CN112172649A

CN112172649A - Transfer robot

Info

Publication number: CN112172649A
Application number: CN202011147399.8A
Authority: CN
Inventors: 邱国良; 宋先玖; 陈土军
Original assignee: Dongguan Kaige Precision Machinery Co ltd
Current assignee: Dongguan Kaige Precision Machinery Co ltd
Priority date: 2020-10-23
Filing date: 2020-10-23
Publication date: 2021-01-05

Abstract

The invention relates to the field of material transportation robot equipment, and discloses a transfer robot, which comprises a chassis, wherein a material taking module is arranged on the chassis, and comprises a material taking slide rail, a material taking assembly in sliding connection with the material taking slide rail, and a first driving device for driving the material taking assembly to slide along the material taking slide rail; the material taking assembly comprises a supporting plate, a first material conveying belt and a second driving device, wherein the supporting plate is connected to one side of the material taking slide rail, which is far away from the chassis, in a sliding manner; the second driving device is used for driving the first material conveying belt to convey materials along a preset first direction. When the materials are positioned on the first material conveying belt, the second driving device drives the first material conveying belt to operate so that the materials move along the preset first direction, and the front end of the first material conveying belt can continuously load the materials, so that the purpose of fully utilizing the carrying capacity of the carrying robot is achieved.

Description

Transfer robot

Technical Field

The invention relates to the field of material transportation robot equipment, in particular to a carrying robot.

Background

The existing carrying robot carries materials by being provided with a carrying fork. The carrying section of the carrying fork is inserted into the lower portion of the tray of the material to be carried by the carrying robot, the carrying fork is driven by the lifting device to lift the material off the ground or off the machine table, and then the carrying robot drives the material to move through the driving wheel set.

The existing carrying robot has the problems that after materials are lifted by the carrying fork, the position of the materials cannot be changed on the carrying fork, the carrying fork in the prior art can only be used for carrying the materials by the front half section of the carrying fork, and the carrying capacity of the rear half section of the carrying section is difficult to be fully utilized.

Disclosure of Invention

The invention aims to provide a transfer robot which can fully utilize the transfer capacity of the transfer robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

a transfer robot comprises a chassis, wherein a material taking module is arranged on the chassis, and comprises a material taking slide rail, a material taking assembly connected with the material taking slide rail in a sliding manner, and a first driving device used for driving the material taking assembly to slide along the material taking slide rail;

the material taking assembly comprises a supporting plate, a first material conveying belt and a second driving device, wherein the supporting plate is connected to one side of the material taking slide rail, which is far away from the chassis, in a sliding manner; the second driving device is used for driving the first material conveying belt to convey materials along a preset first direction.

Optionally, a bearing module and a lifting module are arranged on the chassis;

the lifting module comprises a lifting guide pillar fixedly connected to the chassis, a lifting platform slidably connected with the lifting guide pillar and a lifting driving device for driving the lifting platform to slide along the lifting guide pillar;

the bearing module comprises a bearing slide rail arranged on the lifting platform, a bearing platform arranged on the bearing slide rail in a sliding manner and a third driving device used for driving the bearing platform to move along the bearing slide rail;

get the material slide rail set up in on the load-bearing platform, bear the slide rail with get the material slide rail parallel.

Optionally, a third slide rail perpendicular to the material taking slide rail is arranged on the bearing platform, and the material taking slide rail and the third slide rail are both parallel to the top surface of the bearing platform; a sliding frame is arranged on the third sliding rail in a sliding manner, and a fixed frame is fixedly arranged at one end of the third sliding rail; the material taking module is positioned between the sliding frame and the fixed frame, and a fourth driving device for driving the sliding frame to move along the third sliding rail is further arranged on the bearing platform;

a first bearing conveyer belt is arranged on one side, close to the material taking module, of the sliding frame, and a second bearing conveyer belt is arranged on the other side, close to the material taking module, of the fixing frame; the bearing platform is also provided with a fifth driving device for driving the first bearing conveyer belt and the second bearing conveyer belt to operate simultaneously;

the conveying directions of the first bearing conveying belt and the second bearing conveying belt are parallel to the conveying direction of the first material conveying belt; the conveying surfaces of the first material conveying belt, the first bearing conveying belt and the second bearing conveying belt are level.

Optionally, a first clamping plate is vertically arranged on the fixed frame, a second clamping plate is vertically arranged on the sliding frame, and the surface of the first clamping plate and the surface of the second clamping plate are both parallel to the extending direction of the material taking sliding rail.

Optionally, a first buffer baffle is arranged on the surface of the first clamping plate facing the second clamping plate, and a second buffer baffle is arranged on the surface of the second clamping plate facing the first clamping plate, corresponding to the first buffer baffle; the first buffer baffle is used for blocking and stopping the plate surface of the material and the second buffer baffle is used for blocking and stopping the plate surface of the material to flush.

Optionally, a bracket for fixing the second driving device is arranged on the supporting plate, and the bracket is provided with a stopping surface for stopping the material;

when the materials on the first material conveying belt are transferred to the set material stopping position, the blocking and stopping surface of the support, the plate surface of the first buffer baffle plate for blocking and stopping the materials and the plate surface of the second buffer baffle plate for blocking and stopping the materials are located in the same plane.

Optionally, the handling robot further comprises a detection device, wherein the detection device comprises a control device and a detection device for detecting the flatness of the stacked materials; the detection device comprises a detection sensor arranged on the first clamping plate and a reflector arranged on the second clamping plate, and the reflecting surface of the reflector faces the detection sensor; the control device is respectively and electrically connected with the detection sensor and the fourth driving device.

Optionally, the first material conveying belt comprises two spaced parallel transfer belts, and the transfer speeds and the moving directions of the two transfer belts are consistent.

Optionally, the supporting plate is in the shape of an elongated plate, and the width of the supporting plate is smaller than that of the bearing platform.

Optionally, the transfer robot further comprises a control system, an AGV navigation module arranged in the chassis, and a driving wheel set arranged at the bottom of the chassis; the AGV navigation module is used for receiving the control system command and controlling the driving wheel set to drive the chassis to advance along a preset path.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides a transfer robot, which comprises a material taking module, wherein the material taking module comprises a supporting plate, a first material conveying belt and a second driving device, wherein the first material conveying belt and the second driving device are arranged on the supporting plate; when the materials are located on the first material conveying belt, the second driving device drives the first material conveying belt to operate to enable the materials to move along a preset first direction, so that the materials can be conveyed to one end, close to the chassis, of the first material conveying belt from one end, far away from the chassis, of the first material conveying belt, at the moment, the front end of the first material conveying belt is equivalently vacated, the front end of the first material conveying belt can continue to load the materials, and the purpose of fully utilizing the carrying capacity of the carrying robot is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention.

Fig. 1 is a schematic structural view of a transfer robot in a state where a telescopic stage module is not extended according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a transfer robot with a carrying module in an extended state according to an embodiment of the present invention;

fig. 3 is a schematic view of a connection structure of a carrying module and a material taking module according to an embodiment of the present invention;

fig. 4 is a schematic structural view illustrating a state in which the material taking module extends out of the carrying module according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a material taking module according to an embodiment of the present invention.

Illustration of the drawings: 1. a chassis; 21. a lifting platform; 22. a lifting guide post; 3. a carrying module; 31. carrying a slide rail; 32. a load-bearing platform; 33. a third driving device; 34. a fifth driving device; 35. a first load-bearing conveyor belt; 36. a second load-bearing conveyor belt; 4. a material taking module; 41. a material taking slide rail; 42. a material taking assembly; 421. a support plate; 4211. a support; 422. a first material conveying belt; 423. a second driving device; 43. a first driving device; 51. a third slide rail; 52. a carriage; 521. a second clamping plate; 5211. a second buffer baffle; 53. a fixed mount; 531. a first clamping and aligning plate; 5311. a first buffer baffle; 54. and a fourth drive device.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Referring to fig. 1-5, an embodiment of the present invention provides a transfer robot, including a chassis 1, a driving wheel set is disposed at the bottom of the chassis 1 to drive the chassis 1 to move, a carrying module 3, a material taking module 4 and a lifting module for driving the carrying module 3 to lift are further disposed on the chassis 1, and the material taking module 4 is disposed on the carrying module 3.

In this embodiment, the lifting module includes a lifting platform 21 and a lifting driving device for driving the lifting platform 21 to lift along a lifting guide pillar 22, and the lifting guide pillar 22 is fixedly connected to the chassis 1.

The carrying module 3 includes a carrying slide rail 31 disposed on the lifting table 21, a carrying platform 32 slidably connected to the carrying slide rail 31, and a third driving device 33 for driving the carrying platform 32 to move along the carrying slide rail 31.

The material taking module 4 comprises a material taking slide rail 41, a material taking assembly 42 slidably connected to the material taking slide rail 41, and a first driving device 43 for driving the material taking assembly 42 to slide along the material taking slide rail 41. The material taking assembly 42 comprises a supporting plate 421 connected to one side of the material taking slide rail 41 far away from the chassis 1 in a sliding manner, a first material conveying belt 422 arranged on the supporting plate 421 and a second driving device 423; the second driving device 423 is used for driving the first material conveyer belt 422 to convey the material in a predetermined first direction.

The material taking slide rail 41 is parallel to the bearing slide rail 31, so that the material taking assembly 42 can move to a farther place to take materials.

Specifically, the material handling process of the handling robot is as follows:

firstly, the carrying robot is in place, the bearing platform 32 extends outwards along the bearing slide rail 31 in the opposite direction of the preset first direction under the action of the third driving device 33, and then the material taking assembly 42 extends outwards along the extending direction of the material taking slide rail 41 under the action of the first driving device 43 until the first material conveying belt 422 extends below the tray loaded with materials;

secondly, the lifting module drives the telescopic table module to lift and lift the tray along the lifting guide pillar 22, and at the moment, the materials are lifted synchronously;

and thirdly, the second driving device 423 drives the materials to be conveyed to the inside of the transfer robot through the first material conveying belt 422 along a predetermined first direction until the materials are conveyed to a preset position.

After the loading process of one tray is completed, the transfer robot can move the position of the tray from the front end of the first material conveying belt 422 close to the outside to the rear end far away from the outside, and then the transfer robot can move to another material transfer position to carry out loading or unloading work of the next tray. Further, after the carrying robot finishes the feeding process of a tray, the tray is adjusted to an inner position convenient for the carrying of the robot, then the robot carries the tray and materials in the tray to a discharging area, the second driving device 423 runs reversely, so that the tray in the robot can be conveyed to the outer end convenient for discharging through the first material conveying belt 422, and the discharging convenience is improved.

The transfer robot in this embodiment has the following advantages: after the carrying robot holds up the material tray, the held-up tray and the materials are conveyed to the inner direction of the robot through the first material conveying belt 422, so that the position is vacated for feeding of the next tray, the carrying capacity of the first material conveying belt 422 on the supporting plate 421 is utilized to the maximum extent, and the material carrying efficiency is improved; during the unloading, second drive arrangement 423 runs in reverse can make the tray that is located inside carry the outer end of making things convenient for the unloading to backup pad 421 through first material conveyer belt 422, has promoted the convenience of unloading.

In an optional implementation manner of this embodiment, a third slide rail 51 perpendicular to the material taking slide rail 41 is disposed on the bearing platform 32, and both the material taking slide rail 41 and the third slide rail 51 are parallel to the top surface of the bearing platform 32; a sliding frame 52 is arranged on the third sliding rail 51 in a sliding manner, and a fixed frame 53 is fixedly arranged at one end of the third sliding rail 51; the material taking module 4 is located between the sliding frame 52 and the fixed frame 53, and the bearing platform 32 is further provided with a fourth driving device 54 for driving the sliding frame 52 to move along the third sliding rail 51; a first bearing conveyer belt 35 is arranged on one side of the sliding frame 52 close to the material taking module 4, and a second bearing conveyer belt 36 is arranged on the other side of the fixed frame 53 close to the material taking module 4; the bearing platform 32 is also provided with a fifth driving device 34 for simultaneously driving the first bearing conveyer belt 35 and the second bearing conveyer belt 36 to run; the conveying directions of the first bearing conveyor belt 35 and the second bearing conveyor belt 36 are parallel to the conveying direction of the first material conveyor belt 422; the conveying surfaces of the first material conveyor belt 422, the first carrier conveyor belt 35 and the second carrier conveyor belt 36 are flush. It should be noted that the transport speed of the first carrier conveyor belt 35 and the second carrier conveyor belt 36 is the same.

Specifically, when the material extracting assembly 42 is retracted onto the carrying platform 32, the first carrying conveyer 35 and the second carrying conveyer 36 cooperate with the first material conveyer 422 to convey the tray to the interior of the transfer robot. In addition, the first carrying conveyor 35 and the second carrying conveyor 36 jointly support the pallet, so that the stability of transferring and storing materials on the pallet in the carrying robot is improved, and stacked materials are prevented from being scattered due to overlarge deflection.

The fixed frame 53 is vertically provided with a first clamping and aligning plate 531, the sliding frame 52 is vertically provided with a second clamping and aligning plate 521, and the plate surface of the first clamping and aligning plate 531 and the plate surface of the second clamping and aligning plate 521 are both parallel to the extending direction of the material taking sliding rail 41. Specifically, the fourth driving device 54 drives the second aligning plate 521 to move toward the first aligning plate 531, and the first aligning plate 531 cooperates with the second aligning plate 521 to clamp two sides of the material, so as to correct the material that is not aligned and improve the flatness of the material stacked on the tray.

Optionally, a first buffer baffle 5311 is arranged on a plate surface of the first alignment clamping plate 531 facing the second alignment clamping plate 521, and a second buffer baffle 5211 is arranged on a plate surface of the second alignment clamping plate 521 facing the first alignment clamping plate 531 corresponding to the first buffer baffle 5311; the first buffer baffle 5311 is used for keeping the plate surface of the material flush with the second buffer baffle 5211. Specifically, the first buffer baffle 5311 and the second buffer baffle are used for stopping the material tray, and have a certain function of correcting the stacking flatness of the materials.

Optionally, a bracket 4211 for fixing the second driving device 423 is arranged on the supporting plate 421, and the bracket 4211 is provided with a stopping surface for stopping the material; when the material on the first material conveying belt 422 is conveyed to the set material stopping position, the stopping surface of the support 4211, the stopping surface of the first buffering baffle 5311 and the stopping surface of the second buffering baffle 5211 are located in the same vertical plane to stop the material or the tray, and the vertical plane is perpendicular to the top surface of the chassis 1.

In this embodiment, the first material conveyer 422 includes two spaced parallel conveying belts, and the conveying speed and the moving direction of the two first material conveyer belts are consistent. The two conveying belts are arranged at intervals, so that the material consumption of the conveying belts is reduced.

Optionally, the supporting plate 421 is in the shape of an elongated plate, and the width of the supporting plate 421 is smaller than the width of the supporting platform 32. In particular, the supporting plate 421 is elongated, which is beneficial to extending into a narrow space, so as to realize the function of carrying materials in the narrow space.

Optionally, the transfer robot further comprises a detection device for detecting the flatness of the stacked materials, the detection device comprises a detection sensor arranged on the first aligning plate 531 and a reflector arranged on the second aligning plate 521, and a reflective surface of the reflector faces the detection sensor; the control device is electrically connected to the detection sensor and the fourth driving device 54, respectively. Specifically, the detection sensor sends out detection light, and detection light gets back to the detection sensor after the reflector panel reflects in, and the detection sensor carries the reflection signal who receives to controlling means, and controlling means judges according to this reflection signal whether the material piles up the roughness super poor, if the material piles up the roughness super poor, starts fourth drive arrangement 54, through the second neat board 521 that presss from both sides and first neat board 531 correction material's roughness.

Optionally, the transfer robot further comprises a control system, an AGV navigation module arranged in the chassis 1 and a driving wheel set arranged at the bottom of the chassis 1; the AGV navigation module is used for receiving a control system command and controlling the driving wheel set to drive the chassis 1 to move along a preset path.

Optionally, the power device of the lifting driving device is a servo motor, the transmission precision of the servo motor is high, and the improvement of the positioning precision in the material handling process is facilitated.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The carrying robot comprises a chassis (1) and is characterized in that a material taking module (4) is arranged on the chassis (1), the material taking module (4) comprises a material taking slide rail (41), a material taking assembly (42) connected with the material taking slide rail (41) in a sliding manner, and a first driving device (43) used for driving the material taking assembly (42) to slide along the material taking slide rail (41);

the material taking assembly (42) comprises a supporting plate (421) connected to one side, far away from the chassis (1), of the material taking slide rail (41), a first material conveying belt (422) arranged on the supporting plate (421) and a second driving device (423); the second driving device (423) is used for driving the first material conveying belt (422) to convey materials along a preset first direction.

2. A transfer robot as claimed in claim 1, wherein the chassis (1) is provided with a carrying module (3) and a lifting module;

the lifting module comprises a lifting guide post (22) fixedly connected to the chassis (1), a lifting platform (21) in sliding connection with the lifting guide post (22) and a lifting driving device for driving the lifting platform (21) to slide along the lifting guide post (22);

the bearing module (3) comprises a bearing slide rail (31) arranged on the lifting platform (21), a bearing platform (32) arranged on the bearing slide rail (31) in a sliding manner, and a third driving device (33) used for driving the bearing platform (32) to move along the bearing slide rail (31);

get material slide rail (41) set up in load-bearing platform (32) are last, bear slide rail (31) with get material slide rail (41) parallel.

3. The transfer robot of claim 2, wherein a third slide rail (51) perpendicular to the material taking slide rail (41) is arranged on the carrying platform (32), and the material taking slide rail (41) and the third slide rail (51) are both parallel to the top surface of the carrying platform (32); a sliding frame (52) is arranged on the third sliding rail (51) in a sliding manner, and a fixed frame (53) is fixedly arranged at one end of the third sliding rail (51); the material taking module (4) is positioned between the sliding frame (52) and the fixed frame (53), and a fourth driving device (54) for driving the sliding frame (52) to move along the third sliding rail (51) is further arranged on the bearing platform (32);

a first bearing conveyor belt (35) is arranged on one side, close to the material taking module (4), of the sliding frame (52), and a second bearing conveyor belt (36) is arranged on the other side, close to the material taking module (4), of the fixing frame (53); the bearing platform (32) is also provided with a fifth driving device (34) for simultaneously driving the first bearing conveyer belt (35) and the second bearing conveyer belt (36) to run;

the conveying directions of the first bearing conveyor belt (35) and the second bearing conveyor belt (36) are parallel to the conveying direction of the first material conveyor belt (422); the conveying surfaces of the first material conveyor belt (422), the first carrier conveyor belt (35) and the second carrier conveyor belt (36) are flush.

4. The transfer robot as claimed in claim 3, wherein a first clamping and aligning plate (531) is vertically disposed on the fixed frame (53), a second clamping and aligning plate (521) is vertically disposed on the sliding frame (52), and the plate surface of the first clamping and aligning plate (531) and the plate surface of the second clamping and aligning plate (521) are both parallel to the extending direction of the material taking slide rail (41).

5. The transfer robot as claimed in claim 4, wherein a plate surface of said first flush plate (531) facing said second flush plate (521) is provided with a first buffer fence (5311), and a plate surface of said second flush plate (521) facing said first flush plate (531) is provided with a second buffer fence (5211) corresponding to said first buffer fence (5311); the first buffer baffle (5311) is used for keeping the plate surface of the material flush with the second buffer baffle (5211).

6. The transfer robot according to claim 5, wherein a bracket (4211) for fixing the second driving device (423) is provided on the support plate (421), and the bracket (4211) is provided with a stopping surface for stopping the material;

when the materials on the first material conveying belt (422) are conveyed to a set material stopping position, the stopping surface of the support (4211), the plate surface of the first buffer baffle (5311) for stopping the materials and the plate surface of the second buffer baffle (5211) for stopping the materials are positioned in the same plane.

7. The transfer robot of claim 5, further comprising a detection device including a control device and a detection device for detecting flatness of a stack of materials; the detection device comprises a detection sensor arranged on the first clamping and aligning plate (531) and a reflector arranged on the second clamping and aligning plate (521), and the reflecting surface of the reflector faces the detection sensor; the control device is electrically connected with the detection sensor and the fourth driving device (54) respectively.

8. A transfer robot as claimed in claim 1, wherein the first material conveyor (422) comprises two spaced parallel transfer belts, both of which have a uniform transfer speed and direction of movement.

9. The transfer robot according to claim 2, wherein the support plate (421) has an elongated plate shape, and a width of the support plate (421) is smaller than a width of the loading platform (32).

10. The transfer robot according to claim 1, further comprising a control system, an AGV navigation module provided in the chassis (1), and a drive wheel group provided at the bottom of the chassis (1); the AGV navigation module is used for receiving the control system command and controlling the driving wheel set to drive the chassis (1) to advance along a preset path.