CN117775615A

CN117775615A - Suction robot

Info

Publication number: CN117775615A
Application number: CN202311809442.6A
Authority: CN
Inventors: 项乐宏; 刘朝宇; 夏银水; 蓝艇; 徐晟�; 娄军强
Original assignee: Lechang Information Technology Co ltd
Current assignee: Lechang Information Technology Co ltd
Priority date: 2023-12-26
Filing date: 2023-12-26
Publication date: 2024-03-29

Abstract

The invention discloses a pull-up robot, comprising: AGV trolley; the lifting conveying mechanism is arranged on the AGV trolley and is used for conveying cargoes longitudinally and transversely; the avoidance mechanism is arranged on the lifting conveying mechanism and is used for sucking cargoes when the cargoes are loaded, assisting the transverse conveying of the cargoes in cooperation with the lifting conveying mechanism when the cargoes are conveyed, and avoiding the cargoes when the cargoes are unloaded. The invention saves time for loading and unloading goods, has high goods carrying efficiency, reasonable layout, small occupied space and low cost.

Description

Suction robot

Technical Field

The invention relates to the technical field of AGV robots, in particular to a suction robot.

Background

In the prior art, the goods are conveyed through the AGV trolley, and the goods are taken and need to be absorbed by the absorbing robot, but at present, the absorbing robot of the AGV trolley is separately arranged, the occupied space is large, the whole goods taking and conveying and unloading are not smooth enough, the time is wasted, the efficiency is lower, and the cost is overhigh.

Disclosure of Invention

The suction robot is time-saving in loading and unloading, high in cargo carrying efficiency, reasonable in layout, small in occupied space and low in cost.

The specific technical scheme is as follows:

a pull-up robot comprising:

AGV trolley;

the lifting conveying mechanism is arranged on the AGV trolley and is used for conveying cargoes longitudinally and transversely;

the avoidance mechanism is arranged on the lifting conveying mechanism and is used for sucking cargoes when the cargoes are loaded, assisting the transverse conveying of the cargoes in cooperation with the lifting conveying mechanism when the cargoes are conveyed, and avoiding the cargoes when the cargoes are unloaded.

The above-mentioned pull-up robot, wherein, lift conveying mechanism includes: at least two lift stands, mounting bracket and at least one conveying component, the lift stand is located on the AGV dolly, the mounting bracket is located on the lift stand, conveying component locates on the mounting bracket, conveying component transversely carries the goods, the lift stand is vertically carried on the conveying component the goods.

The above-mentioned pull-and-pull robot, wherein, dodge the mechanism and include:

the transmission assembly is arranged on the mounting frame and is in transmission connection with a central shaft for driving the central shaft to move along the horizontal direction;

the rack is arranged on the mounting frame;

a gear fixed to the central shaft, the gear being engaged with the rack to rotate the central shaft;

the sucking disc mechanism is arranged on the central shaft, the sucking disc mechanism rotates through the central shaft, so that the sucking disc mechanism overturns, when the sucking disc mechanism is positioned above the conveying assembly, the sucking disc assembly adsorbs goods to be loaded or to be conveyed in an auxiliary mode, and when the sucking disc mechanism is positioned below the conveying assembly, the sucking disc assembly is separated from the goods and used for avoiding the goods.

The above-mentioned pull-and-pull robot, wherein, drive assembly includes: the first driving piece is in transmission connection with the screw rod transmission module, so that the screw rod transmission module drives the central shaft to move along the horizontal direction.

The above-mentioned pull-and-pull robot, wherein, drive assembly still includes: the screw rod transmission module is in transmission connection with the first sliding block, one end of the central shaft is rotationally arranged on the first sliding block, so that the central shaft and the first sliding block move along the horizontal direction.

The suction robot comprises a mounting rack, wherein the mounting rack is sequentially divided into a material taking area, a material moving area and a material discharging area along the length direction of the mounting rack, and the rack is arranged in the material discharging area;

the rack is fixedly arranged along the horizontal moving direction of the central shaft;

the length of the rack is greater than the circumference of the gear;

the mounting frame is located the tip of unloading district has the breach, the breach supplies sucking disc mechanism passes, the rack is located one side of breach.

The suction robot is characterized in that the mounting frame is further provided with a guide rail, the guide rail is arranged along the moving direction of the first sliding block, the guide rail is movably arranged on the second sliding block, the other end of the central shaft is rotationally connected with the second sliding block, and the first sliding block and the second sliding block synchronously move;

at least one roller is arranged on the upper side and the lower side of the second sliding block, and the rollers are respectively in rolling fit with the upper side and the lower side of the guide rail.

The suction robot comprises a mounting rack, wherein the mounting rack is provided with a concave cavity, the upper side and two ends of the concave cavity are all in open arrangement, the guide rail, the screw rod transmission module, the first sliding block, the second sliding block, the central shaft and the rack are all arranged in the concave cavity, and one end of the supporting rod extends into the concave cavity.

The suction robot comprises a mounting rack, wherein the upper surface of the mounting rack is provided with two conveying assemblies, and the concave cavity is positioned between the two conveying assemblies.

The above-mentioned pull-and-pull robot, wherein, sucking disc mechanism includes: the device comprises a supporting rod, a second driving piece and a sucker assembly, wherein one end of the supporting rod is arranged on the central shaft, the second driving piece is arranged on the other end of the supporting rod, and the second driving piece is in transmission connection with the sucker assembly;

the suction cup assembly includes: the second driving piece is in transmission connection with the mounting plate, and the sucking discs are arranged on the mounting plate.

Compared with the prior art, the technical scheme has the following positive effects:

according to the invention, the sucking disc mechanism adsorbs the goods and pulls the goods to the conveying assembly, when the goods are transversely conveyed through the conveying assembly, the sucking disc mechanism also transversely moves to assist in conveying the goods, the avoiding mechanism avoids before the goods need to be unloaded, the sucking disc mechanism rotates to the lower part of the conveying assembly, the lifting upright post lifts the goods to the height capable of unloading in the whole conveying process, the time is saved for loading and unloading the goods, the goods carrying efficiency is high, the layout is reasonable, the occupied space is small, and the cost is low.

Drawings

FIG. 1 is a schematic view of the overall structure of a pull-up robot according to the present invention;

FIG. 2 is a top view showing the overall structure of a pull robot according to the present invention;

FIG. 3 is a side view of the overall structure of a pull-up robot according to the present invention;

fig. 4 is a longitudinal sectional view of an overall structure of a pull robot according to the present invention;

fig. 5 is a partial enlarged view of fig. 4 of a pull-up robot according to the present invention;

FIG. 6 is a cross-sectional view of a structure on a central axis of a pull-up robot according to the present invention;

in the accompanying drawings: 1. AGV trolley; 2. lifting the upright post; 3. an avoidance mechanism; 6. a transport assembly; 31. a mounting frame; 32. a transmission assembly; 33. a rack; 34. a gear; 35. a suction cup mechanism; 36. a central shaft; 37. a connecting block; 41. a first driving member; 42. a screw rod transmission module; 43. a first slider; 44. a guide rail; 45. a second slider; 46. a roller; 51. a material taking area; 52. a material transferring area; 53. a discharge zone; 54. a notch; 55. a cavity; 71. a support rod; 72. a second driving member; 73. a suction cup assembly; 74. a mounting plate; 75. a suction cup; 8. a gap; 9. and a lifting conveying mechanism.

Detailed Description

The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.

As shown in fig. 1 to 6, there is shown a suction robot of a preferred embodiment, comprising: AGV dolly 1, lift conveying mechanism 9 and dodge mechanism 3, lift conveying mechanism 9 locate on the AGV dolly 1, and lift conveying mechanism 9 are used for vertically and transversely carrying the goods, dodge mechanism 3 locate on the lift conveying mechanism 9, dodge mechanism 3 be used for absorbing the goods when the goods, with the horizontal transport of lift conveying mechanism 9 cooperation auxiliary cargo when carrying the goods, and dodge the goods when the discharge.

Further, as a preferred embodiment, the elevating conveyor 9 includes: at least two lift stand 2, mounting bracket 31 and at least one conveying component 6, on the AGV dolly 1 was located to lift stand 2, on the mounting bracket 31 was located to conveying component 6, conveying component 6 transversely carried the goods, and the vertical goods on conveying component 6 were carried to lift stand 2.

Further, as a preferred embodiment, the avoidance mechanism 3 includes: the transmission assembly 32, the rack 33, the gear 34 and the sucking disc mechanism 35, the transmission assembly 32 is arranged on the mounting frame 31, the transmission assembly 32 is in transmission connection with the central shaft 36, the central shaft 36 is driven to move along the horizontal direction, the rack 33 is arranged on the mounting frame 31, the gear 34 is fixed on the central shaft 36, the gear 34 is meshed with the rack 33, so that the central shaft 36 rotates, the sucking disc mechanism 35 is arranged on the central shaft 36, the sucking disc mechanism 35 is rotated through the rotation of the central shaft 36, so that the sucking disc mechanism 35 overturns, when the sucking disc mechanism 35 is arranged above the conveying assembly 6, the sucking disc assembly 35 sucks cargoes for loading or auxiliary conveying, and when the sucking disc mechanism 35 is arranged below the conveying assembly 6, the sucking disc assembly 35 is separated from the cargoes for avoiding the cargoes.

Preferably, four lifting columns 2 are arranged on the AGV trolley 1 and are arranged at the bottom of the mounting frame 31.

Further, as a preferred embodiment, the transmission assembly 32 includes: the first driving piece 41 is in transmission connection with the screw transmission module 42, so that the screw transmission module 42 drives the central shaft 36 to move along the horizontal direction.

Preferably, the first driving member 41 is a dc motor, the dc motor provides power, and the screw driving module 42 converts the rotational motion of the dc motor into linear motion, so as to implement horizontal linear motion of the first slider 43.

Further, as a preferred embodiment, the transmission assembly 32 further includes: the first slider 43, the lead screw transmission module 42 is connected with the first slider 43 in a transmission way, and one end of the central shaft 36 is rotatably arranged on the first slider 43, so that the central shaft 36 and the first slider 43 move along the horizontal direction.

Preferably, the central shaft 36 is perpendicular to the plane of the first slider 43, and a bearing is connected to the connection part between one end of the central shaft 36 and the first slider 43.

The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the embodiments and the protection scope of the present invention.

The present invention has the following embodiments based on the above description:

in a further embodiment of the present invention, as shown in fig. 1 to 6, the mounting frame 31 is sequentially divided into a material taking area 51, a material moving area 52 and a material discharging area 53 along the length direction thereof, and the rack 33 is disposed in the material discharging area 53.

In a further embodiment of the invention, the rack 33 is fixedly arranged in the horizontal movement direction of the central shaft 36.

In a further embodiment of the invention, the length of the rack 33 is greater than the circumference of the gear 34.

In a further embodiment of the invention, the end of the mounting frame 31 at the discharge area 53 is provided with a notch 54, the notch 54 is provided for the suction cup mechanism 35 to pass through, and the rack 33 is positioned at one side of the notch 54.

In a further embodiment of the present invention, the mounting frame 31 is further provided with a guide rail 44, the guide rail 44 is disposed along the moving direction of the first slider 43, the guide rail 44 is movably disposed on the second slider 45, the other end of the central shaft 36 is rotationally connected with the second slider 45, and the first slider 43 and the second slider 45 move synchronously.

In a further embodiment of the present invention, at least one roller 46 is disposed on both the upper and lower sides of the second slider 45, and the roller 46 is respectively engaged with both the upper and lower sides of the guide rail 44 in a rolling manner.

Preferably, the other end of the central shaft 36 is connected to the second slider 45 by a bearing.

The stability of the motion of the suction cup mechanism 35 is high.

In a further embodiment of the present invention, the mounting frame 31 has a cavity 55, the upper side and two ends of the cavity 55 are all open, the guide rail 44, the screw driving module 42, the first slider 43, the second slider 45, the central shaft 36, and the rack 33 are all disposed in the cavity 55, and one end of the support rod 71 extends into the cavity 55.

In a further embodiment of the invention, the upper surface of the mounting frame 31 is provided with two conveyor assemblies 6, and the cavity 55 is located between the two conveyor assemblies 6. Compact and reasonable structure and small occupied space.

In a further embodiment of the present invention, the suction cup mechanism 35 includes: the support rod 71, the second driving piece 72 and the sucking disc subassembly 73, the one end of bracing piece 71 is installed on center pin 36, and the second driving piece 72 is installed on the other end of bracing piece 71, and the second driving piece 72 is connected with sucking disc subassembly 73 transmission.

In a further embodiment of the present invention, the suction cup assembly 73 includes: the mounting plate 74 and a plurality of sucking discs 75, the second driving piece 72 is connected with the mounting plate 74 in a transmission mode, and the sucking discs 75 are arranged on the mounting plate 74.

Preferably, the gear 34 contacts the rack 33, and the linear motion of the gear 34 is converted into circular motion through the rack 33, so that the central shaft 36 is driven to rotate, and the supporting rod 71 of the sucker assembly 73 is driven to rotate around the central shaft, so that the sucker assembly 73 is rotated to avoid to the lower part of the whole mechanism.

Preferably, the notch 55 in the mounting bracket 31 is configured to avoid interference with the mounting bracket 31 after the support rod 71 is rotated downward.

In a further embodiment of the present invention, the pull robot further includes: and a controller (not shown in the figure) is mounted on the mounting frame 31, and the controller is respectively in signal connection with the first driving piece 41, the second driving piece 72, the lifting upright 2, the AGV trolley 1 and the conveying assembly 6.

In a further embodiment of the present invention, the central shaft 36 is provided with a connecting block 37, one end of the supporting rod 71 is sleeved on the connecting block 37, and the supporting rod 71 is in limit fit with the connecting block 37 along the circumferential direction of the central shaft 36.

Preferably, a gap 8 is formed between the two conveying components 6 for the supporting rod 71 to pass through, one conveying component 6 covers the screw transmission module 42, and the other conveying component 6 covers the rack 33, the gear 34 and the guide rail 44.

The gap 8 is smaller than the width of the concave cavity 55, the structure is compact, the occupied space is small, the layout is reasonable, and the goods conveying is flexible.

According to the invention, the sucking disc mechanism 35 is used for sucking the goods, the goods are pulled onto the conveying assembly 6, when the goods are transversely conveyed through the conveying assembly 6, the sucking disc mechanism 35 is also transversely moved to assist in conveying the goods, the avoiding mechanism 3 is used for avoiding until the goods are required to be unloaded, the sucking disc mechanism 35 is rotated to the lower part of the conveying assembly 6, the lifting upright post 2 lifts the goods to the height capable of unloading in the whole conveying process, the goods loading and unloading are time-saving, the goods conveying efficiency is high, the layout is reasonable, the occupied space is small, and the cost is low.

The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.

Claims

1. A pull-in robot, comprising:

AGV trolley;

2. The pull-up robot of claim 1, wherein the elevation transport mechanism comprises: at least two lift stands, mounting bracket and at least one conveying component, the lift stand is located on the AGV dolly, the mounting bracket is located on the lift stand, conveying component locates on the mounting bracket, conveying component transversely carries the goods, the lift stand is vertically carried on the conveying component the goods.

3. The pull-up robot of claim 2, wherein the evasion mechanism comprises:

the rack is arranged on the mounting frame;

4. A pull-up robot as recited in claim 3, wherein the drive assembly comprises: the first driving piece is in transmission connection with the screw rod transmission module, so that the screw rod transmission module drives the central shaft to move along the horizontal direction.

5. The pull-and-push robot of claim 4, wherein the transmission assembly further comprises: the screw rod transmission module is in transmission connection with the first sliding block, one end of the central shaft is rotationally arranged on the first sliding block, so that the central shaft and the first sliding block move along the horizontal direction.

6. The suction and pull robot of claim 5, wherein the mounting frame is sequentially divided into a material taking area, a material moving area and a material discharging area along the length direction of the mounting frame, and the rack is arranged in the material discharging area;

the length of the rack is greater than the circumference of the gear;

7. The suction and pull robot as claimed in claim 6, wherein the mounting frame is further provided with a guide rail, the guide rail is arranged along the moving direction of the first slider, the guide rail is movably arranged on the second slider, the other end of the central shaft is rotatably connected with the second slider, and the first slider and the second slider move synchronously;

8. The suction and pull robot of claim 7, wherein the mounting frame is provided with a concave cavity, the upper side and two ends of the concave cavity are all in open arrangement, the guide rail, the screw rod transmission module, the first sliding block, the second sliding block, the central shaft and the rack are all arranged in the concave cavity, and one end of the supporting rod extends into the concave cavity.

9. The pull-and-push robot of claim 8 wherein the upper surface of the mounting frame is provided with two of the transport assemblies and the cavity is located between the two transport assemblies.

10. The pull-up robot of claim 9, wherein the suction cup mechanism comprises: the device comprises a supporting rod, a second driving piece and a sucker assembly, wherein one end of the supporting rod is arranged on the central shaft, the second driving piece is arranged on the other end of the supporting rod, and the second driving piece is in transmission connection with the sucker assembly;

11. The pull-up robot of claim 10, further comprising: the controller is installed on the installation frame, and the controller is respectively connected with the first driving piece, the second driving piece, the lifting upright post, the AGV trolley and the conveying assembly through signals.

12. The suction robot of claim 8, wherein a connecting block is fixed on the central shaft, one end of the supporting rod is sleeved on the connecting block, and the supporting rod is in limit fit with the connecting block along the circumferential direction of the central shaft.