CN220642469U - Fork truck composite robot - Google Patents

Abstract

The utility model discloses a composite forklift robot, which comprises a forklift body, wherein a body is arranged on the forklift body, anti-collision sensing mechanisms are respectively arranged on the peripheral walls of the body.

Description

Fork truck composite robot

Technical Field

The utility model relates to the field of forklift compound robots, in particular to a forklift compound robot.

Background

There are a large number of discrete machine loading and unloading, warehouse and the demand scene of transporting the material between the board in the industrial automation field. For example, in the field of CNC machining, raw part blanks need to be transported to CNC machine stations after being taken out of a warehouse, and the blanks are mounted on a CNC machining platform for fixing. After the processing of the part blank is completed, the processed part is required to be detached from the CNC processing platform and then transported to a warehouse for storage. In the textile industry, the loom needs to change yarn according to real-time conditions during the weaving process. The yarn needs to be transported from the warehouse to the loom and mounted on the loom. Similar to the scene, the industrial production field exists in a large number, the traditional warehouse to machine, machine to warehouse, discrete machine loading and unloading, loading and unloading among each discrete machine process and transferring mainly depend on manual work and a manual forklift, so that the efficiency is low, and the long-term material carrying has great occupational hazard to workers. Along with the trend of industrial digital transformation in China, the demands of industrial intellectualization and flexible manufacturing are urgent, and the automation of material loading and unloading of discrete machine stations and transferring between a warehouse and the machine stations becomes a urgent problem to be solved.

The application number is as follows: the utility model of CN202120092121.9 is a high-lift compound mobile robot, which discloses: the robot comprises a robot chassis and six-axis mechanical arms, wherein the upper surface of the robot chassis is a mounting platform, a lifting mechanism is arranged on the mounting platform, a control module is arranged in the robot chassis, the control module is connected with the lifting mechanism, the lifting mechanism comprises a lifting frame, a lifting mechanism bearing plate and a lifting power motor, sliding rails are arranged on two sides of the lifting frame, sliding blocks are matched and slid on the sliding rails, the lifting mechanism bearing plate is matched and slid with the sliding rails through the sliding blocks, the six-axis mechanical arms are arranged on the lifting mechanism bearing plate, a limit sensor baffle is arranged on the rear side of the lifting mechanism bearing plate, a supporting fixed frame is transversely arranged at the top of the lifting frame, the lifting power motor is arranged in the robot chassis, an output shaft of the lifting power motor is movably connected with a lead screw through a connecting component, and the other end of the lead screw is movably connected with the supporting fixed frame. The unprocessed part blank needs to be transported to a CNC machine station after being taken out from a warehouse, and the blank is mounted on a CNC processing platform for fixing. When the machined part is required to be detached from the CNC machining platform after the machining of the part blank is finished, the cost of a mode of using a composite mobile robot and an automatic forklift is high, and the method occupies many places of a workshop.

Disclosure of Invention

The utility model aims to provide a forklift compound robot.

In order to achieve the above purpose, the present utility model adopts the following scheme: the utility model discloses a forklift composite robot, which comprises a forklift body, wherein a body is arranged on the forklift body, a platform is arranged on the top of the body, a mechanical arm lifting device is arranged on the platform, a mechanical arm is arranged on the mechanical arm lifting device, a clamping jaw capable of clamping a product is arranged at one end of the mechanical arm, a secondary positioning device is arranged at one end of the mechanical arm, which is close to the clamping jaw, a multifunctional support is arranged on the platform, a SLAM navigation sensor for collecting ambient data is arranged on the top of the multifunctional support, anti-collision sensing mechanisms are respectively arranged on the peripheral walls of the body.

As a further scheme of the utility model, the mechanical arm lifting device comprises a base plate fixed in a machine body, a hydraulic rod is fixedly arranged on the base plate, the output end of the hydraulic rod extends out of the top surface of the platform, a bottom plate is fixedly arranged at the top of the output end of the hydraulic rod, the mechanical arm is fixed on the bottom plate, and a corrugated protective sleeve capable of wrapping the outer part of the hydraulic rod extending out of the top surface of the platform is arranged between the bottom plate and the platform.

As a preferable scheme of the utility model, the mechanical arm is a six-axis mechanical arm, the clamping jaw is arranged at the forefront end of the six-axis mechanical arm, and the six-axis mechanical arm is in the prior art and has the advantages of high flexibility, super-large load, high positioning precision and the like.

As a further scheme of the utility model, a control part with a touch control display screen is arranged on the multifunctional support, a safety laser lamp for warning is arranged on the multifunctional support, and the safety laser lamp continuously flashes to warn workers to avoid in time when working, and the touch control display screen is used for man-machine interaction, displaying basic information of a robot and setting tasks of the robot.

As a preferable scheme of the utility model, the secondary positioning device is an industrial camera, the industrial camera is connected with a control part with a touch display screen through wireless wifi,

as a further scheme of the utility model, the anti-collision sensing mechanism comprises anti-collision guard plates which are respectively arranged on the peripheral outer walls of the body, which are close to the bottom, a plurality of ultrasonic sensors are sequentially arranged on the anti-collision guard plates at intervals, obstacle avoidance radars are arranged on the anti-collision guard plates at one side of the advancing direction of the forklift body, and the ultrasonic sensors and the obstacle avoidance radars can prevent the forklift composite robot from colliding with other objects in the moving process.

As a further scheme of the utility model, the outer edge of the anti-collision guard plate is provided with a safety touch edge for emergency stop, and the safety touch edge can enable the forklift composite robot to stop emergency when the forklift composite robot collides with other objects.

In a preferred embodiment of the present utility model, an automatic charging port is provided on one of the crash panels.

According to the utility model, the fork arm is fixedly arranged in front of the forklift body, the fork arm wheel is arranged on the fork arm, the steering wheel is arranged at the moving direction end of the forklift body, and the steering wheel can control the moving direction of the forklift composite robot.

As a preferable scheme of the utility model, the steering wheel is arranged below the machine body, the steering wheel top is provided with a steering rod, the inner wall of the machine body is fixedly provided with a steering rod connecting seat, one end of the steering rod is arranged on the steering rod connecting seat, and a shock absorber is arranged between the steering rod and the steering wheel.

In summary, compared with the prior art, the utility model has the following beneficial effects: according to the utility model, the pallet goods shelf and the workpieces on the pallet goods shelf can be lifted by the forklift compound robot and move along with the forklift compound robot, and the mechanical arm on the forklift compound robot can simultaneously place the workpieces on the pallet goods shelf on a processing platform such as CNC, or take down the workpieces on the processing platform of CNC and stack the workpieces on the pallet goods shelf on the forklift compound robot, so that an automatic forklift does not need to follow behind the compound robot, and the compound mobile robot and the method with the functions of integrally storing and taking up and down equivalent materials solve the problems of material loading and unloading of a machine, transferring materials between a warehouse and the machine, realize intelligent flexible manufacturing, improve the production efficiency and reduce the automatic deployment cost.

Drawings

Fig. 1 is one of the perspective views of the present utility model.

Fig. 2 is a second perspective view of the present utility model.

Fig. 3 is a cross-sectional view of the present utility model.

Reference numerals illustrate: 1. a fork truck body; 2. a body; 3. a platform; 20. a mechanical arm lifting device; 5. a mechanical arm; 6. a clamping jaw; 7. a secondary positioning device; 8. a multifunctional bracket; 9. a SLAM navigation sensor; 40. anti-collision induction mechanism: 21. a base plate; 22. a hydraulic rod; 23. a bottom plate; 24. a corrugated protective sleeve; 11. a control unit; 12. a safe laser lamp; 41. an anti-collision guard board; 42. an ultrasonic sensor: 43. obstacle avoidance radar; 51. safe edge touching; 52. an automatic charging port; 61. a fork arm; 62. fork arm wheel; 63. steering wheel; 71. a steering lever; 72. a steering rod connecting seat; 73. a shock absorber; 101. and a storage battery.

Detailed Description

The following detailed description provides many different embodiments, or examples, for implementing the utility model. Of course, these are merely embodiments or examples and are not intended to be limiting. In addition, repeated reference numerals, such as repeated numbers and/or letters, may be used in various embodiments. These repetition, in order to describe the utility model in a simplified and clear manner, does not dictate a particular relationship between the various embodiments and/or configurations discussed.

Furthermore, spatially relative terms, such as "under" …, "underside," "inside-out," "above," "upper" and the like, may be used herein to facilitate a description of a relationship between one element or feature and another element or feature in the drawings, including different orientations of the device in use or operation, and the orientations depicted in the drawings. The spatially relative terms are intended to be construed as corresponding to a single orientation of the device in which the device is rotated to a different degree of rotation or other orientation and thus are not to be construed as limiting the utility model but rather as merely descriptive of the relative importance or the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

The utility model is further described with reference to the following description and detailed description of the drawings: the forklift compound robot shown in fig. 1 to 3 comprises a forklift body 1, a machine body 2 is arranged on the forklift body 1, a platform 3 is arranged at the top of the machine body 2, a mechanical arm lifting device 20 is arranged on the platform 3, a mechanical arm 5 is arranged on the mechanical arm lifting device 20, a clamping jaw 6 capable of clamping a product is arranged at one end of the mechanical arm 5, a secondary positioning device 7 is arranged at one end, close to the clamping jaw 6, of the mechanical arm 5, a multifunctional support 8 is arranged on the platform 3, an SLAM navigation sensor 9 for collecting surrounding environment data is arranged at the top of the multifunctional support 8, anti-collision sensing mechanisms 40 are respectively arranged on the surrounding walls of the machine body 2, the mechanical arm 5 is a six-axis mechanical arm, the clamping jaw 6 is arranged at the foremost end of the six-axis mechanical arm, after the forklift compound robot is started, the SLAM navigation sensor 9 can collect environment data, the robot position is automatically positioned, normal work can be started after the robot positioning is completed, and an executing mechanism for fixing an object to be grabbed.

Further embodiments of the robotic arm lifting device 20 of the present utility model: the mechanical arm lifting device 20 comprises a base plate 21 fixed in the machine body 2, a hydraulic rod 22 is fixedly arranged on the base plate 21, the output end of the hydraulic rod 22 extends out of the top surface of the platform 3, a bottom plate 23 is fixedly arranged at the top of the output end of the hydraulic rod 22, the mechanical arm 5 is fixed on the bottom plate 23, a corrugated protective sleeve 24 capable of wrapping the outer part of the hydraulic rod 22 extending out of the top surface of the platform 3 is arranged between the bottom plate 23 and the platform 3, the mechanical arm lifting device 20 is lifted by six mechanical arms 5, the stroke range of the mechanical arm is enlarged, and the mechanical arm 5 on the bottom plate 23 can be lifted after the hydraulic rod 22 is started, so that the mechanical arm lifting device is suitable for work tables and shelves with different heights.

Further embodiment of the multifunctional support 8 in the present utility model: be equipped with the control portion 11 that has the touch-control display screen on the multi-functional support 8 be equipped with the safe radium-shine lamp 12 that is used for warning on the multi-functional support 8, secondary positioner 7 is the industry camera, the industry camera is connected with the control portion 11 that has the touch-control display screen through wireless wifi, preset system has in the control portion 11, the workman sends the task for fork truck compound robot through the system that control portion 11 dispatch was preset, drive fork truck compound robot work, and control portion 11 can be connected like SLAM navigation transducer through wireless wifi with other components of fork truck compound robot, six-axis arm, secondary positioner, the clamping jaw, fork arm wheel, ultrasonic sensor, keep away the obstacle radar, safe touch limit, safe radium-shine lamp, arm elevating gear and steering wheel all can be connected with control portion 11 through wireless wifi, and secondary positioner 7 is the industry camera, the camera view of the inside secondary positioner 7 is aimed at the material on the robot tray and is photographed, the position of the material can be automatic discerned to the robot control system after, and send the coordinate to six-axis arm 5 and snatch the mechanical arm and carry out the grabbing mechanical material.

Further embodiments of the crash sensing mechanism 40 of the present utility model: the anti-collision sensing mechanism 40 comprises anti-collision guard plates 41 respectively arranged on the peripheral outer walls of the machine body 2 near the bottom, a plurality of ultrasonic sensors 42 are sequentially arranged on the anti-collision guard plates 41 at intervals, an obstacle avoidance radar 43 is arranged on the anti-collision guard plates 41 on one side of the advancing direction of the forklift body 1, a safety touch edge 51 for emergency shutdown is arranged on the outer edge of the anti-collision guard plates 41, an automatic charging port 52 is arranged on one anti-collision guard plate 41, the ultrasonic sensors 42 are used for avoiding the obstacle on the side face of the robot, and the cost of avoiding the obstacle on the side face is reduced; the automatic charging port 52 is used for automatic charging of the robot, is provided with a baffle plate capable of being automatically opened and closed, can be used for automatically charging the charging pile after being opened, and is dustproof and waterproof after being closed; the obstacle avoidance radar 43 is used for identifying an obstacle on a robot driving path, and controlling the robot to slow down or stop when the obstacle is identified to reach a set distance; the safe touch edge 51 is a passive emergency stop device, when the robot collides with an object, the touch edge is extruded and deformed, and after the touch edge deformation reaches a threshold value, a signal is sent to trigger the robot to stop; the anti-collision guard plate 11 is arranged around the vehicle body and is used for playing a role of collision buffering.

Further embodiments of the forklift body 1 of the present utility model: fork arm 61 is fixed in front of fork truck body 1 be equipped with fork arm wheel 62 on fork arm 61, organism 2 sets up in fork truck body 1 and fork arm 61 top fork truck body 1 removes the direction end and is equipped with steering wheel 63, steering wheel 63 sets up in organism 2 below steering wheel 63 top is equipped with direction pole 71 fixed being equipped with on the organism 2 inner wall direction pole connecting seat 72, direction pole 71 one end sets up on direction pole connecting seat 72 be equipped with shock absorber 73 between direction pole 71 and steering wheel 63, the steering wheel is prior art, and the steering wheel can provide advancing power and rotation direction for fork truck compound robot, and when fork truck compound robot needs to lift up tray goods shelves and the work piece above, the support on fork arm wheel 62 can hold up fork arm 61 to make the tray goods shelves leave ground.

When in use, the utility model is characterized in that: after the car compound robot is started, the SLAM navigation sensor 9 can collect environmental data, the robot position is automatically positioned, normal work can be started after the robot positioning is completed, an actuating mechanism for grabbing objects is used for fixing the objects to be grabbed, the six-axis mechanical arm 5 body of the mechanical arm lifting device 20 is lifted, the stroke range of the mechanical arm is enlarged, the mechanical arm 5 on the bottom plate 23 can be lifted after the hydraulic rod 22 is started, so that the car compound robot is suitable for work tables and shelves at different heights, a preset system is arranged in the touch display screen, workers dispatch the preset system to the forklift compound robot through the touch display screen to perform tasks, the forklift compound robot is driven to work, the touch display screen can be connected with other elements of the forklift compound robot through wireless wifi, such as the SLAM navigation sensor, the six-axis mechanical arm, the secondary positioning device, the clamping jaw, the fork arm wheel, the ultrasonic sensor, the obstacle avoidance radar, the safe touch edge, the safe shot lamp, the mechanical arm lifting device and the rudder wheel can be connected with the touch display screen 11 through wireless wifi, the secondary positioning device 7 is an industrial camera, the secondary positioning device 7 is a camera, the robot is aligned with the tray on the secondary positioning device, the robot is aligned with the camera, the coordinates of the robot is controlled by the robot, the robot is controlled by the ultrasonic sensor, the material is prevented from being blown out of the side face of the robot, the robot is lowered, the material is prevented from the robot, the material is blown down by the robot, and the robot is subjected to the material from the side face recognition of the robot, and the robot is subjected to the robot position to be subjected to the material obstacle sensor 42; the automatic charging port 52 is used for automatic charging of the robot, is provided with a baffle plate capable of being automatically opened and closed, can be used for automatically charging the charging pile after being opened, and is dustproof and waterproof after being closed; the obstacle avoidance radar 43 is used for identifying an obstacle on a robot driving path, and controlling the robot to slow down or stop when the obstacle is identified to reach a set distance; the safe touch edge 51 is a passive emergency stop device, when the robot collides with an object, the touch edge is extruded and deformed, and after the touch edge deformation reaches a threshold value, a signal is sent to trigger the robot to stop; the anti-collision guard plate 11 is arranged around the vehicle body and used for playing a role of collision buffering, the steering wheel is of the prior art, the steering wheel can provide advancing power and rotating direction for the forklift compound robot, when the forklift compound robot needs to lift up a pallet shelf and a workpiece on the pallet shelf, the bracket on the fork arm wheel 62 can lift up the fork arm 61, so that the pallet shelf leaves the ground, the storage battery 101 capable of providing power for the forklift compound robot is arranged in the machine body 2, the storage battery 101 is connected with the automatic charging port 52, and when an external power supply is connected with the automatic charging port 52, the storage battery 101 can be charged.

While the basic principles and main features of the utility model and advantages of the utility model have been shown and described, it will be understood by those skilled in the art that the utility model is not limited by the foregoing embodiments, which are described in the foregoing description merely illustrate the principles of the utility model, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model, which is defined by the claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides a fork truck combined robot, is including fork truck body (1) be equipped with organism (2) on fork truck body (1) organism (2) top is equipped with platform (3), its characterized in that: be equipped with arm elevating gear (20) on platform (3) be equipped with arm (5) on arm elevating gear (20) arm (5) one end is equipped with clamping jaw (6) that can press from both sides the product arm (5) are close to clamping jaw (6) one end and are equipped with secondary positioner (7) be equipped with multi-functional support (8) on platform (3) multi-functional support (8) top is equipped with SLAM navigation sensor (9) that are used for gathering ambient data be equipped with crashproof induction mechanism (40) on the wall all around of organism (2) respectively.

2. The forklift compound robot according to claim 1, wherein the mechanical arm lifting device (20) comprises a base plate (21) fixed in the machine body (2), a hydraulic rod (22) is fixedly arranged on the base plate (21), an output end of the hydraulic rod (22) extends out of the top surface of the platform (3), a bottom plate (23) is fixedly arranged at the top of the output end of the hydraulic rod (22), and the mechanical arm (5) is fixed on the bottom plate (23).

3. The forklift compound robot according to claim 1, wherein the mechanical arm (5) is a six-axis mechanical arm, and the clamping jaw (6) is mounted at the foremost end of the six-axis mechanical arm.

4. The forklift compound robot according to claim 1, wherein a control part (11) with a touch display screen is arranged on the multifunctional support (8), and a safety laser lamp (12) for warning is arranged on the multifunctional support (8).

5. The forklift compound robot according to claim 4, wherein the secondary positioning device (7) is an industrial camera, and the industrial camera is connected with a control part (11) with a touch display screen through wireless wifi.

6. The forklift compound robot according to claim 1, wherein the collision avoidance sensing mechanism (40) comprises collision avoidance guard plates (41) respectively arranged on the peripheral outer walls of the body (2) close to the bottom, a plurality of ultrasonic sensors (42) are sequentially arranged on the collision avoidance guard plates (41) at intervals, and obstacle avoidance radars (43) are arranged on the collision avoidance guard plates (41) on one side of the forward direction of the forklift body (1).

7. The forklift compound robot as claimed in claim 6, characterized in that a safety contact edge (51) for emergency stop is provided on the outer edge of the anti-collision guard (41).

8. A composite robot for a forklift as claimed in claim 6, wherein an automatic charging port (52) is provided in one of the crash panels (41).

9. The forklift compound robot according to claim 1, wherein a fork arm (61) is fixedly arranged in front of the forklift body (1), a fork arm wheel (62) is arranged on the fork arm (61), and a steering wheel (63) is arranged at the moving direction end of the forklift body (1).

10. The forklift compound robot as claimed in claim 9, wherein the steering wheel (63) is arranged below the machine body (2), a steering rod (71) is arranged at the top of the steering wheel (63), a steering rod connecting seat (72) is fixedly arranged on the inner wall of the machine body (2), one end of the steering rod (71) is arranged on the steering rod connecting seat (72), and a shock absorber (73) is arranged between the steering rod (71) and the steering wheel (63).