CN216399631U

CN216399631U - Intelligent transfer robot

Info

Publication number: CN216399631U
Application number: CN202122829882.0U
Authority: CN
Inventors: 梅新虎
Original assignee: Nanjing Machinery Technology Co ltd
Current assignee: Nanjing Machinery Technology Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-04-29
Anticipated expiration: 2031-11-18

Abstract

The utility model provides an intelligent transfer robot, which comprises a moving assembly, a clamping assembly, an adjusting assembly and a turnover mechanism, wherein the first power module in the moving component drives the rolling piece connected with the first power module to move, so that the clamping component stably reaches the preset position, the height adjusting mechanism and the angle adjusting mechanism in the adjusting component drive the moving rod connected with the clamping component to move, the movable rod drives the rotating plate connected with the movable rod to adjust the height and the angle of the rotating plate relative to the workpiece, the clamping precision of the workpiece is further improved, the clamping mechanism connected with the rotating rod and used for clamping the workpiece is driven to turn over through the turning mechanism, and then place the work piece of centre gripping on the rotor plate, realized removing and to carry that a plurality of work pieces can carry out, great improvement the efficiency of transport, save the cost of transport.

Description

Intelligent transfer robot

Technical Field

The utility model relates to the technical field of material handling, in particular to an intelligent handling robot.

Background

With the rapid development of the robot technology and the artificial intelligence technology, the intelligent robot is widely applied in a plurality of fields, most of the existing transfer robots move along a single axis in a transverse axis or longitudinal axis space, such as a mechanical arm in a factory assembly line, and a clamping jaw on the mechanical arm clamps a workpiece and places the workpiece at a preset position.

In the course of the work, the last electronic clamping jaw of robotic arm is not well controlled to terminal power, in order to solve this problem, transfer robot adopts pneumatic means to realize that quick clamp is got usually, but because the cylinder has the extent, when driving the swing arm motion, it is limited to cause intelligent robot's clamp to get the range easily, and then causes to get the coarse problem of angle of clamp, and its in addition because fixed height's motion space, also can seriously reduce transfer robot's availability factor.

SUMMERY OF THE UTILITY MODEL

The purpose of the utility model is as follows: the utility model provides an intelligent transfer robot, which aims to solve the problems in the prior art.

The technical scheme is as follows: an intelligent transfer robot comprises a moving assembly, a clamping assembly and an adjusting assembly;

the moving assembly comprises a first power module, a rolling part connected with the first power module, and a supporting part connected with the rolling part; the clamping assembly is arranged on one side of the moving assembly, comprises a second power module and a clamping mechanism connected with the second power module and is used for clamping a workpiece; the adjusting assembly is connected with the moving assembly at one end and the clamping assembly at the other end and comprises a position adjusting mechanism and a moving rod connected with the position adjusting mechanism; when carrying the work piece, first power module drives the rolling member of being connected with it and removes, and then the rolling member drives the support piece of being connected with it and moves, until moving to the work piece preset position department of treating the transport, move along the carriage release lever through adjustment mechanism among the adjustment assembly, until with the clamping position of centre gripping subassembly with treat the centre gripping work piece phase-match, drive the fixture of being connected with it and move through setting up second power module on support piece, and then place the work piece of centre gripping in the preset position, realize the quick centre gripping to the work piece, further improvement flexibility of centre gripping, the limited problem of centre gripping angle has been solved, the efficiency of great improvement transport.

In a further embodiment, the transfer robot further comprises a turnover mechanism fixedly arranged on one side of the clamping mechanism and connected with the clamping mechanism for driving a workpiece to turn over, and a rotating plate arranged on one side of the turnover mechanism and connected with the moving rod for supporting the clamping mechanism; after the clamping assembly clamps the workpiece, the clamping piece for clamping the workpiece is turned over through the turning mechanism connected with the clamping assembly, the clamping piece is placed on the rotating plate below the clamping mechanism, then the clamping mechanism continues to repeatedly clamp the workpiece until the clamped piece meets the preset quantity, the moving assembly drives the carrying robot to move to the preset position, the carrying efficiency is further improved, the defect that only one workpiece can be carried at one time is overcome, and the carrying time is greatly saved.

In a further embodiment, the number of the clamping mechanisms comprises at least 2 clamping pieces which are respectively connected to two ends of the second power module and used for clamping workpieces; when the workpiece is clamped, the second power module drives the clamping piece connected with the second power module to move in the same or opposite direction until the clamping distance between the clamping piece and the workpiece to be clamped is matched, the workpiece is clamped by the clamping piece, the clamping precision is greatly improved, and the working efficiency is improved.

In a further embodiment, the clamping mechanism further comprises a guide member which is connected between the clamping members in a penetrating way and is used for guiding the movement of the clamping members; when the clamping piece is used for clamping a workpiece, the clamping piece connected with the clamping piece is driven by the third power module to move back and forth along the guide piece, so that the distance between the clamping pieces is accurately adjusted, the clamping piece is further accurately adjusted, and the clamping stability is greatly improved.

In a further embodiment, the adjusting mechanism comprises a support frame arranged on the support for supporting the clamping mechanism; the height adjusting mechanism is connected to one side of the supporting frame and used for adjusting the height of the rotating plate; the angle adjusting mechanism is connected below the supporting frame, connected with the rotating plate and used for driving the rotating plate to adjust the angle; when the moving assembly drives the clamping assembly to reach the position of a workpiece to be clamped, the rotating assembly connected with the moving assembly is driven to be adjusted up and down relative to the workpiece through a third power module arranged in a height adjusting mechanism on the supporting frame, until the clamping mechanism arranged on the rotating plate is matched with the position of the workpiece, the angle adjusting mechanism drives the angle adjusting mechanism to be adjusted relative to the workpiece through a fourth power module, until the clamping angle of the clamping assembly is matched with the position of the workpiece, the position of the workpiece is quickly adjusted, the carrying accuracy is greatly improved, and the carrying time is further saved.

In a further embodiment, the number of the rolling parts is at least 4, the rolling parts are respectively connected to two sides of the supporting part and used for driving the clamping assembly and the adjusting assembly to move, the carrying stability is further improved, and the carrying time is greatly saved.

In a further embodiment, the moving assembly further comprises an air pump connected between the support member and the rolling member for controlling the stop of the rolling member, and a detecting member connected with the air pump for detecting the state of the air pump; the accuracy of motion is further realized in the setting of air pump, detects air pump operating condition constantly through detecting a, can be timely go on its adjustment, great improvement job stabilization nature.

In a further embodiment, the detection part is a pressure gauge, and the pressure of the air pump is detected in real time, so that the movement stability of the air pump is improved.

In a further embodiment, the transfer robot further comprises an image acquisition device, the image acquisition device is arranged on the support frame and used for monitoring the state of the workpiece clamped by the clamping assembly, when the clamping assembly is in a bad condition, the image acquisition device timely transmits a signal to the mobile terminal according to the acquired condition to remind workers of paying attention, the transfer precision is further improved, and the transfer stability is greatly improved.

In a further embodiment, the image acquisition device is a camera, and the image acquisition of the camera can be used for real-time detection, so that the stability and accuracy of the carrying are greatly improved.

Has the advantages that: the utility model provides an intelligent transfer robot, which comprises a moving assembly, a clamping assembly, an adjusting assembly and a turnover mechanism, wherein the first power module in the moving component drives the rolling piece connected with the first power module to move, so that the clamping component stably reaches the preset position, the height adjusting mechanism and the angle adjusting mechanism in the adjusting component drive the moving rod connected with the clamping component to move, the movable rod drives the rotating plate connected with the movable rod to adjust the height and the angle of the rotating plate relative to the workpiece, the clamping precision of the workpiece is further improved, the clamping mechanism connected with the rotating rod and used for clamping the workpiece is driven to turn over through the turning mechanism, and then place the work piece of centre gripping on the rotor plate, realized removing and to carry that a plurality of work pieces can carry out, great improvement the efficiency of transport, save the cost of transport.

Drawings

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

FIG. 2 is a schematic view of a moving assembly according to the present invention;

FIG. 3 is a schematic view of the adjusting assembly and the clamping assembly of the present invention.

The figures are numbered: the device comprises a moving assembly 1, a support 2, a Mecanum wheel 201, a first air cylinder 202, a pressure gauge 203, an air pump 204, a clamping assembly 3, a primary lifting air cylinder 301, a secondary inclined strut air cylinder 302, a camera 303, a clamping jaw overturning motor 304, a clamping cylinder 305, a linear guide rail 306, a clamping piece 307, an adjusting assembly 4, a connecting rod 401, a support frame 402 and a rotating plate 403.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the utility model.

The applicant believes that when the existing transfer robot clamps a workpiece, clamping angles of the workpiece are often inaccurate due to limited clamping amplitude, and in the process of transfer, due to the fixed movement space of the clamping mechanism, the workpiece cannot be timely adjusted according to the position of the workpiece, so that the use efficiency of the transfer robot is seriously reduced.

Therefore, the applicant establishes an intelligent transfer robot, omnidirectional movement can be realized through the designed moving assembly 1, the stability of transfer is improved, the clamping mechanism can be adjusted at different heights and angles relative to a workpiece through the design of the adjusting assembly 4, the precision of workpiece clamping is further improved, the clamping mechanism can clamp and transfer a plurality of workpieces at one time through the design of the turnover mechanism, the working efficiency of the transfer robot is greatly improved, and the transfer time is saved.

The utility model relates to an intelligent transfer robot, which comprises a moving assembly 1, a clamping assembly 3 and an adjusting assembly 4, as shown in figures 1 to 3; the moving assembly 1 comprises a first power module, the first power module in the embodiment is a first air cylinder 202, rolling members connected with the first air cylinder 202, the rolling members in the embodiment are mecanum wheels 201, the mecanum wheels 201 in the embodiment are arranged in 4 numbers, the rolling members are respectively arranged at four corners of a support member 2, the support member 2 is connected with the mecanum wheels 201, a clamping assembly 3 is arranged at one side of the moving assembly 1 and comprises a second power module, the second power module in the embodiment is a clamping air cylinder 305, a clamping mechanism is connected with the clamping air cylinder 305 and is used for clamping a workpiece, and an adjusting assembly 4 with one end connected with the moving assembly 1 and the other end connected with the clamping assembly 3 and comprises a position adjusting mechanism and a moving rod connected with the position adjusting mechanism; when a workpiece is conveyed, the first air cylinder 202 in the moving assembly 1 drives the mecanum wheel 201 connected with the moving assembly to move, at the same time, the mecanum wheel 201 drives the clamping assembly 3 connected with the moving assembly to move omnidirectionally until the clamping assembly moves to a preset position, at the same time, the position adjusting mechanism in the adjusting assembly 4 moves through the moving rod connected with the moving assembly, further the position adjusting mechanism connected with the moving rod is driven to move, further the clamping assembly 3 connected with the clamping assembly is driven to move relative to the workpiece to be clamped until the position of the workpiece to be clamped is matched with that of the workpiece to be clamped, at the same time, the clamping air cylinder 305 in China year of the clamping assembly 3 drives the clamping piece 307 connected with the clamping assembly to move until the workpiece is fixedly clamped, then the workpiece is placed at the preset position through the moving assembly 1, the assembly of the next station is realized, and the stability of the movement is greatly improved, the problem of the transport motion among the prior art limited is solved, the efficiency of transport is greatly improved.

In order to solve the problem that the transfer robot can only transfer a single workpiece in one movement and further realize the transfer of multiple workpieces in one movement and improve the transfer efficiency, the transfer robot further comprises a turnover mechanism which is fixedly arranged on one side of the clamping mechanism and is connected with the clamping mechanism, wherein the turnover mechanism comprises a clamping jaw turnover motor 304 and a rotating plate 403 which is arranged on one side of the turnover mechanism, is connected with a moving rod and is used for supporting the clamping mechanism; after the clamping mechanism clamps the workpiece, the clamping mechanism connected with the clamping mechanism is driven to overturn towards the rotating plate 403 through the clamping jaw overturning motor 304, when the clamping assembly 3 moves to the upper side of the rotating surface, the clamping mechanism places the workpiece on the rotating plate 403, then the clamping mechanism moves to the position of the workpiece to be carried again, the workpiece is continuously taken and placed, and therefore the carrying of a plurality of workpieces at one time is further achieved, the carrying efficiency is greatly improved, and the carrying time is saved.

In order to achieve accurate clamping of the workpiece and stability of distance adjustment between the clamping members 307, the clamping mechanism includes clamping members 307 connected to both ends of the clamping cylinder 305 for clamping the workpiece, and a guide member connected between the clamping members 307 throughout for guiding movement of the clamping members 307; when the clamping piece 307 clamps the workpiece, the clamping cylinder 305 controls the clamping piece 307 connected with the clamping cylinder to simultaneously perform the same or opposite movement along the guide piece connected with the clamping cylinder, until the clamping distance between the clamping cylinder and the workpiece to be clamped is matched, the clamping cylinder 305 controls the clamping mechanism to clamp the workpiece tightly, the workpiece is moved to a preset position under the driving of the moving assembly 1, the stability of clamping the workpiece is further improved, the clamping precision is more accurate, the clamping time is greatly saved, and the working efficiency is improved.

In order to realize that the clamping mechanism can accurately clamp workpieces at any positions, improve the clamping efficiency and precision and solve the problem that the clamping angle is easy to be inaccurate when the workpieces are clamped in the prior art, the adjusting mechanism comprises a supporting frame 402 which is arranged on the supporting piece 2 and used for supporting the clamping mechanism and a height adjusting mechanism used for adjusting the height of the rotating plate 403, wherein the height adjusting mechanism comprises a third power module connected to one side of the supporting frame 402, the third power module in this embodiment is a first-stage lifting cylinder 301, the first-stage lifting cylinders 301 are respectively symmetrically arranged at two sides of the supporting frame 402, and an angle adjusting mechanism for driving the rotating plate 403 to rotate in an angle, the angle adjusting mechanism comprises a fourth power module, the fourth power module in the embodiment is a secondary inclined strut cylinder 302, and the secondary inclined strut cylinder 302 is arranged in the middle position below the support frame 402; when a workpiece to be carried is clamped, a first-stage lifting cylinder 301 in the adjusting mechanism drives a moving rod connected with the first-stage lifting cylinder to move up and down along one side of a support frame 402, so that a rotating plate 403 connected to the support frame 402 moves up and down, and further a clamping component 3 arranged on the rotating plate 403 moves up and down until the height distance of a clamping piece 307 in the clamping component 3 is matched with the height of the workpiece to be clamped, at the moment, a second-stage diagonal bracing cylinder 302 in the adjusting mechanism drives the moving rod connected with the second-stage diagonal bracing cylinder 302 to move left and right, so that the rotating plate 403 on the support frame 402 is driven to rotate around a connecting rod 401 hinged with a support 2, and further the angle adjustment of the rotating plate 403 is realized, the angle adjustment of the rotating plate 403 further drives the clamping component 3 arranged on the rotating plate to perform angle adjustment until the angle of the clamping piece 307 on the clamping component 3 is matched with the angle of the workpiece to be clamped, further, the workpiece can be accurately clamped, the workpiece clamping precision is further improved, the problem that the workpiece cannot be clamped in the movement space fixed by the clamping piece 307 in the prior art is solved, the use efficiency of the transfer robot is greatly improved, the transfer time is further saved, and the transfer cost is saved.

In order to improve the motion precision of the moving assembly 1 and timely control the moving assembly 1 when a problem occurs, the moving assembly 1 further comprises an air pump 204 connected between the support member 2 and the mecanum wheel 201 and used for controlling the mecanum wheel 201 to stop in time, and a detection member connected with the air pump 204 and used for detecting the working state of the air pump 204, wherein the detection member in the embodiment is a pressure gauge 203; when the moving assembly 1 carries the workpiece to a preset position, the air pump 204 controls the mecanum wheel 201 to stop in time, accurate control over the position of the carried workpiece is achieved, unloading accuracy is improved, the pressure gauge 203 constantly detects the working state of the air pump 204, when the moving assembly is damaged or the working state is abnormal, the first time alarm is given, safety of the moving assembly is further improved, carrying efficiency is greatly improved, and carrying time is prolonged.

In order to improve the stability of clamping the workpiece and timely inform the worker when defects occur, the transfer robot further comprises an image acquisition device arranged on one side of a connecting rod 401 hinged to a rotating plate 403 on a support frame 402, the image acquisition device in the embodiment is a camera, when the workpiece is clamped and transferred by a clamping piece 307, the state of clamping the workpiece by the camera is constantly monitored, when the workpiece clamped by the clamping piece 307 is inclined or not clamped by a preset position, the camera transmits a signal to a mobile terminal, the worker is reminded by alarming or other prompting modes, the clamping state is timely adjusted, further the problem is timely controlled, the cost of transfer loss is greatly saved, and the efficiency of transfer work is improved.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. An intelligent transfer robot, characterized by comprising:

the moving assembly comprises a first power module, a rolling member connected with the first power module, and a supporting member connected with the rolling member;

the clamping assembly is arranged on one side of the moving assembly, comprises a second power module and a clamping mechanism connected with the second power module and is used for clamping a workpiece;

and one end of the adjusting component is connected with the moving component, the other end of the adjusting component is connected with the clamping component, and the adjusting component comprises a position adjusting mechanism and a moving rod connected with the position adjusting mechanism.

2. The intelligent transfer robot of claim 1, wherein: the transfer robot further includes:

the turnover mechanism is fixedly arranged on one side of the clamping mechanism, is connected with the clamping mechanism and is used for driving the workpiece to turn over;

and the rotating plate is arranged on one side of the turnover mechanism, is connected with the moving rod and is used for supporting the clamping mechanism.

3. The intelligent transfer robot of claim 2, wherein: the fixture includes:

and the clamping pieces are at least arranged to be 2, are respectively connected to the two ends of the second power module and are used for clamping workpieces.

4. The intelligent transfer robot of claim 3, wherein: the fixture further includes:

and the guide piece is connected between the clamping pieces in a penetrating way and used for guiding the movement of the clamping pieces.

5. The intelligent transfer robot of claim 2, wherein: the adjustment mechanism includes:

the supporting frame is arranged on the supporting piece and used for supporting the clamping mechanism;

the height adjusting mechanism comprises a third power module, is connected to one side of the supporting frame and is used for adjusting the height of the rotating plate;

the angle adjusting mechanism comprises a fourth power module, is connected below the supporting frame and connected with the rotating plate, and is used for driving the rotating plate to adjust the angle.

6. The intelligent transfer robot of claim 1, wherein: the number of the rolling parts is at least 4, the rolling parts are respectively connected to two sides of the supporting part and are used for driving the clamping assembly and the adjusting assembly to move.

7. The intelligent transfer robot of claim 1, wherein: the moving assembly further comprises:

the air pump is connected between the supporting piece and the rolling piece and used for controlling the stop of the rolling piece;

and the detection piece is connected with the air pump and used for detecting the state of the air pump.

8. The intelligent transfer robot of claim 7, wherein: the detection piece is a pressure gauge.

9. The intelligent transfer robot of claim 5, wherein: the transfer robot further comprises an image acquisition device which is arranged on the supporting frame and used for monitoring the state of the workpiece clamped by the clamping assembly.

10. The intelligent transfer robot of claim 9, wherein: the image acquisition device is a camera.