CN110642026A

CN110642026A - Combined type letter sorting pile up neatly machine people end effector

Info

Publication number: CN110642026A
Application number: CN201911037471.9A
Authority: CN
Inventors: 李承禹; 蔡桂盛
Original assignee: Beijing Hong Sheng Technology Development Co Ltd
Current assignee: Beijing Hong Sheng Technology Development Co Ltd
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-01-03

Abstract

The invention discloses a combined type sorting and stacking robot end effector which comprises a rack, wherein a vacuum chuck is arranged below the rack, claw supports are arranged on the two sides of the vacuum chuck on the rack in pairs in opposite directions, the claw supports are bent support arms, one ends of the support arms are rotatably arranged on the rack through pivots, a driving mechanism for driving the support arms to rotate around the pivots to open and close the pair of claw supports is arranged on the rack, and lifting working ends of the claw supports are positioned below the vacuum chuck to realize lifting from the lower side when the claw supports are positioned at working positions. The end effector can meet the requirements of goods such as cashboxes and the like which are easy to adsorb, and can also meet the requirements of goods such as wallets and the like which cannot be directly adsorbed.

Description

Combined type letter sorting pile up neatly machine people end effector

Technical Field

The invention relates to an end effector for a combined sorting and palletizing robot, in particular to a mechanical unit for grabbing a cashbox and a cashbag.

Background

The bank is characterized by comprising a China RMB issuing bank and cash treasury of each commercial bank, a standard cashbox and a standard cashbag, wherein the standard cashbox is used for storing a large number of RMB products, and the standard cashbox is made of plastic materials and canvas materials in a packaging mode.

The traditional bank vault adopts a 'manual carrying' mode to finish the warehousing and out of different Renminbi products of different types, and a small trolley and a forklift are used for regularly placing the Renminbi products in a specified goods position according to different types and versions of Renminbi products according to a certain sequence. Because the RMB products have a plurality of coupon categories and edition categories, the efficiency of warehousing and storage management is low, the time consumption is long, and the labor cost is high.

In order to optimize the business mode of national bank treasury and introduce automatic sorting and carrying technology, the applicant designs a treasury sorting and stacking robot which is used for grabbing and stacking various cashboxes and wallets under the management standard of China people's banks to realize automatic sorting.

In the test process, the applicant finds that the plastic money box can be firmly grabbed and transported by using the suction disc, but the canvas money bag is not firmly adsorbed by using the suction disc, and particularly easily falls off in the rapid carrying process. And the soft money bag is difficult to clamp in a mode of firmly and not damaging the money bag or the internal RMB by using the conventional manipulator for clamping. Especially, because the money bags have various specifications, especially different thicknesses, the traditional manipulator is difficult to adapt to the grabbing requirements of the money bags with different specifications.

In view of the above, the present invention has been made.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide an end effector of a combined type sorting and stacking robot, so as to solve the problem that a money bag is not firmly grabbed.

The invention discloses a composite sorting and stacking robot end effector which comprises a rack, wherein a vacuum sucker is arranged below the rack, claw supports are arranged on the rack and positioned on two sides of the vacuum sucker in pairs in opposite directions, the claw supports are bent support arms, one end of each support arm is rotatably arranged on the rack through a pivot, a driving mechanism for driving the support arms to rotate around the pivot to open and close the pair of claw supports is arranged on the rack, and a lifting working end of each claw support is positioned below the vacuum sucker when in a working position to support goods from below.

The goods in the invention are not limited to money bags of banks, and can be any goods needing mechanical sorting and/or stacking in banks or other industries, and also comprise fragile goods, such as fragile goods packaged by cartons in logistics industries, besides flexible package goods.

For a bank vault, a two-dimensional code is usually arranged on the side surface of a cashbox or a money bag to identify information of the built-in RMB, and in order to identify the two-dimensional code for sorting, as a further improvement of the invention, a code reader is also arranged on a rack so as to be convenient for identification by scanning the two-dimensional code on the cashbox and the money bag, and certainly, other goods are not limited to the two-dimensional code and can be characters and graphs.

The bar code reader is installed in the both sides of the frame through the telescopic device of vertical or slope installation, and the cylinder is preferred to the telescopic device, and both sides set up the bar code reader, when snatching wallet, cashbox, need not distinguish about, have reduced the discernment of robot and cashbox, the cashbox two-dimensional code side adjust work well and required machinery, electronic component, the difference of two-dimensional code high position when the extensible member can adapt to different wallet thickness simultaneously.

In order to further improve the grabbing firmness and facilitate the installation of the claw supports, the claw supports are in two pairs and are respectively installed at four angular positions of the rack.

Furthermore, the lifting working end of the claw support is a rotating shaft which is horizontally arranged, so that the lifting length and area of goods such as the money bag can be increased, the rolling friction with the money bag can be realized, the resistance is reduced, and the money bag is protected from being torn.

Further, the outer surface of the rotating shaft is provided with a plastic sleeve to provide a buffering force when contacting with goods such as money bags.

Furthermore, each claw support comprises at least two parallel C-shaped support arms, and the support arms are connected through a horizontal connecting rod to form a stable frame structure.

The driving mechanism of the claw support can be a motor which directly drives the pivot for mounting the claw support, and in the invention, an air cylinder is preferably adopted, the cylinder sleeve of the air cylinder is hinged on the rack, the piston rod is hinged with a curved bar, the curved bar is connected with a driving gear, and a driven gear which is meshed with the driving gear is mounted on the pivot for mounting the claw support.

Preferably, the vacuum chuck adopts a foam vacuum chuck, the lower surface of the foam vacuum chuck is a plane with a plurality of air suction holes so as to increase the adsorption and contact area, and the vacuum air pumping and exhausting system is arranged, so that the additional arrangement of a vacuum driving system of the chuck such as a vacuum pump and the like is avoided.

Preferably, the frame comprises horizontal steel sheet and the steel pipe of vertical connection in middle part and the flange of steel pipe upper end, adopts the flange so that be connected with the walking part of robot, can be used for walking the electric wire of executor, the data line of code reader and the gas circuit that drives actuating cylinder etc. in the steel pipe simultaneously, both protected corresponding circuit and pipeline, also made the outward appearance cleaner and tidier, and adopt the steel sheet, be convenient for at its upper and lower surface mounting executor's corresponding component.

According to the combined type sorting and stacking robot end effector, a cashbox can be directly sucked and grabbed by the sucking disc, goods such as a money bag and the like can be sucked by the sucking disc and then lifted from the lower part of the goods such as the money bag and the like by the claw support, so that the money bag is firmly grabbed, and the bent support arm design realizes that the claw support is lifted upwards after rotating from the outer side of the money bag to the lower part of the money bag, so that the interference with the side edge of the money bag is avoided, and the lifting height of the lifting end of the claw can be controlled by the rotation angle to be different so as to meet the requirements of money bags of different specifications. The invention can be used for sorting and stacking different kinds of goods in other industries besides the national treasury.

Drawings

Fig. 1 is a schematic structural view of an end effector of the combined type sorting and stacking robot.

Fig. 2 is a perspective view of the end effector of the composite sorting palletizing robot shown in fig. 1.

FIG. 3 is a bottom view of the foam suction cup.

Fig. 4 and 5 are schematic diagrams of actions of the claw supporting and lifting the money bag.

In the figure: 1. the device comprises a rack, 2, a vacuum chuck, 3, a pivot, 4, a code reader, 5, a small air cylinder, 6, an electromagnetic valve, 7, a steel pipe, 8, a big air cylinder, 9, a claw support, 10, a support arm, 11, a curved bar, 12, a driving gear, 13, a plastic sleeve, 14, an air suction hole, 15, a money bag, 16 and a track line.

Detailed Description

The invention is further described below in conjunction with the drawings and the detailed description of the invention to assist in understanding the content of the invention.

Fig. 1 and 2 show a preferred embodiment of the end effector of the combined type cashbox sorting and palletizing robot of the invention.

As shown in fig. 1 and 2, the end effector comprises a frame 1, the main body of the end effector is a horizontal steel plate, a steel pipe 7 is welded in the middle of the steel plate, a flange is installed at the top end of the steel pipe 7 so as to be connected with a walking part of the robot, and meanwhile, the steel pipe 7 can be used for walking electric wires of the effector, data wires of a code reader and an air circuit of a driving air cylinder. The steel plate is provided with electromagnetic valves 6 for controlling the stretching of the air cylinders on two sides of the steel pipe 7, and the electromagnetic valves 6 are arranged on air paths of the air cylinders to control the stretching of the large air cylinder 8 and the small air cylinder 5.

A vacuum chuck 2 is arranged at the middle position below the frame 1. In the present embodiment, the vacuum chuck 2 is a foam vacuum chuck manufactured by germany, and as shown in fig. 3, the lower surface is a plane having a plurality of suction holes 14, so that a cashbox or a cashbag is attached to the surface of the chuck around the suction holes by the vacuum suction force generated by each suction hole 14 to increase the suction and contact area, and the foam vacuum chuck is provided with a vacuum pump and a control valve to form the vacuum pumping and releasing system to generate the vacuum suction force.

As shown in fig. 2, the two sides of the vacuum chuck 2 on the frame are also provided with 4 claw supports 9 in pairs and opposite to each other at four corners of the frame 1, so as to form two pairs of claw supports, so that a wider distance is formed between the adjacent claw supports in the length direction of the money bag to increase the lifting stability.

As shown in fig. 2, the main structure of the claw support is an arc-shaped support arm 10 bent into a C shape, each claw support comprises two support arms 10 arranged in parallel, the support arms 10 are connected through a horizontal connecting rod to form a stable frame structure, a rotating shaft is arranged at the end part of each support arm, for example, a round sleeve can be directly sleeved on the connecting rod, and the installation is preferably carried out through a bearing, so that the lifting length and the lifting area of the money bag can be increased, the rolling friction with the money bag can be realized, the resistance is reduced, and the money bag is protected from being torn. The outer surface of the rotating shaft is provided with a plastic sleeve 13 to provide a buffering force when contacting the money bag. It can be understood that when no code reader or code reader is arranged in other modes, two claws at the same side can also all adopt a single supporting arm, and two ends of the rotating shaft at the supporting end are installed on two supporting arms 10, namely, two rotating shafts at the same side in fig. 2 are connected with the plastic sleeve 13 into one, so that a more stable supporting effect can be provided, and a firm quadrilateral frame structure is also formed.

One end of the bracket arm 10 is rotatably installed on the frame 1 through a pivot 3, and the bracket arm is installed below a horizontal steel plate in the embodiment and is installed through a bearing and a bearing seat fixed on the lower surface of the steel plate, so that the bracket arm is flexible and light to rotate.

The upper surface of the frame 1 is provided with a driving mechanism which drives the supporting arms 10 to rotate around the pivot shaft 3 to open and close the paired claw supports, namely a large air cylinder 8, the mounting position of the claw supports and the distance requirement between the lifting working end of the front end of the claw support, namely a plastic sleeve 13, and the pivot shaft 3, as shown in fig. 4 and 5, a circular track line 16 which can ensure that the front end of the claw support rotates is positioned at the outer side and the bottom side of the money bag after the money bag 15 is sucked by a sucker, so as to ensure that the claw support 9 can cut into the lower part of the money bag 15 from the outer side and the lower part without being interfered by the money bag and further lift upwards, when the thicknesses of the money bags are different, only the rotation angles of the claw supports are different, and the cutting positions of the front end of the claw support. For example, if the thickness of the wallet is greater than that of wallet 15 shown in fig. 5, the maximum thickness can reach the lowest point of circular track line 16 in fig. 4, and the wallet can still be lifted from below, only the closing angle of the claw holder needs to be smaller.

As shown in fig. 1, 2, 4 and 5, the arc length and the arc radius of the lower half part, i.e. the plastic sleeve end, of the C-shaped supporting arm 10 are both greater than those of the upper half part, i.e. the pivot connection end, as shown in fig. 5, so that the lifting point is close to the middle part of the money bag and avoids the lower edge of the money bag as much as possible.

The two large cylinders 8 respectively drive a pivot 3, the cylinder barrel of each cylinder 8 is hinged on the rack 1, the end part of the piston rod is hinged with a curved rod 11, the curved rod 11 is connected with a driving gear 12, a driven gear meshed with the driving gear 12 is installed on the pivot 3 for installing the claw support, and the claw supports 9 on the same side are all installed on the same pivot 3 so as to realize synchronous driving by one large cylinder 8.

In order to identify the types and specifications of the cashbox and the cashbag, a two-dimensional code reader 4 is also arranged on the rack 1 so as to identify the cashbox and the cashbag by scanning the two-dimensional code on the cashbox and the cashbag. The two-dimensional code reader 4 is arranged on two sides of the rack through small air cylinders 5 which are obliquely arranged, and the two pairs of claw supports are arranged between the two pairs of claw supports. Of course, the small cylinder 5 can be replaced by other telescopic mechanism machines.

The working process is as follows: the walking part and the 3D vision part (not the parts related to the invention) of the robot bring the end effector of the invention to the position above the cashbox or the cashbag, the control part of the robot sends a control signal to the end effector of the robot to enable the vacuum chuck 2 to carry out vacuumizing work, the cashbox or the cashbag is lifted by 10cm, then the piston rod of the small air cylinder 5 extends out to drive the two-dimensional code reader 4 to move downwards to the side surface of the cashbox or the cashbag, a two-dimensional code image of the side surface of the cashbox or the cashbag is obtained, and the cashbox, the cashbag or the cashbag and the specification are identified. According to the recognition result, the cashbox is directly adsorbed by using the vacuum chuck and is firmly adsorbed, the cashbox is moved to a stacking position, and the cashbox is released by the air intake of the vacuum chuck 2. If the wallet is identified, the robot controls the large cylinder 8 to work, the piston rod extends out to enable the driving gear 12 to rotate through the bent rod 11, the driven gear drives the pivot to rotate, so that the claw support 9 rotates, the front end of the claw support, namely the end of the plastic sleeve 13, cuts into the lower part of the wallet 15 from the outer side and supports the bottom of the wallet 15 upwards, the claw support further rotates, the plastic sleeve 13 rolls towards the middle along the lower part of the wallet and supports upwards, the control part of the robot identifies the rotation angle of the claw support according to the specification dynamic adjustment of the two-dimensional code reader 4, the rotation angle of the claw support is small when the wallet is thick, the rotation angle of the claw support is large when the wallet is thick, the horizontal distance of the plastic sleeve 13 of the two opposite claw supports is small, and the vertical height is large. The money bag 15 is conveyed in a manner that the sucker sucks and the claw support is lifted from the lower part, so that the stability of conveying in the high-speed walking process of the robot is ensured, and the phenomenon of falling is avoided. The walking part and the 3D vision part (not the part related to the invention) of the robot carry the end effector to grab the money bag and move to a position 10cm above the stacking position, the robot controls the large cylinder 8 to withdraw the claw support, the claw support is prevented from interfering the money bag below in the descending process, the end effector continuously moves downwards to a position 1cm above the stacking position, and the vacuum chuck 2 sucks air to release the money bag, so that stacking is completed.

According to the end effector disclosed by the invention, one effector can firmly grab the cashbox and the money bag, and can adapt to the money bags with different specifications.

Claims

1. The utility model provides an end effector of combined type letter sorting pile up neatly machine people, includes the frame, installs vacuum chuck, its characterized in that in the frame below: the claw that still lies in vacuum chuck both sides in pairs in opposite directions in the frame holds in the palm and installs the claw support, the claw holds in the palm the adoption crooked trailing arm, and trailing arm one end is passed through the pivot rotation and is installed in the frame, installs the drive in the frame the trailing arm makes the actuating mechanism that claw in pairs held in the palm and opens and shuts around the pivot rotation, and the work end that lifts that the claw held in the palm is located when being in operating position vacuum chuck below is realized lifting from the below.

2. The composite sorting palletizing robot end effector as claimed in claim 1, wherein a code reader is further mounted on the frame.

3. The composite sorting palletizing robot end effector as claimed in claim 2, wherein the code readers are mounted on both sides of the frame by vertically or obliquely mounted telescopic devices.

4. The composite sorting palletizing robot end effector as claimed in one of claims 1 to 3, wherein: the two pairs of claw supports are respectively arranged at four angular positions of the rack.

5. The composite sorting palletizing robot end effector as claimed in one of claims 1 to 3, wherein: the lifting working end of the claw support is a rotating shaft which is horizontally arranged.

6. The composite sorting palletizing robot end effector as recited in claim 5, wherein: the outer surface of the rotating shaft is provided with a plastic sleeve.

7. The composite sorting palletizing robot end effector as claimed in one of claims 1 to 3, wherein: each claw support comprises at least two parallel support arms, the support arms are C-shaped, and the support arms are connected through a horizontal connecting rod to form a stable frame structure.

8. The composite sorting palletizing robot end effector as claimed in one of claims 1 to 3, wherein: the driving mechanism of the claw support adopts an air cylinder, a cylinder sleeve of the air cylinder is hinged on the rack, a piston rod is hinged with a curved bar, the curved bar is connected with a driving gear, and a pivot of the mounting claw support is provided with a driven gear meshed with the driving gear.

9. The composite sorting palletizing robot end effector as claimed in one of claims 1 to 3, wherein: the vacuum chuck is a foam vacuum chuck, and the lower surface of the vacuum chuck is a plane with a plurality of air suction holes.

10. The composite sorting palletizing robot end effector as claimed in one of claims 1 to 3, wherein: the frame comprises horizontal steel plate and vertical steel pipe in middle part and the flange of steel pipe upper end.