CN111776586A

CN111776586A - Transfer robot is accomodate to intelligence

Info

Publication number: CN111776586A
Application number: CN202010545722.0A
Authority: CN
Inventors: 郑秀丽; 吴方强; 王辉; 孙洁; 王梓文
Original assignee: Zhejiang Industry and Trade Vocational College
Current assignee: Zhejiang Industry and Trade Vocational College
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2020-10-16

Abstract

The invention discloses an intelligent storage and transportation robot which comprises a support frame, wherein a Mecanum wheel train set is arranged on the lower end face of the support frame, a lifting mechanism is arranged on the upper end face of the support frame, a carrying platform is horizontally arranged on the lifting mechanism, and a storage box and a material pushing assembly used for driving the storage box to horizontally move are arranged on the carrying platform. The invention has the following advantages and effects: through setting up the full-automatic transfer robot of accomodating that removes flexibility, compact structure, realize general accomodating and the transport work in big space range and the little space range, be applicable to places such as industry intelligence transport and house life, abundant effect that has reached the use convenience.

Description

Transfer robot is accomodate to intelligence

Technical Field

The invention relates to the field of robots, in particular to an intelligent storage and transportation robot.

Background

The transfer robot is an automatic product which uses the motion track of the robot to replace manual transfer, and is used for holding a workpiece by using equipment and moving the workpiece from one processing position to another processing position. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings.

Transfer robot among the prior art is often used for the occasion of big labour, and is whole heavy and the flexibility is low, is unfavorable for accomodating and the transport work in the little space range, and the convenience is relatively poor, remains to improve.

Disclosure of Invention

The invention aims to provide an intelligent containing and carrying robot which has the effect of improving the use convenience.

The technical purpose of the invention is realized by the following technical scheme: the utility model provides a transfer robot is accomodate to intelligence, includes the support frame, the lower terminal surface of support frame is provided with mecanum train group, and the up end is provided with elevating system, the elevating system is improved level and is provided with cargo platform, the last material pushing component that is provided with storing box and is used for driving storing box horizontal migration of cargo platform, be provided with supplementary recording system on the support frame, supplementary recording system is used for the locating position of record article, and be provided with display screen and touch panel on the supplementary recording system.

Through adopting above-mentioned technical scheme, when using the above-mentioned transfer robot of accomodating, utilize the storing box to hold article, then utilize elevating system to promote the storing box to behind the suitable height. Utilize and push away the material subassembly with storing box propelling movement to assigned position, realize the automatic handling and the fixed point of article and deposit. When the robot moves, the Mecanum wheel train set has the advantages of compact structure, flexible movement and omnibearing positioning, so that the robot can move forwards, backwards, leftwards, rightwards, obliquely and rotationally in situ, the flexibility of the whole robot is improved, and the accuracy of each operation step can be accurately ensured. Therefore, the full-automatic storage and transportation robot with flexible movement and compact structure is arranged, universal storage and transportation work in a large space range and a small space range is realized, the full-automatic storage and transportation robot is suitable for industrial intelligent transportation and places such as home life, and the use convenience effect is fully achieved.

The auxiliary recording system is arranged, so that the robot has a great fault-tolerant rate, and the possibility of low-level errors is reduced. And can intelligent memory put the position of article, avoid the user to forget the position of article, can remind the user and find article rapidly fast. Meanwhile, the system can help the user to plan life and a schedule, accurately remind the user of the journey, prevent important things from missing, and greatly improve the working efficiency.

The invention is further provided with: the lifting mechanism comprises a pair of bottom plates arranged on the supporting frame side by side and a pair of top plates arranged on the lower end face of the loading platform side by side, and a scissor type lifting assembly is arranged between the top plate and the bottom plate which are positioned on the same side; cut fork lift subassembly includes a pair of first body of rod of mutual articulated and a pair of second body of rod of mutual articulated, and is a pair of the one end that the first body of rod deviates from each other articulate in the roof with the inner wall side of bottom plate, and is a pair of cut a pair of on the fork lift subassembly the one end level that the second body of rod deviates from each other is provided with the slide bar, the roof with be provided with the confession on the bottom plate the slide hole that the slide bar level slided, and be provided with on the support frame and be used for the drive the actuating mechanism that the slide bar level slided.

Through adopting above-mentioned technical scheme, when control storing box risees or descends, utilize actuating mechanism control to be located the slide bar level of below and slide, under the mating reaction of the first body of rod of mutual articulated and the second body of rod this moment, control whole objective platform and go up and down, realize the regulation of storing box high position. Because the scissor type lifting assembly has the advantages of simple structure, stable operation, simple and convenient operation and the like, the scissor type lifting assembly is compact in structure, small in occupied space and capable of freely adjusting the height, the height of the storage box can be freely adjusted, and the flexibility and the use convenience are improved.

The invention is further provided with: reinforcing rods are horizontally arranged between the hinged positions of the first rod bodies and the second rod bodies on the pair of scissor type lifting components.

Through adopting above-mentioned technical scheme, through setting up connection stability and the bearing capacity that the stiffener reinforcing was cut between the fork lift subassembly a pair of, realize the stable transportation of accomodating of article, improve the life who cuts fork lift subassembly simultaneously.

The invention is further provided with: the driving mechanism comprises a pair of driving seats arranged between the bottom plates, a driving screw rod is horizontally and rotatably connected onto the driving seats, a driving block matched with the driving screw rod is arranged at the lower end of the sliding rod, and a driving motor used for controlling the driving screw rod to rotate is arranged on the supporting frame.

Through adopting above-mentioned technical scheme, when control slide bar horizontal slip, utilize driving motor control drive lead screw rotatory, drive the sill bar this moment and can control drive block and slide bar horizontal slip, realize the stable control that slide bar horizontal slip. When transporting heavy objects, the gravity of the heavy objects can apply concentrated stress to the sliding rod at the lower end, and therefore only the moment of the scissor-type lifting assembly is needed to be realized by controlling the movement of the driving screw rod. Therefore, by arranging the driving mechanism with simple and compact structure and small occupied space, the occupied space of the driving mechanism is reduced on the premise of meeting the requirement of stable driving, so that the space occupation ratio of the whole robot is reasonably utilized, and the flexibility and the use convenience are improved.

The invention is further provided with: the up end of support frame is provided with two sets of fixing bases, and is two sets of the fixing base distribute in the both sides of driving the seat, every group equal level is provided with the dead lever on the fixing base, the vertical conflict that is provided with on the dead lever the gravity of slide bar outer wall is eliminated the board, the horizontal sliding connection of gravity elimination board in the dead lever, the outer wall cover of dead lever is established there is the spring, the spring is located the one end of fixing base with between the lateral wall of gravity elimination board one side.

By adopting the technical scheme, because the moment of the scissor type lifting assembly, which is subjected to the gravity of an article, changes along with the height change, and the moment borne by the scissor type lifting assembly is the largest when the scissor type lifting assembly is positioned at the bottommost position, a heavy object with large power and large volume and driven by a motor with large moment needs to be added. And through setting up spring and gravity and eliminating the board, under receiving the action of gravity moment, the slide bar will produce parallel force compression spring, realizes offsetting of gravity moment, the moment in the balanced working process to guarantee that the miniwatt driving source can drive the heavy object and stabilize the lift, thereby reduced actuating mechanism's occupation space, reasonable utilization the space of whole robot account for than, improved flexibility and use convenience.

The invention is further provided with: the outer walls of the lower ends of the two sides of the gravity eliminating plate are provided with fixing frames, and the fixing frames are rotatably connected with fixing wheels which are abutted to the upper end face of the supporting frame.

Through adopting above-mentioned technical scheme, when the piece horizontal movement is eliminated to gravity, offset the rotation moment through setting up the tight pulley, avoid the gravity to eliminate the piece and appear the condition that the atress is not centered from top to bottom, guarantee the stable work of gravity elimination piece.

The invention is further provided with: the material pushing assembly comprises a pair of material pushing seats arranged on the carrying platform, a material pushing screw rod is horizontally and rotatably connected between the material pushing seats, a material pushing block matched with the material pushing screw rod is horizontally and slidably connected onto the carrying platform, a material pushing motor used for driving the material pushing screw rod to rotate is arranged on the carrying platform, a material pushing plate used for bearing the storage box is horizontally arranged on the material pushing block, and an opening for the material pushing plate to be embedded into is formed in the lower end of the storage box.

Through adopting above-mentioned technical scheme, when storing article, place article in the storing box, then place the storing box on the scraping wings. When the article is transported, the pushing motor is used for controlling the pushing screw rod to rotate, so that the pushing block and the pushing plate are controlled to move synchronously, and the article storage box can be pushed. When the storage box is taken out and unloaded, the material pushing plate is driven to slide outwards and be embedded into the notch below the storage box, then the whole material pushing assembly is controlled to rise, and finally the material pushing plate is controlled to move reversely, so that the storage box can be taken and placed. Consequently, through the material pushing assembly with high flexibility and high precision, the position of the storage box can be accurately controlled, and the storage box can be accurately taken and placed.

The invention is further provided with: the last spacing ring that is provided with the opening and supplies that the storing box slides and passes through that is provided with of objective platform, the spacing ring is used for contradicting the outer wall of storing box.

Through adopting above-mentioned technical scheme, through setting up the outer wall that the spacing ring contradicts the storing box, realize that the storing box position of sliding is spacing, avoid the storing box phenomenon of droing to appear when the motion, and then stability when having increased the storing box transportation.

In conclusion, the invention has the following beneficial effects:

1. by arranging the full-automatic storage and transportation robot which is flexible in movement and compact in structure, universal storage and transportation work in a large space range and a small space range is realized, the full-automatic storage and transportation robot is suitable for industrial intelligent transportation, places such as home life and the like, and the effect of convenience in use is fully achieved;

2. the scissor type lifting assembly is simple in structure, stable in operation, simple and convenient to operate, compact in structure and small in occupied space, so that the height position of the storage box can be adjusted randomly, and the flexibility and the use convenience are improved;

3. by arranging the driving mechanism which is simple and compact in structure and small in occupied space, the occupied space of the driving mechanism is reduced on the premise of meeting the requirement of stable driving, so that the space occupation ratio of the whole robot is reasonably utilized, and the flexibility and the use convenience are improved;

4. the counteracting of the gravity moment is realized by arranging the spring and the gravity eliminating plate, the moment in the working process is balanced, so that the stable lifting of the heavy object can be driven by the low-power driving source, the occupied space of the driving mechanism is reduced, and the space ratio of the whole robot is reasonably utilized;

5. through the material pushing assembly with high flexibility and high precision, the position of the storage box is accurately controlled, and the storage box is accurately taken and placed.

Drawings

FIG. 1 is a schematic structural view of an embodiment;

FIG. 2 is a schematic structural view of a lifting mechanism of the embodiment;

FIG. 3 is a schematic structural view of a drive mechanism of the embodiment;

FIG. 4 is a schematic structural diagram of a fixing base of the embodiment;

FIG. 5 is a schematic structural view of a gravity elimination plate of an embodiment;

FIG. 6 is a schematic structural view of a pusher assembly of an embodiment;

FIG. 7 is a schematic view of the working state of the embodiment;

FIG. 8 is a schematic diagram of an embodiment of a Mecanum wheel train set in operation;

FIG. 9 is a schematic flow chart of the working state of the embodiment;

FIG. 10 is a flowchart illustrating the operation of an embodiment.

Reference numerals: 1. a support frame; 11. an auxiliary recording system; 12. a display screen; 13. a touch panel; 14. a fixed seat; 15. fixing the rod; 16. a gravity elimination plate; 17. a spring; 18. a fixed mount; 19. a fixed wheel; 2. a Mecanum wheel train set; 3. a lifting mechanism; 31. a base plate; 32. a top plate; 33. a scissor lift assembly; 34. a first rod body; 35. a second rod body; 36. a reinforcing bar; 37. a slide bar; 38. a slide hole; 4. a carrier platform; 41. a limiting ring; 5. a storage box; 51. opening the gap; 6. a material pushing assembly; 61. a material pushing seat; 62. pushing a material screw rod; 63. a material pushing block; 64. a material pushing motor; 65. a material pushing plate; 7. a drive mechanism; 71. a driving seat; 72. driving the screw rod; 73. a drive block; 74. the motor is driven.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, 7, 8, 9, and 10, an intelligent storage and transportation robot includes a support frame 1, a mecanum wheel train set 2 is provided on a lower end surface of the support frame 1, and a lifting mechanism 3 is provided on an upper end surface thereof. The lifting mechanism 3 is horizontally provided with an object carrying platform 4, and the object carrying platform 4 is provided with an object storage box 5 and a material pushing assembly 6 for driving the object storage box 5 to move horizontally. The supporting frame 1 is provided with an auxiliary recording system 11, the auxiliary recording system 11 is used for recording the placing position of the storage box 5, and the auxiliary recording system 11 is provided with a display screen 12 and a touch panel 13.

When the storage and carrying robot is used, articles are stored by the storage box 5, and then the storage box 5 is lifted to a proper height by the lifting mechanism 3. The material pushing assembly 6 is utilized to push the storage box 5 to a designated position, so that the articles can be automatically conveyed and stored at fixed points.

When the articles are stored, the auxiliary recording system 11 is arranged, so that the robot has a great fault tolerance rate, and the possibility of low-level errors is reduced. And can intelligent memory put the position of article, avoid the user to forget the position of article, can remind the user and find article rapidly fast.

When the robot moves, the Mecanum wheel train set 2 has the advantages of compact structure, flexible movement and omnibearing positioning, so that the robot can move forwards, backwards, leftwards, rightwards, obliquely and rotationally in situ, the flexibility of the whole robot is improved, and the accuracy of each operation step can be accurately ensured.

When the robot is used, a user places all articles in the standard storage box 5 according to the classification of the user, writes names of the articles and positions to be placed in the touch panel 13, moves the robot to the placement positions according to a pre-customized route after confirmation, and finally returns the trolley to the initial position after the articles are placed. Therefore, when the user needs to take the relevant article, the user only needs to find the original position button in the touch panel 13, and then the trolley will perform the relevant article taking operation and provide the article to the user.

As shown in fig. 2, the lifting mechanism 3 includes a pair of bottom plates 31 disposed side by side on the supporting frame 1 and a pair of top plates 32 disposed side by side on the lower end surface of the loading platform 4, and a scissor lift assembly 33 is disposed between the top plate 32 and the bottom plate 31 on the same side.

As shown in fig. 2, the scissor lift assembly 33 includes a pair of first rods 34 hinged to each other and a pair of second rods 35 hinged to each other, one ends of the pair of first rods 34 facing away from each other are hinged to inner wall sides of the top plate 32 and the bottom plate 31, and reinforcing rods 36 are horizontally disposed between the hinged positions of the pair of first rods 34 and the pair of second rods 35 on the pair of scissor lift assemblies 33.

As shown in fig. 2, the ends of the pair of second rods 35 of the pair of scissor lift assemblies 33, which are away from each other, are horizontally provided with sliding rods 37, the top plate 32 and the bottom plate 31 are provided with sliding holes 38 for the sliding rods 37 to horizontally slide, and the support frame 1 is provided with a driving mechanism 7 for driving the sliding rods 37 to horizontally slide.

When the storage box 5 is controlled to rise or fall, the driving mechanism 7 is used for controlling the sliding rod 37 positioned below to horizontally slide, and at the moment, under the matching action of the first rod body 34 and the second rod body 35 which are hinged with each other, the whole object carrying platform 4 is controlled to rise and fall, so that the height position of the storage box 5 is adjusted.

Because the scissor type lifting assembly 33 has the advantages of simple structure, stable operation, simple and convenient operation and the like, and meanwhile, the scissor type lifting assembly is compact in structure, small in occupied space and capable of freely adjusting the height, the height of the storage box 5 can be freely adjusted, and the flexibility and the use convenience are improved.

As shown in fig. 3, the driving mechanism 7 includes a driving base 71 disposed between the pair of bottom plates 31, and a driving screw 72 is horizontally and rotatably connected to the driving base 71. The lower end of the sliding rod 37 is provided with a driving block 73 matched with the driving screw rod 72, and the supporting frame 1 is provided with a driving motor 74 for controlling the driving screw rod 72 to rotate.

As shown in fig. 3, the upper end surface of the supporting frame 1 is provided with two sets of fixing seats 14, the two sets of fixing seats 14 are distributed on two sides of the driving seat 71, a fixing rod 15 is horizontally arranged on each set of fixing seats 14, and a gravity eliminating plate 16 which is abutted against the outer wall of the sliding rod 37 is vertically arranged on the fixing rod 15.

As shown in fig. 3, 4 and 5, the gravity eliminating plate 16 is horizontally slidably connected to the fixing rod 15, the outer wall of the fixing rod 15 is sleeved with a spring 17, and the spring 17 is located between one end of the fixing seat 14 and one side wall of the gravity eliminating plate 16. The outer walls of the lower ends of the two sides of the gravity eliminating plate 16 are respectively provided with a fixed frame 18, and the fixed frame 18 is rotatably connected with a fixed wheel 19 which is abutted against the upper end surface of the support frame 1.

When the sliding rod 37 is controlled to horizontally slide, the driving motor 74 is used for controlling the driving screw 72 to rotate, and the bottom rod is driven to control the driving block 73 and the sliding rod 37 to horizontally slide at the moment, so that the stable control of the horizontal sliding of the sliding rod 37 is realized. When the heavy object is transported, the gravity of the heavy object applies concentrated stress to the lower sliding rod 37, so that only the moment of the scissor lift assembly 33 is realized by controlling the movement of the driving screw 72.

Since the moment of the scissor lift assembly 33 under the weight of the item varies with height, the moment is greatest when in the bottom most position, requiring the addition of a high power and bulky motor driven high moment weight.

In the application, by arranging the spring 17 and the gravity eliminating plate 16, under the action of the gravity moment, the sliding rod 37 generates a parallel force to compress the spring 17, so that the gravity moment is offset, the moment in the working process is balanced, and the low-power driving source can drive the heavy object to stably lift.

Meanwhile, when the gravity elimination piece moves horizontally, the fixed wheel 19 is arranged to offset the rotating torque, the gravity elimination piece is prevented from being stressed and misaligned up and down, and the stable work of the gravity elimination piece is guaranteed, so that the occupied space of the driving mechanism 7 is reduced, the space occupation ratio of the whole robot is reasonably utilized, and the flexibility and the use convenience are improved.

As shown in fig. 2 and 6, the pushing assembly 6 includes a pair of pushing seats 61 disposed on the loading platform 4, a pushing screw 62 is horizontally and rotatably connected between the pair of pushing seats 61, and a pushing block 63 matched with the pushing screw 62 is horizontally and slidably connected to the loading platform 4.

As shown in fig. 2 and 6, the loading platform 4 is provided with a pushing motor 64 for driving the pushing screw 62 to rotate, the pushing block 63 is horizontally provided with a pushing plate 65 for bearing the storage box 5, and the lower end of the storage box 5 is provided with a notch 51 for the pushing plate 65 to be embedded in.

As shown in fig. 2 and 6, the object platform 4 is provided with a limiting ring 41 having an opening and allowing the storage box 5 to slide through, and the limiting ring 41 is used for abutting against the outer wall of the storage box 5.

When storing the articles, the articles are placed in the storage box 5, and then the storage box 5 is placed on the ejector plate 65. When the articles are transported, the pushing motor 64 is used for controlling the pushing screw 62 to rotate, so that the pushing block 63 and the pushing plate 65 are controlled to move synchronously, and the articles can be pushed by the storage box 5.

When the storage box 5 is taken out and unloaded, the material pushing plate 65 is driven to slide outwards and be embedded into the notch 51 below the storage box 5, then the whole material pushing assembly 6 is controlled to be lifted, and finally the material pushing plate 65 is controlled to move reversely, so that the storage box 5 can be taken out and put in.

And when transporting article, conflict the outer wall of storing box 5 through setting up spacing ring 41, realize that storing box 5 slides spacingly of position, avoid storing box 5 the obscission when the motion to appear, and then increased the stability when storing box 5 transports.

The specific embodiments are only for explaining the present invention, and the present invention is not limited thereto, and those skilled in the art can make modifications without inventive contribution to the present embodiments as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims

1. The utility model provides a transfer robot is accomodate to intelligence which characterized in that: the device comprises a support frame (1), wherein a Mecanum wheel train set (2) is arranged on the lower end face of the support frame (1), a lifting mechanism (3) is arranged on the upper end face of the support frame, an object carrying platform (4) is horizontally arranged on the lifting mechanism (3), and a storage box (5) and a material pushing assembly (6) for driving the storage box (5) to horizontally move are arranged on the object carrying platform (4); the supporting frame (1) is provided with an auxiliary recording system (11), the auxiliary recording system (11) is used for recording the placing position of an object, and the auxiliary recording system (11) is provided with a display screen (12) and a touch panel (13).

2. The intelligent storage and transfer robot of claim 1, wherein: the lifting mechanism (3) comprises a pair of bottom plates (31) arranged on the support frame (1) side by side and a pair of top plates (32) arranged on the lower end face of the carrying platform (4) side by side, and a scissor type lifting assembly (33) is arranged between the top plates (32) and the bottom plates (31) on the same side;

cut fork lift subassembly (33) and include a pair of first body of rod (34) of articulated each other and a pair of second body of rod (35) of articulated each other, it is a pair of the one end that first body of rod (34) deviates from each other articulates in roof (32) with the inner wall side of bottom plate (31), it is a pair of cut a pair of on fork lift subassembly (33) the one end level that second body of rod (35) deviates from each other is provided with slide bar (37), roof (32) with be provided with the confession on bottom plate (31) slide hole (38) that slide bar (37) horizontal slip, and be provided with on support frame (1) and be used for the drive slide bar (37) horizontal slip's actuating mechanism (7).

3. The intelligent storage and transfer robot of claim 2, wherein: reinforcing rods (36) are horizontally arranged between the hinged positions of the first rod bodies (34) and the second rod bodies (35) on the scissor type lifting components (33).

4. The intelligent storage and transfer robot of claim 2, wherein: the driving mechanism (7) comprises a driving seat (71) arranged between the pair of bottom plates (31), a driving screw rod (72) is horizontally and rotatably connected to the driving seat (71), a driving block (73) matched with the driving screw rod (72) is arranged at the lower end of the sliding rod (37), and a driving motor (74) used for controlling the driving screw rod (72) to rotate is arranged on the support frame (1).

5. The intelligent storage and transfer robot of claim 4, wherein: the up end of support frame (1) is provided with two sets of fixing base (14), and is two sets of fixing base (14) distribute in the both sides of driving seat (71), every group equal level is provided with dead lever (15) on fixing base (14), the vertical conflict that is provided with on dead lever (15) the board (16) is eliminated to the gravity of slide bar (37) outer wall, gravity eliminate board (16) horizontal sliding connect in dead lever (15), the outer wall cover of dead lever (15) is established and is had spring (17), spring (17) are located the one end of fixing base (14) with between the lateral wall of gravity elimination board (16) one side.

6. The intelligent storage and transfer robot of claim 5, wherein: the gravity eliminating plate is characterized in that fixing frames (18) are arranged on the outer walls of the lower ends of the two sides of the gravity eliminating plate (16), and fixing wheels (19) which are abutted to the upper end face of the supporting frame (1) are rotatably connected to the fixing frames (18).

7. The intelligent storage and transfer robot of claim 1, wherein: the material pushing assembly (6) comprises a pair of material pushing seats (61) arranged on the carrying platform (4), a pair of material pushing screws (62) are horizontally and rotatably connected between the material pushing seats (61), the carrying platform (4) is horizontally and slidably connected with material pushing blocks (63) matched with the material pushing screws (62), a material pushing motor (64) used for driving the material pushing screws (62) to rotate is arranged on the carrying platform (4), a material pushing plate (65) used for bearing the storage box (5) is horizontally arranged on the material pushing blocks (63), and gaps (51) for the material pushing plate (65) to be embedded are formed in the lower end of the storage box (5).

8. The intelligent storage transfer robot of claim 7, wherein: the article carrying platform (4) is provided with a limiting ring (41) which is provided with an opening and used for the article storage box (5) to slide through, and the limiting ring (41) is used for abutting against the outer wall of the article storage box (5).