CN210972753U

CN210972753U - Intelligent loading and unloading device for medicine packing boxes

Info

Publication number: CN210972753U
Application number: CN201921606752.7U
Authority: CN
Inventors: 唐长林
Original assignee: Chengdu Yunji Pharmaceutical Co Ltd
Current assignee: Chengdu Yunji Pharmaceutical Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2020-07-10
Anticipated expiration: 2029-09-25

Abstract

The utility model discloses a medicine packing box intelligence handling device, include: an AGV chassis with Mecanum wheels; the six-shaft stacking robot is arranged at one end of the AGV chassis; the belt is installed at the other end of the AGV chassis; the detection system is used for detecting the running state of the loading and unloading device and sending detection information to the control system; and the control system is used for receiving the information of the detection system and controlling the operation of the loading and unloading device. The utility model provides a medicine packing box intelligent handling device, through AGV chassis walking, install pile up neatly robot and belt on the AGV chassis, collect the function of pile up neatly robot and belt, adjust AGV chassis position at any time along with the change of loading and unloading volume, the loading and unloading of intelligent control medicine packing box has improved the efficiency of vehicle loading and unloading, has reduced workman's quantity, has promoted personnel's utilization ratio; meanwhile, the probability of human error is reduced, and the operation cost is reduced.

Description

Intelligent loading and unloading device for medicine packing boxes

Technical Field

The utility model relates to a medicine packing box loading and unloading field especially relates to a medicine packing box intelligence handling device.

Background

In the last half of 2017, the accumulated business volume of express service enterprises in China is 173.2 hundred million pieces, and from the second quarter of the year, the normalization of China enters the hundred million pieces express times per day. In this context, the application of the logistics robot is becoming widespread. In the next 5-10 years, the use density of the logistics robot is estimated to reach about 5 persons per ten thousand. Therefore, the reduction of logistics cost is a hot issue of high concern in the whole society and is also the central importance of structural reform on the transportation supply side.

In order to improve the work efficiency of medicine transportation, reduce human errors and reduce the operation cost in pharmaceutical enterprises, an Automatic Guided Vehicle (AGV) is required to be used for providing a solid foundation design for loading and unloading of later-stage medicine packing boxes and large-scale application of a palletizing robot. The existing automatic guide transport vehicle does not integrate a conveying belt and a palletizing robot, needs more manual operations and has low efficiency when loading and unloading medicine packing boxes, and is the difficult point of the whole industry for improving the technical level.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model aims at providing a medicine packing box intelligent handling device installs pile up neatly machine people and belt on the AGV chassis, collects the function of pile up neatly machine people and belt, and the walking of accessible AGV chassis, controls the loading and unloading of medicine packing box intelligently.

In order to realize the above purpose, the utility model discloses a technical scheme:

an intelligent handling device for medicine packing cases comprises:

an AGV chassis with Mecanum wheels;

the six-shaft stacking robot is arranged at one end of the AGV chassis;

the belt is installed at the other end of the AGV chassis;

the detection system is used for detecting the running state of the loading and unloading device and sending detection information to the control system;

and the control system is used for receiving the information of the detection system and controlling the operation of the loading and unloading device.

Further, the AGV chassis comprises Mecanum wheels, a roller power assembly and a chassis frame assembly;

the Mecanum wheels and the roller power assemblies are all provided with multiple groups and are in one-to-one correspondence, each roller power assembly comprises a first servo motor and a first speed reducer, the first servo motor is connected with the first speed reducer, the first speed reducer is installed on a suspension plate of the chassis frame assembly, and a power output shaft of the first speed reducer penetrates through the suspension plate and then is connected with the Mecanum wheels.

Further, the Mecanum wheel comprises a first end cover, a second end cover, a connecting shaft and a roller;

the first end cover and the second end cover are arranged in parallel and are both of a disc structure, the middle part of the first end cover is connected with the middle part of the second end cover through a connecting shaft, and the outer edge of the first end cover is connected with the outer edge of the second end cover through a plurality of obliquely-installed rollers;

the roller is of an oval structure and comprises an inner bushing, a polyurethane shell and cylindrical roller bearings, wherein the inner bushing is located at the long axis of the roller of the oval structure, the polyurethane shell is wrapped at the outer end of the inner bushing, and the cylindrical roller bearings are installed at the left end and the right end of the inner bushing;

and a plurality of connecting plates which are inclined upwards are uniformly arranged on the outer edges of the first end cover and the second end cover, first bolt holes are formed in the connecting plates, and first bolts penetrate through the first bolt holes, the inner bushing and the cylindrical roller bearing and then are connected with first nuts.

Further, the chassis frame assembly is mainly composed of a frame skeleton formed by welding a plurality of seamless steel tubes and a plurality of frame plates arranged on the surface of the frame skeleton; the chassis frame assembly comprises wheel mounting parts on the left side and the right side of the front end and the rear end, a connecting part in the middle and a controller mounting part on the chassis frame assembly;

the suspension plate is vertically arranged at the wheel mounting part and is a U-shaped plate, a connecting shaft hole is formed in the suspension plate, and a second bolt hole is formed beside the connecting shaft hole; the chassis frame assembly is provided with a front end face and a rear end face, and the chassis plates are provided with heat dissipation holes.

The robot palletizer comprises a robot driving assembly, a base, a first joint, a first mechanical arm, a second joint, a second mechanical arm, a third joint, a tail end connecting piece and a sucker assembly, wherein the base, the first joint, the first mechanical arm, the second joint, the second mechanical arm, the third joint and the tail end connecting piece are sequentially connected with the robot driving assembly;

the robot driving assembly comprises a first driving piece, a second driving piece, a third driving piece, a fourth driving piece, a fifth driving piece and a sixth driving piece;

the first driving piece is respectively and fixedly connected with the base and the first joint and is used for driving the first joint to rotate around the base;

the second driving piece is fixedly connected with the first joint and the first mechanical arm respectively and used for driving the first mechanical arm to rotate around the first joint, and the direction of the first joint rotating around the base is perpendicular to the direction of the first mechanical arm rotating around the first joint;

the third driving piece is fixedly connected with the first mechanical arm and the second joint respectively and used for driving the second joint to rotate around the first mechanical arm;

the fourth driving part is respectively fixedly connected with the second joint and the second mechanical arm and used for driving the second mechanical arm to rotate around the second joint, and the direction of the second joint rotating around the first mechanical arm is perpendicular to the direction of the second mechanical arm rotating around the second joint;

the fifth driving piece is respectively and fixedly connected with the second mechanical arm and the third joint and is used for driving the third joint to rotate around the second mechanical arm;

the sixth driving piece is respectively fixedly connected with the third joint and the tail end connecting piece and used for driving the tail end connecting piece to rotate around the third joint, and the direction of the third joint rotating around the second mechanical arm is perpendicular to the direction of the tail end connecting piece rotating around the third joint.

Further, the first driving element, the second driving element, the third driving element, the fourth driving element, the fifth driving element and the sixth driving element all comprise a second servo motor and a second speed reducer, and the second servo motor is connected with the second speed reducer;

the sucking disc subassembly includes sucking disc connecting axle, sucking disc splint and vacuum chuck, the sucking disc connecting axle is installed sucking disc splint rear end and fixed connection end-to-end connection spare, vacuum chuck is provided with a plurality ofly and evenly installs on the sucking disc splint, vacuum chuck's suction nozzle orientation sucking disc splint front end.

Further, the belt comprises a belt conveyor frame assembly, a conveying assembly and a belt power assembly; the conveying assembly is mounted on the belt conveyor frame assembly, and the power output end of the belt power assembly is connected with the conveying assembly;

the conveying assembly comprises a frame body, a driving roller, a driven roller, a conveying belt and a supporting roller; the frame body is a rectangular frame, the driving roller and the driven roller are respectively arranged at two ends of the rectangular frame body in the length direction, the conveying belt is arranged on the driving roller and the driven roller and is positioned in the frame body, and a plurality of supporting rollers are uniformly arranged along the length direction of the rectangular frame body;

the belt conveyor frame assembly comprises a first frame, a second frame and a support frame; the first rack and the second rack are both arranged on the lower side of the left part of the rack body, the first rack is positioned at the driving roller, and the second rack is positioned at the front end of the first rack; the supporting frame is obliquely arranged between the second rack and the rack body at the front end of the second rack;

the belt power assembly comprises a variable frequency motor and a third speed reducer; the variable frequency motor is connected with the third speed reducer, and the third speed reducer is connected with the driving roller.

Further, the conveying assembly further comprises a conveying belt tightening assembly arranged at two ends of the driven roller, and the conveying belt tightening assembly comprises a support plate, a sliding rail piece, a sliding piece, a threaded rod and a tightening nut;

the support plate is fixedly arranged on the outer side of the frame body, the sliding rail pieces are arranged at the upper end and the lower end of the support plate, the sliding piece is slidably arranged between the two sliding rail pieces, the driven roller is rotatably arranged on the sliding piece, the threaded rod is arranged at one end of the sliding piece, the threaded rod penetrates through the support plate, and the tightening nuts are arranged on the threaded rods on the two sides of the support plate.

Further, the detection system comprises a laser position sensor, a laser positioner, a first reflective infrared sensor, a second reflective infrared sensor and a laser code scanner;

laser position sensor installs on the AGV chassis, laser locator installs on pile up neatly machine people's vacuum chuck, first reflection formula infrared sensor and second reflection formula infrared sensor install respectively at the conveying subassembly direction of transfer both ends of belt, laser bar code collector installs on the transmission band.

Further, the control system comprises a chassis motor controller, a robot motor controller, a belt motor controller, a P L C controller and a PC;

the chassis motor controller is installed on the controller installation portion, a plurality of chassis motor controllers are arranged on the chassis motor controller and correspond to the plurality of groups of roller power assemblies one to one, the chassis motor controller is connected with the first servo motor, the robot motor controller is connected with the second servo motor, the belt motor controller is connected with the variable frequency motor, and the P L C controller is connected with the chassis motor controller, the robot motor controller, the belt motor controller, the detection system and the PC.

The utility model has the advantages that:

the utility model provides a medicine packing box intelligent handling device, through AGV chassis walking, install pile up neatly robot and belt on the AGV chassis, collect the function of pile up neatly robot and belt, adjust AGV chassis position at any time along with the change of loading and unloading volume, control the loading and unloading of medicine packing box, improved the efficiency of medicine packing box loading and unloading, reduced workman's quantity, promoted personnel's utilization ratio; meanwhile, the probability of human error is reduced, and the operation cost is reduced.

The AGV chassis in the utility model utilizes Mecanum wheels as a traveling mechanism, has good flexibility and free maneuverability, can quickly position the loading and unloading device in a narrow space, and the traveling mode of the loading and unloading device can be straight, oblique, transverse, S-shaped, and the like; meanwhile, the Mecanum wheel has good shock absorption and wear resistance, high mechanical property and high strength, and the roller of the Mecanum wheel is convenient to replace after being damaged.

The robot palletizer in the utility model adopts six driving components to connect the base, the joint, the mechanical arm and the like, so that the robot has six degrees of freedom, has good flexibility and is suitable for the work of almost any track or angle; through connecting the sucking disc subassembly in end connection department, the sucking disc subassembly snatchs the packing box that needs transported and carries out fast loading and unloading, has improved the efficiency of medicine loading and unloading.

The utility model provides a belt, install first reflection type infrared sensor and second reflection type infrared sensor at conveying subassembly direction of transfer both ends, can detect the conveying state of conveying medicine packing box on the conveyer belt, and upload to the P L C controller with the information that detects, the P L C controller is according to the information that the sensor uploaded, control inverter motor's operation intelligently, make the conveyer belt when loading state and discharge state, the homoenergetic carries out the transmission of medicine packing box fast accurately.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of an AGV chassis of the present invention;

FIG. 3 is a schematic structural view of the AGV chassis with a portion of the rack plate removed;

FIG. 4 is a schematic structural diagram of another view angle of the AGV chassis according to the present invention after removing a portion of the rack plate;

fig. 5 is a schematic structural diagram of a mecanum wheel according to the present invention;

fig. 6 is a schematic structural view of the first end cap of the present invention;

fig. 7 is a schematic structural view of a second end cap of the present invention;

fig. 8 is a sectional view of the roller of the present invention;

FIG. 9 is a schematic structural view of the roller power assembly of the present invention;

FIG. 10 is a schematic structural view of the suspension plate of the present invention;

fig. 11 is a schematic structural view of the palletizing robot of the present invention;

fig. 12 is a front view of the palletizing robot of the present invention;

fig. 13 is a schematic structural view of the chuck assembly of the palletizing robot of the present invention;

fig. 14 is a schematic connection diagram of each component of the palletizing robot of the utility model;

FIG. 15 is a schematic structural view of the belt of the present invention;

FIG. 16 is a schematic view of the belt of the present invention;

FIG. 17 is a schematic structural view of the belt driving roller and the belt power assembly of the present invention;

FIG. 18 is a schematic structural view of the belt driven roller and the belt tightening assembly of the present invention;

fig. 19 is a schematic structural view of the frame body of the present invention;

fig. 20 is a schematic structural view of the conveying belt of the present invention;

FIG. 21 is a schematic view of the supporting roller of the present invention;

FIG. 22 is a schematic diagram of a control system of the present invention;

in the figure, the robot comprises 1, an AGV chassis, 11, a Mecanum wheel, 111, a first end cover, 1111, a connecting plate, 1112, a bolt hole, 112, a second end cover, 1121, a connecting plate, 1122, a bolt hole, 113, a connecting shaft, 114, a roller, 1141, an inner bushing, 1142, a polyurethane shell, 1143, a cylindrical roller bearing, 115, a first bolt, 116, a first nut, 12, a roller power assembly, 121, a first servo motor, 122, a first speed reducer, 13, a chassis frame assembly, 131, a suspension plate, 1311, a connecting shaft hole, 1312, a second bolt hole, 132, a frame framework, 133, a frame plate, 134, a wheel mounting part, 135, a connecting part, 136, a controller mounting part, 137, a heat dissipation hole, 2, a palletizing robot, 21, a robot driving assembly, 211, a first driving part, 212, a second driving part, 213, a third driving part, 214, a fourth driving part, 215, a fifth driving part, 216, a sixth driving part, 217, a second servo motor, a base 23, a first speed reducer, a third driving part, a robot driving assembly, a robot driving component, a robot arm, a driving component, a robot arm, a motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further explained with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

An intelligent handling device for medicine packing cases is shown in figure 1 and comprises: an AGV chassis 1 with Mecanum wheels; the six-shaft stacking robot 2 is arranged at one end of the AGV chassis 1; a belt 3 installed at the other end of the AGV chassis 1; the detection system is used for detecting the running state of the loading and unloading device and sending detection information to the control system; and the control system is used for receiving the information of the detection system and controlling the operation of the loading and unloading device.

In this embodiment, the AGV chassis 1 is used for traveling of the loading and unloading device; the left end and the right end of the AGV chassis 1 are respectively provided with a six-shaft stacking robot 2 and a belt 3, the six-shaft stacking robot 2 is used for grabbing medicine packing boxes to be transferred, the belt is used for conveying the medicine packing boxes to be transferred, and the six-shaft stacking robot 2 and the belt 3 are matched with each other for use; the detection system detects the operation state of the handling device, and the control system controls the operation of the handling device.

Example 2

This embodiment is further improved over embodiment 1, and as shown in fig. 2-10, the AGV chassis 1 includes mecanum wheels 11, a roller power assembly 12, and a chassis frame assembly 13; mecanum wheel 11 and roller power assembly 12 are provided with multiple sets and are in one-to-one correspondence, roller power assembly 12 includes first servo motor 121 and first reduction gear 122, first servo motor 121 is connected with first reduction gear 122, first reduction gear 122 is installed on suspension plate 131 of chassis frame assembly 13, and the power output shaft of first reduction gear 122 passes through suspension plate 131 and then is connected with Mecanum wheel 11.

When the AGV chassis is used, the high-speed rotation of the first servo motor 121 is converted into low-speed rotation through the first speed reducer 122, and then the low-speed rotation is directly transmitted to the Mecanum wheels 11 to drive the Mecanum wheels 11 to rotate, so that the AGV chassis 1 travels on the ground, and a power transmission system is simple. The first servo motor 121 is fixedly connected with the first speed reducer 122, the first speed reducer 122 is installed on the suspension plate 131, and the suspension plate 131 fixes the first servo motor 121 and the first speed reducer 122 at the same time, so that the installation is convenient. In this embodiment, the first servo motor 121 is a dc servo motor of a type SMH60-40306EBC-1 manufactured by tenna motors ltd. The first retarder 122 is a retarder model PS090-A0205C1430, available from Taida corporation.

Mecanum wheel 11 includes first end cap 111, second end cap 112, connecting shaft 113, and roller 114; the first end cover 111 and the second end cover 112 are arranged in parallel and are both in a disc structure, the middle part of the first end cover 111 is connected with the middle part of the second end cover 112 through a connecting shaft 113, and the outer edge of the first end cover 111 is connected with the outer edge of the second end cover 112 through a plurality of obliquely arranged rollers 114. The roller 114 is of an elliptical structure, the roller 114 comprises an inner bushing 1141, a polyurethane housing 1142 and a cylindrical roller bearing 1143, the inner bushing 1141 is located at the long axis of the roller 114 of the elliptical structure, the polyurethane housing 1142 is wrapped at the outer end of the inner bushing 1141, and the cylindrical roller bearing 1143 is mounted at the left end and the right end of the inner bushing 1141.

In this embodiment, the first end cap 111 and the second end cap 112 clamp the rollers 114 installed obliquely at the edges thereof to form the mecanum wheel 11, so that the mecanum wheel 11 has good flexibility and free maneuverability. The inner bushing 1141 adopts 45# steel as a bushing to ensure the overall performance; the polyurethane shell 1142 is adopted, and the material has good shock absorption and wear resistance, and high mechanical strength and hardness, so that the Mecanum wheel 11 has good performance; to improve motion flexibility and sufficient overall strength, the UNP203 cylindrical roller bearing 1143 is used to transmit radial forces.

A plurality of connecting plates inclined upwards are uniformly arranged on the outer edges of the first end cover 111 and the second end cover 112, first bolt holes are arranged on the connecting plates, and the first bolts 115 penetrate through the first bolt holes, the inner bushing 1141 and the cylindrical roller bearing 1143 and then are connected with the first nuts 116. The roller 114 is installed at the outer edges of the first and

second caps

111 and 112 in an inclined manner by providing an upwardly inclined coupling plate having bolt holes formed therein and passing a first bolt 115 through the bolt holes and the roller 114. By adopting the matching of the bolt and the nut, when the roller 114 needs to be replaced after being damaged, the bolt and the nut are directly disassembled, and then a new roller 114 is installed through the bolt and the nut, so that the Mecanum wheel 11 is convenient to install and disassemble.

The chassis frame assembly 13 is mainly composed of a frame framework 132 formed by welding a plurality of seamless steel pipes and a plurality of frame plates 133 arranged on the surface of the frame framework 132; the chassis frame assembly 13 includes wheel mounts 134 on the left and right sides of the front and rear ends, a central connection 135, and a controller mount 136 on the chassis frame assembly 13. In this embodiment, the frame framework 132 is formed by welding a plurality of seamless steel pipes, and the frame plate 133 is mounted on the surface of the frame framework 132 to make the front, back, up, down, left and right of the chassis be a plane, so as to mount other workpieces, such as a belt and a palletizing robot, on the chassis; at the same time, the first servo motor 121 and the first speed reducer 122 in the chassis are also sealed and protected.

The suspension plate 131 is vertically arranged at the wheel mounting part 134, the suspension plate 131 is a U-shaped plate, a connecting shaft hole 1311 is arranged on the suspension plate 131, and a second bolt hole 1312 is arranged beside the connecting shaft hole 1311; the chassis frame assembly 13 has heat dissipation holes 137 on the front and rear frame plates 133. When the device is installed, the U-shaped surface of the suspension plate 131 faces the first reducer 122, and the power output shaft of the first reducer 122 passes through the connecting shaft hole 1311 and then is connected to the mecanum wheel 11, so as to drive the mecanum wheel 11 to rotate. The second bolt hole 1312 is used for corresponding to the bolt hole on the first reducer 122, and the first reducer 122 is mounted on the suspension plate 131 through a bolt; the heat dissipation hole 137 is used for heat dissipation.

Example 3

This embodiment is further improved on the basis of any of embodiments 1 or 2, and as shown in fig. 11 to 14, the palletizing robot 2 comprises a robot driving assembly 21, a base 22, a first joint 23, a first mechanical arm 24, a second joint 25, a second mechanical arm 26, a third joint 27 and an end connecting piece 28 which are connected in sequence through the robot driving assembly 21, and a sucker assembly 29 connected with the end connecting piece 28.

The base 22, the first joint 23, the first mechanical arm 24, the second joint 25, the second mechanical arm 26, the third joint 27 and the tail end connecting piece 28 are connected through the robot driving assembly 21, so that the robot has six degrees of freedom, has good flexibility and is suitable for work in almost any track or angle; the tail end connecting piece 28 is connected with a sucker component 29, the sucker component 29 grabs the packaging box to be transported for loading and unloading, and the whole packaging box containing the medicine is quickly loaded and unloaded.

The robot driving assembly 21 includes a first driving member 211, a second driving member 212, a third driving member 213, a fourth driving member 214, a fifth driving member 215, and a sixth driving member 216;

the first driving member 211 is fixedly connected to the base 22 and the first joint 23, respectively, and is configured to drive the first joint 23 to rotate around the base 22;

the second driving component 212 is respectively fixedly connected with the first joint 23 and the first mechanical arm 24, and is used for driving the first mechanical arm 24 to rotate around the first joint 23, and the direction of the first joint 23 rotating around the base 22 is perpendicular to the direction of the first mechanical arm 24 rotating around the first joint 23;

the third driving element 213 is fixedly connected to the first mechanical arm 24 and the second joint 25, respectively, and is configured to drive the second joint 25 to rotate around the first mechanical arm 24;

the fourth driving part 214 is fixedly connected to the second joint 25 and the second mechanical arm 26, and is configured to drive the second mechanical arm 26 to rotate around the second joint 25, and a direction of rotation of the second joint 25 around the first mechanical arm 24 is perpendicular to a direction of rotation of the second mechanical arm 26 around the second joint 25;

the fifth driving member 215 is fixedly connected to the second mechanical arm 26 and the third joint 27, respectively, and is configured to drive the third joint 27 to rotate around the second mechanical arm 26;

the sixth driving member 216 is fixedly connected to the third joint 27 and the end connecting member 28, respectively, for driving the end connecting member 28 to rotate around the third joint 27, and the direction of rotation of the third joint 27 around the second mechanical arm 26 is perpendicular to the direction of rotation of the end connecting member 28 around the third joint 27.

In the embodiment, the robot only comprises two mechanical arms, each joint can be rotatably connected with the previous part and the next part, and the two rotation modes at the joints are perpendicular to each other, so that the robot can have six degrees of freedom through three joints. Compared with the existing huge and heavy robot with four mechanical arms and five joints required by six degrees of freedom, the robot in the embodiment has a simpler, more compact and lighter structure.

The first driving element 211, the second driving element 212, the third driving element 213, the fourth driving element 214, the fifth driving element 215 and the sixth driving element 216 each comprise a second servo motor 217 and a second speed reducer, and the second servo motor 217 is connected with the second speed reducer; the second servo motor 217 is a loose servo motor, and the second speed reducer is a Hammernace speed reducer.

In this embodiment, the servo motor of the first driving member 211 is a loose servo motor of MDME202 type, and its own controller is used as the controller of the first driving member 211; the reducer of the first driving member 211 is a Hammernace series reducer of type 65A-BADB.

The servo motor of the second driving piece 212 adopts a loose servo motor with the model number of MDME152, and a controller of the servo motor is taken as a controller of the second driving piece 212; the reduction gear of the second drive member 212 is a Hammernace series reduction gear of type 50A-AABB.

The servo motor of the third driving member 213 is a loose servo motor with the model number of MSME084, and a controller of the loose servo motor is used as a controller of the third driving member 213; the speed reducer of the third driving member 213 is a Hammernace series speed reducer of a model number of 20A-FFP.

The servo motor of the fourth driving part 214 adopts a loose servo motor with the model number of MSME084, and a controller of the loose servo motor is taken as a controller of the fourth driving part 214; the speed reducer of the fourth driving member 214 is a Hammernace series speed reducer of a model number 20A-FFP.

The servo motor of the fifth driving element 215 adopts a loosening servo motor with the model number of MHMD041, a controller of the servo motor is used as a controller of the fifth driving element 215, and the speed reducer of the fifth driving element 215 adopts a Hammernace series speed reducer with the model number of 32A-NE L A.

The servo motor of the sixth driving element 216 is a loose servo motor with the model number of MHMD021, and a controller of the servo motor is used as a controller of the sixth driving element 216; the reduction gear of the sixth driving member 216 is a Hammernace series reduction gear of type 20A-GDI.

The sucking disc subassembly 29 includes sucking disc connecting axle 291, sucking disc splint 292 and vacuum chuck 293, and sucking disc connecting axle 291 is installed at sucking disc splint 292 rear end and fixed connection end connector 28, and vacuum chuck 293 is provided with a plurality ofly and evenly installs on sucking disc splint 292, and vacuum chuck 293's suction nozzle is towards sucking disc splint 292 front end. The sucker assembly 29 is a grabbing component of the robot, and the vacuum sucker 293 is used for sucking the whole packaging box filled with medicines, so that the packaging box is easy to use, pollution-free and free of damage to grabbing. The vacuum chucks 293 of the present embodiment are provided in two rows, four in each row, and the vacuum chucks 293 are selected from the vacuum chucks of the japanese SMC corporation, model ZP2_ TF80HUJB50, and at the same time, the generator corresponding to the vacuum chucks of the japanese SMC corporation is selected, and the generator is controlled by the control system to control the operation of the vacuum chucks 293.

Example 4

This embodiment is further modified from any of embodiments 1-3 in that, as shown in fig. 15-21, the belt 3 comprises a belt carrier assembly 31, a transfer assembly 32 and a belt power assembly 33; the transmission assembly 32 is arranged on the belt conveyor frame assembly 31, and the power output end of the belt power assembly 33 is connected with the transmission assembly 32.

The conveying assembly 32 includes a frame 321, a driving roller 322, a driven roller 323, a conveying belt 324 and a supporting roller 326; the frame body 321 is a rectangular frame, the driving roller 322 and the driven roller 323 are respectively installed at two ends of the rectangular frame body 321 in the length direction, the transmission belt 324 is installed on the driving roller 322 and the driven roller 323 and is located in the frame body 321, and the supporting rollers 326 are evenly provided with a plurality of rollers along the rectangular frame body 321 in the length direction. The driving roller 322 and the driven roller 323 are used to drive the conveyor belt 324 to move, so that the medicine packing boxes on the conveyor belt 324 are conveyed. The supporting roller 326 is used to support the conveying belt 324, so as to prevent the conveying belt 324 from sinking due to its own weight and the weight of the conveyed medicine packing boxes, and during the conveying, the movement of the conveying belt 324 drives the supporting roller 326 to rotate.

The belt conveyor frame assembly 31 comprises a first frame 311, a second frame 312 and a support frame 313; the first frame 311 and the second frame 312 are both installed at the lower side of the left part of the frame body 321, the first frame 311 is located at the driving roller 322, and the second frame 312 is located at the front end of the first frame 311; the holder 313 is installed between the second frame 312 and a frame 321 at the front end of the second frame 312 in an inclined manner. The first frame 311 and the second frame 312 are both mounted on the lower side of the left portion of the frame body 321, so that the belt 3 is integrally mounted on the AGV chassis 1, the palletizing robot 2 is mounted on the AGV chassis 1, and the robot and the belt are respectively mounted on two sides of the chassis to balance the stress of the chassis. The holder 313 serves to support the frame body 321 at the front end of the holder 313.

The belt power assembly 33 comprises a variable frequency motor 331 and a third speed reducer 332; the variable frequency motor 331 is connected to a third reducer 332, and the third reducer 332 is connected to the driving roller 322. The variable frequency motor 331 is a power source of the whole belt, the high-speed rotation of the variable frequency motor 331 is reduced to low-speed rotation through the third speed reducer 332, the low-speed rotation is transmitted to the driving roller 322 by the third speed reducer 332, and the driving roller 322 rotates to drive the conveying belt 324 to operate and convey the medicine packing boxes. In this embodiment, the variable frequency motor 331 is a ys80-2 type motor of Zhejiang Fugui city motor Co., Ltd, and the third speed reducer 332 is an RV75 series speed reducer.

The conveying assembly 32 further comprises a transmission belt tightening assembly 325 arranged at two ends of the driven roller 323, and the transmission belt tightening assembly 325 comprises a support plate 3251, a sliding rail piece 3252, a sliding piece 3253, a threaded rod 3254 and a tightening nut 3255; the support plate 3251 is fixedly arranged on the outer side of the frame body 321, the sliding rail pieces 3252 are arranged at the upper end and the lower end of the support plate 3251, the sliding piece 3253 is arranged between the two sliding rail pieces 3252 in a sliding mode, the sliding piece 3253 is rotatably provided with the driven roller 323, the threaded rod 3254 is arranged at one end of the sliding piece 3253, the threaded rod 3254 penetrates through the support plate 3251, and the tightening nuts 3255 are arranged on the threaded rods 3254 at the two sides of the support plate 3251.

The transmission belt tightening assembly 325 is used for tightening the transmission belt 324, and drives the threaded rod 3254 to move on the support plate 3251 by adjusting the tightening nut 3255, so that the sliding part 3253 connected with the threaded rod 3254 slides on the sliding rail part 3252, and further drives the driven roller 323 on the sliding part 3253 to move along the length direction of the frame body 321, so as to tighten or loosen the transmission belt 324, and simply and conveniently adjust the transmission belt 324.

Example 5

This embodiment is further improved on the basis of embodiment 4, and the detection system includes a laser position sensor 41, a laser locator 42, a first reflective infrared sensor 43, a second reflective infrared sensor 44, and a laser code scanner 45; the laser position sensor 41 is installed on the AGV chassis 1, the laser positioner 42 is installed on the vacuum chuck 293 of the palletizing robot 2, the first reflective infrared sensor 43 and the second reflective infrared sensor 44 are respectively installed at two ends of the conveying direction of the conveying component 32 of the belt 3, and the laser code scanner 45 is installed on the conveying belt 324.

In this embodiment, the laser position sensor 41 is used for sampling the position of the AGV chassis 1 and uploading the sampled position to the control system, and the control system controls the mecanum wheel 11 to rotate so as to enable the chassis to travel, and the laser position sensor 41 in this embodiment is an NMB-12GM series sensor of germany P + F.

The laser positioner 42 is used for positioning the positions of the medicine packing boxes on the conveying belt 324 and the ground tray, so that the palletizing robot 2 can grab the medicine packing boxes, in the embodiment, a Vmt machine vision technical system of Germany P + F company is selected as the laser positioner 42, the system is integrated on a vacuum chuck 293 of the palletizing robot 2, and the position and the posture of the robot wrist are subjected to motion control.

The first reflective infrared sensor 43 and the second reflective infrared sensor 44 are used for detecting the states of the medicine packing boxes at the two ends of the conveying belt 324, namely, whether the medicine packing boxes exist or not. In the present embodiment, the first reflective infrared sensor 43 and the second reflective infrared sensor 44 are both M4.1 series sensors of P + F in germany.

The laser scanner 45 is used for automatically recognizing a barcode. In this embodiment, the laser scanner 45 of model number OPC120P-F201-B17 of p + F Germany is selected.

Example 6

This embodiment is further improved on the basis of embodiment 5, and as shown in fig. 22, the control system includes a chassis motor controller 51, a robot motor controller 52, a belt motor controller 53, a P L C controller 54, and a PC 55;

the chassis motor controller 51 is mounted on the controller mounting portion 136, the chassis motor controller 51 is provided with a plurality of rollers and corresponds to the plurality of roller power assemblies 12 one by one, the chassis motor controller 51 is connected with the first servo motor 121, the robot motor controller 52 is connected with the second servo motor 217, the belt motor controller 53 is connected with the variable frequency motor 331, and the P L C controller 54 is connected with the chassis motor controller 51, the robot motor controller 52, the belt motor controller 53, the detection system and the PC 55.

In the embodiment, the first servo motor 121 connected with each mecanum wheel 11 is connected with a chassis motor controller 51 to control the operation of the mecanum wheel 11, the robot motor controller 52 controls the operation of each second servo motor 217, the belt motor controller 53 controls the operation of the variable frequency motor 331, the P L C controller 54 is a control center of the whole loading and unloading device, receives information uploaded by the detection system, calculates and plans the walking of the AGV chassis 1, the grabbing of the palletizing robot 2 and the transmission of the belt 3, transmits the information to each controller to control the operation of the AGV chassis 1, the palletizing robot 2 and the belt 3, and the PC 55 is an upper computer including a desktop computer, an all-in-one machine, a notebook computer, a palm computer, a tablet computer and the like, can build a physical model of an application control system through upper-layer software, and transmits the physical model to the P L C controller 54 to expand the application range and the scene of the loading and unloading device.

The motor of Changzhou Jingna motor Limited selected in the embodiment 2 is provided with a controller as a chassis motor controller 51, the loose servo motor selected in the embodiment 3 is provided with a controller as a robot motor controller 52, the belt motor controller 53 is provided with a controller of VFD00721T model, the P L C controller 54 is provided with a P L C controller of DVP-PM series, and the PC 55 is provided with a WMX3 motion controller of Shenzhen soft win science and technology Limited.

For better understanding of the present invention, the following description is made in conjunction with the above embodiments to describe the working principle of the present invention completely:

when the loading and unloading device is used, the loading and unloading device needs to be moved to a loading and unloading position, the P L C controller 54 sends information to the four chassis motor controllers 51, each chassis motor controller 51 controls each first servo motor 121 to rotate according to the received information, the high-speed rotation of the first servo motor 121 is decelerated through the first speed reducer 122 and transmitted to the Mecanum wheel 11, the Mecanum wheel 11 rotates to enable the loading and unloading device to travel, the laser position sensor 41 collects the position information of the chassis while the loading and unloading device travels, the position information is uploaded to the P L C controller 54, the P L C controller 54 corrects the travel path according to the difference between the actual position and the theoretical position, the corrected information is transmitted to each chassis motor controller 51, and each chassis motor controller 51 controls the corresponding Mecanum wheel 11 to rotate to move the loading and unloading device to the loading and unloading position.

When the loading and unloading apparatus reaches the loading and unloading position, the front end of the belt 3 (the end to which the first frame 311 and the second frame 312 are not attached) is placed in the loading and unloading vehicle. The control system controls the variable frequency motor 331 to rotate, the high-speed rotation of the variable frequency motor 331 is reduced to low-speed rotation through the third speed reducer 332, the low-speed rotation is transmitted to the driving roller 322 by the third speed reducer 332, the driving roller 322 rotates to drive the conveying belt 324 to move, and the medicine packing boxes on the conveying belt 324 are conveyed.

When the loading and unloading device is in an unloading state, the medicine packing boxes are manually conveyed to the belt 3 from the unloading vehicle, and are grabbed by the palletizing robot 2 for palletizing after being transmitted by the belt 3. The control system controls the variable frequency motor 331 to rotate forwardly to convey the medicine packing boxes, the second reflective infrared sensor 44 firstly detects that the medicine packing boxes exist, the first reflective infrared sensor 43 detects that no medicine packing boxes exist at the moment, and the control system continuously controls the variable frequency motor 331 to rotate forwardly to convey the medicine packing boxes. When the first reflective infrared sensor 43 detects that a medicine packing box exists, the control system controls the variable frequency motor 331 to stop rotating, and the palletizing robot 2 grabs the medicine packing box at the end of the variable frequency motor 331 and places the medicine packing box on a tray beside the loading and unloading device. After grabbing, the first reflective infrared sensor 43 detects that no medicine packaging box exists, the control system controls the variable frequency motor 331 to continue to rotate forwards to convey the medicine packaging box, after the medicine packaging box is detected, the variable frequency motor 331 stops, the palletizing robot 2 grabs, and the process is repeated.

When the handling device is in a loading state, the medicine packing boxes are grabbed by the palletizing robot 2 and then placed on the belt 3, and are transmitted into a packing box of a loading truck through the belt 3, and then are manually stacked. The medicine packing box is grabbed by the palletizing robot 2 and placed on the conveying belt 324 at the end of the variable frequency motor 331, the control system controls the variable frequency motor 331 to reversely convey the medicine packing box, the first reflective infrared sensor 43 firstly detects that the medicine packing box exists, the second reflective infrared sensor 44 detects that no medicine packing box exists at the moment, and the control system continuously controls the variable frequency motor 331 to reversely convey the medicine packing box. When the second reflective infrared sensor 44 detects that there is a medicine package, the control system controls the variable frequency motor 331 to stop rotating, and the medicine package is carried by workers in the vehicle for stacking. After the medicine package is conveyed, the second reflective infrared sensor 44 detects that no medicine package exists, the control system controls the variable frequency motor 331 to continuously reversely rotate to convey the medicine package, and after the medicine package exists, the variable frequency motor 331 stops, the medicine package is conveyed, and the operation is repeated.

When the palletizing robot 2 grabs, the P L C controller 54 controls the robot motor controllers 52 of the driving assemblies 21 to work, the robot motor controllers 52 control the second servo motors 217 to operate, the second speed reducer changes the high-speed rotation of the second servo motors into low-speed rotation to drive the mechanical arms, joints and the like to rotate, when the robot motor controllers rotate to a grabbing position, the laser positioner 42 positions a medicine packing box, the P L C controller 54 controls the vacuum suction cups 293 to work to grab the packing box to be transported, then the robot motor controllers control the mechanical arms, joints and the like to rotate, move the vacuum suction cups 293 at the tail ends of the robot to the placing position of the medicine packing box, and put down the medicine packing box.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a medicine packing box intelligence handling device which characterized in that includes:

an AGV chassis (1) with Mecanum wheels;

the six-shaft stacking robot (2) is installed at one end of the AGV chassis (1);

a belt (3) mounted at the other end of the AGV chassis (1);

2. The intelligent drug-packaging loading and unloading device as recited in claim 1, wherein the AGV chassis (1) comprises Mecanum wheels (11), a roller power assembly (12) and a chassis frame assembly (13);

the Mecanum wheel (11) and the roller power assembly (12) are provided with multiple groups and are in one-to-one correspondence, the roller power assembly (12) comprises a first servo motor (121) and a first speed reducer (122), the first servo motor (121) is connected with the first speed reducer (122), the first speed reducer (122) is installed on a suspension plate (131) of the chassis frame assembly (13), and a power output shaft of the first speed reducer (122) penetrates through the suspension plate (131) and then is connected with the Mecanum wheel (11).

3. A drug packing box intelligent handling device according to claim 2, wherein the mecanum wheel (11) comprises a first end cap (111), a second end cap (112), a connecting shaft (113) and a roller (114);

the first end cover (111) and the second end cover (112) are arranged in parallel and are both in a disc structure, the middle part of the first end cover (111) is connected with the middle part of the second end cover (112) through a connecting shaft (113), and the outer edge of the first end cover (111) is connected with the outer edge of the second end cover (112) through a plurality of obliquely-installed rollers (114);

the roller (114) is of an oval structure, the roller (114) comprises an inner bushing (1141), a polyurethane outer shell (1142) and cylindrical roller bearings (1143), the inner bushing (1141) is located at the long axis of the roller (114) of the oval structure, the polyurethane outer shell (1142) is wrapped at the outer end of the inner bushing (1141), and the cylindrical roller bearings (1143) are mounted at the left end and the right end of the inner bushing (1141);

the outer edges of the first end cover (111) and the second end cover (112) are uniformly provided with a plurality of connecting plates (1111, 1121) which incline upwards, first bolt holes (1112, 1122) are formed in the connecting plates (1111, 1121), and a first bolt (115) penetrates through the first bolt holes (1112, 1122), the inner bushing (1141) and the cylindrical roller bearing (1143) and then is connected with a first nut (116).

4. The intelligent handling device for the medicine packing boxes according to claim 3, wherein the chassis frame assembly (13) mainly comprises a frame framework (132) formed by welding a plurality of seamless steel pipes and a plurality of frame plates (133) arranged on the surface of the frame framework (132); the chassis frame assembly (13) comprises wheel mounting parts (134) on the left side surface and the right side surface of the front end and the rear end, a connecting part (135) in the middle and a controller mounting part (136) on the chassis frame assembly (13);

the suspension plate (131) is vertically arranged at the wheel mounting part (134), the suspension plate (131) is a U-shaped plate, a connecting shaft hole (1311) is formed in the suspension plate (131), and a second bolt hole (1312) is formed beside the connecting shaft hole (1311); the chassis frame component (13) is provided with heat dissipation holes (137) on the frame plates (133) at the front end face and the rear end face.

5. The intelligent handling device for the medicine packing boxes according to claim 4, wherein the palletizing robot (2) comprises a robot driving component (21), a base (22), a first joint (23), a first mechanical arm (24), a second joint (25), a second mechanical arm (26), a third joint (27) and an end connecting piece (28) which are connected in sequence through the robot driving component (21), and a sucker component (29) connected with the end connecting piece (28);

the robot driving assembly (21) comprises a first driving element (211), a second driving element (212), a third driving element (213), a fourth driving element (214), a fifth driving element (215) and a sixth driving element (216);

the first driving piece (211) is fixedly connected with the base (22) and the first joint (23) respectively and used for driving the first joint (23) to rotate around the base (22);

the second driving piece (212) is fixedly connected with the first joint (23) and the first mechanical arm (24) respectively and used for driving the first mechanical arm (24) to rotate around the first joint (23), and the rotating direction of the first joint (23) around the base (22) is perpendicular to the rotating direction of the first mechanical arm (24) around the first joint (23);

the third driving piece (213) is fixedly connected with the first mechanical arm (24) and the second joint (25) respectively and used for driving the second joint (25) to rotate around the first mechanical arm (24);

the fourth driving part (214) is fixedly connected with the second joint (25) and the second mechanical arm (26) respectively and is used for driving the second mechanical arm (26) to rotate around the second joint (25), and the direction of rotation of the second joint (25) around the first mechanical arm (24) is perpendicular to the direction of rotation of the second mechanical arm (26) around the second joint (25);

the fifth driving piece (215) is fixedly connected with the second mechanical arm (26) and the third joint (27) respectively and used for driving the third joint (27) to rotate around the second mechanical arm (26);

the sixth driving piece (216) is respectively fixedly connected with the third joint (27) and the end connecting piece (28) and used for driving the end connecting piece (28) to rotate around the third joint (27), and the rotating direction of the third joint (27) around the second mechanical arm (26) is perpendicular to the rotating direction of the end connecting piece (28) around the third joint (27).

6. The intelligent handling device for medicine packing boxes according to claim 5, wherein the first driving member (211), the second driving member (212), the third driving member (213), the fourth driving member (214), the fifth driving member (215) and the sixth driving member (216) each comprise a second servo motor (217) and a second reducer, and the second servo motor (217) is connected with the second reducer;

sucking disc subassembly (29) are including sucking disc connecting axle (291), sucking disc splint (292) and vacuum chuck (293), install sucking disc connecting axle (291) sucking disc splint (292) rear end and fixed connection end-to-end connection spare (28), vacuum chuck (293) are provided with a plurality of and evenly install on sucking disc splint (292), the suction nozzle orientation of vacuum chuck (293) sucking disc splint (292) front end.

7. An intelligent handling device for medicine packing boxes according to claim 6, wherein the belt (3) comprises a belt conveyor frame assembly (31), a conveying assembly (32) and a belt power assembly (33); the conveying assembly (32) is mounted on the belt conveyor frame assembly (31), and the power output end of the belt power assembly (33) is connected with the conveying assembly (32);

the conveying assembly (32) comprises a frame body (321), a driving roller (322), a driven roller (323), a conveying belt (324) and a supporting roller (326); the frame body (321) is a rectangular frame, the driving roller (322) and the driven roller (323) are respectively installed at two ends of the rectangular frame body (321) in the length direction, the transmission belt (324) is installed on the driving roller (322) and the driven roller (323) and is located in the frame body (321), and a plurality of supporting rollers (326) are uniformly arranged along the rectangular frame body (321) in the length direction;

the belt conveyor frame assembly (31) comprises a first frame (311), a second frame (312) and a support frame (313); the first rack (311) and the second rack (312) are both arranged at the lower side of the left part of the rack body (321), the first rack (311) is positioned at the driving roller (322), and the second rack (312) is positioned at the front end of the first rack (311); the supporting frame (313) is obliquely arranged between the second rack (312) and a frame body (321) at the front end of the second rack (312);

the belt power assembly (33) comprises a variable frequency motor (331) and a third speed reducer (332); the variable frequency motor (331) is connected with the third speed reducer (332), and the third speed reducer (332) is connected with the driving roller (322).

8. The intelligent handling device for medicine packing cases of claim 7, wherein the conveying assembly (32) further comprises a conveying belt tightening assembly (325) installed at two ends of the passive roller (323), and the conveying belt tightening assembly (325) comprises a support plate (3251), a sliding rail member (3252), a sliding member (3253), a threaded rod (3254) and a tightening nut (3255);

the support plate (3251) is fixedly arranged on the outer side of the frame body (321), the sliding rail pieces (3252) are arranged at the upper end and the lower end of the support plate (3251), the sliding piece (3253) is arranged between the two sliding rail pieces (3252) in a sliding mode, the sliding piece (3253) is rotatably provided with the driven roller (323), the threaded rod (3254) is arranged at one end of the sliding piece (3253), the threaded rod (3254) penetrates through the support plate (3251), and the tightening nut (3255) is arranged on the threaded rods (3254) at the two sides of the support plate (3251).

9. An intelligent handling device for pharmaceutical packaging boxes according to claim 8, wherein said detection system comprises a laser position sensor (41), a laser locator (42), a first reflective infrared sensor (43), a second reflective infrared sensor (44) and a laser code scanner (45);

install laser position sensor (41) on AGV chassis (1), install on the vacuum chuck (293) of pile up neatly machine people (2) laser locator (42), install respectively at the conveying subassembly (32) direction of transfer both ends of belt (3) first reflection formula infrared sensor (43) and second reflection formula infrared sensor (44), install laser bar code ware (45) on transmission band (324).

10. The intelligent handling device for medicine packing boxes according to claim 9, wherein the control system comprises a chassis motor controller (51), a robot motor controller (52), a belt motor controller (53), a P L C controller (54) and a PC (55);

the chassis motor controller (51) is mounted on the controller mounting portion (136), the chassis motor controller (51) is provided with a plurality of rollers and corresponds to the plurality of roller power assemblies (12) one by one, the chassis motor controller (51) is connected with the first servo motor (121), the robot motor controller (52) is connected with the second servo motor (217), the belt motor controller (53) is connected with the variable frequency motor (331), and the P L C controller (54) is connected with the chassis motor controller (51), the robot motor controller (52), the belt motor controller (53), the detection system and the PC (55).