rotate about the Z-axis, with rollers mounted on the side of the fork carriage 302 away from the rotating fork 301.

[0023] In some examples, the traverse drive mechanism includes a fork seat 303, a traverse motor 304 mounted on the fork seat 303, a traverse gear connected to the output end of the traverse motor 304, and a traverse rack 305 meshing with the traverse gear and mounted on the fork carriage 302. The traverse rack 305 extends along the Y-axis direction. When the traverse motor 304 is activated, the traverse gear moves along the extension direction of the traverse rack 305, driving the fork seat 303 and the rotating fork 301 on it to move along the Y-axis direction. At the same time, a traverse slider and a traverse rail are installed between the fork seat 303 and the fork carriage 302 to provide guidance for the traverse movement of the rotating fork 301.

[0024] In some examples, the rotary drive mechanism includes a rotary motor 306 mounted on the fork seat 303. The output of the rotary motor 306 is connected to the rotary fork 301. When the rotary motor 306 is started, it drives the rotary fork 301 to rotate in order to grab materials located in front or to the side.

[0025] In some examples, the frame assembly 1 includes two side-by-side crossbeams 101, two traveling trolleys 102 connected to both ends of the crossbeams 101 and capable of reciprocating along the X-axis, and a Y-axis rack 603 mounted on the inner side of the crossbeams 101. The two traveling trolleys 102 can limit the movement stroke of the gantry assembly 2 by blocking the ends of the crossbeams 101. The movement of the two traveling trolleys 102 can drive the entire frame assembly 1 to move.

[0026] In some examples, an X-axis drive mechanism 5 is also included for driving the movement of the traveling trolley 102. Preferably, there are two sets of X-axis drive mechanisms 5, each corresponding to one of the two traveling trolleys 102. Each X-axis drive mechanism 5 is used to drive the movement of its corresponding traveling trolley 102. The X-axis drive mechanism 5 includes an X-axis motor 501 and a traveling wheel 502 connected to the output end of the X-axis motor 501. The main beam forms an X-axis raceway for the traveling wheel 502 to roll. When the X-axis motor 501 is started, the traveling wheel 502 moves along the X-axis raceway. The rolling motion drives the trolley 102 to move. Preferably, each X-axis drive mechanism 5 has two sets of symmetrically arranged wheels 502, with two wheels 502 in each set. The output end of the X-axis motor 501 is fitted with two X-axis drive gears 503. Each X-axis drive gear 503 is connected to two X-axis driven gears 505 through a synchronous chain 504. Each X-axis driven gear 505 is connected to two wheels 502 respectively, thereby enabling one X-axis motor 501 to drive four wheels 502 to roll simultaneously.

[0027] In some examples, the support assembly 4 includes a support base 401, a support motor 402 mounted on the support base 401, a lead screw and nut pair 403 connected to the output end of the support motor 402, and two support leg units 404 connected to the output end of the lead screw and nut pair 403 and capable of being brought close together to retract or moved away from each other for support. The lead screw in the lead screw and nut pair 403 is a bidirectional lead screw with two threaded sections with opposite directions of rotation. Each threaded section is equipped with a nut seat, and the two support leg units 404 are respectively mounted on the two nut seats.

[0028] In some examples, each support leg unit 404 includes a main support leg 4041 hinged to the output end of the lead screw nut pair 403, a support plate 4043 hinged to the end of the main support leg 4041 for support, and a side support leg 4042 hinged to the middle of the main support leg 4041. The end of the side support leg 4042 facing away from the main support leg 4041 is hinged to the support base 401. The bottom of the support plate 4043 is provided with a support pad 4044, which may be made of rubber. A slide rail slider combination is provided between the main support leg 4041 and the support base 401 to guide the movement of the main support leg 4041. Start the support motor 402, and the bidirectional lead screw rotates. When it drives the two main support legs 4041 to move away from each other, the main support legs 4041 gradually extend to provide support with the cooperation of the side support legs 4042. When the two main support legs 4041 move closer to each other, the main support legs 4041 gradually retract with the cooperation of the side support legs 4042.

[0029] Working principle: During operation, firstly, the X-axis motor 501 is started, and the traveling wheel 502 rolls along the X-axis raceway, thereby driving the frame assembly 1 to move. Then, the Y-axis motor 601 is started, and the Y-axis gear 602 moves along the extension direction of the Y-axis rack 603, driving the mast assembly 2 to move along the Y-axis. The combined movement of the frame assembly 1 and the mast assembly 2 drives the fork assembly 3 to move above the target position. Then, the Z-axis motor 701 is started, driving the winding wheel 702 to rotate, the belt 703 to unwind, and the fork assembly 3 moves down to the predetermined position. Next, the support motor 402 is started, driving the two main support legs 4041 to move away from each other and gradually extend to support the mast assembly 2. Then, the traverse motor 304 is started, and the traverse gear moves along the extension direction of the traverse rack 305, driving the fork seat 303 and the rotating fork 301 on it to move along the Y-axis. At the same time, the rotary motor 306 can drive the rotating fork 301 to rotate to the target position. Finally, the rotating fork 301 extends to grab the goods.

[0030] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A steerable grasping tunnel robot, characterized in that: include: Frame component (1) which can reciprocate along the X-axis; A gantry assembly (2) is slidably mounted on the frame assembly (1) along the Y-axis direction; The fork assembly (3) is slidably mounted on the mast assembly (2) along the Z-axis direction, and the fork assembly (3) includes a rotating fork (301) that reciprocates along the Y-axis direction and is rotatable about the Z-axis. A support assembly (4) is disposed at the bottom of the mast assembly (2) to provide support when the fork assembly (3) grips the goods.

2. The steerable grasping tunnel robot according to claim 1, characterized in that: It also includes a Y-axis drive mechanism (6) for driving the gantry assembly (2), the Y-axis drive mechanism (6) including a Y-axis motor (601) mounted on the gantry assembly (2), a Y-axis gear (602) connected to the output end of the Y-axis motor (601), and a Y-axis rack (603) meshing with the Y-axis gear (602) and mounted on the frame assembly (1).

3. The steerable grasping tunnel robot according to claim 1, characterized in that: It also includes a Z-axis drive mechanism (7) for driving the fork assembly (3), the Z-axis drive mechanism (7) including a Z-axis motor (701) mounted on the mast assembly (2), a rewinding wheel (702) connected to the output end of the Z-axis motor (701) and a belt (703) connected between the rewinding wheel (702) and the fork assembly (3).

4. The steerable grasping tunnel robot according to claim 1, characterized in that: The fork assembly (3) further includes a fork carriage (302), a lateral drive mechanism for driving the rotating fork (301) to move laterally along the Y-axis, and a rotation drive mechanism for driving the rotating fork (301) to rotate around the Z-axis.

5. The steerable grasping tunnel robot according to claim 4, characterized in that: The traverse drive mechanism includes a fork mount (303), a traverse motor (304) mounted on the fork mount (303), a traverse gear connected to the output end of the traverse motor (304), and a traverse rack (305) meshing with the traverse gear and mounted on the fork carriage (302).

6. The steerable grasping tunnel robot according to claim 5, characterized in that: The rotary drive mechanism includes a rotary motor (306) mounted on the fork seat (303), and the output end of the rotary motor (306) is connected to the rotary fork (301).

7. The steerable grasping tunnel robot according to claim 1, characterized in that: The frame assembly (1) includes two side-by-side crossbeams (101) and two traveling trolleys (102) connected to both ends of the crossbeams (101) and capable of reciprocating along the X-axis.

8. The steerable grasping tunnel robot according to claim 7, characterized in that: It also includes an X-axis drive mechanism (5) for driving the walking trolley (102), the X-axis drive mechanism (5) including an X-axis motor (501) and a walking wheel (502) connected to the output end of the X-axis motor (501).

9. The steerable grasping tunnel robot according to claim 1, characterized in that: The support assembly (4) includes a support base (401), a support motor (402) mounted on the support base (401), a lead screw and nut pair (403) connected to the output end of the support motor (402), and two support leg units (404) connected to the output end of the lead screw and nut pair (403) and capable of being brought close to each other for retraction or moved away from each other for support.

10. A steerable grasping tunnel robot according to claim 9, characterized in that: Each support leg unit (404) includes a main support leg (4041) hinged to the output end of the lead screw nut pair (403), a support plate (4043) hinged to the end of the main support leg (4041) for support, and a side support leg (4042) hinged to the middle of the main support leg (4041), and the end of the side support leg (4042) away from the main support leg (4041) is hinged to the support base (401).

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