CN220350750U

CN220350750U - Palletizing and transporting robot

Info

Publication number: CN220350750U
Application number: CN202321384111.8U
Authority: CN
Inventors: 殷宇龙; 谢深远; 张正阳; 李铁锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-06-02
Filing date: 2023-06-02
Publication date: 2024-01-16
Anticipated expiration: 2033-06-02

Abstract

The utility model discloses a stacking and transporting robot, which comprises a walking chassis and a device bracket arranged at the upper part of the walking chassis, wherein a stack placement platform structure is arranged at the top of the device bracket, a low-claw grabbing structure and a low-claw shooting structure are arranged on the device bracket at the front end of the stack placement platform structure, a lifting cradle head structure is arranged on the device bracket at the rear end of the stack placement platform structure, and a high-claw carrying structure and a high-claw shooting structure are arranged at the upper part of the lifting cradle head structure; the stacking logistics robot integrates the functions of the traditional stacking robot and the transportation robot, is convenient for middle and small enterprises to carry out stack transportation and stacking, is convenient for matching when other transportation modes exist in the environment, has modularized design for each function, is convenient for the replacement and repair of functional modules, is convenient for intelligent control due to the fact that the camera module is arranged, has high modularization degree, compact structure and small volume, is integrated in functions, is convenient for secondary development, and has wider market prospect.

Description

Palletizing and transporting robot

Technical Field

The utility model relates to the field of transfer robots, in particular to a palletizing and transporting robot.

Background

With the development of science and technology, the promotion and pursuit of intelligent logistics in the logistics industry and the continuous improvement of labor cost, the logistics robot becomes an important means for reducing cost and enhancing efficiency for many enterprises. The logistics robot is a machine device for automatically executing operations such as goods transferring and carrying by receiving a preset program or an issued instruction of a system in a storage link of goods circulation, belongs to industrial robots, has obvious function integration of a palletizing robot and a transporting robot in the market, is not suitable for small and medium enterprises with large freight transportation capacity, and is a problem which needs to be solved by technicians in the related field.

Disclosure of Invention

In order to solve the technical problems, the utility model aims to solve the problem of manual stacking and transporting of small and medium enterprises by integrating a stacking and transporting function of a robot structure, adopts a function modularization design, and meets the requirements of complex stacking and transporting environment and few equipment and multiple functions of the small and medium enterprises, and the specific scheme comprises the following steps:

the stacking and transporting robot comprises a walking chassis and a device bracket arranged on the upper part of the walking chassis, wherein a stack placement platform structure is arranged at the top of the device bracket, a low-claw grabbing structure and a low-claw shooting structure are arranged on the device bracket at the front end of the stack placement platform structure, a lifting cradle head structure is arranged on the device bracket at the rear end of the stack placement platform structure, and a high-claw carrying structure and a high-claw shooting structure are arranged on the upper part of the lifting cradle head structure;

the low-jaw grabbing structure comprises a first low jaw, a second low jaw and a low-jaw driving mechanism, wherein the first low jaw and the second low jaw are identical in structure and are oppositely arranged, the low-jaw driving mechanism drives the first low jaw and the second low jaw to move relatively, the first low jaw comprises a low-jaw plate and a low-jaw arm, the low-jaw plate is rotationally connected with one end of the low-jaw arm through a first motor, a low-jaw large gear is arranged at the other end of the low-jaw arm, the bottom of the low-jaw large gear is meshed with a low-jaw small gear, the low-jaw small gear is connected to a second output shaft of the motor, the low-jaw large gear and the low-jaw small gear are connected to a low-jaw sliding block through a gear reduction box, and the low-jaw sliding block is arranged on the low-jaw driving mechanism in a sliding manner;

the low-jaw driving mechanism comprises a low-jaw moving rack and a low-jaw sliding rail, wherein the low-jaw moving rack is respectively connected to the upper end and the lower end of the first low-jaw middle-low-jaw sliding block and the lower end of the second low-jaw middle-low-jaw sliding block, the low-jaw sliding rail is in sliding connection with the low-jaw sliding block, a low-jaw driving gear is meshed in the low-jaw moving rack, and the low-jaw driving gear is arranged on a three output shaft of a motor;

the lifting tripod head structure comprises a tripod head sliding rail which is vertically arranged, a tripod head sliding block is arranged on the tripod head sliding rail in a matched mode, a tripod head lower stop plate is arranged on the tripod head sliding block, a tripod head upper rotating plate is arranged on the upper portion of the tripod head lower stop plate in a rotating mode, the outer edge of the tripod head upper rotating plate is connected with the tripod head lower stop plate in a rotating mode through a bearing, the tripod head upper rotating plate is of an annular structure, a gear ring is arranged on the inner edge of the tripod head upper rotating plate, a tripod head gear is meshed with the gear ring, the tripod head gear is arranged on a motor four output shaft, the motor four is arranged on the tripod head lower stop plate, and the high claw carrying structure is arranged on the tripod head upper rotating plate;

the high claw carrying structure comprises a first high claw, a second high claw and a high claw driving mechanism, wherein the first high claw and the second high claw are identical in structure and are oppositely arranged, the high claw driving mechanism drives the first high claw and the second high claw to move relatively, the first high claw comprises a high claw plate and a high claw arm connected with the high claw plate, one end, far away from the high claw plate, of the high claw arm is connected with a high claw sliding block, and the high claw sliding block is arranged on the high claw driving mechanism in a sliding mode;

the high-jaw driving mechanism comprises high-jaw moving racks which are respectively connected to the inner side and the outer side of the high-jaw sliding block of the first high jaw and the high-jaw sliding block of the second high jaw, high-jaw driving gears are meshed between the high-jaw moving racks, and the high-jaw driving gears are rotatably arranged on five output shafts of the motor.

Compared with the prior art, the utility model has the advantages that: the stacking logistics robot integrates the functions of the traditional stacking robot and the transportation robot, is convenient for middle and small enterprises to carry out stack transportation and stacking, is convenient for matching when other transportation modes exist in the environment, has modularized design for each function, is convenient for the replacement and repair of functional modules, is convenient for intelligent control due to the fact that the camera module is arranged, has high modularization degree, compact structure and small volume, is integrated in functions, is convenient for secondary development, and has wider market prospect.

Drawings

Fig. 1 is a schematic view of the front structure of a palletizing robot according to the present utility model.

Fig. 2 is a schematic view of the rear structure of a palletizing robot according to the present utility model.

Fig. 3 is a schematic structural view of a low-jaw grabbing structure of the palletizing and transporting robot.

Fig. 4 is an outer side structure schematic view of a low-jaw grasping structure of the palletizing and transporting robot.

Fig. 5 is a schematic structural view of a lifting cradle head structure in a palletizing and transporting robot.

Fig. 6 is a schematic structural view of a high-jaw handling structure in a palletizing and transporting robot according to the present utility model.

Fig. 7 is a schematic structural view of a high-jaw camera shooting structure in the palletizing and transporting robot.

Fig. 8 is a schematic structural view of a stack placement platform structure in a palletizing and transporting robot according to the present utility model.

Fig. 9 is a schematic diagram of an internal structure of a stack placement platform structure in a palletizing and transporting robot according to the present utility model.

Fig. 10 is a schematic bottom structure view of a stack placement platform structure in a palletizing robot according to the present utility model.

Fig. 11 is a schematic structural view of a limiting frame in a palletizing robot according to the present utility model.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

In the description of the embodiments of the present utility model, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the product of the present utility model is conventionally put when used, it is merely for convenience of describing the present utility model and simplifying the description, and it does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present utility model, "plurality" means at least 2.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Examples:

referring to fig. 1-11, the embodiment discloses a palletizing and transporting robot, which comprises a walking chassis 1, and a device bracket 2 arranged at the upper part of the walking chassis 1, wherein a stack placement platform structure 3 is arranged at the top of the device bracket 2, a low-claw grabbing structure 4 and a low-claw shooting structure 5 are arranged on the device bracket 2 at the front end of the stack placement platform structure 3, a lifting cradle head structure 6 is arranged on the device bracket 2 at the rear end of the stack placement platform structure 3, and a high-claw carrying structure 7 and a high-claw shooting structure 8 are arranged at the upper part of the lifting cradle head structure 6;

the low-jaw grabbing structure 4 comprises a first low jaw 401, a second low jaw 402 and a low-jaw driving mechanism 403, wherein the first low jaw 401 and the second low jaw 402 are arranged in an opposite mode, the first low jaw 401 comprises a low-jaw plate 401a and a low-jaw arm 401b, the low-jaw plate 401a is rotatably connected with one end of the low-jaw arm 401b through a first motor 401c, a low-jaw big gear 401d is arranged at the other end of the low-jaw arm 401b, the bottom of the low-jaw big gear 401d is meshed with a low-jaw small gear 401e, the low-jaw small gear 401e is connected to an output shaft of a second motor 401f, the low-jaw big gear 401d and the low-jaw small gear 401e are connected to a low-jaw sliding block 405 through a gear reduction box 404, and the low-jaw sliding block 405 is arranged on the low-jaw driving mechanism 403 in a sliding mode;

the low-jaw driving mechanism 403 includes a low-jaw moving rack 403a connected to the upper and lower ends of the low-jaw slider 405 in the first low-jaw 401 and the low-jaw slider 405 in the second low-jaw 402, respectively, and a low-jaw sliding rail 403b slidably connected to the low-jaw slider 405, in which a low-jaw driving gear 403c is engaged in the low-jaw moving rack 403a, and the low-jaw driving gear 403c is disposed on the output shaft of the motor three 403 d;

the low-claw large gear and the low-claw small gear of the low-claw arm are inlaid similar to mortise and tenon, so that deformation of the claw arm during grabbing is weakened, the strength is improved, and the quality is reduced; the claw surfaces of the low claw plate and the low claw arm are subjected to sand blasting treatment, so that the friction coefficient of the claw surfaces is improved; in the concrete implementation, the low claw plate is contacted with the object stack to be grabbed, the motor shaft of the first motor is connected with the low claw plate, the position of the low claw plate is adjusted through the rotation of the motor shaft, so that the grabbing is convenient, and the first motor is fixed on the low claw arm; the low claw arm is connected with the low claw big gear, and the low claw big gear and the low claw small gear are meshed; the low-claw pinion is connected with a motor II, the motor II is fixed on the wall of the gear reduction box, the motor shaft drives the low-claw pinion, the low-claw pinion drives the low-claw large gear to drive the low-claw arm to rotate, and the object placing stack is placed on the object placing platform; the low-jaw camera structure 5 includes a low-jaw camera 501, and the low-jaw camera 501 is fixed to the device bracket 2 by a camera bracket 502.

When the low claw is opened, the gear reduction box carries the claw part of the low claw, the gear reduction box is connected with the low claw sliding block, and a low claw moving rack is arranged below the gear reduction box; the low-jaw sliding block is connected with a low-jaw sliding rail, and the low-jaw sliding rail provides a rail for opening and closing movement; the low-jaw rack is meshed with the low-jaw driving gear, the low-jaw driving gear is connected with a motor shaft of the motor, the motor rotates to drive the low-jaw driving gear, and the low-jaw driving gear drives the low-jaw rack to realize opening and closing movement, wherein a device bracket of the fixed part is a fixed aluminum pipe, and the fixed aluminum pipe is connected and fixed with the walking chassis.

The lifting tripod head structure 6 comprises a tripod head slide rail 601 which is vertically arranged, a tripod head slide block 602 is cooperatively arranged on the tripod head slide rail 601, a tripod head lower stop plate 603 is arranged on the tripod head slide block 602, a tripod head upper rotating plate 604 is rotatably arranged on the upper part of the tripod head lower stop plate 603, the outer edge of the tripod head upper rotating plate 604 is rotatably connected with the tripod head lower stop plate 603 through a bearing, the tripod head upper rotating plate 604 is of an annular structure, a gear ring 605 is arranged on the inner edge of the tripod head upper rotating plate 604, the gear ring 605 is meshed with a tripod head gear 606, the tripod head gear 606 is arranged on an output shaft of a motor four 607, the motor four 607 is arranged on the tripod head lower stop plate 603, and the high claw carrying structure 7 is arranged on the tripod head upper rotating plate 604;

the high-claw carrying structure 7 comprises a first high claw 701, a second high claw 702 and a high-claw driving mechanism 703, wherein the first high claw 701 and the second high claw 702 are arranged oppositely in the same structure, the high-claw driving mechanism 703 drives the first high claw 701 and the second high claw 702 to move relatively, the first high claw 701 comprises a high-claw plate 701a and a high-claw arm 701b connected with the high-claw plate 701a, one end, far away from the high-claw plate 701a, of the high-claw arm 701b is connected with a high-claw sliding block 701c, and the high-claw sliding block 701c is arranged on the high-claw driving mechanism 703 in a sliding way; the high-jaw driving mechanism 703 comprises high-jaw moving racks 703a respectively connected to the inner side and the outer side of the high-jaw slider 701c of the first high-jaw 701 and the high-jaw slider 701c of the second high-jaw 702, and high-jaw sliding rails 703e slidably connected with the high-jaw slider 701c, a high-jaw driving gear 703b is meshed between the high-jaw moving racks 703a, and the high-jaw driving gear 703b is rotatably arranged on the output shaft of the motor five 703 d; the high pawl plate 701a is an arcuate plate.

The high-jaw camera shooting structure 8 comprises a high-jaw camera 801, the high-jaw camera 801 is arranged on the upper portion of a camera fixing plate 802, a top gear plate 803 is rotatably arranged at the bottom of the camera fixing plate 802, a high-jaw camera shooting gear 804 is meshed with one side of the top gear plate 803, the high-jaw camera shooting gear 804 is rotatably arranged on an output shaft of a motor six 805, and the motor six 805 is connected with the outer side of the camera fixing plate 802.

In the concrete implementation, the high claw plate is responsible for grabbing and placing a stack, the high claw plate is connected with the high claw arm, the high claw arm is connected with the high claw sliding block, and the high claw sliding block takes the high claw sliding rail as a track; a high-claw moving rack is fixed on the high-claw arm, the high-claw moving rack is meshed with a high-claw driving gear, the high-claw driving gear is connected with a motor shaft of a motor, and the motor shaft and a high-claw sliding rail are fixed on the holder; when the high-jaw gripper is in operation, the motor drives the high-jaw driving gear in five modes, and the high-jaw driving gear drives the high-jaw movable rack to move, so that the high-jaw gripper can be opened and closed.

The lifting tripod head structure comprises a tripod head upper rotating plate (rotating part) and a tripod head lower stopping plate (part which is only used for lifting and not rotating); the high-claw carrying structure is connected to the cradle head upper rotating plate, the cradle head upper rotating plate is provided with a gear ring, the cradle head upper rotating plate is connected with the cradle head lower stopping plate through a bearing, a motor IV is arranged on the cradle head lower stopping plate, a cradle head gear is meshed with the cradle head upper gear ring on the shaft of the motor IV, and the motor IV drives the cradle head gear to drive the inner gear of the cradle head upper rotating plate, so that the cradle head is rotated; the cradle head lower stop plate is connected with a cradle head sliding block, and the cradle head sliding block is connected with a cradle head sliding rail for realizing lifting with a cradle head by a high claw; the bottom of the cradle head sliding rail is connected with a walking chassis; the high claw camera shooting structure is arranged at the top of the cradle head sliding rail, the high claw camera is fixed on the camera fixing plate, the camera fixing plate is connected with the top gear plate through a bearing, the motor six drives the high claw camera shooting gear to rotate the top gear plate, and the camera view is adjusted.

The object stack placing platform structure 3 comprises object placing plates 301 which are arranged at intervals with the walking chassis 1, sliding channels 302 are respectively arranged at four corners of the object placing plates 301 towards the center direction of the object placing plates, platform sliding rails 303 corresponding to the sliding channels 302 are arranged at the upper part of the walking chassis 1, the platform sliding rails 303 extend out of the object placing plates 301 through limiting sliding blocks 307 and are connected with limiting frames 304, a platform gear 305 is arranged at the center of the walking chassis 1, the platform gear 305 is connected with the limiting sliding blocks 307 in a rotating mode through connecting rod structures 306, and the platform gear 305 is connected with a platform reduction gearbox 308; the limiting frame 304 is an arc-shaped frame, the limiting frame 304 comprises an upper limiting plate 304a and a lower limiting plate 304b which are oppositely arranged, and a plurality of rotating wheels 304c are rotatably connected between the upper limiting plate 304a and the lower limiting plate 304 b; the connecting rod structure 306 comprises an arc-shaped rocker arm 306a connected with the platform gear 305, the other end of the arc-shaped rocker arm 306a is hinged with a straight rocker arm 306b, and the other end of the straight rocker arm 306b is hinged with a limit sliding block 307; the surface of the storage plate 301 is also provided with a plurality of groups of balls 12. The small balls are arranged on the end face of the platform, so that the position of the platform to the object stack is standardized;

for the object placing platform, the object placing platform is provided with two functions of object stack limiting and temporary storage, a limiting frame on the object placing platform is connected with a limiting sliding block, the limiting sliding block is connected with a cradle head sliding rail and serves as a track, the limiting sliding block is connected with a connecting rod structure, and the connecting rod structure is connected with a platform gear; the cradle head slide rail is connected with the platform bottom plate, and the platform gear is connected with the platform reduction gearbox; the limiting frame simultaneously moves back and forth towards the center through the rotation of one platform gear; realizing the spacing opening and closing movement.

The bottom of the walking chassis 1 is provided with three omni-directional driving wheels 9, and one end of the walking chassis 1, which is close to the lifting tripod head structure 6, is also provided with a gravity center balance wheel 10 and a physical positioning plate 11. The chassis adopts omni wheels, the rear part of the chassis is provided with unpowered small omni wheels, the balance gravity center offset adopts three-wheel driving, the rear part of the chassis is provided with gravity center balance wheels (unpowered), a driving wheel motor is directly driven, the wheels are directly connected with a motor shaft, the motor is arranged on a fixed plate, the fixed plate is arranged on a walking chassis, the rear gravity center balance wheels are directly connected with a shaft, and the shaft is arranged on the walking chassis; the rear part is provided with a physical locating plate aligned with the goods shelf, and the physical locating plate is directly connected with the chassis and matched with the code disc, so that the goods stack can be accurately located.

The utility model and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the utility model as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present utility model.

Claims

1. The stacking and transporting robot is characterized by comprising a walking chassis and a device bracket arranged on the upper part of the walking chassis, wherein a stack placing platform structure is arranged at the top of the device bracket, a low-claw grabbing structure and a low-claw shooting structure are arranged on the device bracket at the front end of the stack placing platform structure, a lifting cradle head structure is arranged on the device bracket at the rear end of the stack placing platform structure, and a high-claw carrying structure and a high-claw shooting structure are arranged on the upper part of the lifting cradle head structure;

2. A palletizing robot as in claim 1, wherein the high jaw plate is an arcuate plate.

3. A palletizing robot as in claim 1, wherein the low jaw camera structure comprises a low jaw camera, the low jaw camera being secured to the device bracket by a camera bracket.

4. The palletizing and transporting robot of claim 1, wherein the high-jaw camera shooting structure comprises a high-jaw camera, the high-jaw camera is arranged on the upper portion of the camera fixing plate, a top gear plate is rotatably arranged at the bottom of the camera fixing plate, a high-jaw camera shooting gear is meshed with one side of the top gear plate, the high-jaw camera shooting gear is rotatably arranged on a six-output shaft of a motor, and the six-motor is connected with the outer side of the camera fixing plate.

5. The palletizing and transporting robot of claim 1, wherein the palletizing and transporting robot structure comprises a palletizing plate which is arranged at intervals with a walking chassis, sliding channels are respectively arranged at four corners of the palletizing plate towards the central direction of the palletizing plate, platform sliding rails corresponding to the sliding channels are arranged on the upper portion of the walking chassis, the platform sliding rails extend out of the palletizing plate through limiting sliding blocks and then are connected with limiting frames, a platform gear is arranged at the center of the walking chassis, the platform gear is externally connected with the limiting sliding blocks in a rotating mode through a connecting rod structure, and the platform gear is connected with a platform reduction gearbox.

6. The palletizing robot of claim 5, wherein the limiting frame is an arc-shaped frame, the limiting frame comprises an upper limiting plate and a lower limiting plate which are oppositely arranged, and a plurality of rotating wheels are rotatably connected between the upper limiting plate and the lower limiting plate.

7. A palletizing robot as in claim 5, wherein the link structure comprises an arcuate rocker arm in geared connection with the platform, the other end of the arcuate rocker arm being hinged with a straight rocker arm, the other end of the straight rocker arm being hinged with a limit slider.

8. A palletizing robot as in claim 5, wherein the surface of the storage plate is further provided with a plurality of sets of balls.

9. The palletizing and transporting robot of claim 1, wherein three omni-directional driving wheels are arranged at the bottom of the walking chassis, and a gravity center balance wheel and a physical positioning plate are further arranged at one end of the walking chassis, which is close to the lifting tripod head structure.