CN212653440U - Transfer robot - Google Patents
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- CN212653440U CN212653440U CN202020785344.9U CN202020785344U CN212653440U CN 212653440 U CN212653440 U CN 212653440U CN 202020785344 U CN202020785344 U CN 202020785344U CN 212653440 U CN212653440 U CN 212653440U
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Abstract
The application discloses a transfer robot, which comprises a frame body, a battery component, a driving component, a rotating mechanism, a lifting mechanism and a gripper arranged on the lifting mechanism, wherein the frame body is connected with the driving component, the battery component is arranged on the frame body and is respectively electrically connected with the driving component, the rotating mechanism and the lifting mechanism, the driving component is used for driving the frame body to move, the rotating mechanism is arranged on the frame body, the lifting mechanism is connected with the rotating mechanism, the rotating mechanism is used for driving the gripper to rotate, the gripper is used for controlling the picking and placing height of the gripper after being used for grabbing goods, the rotating mechanism drives the lifting mechanism to rotate, the gripper drives an animal to rotate, the article can be driven to move by a driving device, the article can be placed on the frame body or can be directly placed on a storage point, and the goods are transferred by the, the cargo carrying cost is reduced, the cargo carrying efficiency is improved, and the cargo carrying strength is reduced.
Description
Technical Field
The present application relates generally to the field of handling tools, and more particularly, to a handling robot.
Background
At present, a lot of goods carrying work of factories, workshops, construction sites and the like is mainly completed by simple automatic equipment and manpower, the cost of manual carrying can be continuously increased along with the aggravation of the aging society, the existing manpower can be gradually replaced by the robot along with the continuous development of the automation technology, the efficient carrying work is realized, and the safety can be effectively guaranteed.
The transport of present goods is mostly artifical or semi-automatization transport, and intensity of labour is big, has certain potential safety hazard, and the cost lasts the rising.
SUMMERY OF THE UTILITY MODEL
In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to solve the technical problem that the cost of goods handling is high, intensity of labour is big, this application provides a transfer robot.
In order to realize the purpose of the utility model, the following technical scheme is adopted in the application:
a transfer robot comprises a frame body, a battery assembly, a driving assembly, a rotating mechanism, a lifting mechanism and a gripper arranged on the lifting mechanism;
the frame body is connected with the driving assembly, and the battery assembly is arranged on the frame body and is respectively and electrically connected with the driving assembly, the rotating mechanism, the lifting mechanism and the hand grip;
the driving assembly is used for driving the rack body to move, the rotating mechanism is installed on the rack body, the lifting mechanism is connected with the rotating mechanism, and the rotating mechanism is used for driving the gripper which grips the articles to rotate, so that the placement points of the articles are changed.
Further, in an embodiment of the present invention, the frame body includes a frame and a shelf, and the frame includes a first supporting plate, a second supporting plate and a third supporting plate which are spaced from top to bottom;
the goods shelf is connected with the first supporting plate, the driving assembly is connected with the third supporting plate, and the rotating mechanism is installed on the second supporting plate.
Further, in an embodiment of the present invention, a control processor is disposed between the first supporting plate and the second supporting plate, and the battery assembly is disposed between the second supporting plate and the third supporting plate;
the control processor is connected with the driving assembly, and the battery assembly is respectively and electrically connected with the control processor and the driving assembly.
Further, in an embodiment of the present invention, the above shelf is provided with a transmission belt and a transmission belt for transmitting the transmission belt to connect the motor, wherein the transmission belt is used for placing and transmitting the articles.
Further, in an embodiment of the present invention, the above-mentioned driving assembly includes a universal wheel, a driving motor, and a driving wheel connected to the driving motor, the driving motor is electrically connected to the battery assembly.
Further, in an embodiment of the present invention, the above-mentioned universal wheels are provided with four, and are rectangles installed in four directions of the frame body, the driving wheel install in the middle part of the frame body.
Further, in an embodiment of the utility model, laser radar is installed to above-mentioned support body, laser radar is used for the scanning the mobile environment of robot.
Further, in an embodiment of the present invention, the above-mentioned rotating mechanism includes a driving motor and a turntable connected to the driving motor, and the lifting mechanism is connected to the turntable.
Further, in an embodiment of the present invention, the rotating mechanism further includes a driving gear connected to the driving motor;
the rotary disc is of an internal gear structure, and the rotary disc is connected with the driving gear in an inner meshing mode.
Further, in an embodiment of the present invention, the lifting mechanism adopts a hydraulic cylinder structure or a pneumatic cylinder structure.
According to the technical scheme, the transfer robot has the advantages that: reduce the cargo handling cost, improve cargo handling efficiency, reduce cargo handling intensity.
The carrying robot comprises a frame body, a battery assembly, a driving assembly, a rotating mechanism, a lifting mechanism and a gripper, wherein the gripper is used for gripping goods, the lifting mechanism controls the gripper to take and place the height, the rotating mechanism drives the lifting mechanism to rotate, the gripper drives an animal to rotate, the driving device can drive the object to move, and the object can be placed on the frame body or can be directly placed on a storage point.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
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 for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic view illustrating a construction of a transfer robot according to an exemplary embodiment.
Fig. 2 is a schematic diagram of a rotation mechanism of a transfer robot shown according to an exemplary embodiment.
Fig. 3 is a schematic view of another perspective of a rotation mechanism of a transfer robot shown in accordance with an exemplary embodiment.
Wherein the reference numerals are as follows:
100-frame body; 200-a drive assembly; 300-a rotation mechanism; 400-a lifting mechanism; 500-hand grip; 600-a battery assembly; 700-a control processor; 800-laser radar;
110-a frame; 120-conveying belt;
111-a first support plate; 112-a second support plate; 113-a third support plate;
210-universal wheels; 220-a drive wheel;
310-a turntable; 320-a fixed bearing; 330-a drive gear; 340-driving the motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
This scheme provides a transfer robot for solve current cargo handling intensity of labour big, the cost of labor is high, handling efficiency hangs down the scheduling problem. The transfer robot comprises a frame body 100, a driving assembly 200, a rotating mechanism 300, a lifting mechanism 400, a battery assembly 600 and a hand grip 500 arranged on the lifting mechanism 400, wherein the driving assembly 200 is arranged at the bottom of the frame body 100, the driving assembly 200 is used for driving the frame body 100 to move, the battery assembly 600 and the rotating mechanism 300 are both arranged on the frame body 100, the battery assembly 600 is electrically connected with the driving assembly 200, and the battery assembly 600 is used for providing power for the driving assembly 200 to move; the lifting mechanism 400 is connected with the rotating mechanism 300, the rotating mechanism 300 rotates to drive the lifting mechanism 400 to rotate, and the gripper 500 rotates along with the lifting mechanism 400.
The height of the hand grab 500 is adjusted through the lifting mechanism 400 by the transfer robot, after the goods are grabbed by the hand grab 500, the driving device works, the transfer robot moves and drives the goods to move, the goods are transported, after the transfer robot moves to a specified place, the rotating mechanism 300 rotates, the hand grab 500 drives the goods to rotate, the goods placement position is selected, the lifting mechanism 400 drives the hand grab 500 to descend, the hand grab 500 is loosened, and the goods are transported. In this embodiment, the driving assembly 200 can be connected to the battery assembly 600 through a quick-release connector.
In the scheme, the carrying robot can move in an aluminum belt type or a roller type, electric energy is used as moving power of the carrying robot, and the battery assembly provides power for the movement of the carrying robot.
For example:
referring to fig. 1, fig. 1 representatively illustrates a structure capable of embodying a transfer robot of the present invention, including a frame body 100, a driving assembly 200, a rotating mechanism 300, a lifting mechanism 400, a gripper 500, a battery assembly 600, a control processor 700, and a laser radar 800;
the rack body 100 comprises a frame 110 and a shelf, the shelf is provided with a transmission belt 120 and a motor in transmission connection with the transmission belt 120, the transmission belt 120 is used for placing and transmitting goods, the gripper 500 grabs the goods and then places the goods on the transmission belt 120, and the transmission belt 120 can be in butt joint with a production line or an equipment rack body thereof and transmits the goods. Frame 110 includes from last first backup pad 111, second backup pad 112 and the third backup pad 113 of including the interval setting down, is provided with the support post between first backup pad 111 and the second backup pad 112 and between second backup pad 112 and the third backup pad 113, and the support post improves frame 110's structural strength.
The whole body of the frame 110 forms a three-layer structure, the top layer of the frame 110 is used for placing goods, the control processor 700 is placed in the middle layer, the battery assembly 600 is placed at the bottommost layer, the control processor 700 and the battery assembly 600 are placed in a layered mode to help the control processor 700 and the battery assembly 600 to release heat, the driving assembly 200 is connected with the third supporting plate 113, the battery assembly 600 is installed on the third supporting plate 113, and the battery assembly 600 is conveniently electrically connected with the driving assembly 200.
In fig. 1, the side of the first support plate 111 facing the rotating mechanism 300 is shorter than the second support plate 112, the rotating mechanism 300 is installed on the second support plate 112, so that the lifting mechanism 400 is vertically disposed, after the gripper 500 grips the goods, and after the rotating mechanism 300 drives the gripper 500 to rotate 180 degrees, the gripper 500 aligns with the conveying belt 120, and in the actual use process, according to the use requirement, the conveying angle of the conveying belt 120 relative to the frame 110 is designed, in this embodiment, the conveying belt 120 can output the goods from the end of the frame 110.
On the basis of above-mentioned structure and principle, can also design transmission band 110 for horizontal rotation formula structure in this scheme, change the output angle of goods for frame 110 through control processor 700, can understand: first backup pad 111 passes through the runner assembly and connects the goods shelves, and the runner assembly includes rotating electrical machines and rotates the piece, and the pivot of rotating electrical machines can be connected through belt, chain or gear drive with rotating the piece, and rotating electrical machines drives and rotates the piece rotation, rotates the piece and drives the goods shelves rotation to make transmission band 120 rotate. The rotating motor is electrically connected with the battery assembly 600 and the control processor 700, the battery assembly 600 provides power for the rotating motor to work, and the control processor 700 controls the rotating motor to work.
The output end of the transmission belt 120 can be provided with a sensor, the sensor is used for sensing the docking equipment, after the sensor senses the docking equipment, the sensor sends an electric signal to the control processor 700 after sensing the docking equipment, the control processor 700 controls the rotating motor to stop rotating, the transmission end of the transmission belt 120 is aligned to the docking equipment, and the sensor can be a proximity sensor.
For convenient tongs 500 rotates location to the transmission band in this scheme, can set for tongs 500 when towards transfer robot front side, the tongs rotates 180 around elevating system and aims at the transmission band promptly, or set up the sensor on tongs 500, be used for detecting whether being close to the transmission band, the conveyer adopts infrared sensor, when the tongs snatchs article and rotates, infrared sensor opens, when infrared sensor detects the conveyer belt, infrared sensor sends the signal of telecommunication to the control treater, control treater control rotary mechanism stall, then control elevating system descends, guarantee that article place on the transmission band.
Referring to fig. 2 and 3 in combination with fig. 1, the rotating mechanism 300 includes a turntable 310, a fixed bearing 320, a driving gear 330 and a driving motor 340, the turntable 310 is of an internal gear structure, the turntable 310 is engaged with the driving gear 330, the fixed bearing 320 is connected with the turntable 310, a driving shaft of the driving motor 340 passes through the bearing and is connected with the driving gear 330, the driving motor 340 is fixed on the frame 110, the rotating mechanism 300 can perform 180-360 ° reciprocating rotation, and can carry goods to a shelf or other angular places relative to the carrying robot, so that the carrying efficiency is improved, and compared with manual carrying, the safety of goods and personnel during carrying is ensured.
As shown in fig. 1, a control processor 700 is disposed between the first support plate 111 and the second support plate 112, a battery assembly 600 is disposed between the second support plate 112 and the third support plate 113, the battery assembly 600 includes a battery and a power manager, the power manager is connected to the battery and the control processor 700, the battery is connected to the electrical equipment on the carrier robot through the power manager, and the power manager is used for controlling the power distribution management of the carrier robot. The control processor 700 is used for controlling the operations of the driving assembly 200, the rotating mechanism 300, the lifting mechanism 400 and the gripper 500. The rotating mechanism 300 is mounted on the second support plate 112, a motor base can be mounted on the second support plate 112, and the driving motor 340 is fixed on the motor base.
The lifting mechanism 400 can adopt a hydraulic cylinder structure or a pneumatic cylinder structure, the cylinder body is mounted on the turntable 310, the end of the lever is provided with a connecting rod, the connecting rod extends in the radial direction of the lever, the hand grip 500 is mounted on the connecting rod, the lifting of the hand grip 500 is realized by the extension and retraction of the lever of the lifting mechanism 400, the carrying of goods with different heights is realized, and the movement space of the hand grip 500 in the vertical direction is increased.
On the basis of those skilled in the art, the lifting mechanism 400 is not limited to adopt a pneumatic cylinder structure or a steel pressing structure, but can be replaced by a ball screw structure, the gripper 500 is connected with a nut through a connecting rod, a screw is driven to rotate through a driving part, and the driving part is electrically connected with a battery and the control processor 700.
In order to facilitate the movement of the transfer robot, a laser radar 800 is attached to the front end of the carriage 110, and the laser radar 800 is a radar system that emits a laser beam to detect a characteristic amount such as a position and a speed of a target. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, the laser radar 800 comprises a laser transmitter, an optical receiver, a rotary table, an information processing system and the like, the laser converts the electric pulse into an optical pulse to be transmitted, and the optical receiver restores the optical pulse reflected from the target into the electric pulse. Laser radar 800 links with battery and control processor 700 electricity respectively in this scheme, and laser radar 800 is used for scanning transfer robot walking environment to convert the environmental information of scanning into the signal of telecommunication and send to control processor 700, and control processor 700 storage and processing these data for form transfer robot's operation map. The application of the laser radar 800 is the prior art, and the application theory of the laser radar 800 is not described in detail in the present scheme.
The gripper 500 may be a vacuum gripper or an electromechanical gripper 500, when the gripper 500 is a vacuum gripper, a vacuum sponge is used as the surface for gripping the goods, the gripper 500 is provided with a vacuum, and the vacuum is electrically connected to the battery and the control processor 700 and is mounted on a connecting rod. The scheme is described through each functional structure of the transfer robot, and does not relate to the contents of system, circuit, line connection and the like.
In conclusion, the scheme provides a transfer robot, goods can be placed on a rack or other areas of the robot through the grippers 500, the transfer efficiency and the safety of the goods and personnel in the transfer process are greatly improved, wherein the four universal wheels 210 support the transfer robot, two driving wheels 220 adopt two independent driving mechanisms, differential rotation can be realized, a conveying belt 120 is used for placing and conveying the goods, the grippers 500 are placed on the conveying belt 120 after grabbing the goods, and the conveying belt 120 can be butted with a production line or an equipment frame body 100 thereof and can convey the goods; the rotating mechanism 300 is connected with the lifting mechanism 400, the lifting mechanism 400 is connected with the gripper 500, lifting and rotating of the gripper 500 are achieved, the gripper 500 can grip goods with different heights and different directions, the battery assembly 600 provides power for work of the driving assembly 200, the rotating mechanism 300, the lifting assembly and the gripper 500, the control processor 700 controls the driving assembly 200, the rotating mechanism 300, the lifting assembly and the gripper 500 to work, the gripper 500 adopts a vacuum gripper, and the laser radar 800 is used for scanning the operation environment of the transfer robot and creating a map, so that the operation efficiency of the transfer robot is improved, and the operation safety of the transfer robot is guaranteed.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only exemplary of the invention, and is intended to enable those skilled in the art to understand and implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A transfer robot is characterized by comprising a frame body (100), a battery assembly (600), a driving assembly (200), a rotating mechanism (300), a lifting mechanism (400) and a gripper (500) arranged on the lifting mechanism (400);
the frame body (100) is connected with the driving assembly (200), the battery assembly (600) is arranged on the frame body (100) and is respectively and electrically connected with the driving assembly (200), the rotating mechanism (300), the lifting mechanism (400) and the hand grip (500);
the driving assembly (200) is used for driving the rack body (100) to move, the rotating mechanism (300) is installed on the rack body (100), the lifting mechanism (400) is connected with the rotating mechanism (300), and the rotating mechanism (300) is used for driving the hand grip (500) to rotate.
2. The transfer robot according to claim 1, wherein the frame body (100) includes a frame (110) and a shelf, the frame (110) including a first support plate (111), a second support plate (112) and a third support plate (113) which are spaced from top to bottom;
the shelf is connected with the first support plate (111), the driving component (200) is connected with the third support plate (113), and the rotating mechanism (300) is installed on the second support plate (112).
3. The transfer robot according to claim 2, wherein a control processor (700) is provided between the first support plate (111) and the second support plate (112), and the battery assembly (600) is provided between the second support plate (112) and the third support plate (113);
the control processor (700) is connected with the driving assembly (200), and the battery assembly (600) is respectively and electrically connected with the control processor (700) and the driving assembly (200).
4. The transfer robot of claim 2, wherein the rack is equipped with a conveyor (120) and a motor drivingly connected to the conveyor (120), the conveyor (120) being used for placing and transporting articles.
5. A transfer robot as claimed in claim 1, wherein said drive assembly (200) comprises a universal wheel (210), a drive motor (340), and a drive wheel (220) drivingly connected to said drive motor (340), said drive motor (340) being electrically connected to said battery assembly (600).
6. The transfer robot as claimed in claim 5, wherein the universal wheels (210) are provided in four and are installed in four directions of the frame body (100) in a rectangular shape, and the driving wheels (220) are installed at a middle portion of the frame body (100).
7. A transfer robot as claimed in claim 1, wherein the magazine (100) is mounted with a lidar (800), the lidar (800) being adapted to scan the environment of movement of the robot.
8. The transfer robot of claim 1, wherein the rotating mechanism (300) comprises a driving motor (340) and a turntable (310) in transmission connection with the driving motor (340), and the lifting mechanism (400) is connected with the turntable (310).
9. The transfer robot of claim 8, wherein the rotating mechanism (300) further comprises a drive gear (330) connected to the drive motor (340);
the rotary disc (310) is of an internal gear structure, and the rotary disc (310) is connected with the driving gear (330) in an internal meshing mode.
10. The transfer robot according to claim 1, wherein the lifting mechanism (400) adopts a hydraulic cylinder structure or a pneumatic cylinder structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020785344.9U CN212653440U (en) | 2020-05-12 | 2020-05-12 | Transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020785344.9U CN212653440U (en) | 2020-05-12 | 2020-05-12 | Transfer robot |
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| Publication Number | Publication Date |
|---|---|
| CN212653440U true CN212653440U (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020785344.9U Active CN212653440U (en) | 2020-05-12 | 2020-05-12 | Transfer robot |
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| CN (1) | CN212653440U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104575A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Intelligent single cotton bale carrying robot |
| CN113753784A (en) * | 2021-08-20 | 2021-12-07 | 武汉理工大学 | Transfer robot |
| CN116119340A (en) * | 2023-04-04 | 2023-05-16 | 齐鲁工业大学(山东省科学院) | Intelligent transfer robot with storage function |
| CN114932418B (en) * | 2022-06-02 | 2024-02-13 | 三明市菲得美机械有限公司 | Reaming equipment and reaming process for forklift counterweight casting |
-
2020
- 2020-05-12 CN CN202020785344.9U patent/CN212653440U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104575A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Intelligent single cotton bale carrying robot |
| CN113753784A (en) * | 2021-08-20 | 2021-12-07 | 武汉理工大学 | Transfer robot |
| CN114932418B (en) * | 2022-06-02 | 2024-02-13 | 三明市菲得美机械有限公司 | Reaming equipment and reaming process for forklift counterweight casting |
| CN116119340A (en) * | 2023-04-04 | 2023-05-16 | 齐鲁工业大学(山东省科学院) | Intelligent transfer robot with storage function |
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Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Patentee after: Jingdong Technology Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Patentee before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. |
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Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Patentee after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Beijing 100176 Patentee before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |