CN207566453U - A kind of warehouse tubing transfer robot - Google Patents

Abstract

The utility model discloses a pipe material handling robot for a warehouse, which belongs to the field of handling robots. The utility model comprises a vehicle body, which includes a vehicle frame and a wheel installed at the bottom of the vehicle frame, and also includes a lifting mechanism on which a grabbing mechanism is installed; there are three lifting mechanisms, and the three lifting mechanisms are limited by the positions of the lifting mechanisms. The first grabbing mechanism is arranged in a triangle, and grabs three positions on the U-shaped tube respectively. The utility model can realize the transportation of U-shaped pipes through the mutual cooperation of three grasping mechanisms, and the three grasping mechanisms cooperate with each other to form a triangular structure, which can firmly clamp the U-shaped pipes and is not easy to fall off. The mutual cooperation between the mechanism and the translation mechanism can realize the flexible movement of the manipulator without being limited by space, and can realize the efficient handling and accurate placement of U-shaped pipes, and has strong practicability.

Description

A warehouse pipe handling robot

technical field

The utility model relates to the technical field of handling robots, in particular to a warehouse pipe handling robot.

Background technique

At present, with the rapid development of industry, in automated factories, products are inseparable from the help of robots from production to transportation. However, in the process of robot handling pipes, especially for U-shaped pipes, due to the special shape, the handling robots in the prior art mostly grasp through one or two points, and it is difficult to achieve the stability of the U-shaped pipe handling process , not practical enough. Therefore, the development of U-shaped pipe handling robot is of great significance to the handling robot industry.

After searching, the existing patent scheme has been published. Such as Chinese patent: a pipe material handling robot and its assembly method, application number: 2015107309307, application date: 2015.10.31. The invention discloses a pipe transporting robot, which includes a robot body, a detection device for detecting the position of the pipe, and a control device for controlling the movement of the robot and moving the pipe; the robot body at least includes wheels, a frame, and a The mechanical arm and the driving device for driving the wheel and the mechanical arm, the mechanical arm includes a first hydraulic telescopic rod connected coaxially with the vehicle frame, a second hydraulic telescopic rod connected by bending with the first hydraulic telescopic rod, and a The rolling bearing at the end of the second hydraulically telescopic rod, the support block at one end of the rolling bearing, the motor on the support block, and the arc-shaped chuck for clamping the pipe on the output shaft of the motor; the beneficial effects of the present invention Yes: the robot can automatically plan the most efficient and accurate moving transportation path, and realize the classification, handling and stacking of messy piled pipes, with fast moving speed and efficient processing. But its shortcoming is that the mechanical arms of the robot are installed side by side on the frame, which cannot be applied to the handling of U-shaped pipes, and the arc-shaped chucks used to clamp the pipes cannot be flexibly opened and closed, and cannot be applied to U-shaped pipes. Handling of U-shaped pipes of different specifications.

Utility model content

1. The technical problems to be solved by the utility model

The purpose of the utility model is to overcome the deficiency that the existing pipe material handling robot cannot handle U-shaped pipe materials, and provides a warehouse pipe material handling robot. The utility model improves the arrangement position of the grabbing mechanism of the robot, so that it can grab the U-shaped pipe, and then realize the transportation of the U-shaped coffin.

2. Technical solution

In order to achieve the above object, the technical solution provided by the utility model is:

A warehouse pipe handling robot of the utility model includes a body, the body includes a frame and wheels installed at the bottom of the frame, and a lifting mechanism on which a grabbing mechanism is installed; there are three lifting mechanisms, By limiting the position of the lifting mechanism, the three grabbing mechanisms are arranged in a triangle to grab three positions on the U-shaped tube respectively. The three grabbing mechanisms form a three-grip positioning, so that the U-shaped tube can The walking process of taking and carrying is relatively stable, and there will be no swinging from side to side.

As a further improvement of the utility model, the lifting mechanism includes a lead screw, a lead screw nut and a lifting platform, the lead screw and the lifting platform are installed on the frame, and the lifting platform is fixedly connected with the lead screw nut. The cooperation of the rod and the lead screw nut controls the lifting platform to move up and down.

As a further improvement of the utility model, the front end of the vehicle frame is open, and a lifting mechanism is arranged in the middle of the front end of the vehicle frame, and two other lifting mechanisms are arranged side by side at the rear end of the vehicle frame, and the two lifting mechanisms at the rear end are relative to the center of the vehicle frame. The cross-section is symmetrical. One lifting mechanism at the front end and two lifting mechanisms at the rear end form a triangular arrangement.

As a further improvement of the utility model, the grabbing mechanism includes a translation mechanism and a manipulator, and the direction from the front end to the rear end of the vehicle body is set as the longitudinal direction, and the direction perpendicular to the longitudinal level is set as the horizontal direction, and the grabbing mechanism passes The translation mechanism controls the horizontal or vertical movement of the manipulator, and the manipulator is used to grab the pipe.

As a further improvement of the utility model, the translation mechanism installed on the lifting mechanism at the front end of the vehicle frame is a longitudinal translation mechanism.

As a further improvement of the utility model, the translation mechanism includes two pairs of parallel pulleys, a belt and a moving platform, and the driving wheel in each pair of pulleys is driven by a motor shaft and driven by a belt; the moving platform It is supported by a guide rod and fixedly connected with a belt, and is driven by the belt.

As a further improvement of the utility model, the manipulator includes a motor base, a drive shaft, a connecting frame, a driving arm and a gripper, the motor base is installed on the bottom of the mobile platform, and a drive shaft is installed on the motor base; the connecting frame The upper end is connected with the motor base, and the driving arm is installed at the lower end of the connecting frame, and the gripper on the driving arm is controlled by the driving shaft to grab the pipe.

The outer periphery of the drive shaft is provided with threads, and the drive shaft is threadedly connected with a gripper drive seat, and the drive arm is driven by the drive motor in the gripper drive seat to realize opening and closing; the upper end of the connecting frame is connected with the motor seat, and the connecting frame The lower end is hinged with opposite driving arms, and the driving arms are threadedly connected with the connecting frame, and the gripper is threadedly connected under the driving arms.

The driving arm includes two symmetrically arranged outer arms and two symmetrically arranged inner arms, the outer arm is divided into upper and lower parts through threaded connection, the upper part is threaded with the connecting frame, and the lower part is threaded with the gripper; One end of the inner arm is threadedly connected to the gripper drive seat, and the other end is threaded to the lower part of the two outer arms. The outer arm cooperates with the inner arm and is driven by the gripper driver seat to realize the opening and closing of the driving arm, thereby driving the gripper The opening and closing of pipes can realize the grabbing and stacking of pipes.

As a further improvement of the utility model, the two grippers installed on the driving arm are arranged symmetrically, and an arc-shaped groove is arranged on the opposite side of the grippers.

As a further improvement of the utility model, there are two arc-shaped grooves on the handle, including the first groove on the upper side and the second groove on the lower side, and the curvature radius of the first groove is Larger than the second groove, it protects the U-shaped tube to the greatest extent and prevents it from slipping during the grabbing process.

As a further improvement of the utility model, a camera is installed on the vehicle frame, and the camera is electrically connected to the control system of the robot, which can accurately position the U-shaped pipe and calculate the optimal route for efficient transportation.

3. Beneficial effect

Compared with the prior art, the technical solution provided by the utility model has the following beneficial effects:

(1) A warehouse pipe handling robot of the present utility model comprises a vehicle body, the vehicle body includes a vehicle frame and wheels installed at the bottom of the vehicle frame, and also includes a lifting mechanism on which a grabbing mechanism is installed; the lifting mechanism There are three. By limiting the position of the lifting mechanism, the three grabbing mechanisms are arranged in a triangle to grab three positions on the U-shaped tube respectively. The three grabbing mechanisms form a three-grip positioning, and the U-shaped tube is firmly fixed It is firmly stuck, not easy to fall off, and realizes stable handling of U-shaped pipes.

(2) A kind of warehouse pipe material handling robot of the present utility model, lifting mechanism comprises leading screw, leading screw nut and lifting platform, controls lifting platform to move up and down through the cooperation of leading screw and leading screw nut. The front end of the frame is open, and a lifting mechanism is set in the middle of the front end of the frame. Two other lifting mechanisms are arranged side by side at the rear end of the frame. The two lifting mechanisms at the rear end are symmetrical about the middle section of the frame. Two lifting mechanisms form a triangular arrangement. The grasping mechanism includes a translation mechanism and a manipulator, and the grasping mechanism controls the horizontal or vertical movement of the manipulator through the translation mechanism. The three lifting mechanisms and the three grasping mechanisms cooperate with each other to realize the flexible movement of the manipulator in the X, Y, and Z directions without being limited by space, which is conducive to grasping U-shaped pipes of different shapes.

(3) A warehouse pipe handling robot of the present utility model, the manipulator includes a motor base, a drive shaft, a connecting frame, a drive arm and a gripper, the outer periphery of the drive shaft is provided with threads, and the gripper drive seat is threaded on the drive shaft, connected The upper end of the frame is connected with the machine base, and the driving arm is installed at the lower end of the connecting frame. The driving arm includes two symmetrically arranged outer arms and two symmetrically arranged inner arms. The opening and closing of the outer arm and the inner arm on the driving arm are controlled by the driving shaft. Close, and further drive the gripper to grab the pipe. In this way, the opening and closing of the manipulator can be realized to the greatest extent, and the handling of U-shaped pipes of different specifications can be satisfied.

(4) A warehouse pipe handling robot of the present utility model is provided with a first groove on the upper side and a second groove on the lower side on the gripper, and the radius of curvature of the first groove is larger than that of the second groove, so that Maximum protection of the U-tube to prevent slipping during grabbing.

Description of drawings

Figure 1 is a schematic diagram of the front view of the U-shaped pipe handling robot.

Fig. 2 is a structural schematic diagram of the lifting mechanism and the grabbing mechanism.

Figure 3 is a schematic diagram of the position of the control system.

Fig. 4 is a schematic diagram of the structure of the manipulator.

Explanation of the labels in the schematic diagram: 1. Body; 101. Vehicle frame; 102. Wheel; 2. Lifting mechanism; 201. Lead screw; 202. Lead screw nut; 203. Lifting platform; ;302, belt; 303, mobile platform; 305, manipulator; 3051, motor seat; 3052, drive shaft; 3053, connecting frame; 3054, drive arm; Groove; 4. Camera.

Detailed ways

In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments.

As shown in Fig. 1, Fig. 2, Fig. 3, and Fig. 4, a kind of warehouse pipe material handling robot of the present embodiment includes a vehicle body 1, and the vehicle body 1 includes a vehicle frame 101 and wheels 102 installed at the bottom of the vehicle frame, and also includes a lift Mechanism 2, a grasping mechanism 3 is installed on the lifting mechanism 2; there are three lifting mechanisms 2, one lifting mechanism is set in the middle of the front end of the frame, and the other two lifting mechanisms are arranged side by side at the tail end of the frame, and the two lifting mechanisms at the tail end The mechanism is symmetrical about the mid-section of the frame. By limiting the position of the lifting mechanism 2, the three grasping mechanisms 3 are arranged in a triangle, respectively grasping three positions on the U-shaped pipe, and firmly grasping the U-shaped pipe.

Furthermore, the front end of the vehicle frame 101 is open, and when grabbing the U-shaped tube, it is driven in from the front end of the vehicle body; the wheels 102 can be mecanum wheels, providing a full range of movement.

The vehicle frame 101 can be a frame structure, which is convenient for transportation workers to observe the loading situation; the outer side of the vehicle frame 101 can also be packaged with some plates to strengthen the structure and prevent the corrosion of the vehicle body by external oil pollution. The opening referred to in this embodiment refers to opening a notch at the bottom of the vehicle frame 101 side, that is, removing the stopper on the vehicle frame to provide an entry space for the U-shaped pipe, otherwise the U-shaped pipe cannot be regulated to the desired position by the movement of the vehicle body. Below the gripping mechanism. For the convenience of description, the end defining the opening in this embodiment is the front end of the vehicle frame.

In this embodiment, the wheel 102 adopts a mecanum wheel. Of course, a motor-controlled universal wheel can also be used. Because it is not easy to control and the friction force is large when turning, the effect of the universal wheel is relatively poor. The set wheels 102 may be in a triangular structure, or arranged sideways, with 2 or 3 wheels arranged on each side. In this embodiment, two wheels are preferably arranged on each side, that is, the vehicle body is supported by four wheels, so that flexibility and carrying capacity can be taken into account during transportation, and the use effect is better.

The lifting mechanism 2 in this embodiment includes a leading screw 201, a leading screw nut 202 and a lifting platform 203, the leading screw 201 and the lifting platform 203 are installed on the vehicle frame 101, and the lifting platform 203 is fixedly connected with the leading screw nut 202 , through the cooperation of the lead screw 201 and the lead screw nut 202 to control the lifting platform to move up and down.

The direction from the front end to the rear end of the vehicle body 1 is set as the longitudinal direction, and the direction perpendicular to the longitudinal level is set as the horizontal direction. The grabbing mechanism 3 includes a translation mechanism and a manipulator 305, and the gripping mechanism controls the manipulator 305 horizontally or vertically through the translation mechanism. Moving, the manipulator 305 is used to grab the pipe.

The translation mechanism installed on the lifting mechanism 2 positioned at the front end of the vehicle frame is a longitudinal translation mechanism.

The translation mechanism in this embodiment includes two pairs of pulleys 301, belts 302 and mobile platform 303 arranged in parallel, the drive wheels in each pair of pulleys are driven by the motor shaft and driven by the belt 302; The rod supports and is fixedly connected with the belt 302, and is driven by the belt 302. After the U-shaped tube enters the frame, the position of the U-shaped tube can be found by adjusting the horizontal and vertical movements of the mobile platform.

The manipulator 305 in this embodiment includes a motor base 3051, a drive shaft 3052, a connecting frame 3053, a drive arm 3054, and a gripper 3055. The motor base 3051 is installed on the bottom of the mobile platform, and a drive shaft is installed on the motor base 3051; A drive arm 3054 is installed at the lower end of the connecting frame 3053, and the gripper 3055 on the drive arm 3054 is controlled by the drive shaft to grab the pipe.

The drive shaft is threadedly connected with a handle driving seat, and the driving arm 3054 is driven by the drive motor in the handle driving seat to realize opening and closing; the upper end of the connecting frame 3053 is connected with the motor seat 3052, and the lower end of the connecting frame 3053 is hinged with a pair of The driving arm 3054 is provided, the driving arm 3054 is screwed to the connecting frame 3054, and the gripper 3055 is screwed to the bottom of the driving arm.

The driving arm 3054 includes two symmetrically arranged outer arms and two symmetrically arranged inner arms. The upper part of the outer arm is threaded with the connecting frame 3053, and the lower part is threaded with the gripper 3055; one end of the inner arm is connected with the gripper. The hand drive seat is threaded, and the other end is threaded to the lower part of the two outer arms. The outer arm cooperates with the inner arm. When grabbing the U-shaped tube, it is driven by the grip driver seat to realize the opening and closing of the drive arm, thereby driving the gripper. The opening and closing of pipes can realize the grabbing and stacking of pipes.

The two grippers 3055 installed on the driving arm in this embodiment are symmetrically arranged, and the opposite side of the gripper 3055 is provided with arc-shaped grooves, including the first groove 30551 on the upper side and the second groove on the lower side 30552, the radius of curvature of the first groove 30551 is larger than that of the second groove 30552, preventing slipping during the grasping process.

In this embodiment, a camera 4 is installed on the vehicle frame, and the camera 4 is electrically connected to the control system of the robot, which can accurately position the U-shaped pipe and calculate the optimal route for efficient transportation.

In the utility model, two pairs of pulleys are vertically arranged, and the belts of one pair of pulleys are fixed to the other pair of belts, and connected by a mobile platform. At this time, the degrees of freedom of the manipulator on the horizontal plane X and Y are realized. That is, it can move in two mutually perpendicular directions, and at the same time, the pulley is connected to the stepping motor through the shaft, so that the rotation angle of the pulley can be controlled, that is, the position of the manipulator on the horizontal plane can be controlled, and the three lifting mechanisms are front and rear. The second method is placed on the frame, and the frame drives into the center part where the pipe enters the interior of the car body, and allows the front manipulator to grasp the center of the head of the pipe, and the two rear manipulators to grasp the two ends of the pipe respectively, so that , the car body can stably carry U-shaped pipes.

The above schematically describes the utility model and its implementation, which is not restrictive. What is shown in the drawings is only one implementation of the utility model, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by it, and without departing from the purpose of the invention of the utility model, without creatively designing a structural method and an embodiment similar to the technical solution, it shall all belong to the utility model. protected range.

Claims (10)

1. A warehouse pipe material handling robot, comprising a vehicle body (1), the vehicle body (1) comprising a vehicle frame (101) and a wheel (102) installed on the bottom of the vehicle frame (101), characterized in that it also includes a lifting mechanism ( 2), a grabbing mechanism (3) is installed on the lifting mechanism (2); there are three lifting mechanisms (2), and the three grabbing mechanisms (3) are formed by limiting the position of the lifting mechanism (2). Arranged in a triangle, grab three points on the U-shaped tube respectively. 2. A warehouse pipe handling robot according to claim 1, characterized in that: the lifting mechanism (2) includes a screw (201), a screw nut (202) and a lifting platform (203), the screw Bar (201) and lifting platform (203) are installed on the vehicle frame (101), and described lifting platform (203) is connected with leading screw nut (202), through leading screw (201) and leading screw nut (202) Cooperate with controlling the lifting platform (203) to move up and down. 3. A warehouse pipe handling robot according to claim 1 or 2, characterized in that: the front end of the vehicle frame (101) is open, and a lifting mechanism (2) is arranged in the middle of the front end of the vehicle frame (101), and the vehicle Two other elevating mechanisms (2) are arranged side by side at the tail end of the frame (101), and the two elevating mechanisms (2) at the tail end are symmetrical about the middle section of the vehicle frame (101). 4. A warehouse pipe handling robot according to claim 1, characterized in that: the grasping mechanism (3) includes a translation mechanism and a manipulator (305), and the manipulator (305) is controlled to move horizontally or vertically through the translation mechanism, The manipulator (305) is used to grab pipes. 5. A warehouse pipe handling robot according to claim 1, characterized in that: the translation mechanism installed on the lifting mechanism (2) at the front end of the vehicle frame (101) is a longitudinal translation mechanism. 6. A warehouse pipe handling robot according to claim 5, characterized in that: said translation mechanism comprises two pairs of pulleys (301), belts (302) and mobile platforms (303) arranged in parallel, each pair of belts The driving wheel in the wheel (301) is driven by the motor shaft, and is driven by the belt (302); . 7. A warehouse pipe handling robot according to claim 4, characterized in that: the manipulator (305) includes a motor base (3051), a drive shaft (3052), a connecting frame (3053), and a drive arm (3054) and the gripper (3055), the motor base (3051) is installed on the bottom of the mobile platform, and the drive shaft (3052) is installed on the motor base (3051); the upper end of the connecting frame (3053) is connected to the motor base (3051), A drive arm (3054) is installed at the lower end of the connecting frame (3053), and the gripper (3055) on the drive arm (3054) is controlled by the drive shaft (3052) to grab the pipe. 8. A warehouse pipe handling robot according to claim 7, characterized in that: the two grippers (3055) installed on the driving arm (3054) are arranged symmetrically, and the opposite side of the grippers (3055) is arranged There are curved grooves. 9. A warehouse pipe handling robot according to claim 8, characterized in that: there are two arc-shaped grooves on the gripper (3055), including the first groove on the upper side and the first groove on the lower side. second groove. 10. A warehouse pipe handling robot according to any one of claims 1-2 or 4-9, characterized in that: a camera (4) is installed on the frame (101), and the camera (4) It is electrically connected with the control system of the robot.