A material box clamping transfer robot

Abstract

This utility model relates to the field of material handling robot technology and discloses a material box clamping and handling robot, including a mobile base; a vertical bracket including a vertical frame and several trays vertically arranged on the vertical frame, the vertical bracket being connected to the mobile base; a lifting and rotating mechanism including a lifting module and a rotating module arranged on the output end of the lifting module; and a clamping mechanism including a positioning base, a telescopic module, a width adjustment module, and a clamping arm assembly, the positioning base being connected to the output end of the rotating module, the telescopic module being horizontally arranged on the positioning base and extending forward, the width adjustment module being connected to the output end of the telescopic module, and the clamping arm assembly including a first clamping arm and a second clamping arm arranged parallel to the output end of the width adjustment module. The clamping mechanism is used to remove the material box from the vertical bracket and to store the material box in the vertical bracket.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, and in particular to a material box clamping and handling robot. Background Technology

[0002] Smart warehousing is an integral part of the logistics process. Its application ensures the speed and accuracy of data input at every stage of warehouse management, enabling businesses to promptly and accurately grasp real-time inventory data and rationally maintain and control inventory levels. Through scientific coding, it also facilitates the management of inventory batches, expiration dates, and other information. Utilizing the SNHGES system's location management function, the current location of all inventory items can be tracked in real time, further improving warehouse management efficiency.

[0003] Handling robots play an important role in smart warehousing. They can receive instructions to pick up, place, and move goods at designated locations, improving the efficiency of goods handling in warehouses. In view of this, researchers in this field have designed a bin clamping and handling robot. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a bin clamping and handling robot, which facilitates the automatic handling of bins.

[0005] The technical solution of this utility model is: a bin clamping and handling robot, including a mobile base; A vertical bracket includes a vertical frame and several trays vertically arranged on the vertical frame. The vertical bracket is connected to the movable base and is used to store material boxes during transportation. The lifting and rotating mechanism includes a lifting module and a rotating module disposed on the output end of the lifting module. The lifting module is disposed on the vertical bracket and is used to drive the material box to lift and rotate along the vertical frame. The clamping mechanism includes a positioning seat, a telescopic module, a width adjustment module, and a clamping arm assembly. The positioning seat is connected to the output end of the rotating module. The telescopic module is horizontally arranged on the positioning seat and extends forward. The width adjustment module is connected to the output end of the telescopic module through a clamping positioning plate. The clamping arm assembly includes a first clamping arm and a second clamping arm arranged parallel to the output end of the width adjustment module. The clamping mechanism is used to remove the material box from the vertical bracket and to store the material box in the vertical bracket.

[0006] As can be seen from the above scheme, the movable seat is used to move on the ground, the vertical bracket is used to store the material box through several trays, the lifting and rotating mechanism is used to drive the material box on the clamping mechanism to lift and lower on the vertical bracket through the lifting module, and the rotating module is used to drive the material box on the clamping mechanism to rotate when taking out or putting down the material box, the width adjustment module is used to adjust the width between the first clamping arm and the second clamping arm to adapt to the handling and clamping of material boxes of different widths, the telescopic module is used to drive the forward and backward feeding movement before and after taking out the material box, and the clamping arm group is used to clamp the material box between the first clamping arm and the second clamping arm to realize the clamping and picking of the material box.

[0007] The end of the clamping arm assembly is provided with an anti-collision component, which includes an anti-collision plate, a return spring, and an anti-collision sensor. The return spring is connected between the anti-collision plate and the clamping arm assembly. The anti-collision plate slides along the extension direction of the clamping arm assembly via a slider portion, and the anti-collision plate is positioned corresponding to the slider portion. Therefore, the anti-collision plate is used to prevent collisions when the clamping arm assembly extends, and the return spring is used to reset the anti-collision plate.

[0008] The width adjustment module includes an adjustment base, a drive motor mounted on the adjustment base, a transmission wheel assembly connected to the output end of the drive motor, a first transmission screw coaxially connected to the transmission wheel assembly, and a screw nut threadedly engaged with the first transmission screw. A first clamping arm is connected to the front side of the adjustment base, and a second clamping arm is fixed to the screw nut via a connecting block. The second clamping arm slides against the adjustment base via a guide rail slider. Therefore, the drive motor drives the first transmission screw to rotate, and the threaded engagement between the first transmission screw and the screw nut converts the rotation of the first transmission screw into linear motion of the clamping arm assembly, thereby achieving width adjustment between the first and second clamping arms.

[0009] The lifting module includes a lifting motor, a synchronous pulley set connected to the output end of the lifting motor, a synchronous belt wound around the synchronous pulley set, and a mounting bracket fixed to the synchronous belt. The synchronous pulley set is mounted on the vertical frame. The rotating module includes a mounting bracket, a rotating motor connected to the bottom of the mounting bracket, a first transmission gear connected to the output end of the rotating motor, and a second transmission gear meshing with the first transmission gear. The positioning seat is coaxially arranged with the second transmission gear, and the mounting bracket is connected to the mounting bracket. Therefore, the lifting motor drives the synchronous pulley set to rotate, thereby causing the mounting bracket on the synchronous belt to move linearly up and down along the vertical frame. The rotating module, through the rotating motor, drives the rotation of the clamping mechanism.

[0010] The telescopic module includes a first drive assembly, a telescopic push plate connected to the output end of the first drive assembly, and a second transmission assembly disposed on the telescopic push plate. The first drive assembly is disposed on the positioning seat, and the clamping positioning plate is connected to the output end of the second transmission assembly. The first drive assembly includes a first drive motor, a second transmission screw connected to the output end of the first drive motor, and a nut seat threadedly connected to the second transmission screw. The telescopic push plate is fixed on the nut seat and slides with the positioning seat via a guide rail. The second transmission assembly includes a drive component, a conveyor belt pulley assembly connected to the drive component, and a conveyor belt wound around the conveyor belt pulley assembly. The clamping positioning plate is connected to the conveyor belt via a fixing block. Therefore, the first drive assembly drives the telescopic push plate to move forward and backward, and the second drive assembly drives the clamping positioning plate to move forward and backward, thereby driving the telescopic movement of the clamping mechanism through a three-stage telescopic motion.

[0011] The clamp positioning plate has a contact sensing assembly between the first clamp arm and the second clamp arm. The contact sensing assembly includes a mounting clamp and a contact plate hinged to the front side of the mounting clamp. A contact sensor is disposed between the contact plate and the mounting clamp. Therefore, the contact sensor assembly is used to sense the position of an object after it comes into contact with the contact plate.

[0012] The inner sides of the first clamping arm and the second clamping arm are respectively provided with a first positioning sensing unit and a second positioning sensing unit, and the distance between the first positioning sensing unit and the second positioning sensing unit is adapted to the width of the material box. Therefore, the first positioning sensing unit and the second positioning sensing unit are used for positioning detection after the material box is clamped.

[0013] A camera is installed at the bottom of the telescopic push plate, and light sources are installed on both sides of the camera. Therefore, the camera is used to detect the position of the material box when loading or placing goods.

[0014] The movable seat includes a movable seat body and a set of movable wheels. The set of movable wheels includes two sets of drive main wheels symmetrically arranged on both sides of the bottom of the movable seat body, two sets of first omnidirectional wheels, and two sets of second omnidirectional wheels. The first omnidirectional wheels and the second omnidirectional wheels are respectively located on the front and rear sides of the drive main wheels. A first support arm and a second support arm are respectively provided between the first omnidirectional wheels on both sides and the drive main wheels. A third support arm is provided between the two sets of second omnidirectional wheels. Thus, the first support arm, the second support arm, and the third support arm are used to provide three-point support at the bottom of the movable seat. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a side view of the present invention; Figure 3 This is a structural schematic diagram from another perspective of the present invention; Figure 4 This is a partial explosion diagram of the present invention; Figure 5 This is a schematic diagram of the clamping mechanism; Figure 6 This is a schematic diagram of the explosion of the anti-collision component; Figure 7 This is a schematic diagram of the rotating module; Figure 8 This is a schematic diagram of the internal structure of the movable seat. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0017] like Figures 1 to 8 As shown, this utility model is a material box clamping and handling robot, including a mobile base 1; a vertical bracket 2, including a vertical frame 21 and several trays 22 vertically arranged on the vertical frame 21, the vertical bracket 2 being connected to the mobile base 1 for storing material boxes during handling; a lifting and rotating mechanism, including a lifting module 3 and a rotating module 4 arranged on the output end of the lifting module 3, the lifting module 3 being arranged on the vertical bracket 2 for driving the material box to lift and rotate along the vertical frame 21; and a clamping mechanism 5, the clamping mechanism 5 including a positioning base 51 and a telescopic module. The assembly comprises a telescopic module 52, a width adjustment module 53, and a clamping arm assembly 54. The positioning seat 51 is connected to the output end of the rotating module 4. The telescopic module 52 is horizontally positioned on the positioning seat 51 and extends forward. The width adjustment module 53 is connected to the output end of the telescopic assembly via a clamping positioning plate 55. The clamping arm assembly 54 includes a first clamping arm 541 and a second clamping arm 542 arranged parallel to the output end of the width adjustment module 53. The clamping mechanism 5 is used to remove the material box from the vertical bracket 2 and to store the material box in the vertical bracket 2. In this embodiment, the rotating module 4 drives the clamping mechanism 5 to rotate 90 degrees.

[0018] The end of the clamping arm assembly 54 is provided with an anti-collision component 6. The anti-collision component 6 includes an anti-collision plate 61, a return spring 62, and an anti-collision sensor 63. The return spring 62 is connected between the anti-collision plate 61 and the clamping arm assembly 54. The anti-collision plate 61 slides with the clamping arm assembly 54 along the extension direction of the clamping arm assembly 54 via a slider part 611. The anti-collision plate 61 is provided corresponding to the slider part 611.

[0019] The width adjustment module 53 includes an adjustment base 531, a drive motor 532 mounted on the adjustment base 531, a transmission wheel set 533 connected to the output end of the drive motor 532, a first transmission lead screw 534 coaxially connected to the transmission wheel set 533, and a lead screw nut 535 threadedly engaged with the first transmission lead screw 534. A first clamping arm 541 is connected to the front side of the adjustment base 531, and a second clamping arm 542 is fixed to the lead screw nut 535 via a connecting block 543. The second clamping arm 542 slides with the adjustment base 531 via a guide rail slider 536. In this embodiment, the first clamping arm 541 is fixed to the front side of the adjustment base 531, and the drive motor 532 drives the second clamping arm 542 to achieve horizontal adjustment, thereby adjusting the width between the first clamping arm 541 and the second clamping arm 542.

[0020] The lifting module 3 includes a lifting motor 31, a synchronous pulley set 32 ​​connected to the output end of the lifting motor 31, a synchronous belt 33 wound around the synchronous pulley set 32, and a mounting bracket 34 fixed to the synchronous belt 33. The synchronous pulley set 32 ​​is mounted on the vertical frame 21. The rotating module 4 includes a mounting bracket 41, a rotating motor 42 connected to the bottom of the mounting bracket 41, a first transmission gear 43 connected to the output end of the rotating motor 42, and a second transmission gear 44 meshing with the first transmission gear 43. The positioning seat 51 is coaxially arranged with the second transmission gear 44, and the mounting bracket 41 is connected to the mounting bracket 34. In this embodiment, the diameter of the first transmission gear 43 is smaller than the diameter of the second transmission gear 44.

[0021] The telescopic module 52 includes a first drive assembly, a telescopic push plate 525 connected to the output end of the first drive assembly, and a second transmission assembly disposed on the telescopic push plate 525. The first drive assembly is disposed on the positioning seat 51, and the clamping positioning plate 55 is connected to the output end of the second transmission assembly. The first drive assembly includes a first drive motor 521, a second transmission screw 522 connected to the output end of the first drive motor 521, and a nut seat 523 threadedly connected to the second transmission screw 522. The telescopic push plate 525 is fixed on the nut seat 523, and the telescopic push plate 525 slides with the positioning seat 51 through a guide rail 524. The second transmission assembly includes a drive component, a conveyor belt pulley set 526 connected to the drive component, and a conveyor belt 527 wound around the conveyor belt pulley set 526. The clamping positioning plate 55 is connected to the conveyor belt 527 through a fixing block 528.

[0022] The clamp positioning plate 55 is provided with a contact sensing component between the first clamp arm 541 and the second clamp arm 542. The contact sensing component includes a mounting clip 561 and a contact plate 562 hinged to the front side of the mounting clip 561. A contact sensor is provided between the contact plate 562 and the mounting clip 561.

[0023] A first positioning sensing unit 57 and a second positioning sensing unit 58 are correspondingly arranged on the inner sides of the first clamping arm 541 and the second clamping arm 542. The distance between the first positioning sensing unit 57 and the second positioning sensing unit 58 is adapted to the width of the material box. The first positioning sensing unit 57 and the second positioning sensing unit 58 are electrically connected to a controller, which is electrically connected to the width adjustment module 53. In this embodiment, the first positioning sensing unit 57 is arranged closer to the outer side. Both the first positioning sensing unit 57 and the second positioning sensing unit 58 are photoelectric through-beam sensors, generally including a transmitter and a receiver arranged opposite to the transmitter. During positioning detection, when the signal received by the first sensor unit 57 changes from present to absent, and the signal received by the second positioning sensor 58 changes from absent to present, it indicates that the material box has been picked up and positioned on the clamping arm assembly 54.

[0024] A camera 71 is provided at the bottom of the telescopic push plate 525, and light sources 72 are provided on both sides of the camera 71. The movable seat 1 includes a movable seat body 11 and a movable wheel set 12. The movable wheel set 12 includes two sets of transmission main wheels 121, two sets of first universal wheels 122, and two sets of second universal wheels 123 symmetrically arranged on both sides of the bottom of the movable seat body 11. The first universal wheels 122 and the second universal wheels 123 are respectively arranged on the front and rear sides of the transmission main wheels 121. A first support arm 124 and a second support arm 125 are respectively arranged between the first universal wheels 122 and the transmission main wheels 121 on both sides. A third support arm 126 is arranged between the two sets of second universal wheels 123.

[0025] The working process of this utility model is as follows: After receiving the picking instruction, the moving seat 1 moves to the front of the picking rack. The lifting module 3 lifts the material to a suitable height, and then the rotating module 52 rotates the clamping arm assembly 54 to face the picking rack. The telescopic module 52 drives the clamping mechanism 5 to extend towards the material box on the picking rack, limiting the material box between the first clamping arm 541 and the second clamping arm 542. After the first positioning sensing unit 57 and the second positioning sensing unit 58 detect the positioning of the material box, the material box is now located between the first clamping arm 541 and the second clamping arm 542. The drive motor 532 drives the lead screw 534 to drive the lead screw nut 535 to drive the second clamping arm 542 to the adjusting seat 5. 31. The front lateral displacement causes the second clamping arm 542 to push the box from the side toward the first clamping arm 541, clamping and limiting the box between the first clamping arm 541 and the second clamping arm 542. The telescopic module 52 drives the clamped box to retract, and the rotating module 4 drives the box to rotate and place it on the pallet 22, completing the picking action. After the moving seat 1 moves to the position of the shelf to be transported, the clamping arm assembly 54 clamps the box on the pallet 22, and the rotating module 4 drives the box to rotate to face the shelf for unloading. After the box is placed on the shelf, the drive motor 532 drives the second clamping arm 542 to move outward away from the first clamping arm 541, and the telescopic module 52 retracts and resets, completing the unloading action.

[0026] Finally, it should be emphasized that the above description is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bin-clamping and transporting robot, characterized in that, Including the movable seat (1); The vertical bracket (2) includes a vertical frame (21) and several trays (22) vertically arranged on the vertical frame (21). The vertical bracket (2) is connected to the movable seat (1) and is used to store the material box during transportation. The lifting and rotating mechanism includes a lifting module (3) and a rotating module (4) disposed on the output end of the lifting module (3). The lifting module (3) is disposed on the vertical bracket (2) and is used to drive the material box to lift and rotate along the vertical frame (21). The clamping mechanism (5) includes a positioning seat (51), a telescopic module (52), a width adjustment module (53), and a clamping arm assembly (54). The positioning seat (51) is connected to the output end of the rotating module (4). The telescopic module (52) is horizontally arranged on the positioning seat (51) and extends forward. The width adjustment module (53) is connected to the output end of the telescopic module (52) through a clamping positioning plate (55). The clamping arm assembly (54) includes a first clamping arm (541) and a second clamping arm (542) arranged parallel to the output end of the width adjustment module (53). The clamping mechanism (5) is used to remove the material box from the vertical bracket (2) and to store the material box in the vertical bracket (2).

2. The bin-clamping and handling robot according to claim 1, characterized in that: The end of the clamping arm assembly (54) is provided with an anti-collision component (6). The anti-collision component (6) includes an anti-collision plate (61), a return spring (62), and an anti-collision sensor (63). The return spring (62) is connected between the anti-collision plate (61) and the clamping arm assembly (54). The anti-collision plate (61) slides with the clamping arm assembly (54) along the extension direction of the clamping arm assembly (54) via a slider part (611). The anti-collision plate (61) is provided corresponding to the slider part (611).

3. The bin-clamping and handling robot according to claim 1, characterized in that: The width adjustment module (53) includes an adjustment seat (531), a drive motor (532) mounted on the adjustment seat (531), a transmission wheel set (533) connected to the output end of the drive motor (532), a first transmission screw (534) coaxially connected to the transmission wheel set (533), and a screw nut (535) threadedly engaged with the first transmission screw (534). The first clamping arm (541) is connected to the front side of the adjustment seat (531), and the second clamping arm (542) is fixed to the screw nut (535) by a connecting block (543). The second clamping arm (542) slides with the adjustment seat (531) through a guide rail slider (536).

4. The bin-clamping and handling robot according to claim 1, characterized in that: The lifting module (3) includes a lifting motor (31), a synchronous pulley set (32) connected to the output end of the lifting motor (31), a synchronous belt (33) wound around the synchronous pulley set (32), and a mounting bracket (34) fixed on the synchronous belt (33). The synchronous pulley set (32) is set on the vertical frame (21). The rotating module (4) includes a mounting bracket (41), a rotating motor (42) connected to the bottom of the mounting bracket (41), a first transmission gear (43) connected to the output end of the rotating motor (42), and a second transmission gear (44) meshing with the first transmission gear (43). The positioning seat (51) is coaxially arranged with the second transmission gear (44), and the mounting bracket (41) is connected to the mounting bracket (34).

5. A bin-clamping and handling robot according to claim 1, characterized in that: The telescopic module (52) includes a first drive assembly, a telescopic push plate (525) connected to the output end of the first drive assembly, and a second transmission assembly disposed on the telescopic push plate (525). The first drive assembly is disposed on the positioning seat (51), and the clamping positioning plate (55) is connected to the output end of the second transmission assembly. The first drive assembly includes a first drive motor (521), a second transmission lead screw (522) connected to the output end of the first drive motor (521), and threaded connection to the positioning seat (51). The second transmission screw (522) has a nut seat (523), the telescopic push plate (525) is fixed on the nut seat (523), the telescopic push plate (525) slides with the positioning seat (51) through the guide rail (524), the second transmission assembly includes a drive component, a conveyor belt pulley group (526) connected to the drive component, and a conveyor belt (527) wound around the conveyor belt pulley group (526), ​​the clamp positioning plate (55) is connected to the conveyor belt (527) through the fixing block (528).

6. A bin-clamping and handling robot according to claim 1, characterized in that: The clamp positioning plate (55) has a contact sensing component between the first clamp arm (541) and the second clamp arm (542). The contact sensing component includes a mounting clip (561) and a contact plate (562) hinged to the front side of the mounting clip (561). A contact sensor (563) is provided between the contact plate (562) and the mounting clip (561).

7. A bin-clamping and handling robot according to claim 1, characterized in that: The inner sides of the first clamping arm (541) and the second clamping arm (542) are respectively provided with a first positioning sensing unit (57) and a second positioning sensing unit (58), and the distance between the first positioning sensing unit (57) and the second positioning sensing unit (58) is adapted to the width of the material box.

8. A bin-clamping and handling robot according to claim 5, characterized in that: A camera (71) is provided at the bottom of the telescopic push plate (525), and light sources (72) are provided on both sides of the camera (71).

9. A bin-clamping and handling robot according to claim 1, characterized in that: The movable seat (1) includes a movable seat body (11) and a movable wheel set (12). The movable wheel set (12) includes two sets of transmission main wheels (121), two sets of first universal wheels (122), and two sets of second universal wheels (123) symmetrically arranged on both sides of the bottom of the movable seat body (11). The first universal wheels (122) and the second universal wheels (123) are respectively arranged on the front and rear sides of the transmission main wheels (121). A first support arm (124) and a second support arm (125) are respectively arranged between the first universal wheels (122) on both sides and the transmission main wheels (121). A third support arm (126) is arranged between the two sets of second universal wheels (123).

Images