A gantry robot loading and unloading apparatus with a base plate

Abstract

A kind of stand column robot loading and unloading equipment with chassis, including track wheel, stand column, grabbing mechanism, conveying mechanism, the upper side of track wheel support between two track wheels is connected with support frame, chassis is installed in the middle of support frame, chassis drive mechanism is arranged in the lower of support frame, stand column is installed on chassis and can rotate synchronously with chassis, grabbing mechanism is connected in one side of stand column and can move up and down relative to stand column, support frame is equipped with protective cover that can cover the area outside the chassis of support frame and the upper of track wheel, conveying mechanism includes conveying belt assembly and conveying drum assembly, conveying belt assembly is set on the upper of the protective cover of one side of stand column, conveying drum assembly is set on ground, one end of conveying drum assembly extends to the edge of conveying belt assembly and is spliced with conveying belt assembly as continuous conveying passage. When material loading and unloading is carried out using the utility model structure, equipment can be flexibly moved according to material position, and the range of grabbing is wide, degree of automation is high, and application place is multiple.

Description

Technical Field

[0001] This utility model relates to a loading and unloading device, and more particularly to a column robot loading and unloading device. Background Technology

[0002] Column robots are widely used in industrial manufacturing and logistics warehousing. In industrial manufacturing, their applications cover multiple stages from parts processing to finished product assembly. In logistics warehousing, they are mainly used for material handling within warehouses or workshops, particularly suitable for vertical transport needs such as floor-to-shelf transfers. However, regardless of their application in industrial manufacturing or logistics warehousing, column robots typically consist of a base, a column, and a power system. The base is usually a heavy-duty casting or welded structure, directly fixed to the ground or workbench, while the column is vertically mounted on the base. This type of column robot can only be installed in a fixed position, resulting in the following drawbacks: the robotic arm can only rotate or extend around the fixed column and cannot break through the fixed position of the base; if the workpiece exceeds the maximum radius of the arm, the workpiece must be moved or multiple additional robots must be configured, increasing costs; it cannot adjust its position according to changes in the workpiece's location; when the production line layout is adjusted or cross-area operations are required, it must be disassembled and reassembled, which is not only time-consuming but may also affect accuracy due to recalibration; and due to insufficient flexibility, it is difficult to handle complex operations. Summary of the Invention

[0003] The purpose of this utility model is to address the shortcomings of the existing technology by providing a column robot loading and unloading device with a chassis, which can move flexibly according to the material position, has a wide grasping range, a high degree of automation, and can be used in many places.

[0004] The technical solution adopted by this utility model to achieve the above objectives is as follows: a column robot loading and unloading device with a chassis, including track wheels, a column, a gripping mechanism, and a conveying mechanism. A support frame is connected to the upper side of the middle of the track wheel bracket between two track wheels. A chassis is installed in the middle of the support frame. A chassis drive mechanism capable of driving the chassis to rotate is provided under the support frame. The column is installed on the chassis and can rotate synchronously with the chassis. The gripping mechanism is connected to one side of the column and can move up and down relative to the column. A protective cover is provided on the support frame to cover the outer area of ​​the chassis and the top of the track wheels. The conveying mechanism includes a conveyor belt assembly and a conveyor roller assembly. The conveyor belt assembly is located above the protective cover on one side of the column. The conveyor roller assembly is located on the ground. One end of the conveyor roller assembly extends to the edge of the conveyor belt assembly and is spliced ​​with the conveyor belt assembly to form a continuous conveying channel.

[0005] A further technical solution of this utility model is: the gripping mechanism includes a mechanical arm I, a mechanical arm II and a gripper head, the inner end of the mechanical arm I is connected to the lifting mechanism on the column, the outer end of the mechanical arm I is connected to the mechanical arm II, and the outer end of the mechanical arm II is connected to the gripper head.

[0006] A further technical solution of this utility model is: a motor mounting position is provided on the outer side of the robotic arm I near the end position, and the output shaft of the motor I is installed in the motor mounting position with the output shaft facing downward. The inner side of the robotic arm II is connected to the output shaft of the motor I through a connecting device, and the motor I can drive the robotic arm II to swing relative to the robotic arm I.

[0007] A further technical solution of this utility model is: the gripper head includes a suction cup mounting plate and a suction cup. The top surface of the suction cup mounting plate is connected to the outer end of the robotic arm II through a connecting device. The bottom surface of the suction cup mounting plate is connected to the top of the suction cup through a flexible component. The flexible component includes a steel wire and a spring. The steel wire is connected between the bottom surface of the suction cup mounting plate and the top surface of the suction cup. The spring is sleeved on the steel wire and compressed between the bottom surface of the suction cup mounting plate and the top surface of the suction cup.

[0008] A further technical solution of this utility model is: a camera bracket is connected to one side of the suction cup mounting plate, and a camera device is connected to the bottom surface of the camera bracket.

[0009] A further technical solution of this utility model is: a control cabinet mounting plate is connected to the rear end of the track wheel bracket between the two track wheels, and the control cabinet is mounted on the control cabinet mounting plate.

[0010] A further technical solution of this utility model is: the conveyor belt assembly includes a conveyor belt bracket and an automatic conveyor belt. The conveyor belt bracket is installed on the upper surface of the protective cover on one side of the column. The conveyor roller assembly includes a conveyor roller, a roller bracket and casters. The roller bracket is connected to the bottom of the conveyor roller, and the bottom end of the roller bracket is connected to the casters.

[0011] A further technical solution of this utility model is: the chassis drive mechanism includes a motor II, an RV reducer, a pinion gear and a large gear. The motor II is installed on the upper surface of the track wheel bracket below the support frame. The output end of the motor II is connected to the input end of the RV reducer. The output end of the RV reducer is connected to the pinion gear. The large gear is connected to the bottom end of the chassis. The pinion gear meshes with the large gear.

[0012] This utility model discloses a column robot loading and unloading device with a chassis, which has the following advantages: A chassis is installed under the column, allowing the column to rotate. The support frame supporting the chassis is located on the upper side of the middle of the track wheel bracket. The track wheel can move along with the device on the track wheel bracket to any location requiring loading and unloading, allowing for flexible movement based on material position and versatility. The column can rotate, and the gripping mechanism consists of two robotic arms (Arm I and Arm II) connected together, providing a wider gripping range. Flexible components are installed on the suction cup mounting plate and suction cup of the gripper head, allowing the suction cup angle to be adjusted according to the cargo position when the gripper head contacts the cargo, avoiding the risk of the suction cup failing to grasp the cargo due to tilting, and effectively improving gripping efficiency. A conveyor belt assembly is installed on a protective cover on one side of the column, and a conveyor roller assembly connected to the conveyor belt assembly is installed on the ground. The gripped material can be directly placed on the conveyor belt assembly and automatically conveyed backward. The entire process from gripping to conveying is fully automated, achieving a high degree of automation.

[0013] The following description, in conjunction with the accompanying drawings and embodiments, further illustrates a column robot loading and unloading device with a chassis according to this utility model. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of a column robot loading and unloading device with a chassis according to this utility model; Figure 2 yes Figure 1 This is another view of a column robot loading and unloading device with a chassis. Figure 3 This is a schematic diagram showing the installation of support frames, chassis, and other parts on the track wheels and track wheel brackets. Figure 4 This is a magnified view of the claw head; Figure 5 yes Figure 4 A partial sectional view; Reference numerals: 1-track wheel, 2-automatic conveyor belt, 3-conveyor belt bracket, 4-conveyor roller, 5-caster, 6-roller bracket, 7-control cabinet, 8-column, 9-robotic arm I, 10-cable conduit, 11-motor I, 12-motor mounting position, 13-robotic arm II, 14-gripper head, 15-protective cover, 16-RV reducer, 17-track wheel bracket, 18-control cabinet mounting plate, 19-motor II, 20-support frame, 21-chassis, 22-suction cup mounting plate, 23-flexible component, 24-suction cup, 25-steel wire, 26-spring, 27-camera bracket, 28-camera device. Detailed Implementation

[0015] like Figures 1 to 3As shown, this utility model discloses a column robot loading and unloading device with a chassis, used for loading and unloading materials. This utility model includes tracked wheels 1, a column 8, a gripping mechanism, and a conveying mechanism.

[0016] like Figures 1 to 3 As shown, a support frame 20 is connected to the upper part of the track wheel bracket 17 between the two track wheels 1. A chassis 21 is mounted in the middle of the support frame 20. A chassis drive mechanism capable of driving the chassis 21 to rotate is located under the support frame 20. The chassis drive mechanism includes a motor II 19, an RV reducer 16, a pinion gear, and a large gear. Motor II 19 is mounted on the upper surface of the track wheel bracket 17 below the support frame 20. The output end of motor II 19 is connected to the input end of the RV reducer 16. The output end of the RV reducer 16 is connected to the pinion gear (not shown in the figure), and the large gear (not shown in the figure) is connected to the bottom end of the chassis 21. The pinion gear and the large gear mesh. When motor II 19 operates, it drives the RV reducer 16, which in turn drives the pinion gear to rotate. The pinion gear then drives the large gear to rotate, and the chassis 21 rotates synchronously with the large gear. The RV reducer 16 is a rotary vector reducer, an existing device. A control cabinet mounting plate 18 is connected to the rear end of the track wheel bracket 17 between the two track wheels 1, and the control cabinet 7 is mounted on the control cabinet mounting plate 18. The support frame 20 is provided with a protective cover 15 that covers the outer area of ​​the chassis 21 of the support frame 20 and the area above the track wheels 1.

[0017] like Figure 1 , Figure 2 As shown, the column 8 is mounted on the chassis 21 and can rotate synchronously with the chassis 21. The column 8 protrudes from the protective cover 15 and extends vertically upward. The gripping mechanism is connected to one side of the column 8 and can move up and down relative to the column 8. The column 8 is equipped with a lifting mechanism that can drive the gripping mechanism to move up and down. The lifting mechanism is existing technology and will not be described in detail here. The gripping mechanism includes a robotic arm I 9, a robotic arm II 13, and a gripper head 14. The inner end of the robotic arm I 9 is connected to the lifting mechanism on the column 8, the outer end of the robotic arm I 9 is connected to the robotic arm II 13, and the outer end of the robotic arm II 13 is connected to the gripper head 14. A motor mounting position 12 is provided near the outer end of the robotic arm I 9. The output shaft of the motor I 11 is installed in the motor mounting position 12 with its shaft facing downward. The inner side of the robotic arm II 13 is connected to the output shaft of the motor I 11 through a connecting device. The motor I 11 can drive the robotic arm II 13 to swing relative to the robotic arm I 9. Figure 4 , 5As shown, the gripper head 14 includes a suction cup mounting plate 22 and a suction cup 24. The top surface of the suction cup mounting plate 22 is connected to the outer end of the robotic arm II 13 via a connecting device, and the air intake of the suction cup 24 is connected to an air pipe. The bottom surface of the suction cup mounting plate 22 is connected to the top of the suction cup 24 via a flexible component 23. The flexible component 23 includes a steel wire 25 and a spring 26. The steel wire 25 is connected between the bottom surface of the suction cup mounting plate 22 and the top surface of the suction cup 24, and the spring 26 is sleeved on the steel wire 25 and compressed between the bottom surface of the suction cup mounting plate 22 and the top surface of the suction cup 24. When the bottom surface of the suction cup 24 is subjected to upward pressure at different positions, the suction cup 24 can be compressed and floated up and down under the action of the steel wire 25 and the spring 26. In this way, even if the object is not placed flat, the suction cup 24 can adaptively adjust its angle to adsorb the object. A camera bracket 27 is connected to one side of the suction cup mounting plate 22. A camera device 28 is connected to the bottom of the camera bracket 27. The camera device 28 can capture on-site material information and transmit it to the control system in the control cabinet 7. The control system then issues a command to control the gripping mechanism.

[0018] like Figure 1 , Figure 2 As shown, the conveying mechanism includes a conveyor belt assembly and a conveyor roller assembly. The conveyor belt assembly is positioned above the protective cover 15 on one side of the column 8, while the conveyor roller assembly is positioned on the ground. One end of the conveyor roller assembly extends to the edge of the conveyor belt assembly and connects with it to form a continuous conveying channel. The conveyor belt assembly includes a conveyor belt support 3 and an automatic conveyor belt 2. The conveyor belt support 3 is mounted on the upper surface of the protective cover 15 on one side of the column 8. The conveyor roller assembly includes a conveyor roller 4, a roller support 6, and casters 5. The roller support 6 is connected to the bottom of the conveyor roller 4, and casters 5 are attached to the bottom of the roller support 6. The automatic conveyor belt 2 and the conveyor roller 4 are existing equipment and will not be described in detail here.

[0019] During operation, the walking mechanism (tracked wheels) is controlled by the control system within the control cabinet (the control system is equipped with a remote control device, which is not part of this patent invention and is not shown or described in detail here). The system moves to the vicinity of the material stacking location and installs the conveyor roller assembly onto one side of the conveyor belt assembly, connecting it to the conveyor belt assembly. Then, the gripping mechanism is controlled according to the material's position. The gripping mechanism grabs the material and places it onto the conveyor belt assembly, which then transports the material backward. The material enters the conveyor roller assembly and is then transported to a predetermined location. If the material's position changes, the walking mechanism and conveyor roller assembly can be controlled to move back to a position closer to the material, making it very convenient and flexible to use.

[0020] The above embodiments are merely preferred embodiments of this utility model. The structure of this utility model is not limited to the forms listed in the above embodiments. Any modifications, equivalent substitutions, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A column-mounted robot loading and unloading device with a chassis, characterized in that, The system includes track wheels (1), columns (8), gripping mechanisms, and conveying mechanisms. A support frame (20) is connected to the upper side of the track wheel bracket (17) between the two track wheels (1). A chassis (21) is installed in the middle of the support frame (20). A chassis drive mechanism capable of driving the chassis (21) to rotate is provided under the support frame (20). The column (8) is installed on the chassis (21) and can rotate synchronously with the chassis (21). The gripping mechanism is connected to one side of the column (8) and can move up and down relative to the column (8). A protective cover (15) is provided on the support frame (20) to cover the outer area of ​​the support frame (20) chassis (21) and the track wheels (1). The conveying mechanism includes a conveyor belt assembly and a conveyor roller assembly. The conveyor belt assembly is located above the protective cover (15) on one side of the column (8). The conveyor roller assembly is located on the ground. One end of the conveyor roller assembly extends to the edge of the conveyor belt assembly and is spliced ​​with the conveyor belt assembly to form a continuous conveying channel.

2. The column robot loading and unloading equipment with a chassis as described in claim 1, characterized in that, The gripping mechanism includes robotic arm I (9), robotic arm II (13) and gripper head (14). The inner end of robotic arm I (9) is connected to the lifting mechanism on the column (8), the outer end of robotic arm I (9) is connected to robotic arm II (13), and the outer end of robotic arm II (13) is connected to gripper head (14).

3. The column robot loading and unloading equipment with a chassis as described in claim 2, characterized in that, The outer side of the robotic arm I (9) is provided with a motor mounting position (12) near the end. The output shaft of the motor I (11) is installed in the motor mounting position (12) with the output shaft facing downward. The inner side of the robotic arm II (13) is connected to the output shaft of the motor I (11) through a connecting device. The motor I (11) can drive the robotic arm II (13) to swing relative to the robotic arm I (9).

4. The column robot loading and unloading equipment with a chassis as described in claim 2, characterized in that, The gripper (14) includes a suction cup mounting plate (22) and a suction cup (24). The top surface of the suction cup mounting plate (22) is connected to the outer end of the robotic arm II (13) through a connecting device. The bottom surface of the suction cup mounting plate (22) is connected to the top of the suction cup (24) through a flexible component (23). The flexible component (23) includes a steel wire (25) and a spring (26). The steel wire (25) is connected between the bottom surface of the suction cup mounting plate (22) and the top surface of the suction cup (24). The spring (26) is sleeved on the steel wire (25) and compressed between the bottom surface of the suction cup mounting plate (22) and the top surface of the suction cup (24).

5. The column robot loading and unloading equipment with a chassis as described in claim 4, characterized in that, A camera bracket (27) is connected to one side of the suction cup mounting plate (22), and a camera device (28) is connected to the bottom of the camera bracket.

6. The column robot loading and unloading equipment with a chassis as described in claim 1, characterized in that, The rear end of the track wheel bracket (17) between the two track wheels (1) is connected to the control cabinet mounting plate (18), and the control cabinet (7) is mounted on the control cabinet mounting plate (18).

7. The column robot loading and unloading equipment with a chassis as described in claim 1, characterized in that, The conveyor belt assembly includes a conveyor belt bracket (3) and an automatic conveyor belt (2). The conveyor belt bracket (3) is installed on the upper surface of the protective cover (15) on one side of the column (8). The conveyor roller assembly includes a conveyor roller (4), a roller bracket (6) and casters (5). The roller bracket (6) is connected to the bottom of the conveyor roller (4), and the bottom of the roller bracket (6) is connected to the casters (5).

8. The column robot loading and unloading equipment with a chassis as described in claim 1, characterized in that, The chassis drive mechanism includes motor II (19), RV reducer (16), pinion and gear. Motor II (19) is mounted on the upper surface of the track wheel bracket (17) below the support frame (20). The output end of motor II (19) is connected to the input end of RV reducer (16). The output end of RV reducer (16) is connected to the pinion. The gear is connected to the bottom end of the chassis (21). The pinion and gear mesh.

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