CN113400286A

CN113400286A - Novel stacking robot with simple structure and low cost

Info

Publication number: CN113400286A
Application number: CN202110716062.2A
Authority: CN
Inventors: 黄美发; 梁健伟; 唐哲敏
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-09-17

Abstract

The invention discloses a novel humanoid-operation palletizing robot which is simple in structure and low in cost, can realize automatic control and repeated programming, and can complete various specified operations in a three-dimensional space. The stacking machine comprises a mechanical body, a servo driving system, an arm mechanism, an end effector (mechanical arm) and the like, and can set parameters according to different material packaging shapes (such as rectangular containers and gunny bag material packaging), stacking sequence, stacking layer number requirements and the like, so that transportation and stacking of different material packaging types can be realized. Compared with the existing material transportation robot, the robot has the characteristics of simple structure, low manufacturing cost, various types of grabbed goods and packages and the like, is most suitable for carrying and stacking the rectangular containers on the wharf, greatly improves the working efficiency and meets the market demand to a certain extent.

Description

Novel stacking robot with simple structure and low cost

Technical Field

The invention relates to the technical field of electromechanical integrated production equipment which is operated in a human-simulated mode, automatically controlled, can be repeatedly programmed and can complete various specified operations in a three-dimensional space, in particular to a novel stacking robot which is simple in structure and low in cost, and can be used for container carrying and stacking at a wharf and the field of grabbing and carrying of express logistics.

Background

The stacking robot is a type of industrial robot which is used for executing tasks such as acquisition, carrying, stacking and unstacking of workpieces and packages in batches in the industrial production process, is a high and new electromechanical product integrating the subjects such as machinery, electronics, information, intelligent technology, computer science and the like, and the demands of people for grabbing and stacking logistics goods are gradually increased along with the development of the society. In order to overcome the difficulties, various aspects of stacking equipment are developed and improved, including software, hardware and the like from a mechanical arm to control the stacking equipment, the logistics grabbing and stacking are mainly realized by a robot with high precision and high cost at present, the manual operation is mainly used for a workshop, the lifting and stacking of containers are mainly realized for rectangular containers at a wharf by a gantry crane, the disadvantages of complex operation, low stacking precision, low working efficiency and the like exist, the market requirements cannot be met, and the transportation efficiency and the cargo cost are finally reduced.

Aiming at the defects of the prior art, the applicant designs a novel stacking robot with a simple structure and low cost, and the robot aims to adapt to the rectangular container grabbing and stacking and the like for grabbing more goods packaging appearances and mainly used for wharfs, so that the working efficiency is improved, and the working cost is reduced.

Disclosure of Invention

The invention aims to provide patent application protection for key parts of the palletizing robot, namely a mechanical arm grabbing structure and the whole structure of the palletizing robot.

The invention relates to a novel stacking robot with simple structure and low cost, which mainly comprises a stacking robot mechanical body, a servo driving system, an arm mechanism and an end effector (mechanical arm); the robot palletizer comprises a palletizer robot base device, a palletizer robot humanoid arm device and a manipulator grabbing device, wherein the palletizer robot base device comprises a supporting base (1) and a rotating table (2); the humanoid arm device of the palletizing robot specifically comprises a servo motor (3), a rotating waist part (4), a small arm transmission rod (5), a vertical direction retainer (6), a small arm (7), a balance adjusting tripod (8), a large arm (9), a front arm (10) and a horizontal direction retainer (11); the manipulator grabbing device specifically comprises a servo motor (12), a manipulator seat (13), a flange coupler (14), a ball screw (15), a manipulator guide rod (16), a manipulator (17), a manipulator mounting seat (18) and a servo motor (19).

The scheme adopted by the invention is as follows: revolving stage (2) install support base (1) upper end, servo motor (3) with rotatory waist (4) with forearm transfer line (5) and big arm (9) link to each other to connect through the shaft coupling with this provide power, vertical direction holder (6) with rotatory waist (4) are connected, adjust balanced tripod (8) with vertical direction holder (6) are connected, forearm (7) with forearm transfer line (5) are connected, forearm (10) with forearm (7) link to each other and realize rotating, horizontal direction holder (11) with adjust balanced tripod (8) and connect to adjust vertical direction and horizontal direction's dynamic balance, machinery arm seat (13) with forearm (10) with horizontal direction holder (11) are connected, through servo motor (12) with flange coupling (14) are connected manipulator mount pad (18) ) The ball screw (15) and the mechanical gripper guide rod (16) are mounted on the manipulator mounting seat (18) through a flange coupler, so that the manipulator (17) is mounted on the ball screw (15) and the mechanical gripper guide rod (16), and finally, feeding and gripping power is provided for the manipulator (17) through the servo motor (19).

Conventionally, when the palletizing robot provided by the invention is put into operation, a worker finishes packing products and enters a conveying line, a positioning device, also called a positioning baffle, is arranged in the conveying line, the device and the positioning plate can complete rotation and positioning of boxes, so that the boxes can be positioned on the left side and then conveyed to a buffer zone, the palletizing robot provided by the invention is arranged above the buffer zone, the robot integrally lifts and vertically lifts (5 boxes per layer) through a manipulator, then horizontally operates, then vertically arranges the boxes on the palletizing zone (tray), returns according to an original path after arrangement, and conveys the boxes away by a forklift after the stacking zone of a container finishes palletizing.

The invention has the beneficial effects that:

the novel stacking robot has a simple structure and low cost, realizes grabbing and stacking of rectangular containers on a wharf by controlling the operation of the robot through a program, is provided with an emergency stop button, and can be manually and automatically stopped; a grating safety system is arranged in the working range of the robot supporting frame, an alarm signal lamp is on under the condition of failure or abnormity, the system is stopped emergently, and the system can continue to operate after the alarm is removed in a manual state; the automatic memory function is provided, the work can be continuously finished after power failure or fault condition, manual labor is replaced by a mechanical automation means, the production cost is reduced, the transmission efficiency is improved, and the market demand is met to a certain extent.

Drawings

Fig. 1 is an assembly drawing of the novel palletizing robot with simple structure and low cost.

The figure numbers in fig. 1 identify: 1. a support base; 2. a rotating table; 3. a servo motor; 4. rotating the waist; 5. a small arm transmission rod; 6. a vertical direction holder; 7. a small arm; 8. adjusting a balance tripod; 9. a large arm; 10. a forearm; 11. a horizontal direction holder; 12. a servo motor; 13. a manipulator base; 14. a flange coupling; 15. a ball screw; 16. a mechanical gripper guide rod; 17. a manipulator; 18. a manipulator mounting base; 19. a servo motor.

Detailed Description

The technical solution of the present invention will be further explained with reference to the embodiments shown in the drawings.

The invention relates to a novel conveying device for automatically steering and shunting goods, which comprises a robot palletizer body, a servo driving system, an arm mechanism and an end effector (mechanical arm).

The invention relates to a novel palletizing robot with simple structure and low cost, which is characterized in that a rotating platform (2) is arranged at the upper end of a supporting base (1), a servo motor (3) is connected with a rotating waist part (4), a small arm transmission rod (5) and a large arm (9) and provides power through the connection of a coupler, a vertical direction retainer (6) is connected with the rotating waist part (4), an adjusting balance tripod (8) is connected with the vertical direction retainer (6), the small arm (7) is connected with the small arm transmission rod (5), a front arm (10) is connected with the small arm (7) to realize rotation, a horizontal direction retainer (11) is connected with the adjusting balance tripod (8) to adjust the dynamic balance between the vertical direction and the horizontal direction, and a mechanical hand seat (13) is connected with the front arm (10) and the horizontal direction retainer (11), the servo motor (12) and the flange coupler (14) are connected with the manipulator mounting seat (18), the ball screw (15) and the mechanical gripper guide rod (16) are mounted on the manipulator mounting seat (18) through the flange coupler, so that the manipulator (17) is mounted on the ball screw (15) and the mechanical gripper guide rod (16), and finally the servo motor (19) is used for providing feeding and gripping power for the manipulator (17), as shown in figure 1.

The operation mode of the invention is as follows:

when the palletizing robot works normally, the base controls the whole robot to rotate by one motor, the waist part is composed of two motors, one motor controls the steering of the large arm, the other motor controls the steering of the small arm by controlling the rocker mechanism so as to enable the manipulator to move up and down, the manipulator is composed of a steering engine and two direct current servo motors, the motors control the rotation of the manipulator, and the direct current servo motors control the manipulator to clamp by controlling the screw rod mechanism so as to achieve stacking of goods according to requirements.

Claims

1. The utility model provides a simple structure is novel pile up neatly machine people with low costs which characterized in that: the robot palletizer comprises a robot palletizer body, a servo driving system, an arm mechanism and an end effector (mechanical arm).

2. The novel palletizing robot with a simple structure and low cost as claimed in claim 1 is mainly divided into a palletizing robot base device, a palletizing robot humanoid arm device and a manipulator grabbing device, wherein the palletizing robot base device specifically comprises a supporting base (1) and a rotating table (2); the humanoid arm device of the palletizing robot specifically comprises a servo motor (3), a rotating waist part (4), a small arm transmission rod (5), a vertical direction retainer (6), a small arm (7), a balance adjusting tripod (8), a large arm (9), a front arm (10) and a horizontal direction retainer (11); the manipulator grabbing device specifically comprises a servo motor (12), a manipulator seat (13), a flange coupler (14), a ball screw (15), a manipulator guide rod (16), a manipulator (17), a manipulator mounting seat (18) and a servo motor (19).

3. The novel palletizing robot with simple structure and low cost as claimed in claim 1 or 2, wherein the rotating platform (2) is installed at the upper end of the supporting base (1), the servo motor (3) is connected with the rotating waist part (4), the small arm transmission rod (5) and the large arm (9) and provides power by the connection of shaft couplings, the vertical direction cage (6) is connected with the rotating waist part (4), the adjusting balance tripod (8) is connected with the vertical direction cage (6), the small arm (7) is connected with the small arm transmission rod (5), the front arm (10) is connected with the small arm (7) to realize rotation, the horizontal direction cage (11) is connected with the adjusting balance tripod (8) to adjust the dynamic balance between the vertical direction and the horizontal direction, the manipulator seat (13) is connected with the front arm (10) and the horizontal retainer (11), the servo motor (12) is connected with the flange coupler (14) to form the manipulator mounting seat (18), the ball screw (15) and the mechanical gripper guide rod (16) are mounted on the manipulator mounting seat (18) through the flange coupler, so that the manipulator (17) is mounted on the ball screw (15) and the mechanical gripper guide rod (16), and finally the servo motor (19) is used for providing feeding and grabbing power for the manipulator (17).