CN117550339A - Self-moving carrying device - Google Patents

Abstract

The application discloses from removal handling device includes: a moving mechanism having a self-moving capability; the automatic carrying device is arranged on the moving mechanism and can move to a designated position along with the moving mechanism, the automatic carrying device can automatically rotate along multiple dimension directions, a first rotation angle is adjusted at the designated position according to the position and the form of a material, the clamping action of the material is carried out, after the material is clamped, the automatic carrying device is driven to move to a target position through the moving mechanism, and a second rotation angle is adjusted according to the target position, so that the material is placed at the target position. The automatic conveying device can be moved to a designated position through the automatic movement capability of the moving mechanism, so that the automatic conveying device can adjust a first rotating angle according to the position and the shape of a material and adjust a second rotating angle according to a target position, conveying of different types of materials is realized, the conveying efficiency of the automatic conveying device is improved, and the utilization rate of the automatic conveying device is increased.

Description

Self-moving carrying device

Technical Field

The application relates to the technical field of intelligent storage, in particular to a self-moving carrying device.

Background

With the continuous progress of mechanization and intellectualization in manufacturing industry, more and more automation devices are applied to product transportation and processing. Among them, the AGV (Automated Guided Vehicle, automated guided vehicles) has become an application for transporting materials in modern intelligent factories.

However, the existing automatic guiding transport vehicle only has the conveying capability, and cannot realize automatic assembly of the materials to be carried and transported, and other devices or workers are required to carry the materials to the automatic guiding transport vehicle for transportation, so that the transport efficiency of the automatic guiding transport vehicle is reduced. In addition, the automatic guiding transport vehicle only has transport capacity, so that the function of the automatic guiding transport vehicle is single, and the use ratio of the automatic guiding transport vehicle is reduced.

Therefore, how to improve the transportation efficiency and the utilization rate of the automated guided vehicle is a urgent problem for those skilled in the art.

Disclosure of Invention

The embodiment of the application provides a self-moving carrying device to solve the technical problem of how to promote the conveying efficiency and the rate of utilization of automated guided transporting vehicle among the prior art.

The embodiment of the application provides a self-moving handling device, which comprises:

the moving mechanism has self-moving capability and can move according to a preset path;

the automatic carrying device is arranged on the moving mechanism and can move to a designated position for acquiring materials along with the moving mechanism, the automatic carrying device can automatically rotate along multiple dimension directions, the designated position adjusts a first rotation angle according to the position and the form of the materials, and performs a clamping action on the materials so as to clamp the materials, and after the materials are clamped, the automatic carrying device is driven by the moving mechanism to move to a target position for unloading the materials, and adjusts a second rotation angle according to the target position so as to place the materials at the target position.

Optionally, the automatic handling device includes:

the first rotating assembly is arranged on the moving mechanism and can rotate around 360 degrees on the horizontal end face;

the second rotating assembly is arranged on the first rotating assembly, moves along with the first rotating assembly and can rotate at a first preset fan-shaped angle;

the third rotating assembly is arranged on the second rotating assembly, moves along with the second rotating assembly and can rotate around 360 degrees on the vertical end face;

the fourth rotating assembly is arranged on the third rotating assembly, moves along with the third rotating assembly and can rotate at a second preset fan-shaped angle;

the clamping component is arranged on the fourth rotating component, moves along with the fourth rotating component and executes clamping action;

and the automatic carrying control device is used for respectively controlling the first rotating assembly, the second rotating assembly, the third rotating assembly, the fourth rotating assembly and the clamping assembly to rotate at the corresponding rotating angles.

Optionally, the first rotating assembly includes:

the first supporting table is arranged on the moving mechanism;

the first driving piece is arranged in the first supporting table, and the output end of the first driving piece is arranged along the vertical direction;

the first rotating shaft is connected with the first driving piece and is driven by the first driving piece to rotate around 360 degrees on the horizontal end face.

Optionally, the second rotating assembly includes:

the second driving piece is arranged on the first rotating shaft, and the output end of the second driving piece is arranged along the first direction in the horizontal end face;

the second rotating shaft is connected with the second driving piece and is driven by the second driving piece to rotate at the first preset fan-shaped angle;

the support arm is connected to the second rotating shaft so as to synchronously move along with the second rotating shaft.

Optionally, the third rotating assembly includes:

the second supporting table is connected with the supporting arm so as to synchronously move along with the supporting arm;

the third driving piece is arranged in the second supporting table, and the output end of the third driving piece is arranged along the second direction in the horizontal end surface; the first direction is perpendicular to the second direction;

the third rotating shaft is connected with the third driving piece and synchronously rotates along with the third driving piece;

and the rotating support table is connected with the third rotating shaft so as to rotate around 360 degrees at the vertical end surface under the drive of the third rotating shaft.

Optionally, the fourth rotating assembly includes:

the output end of the fourth driving piece is arranged along the first direction in the horizontal end face;

and the fourth rotating shaft is connected with the fourth driving piece and is driven by the fourth driving piece to rotate at the second preset fan-shaped angle.

Optionally, the clamping assembly includes:

the output ends of the fifth driving parts are distributed along a third direction;

the third supporting table is connected with the outside of the fifth driving piece;

the pushing part is arranged in the third supporting table and is connected with the output end of the fifth driving part;

the guide rod is arranged in the third supporting table along the fourth direction; the third direction and the fourth direction are perpendicular;

the wedge blocks are oppositely arranged at two ends of the guide rod and can move along the guide rod; the wedge block is provided with a guide hole and is connected with the pushing piece through the guide hole;

a clamping arm connected to the wedge;

the fifth driving piece drives the position pushing piece to move in the guide hole of the wedge block so as to drive the wedge block to relatively move in the guide rod and drive the clamping arm to move.

Optionally, the method further comprises:

the guide assembly is arranged on the moving mechanism;

the screwing piece is arranged on the guide assembly and moves to a designated position under the guide of the guide assembly so as to screw and fix the bolt and the screw.

Optionally, the method comprises the following steps: the guide assembly includes:

the support piece is arranged on the moving mechanism;

the steering piece is adjustably arranged on the supporting piece;

the guide rail is connected with the steering piece and is adjusted to a corresponding height and angle along with the steering piece;

the connecting piece is arranged on the guide rail and is connected with the screwing piece.

Optionally, the moving mechanism includes:

a body;

the driving motor is arranged on the machine body and used for driving the machine body to move;

and the control device is arranged in the machine body, connected with the driving motor and used for controlling the driving motor to move according to a preset path.

Compared with the prior art, the application has the following advantages:

the embodiment of the application provides a self-moving handling device, which comprises: the moving mechanism has self-moving capability and can move according to a preset path; the automatic carrying device is arranged on the moving mechanism and can move to a designated position for acquiring materials along with the moving mechanism, the automatic carrying device can automatically rotate along multiple dimension directions, the first rotation angle is adjusted at the designated position according to the position and the form of the materials, the clamping action of the materials is executed, after the materials are clamped, the automatic carrying device is driven to move to a target position for unloading the materials through the moving mechanism, and the second rotation angle is adjusted according to the target position, so that the materials are placed at the target position.

According to the embodiment, the automatic conveying device can be moved to the designated position through the automatic movement capability of the moving mechanism, so that the automatic conveying device can carry the materials at the designated position, namely, the automatic conveying device can adjust the first rotating angle according to the position and the shape of the materials and adjust the second rotating angle according to the target position, so that the conveying of the materials in different shapes is realized, the conveying efficiency of the automatic conveying device is improved, and the utilization rate of the automatic conveying device is increased.

Drawings

Fig. 1 is a front view of a self-moving handling device according to an embodiment of the present application.

Fig. 2 is a side view of a self-moving handling device according to an embodiment of the present application.

Fig. 3 is a top view of a self-moving handling device according to an embodiment of the present disclosure.

Fig. 4 is a perspective view of yet another self-moving handling device provided in an embodiment of the present application.

Reference numerals:

the automatic handling device comprises a moving mechanism 10, a machine body 11, a driving wheel 12, a protection structure 13, a driven wheel 14, an automatic handling device 20, a first rotating assembly 1, a first rotating shaft 15, a first support arm 151, a second rotating assembly 2, a second rotating shaft 21, a support arm 22, a connecting arm 221, a first connecting rod 222, a second connecting rod 223, a third rotating assembly 3, a second supporting table 31, a third rotating shaft 32, a rotating supporting table 33, a fourth rotating assembly 4, a fourth rotating shaft 41, a gripping assembly 5, a fifth driving member 51, a third supporting table 52, a clamping arm 53, a guiding assembly 6, a supporting member 61, a steering member 62, a guiding rail 63, a connecting member 64 and a screwing member 7.

Detailed Description

For a better understanding of the objects, technical solutions and advantages of the embodiments of the present application, those skilled in the art will clearly and completely describe the technical solutions of the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application.

It is further noted that in the description, claims, and drawings described above, terms such as "on," "connected to" another element may be directly on, connected to, or may exist between the elements. In contrast, when an element is referred to as being "directly on" or "directly connected" to another element, there are no intervening elements present.

The terms "first," "second," "third," and the like in the embodiments of the present application are used for distinguishing between similar objects and not for describing a particular sequential or chronological order. The data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein, and may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise," "include," "contain," and the like, mean that there are stated features, but do not exclude one or more other features. Spatially relative terms such as "upper," "lower," "left," "right," "front," "rear," and the like, may be used to refer to a spatial relationship of one feature to another in the drawings, and it is understood that the spatially relative terms may be used to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, when the device in the figures is inverted, features that are "below" its features are described as "above" its features.

The embodiment of the application provides a from mobile handling device to how to promote the transport efficiency and the technical problem of availability factor of automated guided transporting vehicle among the solution prior art.

As shown in fig. 1 to 4, an embodiment of the present application provides a self-moving handling device, including: the automatic conveyance device 20 includes a movement mechanism 10 and an automatic conveyance device 20, wherein the movement mechanism 10 has a self-movement capability and can move along a predetermined path. The automatic handling device 20 is arranged on the moving mechanism 10, and can move to a designated position for acquiring materials along with the moving mechanism 10, the automatic handling device 20 can automatically rotate along multiple dimension directions, a first rotation angle is adjusted at the designated position according to the position and the form of the materials, the clamping action of the materials is performed, after the materials are clamped, the automatic handling device 20 is driven by the moving mechanism 10 to move to a target position for unloading the materials, and a second rotation angle is adjusted according to the target position, so that the materials are placed at the target position. The specific structure and connection manner of each device will be specifically described as follows.

Specifically, in the present embodiment, the moving mechanism 10 includes: the device comprises a machine body 11, a driving motor, a control device, a driving wheel 12 and a driven wheel 14, wherein the machine body 11 is a supporting carrier of the moving mechanism 10 and is also a protective shell of the moving mechanism 10. The body 11 may be provided therein with a driving motor and a control device, and the automatic object carrying device 20 may be provided on the body 11. Specifically, the driving motor is disposed in the machine body 11 and is connected to a driving wheel 12 disposed on a base of the machine body 11, so as to drive the machine body 11 to move by driving the driving wheel 12. Driven wheels 14 are provided at corners of the base of the body 11 for providing support to the body 11 and smooth movement. The control device is disposed in the machine body 11, and in one example, the control device is used for controlling a first control device for moving the moving mechanism 10 and a second control device for controlling the automatic conveying device 20 to operate, wherein the first control device is connected with the driving motor in a communication manner and is used for controlling the driving motor to move according to a preset path. The second control device is in communication with the automatic handling device 20 and is used for controlling the automatic handling device 20 to rotate to a corresponding height and angle. The first control device and the second control device can communicate to cooperate with each other to complete the control operation of the moving mechanism 10 and the automatic conveying device 20.

In an example, the mobile mechanism 10 further includes a battery assembly including a battery pack for acquiring electric energy provided by an external power source, a charging interface for storing electric energy and discharging electric energy, and a discharging interface connected to the mobile mechanism 10 and the automatic conveying device 20, respectively, for providing electric energy to the mobile mechanism 10 and the automatic conveying device 20.

In an example, the moving mechanism 10 further includes a sensing device or a laser device for acquiring travel information in the moving route, where the travel information includes path information, obstacle information, material information, and the like. The sensing device or the laser device feeds back the acquired traveling information to the first control device and the second control device, and the first control device and the second control device control the moving mechanism 10 and the automatic conveying device 20 to acquire materials and place the materials according to the traveling information.

In an example, the moving mechanism 10 further includes a protection structure 13, and the protection structure 13 is disposed at a circumferential side of a bottom of the body 11, for preventing the body 11 from being crashed or deformed when the body 11 collides.

In one example, the moving mechanism 10 further includes a receiving member disposed on an upper end surface of the body 11 for receiving the materials operated by the automatic conveying device 20 and the external device. The accommodating part comprises a material frame or a supporting frame.

In this embodiment, the automatic handling device 20 is disposed on the moving mechanism 10, and can move to a designated position along with the moving mechanism 10, the automatic handling device 20 can rotate along multiple dimension directions, and adjust a first rotation angle at the designated position according to the position and shape of the material, and perform a clamping action on the material, so as to clamp the material, and then drive the automatic handling device 20 to move to a target position through the moving mechanism 10, and adjust a second rotation angle according to the target position, so as to place the material at the target position.

Specifically, in one example, the automated handling apparatus 20 includes: the device comprises a supporting base, a first rotating assembly 1, a second rotating assembly 2, a third rotating assembly 3, a fourth rotating assembly 4, a clamping assembly 5 and an automatic conveying control device. The first rotating assembly 1 is arranged on the moving mechanism 10 and can rotate around 360 degrees on the horizontal end surface. The second rotating assembly 2 is arranged on the first rotating assembly 1, moves along with the first rotating assembly 1 and can rotate at a preset fan-shaped angle. The third rotating assembly 3 is arranged on the second rotating assembly 2, moves along with the second rotating assembly 2 and can rotate around 360 degrees on the vertical end face. The fourth rotating component 4 is arranged on the third rotating component 3, moves along with the third rotating component 3 and can rotate at a preset fan-shaped angle. The clamping component 5 is arranged on the fourth rotating component 4 so as to move along with the fourth rotating component 4 and execute clamping action. The automatic carrying control device is arranged in the supporting base and is used for respectively controlling the rotating angles of the first rotating assembly 1, the second rotating assembly 2, the third rotating assembly 3, the fourth rotating assembly 4 and the clamping assembly 5 in the corresponding rotating directions, and the rotating angles of the assemblies jointly form a first rotating angle adjusted according to the position and the form of the material and a second rotating angle adjusted according to the target position. The automatic conveyance control device may be the same device as the second control device, or may be an equivalent device independent of the second control device.

The specific structure and connection relationship of the first rotating assembly 1, the second rotating assembly 2, the third rotating assembly 3, the fourth rotating assembly 4, and the gripping assembly 5 will be further described as follows.

In an example, the first rotating assembly 1 includes a first supporting table, a first driving member and a first rotating shaft 15, wherein the first supporting table is disposed on the moving mechanism 10, and specifically, disposed inside the machine body 11 of the moving mechanism 10, and the first supporting table may be fixedly connected with the supporting base. The first supporting table is arranged in the machine body 11 of the moving mechanism 10 and fixedly connected with the supporting base, so that the gravity center of the first supporting table can be lowered, and the stability is improved. In this embodiment, the first supporting platform is used as a base of the whole automatic conveying device 20, which is generally provided with a large volume and a low center of gravity, and is fixedly connected with the body 11 of the moving mechanism 10, so as to improve the stability of the automatic conveying device 20 provided on the body 11 of the moving mechanism 10.

The first driving piece is arranged in the first supporting table, the fixed end of the first driving piece is fixed on the bottom wall of the first supporting table, and the output end of the first driving piece passes through the machine body 11 of the moving mechanism 10 along the vertical direction. In one example, the first driver is a drive motor. The first rotating shaft 15 is connected with the first driving piece so as to rotate around 360 degrees on the horizontal end face under the drive of the first driving piece. In an example, the first rotation shaft 15 is connected to the output end of the first driving member, and the first rotation shaft 15 is disposed higher than the upper end surface of the body 11 of the moving mechanism 10, so that the first rotation shaft 15 does not contact with the body 11 of the moving mechanism 10 when rotated. In an example, a first support arm 151 is disposed outside the first rotating shaft 15, and the first support arms 151 are two and are disposed on the first rotating shaft 15 oppositely. The first arm 151 forms an included angle with the upper end face of the body 11 of the moving mechanism 10, and the included angle can be an acute angle, a right angle or an obtuse angle.

The second rotating assembly 2 is arranged on the first rotating assembly 1, moves along with the first rotating assembly 1 and can rotate at a first preset fan-shaped angle. Specifically, in one example, the second rotating assembly 2 includes a second driving member, a second rotating shaft 21, and a supporting arm 22, where the second driving member is disposed on the first rotating shaft 15, and specifically, on a first supporting arm 151 disposed on an outer side of the first rotating shaft 15, and an output end of the second driving member is disposed along a first direction in the horizontal end surface, where the first direction is a front-rear (in-plane-vertical and out-direction) direction as shown in fig. 2. In one example, the second driver is a drive motor. The second rotating shaft 21 is connected to the second driving member to rotate at a first preset fan angle under the driving of the second driving member. In this embodiment, the second driving member drives the second rotating shaft 21 to rotate at a first preset fan angle, which is mainly set based on the range of the included angle between the upper end surface of the body 11 of the moving mechanism 10 and the first rotating shaft 15, and the supporting arm 22 is connected to the second rotating shaft 21 to move synchronously with the second rotating shaft 21, and the supporting arm 22 rotates within the range of the included angle between the upper end surface of the body 11 of the moving mechanism 10 and the first rotating shaft 15, i.e. the supporting arm 22 rotates at the first preset fan angle between the upper end surface of the body 11 of the moving mechanism 10 and the first rotating shaft 15. In an example, the support arm 22 includes a connection arm 221 and a link arm, and the link arm includes a first link 222 and a second link 223, wherein one end of the connection arm 221 is connected to the second rotation shaft 21, the other end of the connection arm 221 is connected to the second support table 31 (described below) of the third rotation assembly 3, one end of the first link 222 is connected to the second rotation shaft 21, the other end is movably connected to one end of the second link 223, and the other end of the second link 223 is connected to the third rotation shaft 32 (described below) of the third rotation assembly 3. The first link 222 and the second link 223 are movably connected, so that the support arm 22 can flexibly rotate while providing stable support during rotation.

The third rotating assembly 3 is arranged on the second rotating assembly 2, moves along with the second rotating assembly 2 and can rotate around 360 degrees on the vertical end face. Specifically, in an example, the third rotating assembly 3 includes a second support table 31, a third driving member, a third rotating shaft 32, and a rotating support table 33, wherein the second support table 31 is connected to the support arm 22 to move synchronously with the support arm 22. In an example, the second support table 31 is connected to the connection arm 221 of the support arm 22 corresponding to the specific structure of the support arm 22. In an example, the second support table 31 is connected to the connecting arm 221 of the support arm 22 through a first connecting shaft, the first connecting shaft can adjust the relative angle of the second support table 31 to the connecting arm 221 of the support arm 22, and when the connecting arm 221 of the support arm 22 drives the second support table 31 to rotate, the first connecting shaft is fixedly connected to the connecting arm 221 of the support arm 22.

The third driving member is disposed inside the second supporting table 31, and an output end of the third driving member is disposed along the second direction in the horizontal end surface. Wherein in an example, the third driving member is a driving motor. The second direction is the left-right direction as shown in fig. 2, and the first direction and the second direction are perpendicular. The third rotation shaft 32 is connected to the third driving member to rotate synchronously with the third driving member. In one example, the third rotary shaft 32 is disposed around the output end of the third drive member. In an example, the third rotation shaft 32 is connected to the other end of the second link 223 corresponding to the specific structure of the support arm 22. In an example, the third rotation shaft 32 is connected to the second link 223 of the support arm 22 through a second connection rotation shaft, the second connection rotation shaft can adjust the relative angle of the third rotation shaft 32 to the second link 223 of the support arm 22, and when the second link 223 of the support arm 22 drives the third rotation shaft 32 to rotate, the second connection rotation shaft is fixedly connected to the connection of the third rotation shaft 32 to the second link 223 of the support arm 22.

The rotation supporting table 33 is connected with the third rotation shaft 32 so as to rotate around 360 degrees on the vertical end face under the drive of the third rotation shaft 32, the first rotation shaft 15 can be driven to rotate around 360 degrees on the horizontal end face based on the first driving piece, the rotation supporting table 33 rotates around 360 degrees on the vertical end face under the drive of the third rotation shaft 32, the output end of the second driving piece is arranged along the first direction in the horizontal end face, the output end of the third driving piece is arranged along the second direction in the horizontal end face, and thus the rotating angles of all the components jointly form a first rotating angle adjusted according to the position and the form of the material and a second rotating angle adjusted according to the target position. In one example, the second arms are provided on the outer side of the rotation support table 33 in the horizontal direction, and the second arms are provided in two and are oppositely provided on the rotation support table 33.

The fourth rotating component 4 is arranged on the third rotating component 3, moves along with the third rotating component 3 and can rotate at a second preset fan-shaped angle. Specifically, in one example, the fourth rotating assembly 4 includes a fourth driving member and a fourth rotating shaft 41, wherein the fourth driving member is disposed on the rotating support 33, and specifically, on the second arm of the rotating support 33. The output end of the fourth driving member is disposed along the first direction in the horizontal end surface. In one example, the fourth drive is a drive motor. The fourth rotating shaft 41 is connected to the fourth driving member to rotate at a second preset fan angle under the driving of the fourth driving member. In an example, the second preset fan angle may coincide with the first preset fan angle.

The clamping component 5 is arranged on the fourth rotating component 4 so as to move along with the fourth rotating component 4 and execute clamping action. Specifically, in one example, the gripping assembly 5 includes a fifth driving element 51, a third supporting table 52, a pushing element, a guide rod, a wedge block and a clamping arm 53, where the fifth driving element 51 drives the pushing element to move in the guide hole of the wedge block so as to drive the wedge block to relatively move in the guide rod and drive the clamping arm 53 to move. The fifth driving member 51 is disposed on the fourth rotating shaft 41 to rotate along with the fourth rotating shaft 41, and output ends of the fifth driving member 51 are distributed along the third direction, where in an example, the fifth driving member 51 is a driving hydraulic cylinder or a driving pneumatic cylinder. The third direction is a direction toward the third support table 52. The third support stand 52 is connected to the outside of the fifth driving member 51 to support and connect the outside of the fifth driving member 51 to the third support stand 52. The pushing element is connected to the output end of the fifth driving element 51, and the pushing element is disposed inside the third supporting table 52, so as to move along with the output end of the fifth driving element 51 in the third direction. In one example, an end surface of the pusher is provided on the raised boss. The guide bar is provided inside the third support table 52 in the fourth direction, wherein the third direction and the fourth direction are perpendicular. The wedge blocks are oppositely arranged at two ends of the guide rod and can move along the guide rod. Wherein in one example the wedges have guide holes, the guide holes on both wedges form an eight-character shape, which is determined by the direction of extension of the output end of the fifth driver 51. The wedge block is connected with the position pushing piece through the guide hole, in particular, the wedge block is connected with the protruding piece of the position pushing piece through the guide hole, and the protruding piece of the position pushing piece can move along the splayed guide hole, so that the wedge block is driven to move along the guide rod oppositely. The clamping arms 53 are connected to the wedges to clamp the material when the wedges face opposite along the guide rods, and conversely, the wedges release the material when the wedges face opposite along the guide rods, thereby clamping and releasing the material.

In one example, the automated handling device 20 comprises: support base, first rotating assembly 1, second rotating assembly 2, third rotating assembly 3, fourth rotating assembly 4, fifth rotating assembly, clamping assembly 5 and automatic handling controlling means. The first rotating assembly 1 is arranged on the moving mechanism 10 and can rotate around 360 degrees on the horizontal end surface. The second rotating assembly 2 is arranged on the first rotating assembly 1, moves along with the first rotating assembly 1 and can rotate at a preset fan-shaped angle. The third rotating assembly 3 is arranged on the second rotating assembly 2, moves along with the second rotating assembly 2 and can rotate around 360 degrees on the vertical end face. The fourth rotating component 4 is arranged on the third rotating component 3, moves along with the third rotating component 3 and can rotate at a preset fan-shaped angle. The fifth rotating assembly is arranged on the fourth rotating assembly 4 to move along with the fourth rotating assembly 4, and can rotate 360 degrees in the direction perpendicular to the direction in which the fourth rotating assembly 4 is arranged. The clamping component 5 is arranged on the fifth rotating component so as to rotate along with the fifth rotating component and execute clamping action. The automatic carrying control device is arranged in the supporting base and is used for respectively controlling the rotation angles of the first rotating assembly 1, the second rotating assembly 2, the third rotating assembly 3, the fourth rotating assembly 4, the fifth rotating assembly and the clamping assembly 5 in the corresponding rotation directions. The automatic conveyance control device may be the same device as the second control device, or may be an equivalent device independent of the second control device.

The automatic handling device 20 of the above embodiment has a fifth rotating component that is added to the automatic handling device 20 of the above embodiment, and the structures of other components are not changed, so that repeated description is omitted. The specific structure of the fifth rotating assembly will be described below, and in particular, the fifth rotating assembly includes a rotating motor and a rotating shaft, wherein the rotating motor is disposed on the fourth rotating shaft 41, an output end of the rotating motor is perpendicular to a distribution direction of the fourth rotating shaft 41, and the rotating shaft is disposed on an output end of the rotating motor to synchronously perform 360-degree rotation along with the output end of the rotating motor. The fifth driving member 51 of the gripping assembly 5 is provided to the rotation shaft of the fifth rotating assembly.

In this embodiment, in order to be convenient for install some devices when upper and lower material, this installation mainly means to screw the device such as material through bolt, screw and fix, to this, still includes from the removal handling device: the guide assembly 6 and the screwing piece 7, wherein the guide assembly 6 is arranged on the moving mechanism 10, and can be specifically arranged on the upper end face of the machine body 11 of the moving mechanism 10. In an example, the guide assembly 6 includes a support member 61, a steering member 62, a guide rail 63, and a connecting member 64, wherein the support member 61 is provided on the moving mechanism 10, and may be specifically provided on an upper end surface of the body 11 of the moving mechanism 10. In one example, the support 61 includes a support disk and a support column. Wherein, the supporting plate is movably or fixedly arranged on the upper end face of the machine body 11 of the moving mechanism 10, the supporting plate is arranged on the accommodating groove, the supporting column body is fixed in the accommodating groove, and a plurality of through holes are distributed on the supporting column body along the extending direction of the column body. The steering member 62 is adjustably provided to the support member 61. In one example, the steering member 62 is adjustably provided to the support column corresponding to the structure of the support member 61. In an example, the steering member 62 includes a positioning block and a positioning column, wherein the positioning block has a through hole along a vertical direction and a connecting hole along a horizontal direction, the positioning block is inserted into the supporting column body through the through hole along the vertical direction, and the positioning column is inserted into the connecting hole along the horizontal direction and the through hole on the supporting column body to adjustably locate the positioning block on the supporting member 61.

The guide rail 63 is connected with the steering member 62 to be adjusted to a corresponding height and angle with the steering member 62. In one example, the guide rail 63 is fixedly connected to the steering member 62 at a vertical position. In an example, the connection between the guide rail 63 and the steering member 62 may be adjustable, that is, the guide rail 63 and the steering member 62 are connected by screw holes and bolts, specifically, screw holes are provided in the guide rail 63 and the steering member 62, and after the relative angle between the guide rail 63 and the steering member 62 is adjusted, the bolts are screwed into the screw holes of the guide rail 63 and the steering member 62, so as to realize the connection between the guide rail 63 and the steering member 62. The connecting piece 64 is provided on the guide rail 63, can slide along the guide rail 63, and the connecting piece 64 can be connected with the screwing piece 7.

The screwing piece 7 is arranged on the guide assembly 6 and moves to a designated position under the guide of the guide assembly 6 so as to screw and fix the bolt and the screw. Specifically, corresponding to the specific structure of the guide assembly 6, the screwing piece 7 is connected to the connecting piece 64, and the position of the screwing piece 7 relative to the connecting piece 64 is adjustable.

In the embodiment, the guide assembly 6 and the screwing piece 7 can screw and fix devices such as materials through bolts and screws when the materials are arranged on and off, so that the assembly of the materials is directly completed, the materials are not required to be transported to the designated procedure positions for assembly, the complexity of procedure operation is reduced, and the assembly and transportation efficiency is improved.

The embodiment provides a self-moving handling device, including: the moving mechanism 10 has self-moving capability and can move according to a preset path; the automatic handling device 20 is arranged on the moving mechanism 10, and can move to a designated position for acquiring materials along with the moving mechanism 10, the automatic handling device 20 can automatically rotate along multiple dimension directions, adjusts a first rotation angle at the designated position according to the position and the form of the materials, and performs a clamping action on the materials so as to clamp the materials, and after clamping the materials, the automatic handling device 20 is driven by the moving mechanism 10 to move to a target position for unloading the materials, and adjusts a second rotation angle according to the target position so as to place the materials at the target position.

According to the embodiment, the automatic conveying device 20 can be moved to the designated position by the self-moving capability of the moving mechanism 10, so that the automatic conveying device 20 can carry the materials at the designated position, namely, the automatic conveying device 20 can adjust the first rotating angle according to the position and the shape of the materials and adjust the second rotating angle according to the target position, so that the conveying of the materials in different forms can be realized, the conveying efficiency of the automatic conveying device can be improved, and the utilization rate of the automatic conveying device is increased.

While the invention has been described with reference to the preferred embodiments, the scope of the invention is not limited thereto, and any person skilled in the art can make possible variations and modifications without departing from the spirit and scope of the invention. The scope of protection of the present application should therefore be determined by the claims of the present application.

Claims (10)

1. A self-moving handling device, comprising:

the moving mechanism has self-moving capability and can move according to a preset path;

the automatic carrying device is arranged on the moving mechanism and can move to a designated position for acquiring materials along with the moving mechanism, the automatic carrying device can automatically rotate along multiple dimension directions, the designated position adjusts a first rotation angle according to the position and the form of the materials, and performs a clamping action on the materials so as to clamp the materials, and after the materials are clamped, the automatic carrying device is driven by the moving mechanism to move to a target position for unloading the materials, and adjusts a second rotation angle according to the target position so as to place the materials at the target position.

2. The self-moving handling device of claim 1, wherein the automatic handling device comprises:

the first rotating assembly is arranged on the moving mechanism and can rotate around 360 degrees on the horizontal end face;

the second rotating assembly is arranged on the first rotating assembly, moves along with the first rotating assembly and can rotate at a first preset fan-shaped angle;

the third rotating assembly is arranged on the second rotating assembly, moves along with the second rotating assembly and can rotate around 360 degrees on the vertical end face;

the fourth rotating assembly is arranged on the third rotating assembly, moves along with the third rotating assembly and can rotate at a second preset fan-shaped angle;

the clamping component is arranged on the fourth rotating component, moves along with the fourth rotating component and executes clamping action;

and the automatic carrying control device is used for respectively controlling the first rotating assembly, the second rotating assembly, the third rotating assembly, the fourth rotating assembly and the clamping assembly to rotate at the corresponding rotating angles.

3. The self-moving handling device according to claim 2, wherein said first rotating assembly comprises:

the first supporting table is arranged on the moving mechanism;

the first driving piece is arranged in the first supporting table, and the output end of the first driving piece is arranged along the vertical direction;

the first rotating shaft is connected with the first driving piece and is driven by the first driving piece to rotate around 360 degrees on the horizontal end face.

4. A self-moving handling device according to claim 3, wherein said second rotating assembly comprises:

the second driving piece is arranged on the first rotating shaft, and the output end of the second driving piece is arranged along the first direction in the horizontal end face;

the second rotating shaft is connected with the second driving piece and is driven by the second driving piece to rotate at the first preset fan-shaped angle;

the support arm is connected to the second rotating shaft so as to synchronously move along with the second rotating shaft.

5. The self-moving carrier as defined in claim 4, wherein said third rotating assembly comprises:

the second supporting table is connected with the supporting arm so as to synchronously move along with the supporting arm;

the third driving piece is arranged in the second supporting table, and the output end of the third driving piece is arranged along the second direction in the horizontal end surface; the first direction is perpendicular to the second direction;

the third rotating shaft is connected with the third driving piece and synchronously rotates along with the third driving piece;

and the rotating support table is connected with the third rotating shaft so as to rotate around 360 degrees at the vertical end surface under the drive of the third rotating shaft.

6. The self-moving carrier as defined in claim 5, wherein said fourth rotating assembly comprises:

the output end of the fourth driving piece is arranged along the first direction in the horizontal end face;

and the fourth rotating shaft is connected with the fourth driving piece and is driven by the fourth driving piece to rotate at the second preset fan-shaped angle.

7. The self-moving handling device according to claim 6, wherein said gripping assembly comprises:

the output ends of the fifth driving parts are distributed along a third direction;

the third supporting table is connected with the outside of the fifth driving piece;

the pushing part is arranged in the third supporting table and is connected with the output end of the fifth driving part;

the guide rod is arranged in the third supporting table along the fourth direction; the third direction and the fourth direction are perpendicular;

the wedge blocks are oppositely arranged at two ends of the guide rod and can move along the guide rod; the wedge block is provided with a guide hole and is connected with the pushing piece through the guide hole;

a clamping arm connected to the wedge;

the fifth driving piece drives the position pushing piece to move in the guide hole of the wedge block so as to drive the wedge block to relatively move in the guide rod and drive the clamping arm to move.

8. The self-moving handling device according to claim 1, further comprising:

the guide assembly is arranged on the moving mechanism;

the screwing piece is arranged on the guide assembly and moves to a designated position under the guide of the guide assembly so as to screw and fix the bolt and the screw.

9. The self-moving handling device according to claim 8, comprising: the guide assembly includes:

the support piece is arranged on the moving mechanism;

the steering piece is adjustably arranged on the supporting piece;

the guide rail is connected with the steering piece and is adjusted to a corresponding height and angle along with the steering piece;

the connecting piece is arranged on the guide rail and is connected with the screwing piece.

10. The self-moving handling device according to claim 1, wherein said moving mechanism comprises:

a body;

the driving motor is arranged on the machine body and used for driving the machine body to move;

and the control device is arranged in the machine body, connected with the driving motor and used for controlling the driving motor to move according to a preset path.