CN214398835U - Material container handling robot system - Google Patents
Material container handling robot system Download PDFInfo
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- CN214398835U CN214398835U CN202022819731.2U CN202022819731U CN214398835U CN 214398835 U CN214398835 U CN 214398835U CN 202022819731 U CN202022819731 U CN 202022819731U CN 214398835 U CN214398835 U CN 214398835U
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Abstract
The utility model belongs to the technical field of industry equipment is transported in intelligence manufacturing commodity circulation, a material container handling robot system is related to, including independently navigation omnidirectional movement dolly, independently navigation omnidirectional movement dolly is last to install two sets of mutually independent horizontal linear motion modules, every group install a set of vertical straight line lifting module on the horizontal linear motion module respectively, and vertical straight line lifting module realizes horizontal motion by horizontal linear motion module drive, installs material container fixture on the vertical straight line lifting module, and material container fixture realizes elevating movement by vertical straight line lifting module drive, and material container fixture realizes the centre gripping to material container. The robot system can realize rapid connection and replacement of material containers rapidly and efficiently under the support of no people or other auxiliary equipment, can ensure high efficiency and rapidness of material container transfer in the field of intelligent manufacturing, and remarkably improves production efficiency.
Description
Technical Field
The utility model belongs to the technical field of industry equipment is transported in intelligence manufacturing commodity circulation, a material container transfer robot system is related to.
Background
In the nuclear chemical industry, the food industry, the cosmetic industry and the pharmaceutical industry, the efficient material flow transportation of material containers is a common operation form in the market industry. Therefore, the logistics efficiency of the material container in the industry can be greatly improved through the development of an automatic or robotized logistics handling system. Furthermore, in the production process of the above-mentioned industry, it is also involved in the quick change between empty and full material containers and the material transfer interface, and the use of a mobile single-moving-arm system not only makes it difficult to meet the load requirements, but also makes it difficult to quickly change the containers (which can be done with one's hands). If a double-arm mobile robot system is adopted, on the premise of meeting the operation requirement, a large-load mechanical arm needs to be selected, and the logistics robot system is large in size and mass and high in cost.
Disclosure of Invention
The utility model provides a to above-mentioned problem, a material container handling robot system is provided, this robot system can be under unmanned or not having other auxiliary assembly's support, realizes material container's high-speed linking change fast, high-efficiently, can guarantee the high efficiency and the agility that intelligent manufacturing field material container transported, is showing promotion production efficiency.
According to the technical scheme of the utility model: a material container handling robot system, characterized by: the device comprises an autonomous navigation omnidirectional moving trolley, wherein two sets of mutually independent horizontal linear motion modules are installed on the autonomous navigation omnidirectional moving trolley, each set of the autonomous navigation omnidirectional moving trolley is provided with a set of vertical linear motion lifting modules, the vertical linear motion lifting modules are driven by the horizontal linear motion modules to realize horizontal motion, material container clamping mechanisms are installed on the vertical linear motion lifting modules, the material container clamping mechanisms are driven by the vertical linear motion lifting modules to realize lifting motion, and the material container clamping mechanisms realize clamping of material containers.
As a further improvement of the present invention, the horizontal linear motion module comprises a horizontal linear motion module base, the horizontal linear motion module base is mounted on the upper surface of the autonomous navigation omnidirectional mobile cart, horizontal linear motion module bearing seats are respectively mounted at two ends of the bottom surface of the horizontal linear motion module base, two ends of a horizontal linear motion lead screw are rotatably supported on the horizontal linear motion module bearing seats, the horizontal linear motion lead screw is driven by a horizontal motion servo motor mounted at the end of the horizontal linear motion module base, a horizontal linear motion nut is connected to the horizontal linear motion lead screw through a thread, and a first mounting base of the horizontal linear motion nut extends out of a strip-shaped groove of the horizontal linear motion module base and is fixedly connected with a lifting module base of the vertical linear lifting module;
two horizontal linear motion module guide rails are arranged on the upper surface of the horizontal linear motion module base in parallel, and a horizontal linear motion module sliding block fixed on the bottom surface of the lifting module base is connected with the horizontal linear motion module guide rails in a sliding fit mode.
As a further improvement of the present invention, the vertical linear lifting module comprises a vertical linear lifting module base, vertical linear lifting module bearing seats are respectively installed at the upper and lower ends of one side surface of the vertical linear lifting module base, the two ends of a vertical linear lifting module lead screw are respectively rotatably supported on the vertical linear lifting module bearing seats, a vertical linear lifting module servo motor is installed on the upper portion of the vertical linear lifting module base through a support, the vertical linear lifting module servo motor drives the vertical linear lifting module lead screw, the vertical linear lifting module lead screw is in threaded connection with a vertical linear lifting module screw nut, the vertical linear lifting module screw nut is fixedly connected with a second installation base, and the second installation base extends out of a groove formed in the surface of the vertical linear lifting module base and is fixedly connected with the material container clamping mechanism;
two vertical linear lifting module guide rails are arranged on the vertical linear lifting module base in parallel, and the material container clamping mechanism is in sliding fit with the vertical linear lifting module guide rails through vertical linear lifting module sliding blocks.
As a further improvement of the utility model, the material container clamping mechanism comprises an installation bottom plate, a clamping arm installation base is installed on the installation bottom plate, a driving motor part is also installed on the installation bottom plate, the output end of the driving motor part passes through the center hole of the clamping arm installation base, a left-right-rotation integrated screw rod is arranged on the clamping arm installation base in a rotating way, the output end of the driving motor part and the left-right-rotation integrated screw rod realize meshing transmission through a transmission bevel gear pair, a left clamping arm and a right clamping arm which are mutually matched are also arranged on the left-right-rotation integrated screw rod, a left-handed nut is fixed on the left clamping arm, a right-handed nut is fixed on the right clamping arm, the left-handed nut and the right-handed nut are respectively in threaded fit with the left-handed and right-handed integrated lead screws, the clamping arm mounting base is further provided with a guide component for guiding the movement of the left clamping arm and the right clamping arm; the end part of the left-right rotation integrated lead screw is provided with a left-right rotation integrated lead screw end cover.
As the utility model discloses a further improvement, guide part is including supporting the self-lubricating linear bearing guide pillar on centre gripping arm mounting base, and left centre gripping arm, right centre gripping arm cooperate with self-lubricating linear bearing guide pillar through self-lubricating linear bearing respectively, and the self-lubricating linear bearing cooperation sets up self-lubricating linear bearing end cover.
The technical effects of the utility model reside in that: the utility model discloses the product is rational in infrastructure ingenious, through install two sets of relatively independent horizontal linear motion modules, vertical sharp hoisting module and material container fixture on independently navigation omnidirectional movement dolly (AGV), constitute two sets of independent and have material container centre gripping, level and transport and vertical hoisting function's subsystem. The robot logistics handling system with the two sets of independent material container taking and transferring functions can quickly and efficiently realize quick connection and replacement of material containers without being supported by people or other auxiliary equipment, can ensure high efficiency and quickness of material container transferring in the field of intelligent manufacturing, and obviously improves production efficiency.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a perspective view of the present invention.
Fig. 4 is a schematic structural view of the vertical linear lifting module and the material container clamping mechanism of the present invention.
Fig. 5 is a schematic view of the working state of the vertical linear lifting module and the material container clamping mechanism of the present invention.
Fig. 6a to 6c are the working flow chart of the present invention.
Detailed Description
The following description will further describe embodiments of the present invention with reference to the accompanying drawings.
In the figures 1-6 c, the device comprises an autonomous navigation omnidirectional moving trolley 1, a horizontal linear motion module 2, a horizontal linear motion module base 2-1, a horizontal linear motion module bearing seat 2-2, a horizontal linear motion lead screw 2-3, a horizontal linear motion nut 2-4, a horizontal motion servo motor 2-6, a horizontal linear motion module guide rail 2-7, a first mounting base 2-8, a horizontal linear motion module sliding block 2-9, a vertical linear lifting module 3, a vertical linear lifting module base 3-1, a vertical linear lifting module sliding block 3-2, a vertical linear lifting module screw 3-3, a second mounting base 3-4, a vertical linear lifting module guide rail 3-5, a vertical linear lifting module lead screw 3-6, a vertical linear lifting module bearing seat 3-7, The device comprises a material container clamping mechanism 4, a mounting base plate 4-1, a driving motor part 4-2, a left-handed nut 4-3, a transmission bevel gear pair 4-4, a self-lubricating linear bearing 4-5, a left-handed and right-handed integrated lead screw 4-6, a left clamping arm 4-7, a self-lubricating linear bearing guide post 4-8, a right-handed nut 4-9, a right clamping arm 4-10, a self-lubricating linear bearing end cover 4-11, a left-handed and right-handed integrated lead screw end cover 4-12, a clamping arm mounting base 4-13 and the like.
As shown in fig. 1-6 c, the utility model relates to a material container handling robot system, including independently navigation omnidirectional movement dolly 1, independently install two sets of mutually independent horizontal linear motion module 2 on the navigation omnidirectional movement dolly 1, every group install a set of vertical straight line lifting module 3 on the horizontal linear motion module 2 respectively, vertical straight line lifting module 3 realizes horizontal motion by the drive of horizontal linear motion module 2, installs material container fixture 4 on the vertical straight line lifting module 3, and material container fixture 4 realizes the centre gripping to material container by the drive of vertical straight line lifting module 3, and material container fixture 4 realizes the centre gripping to material container. Thereby a set of material container robotics logistics handling system can be simultaneously or alternate operation two material containers, can realize the switching of empty material container and full material container under unmanned intervention or no other auxiliary equipment support to guarantee seamless connection and the smoothness nature of the switching of material container.
The horizontal linear motion module 2 comprises a horizontal linear motion module base 2-1, the horizontal linear motion module base 2-1 is arranged on the upper surface of the autonomous navigation omnidirectional moving trolley 1, horizontal linear motion module bearing blocks 2-2 are respectively arranged at two ends of the bottom surface of the horizontal linear motion module base 2-1, two ends of a horizontal linear motion lead screw 2-3 are rotatably supported on the horizontal linear motion module bearing blocks 2-2, the horizontal linear motion lead screw 2-3 is driven by a horizontal motion servo motor 2-6 arranged at the end part of the horizontal linear motion module base 2-1, a horizontal linear motion nut 2-4 is connected on the horizontal linear motion lead screw 2-3 in a threaded manner, a first mounting base 2-8 of the horizontal linear motion nut 2-4 extends out of a strip-shaped groove of the horizontal linear motion module base 2-1, and is fixedly connected with a lifting module base 3-1 of the vertical linear lifting module 3. The horizontal linear motion nut pair is formed by the horizontal linear motion nut 2-4 and the horizontal linear motion screw rod 2-3.
Two horizontal linear motion module guide rails 2-7 are arranged on the upper surface of the horizontal linear motion module base 2-1 in parallel, and a horizontal linear motion module sliding block 2-9 fixed on the bottom surface of the lifting module base 3-1 is connected with the horizontal linear motion module guide rails 2-7 in a sliding fit manner. The horizontal linear motion module sliding blocks 2-9 and the horizontal linear motion module guide rails 2-7 form a horizontal linear motion guide rail sliding block pair. In actual production, four horizontal linear motion module sliding blocks 2-9 are usually fixed on the bottom surface of the lifting module base 3-1, and the four horizontal linear motion sliding blocks 2-9 are arranged in two rows, wherein each row is provided with two sliding blocks.
The vertical linear lifting module 3 comprises a vertical linear lifting module base 3-1, vertical linear lifting module bearing seats 3-7 are respectively arranged at the upper end and the lower end of one side surface of the vertical linear lifting module base 3-1, two ends of a vertical linear lifting module screw rod 3-6 are respectively and rotatably supported on the vertical linear lifting module bearing seats 3-7, a vertical linear lifting module servo motor 3-9 is arranged at the upper part of the vertical linear lifting module base 3-1 through a support 3-8, the vertical linear lifting module servo motor 3-9 drives the vertical linear lifting module screw rod 3-6, and it can be understood that, in practice, the output of the servo motor 3-9 of the vertical linear lifting module is preferably connected to the horizontal linear motion screw 3-6 via a reducer.
The vertical linear lifting module screw rod 3-6 is in threaded connection with a vertical linear lifting module screw nut 3-3, the vertical linear lifting module screw nut 3-3 is fixedly connected with a second mounting base 3-4, and the second mounting base 3-4 extends out of a groove formed in the surface of the vertical linear lifting module base 3-1 and is fixedly connected with the material container clamping mechanism 4.
Two vertical linear lifting module guide rails 3-5 are further arranged on the vertical linear lifting module base 3-1 in parallel, and the material container clamping mechanism 4 is in sliding fit with the vertical linear lifting module guide rails 3-5 through the vertical linear lifting module sliding blocks 3-2.
In a specific production practice, two sets of material container clamping mechanisms 4 are slidably arranged on each set of vertical linear lifting module guide rails 3-5.
The material container clamping mechanism 4 comprises a mounting base plate 4-1, the mounting base plate 4-1 is connected with vertical linear lifting module guide rails 3-5 in a sliding fit mode through vertical linear lifting module sliding blocks 3-2, four vertical linear lifting module sliding blocks 3-2 are arranged on each mounting base plate 4-1, the four vertical linear lifting module sliding blocks 3-2 are divided into two rows, and each row of the two vertical linear lifting module sliding blocks 3-2 are connected with the corresponding vertical linear lifting module guide rails 3-5 in a sliding fit mode respectively.
A clamping arm mounting base 4-13 is mounted on the mounting base plate 4-1, a driving motor component 4-2 is further mounted on the mounting base plate 4-1, the output end of the driving motor component 4-2 penetrates through the central hole of the clamping arm mounting base 4-13, a left-right rotation integrated lead screw 4-6 is rotatably arranged on the clamping arm mounting base 4-13, meshing transmission is realized between the output end of the driving motor component 4-2 and the left-right rotation integrated lead screw 4-6 through a transmission bevel gear pair 4-4, a left clamping arm 4-7 and a right clamping arm 4-10 which are mutually matched are further arranged on the left-right rotation integrated lead screw 4-6, a left-handed nut 4-3 is fixed on the left clamping arm 4-7, a right-handed nut 4-9 is fixed on the right clamping arm 4-10, and a left-handed nut 4-3, The right-handed nuts 4-9 are respectively in threaded fit with the left-handed and right-handed integrated lead screws 4-6, and the clamping arm mounting bases 4-13 are also provided with guide parts for guiding the movement of the left clamping arms 4-7 and the right clamping arms 4-10; the end parts of the left-handed and right-handed integrated lead screws 4-6 are provided with left-handed and right-handed integrated lead screw end covers 4-12. When the left-right rotation integrated screw rod 4-6 rotates, the two ends of the left-right rotation integrated screw rod 4-6 are respectively matched with the left-handed nut 4-3 and the right-handed nut 4-9, when the left-right rotation integrated screw rod 4-6 rotates, the left clamping arm 4-7 and the right clamping arm 4-10 can be close to or far away from each other, it can be understood that the thread directions of the two end parts of the left-right rotation integrated screw rod 4-6 are opposite, and the driving motor part 4-2 drives the left-right rotation integrated screw rod 4-6 to realize strong clamping of a material container.
The guide part comprises self-lubricating linear bearing guide columns 4-8 supported on clamping arm mounting bases 4-13, a left clamping arm 4-7 and a right clamping arm 4-10 are matched with the self-lubricating linear bearing guide columns 4-8 through self-lubricating linear bearings 4-5 respectively, and self-lubricating linear bearing end covers 4-11 are arranged on the self-lubricating linear bearings 4-5 in a matched mode.
The utility model discloses the product is at the during operation, and the motion of all directions is realized to autonomous navigation omnidirectional movement dolly 1 (AGV) to with material container centre gripping to suitable place, horizontal linear motion module 2 drives vertical sharp hoisting module 3 along the horizontal direction motion, and material container fixture 4 can carry out corresponding elevating movement as required on the surface of vertical sharp hoisting module 3.
Claims (5)
1. A material container handling robot system, characterized by: the device comprises an autonomous navigation omnidirectional moving trolley (1), wherein two sets of mutually independent horizontal linear motion modules (2) are installed on the autonomous navigation omnidirectional moving trolley (1), each set of horizontal linear motion modules (2) is provided with a set of vertical linear lifting modules (3), the vertical linear lifting modules (3) are driven by the horizontal linear motion modules (2) to realize horizontal motion, material container clamping mechanisms (4) are installed on the vertical linear lifting modules (3), the material container clamping mechanisms (4) are driven by the vertical linear lifting modules (3) to realize lifting motion, and the material container clamping mechanisms (4) are used for clamping material containers.
2. The material container handling robot system of claim 1, wherein: the horizontal linear motion module (2) comprises a horizontal linear motion module base (2-1), the horizontal linear motion module base (2-1) is installed on the upper surface of the autonomous navigation omnidirectional moving trolley (1), horizontal linear motion module bearing seats (2-2) are installed at two ends of the bottom surface of the horizontal linear motion module base (2-1) respectively, two ends of a horizontal linear motion lead screw (2-3) are rotatably supported on the horizontal linear motion module bearing seats (2-2), the horizontal linear motion lead screw (2-3) is driven by a horizontal motion servo motor (2-6) installed at the end part of the horizontal linear motion module base (2-1), a horizontal linear motion nut (2-4) is connected to the horizontal linear motion lead screw (2-3) in a threaded mode, and a first installation base (2-8) of the horizontal linear motion nut (2-4) moves the module base from the horizontal linear motion The strip-shaped groove of the seat (2-1) extends out and is fixedly connected with a lifting module base (3-1) of the vertical linear lifting module (3);
two horizontal linear motion module guide rails (2-7) are arranged on the upper surface of the horizontal linear motion module base (2-1) in parallel, and a horizontal linear motion module sliding block (2-9) fixed on the bottom surface of the lifting module base (3-1) is connected with the horizontal linear motion module guide rails (2-7) in a sliding fit manner.
3. The material container handling robot system of claim 1, wherein: the vertical linear lifting module (3) comprises a vertical linear lifting module base (3-1), vertical linear lifting module bearing seats (3-7) are respectively installed at the upper end and the lower end of the surface of one side of the vertical linear lifting module base (3-1), two ends of a vertical linear lifting module screw rod (3-6) are respectively and rotatably supported on the vertical linear lifting module bearing seats (3-7), a vertical linear lifting module servo motor (3-9) is installed at the upper part of the vertical linear lifting module base (3-1) through a support seat (3-8), the vertical linear lifting module servo motor (3-9) drives the vertical linear lifting module screw rod (3-6), the vertical linear lifting module screw rod (3-6) is in threaded connection with the vertical linear lifting module screw nut (3-3), the vertical linear lifting module screw nut (3-3) is fixedly connected with a second mounting base (3-4), and the second mounting base (3-4) extends out of a groove formed in the surface of the vertical linear lifting module base (3-1) and is fixedly connected with the material container clamping mechanism (4);
two vertical linear lifting module guide rails (3-5) are further arranged on the vertical linear lifting module base (3-1) in parallel, and the material container clamping mechanism (4) is in sliding fit with the vertical linear lifting module guide rails (3-5) through vertical linear lifting module sliding blocks (3-2).
4. The material container handling robot system of claim 1, wherein: the material container clamping mechanism (4) comprises a mounting base plate (4-1), a clamping arm mounting base (4-13) is mounted on the mounting base plate (4-1), a driving motor component (4-2) is further mounted on the mounting base plate (4-1), the output end of the driving motor component (4-2) penetrates through a central hole of the clamping arm mounting base (4-13), a left-right-rotation integrated lead screw (4-6) is rotatably arranged on the clamping arm mounting base (4-13), meshing transmission is realized between the output end of the driving motor component (4-2) and the left-right-rotation integrated lead screw (4-6) through a transmission bevel gear pair (4-4), a left clamping arm (4-7) and a right clamping arm (4-10) which are matched with each other are further arranged on the left-right-rotation integrated lead screw (4-6), a left-handed nut (4-3) is fixed on the left clamping arm (4-7), a right-handed nut (4-9) is fixed on the right clamping arm (4-10), the left-handed nut (4-3) and the right-handed nut (4-9) are respectively in threaded fit with a left-handed and right-handed integrated screw rod (4-6), and a guide part is further arranged on the clamping arm mounting base (4-13) to guide the movement of the left clamping arm (4-7) and the right clamping arm (4-10); the end part of the left-right rotating integrated lead screw (4-6) is provided with a left-right rotating integrated lead screw end cover (4-12).
5. The material container handling robot system of claim 4, wherein: the guide part comprises a self-lubricating linear bearing guide post (4-8) supported on a clamping arm mounting base (4-13), a left clamping arm (4-7) and a right clamping arm (4-10) are respectively matched with the self-lubricating linear bearing guide post (4-8) through a self-lubricating linear bearing (4-5), and a self-lubricating linear bearing end cover (4-11) is arranged on the self-lubricating linear bearing (4-5) in a matching mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022819731.2U CN214398835U (en) | 2020-11-30 | 2020-11-30 | Material container handling robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022819731.2U CN214398835U (en) | 2020-11-30 | 2020-11-30 | Material container handling robot system |
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| CN214398835U true CN214398835U (en) | 2021-10-15 |
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| CN202022819731.2U Active CN214398835U (en) | 2020-11-30 | 2020-11-30 | Material container handling robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357569A (en) * | 2020-11-30 | 2021-02-12 | 江苏集萃华科智能装备科技有限公司 | Material container handling robot system |
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- 2020-11-30 CN CN202022819731.2U patent/CN214398835U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357569A (en) * | 2020-11-30 | 2021-02-12 | 江苏集萃华科智能装备科技有限公司 | Material container handling robot system |
| CN112357569B (en) * | 2020-11-30 | 2024-05-31 | 江苏集萃华科智能装备科技有限公司 | Material container transfer robot system |
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