CN212449141U - Transfer robot - Google Patents

Abstract

The utility model discloses a transfer robot, which comprises an unmanned transfer vehicle, a support frame, a lifting mechanism and a telescopic mechanism, wherein the support frame is arranged at the top of the unmanned transfer vehicle, and the shape of the support frame is arranged in a shape of Chinese character kou; the lifting mechanism is arranged on the support frame and is positioned on the inner wall of the support frame; the telescopic mechanism is arranged on the lifting mechanism, and the lifting mechanism and the telescopic mechanism are simultaneously electrically connected with a control end arranged on the outer wall of the support frame. The utility model discloses a transfer robot can realize independently getting of co-altitude position material and put and transport, can constitute flexible commodity circulation handling system with other robots.

Description

Transfer robot

Technical Field

The utility model relates to a robot equipment, concretely relates to transfer robot.

Background

In the existing goods carrying robot for factory production, when carrying out goods carrying, the top of a goods supporting plate placed on the goods carrying robot is lifted up by manpower, then the goods is transported and carried by the goods carrying robot, the labor is consumed, the problem of dumping can also occur in the carrying process of the existing robot, the goods fall off, and the produced goods are damaged. Nowadays, the automation of warehouses is dominated by an automated stereoscopic warehouse system, which is usually combined by storage racks, rail stackers, warehouse entry and exit equipment, logistics conveying and sorting equipment, and a weak current control and Warehouse Management System (WMS), but the stereoscopic warehouse system is only suitable for large warehouses and has poor flexibility.

SUMMERY OF THE UTILITY MODEL

To the problem that prior art exists, the utility model provides a transfer robot.

The technical scheme of the utility model is that:

a transfer robot comprises an unmanned transfer vehicle, a support frame, a lifting mechanism and a telescopic mechanism, wherein the support frame is arranged at the top of the unmanned transfer vehicle, and the shape of the support frame is arranged in a square shape; the lifting mechanism is arranged on the support frame and is positioned on the inner wall of the support frame; the telescopic mechanism is arranged on the lifting mechanism, and the lifting mechanism and the telescopic mechanism are simultaneously electrically connected with a control end arranged on the outer wall of the support frame.

The lifting mechanism comprises a supporting rod, a motor, a driving wheel and a belt, the supporting rod is installed on the supporting frame, the motor is installed at the top of the supporting frame, and the driving wheel is installed on a rotating shaft of the motor and is connected with the telescopic mechanism through the belt.

The telescopic mechanism comprises a supporting plate, a telescopic supporting plate, two telescopic clamping plates, a telescopic driving motor I and a telescopic driving motor II, the supporting plate is connected with a supporting rod on the supporting frame through a sliding shaft sleeve, and the supporting plate is provided with an opening corresponding to the supporting rod; the telescopic supporting plate is installed on the supporting plate, the two clamping plates are installed on the two sides of the supporting plate respectively, and the first telescopic driving motor and the second telescopic driving motor are installed on the supporting plate. The telescopic clamping plate is also provided with a hook.

Adopt the technical scheme of the utility model, following beneficial effect has:

1. the AGV robot achieves autonomous goods storage and taking according to the instruction of the upper-layer WMS without the limitation of rails or bar codes, and the layout of the goods shelf has larger change and flexibility;

2. the automatic butt joint with an upper-layer WMS control system can be realized, a picking, placing and carrying task sent by the WMS is received, materials are automatically conveyed, and the WMS is automatically fed back after the task is completed;

3. a plurality of AGV robots can form a flexible logistics carrying system, so that full-automatic article carrying is realized, and articles on the rack can be directly grabbed or placed on the goods shelf after the automatic material carrying system is provided with a mechanical arm.

Drawings

FIG. 1 is a schematic view of the present invention;

fig. 2 is a schematic structural view of the lifting mechanism of the present invention;

fig. 3 is a schematic structural view of the telescopic mechanism of the present invention;

fig. 4 is an assembly use diagram of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 3, the present invention provides a transfer robot, including an automated guided vehicle 1, a support frame 2, a lifting mechanism 3, and a telescoping mechanism 4, wherein the support frame 2 is mounted on the top of the automated guided vehicle 1, and the shape thereof is in a square shape; the lifting mechanism 3 is arranged on the support frame 2 and is positioned on the inner wall of the support frame 2; the telescopic mechanism 4 is installed on the lifting mechanism 3, and the lifting mechanism 3 and the telescopic mechanism 4 are simultaneously electrically connected with the control end 5 installed on the outer wall of the support frame.

The lifting mechanism 3 comprises a support rod 301, a motor 302, a driving wheel 303 and a belt 304, wherein the support rod 301 is installed on the support frame 2, the motor 302 is installed at the top of the support frame 2, and the driving wheel 303 is installed on a rotating shaft of the motor 302 and is connected with the telescopic mechanism 4 through the belt 304. Preferably, the support frame is also provided with a driven wheel, and the driven wheel is connected with a driving wheel 303 through a belt 304.

The telescopic mechanism 4 comprises a supporting plate 401, a telescopic supporting plate 402, two telescopic clamping plates 403, a first telescopic driving motor 404 and a second telescopic driving motor 405, the supporting plate 401 is connected with the supporting rod 301 on the supporting frame 2 through a sliding shaft sleeve, and the supporting plate 401 is provided with an opening corresponding to the supporting rod 301; the telescopic supporting plate 402 is installed on the supporting plate 401, the two telescopic clamping plates 403 are respectively installed on two sides of the supporting plate 401, and the first telescopic driving motor 404 and the second telescopic driving motor 405 are both installed on the supporting plate 401.

The telescopic clamping plate 403 is also provided with a hook 406.

The carrying robot of the utility model can pre-arrange a buckle ring on the goods or goods storage box in the aspect of coping with the positioning deviation, so that the hook on the clamp plate can be conveniently grabbed; or a gap larger than the deviation of the AGV is reserved between the goods and the telescopic mechanism, and the goods can still be smoothly hooked within the deviation range.

Meanwhile, the extension stroke of the telescopic mechanism has an adjusting function, so that the distance between the telescopic mechanism and the goods can be changed, the telescopic mechanism stops at a hooking position, the hook hooks the snap ring, and then the goods are pulled out; the stroke of the telescopic mechanism can exceed the maximum deviation amount of the AGV, and the hooking mechanism extends to the rear part of the goods and takes out the goods in a holding mode.

The utility model discloses the theory of operation does: the utility model discloses a transfer robot cooperates WMS control system to use, and a plurality of AGV robots can constitute flexible commodity circulation handling system, refer to FIG. 4, telescopic machanism 4 can reciprocate along support frame 2, and the backup pad 401 of telescopic machanism 4 is connected with the bracing piece 301 of elevating system 3 through the slip axle sleeve to be connected with the belt 304 of elevating system 3, can make belt 304 rotate by motor 303 control, thereby control telescopic machanism 4 to remove, make telescopic machanism 4 reciprocate along bracing piece 301; install flexible driving motor 404 and flexible driving motor two 405 on the backup pad 401 respectively, flexible driving motor is steerable two flexible splint 403 and is removed along the left-right movement of support frame, control flexible layer board 402 and two splint 403 and remove between goods shelves and support frame promptly, when splint removed to the goods both sides, can stretch out by two flexible driving motor control flexible splint 403, the case is hooked in the rotation of back hook 406 that targets in place, then flexible driving motor 404 and 405 make flexible splint 403 retract, hook the case and deliver to on flexible layer board 402, the operation of getting the goods is got with this completion. After the robot receives a WMS (Wireless Management System) material taking and placing instruction, the AGV walks to a position, the lifting mechanism rises to a specified height, the telescopic mechanism and the hooking mechanism catch the specified material onto the telescopic supporting plate, and then the AGV sends the material to the specified position and feeds the material back to the WMS.

Installing laser radar on the AGV, scanning the place earlier, making a deficiency-type intended map, and setting up each parking position on the map. When the AGV runs normally, the AGV robot can move to a preset position automatically according to WMS indication, and the positioning and obstacle avoidance are carried out by means of the laser radar in the period.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims (4)

1. A transfer robot, characterized in that: the automatic guided vehicle comprises an automatic guided vehicle, a support frame, a lifting mechanism and a telescopic mechanism, wherein the support frame is arranged at the top of the automatic guided vehicle, and the shape of the support frame is square; the lifting mechanism is arranged on the support frame and is positioned on the inner wall of the support frame; the telescopic mechanism is arranged on the lifting mechanism, and the lifting mechanism and the telescopic mechanism are simultaneously electrically connected with a control end arranged on the outer wall of the support frame.

2. The transfer robot of claim 1, wherein: the lifting mechanism comprises a supporting rod, a motor, a driving wheel and a belt, the supporting rod is installed on the supporting frame, the motor is installed at the top of the supporting frame, and the driving wheel is installed on a rotating shaft of the motor and is connected with the telescopic mechanism through the belt.

3. The transfer robot of claim 2, wherein: the telescopic mechanism comprises a supporting plate, a telescopic supporting plate, two telescopic clamping plates, a telescopic driving motor I and a telescopic driving motor II, the supporting plate is connected with a supporting rod on the supporting frame through a sliding shaft sleeve, and the supporting plate is provided with an opening corresponding to the supporting rod; the telescopic supporting plate is installed on the supporting plate, the two telescopic clamping plates are installed on two sides of the supporting plate respectively, and the first telescopic driving motor and the second telescopic driving motor are installed on the supporting plate.

4. The transfer robot of claim 3, wherein: and hooks are also arranged on the two telescopic clamping plates.

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