CN220011288U - Autonomous identification material handling robot - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to an autonomous identification material handling robot which comprises a mounting rack, a pallet and a handling mechanism, wherein the handling mechanism comprises a mechanical arm, a plurality of driving components, a plurality of ball screws, a plurality of ball nuts and an identification component, the identification component is used for identifying the size of goods, meanwhile, the driving components are controlled to work, the driving components are used for respectively driving the ball screws to rotate, the ball screws are used for respectively driving the ball nuts to rotate, the ball nuts drive the pallet to move to the side far away from the driving components until the pallet moves to a preset depth, the mechanical arm works to clamp the goods and is placed on the pallet, and the working energy consumption of the mechanical arm for moving up and down is reduced through the depth adjustment of the pallet, so that the problem that the energy consumption of a mechanical claw is increased due to the fact that the robot cannot adjust the depth of the goods according to the size of the goods is solved.

Description

Autonomous identification material handling robot

Technical Field

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

Background

A materials handling robot is an intelligent mobile robot that is capable of performing materials handling tasks. At present, all that uses in the mill is fork truck or similar to the AGV material handling dolly of tracking, and ordinary fork truck needs manual operation, and material handling robot just can realize snatching to this object before needing to remove the object that waits to carry, perhaps only can snatch the object of very few position when a position, and its operational mode efficiency is lower.

Prior art (CN 210476963U), discloses a material handling robot, including the robot base, install the rotation crank mechanism on the robot base, install the link mechanism on rotation crank mechanism and install the tongs mechanism on link mechanism, rotation crank mechanism and link mechanism are last to have a revolute pair on the horizontal plane respectively, cooperation tongs mechanism, make up into the mechanical structure that can diversely snatch the object, thereby realize the function of snatching the object respectively in same position toward different positions, and can adjust the height of tongs mechanism through link mechanism, in order to realize the accurate snatch of the object of different co-heights. According to the utility model, the function of respectively grabbing objects in different directions at the same position is realized by arranging the rotary crank mechanism, the connecting rod mechanism and the gripper mechanism, so that the time spent by the robot for multi-direction movement and position correction when grabbing objects is saved, and the object grabbing efficiency is greatly improved.

By adopting the mode, the robot can not adjust the depth of the pallet according to the size of the goods, so that the energy consumption of the mechanical claw is increased.

Disclosure of Invention

The utility model aims to provide an autonomous identification material handling robot, which aims to solve the problem that the robot cannot adjust the depth of a pallet according to the size of goods, so that the energy consumption of a mechanical claw is increased.

In order to achieve the above object, the present utility model provides an autonomous identification material handling robot, comprising a mounting rack, a pallet and a handling mechanism, wherein the handling mechanism comprises a mechanical arm, a plurality of driving components, a plurality of ball screws, a plurality of ball nuts and an identification component;

the mechanical arm is fixedly connected with the mounting frame and is positioned on one side of the mounting frame, the driving assemblies are respectively arranged on one side of the mounting frame, the ball screws are respectively arranged among the driving assemblies, the ball nuts are respectively in rolling connection with the ball screws and are respectively fixedly connected with the pallet and are respectively positioned on the periphery of the ball screws, and the identification assemblies are arranged on one side of the mounting frame.

The driving assembly comprises a mounting shell and a first motor, wherein the mounting shell is fixedly connected with the mounting frame and is positioned on one side of the mounting frame, and the first motor is fixedly connected with the mounting shell and is fixedly connected with the ball screw.

The recognition assembly comprises a frame and a depth camera, wherein the frame is fixedly connected with the mounting frame and is positioned on one side of the mounting frame, and the depth camera is fixedly connected with the frame and is positioned in the frame.

The carrying mechanism further comprises a plurality of moving assemblies, and the moving assemblies are respectively arranged at the bottom of the mounting frame.

The movable assembly comprises a second motor and a movable wheel, wherein the second motor is fixedly connected with the mounting frame and is positioned at the bottom of the mounting frame, and the movable wheel is fixedly connected with the output end of the second motor.

According to the autonomous identification material handling robot, the mounting frame provides mounting conditions for the handling mechanism, the goods placing plate can prevent goods to be handled, when the goods are required to be handled, the identification assembly identifies the sizes of the goods, the driving assemblies are controlled to work, the driving assemblies respectively drive the ball screws to rotate, the ball screws respectively drive the ball nuts to rotate, the ball nuts drive the goods placing plate to move to the side far away from the driving assemblies, the mechanical arm works to clamp the goods and place the goods on the goods placing plate, and the problem that the mechanical claw energy consumption is increased due to the fact that the robot cannot adjust the depth of the goods according to the sizes of the goods is solved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model 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.

Fig. 1 is a schematic diagram of an autonomous recognition material handling robot in accordance with a first embodiment of the present utility model.

Fig. 2 is a top view of an autonomously identifying materials handling robot in accordance with a second embodiment of the present utility model.

101-mounting rack, 102-pallet, 103-handling mechanism, 104-mechanical arm, 105-driving assembly, 106-ball screw, 107-ball nut, 108-identifying assembly, 109-mounting shell, 110-first motor, 111-frame, 112-depth camera, 201-second motor, 202-moving wheel, 203-moving assembly.

Detailed Description

The first embodiment of the utility model is as follows:

please refer to fig. 1, which is a schematic diagram illustrating an autonomous identification material handling robot. The utility model provides an autonomous identification material handling robot, which comprises a mounting frame 101, a pallet 102 and a handling mechanism 103, wherein the handling mechanism 103 comprises a mechanical arm 104, a plurality of driving assemblies 105, a plurality of ball screws 106, a plurality of ball nuts 107 and an identification assembly 108, the driving assemblies 105 comprise a mounting shell 109 and a first motor 110, and the identification assembly 108 comprises a frame 111 and a depth camera 112.

For this embodiment, the mechanical arm 104 is fixedly connected to the mounting frame 101, and is located on one side of the mounting frame 101, the driving assemblies 105 are respectively disposed on one side of the mounting frame 101, the ball screws 106 are respectively disposed between the driving assemblies 105, the ball nuts 107 are respectively in rolling connection with the ball screws 106, and are respectively fixedly connected to the pallet 102, and are respectively located on the periphery of the ball screws 106, and the identification assemblies 108 are disposed on one side of the mounting frame 101. The base of the mechanical arm 104 is also arranged on a mechanical arm mounting table, and meanwhile, the mechanical arm 104 is divided into a large arm, a middle arm and a small arm by a large torque motor for rotation. The three-finger grabbing clamp is arranged at the tail end of the forearm, so that the common two-finger grabbing clamp has a small grabbing range and poor stress characteristics. The three fingers are clamped by a motor control three grippers, the mode of worm and gear is adopted, the three fingers are clamped by a motor and three fingers mounting support frame is fixed by screws, an output shaft of the motor is mounted with the worm, the worm is matched with the worm wheel, the worm wheel is mounted with the three fingers by screws, meanwhile, the three fingers are mounted with the three fingers by screws and the connecting rod axle center, and are mounted with the three fingers by screws, the three fingers are clamped by screws and two grippers, finally, the motor rotates to drive the worm to rotate, so that the worm wheel moves up and down, the three fingers are driven by the connecting rod to finish clamping action, an ultrasonic sensor is mounted on the mounting frame 101, when a robot transports objects, the ultrasonic sensor is used for assisting in obstacle avoidance, the mounting frame 101 provides mounting conditions for the transporting mechanism 103, the cargo needing to be transported can be prevented by the cargo placing plate 102, a plurality of driving assemblies 105 can drive a plurality of ball screws 106 to rotate, the ball screws 106 can drive the ball screws 106 to move, and the ball screws 107 can be used for identifying the ball screws 107 by the ball screws, and the ball screws 107 can be used for identifying the cargo placing plate.

The mounting shell 109 is fixedly connected with the mounting frame 101 and is located at one side of the mounting frame 101, and the first motor 110 is fixedly connected with the mounting shell 109 and is fixedly connected with the ball screw 106. The first motor 110 is controlled to operate by an STM32 control board, a raspberry pie is adopted as a main control board, the mounting case 109 provides mounting conditions for the first motor 110, and the ball screw 106 can be driven to rotate by the first motor 110.

Secondly, the frame 111 is fixedly connected with the mounting frame 101 and located at one side of the mounting frame 101, and the depth camera 112 is fixedly connected with the frame 111 and located in the frame 111. The frame 111 provides mounting conditions for the depth camera 112 by which the height of the cargo can be identified by the depth camera 112.

When goods need be carried, the depth camera 112 recognizes the size of the goods, the first motors 110 are controlled to work based on recognition data, the first motors 110 respectively drive the ball screws 106 to rotate, the ball screws 106 respectively drive the ball nuts 107 to rotate, the ball nuts 107 drive the goods placing plate 102 to move to one side far away from the first motors 110, the mechanical arm 104 works to clamp the goods and place the goods on the goods placing plate 102, and the work energy consumption of the mechanical arm 104 for moving up and down is reduced by adjusting the depth of the goods placing plate 102, so that the problem that the energy consumption of a mechanical claw is increased due to the fact that a robot cannot adjust the depth of the goods according to the size of the goods is solved.

The second embodiment of the utility model is as follows:

referring to fig. 2, fig. 2 is a top view of an autonomously identifying materials handling robot.

On the basis of the first embodiment, an autonomous mobile identification material handling robot of the present utility model, the handling mechanism 103 further comprises a plurality of moving assemblies 203, the moving assemblies 203 comprising a second motor 201 and a moving wheel 202.

For this embodiment, a plurality of moving assemblies 203 are respectively disposed at the bottom of the mounting frame 101. A plurality of moving assemblies 203 operate to move the mounting frame 101.

The second motor 201 is fixedly connected with the mounting frame 101, and is located at the bottom of the mounting frame 101, and the moving wheel 202 is fixedly connected with the output end of the second motor 201. The second motor 201 works to drive a plurality of moving wheels 202 to rotate, the mounting frame 101 can be driven to move through the plurality of moving wheels 202, the moving wheels 202 adopt microphone wood wheels, and the robot can move in all directions without rotating through a reverser.

When the goods are required to be transported, a plurality of second motors 201 are started, the second motors 201 work to drive a plurality of moving wheels 202 to rotate, and the goods on the goods shelves are driven to move by the moving wheels 202.

The foregoing disclosure is only illustrative of one or more preferred embodiments of the present utility model, and it is not intended to limit the scope of the claims hereof, as persons of ordinary skill in the art will understand that all or part of the processes for practicing the embodiments described herein may be practiced with equivalent variations in the claims, which are within the scope of the utility model.

Claims (5)

1. An autonomous identification material handling robot comprising a mounting rack and a pallet, characterized in that,

the device comprises a mechanical arm, a plurality of driving components, a plurality of ball screws, a plurality of ball nuts and an identification component, wherein the mechanical arm is connected with the mechanical arm;

the mechanical arm is fixedly connected with the mounting frame and is positioned on one side of the mounting frame, the driving assemblies are respectively arranged on one side of the mounting frame, the ball screws are respectively arranged among the driving assemblies, the ball nuts are respectively in rolling connection with the ball screws and are respectively fixedly connected with the pallet and are respectively positioned on the periphery of the ball screws, and the identification assemblies are arranged on one side of the mounting frame.

2. An autonomously identifying material handling robot as claimed in claim 1,

the driving assembly comprises a mounting shell and a first motor, wherein the mounting shell is fixedly connected with the mounting frame and is positioned on one side of the mounting frame, and the first motor is fixedly connected with the mounting shell and is fixedly connected with the ball screw.

3. An autonomously identifying material handling robot as claimed in claim 2, wherein,

the recognition component comprises a frame and a depth camera, wherein the frame is fixedly connected with the mounting frame and is positioned on one side of the mounting frame, and the depth camera is fixedly connected with the frame and is positioned in the frame.

4. An autonomously identifying material handling robot as claimed in claim 3,

the handling mechanism further comprises a plurality of moving assemblies, and the moving assemblies are respectively arranged at the bottom of the mounting frame.

5. An autonomously identifying material handling robot as claimed in claim 4, wherein,

the movable assembly comprises a second motor and a movable wheel, wherein the second motor is fixedly connected with the mounting frame and is positioned at the bottom of the mounting frame, and the movable wheel is fixedly connected with the output end of the second motor.