阅读说明：本技术 一种搬运机器人 (Transfer robot ) 是由 胡志辉 易家乐 石婷 袁建明 罗淮中 李怡函 谭小龙 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种搬运机器人,包括框架、行走机构、转动机构、抓取机构、起升机构及平移机构；转动机构包括转盘及转动驱动件,转盘转动设置于框架上,转动驱动件与转盘连接且用于驱动转盘转动；起升机构与抓取机构连接且用于驱动抓取机构做升降运动；平移机构固定安装于框架上,平移机构与起升机构连接且用于驱动起升机构平移。本发明的有益效果是：通过抓取机构、起升机构及平移机构的配合,将多个货物依次抓取到转盘上,通过转动驱动件驱动转盘转动从而使转盘上堆放的货物被均匀摆放,通过行走机构带动整个装置在货物堆放处和卸货处往复移动,本发明提供的搬运机器人每次往复时,可一次性输送多个货物,大大提高了货物的装卸效率。(The invention discloses a transfer robot, which comprises a frame, a traveling mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism and a translation mechanism, wherein the frame is provided with a plurality of wheels; the rotating mechanism comprises a rotating disc and a rotating driving piece, the rotating disc is rotatably arranged on the frame, and the rotating driving piece is connected with the rotating disc and is used for driving the rotating disc to rotate; the hoisting mechanism is connected with the grabbing mechanism and is used for driving the grabbing mechanism to do lifting motion; the translation mechanism is fixedly arranged on the frame, and the translation mechanism is connected with the hoisting mechanism and is used for driving the hoisting mechanism to translate. The invention has the beneficial effects that: the carrying robot provided by the invention can convey a plurality of goods at one time when reciprocating each time, and greatly improves the loading and unloading efficiency of the goods.)

1. A transfer robot is characterized by comprising a frame, a traveling mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism and a translation mechanism;

the walking mechanism is connected with the frame and is used for driving the frame to move;

the rotating mechanism comprises a turntable and a rotating driving piece, the turntable is rotatably arranged on the frame, and the rotating driving piece is connected with the turntable and is used for driving the turntable to rotate;

the grabbing mechanism is used for grabbing goods;

the lifting mechanism is connected with the grabbing mechanism and is used for driving the grabbing mechanism to do lifting motion;

the translation mechanism is fixedly installed on the frame, and the translation mechanism is connected with the lifting mechanism and is used for driving the lifting mechanism to translate.

2. The transfer robot of claim 1, wherein the traveling mechanism comprises a plurality of rolling members, each of the rolling members comprises a universal wheel and a rolling drive motor, the universal wheel is connected to the lower end of the frame, and the rolling drive motor is connected to the universal wheel and is configured to drive the universal wheel to rotate.

3. The transfer robot as claimed in claim 1, wherein the turning mechanism further comprises a plurality of rotary blades for placing the goods, each of the rotary blades being disposed horizontally, each of the rotary blades being fixed to the turntable along a circumferential direction of the turntable.

4. The transfer robot as claimed in claim 3, wherein a stopper protrusion for stopping the load is formed on the rotary blade.

5. The transfer robot of claim 1, wherein the rotary drive member includes a mounting plate, a worm wheel, a worm, and a rotary drive motor, the mounting plate is fixed to the frame, the worm wheel is fixed to the turntable, the worm is rotatably disposed on the mounting plate, the worm is engaged with the worm wheel, and the rotary drive motor is connected to the worm and is used for driving the worm to rotate.

6. The transfer robot of claim 1, wherein the gripping mechanism comprises a fixed plate, a guide rod, two grippers and a gripping driving member, the fixed plate is connected to the lifting mechanism, the guide rod is fixed to the fixed plate, the two grippers are slidably disposed on the guide rod, and the gripping driving member is connected to the two grippers and is used for driving the two grippers to approach to or move away from each other.

7. The transfer robot of claim 6, wherein the gripping driving member comprises a rotating rod, two connecting rods and a gripping driving motor, the middle end of the rotating rod is rotatably disposed on the fixing plate, one end of each of the two connecting rods is hinged to the two grippers, the other end of each of the two connecting rods is hinged to the two ends of the rotating rod, and the gripping driving motor is connected to the rotating rod and used for driving the rotating rod to rotate.

8. The transfer robot of claim 6, wherein the lifting mechanism comprises a support plate, a lifting motor, a bobbin, a pull rope and a limiting rod, the support plate is connected to the translation mechanism, the support plate is provided with a limiting hole, the lifting motor is fixedly mounted on the support plate, the bobbin is coaxially fixed to an output shaft of the lifting motor, one end of the pull rope is wound around the bobbin, the other end of the pull rope is fixedly connected to the fixing plate, the limiting rod is slidably inserted into the limiting hole, and the lower end of the limiting rod is fixedly connected to the fixing plate.

9. The transfer robot as claimed in claim 8, wherein the translation mechanism includes a driving wheel, a driven wheel, a synchronous belt and a translation motor, the driving wheel and the driven wheel are rotatably disposed on the frame, the synchronous belt is disposed in a closed manner, one end of the synchronous belt is disposed on the driving wheel, the other end of the synchronous belt is disposed on the driven wheel, the synchronous belt is fixedly connected to the carrier plate, and the translation motor is connected to the driving wheel and is used for driving the driving wheel to rotate.

10. The transfer robot of claim 9, wherein the translation mechanism further comprises a guide rail and a slider, the guide rail is fixed on the frame and parallel to the synchronous belt, the slider is slidably disposed on the guide rail, and the slider is fixedly connected to the carrier plate.

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a transfer robot.

Background

Along with the development of the internet of things technology and the continuous improvement of labor cost, the hoisting and carrying are gradually closed to the automatic and intelligent directions. Meanwhile, along with the continuous development of intelligent technology, great transformation is brought to logistics enterprises. The intelligent transfer robot has the characteristics of large bearing, high conveying efficiency, high automation degree, high safety and the like, and can better help enterprises to simplify the production and transportation process. The current intelligent carrying robot technology is applied to the field of loading, unloading and carrying, is one of the most basic functional units in a logistics system, can improve the carrying efficiency of warehouse logistics, lighten the physical labor of people, optimize resources and improve benefits, and has very wide development prospect and good economic benefits.

Chinese patent application No. CN201710911124.9 discloses a gantry transfer robot, which includes robot casters, gantry support, chassis and clamping device, and can replace manual transfer by the patent technology. However, the transfer robot can only transfer one piece of goods at a time, and when a plurality of pieces of goods need to be transferred, the transfer robot needs to go and return many times, and the transfer efficiency is low.

Disclosure of Invention

In view of the above, a need exists for a transfer robot to solve the technical problem that the conventional transfer robot can only transfer one piece of goods at a time and has low transfer efficiency.

In order to achieve the purpose, the invention provides a transfer robot, which comprises a frame, a walking mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism and a translation mechanism, wherein the frame is provided with a plurality of wheels;

the walking mechanism is connected with the frame and is used for driving the frame to move;

the rotating mechanism comprises a turntable and a rotating driving piece, the turntable is rotatably arranged on the frame, and the rotating driving piece is connected with the turntable and is used for driving the turntable to rotate;

the grabbing mechanism is used for grabbing goods;

the lifting mechanism is connected with the grabbing mechanism and is used for driving the grabbing mechanism to do lifting motion;

the translation mechanism is fixedly installed on the frame, and the translation mechanism is connected with the lifting mechanism and is used for driving the lifting mechanism to translate.

Preferably, the running mechanism comprises a plurality of rolling parts, each rolling part comprises a universal wheel and a rolling driving motor, the universal wheel is connected to the lower end of the frame, and the rolling driving motor is connected with the universal wheel and used for driving the universal wheel to rotate.

Preferably, slewing mechanism still includes a plurality of and is used for placing the rotating vane of goods, each rotating vane all sets up horizontally, each rotating vane follows the circumference of carousel is fixed in on the carousel.

Preferably, a limiting protrusion for limiting the goods is formed on the rotating blade.

Preferably, the rotation driving part includes mounting panel, worm wheel, worm and rotation driving motor, the mounting panel is fixed in on the frame, the worm wheel is fixed in on the carousel, the worm rotate set up in on the mounting panel, the worm with the worm wheel meshing, rotation driving motor with the worm is connected and is used for the drive the worm rotates.

Preferably, snatch the mechanism and include fixed plate, guide bar, two tong and snatch the driving piece, the fixed plate with hoisting mechanism connects, the guide bar is fixed in on the fixed plate, two the tong all slide set up in on the guide bar, snatch the driving piece and two the tong is connected and is used for driving two the tong is close to each other or keeps away from each other.

Preferably, snatch the driving piece and include dwang, two connecting rods and snatch driving motor, the middle-end of dwang rotate set up in on the fixed plate, two the one end of connecting rod respectively with two the tong is articulated, two the other end of connecting rod respectively with the both ends of dwang are articulated, snatch driving motor with the dwang is connected and is used for the drive the dwang rotates.

Preferably, the lifting mechanism includes a support plate, a lifting motor, a bobbin, a pull rope and a limit rod, the support plate is connected to the translation mechanism, a limit hole is formed in the support plate, the lifting motor is fixedly mounted on the support plate, the bobbin is coaxially fixed to an output shaft of the lifting motor, one end of the pull rope is wound on the bobbin, the other end of the pull rope is fixedly connected to the fixing plate, the limit rod is slidably inserted into the limit hole, and the lower end of the limit rod is fixedly connected to the fixing plate.

Preferably, translation mechanism includes the action wheel, follows driving wheel, hold-in range and translation motor, the action wheel reaches from the driving wheel all rotate set up in on the frame, the hold-in range is closed to be set up, the one end of hold-in range is around locating on the action wheel, the other end of hold-in range is around locating from the driving wheel, the hold-in range with support plate fixed connection, translation motor with the action wheel is connected and is used for the drive the action wheel rotates.

Preferably, translation mechanism still includes guide rail and slider, the guide rail be fixed in on the frame and with the hold-in range is parallel, the slider slide set up in on the guide rail, the slider with support plate fixed connection.

Compared with the prior art, the technical scheme provided by the invention has the beneficial effects that: the carrying robot provided by the invention can convey a plurality of goods at one time when reciprocating each time, and greatly improves the loading and unloading efficiency of the goods.

Drawings

Fig. 1 is a schematic view of a handling robot according to an embodiment of the present invention in a use state;

fig. 2 is a schematic perspective view of the transfer robot in fig. 1;

FIG. 3 is a schematic perspective view of the traveling mechanism of FIG. 2;

FIG. 4 is a schematic perspective view of the rotating mechanism of FIG. 2;

FIG. 5 is a perspective view of the rotating mechanism of FIG. 4 from another perspective;

FIG. 6 is a schematic perspective view of the grasping mechanism of FIG. 2;

FIG. 7 is a schematic perspective view of the grasping mechanism of FIG. 6 from another perspective;

FIG. 8 is a perspective view of the hoist mechanism of FIG. 2;

FIG. 9 is a schematic perspective view of the translation mechanism of FIG. 2;

in the figure: 1-frame, 2-walking mechanism, 3-rotating mechanism, 4-grabbing mechanism, 5-lifting mechanism, 6-translation mechanism, 7-cargo, 21-rolling element, 211-universal wheel, 212-rolling driving motor, 31-rotary table, 32-rotating driving element, 321-mounting plate, 322-worm wheel, 323-worm, 33-rotating blade, 331-limit projection, 41-fixing plate, 42-guide rod, 43-gripper, 44-grabbing driving element, 441-rotating rod, 442-connecting rod, 443-grabbing driving motor, 51-carrier plate, 52-lifting motor, 53-winding drum, 54-pulling rope, 55-limit rod, 61-driving wheel, 62-driven wheel, 63-synchronous belt, 64-translation motor, 65-guide rail and 66-slide block.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

Referring to fig. 1 and 2, the present invention provides a transfer robot, which includes a frame 1, a traveling mechanism 2, a rotating mechanism 3, a grabbing mechanism 4, a lifting mechanism 5, and a translating mechanism 6.

The walking mechanism 2 is connected with the frame 1 and is used for driving the frame 1 to move. Slewing mechanism 3 includes carousel 31 and rotation driving piece 32, carousel 31 rotate set up in on the frame 1, rotation driving piece 32 with carousel 31 is connected and is used for the drive carousel 31 rotates.

The grabbing mechanism 4 is used for grabbing goods. The lifting mechanism 5 is connected with the grabbing mechanism 4 and is used for driving the grabbing mechanism 4 to do lifting motion. The translation mechanism 6 is fixedly installed on the frame 1, and the translation mechanism 6 is connected with the hoisting mechanism 5 and is used for driving the hoisting mechanism 5 to translate.

When in use, the frame 1 is moved to the stacking position of the goods 7 through the travelling mechanism 2, the grabbing mechanism 4 is aligned with one goods 7, then the lifting mechanism 5 drives the grabbing mechanism 4 to descend, so that the grabbing mechanism 4 contacts the goods 7, then the goods 7 are grabbed by the grabbing mechanism 4, then the lifting mechanism 5 drives the grabbing mechanism 4 to lift, the translation mechanism 6 drives the lifting mechanism 5 to translate to the upper part of the turntable 31, then the grabbing mechanism 4 releases the goods 7, the goods 7 fall to the turntable 31, the next goods 7 are then gripped on the turntable 31 in the same way until the turntable 31 is full (to avoid uneven stacking of the goods on the turntable 31, the turntable 31 is rotated when receiving the goods 7), the entire device is moved by the travelling mechanism 2 to a predetermined discharge location, and the goods on the turntable 31 are then discharged to the discharge location in this manner.

According to the invention, through the matching of the grabbing mechanism 4, the lifting mechanism 5 and the translation mechanism 6, a plurality of cargos 7 are grabbed onto the turntable 31 in sequence, the turntable 31 is driven to rotate through the rotating driving piece 32, so that the cargos stacked on the turntable 31 are uniformly placed, and the whole device is driven to reciprocate at the cargo stacking position and the cargo unloading position through the traveling mechanism 2.

In order to realize the function of the traveling mechanism 2, please refer to fig. 2 and fig. 3, in a preferred embodiment, the traveling mechanism 2 includes a plurality of rolling members 21, each of the rolling members 21 includes a universal wheel 211 and a rolling driving motor 212, the universal wheel 211 is connected to the lower end of the frame 1, the rolling driving motor 212 is connected to the universal wheel 211 and is used for driving the universal wheel 211 to rotate, in this embodiment, the universal wheel 211 is a folk-wheel, and can move in all directions.

In order to facilitate placing more goods 7 on the rotating disc 31, referring to fig. 1, 2, 4 and 5, in a preferred embodiment, the rotating mechanism 3 further includes a plurality of rotating blades 33 for placing the goods 7, each rotating blade 33 is horizontally disposed, and each rotating blade 33 is fixed on the rotating disc 31 along the circumferential direction of the rotating disc 31, in this embodiment, one goods 7 can be placed on one rotating blade 33, and meanwhile, the rotating blades 33 are designed to be of a double-layer structure and staggered with each other, so that more goods 7 can be placed.

In order to prevent the goods 7 on the rotating blade 33 from sliding off the rotating blade 33, referring to fig. 1, 2, 4 and 5, in a preferred embodiment, a limiting protrusion 331 for limiting the goods 7 is formed on the rotating blade 33.

In order to realize the function of the rotation driving member 32, referring to fig. 2-5, in a preferred embodiment, the rotation driving member 32 includes a mounting plate 321, a worm wheel 322, a worm 323, and a rotation driving motor (not shown), the mounting plate 321 is fixed on the frame 1, the worm wheel 322 is fixed on the turntable 31, the worm 323 is rotatably disposed on the mounting plate 321, the worm 323 is engaged with the worm wheel 322, the rotation driving motor is connected to the worm 323 and is used for driving the worm 323 to rotate, when the turntable 31 needs to be rotated, the rotation driving motor drives the worm 323 to rotate, the worm 323 drives the worm wheel 322 to rotate, and the worm wheel 322 drives the turntable 31 to rotate.

In order to implement the function of the grabbing mechanism 4 specifically, referring to fig. 2, fig. 6 and fig. 7, in a preferred embodiment, the grabbing mechanism 4 includes a fixing plate 41, a guide rod 42, two clamping hands 43 and a grabbing driving member 44, the fixing plate 41 is connected to the lifting mechanism 5, the guide rod 42 is fixed to the fixing plate 41, the two clamping hands 43 are both slidably disposed on the guide rod 42, and the grabbing driving member 44 is connected to the two clamping hands 43 and is configured to drive the two clamping hands 43 to approach or move away from each other, so as to implement the grabbing function.

In order to realize the function of the grabbing driving element 44 specifically, referring to fig. 2, fig. 6 and fig. 7, in a preferred embodiment, the grabbing driving element 44 includes a rotating rod 441, two connecting rods 442 and a grabbing driving motor 443, the middle end of the rotating rod 441 is rotatably disposed on the fixing plate 41, one end of each of the two connecting rods 442 is respectively hinged to the two clamping hands 43, the other end of each of the two connecting rods 442 is respectively hinged to the two ends of the rotating rod 441, the grabbing driving motor 443 is connected to the rotating rod 441 and is used for driving the rotating rod 441 to rotate, in this embodiment, the shape of the connecting rod 442 is a circular arc, so as to prevent the connecting rod 442 from being blocked from rotating at a specific position, when in use, the grabbing driving motor 443 drives the rotating rod 441 to rotate, and the rotating rod 441 drives the two clamping hands 43 to approach or separate from each other via the two connecting rods 442, thereby achieving the grabbing function.

In order to realize the function of the lifting mechanism 5, referring to fig. 2 and 8, in a preferred embodiment, the lifting mechanism 5 includes a carrier plate 51, a lifting motor 52, a bobbin 53, a pulling rope 54 and a limiting rod 55, the carrier plate 51 is connected to the translation mechanism 6, the carrier plate 51 is provided with a limiting hole, the lifting motor 52 is fixedly mounted on the carrier plate 51, the bobbin 53 is coaxially fixed on an output shaft of the lifting motor 52, one end of the pulling rope 54 is wound on the bobbin 53, the other end of the pulling rope 54 is fixedly connected to the fixing plate 41, the limiting rod 55 is slidably inserted into the limiting hole, a lower end of the limiting rod 55 is fixedly connected to the fixing plate 41, and when in use, the winding number of turns of the pulling rope 54 on the bobbin 53 is increased or decreased by driving the bobbin 53 to rotate by the lifting motor 52, to adjust the height of the fixing plate 41, and the stopper 55 serves to prevent the fixing plate 41 from swinging laterally.

In order to specifically realize the functions of the translation mechanism 6, referring to fig. 2 and 9, in a preferred embodiment, the translation mechanism 6 includes a driving wheel 61, a driven wheel 62, a synchronous belt 63 and a translation motor 64, wherein the driving wheel 61 and the driven wheel 62 are both rotatably disposed on the frame 1, the synchronous belt 63 is disposed in a closed manner, one end of the synchronous belt 63 is wound on the driving wheel 61, the other end of the synchronous belt 63 is wound on the driven wheel 62, the synchronous belt 63 is fixedly connected to the carrier plate 51, and the translation motor 64 is connected to the driving wheel 61 and is configured to drive the driving wheel 61 to rotate, so as to translate the carrier plate 51.

In order to improve the stability of the translation process of the carrier plate 51, referring to fig. 2 and 9, in a preferred embodiment, the translation mechanism 6 further includes a guide rail 65 and a slider 66, the guide rail 65 is fixed on the frame 1 and is parallel to the timing belt 63, the slider 66 is slidably disposed on the guide rail 65, and the slider 66 is fixedly connected to the carrier plate 51, so that the translation process of the carrier plate 51 is more stable through the cooperation of the guide rail 65 and the slider 66.

For better understanding of the present invention, the operation of the transfer robot provided in the present invention will be described in detail below with reference to fig. 1 to 9: when in use, the universal wheel 211 is driven to rotate by the rolling driving motor 212, so that the frame 1 is moved to the stacking position of the goods 7, the grabbing mechanism 4 is aligned with one goods 7, the grabbing mechanism 4 is driven to descend by the hoisting mechanism 5, the two clamping hands 43 reach two sides of the goods 7, the grabbing driving motor 443 drives the two clamping hands 43 to approach each other, so that the goods 7 are clamped, the winding drum 53 is driven to rotate by the hoisting motor 52, so that the goods 7 are driven to ascend by the pull rope 54, the synchronous belt 63 is driven to rotate by the translation motor 64, so that the carrier plate 51 moves transversely, so that the goods 7 are translated above the rotary table 31, the goods 7 are released by the two clamping hands 43, the goods 7 fall onto the rotary blade 33, and then the next goods 7 are grabbed onto the next rotary blade 33 by the same method until all the rotary blades 33 are fully stacked (the rotary table 31, bringing each rotary blade 33 in turn to the receiving position for easy handling), and then moving the entire apparatus to a predetermined discharge location by the traveling mechanism 2, and then discharging the goods on the turntable 31 to the discharge location.

It should be noted that, in order to realize the automatic transportation of the goods 7, the device is required to further have a visual recognition function, and the specific implementation method is as follows:

the grabbing mechanism 4 is provided with a visual identification module which can be an Openmv camera module or a K210 camera module, wherein the Openmv camera module is a low-cost and powerful machine visual module, codes are written by utilizing a micropython programming language, various program modules are contained, such as face identification, edge detection, color block tracking and the like, and the camera and the built-in chip are integrated; the K210 camera module is a home-made chip, and can realize a plurality of functions such as: the functions of image recognition, voice recognition and the like are wider, and the image recognition function can be realized after the camera is mounted. K210 is also written by using a micropython language, and most of function libraries in the K210 are transplanted by referring to Openmv and almost have no difference with Openmv. Therefore, the functions of both are the same in terms of image recognition.

Because the vision of the machine is different from the vision of human eyes, the threshold value of the color needs to be adjusted according to the brightness degree of the environment when the program is used, namely, the color standard is set, so that the camera can accurately identify the color in the eyes. The camera module also needs to communicate with a main control board (singlechip), so that data processed by the camera module can be transmitted to the main control board, and the main control board can realize the next action.

The specific operation method is to paste red and blue round, square and triangular marks on the goods 7, and to identify the red and blue round, square and triangular through the specific identification of the shape and color by the Openmv camera module. In the aspect of color identification, the color identification function is called through threshold selection, and then the color identification can be realized. In the aspect of shape identification, circle identification is carried out by using Hough transform, a rectangle is identified by using a quaternary detection algorithm, and identification of a triangle is realized by identifying a line segment and judging whether the sum of internal angles is 180 degrees.

The visual identification function can be realized through the visual identification module, so that the device can automatically identify the goods to be carried, and automatic carrying is realized.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.