A sorting and transporting integrated robot

Abstract

The utility model relates to material box robot technical field, concretely relates to a sorting and transportation integrated robot, adopts mobile chassis, fixed frame, Z theta axial drive mechanism, material frame, material box taking and placing mechanism, six -axis manipulator and a plurality of material box racks. When taking out required different materials one by one in the plurality of material boxes of goods shelves, utilize Z theta axial drive mechanism and material box taking and placing mechanism to place empty material box to the plurality of material box racks, again take out one of material box of goods shelves to the material frame, by six -axis manipulator, take out material in the material box of material frame and transfer to the material box of material box rack, then push back the material box of this material from the material frame to the goods shelves corresponding position and restore, repeat the operation until the material box of material box rack is filled with required different materials, then mobile chassis moves to the next process output material box of material box rack, completes sorting and transportation, avoids taking out and conveying a plurality of material boxes from the goods shelves to the sorting area manual sorting and then conveying back to the goods shelves, saves transportation time, improves the efficiency.

Description

Technical Field

[0001] This utility model relates to the field of bin robot technology, specifically to a sorting and transporting integrated robot. Background Technology

[0002] A bin robot is an intelligent handling device designed specifically for automated warehousing. A single bin robot can handle multiple bins simultaneously. Its core function is to achieve efficient storage and retrieval of goods and space optimization through precise positioning and collaborative handling of multiple bins.

[0003] However, while existing bin robots can achieve uniformity, standardization, and high convenience, when it is necessary to retrieve different materials from multiple bins one by one, the bin robot needs to take out multiple bins from the shelf and transport them to the sorting area. Then, a person needs to manually select the different materials from the multiple bins and collect them together. Finally, the bin robot puts the multiple bins back on the shelf, which consumes a lot of transportation time and is inefficient. Summary of the Invention

[0004] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a sorting and transportation integrated robot.

[0005] The objective of this utility model is achieved through the following technical solution: a sorting and transportation integrated robot, comprising a mobile chassis, a fixed frame fixedly connected to the top of the mobile chassis, a Zθ-axis drive mechanism connected to the fixed frame, a material frame fixedly connected to the output end of the Zθ-axis drive mechanism, a material box picking and placing mechanism connected to the inner side wall of the material frame, a six-axis manipulator fixedly connected to the top of the material frame, and multiple material box racks fixedly connected to the fixed frame and longitudinally spaced apart. The material box racks and the material frame are located on both sides of the fixed frame. The Zθ-axis drive mechanism is used to drive the material frame to move along the Zθ-axis. The material box picking and placing mechanism is used to pick up and place material boxes in the material frame. The material box racks are used to place material boxes. The six-axis manipulator is used to transfer materials between the material boxes in the material frame and the material boxes in the material box racks.

[0006] Preferably, the Zθ axial drive mechanism includes a Z-axis linear module fixedly connected to one inner side of the fixed frame, a support frame fixedly connected to the output end of the Z-axis linear module, and a hollow rotary platform fixedly connected to the support frame, wherein the material frame is fixedly connected to the output end of the hollow rotary platform.

[0007] Preferably, the Zθ axial drive mechanism further includes a Z-axis slide rail fixedly connected to the other inner side of the fixed frame, and a slider slidably connected to the Z-axis slide rail, wherein the slider is fixedly connected to the support frame.

[0008] Preferably, the material box picking and placing mechanism includes two telescopic forks respectively fixed to the left and right inner walls of the material frame, a 90-degree rotating cylinder fixedly connected to the inner side of the extended front end of the telescopic fork, a front push block fixedly connected to the output end of the 90-degree rotating cylinder, and a rear push block fixedly connected to the extended rear end of the telescopic fork. The output end of the 90-degree rotating cylinder passes through the telescopic fork and is fixedly connected to the front push block. The front push block is used to push the material box into the material frame when the telescopic fork picks up the box, and the rear push block is used to push the material box out of the material frame when the telescopic fork pushes out the box.

[0009] Preferably, the six-axis robot includes a six-degree-of-freedom robotic arm fixedly connected to the top of the material frame, and a material gripper connected to the output end of the six-degree-of-freedom robotic arm, the material gripper being used to pick up and place materials.

[0010] Preferably, the material gripper is a flexible bionic mechanical gripper.

[0011] Preferably, a first camera mount is fixedly connected to one side of the output end of the six-degree-of-freedom robotic arm, and an area array industrial camera is fixedly connected to the first camera mount. The area array industrial camera is used to capture two-dimensional images of the material in the bin.

[0012] Preferably, the first camera mount is also fixedly connected to a 90-degree rotary cylinder. The output end of the 90-degree rotary cylinder passes through the first camera mount and is fixedly connected to a lens dustproof plate. The lens dustproof plate is used to cover the lens of the area array industrial camera when the area array industrial camera is idle.

[0013] Preferably, a second camera mount is fixedly connected to the top of the material box, and a 3D industrial camera is fixedly connected to the second camera mount. The 3D industrial camera is used to acquire the position and pose information of the material in the material box.

[0014] The beneficial effects of this utility model are as follows: The sorting and transportation integrated robot of this utility model adopts a mobile chassis, a fixed frame, a Zθ axis drive mechanism, a material frame, a material box picking and placing mechanism, a six-axis manipulator, and multiple material box frames fixedly connected to the fixed frame and longitudinally spaced apart. The material box frames and the material frame are located on both sides of the fixed frame. The Zθ axis drive mechanism is used to drive the material frame to move along the Zθ axis, the material box picking and placing mechanism is used to pick up and place the material box in the material frame, the material box frame is used to place the material box, and the six-axis manipulator is used to transfer materials between the material boxes in the material frame and the material boxes in the material box frame. When retrieving different materials one by one from multiple bins on the shelf, this integrated sorting and transport robot uses a Zθ-axis drive mechanism and a bin picking and placing mechanism to place empty bins on multiple bin racks. Then, it retrieves one of the material bins from the shelf and places it into a bin frame. A six-axis robotic arm then retrieves the material from the bin in the bin frame and transfers it to the bin on the bin rack. The material bin is then pushed back from the bin frame to its corresponding position on the shelf. This process is repeated until all the bins on the bin rack are filled with the required materials. Finally, the robot moves its chassis to the next process output bin rack, completing the sorting and transport. This avoids the need to manually sort multiple bins from the shelf to the sorting area and then return them to the shelf, saving transport time and improving efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a structural schematic diagram from another perspective of the present invention; Figure 3 This is a partially exploded view of the first camera mount region of this utility model; The attached figures are labeled as follows: 1. Mobile chassis; 2. Fixed frame; 3. Zθ axis drive mechanism; 31. Z-axis linear module; 32. Support frame; 33. Hollow rotary platform; 34. Z-axis slide rail; 35. Slider; 4. Material frame; 5. Material box loading and unloading mechanism; 51. Telescopic fork; 52. 90-degree rotation cylinder; 53. Forward push block; 6. Six-axis robot arm; 61. Six-degree-of-freedom robot arm; 62. Material gripper; 7. Material box frame; 8. First camera mount; 9. Area array industrial camera; 10. 90-degree rotation cylinder; 11. Lens dust cover; 12. Second camera mount; 13. 3D industrial camera. Detailed Implementation

[0016] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0017] like Figure 1-3As shown, a sorting and transporting integrated robot includes a mobile chassis 1, a fixed frame 2 fixedly connected to the top of the mobile chassis 1, a Zθ-axis drive mechanism 3 connected to the fixed frame 2, a material frame 4 fixedly connected to the output end of the Zθ-axis drive mechanism 3, a material box picking and placing mechanism 5 connected to the inner side wall of the material frame 4, a six-axis manipulator 6 fixedly connected to the top of the material frame 4, and multiple material box racks 7 fixedly connected to the fixed frame 2 and longitudinally spaced apart. The material box racks 7 and the material frame 4 are located on both sides of the fixed frame 2. The Zθ-axis drive mechanism 3 is used to drive the material frame 4 to move along the Zθ axis. The material box picking and placing mechanism 5 is used to pick up and place material boxes in the material frame 4. The material box racks 7 are used to place material boxes. The six-axis manipulator 6 is used to transfer materials between the material boxes in the material frame 4 and the material boxes in the material box racks 7.

[0018] When retrieving different materials one by one from multiple bins on the shelf, the sorting and transporting integrated robot uses the Zθ axis drive mechanism 3 and the bin picking and placing mechanism 5 to place empty bins on multiple bin racks 7. Then, it takes one of the material bins from the shelf and places it into the material frame 4. The six-axis manipulator 6 takes the material from the bin in the material frame 4 and transfers it to the bin in the bin rack 7. Then, it pushes the material bin back from the material frame 4 to the corresponding position on the shelf to restore it. The operation is repeated until the bins in the bin rack 7 are filled with the different materials required. Then, the moving chassis 1 moves to the next process to output the bins in the bin rack 7, completing the sorting and transport. This avoids taking multiple bins from the shelf and transporting them to the sorting area for manual sorting and then transporting them back to the shelf, saving transportation time and improving efficiency.

[0019] Furthermore, the Zθ axial drive mechanism 3 includes a Z-axis linear module 31 fixedly connected to one inner side of the fixed frame 2, a support frame 32 fixedly connected to the output end of the Z-axis linear module 31, and a hollow rotating platform 33 fixedly connected to the support frame 32. The material frame 4 is fixedly connected to the output end of the hollow rotating platform 33. The Z-axis linear module 31 drives the support frame 32 to rise and fall, the hollow rotating platform 33 drives the material frame 4 to rotate, and the material box picking and placing mechanism 5 picks up and places the material box.

[0020] Furthermore, the Zθ axial drive mechanism 3 also includes a Z-axis slide rail 34 fixedly connected to the other inner side of the fixed frame 2, and a slider 35 slidably connected to the Z-axis slide rail 34. The slider 35 is fixedly connected to the support frame 32, providing assistance to the support frame 32, which helps to improve the connection stability of the support frame 32 and prevents the support frame 32 and the material frame 4 from shaking when the support frame 32 is raised and lowered.

[0021] Furthermore, the material box picking and placing mechanism 5 includes two telescopic forks 51 respectively fixed to the left and right inner sidewalls of the material frame 4, a 90-degree rotating cylinder 52 fixedly connected to the inner side of the extended front end of the telescopic fork 51, a front push block 53 fixedly connected to the output end of the 90-degree rotating cylinder 52, and a rear push block fixedly connected to the extended rear end of the telescopic fork 51. The output end of the 90-degree rotating cylinder 52 passes through the telescopic fork 51 and is fixedly connected to the front push block 53. The front push block 53 is used to push the material box into the material frame 4 when the telescopic fork 51 picks up the material box, and the rear push block is used to push the material box out of the material frame 4 when the telescopic fork 51 pushes out the material box. The telescopic fork 51 is a mature existing technology, which can extend / retract the material frame 4, and will not be described in detail here. When the bin picking mechanism 5 picks up a bin from the shelf, the two telescopic forks 51 extend beyond the bin, and the 90-degree rotating cylinder 52 drives the front push block 53 to rotate, causing the two front push blocks 53 to flip towards the bin so that when the telescopic forks 51 retract, the two front push blocks 53 can push the bin into the material frame 4 together; when the bin picking mechanism 5 puts the bin back onto the shelf, the two telescopic forks 51 extend so that the two rear push blocks can push the bin from the material frame 4 to the shelf together.

[0022] Furthermore, the six-axis robot 6 includes a six-degree-of-freedom robotic arm 61 fixedly connected to the top of the material frame 4, and a picking gripper 62 connected to the output end of the six-degree-of-freedom robotic arm 61. The picking gripper 62 is used to pick up and place materials. The six-degree-of-freedom robotic arm 61 and the picking gripper 62 work together to transfer materials from the material bins of the material frame 4 to the material bins of the material bin rack 7, so as to retrieve the required materials from the material bins of the rack for sorting purposes.

[0023] Furthermore, the material gripper 62 is a flexible bionic mechanical gripper, which belongs to the prior art and is only used here as an application. It can realize high-precision non-destructive gripping of irregular, fragile and flexible objects.

[0024] Furthermore, a first camera mount 8 is fixedly connected to one side of the output end of the six-degree-of-freedom robotic arm 61, and an area array industrial camera 9 is fixedly connected to the first camera mount 8. The area array industrial camera 9 is used to capture two-dimensional images of the materials in the hopper.

[0025] Furthermore, the first camera mount 8 is also fixedly connected to a 90-degree rotary cylinder 10. The output end of the 90-degree rotary cylinder 10 passes through the first camera mount 8 and is fixedly connected to a lens dust cover 11. The lens dust cover 11 is used to cover the lens of the area array industrial camera 9 when it is not in use. Using the 90-degree rotary cylinder 10 to drive the lens dust cover 11 to cover the lens of the area array industrial camera 9 when it is not in use helps to prevent dust from easily accumulating on the lens.

[0026] Furthermore, a second camera mount 12 is fixedly connected to the top of the material frame 4, and a 3D industrial camera 13 is fixedly connected to the second camera mount 12. The 3D industrial camera 13 is used to acquire the position and pose information of the material in the material box.

[0027] Furthermore, an air supply mechanism is fixedly connected inside the mobile chassis 1. The air supply mechanism is used to supply air to the various pneumatic components of the sorting and transportation integrated robot. This is existing technology and is only used as an application description here.

[0028] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this utility model are within the protection scope of this utility model.

Claims

1. A sorting and transporting integrated robot, characterized in that: The device includes a mobile chassis, a fixed frame fixedly connected to the top of the mobile chassis, a Zθ-axis drive mechanism connected to the fixed frame, a material frame fixedly connected to the output end of the Zθ-axis drive mechanism, a material box picking and placing mechanism connected to the inner side wall of the material frame, a six-axis robot fixedly connected to the top of the material frame, and multiple material box racks fixedly connected to the fixed frame and longitudinally spaced apart. The material box racks and the material frame are located on both sides of the fixed frame. The Zθ-axis drive mechanism is used to drive the material frame to move along the Zθ axis. The material box picking and placing mechanism is used to pick up and place material boxes in the material frame. The material box racks are used to place material boxes. The six-axis robot is used to transfer materials between the material boxes in the material frame and the material boxes in the material box racks.

2. The sorting and transporting integrated robot according to claim 1, characterized in that: The Zθ axial drive mechanism includes a Z-axis linear module fixedly connected to one inner side of the fixed frame, a support frame fixedly connected to the output end of the Z-axis linear module, and a hollow rotary platform fixedly connected to the support frame. The material frame is fixedly connected to the output end of the hollow rotary platform.

3. The sorting and transporting integrated robot according to claim 2, characterized in that: The Zθ axial drive mechanism also includes a Z-axis slide rail fixedly connected to the other inner side of the fixed frame, and a slider slidably connected to the Z-axis slide rail, wherein the slider is fixedly connected to the support frame.

4. The sorting and transporting integrated robot according to claim 1, characterized in that: The material box picking and placing mechanism includes two telescopic forks fixed to the left and right inner walls of the material frame, a 90-degree corner cylinder fixedly connected to the inner side of the extended front end of the telescopic fork, a front push block fixedly connected to the output end of the 90-degree corner cylinder, and a rear push block fixedly connected to the extended rear end of the telescopic fork. The output end of the 90-degree corner cylinder passes through the telescopic fork and is fixedly connected to the front push block. The front push block is used to push the material box into the material frame when the telescopic fork picks up the box, and the rear push block is used to push the material box out of the material frame when the telescopic fork pushes out the box.

5. The sorting and transporting integrated robot according to claim 1, characterized in that: The six-axis robot includes a six-degree-of-freedom robotic arm fixedly connected to the top of the material frame, and a material gripper connected to the output end of the six-degree-of-freedom robotic arm. The material gripper is used to pick up and put down materials.

6. The sorting and transporting integrated robot according to claim 5, characterized in that: The material handling gripper is a flexible bionic mechanical gripper.

7. The sorting and transporting integrated robot according to claim 5, characterized in that: The output end of the six-degree-of-freedom robotic arm is fixedly connected to a first camera mount, and the first camera mount is fixedly connected to an area array industrial camera, which is used to capture two-dimensional images of the material in the bin.

8. The sorting and transporting integrated robot according to claim 7, characterized in that: The first camera mount is also fixedly connected to a 90-degree rotary cylinder. The output end of the 90-degree rotary cylinder passes through the first camera mount and is fixedly connected to a lens dustproof plate. The lens dustproof plate is used to cover the lens of the area array industrial camera when the area array industrial camera is idle.

9. The sorting and transporting integrated robot according to claim 1, characterized in that: A second camera mount is fixedly connected to the top of the material box, and a 3D industrial camera is fixedly connected to the second camera mount. The 3D industrial camera is used to acquire the position and pose information of the material in the material box.

Images