CN116062469A - Full-automatic intelligent loading and unloading industrial robot device - Google Patents
Full-automatic intelligent loading and unloading industrial robot device Download PDFInfo
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- CN116062469A CN116062469A CN202310186746.5A CN202310186746A CN116062469A CN 116062469 A CN116062469 A CN 116062469A CN 202310186746 A CN202310186746 A CN 202310186746A CN 116062469 A CN116062469 A CN 116062469A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
- B65G15/20—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts arranged side by side, e.g. for conveyance of flat articles in vertical position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/002—Pivotably mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/007—Means for moving conveyor frames and control arrangements therefor
- B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a full-automatic intelligent loading and unloading industrial robot device, includes all-round removal chassis, track measurement and calculation system, environmental monitoring system and all-round flexible conveying mechanism, the bottom on all-round removal chassis is connected with suspension shock attenuation drive module, just all-round removal chassis top is connected with the U type through the locking bolt and bears the main part, be provided with electrical control cabinet in the U type bears the main part, environmental monitoring system includes far field operation camera module and near field operation camera module, far field operation camera module fixed connection in be close to on the U type bears the main part all-round flexible conveying mechanism's one side, all-round flexible conveying mechanism passes through swivel bearing seat and all-round removal chassis fixed connection. The invention can adapt to different operation sites, can carry out high-precision identification and positioning on the operation environment by combining with an AI visual image processing technology, autonomously plan the operation path in real time, has extremely high use flexibility and remarkably improves the loading and unloading efficiency.
Description
Technical Field
The invention relates to the technical field of loading and unloading industrial robots, in particular to a full-automatic intelligent loading and unloading industrial robot device.
Background
The intelligent loading and unloading industrial robot is a manipulator in actual work, can replace human beings to carry out disassembly and transportation of workpieces with different shapes, greatly lightens the manual labor of the human beings, remarkably improves the labor productivity, realizes loading and unloading through the movement of a connecting arm of the robot in the loading and unloading process, and has great limitation on operation scenes, work rhythms and the like.
The prior art application number is as follows: 202211197450.5, publication number: CN115448220a, a chinese patent of invention entitled "full-automatic visual lifter, loading and unloading robot, and automatic cargo loading and unloading method", describes the following technical scheme: the loading and unloading robot comprises an automatic walking chassis, a vertical lifting mechanism, a horizontal left-right stretching and shrinking mechanism, a mechanism rotating around a Y axis, a mechanism rotating around an X axis, a transparent tray mechanism, a loading and unloading robot camera, a forklift rotator, a T-shaped groove platform, an air cylinder, a bearing, a pressure sensor, a mechanical arm and a hydraulic cylinder; wherein the X axis points to the advancing direction of the loading and unloading robot, the Y axis points to the left side of the loading and unloading robot, and the Z axis points to the right above the loading and unloading robot; the vertical lifting and lowering mechanism is arranged on the automatic walking chassis, and the loading and unloading robot camera is arranged at the top of the vertical lifting and lowering mechanism; the mechanism rotating around the X axis is formed by connecting a horizontal left-right stretching and shrinking mechanism, a mechanism rotating around the Y axis and a transparent tray mechanism; the horizontal left-right stretching and shrinking mechanism is connected to the vertical lifting mechanism through a forklift rotator, two sides of the horizontal left-right stretching and shrinking mechanism are connected with a mechanism rotating around a Y axis, and the mechanism rotating around the Y axis is connected with a transparent tray mechanism; the T-shaped groove platform is fixed on the rear end face of the horizontal left-right expansion and contraction mechanism; the T-shaped groove platform is vertical to the ground and extends along the Y-axis direction; the stationary end of the hydraulic cylinder is fixed on a T-shaped groove platform, the moving end of the hydraulic cylinder is fixed at the tail ends of mechanical arms at two sides of the horizontal left-right stretching mechanism, and the T-shaped channel steel is matched with the T-shaped groove platform and slides in the T-shaped groove platform; the T-shaped channel steel stretches and contracts along the direction of the T-shaped channel platform so as to adjust the horizontal left-right width; a cylinder and a bearing are arranged on the mechanism rotating around the Y axis; the bearing is embedded in the tail of the air cylinder, and the tail swing of the air cylinder is realized by matching with the pin shaft; the push-pull action of the air cylinder drives the transparent tray mechanism to rotate and swing by taking the bearing as the center; to adjust the angle of the transparent tray mechanism around the Y axis; the transparent tray mechanism is provided with a pressure sensor, the pressure sensor is embedded in the bearing cylinder and is consistent with the direction of the bearing cylinder, and a sensor probe of the pressure sensor faces the transparent tray mechanism. ".
The prior art application number is as follows: 202211243012.8, publication number: CN115636274a, a chinese patent for invention entitled "full automatic cargo handling system", describes the following technical scheme: "a fully automated cargo handling system, comprising: the platform comprises a robot, a manipulator, a movable chassis, a conveying mechanism, a roller way mechanism, a platform and a truck, wherein the truck is operably stopped at one side of the platform, the movable chassis is provided with the robot, the robot is provided with the manipulator, the robot is provided with the conveying mechanism, one end of the conveying mechanism is close to the manipulator, the other end of the conveying mechanism is connected with the roller way mechanism, and the movable chassis is movably arranged on the platform or in the truck. ".
The prior art application number is as follows: 202210528580.6, publication number: CN115246576a, a chinese patent of invention entitled "a fully automatic intelligent handling industrial robot device", describes the following technical solutions: the utility model provides a full-automatic intelligent loading and unloading industrial robot device, includes grafting at the mobilizable slider of base inner wall, grafting at the rotatable diaphragm of extension rod inner wall and through bolted connection at the detachable connecting plate of support inner wall, one side of connecting plate has detachable first motor through bolted connection, the opposite side joint of connecting plate has rotatable rotary drum, the surface overlap joint of rotary drum has the track of transportable article, the inner wall joint of support has the gliding movable block of side-to-side, the positive fixedly connected with of movable block can spacing card frame, the inner wall joint of card frame has detachable second motor, one side fixedly connected with snap ring of second motor, the inner wall joint of snap ring has liftable tooth post, the one end fixedly connected with sucking disc of diaphragm, the surface grafting of diaphragm has liftable tongs. ".
The automatic loading and unloading technical scheme of the robot can play a certain loading and unloading role on cargoes, but more emphasis on the technical level is that the cargoes are grabbed, the limitation on the application scene is larger, the degree of freedom of a grabbing mechanism and the real-time planning and linking coordination of a track travel are not realized, the interaction capability on the operation environment is poor, and the work rhythm cannot be continuously and effectively output.
Disclosure of Invention
The purpose of the invention is that:
aiming at the defects of the prior art, the full-automatic intelligent loading and unloading industrial robot device is designed, is provided with a 360-degree all-dimensional suspension type mobile chassis and AI visual image processing technology, can accurately realize the environment characteristic recognition and positioning functions, can adapt to different working environments, can automatically generate the planning of dynamic working path tracks and the matching of working speeds, has strong interaction capability, and can ensure the continuity and smoothness of loading and unloading actions.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a full-automatic intelligent loading and unloading industrial robot device, includes all-round removal chassis, track measurement and calculation system, environmental monitoring system and all-round flexible conveying mechanism, the bottom of all-round removal chassis is connected with suspension type shock attenuation drive module, just all-round removal chassis top is connected with the U type through the locking bolt and bears the main part, track measurement and calculation system electric connection in all-round removal chassis and bear between the main part, be provided with the electrical control cabinet on the U type bears the main part, environmental monitoring system includes far field operation camera module and near field operation camera module, far field operation camera module fixed connection in be close to on the U type bears the main part one side of all-round flexible conveying mechanism, all-round flexible conveying mechanism pass through the swivel bearing seat with all-round removal chassis fixed connection.
Further, the suspension type damping driving module is specifically provided with four groups, and is evenly distributed at four right angles of the omnibearing moving chassis, the suspension type damping driving module comprises a supporting wheel mounting plate and a driving wheel group, the supporting wheel mounting plate is fixedly connected with the omnibearing moving chassis, and one side, close to the omnibearing moving chassis, of the supporting wheel mounting plate is evenly distributed with a spring damping column.
Further, the track measuring and calculating system specifically comprises four groups of laser range finders, the four groups of laser range finders are arranged in the width direction of the omnibearing movable chassis, and the four groups of laser range finders are symmetrically arranged.
Further, the omnibearing flexible conveying mechanism comprises a three-degree-of-freedom flexible conveying module and a pitching swinging conveying module, the three-degree-of-freedom flexible conveying module comprises a conveying belt, a first telescopic electric cylinder, a second telescopic electric cylinder, a first motor and a second motor, the conveying belt is positioned above the right of the omnibearing movable chassis, the first telescopic electric cylinder and the second telescopic electric cylinder are fixedly connected to a mounting plate at the opening of the U-shaped bearing main body, the extending shaft ends of the first telescopic electric cylinder and the second telescopic electric cylinder are connected with the lower part of the conveying belt, the first motor and the second motor are respectively positioned on the mounting plate beside the first telescopic electric cylinder and the second telescopic electric cylinder, and a rotating shaft of the first motor and the second motor penetrates through the mounting plate and is fixedly connected with a main support plate on the rotating bearing seat.
Further, the pitching swinging conveying module comprises a pitching swinging conveyor and a grabbing mechanism, the tail end of the pitching swinging conveyor is connected with one end of the conveying belt through a pitching shaft, a movable shaft is connected in a penetrating manner at the center of the pitching shaft, and the movable shaft is in a vertical position relation with the pitching shaft.
Furthermore, the pitching shaft and the bearing seats on two sides of the conveyor belt are in a specific interference fit connection mode, and the movable shaft and the pitching shaft are in a specific interference fit connection mode.
Further, the grabbing mechanism frame is arranged at one end, close to the conveying belt, of the pitching swinging conveyor, the grabbing mechanism comprises an grabbing auxiliary conveyor and a vacuum chuck, the grabbing auxiliary conveyor is connected with a four-bar turnover mechanism through linear guide rails on two sides, the end of the four-bar turnover mechanism is connected with a turnover cylinder, and an advancing motor is connected below the grabbing auxiliary conveyor.
Further, the vacuum chuck is fixedly connected with the four-bar turnover mechanism through a U-shaped support, the number of the vacuum chucks is specifically a plurality of, the arrays are arranged on the beam part of the U-shaped support, and the vacuum chuck is in detachable connection with the U-shaped support.
The beneficial effects of the invention are as follows:
the utility model provides a full-automatic intelligent loading and unloading industrial robot device is equipped with all-round suspension formula and removes the chassis, can adapt to different operation places, combines AI vision image processing technique, can carry out high accurate discernment and location to the operation environment, independently plan the operation route in real time to realize that the robot snatchs the goods in the all-round accessible removal of two-dimensional plane while high accuracy, the use flexibility is high, has effectively improved cargo handling's convenience degree, and loading and unloading efficiency is showing and is improving.
Drawings
Fig. 1 is a first view of the overall structure of a fully automatic intelligent handling industrial robot according to the present invention.
Fig. 2 is a second perspective view of the overall structure of a fully automatic intelligent handling industrial robot apparatus according to the present invention.
Fig. 3 is a schematic view of a part of the structure of the omnibearing flexible conveying mechanism in the fully automatic intelligent loading and unloading industrial robot device.
Fig. 4 is a schematic view of a part of the structure of a pitching and swinging conveying module in the fully automatic intelligent loading and unloading industrial robot device.
Reference numerals for components in the drawings:
1. an omnibearing moving chassis; 2. a track measurement system; 20. four groups of laser range finders; 3. an environmental monitoring system; 31. a far-field operation camera module; 32. a near field operation camera module; 4. an omnibearing flexible conveying mechanism; 40. a three-degree-of-freedom flexible conveying module; 400. a rotary bearing seat; 401. a conveyor belt; 402. a first telescopic electric cylinder; 403. a second telescopic electric cylinder; 404. a first motor; 405. a second motor; 406. a mounting plate; 407 a main support plate; 41. a pitching swinging conveying module; 410. a pitching oscillating conveyor; 411. a grabbing mechanism; 4110. grabbing an auxiliary conveyor; 4111. a vacuum chuck; 412. a pitch axis; 413. a movable shaft; 414. a turnover cylinder; 415. a forward motor; 416. a U-shaped bracket; 417. a four-bar linkage turnover mechanism; 5. a suspension type damping driving module; 50. a support wheel mounting plate; 51. a driving wheel group; 6. a U-shaped load bearing body; 60. an electrical control cabinet.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 4, a full-automatic intelligent loading and unloading industrial robot device comprises an omnibearing moving chassis 1, a track measuring and calculating system 2, an environment monitoring system 3 and an omnibearing flexible conveying mechanism 4, wherein a suspension type damping driving module 5 is connected to the bottom of the omnibearing moving chassis 1, a U-shaped bearing main body 6 is connected to the upper side of the omnibearing moving chassis 1 through a locking bolt, the track measuring and calculating system 2 is electrically connected between the omnibearing moving chassis 1 and the bearing main body 6, an electric control cabinet 60 is arranged on the U-shaped bearing main body 6, the environment monitoring system 3 comprises a far-field operation camera module 31 and a near-field operation camera module 32, the far-field operation camera module 31 is fixedly connected to one side, close to the omnibearing flexible conveying mechanism 4, of the omnibearing flexible conveying mechanism 4 is fixedly connected with the omnibearing moving chassis 1 through a rotary bearing seat 400.
The suspension type shock absorption driving modules 5 are specifically provided with four groups and are uniformly distributed at four right angles of the omnibearing movable chassis 1, the suspension type shock absorption driving modules 5 comprise supporting wheel mounting plates 50 and driving wheel groups 51, the supporting wheel mounting plates 50 are fixedly connected with the omnibearing movable chassis 1, and spring shock absorption columns are uniformly distributed on one side, close to the omnibearing movable chassis 1, of the supporting wheel mounting plates 50; the suspension type damping driving module 5 is used for providing a damping effect for the movement of the omnibearing moving chassis 1, and can ensure that the robot can continuously and stably operate.
The track measuring and calculating system 2 specifically comprises four groups of laser range finders 20, wherein the four groups of laser range finders 20 are arranged in the width direction of the omnibearing movable chassis 1, and the four groups of laser range finders 20 are symmetrically arranged; the four sets of laser rangefinders 20 are each configured to provide accurate distance gap detection for the working environment of the robot, thereby planning the path of the working trajectory in real time.
The omnibearing flexible conveying mechanism 4 comprises a three-degree-of-freedom flexible conveying module 40 and a pitching swinging conveying module 41, the three-degree-of-freedom flexible conveying module 40 comprises a conveying belt 401, a first telescopic electric cylinder 402, a second telescopic electric cylinder 403, a first motor 404 and a second motor 405, the conveying belt 401 is positioned at the upper right side of the omnibearing movable chassis 1, the first telescopic electric cylinder 402 and the second telescopic electric cylinder 403 are fixedly connected to a mounting plate 406 at the opening of the U-shaped bearing main body 6, the extending shaft ends of the first telescopic electric cylinder 402 and the second telescopic electric cylinder 403 are connected with the lower side of the conveying belt 401, the first motor 404 and the second motor 405 are respectively positioned on a mounting plate 406 beside the first telescopic electric cylinder 402 and the second telescopic electric cylinder 403, and a rotating shaft of the first motor 404 and the second motor 405 penetrates through the mounting plate 406 and is fixedly connected with a main support plate 407 on the rotating bearing seat 400.
The pitching conveying module 41 comprises a pitching conveyor 410 and a grabbing mechanism 411, the tail end of the pitching conveyor 410 is connected with one end of the conveyor belt 401 through a pitching shaft 412, a movable shaft 413 is connected to the center of the pitching shaft 412 in a penetrating manner, and the movable shaft 413 is in a vertical position relation with the pitching shaft 412.
The pitch shaft 412 is connected with bearing blocks on two sides of the conveyor belt 401 in an interference fit manner, and the movable shaft 413 is connected with the pitch shaft 412 in an interference fit manner.
The grabbing mechanism 411 is erected on one end, close to the conveying belt 401, of the pitching swinging conveyor 410, the grabbing mechanism 411 comprises an grabbing auxiliary conveyor 4110 and a vacuum chuck 4111, the grabbing auxiliary conveyor 4110 is connected with a four-bar turnover mechanism 417 through linear guide rails 413 on two sides, the end part of the four-bar turnover mechanism 417 is connected with a turnover cylinder 414, and a forward motor 415 is connected below the grabbing auxiliary conveyor 4110; the reversing cylinder 414 is used for driving the grabbing auxiliary conveyor 4110 to reverse, and the forward motor 415 is used for driving the grabbing auxiliary conveyor 4110 to advance or retreat.
The vacuum chucks 4111 are fixedly connected with the four-bar linkage 417 through a U-shaped bracket 416, the number of the vacuum chucks 4111 is specifically a plurality of, and the vacuum chucks 4111 are arranged on the beam part of the U-shaped bracket 416 in an array manner, and the vacuum chucks 4111 are in a detachable connection relationship with the U-shaped bracket 416; the removable vacuum chuck 4111 can be adjusted in number and size according to the load of the work object.
The specific working steps of the invention are as follows:
during operation, the far-field operation camera module 31 performs route planning and obstacle avoidance according to the operation environment, the near-field operation camera module 32 calculates according to the size of the volume of goods to be loaded and unloaded and the size of the corresponding route space position, data transmission is performed through the control terminal, under the linkage control of the track measuring and calculating system 2 and the environment monitoring system 3, the omnibearing movement chassis 1 and the flexible conveying mechanism 4 perform real-time adjustment of operation postures according to the position calculation result to grasp, load and unload goods, and the specific posture is adjustable in the following ways: the omnibearing moving chassis 1 can perform 360-degree rotary movement, the robot can perform omnibearing cargo loading and unloading without limitation, the first telescopic electric cylinder 402 and the second telescopic electric cylinder 403 can drive the omnibearing flexible conveying mechanism to move up and down according to the height of the cargo in the process, so that the height of the cargo is suitable for convenient grabbing, meanwhile, the grabbing auxiliary conveyor 4110 can move back and forth according to the distance of the cargo through the driving of the forward motor 415, the distance between the grabbing auxiliary conveyor 4110 and the cargo is adjusted, so that the accurate grabbing of the vacuum chuck 4111 is realized, the grabbing mechanism 411 can be driven to perform overturning grabbing through starting the overturning cylinder 414, and the robot can perform multi-party multi-angle movement to grab and convey the cargo loading and unloading work in the fastest and most convenient gesture.
In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "fixed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The above examples are provided to further illustrate the invention and do not limit the invention to these specific embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be construed as being within the protection scope of the present invention.
Claims (8)
1. The utility model provides a full-automatic intelligent loading and unloading industrial robot device, includes all-round removal chassis (1), orbit measurement and calculation system (2), environmental monitoring system (3) and all-round flexible conveying mechanism (4), its characterized in that: the utility model discloses a full-direction mobile chassis, including chassis (1), all-direction mobile chassis, chassis (1), including chassis (1), all-direction mobile chassis (1), the bottom of being connected with suspension type shock attenuation drive module (5), just all-direction mobile chassis (1) top is connected with U type through the locking bolt and bears main part (6), track measurement and calculation system (2) electric connection in all-direction mobile chassis (1) and bear between on main part (6), be provided with electrical control cabinet (60) on U type bears main part (6), environmental monitoring system (3) include far field operation camera module (31) and near field operation camera module (32), far field operation camera module (31) fixed connection in U type bear and be close to one side of all-direction flexible conveying mechanism (4) on main part (6), all-direction flexible conveying mechanism (4) pass through rotation bearing (400) with all-direction mobile chassis (1) fixed connection.
2. A fully automated intelligent handling industrial robot according to claim 1, wherein: the suspension type shock absorption driving module (5) is particularly provided with four groups, the suspension type shock absorption driving module is evenly distributed at four right angles of the omnibearing movable chassis (1), the suspension type shock absorption driving module (5) comprises a supporting wheel mounting plate (50) and a driving wheel group (51), the supporting wheel mounting plate (50) is fixedly connected with the omnibearing movable chassis (1), and spring shock absorption columns are evenly distributed on one side, close to the omnibearing movable chassis (1), of the supporting wheel mounting plate (50).
3. A fully automated intelligent handling industrial robot according to claim 2, wherein: the track measuring and calculating system (2) specifically comprises four groups of laser range finders (20), the four groups of laser range finders (20) are arranged in the width direction of the omnibearing moving chassis (1), and the four groups of laser range finders (20) are symmetrically arranged.
4. A fully automated intelligent handling industrial robot according to claim 3, wherein: the flexible conveying mechanism (4) comprises a three-degree-of-freedom flexible conveying module (40) and a pitching swinging conveying module (41), the three-degree-of-freedom flexible conveying module (40) comprises a conveying belt (401), a first telescopic electric cylinder (402), a second telescopic electric cylinder (403), a first motor (404) and a second motor (405), the conveying belt (401) is located on the right upper side of the all-directional movable chassis (1), the first telescopic electric cylinder (402) and the second telescopic electric cylinder (403) are fixedly connected to a mounting plate (406) at the opening of the U-shaped bearing body (6), the extending shaft ends of the first telescopic electric cylinder (402) and the second telescopic electric cylinder (403) are connected with the lower side of the conveying belt (401), and the first motor (404), the second motor (405) are located on the mounting plate (406) at the side of the first telescopic electric cylinder (402) and the second telescopic electric cylinder (403) respectively, and a rotating shaft of the first motor (404) and the second motor (405) is fixedly connected with a supporting plate (407) penetrating through the rotating shaft.
5. A fully automated intelligent handling industrial robot according to claim 4, wherein: the pitching swinging conveying module (41) comprises a pitching swinging conveyor (410) and a grabbing mechanism (411), the tail end of the pitching swinging conveyor (410) is connected with one end of the conveying belt (401) through a pitching shaft (412), a movable shaft (413) is connected to the center of the pitching shaft (412) in a penetrating mode, and the movable shaft (413) is in a vertical position relation with the pitching shaft (412).
6. A fully automated intelligent handling industrial robot according to claim 5, wherein: the pitch shaft (412) is connected with bearing seats on two sides of the conveyor belt (401) in a specific interference fit mode, and the movable shaft (413) is connected with the pitch shaft (412) in a specific interference fit mode.
7. A fully automated intelligent handling industrial robot according to claim 6, wherein: the grabbing mechanism (411) is arranged on the pitching swinging conveyor (410) and is close to one end of the conveying belt (401), the grabbing mechanism (411) comprises an grabbing auxiliary conveyor (4110) and a vacuum chuck (4111), the grabbing auxiliary conveyor (4110) is connected with a four-bar turnover mechanism (417) through linear guide rails (413) on two sides, the end of the four-bar turnover mechanism (417) is connected with a turnover cylinder (414), and a forward motor (415) is connected below the grabbing auxiliary conveyor (4110).
8. A fully automated intelligent handling industrial robot according to claim 7, wherein: the vacuum suction cups (4111) are fixedly connected with the four-bar overturning mechanism (417) through the U-shaped support (416), the number of the vacuum suction cups (4111) is specifically a plurality of, the array is arranged on the beam part of the U-shaped support (416), and the vacuum suction cups (4111) are in detachable connection with the U-shaped support (416).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310186746.5A CN116062469A (en) | 2023-03-02 | 2023-03-02 | Full-automatic intelligent loading and unloading industrial robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310186746.5A CN116062469A (en) | 2023-03-02 | 2023-03-02 | Full-automatic intelligent loading and unloading industrial robot device |
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| CN116062469A true CN116062469A (en) | 2023-05-05 |
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| CN202310186746.5A Pending CN116062469A (en) | 2023-03-02 | 2023-03-02 | Full-automatic intelligent loading and unloading industrial robot device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281014A (en) * | 2023-05-24 | 2023-06-23 | 厦门艾科曼智能装备有限公司 | Automatic loading and unloading system and method |
| CN116788873A (en) * | 2023-06-28 | 2023-09-22 | 中储恒科物联网***有限公司 | Automatic unloader suitable for box freight bags |
-
2023
- 2023-03-02 CN CN202310186746.5A patent/CN116062469A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281014A (en) * | 2023-05-24 | 2023-06-23 | 厦门艾科曼智能装备有限公司 | Automatic loading and unloading system and method |
| CN116788873A (en) * | 2023-06-28 | 2023-09-22 | 中储恒科物联网***有限公司 | Automatic unloader suitable for box freight bags |
| CN116788873B (en) * | 2023-06-28 | 2024-01-05 | 中储恒科物联网***有限公司 | Automatic unloader suitable for box freight bags |
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