CN103552849B - For the robot hand of casing piling-de-stacking - Google Patents

For the robot hand of casing piling-de-stacking Download PDF

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Publication number
CN103552849B
CN103552849B CN201310522904.6A CN201310522904A CN103552849B CN 103552849 B CN103552849 B CN 103552849B CN 201310522904 A CN201310522904 A CN 201310522904A CN 103552849 B CN103552849 B CN 103552849B
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China
Prior art keywords
pair
paw
casing
plug device
alignment sensor
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Expired - Fee Related
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CN201310522904.6A
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CN103552849A (en
Inventor
贠超
张进
王伟
王刚
赵兴
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Beihang University
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Beihang University
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Abstract

A kind of robot hand for casing piling-de-stacking, be applicable to the logistic storage industries such as food, medicine, tobacco, paw composition comprises: a flange be connected with robot palletizer, a top board, a pair time plug device, a pair side direction pinch device, a pair bottom side plug device, optional sucker, six groups of alignment sensor assemblies, have piling and de-stacking two kinds of functions; Its structure for entirely to surround mode, eliminates the possibility of drawing in fast removal process to casing; Carry out placing or grasping manipulation time can dodge casing placed side, be that contact is placed, avoid and fall impacts such as touching; Its alignment sensor assembly make use of " six point locations " principle and treats and capture the pose of casing and determine, thus realizes the determination that paw captures pose; The sensor-triggered interval time in corresponding different alignment sensor assembly can being utilized to treat the abnormal pose of crawl casing judge, in this, as alert if, carrying out manual intervention adjustment to shut down in time when there is this situation.

Description

For the robot hand of casing piling-de-stacking
Technical field
The present invention relates to a kind of robot hand for the piling-de-stacking of casing class connection with wrapping of piece, be applicable to food, medicine, tobacco, the logistics of petrochemical industry and storage sector, be used for specially realizing carrying out piling to the article packed by surface normal six casings and de-stacking operates.
Background technology
In the industries such as the logistics of such as food, medicine, tobacco, petrochemical industry and storage, the manufacture of product, the storage of goods and transport intermediate links all relate to piling or de-stacking process.At present, palletization adopts robot palletizer and paw thereof to replace manual operation many, but most still dependence of de-stacking process manually moves to take to realize, and e.g., goods is completed by entrucking work usually from the de-stacking process of storage position entrucking.Along with reducing the labour cost cost of product and improving the market competition requirement of production automation degree, and owing to utilizing robot palletizer and paw to carry out piling or de-stacking, there is a lot of advantage higher than manual operation efficiency, adopt robot palletizer and paw thereof to replace the demand manually having come piling and de-stacking increasing, and robot hand is one of critical component realizing piling and de-stacking operation.
Robot palletization operations flow process comprises: robot palletizer drive its paw to manufacturing line (as, load-transfer device) on article position, capture, and then location is transported to and piles up position, then carry out article and place operation, after placement completes, paw lifts, and enters the Palletised carry circulation link of next article; Robot de-stacking operating process comprises: robot palletizer drives its paw to position a certain article in buttress shape, capture, and then location is transported to placement location, then carry out article to place operation, has placed rear paw and lift, circulation link is carried in the de-stacking entering into next article.From above-mentioned crawl and carrying flow process, piling and de-stacking do not have essential distinction on paw operational motion, both differences are to be grabbed ambient conditions residing for article (e.g., waiting to capture around casing whether there is adjacent boxes or other physical obstacle) when capturing or place.During piling, article are generally discrete independent placements, can not there is obstacle around when paw captures it, but when being placed in buttress shape, the article first placed can bring follow-up placement operation and hinder or interfere, and this interference or obstruction are one of key issue that palletization operations will solve.During de-stacking, crawled article are positioned among buttress shape, need carry out de-stacking operation successively from top to bottom, and the de-stacking of same layer article order also has successively, and when carrying out grasping manipulation, adjacent article is treated and captured article and there is physical interference equally.Also have, when piling or de-stacking, paw need be treated and grab article and position, for suitable paw pose condition is created in the crawl realizing paw further, the particularly this article with regular shape of casing class, determining the pose of suitable paw opposite case, is realize paw to its smooth key condition captured.
It is more common that bagged material product employing comb type mechanical paw carries out palletization operations, and casing series products adopts sucked type paw to carry out piling also has use, adopts a class paw of clamping plate type or sucker and clamping plate convolution also to occur in the literature.Analysis is carried out from the paw structure of these kinds above-mentioned and working ability, first, existing comb-tooth-type paw treats the placed side capturing article particular/special requirement, can only capture the article be placed on comb platform, and cannot carry out de-stacking operation by the restriction of its physical construction; Second, though sucked type paw treats the placed side of crawl article without particular/special requirement, also piling and de-stacking two kinds operation can be realized its structure, but treat capture article (as, casing class packaging product) surface finish have special requirement, once there are the flaws such as imperfect or pit on the surface that position drawn by sucker, article can not reliably be drawn, and move due to the fast removal of robot palletizer with front two operation rooms of placement after picking up, under the effect of force of inertia, easily cause de-bag/drawing phenomenon, handling process is reliable not; 3rd, for existing clamping plate type or sucker in conjunction with clamping plate type one class paw, analyze from its structure, though have the possibility that handling process can not produce de-bag/drawing phenomenon, but its structure easily and article are crawled or the surrounding environment of placement location (as, wait to capture the adjacent casing of casing or other obstacle etc. in buttress shape) produce and interfere, therefore do not possess de-stacking ability.Also have, the put procedure of article mostly is clamping plate and discharges, and then make article fall to drop target position, this put procedure need avoid the article impacted to be difficult to meet the requirements to frangible grade, and the accurate location that article are placed and attitude can not be guaranteed very well, easily cause loose, the crooked even stack collapse of buttress shape.In addition, when carrying out piling or de-stacking operation to casing class packaging product, existing paw does not have and carries out for excessively crooked and casing (i.e. abnormal pose casing) that is that be not suitable for proceeding to capture the function differentiated, discriminating for abnormal pose casing can guarantee that avoiding paw to treat in this case grabs by mistake grabbing of casing, causes the destruction waiting to capture article.This discriminating, be also protection to paw, meanwhile, this identification function can provide alert if, carries out manual intervention adjustment so that shut down in time.
To sum up analyze, robot palletizer is utilized to realize piling or the de-stacking of casing class packaging product, need one to dodge and wait to capture casing surrounding obstacles, and correctly can determine the robot hand of the crawl pose of paw opposite case, this paw should have piling and de-stacking two kinds of functions, thus when needs frequently change between piling and de-stacking two kinds of operation tasks, avoid the troublesome operation changing different paw.And, the put procedure of this paw should be that contact is placed, to avoid the impact of crawled casing in put procedure, simultaneously capture with place between high efficiency, can avoid de-ly wrap the/generation of drawing phenomenon in fast removal process, reach and carry failure-free requirement.In addition, also should be able to differentiate for abnormal pose casing, to improve the safety of piling or de-stacking operation.
According to an aspect of the present invention, provide a kind of robot hand of the piling-de-stacking for object, it is characterized in that comprising:
Sucker, for holding the upper surface of object;
Top board, it is as the installation foundation of other parts of described robot hand;
A pair time plug device, it is respectively with lower plugboard, for in two gaps between the object in two adjacent side of the downward tangentially insertion objects of lower plugboard and/or buttress and contiguous object, for clamping conditions is created in the crawl completing object;
Pair of side plates device, they are connected with mounting of roof plate respectively, and facing with the installation site of described a pair time plug device respectively;
A pair side direction pinch device, they are fixedly installed on described pair of side plates device respectively, and respectively comprise an exsertile keep plate, the driving surface of the lower plugboard that the driving surface of described keep plate and the downward insertion of corresponding lower plug device put in place is facing, for jointly clamping two sides away form one another on object;
A pair bottom side plug device, they respectively have a side plate, and be fixedly installed on the scalable lower side panel on described pair of side plates device respectively, for avoiding the placed side of described object described side plug device produced and interfere, thus avoid this interference to make the side plate of bottom side plug device cannot bottom insertion objects.
Summary of the invention
An object of the present invention is, for the hexahedron casing class packaging product of surface normal, a kind of robotic's paw it being possessed to piling and de-stacking two kinds of functions is provided, its wait capture casing placed side (as, the upper surface capturing layer box body under casing is waited in buttress shape, or the running surface of buttress shape pallet, or conveyor belt surface etc.) for smoothly casing being picked up when plane, picking up, drawing phenomenon is not produced in the process of carrying and placement, and, put procedure is that contact is placed, thus achieve product without impact effect, and ensure that buttress shape is compact, neatly.Particularly when carrying out de-stacking operation, mechanical paw of the present invention can successfully capture to be treated crawl casing in buttress shape and can not cause the change of position and attitude to other casing, namely can avoid or dodge the situation producing mechanical interference with de-stacking environment.In addition, a kind of mechanical paw according to the present invention has and has identification function to abnormal pose casing, can provide alert if.
Composition structural principle of the present invention is: a flange, for being connected with the installation of robot palletizer forearm end wrist, one square paw top board, it is that flange is connected basis with the installation of other device of paw, a pair time plug device, is arranged in the middle position, edge of two adjacent sides at cubic any one angle of cover top surface respectively, pair of side plates device, side-plate device is divided into epipleural and lower side panel two parts, epipleural and top board are bolted to connection, flexible adjustment can be carried out along the normal direction in epipleural plate face to its installation site, to adapt to the size of different crawled casing, lower side panel can be slided up and down relative to fixing epipleural by pilot bar, is provided with spring on the guide bar, for realize lower side panel removal by code casing placed side to its contact thrust after produce homing action, be installed on the side direction pinch device on two epipleurals for a pair respectively, its respective keep plate driving surface respectively with the lower plugboard driving surface of above-mentioned two lower plug devices in opposite directions, thus four sides that can realize waiting to capture casing are blocked and hold tightly, be installed on the bottom side plug device on lower side panel for a pair, under the plate retracted state of side, this bottom side plug-in mounting is set to the mechanical interference avoided with casing placed side, upward sliding under the contact thrust of placed side, thus casing placed side is dodged, evaded distance can according to box height, overlap installation site by the guide-localization on side-plate device pilot bar to adjust, when casing is crawled lift time, the related bottom side plug device of lower side panel produces homing action, when reset completes, its side plate driving surface just in time occupy the crawled tank floor mentioned slightly lower position, now side plate can accessible insertion bottom half, and then crawled casing is held, sucker, arranges and is installed on top board lower surface, can arrange one or many as required or not establish, and casing " is picked up " by itself and lower plug device and side direction pinch device jointly, six groups of alignment sensor assemblies, wherein three groups are arranged on top board, two groups are arranged on arbitrary epipleural, one group is arranged on another epipleural, this arrangement make use of " six point locations " principle determining space object pose, treat and capture the attitude of casing and carry out detecting and judging, adjust paw attitude accordingly, guarantee that the lower plugboard of its lower plug device tangentially inserts two adjacent side waiting to capture case or the gap in buttress shape between itself and adjacent boxes exactly.The time gap length be triggered between above-mentioned six groups of alignment sensor assembly respective sensor can be used as the condition differentiating abnormal pose casing.
Function of the present invention and constructional feature are:
One is have piling and de-stacking two kinds of functions.This feature avoids the work changing paw between piling and de-stacking two kinds of different operatings.
Two is capture the full encirclement of casing.The side plate driving surface of the lower plugboard driving surface of two lower plug devices, the keep plate driving surface of two side direction pinch devices and two bottom side plug devices, together with the sucker of choice arrangement full enclosed crawl can be carried out to crawled casing, this structure eliminates the possibility of drawing in fast removal process.
Three is when stating object in realization, and the environment that the physical construction that paw has makes it can eliminate or dodge in crawl process and hinders grasping movement to realize is interfered.Lower plug device is vertical to be installed on top board, except its lower plugboard downwards tangentially insert casing two adjacent side time and casing lap except, its physical construction is all on box top, thus when carrying out capturing or placing operation, this part-structure of paw can not with buttress shape in wait to capture or place casing adjacent casing produce and interfere; Installation site and the lower plug device of side direction pinch device and bottom side plug device are facing, are arranged in two other adjacent side position of casing, without adjoining casing on the direction generally in buttress shape faced by the institute of these two sides, therefore can not produce interference.Lower side panel achieves paw dodging casing placed side relative to sliding up and down of epipleural.
Four is that the accessible insertion of side plate and contact place casing.When capturing casing, for the side plate realizing bottom side plug device stretches out, and tangentially insert tank floor, and can not misplug on casing, have employed lower side panel can the mechanism of sliding extension.When the related side plug device be mounted thereon of lower side panel has resetted downwards, side plate just in time can occupy tank floor slightly lower position, for plate accessible insertion bottom half in side creates condition.Except realizing lower side panel and bottom side plug device to except the dodging of casing placed side, this mechanism also places crawled casing for contact simultaneously and creates condition.When placing casing, paw grasps casing and carries out placement operation, close on placed side and lower side panel and bottom side plug device do not produce with placed side contact time, two side plates are retracted simultaneously, paw continues to transfer, descend most edge and the placed side of lower side panel and bottom side plug device come in contact and then produce thrust, under this contact thrust, lower side panel related bottom side plug device upward sliding, carry out dodging the action of casing placed side, put in place until bottom half overlaps with placed side, paw transfers stopping, then, make side direction keep plate retract simultaneously, lower plugboard is upwards retracted, sucker discharges, paw upwards lifts, so far, complete without Contact-impact formula placing box body action.
Five is that the attitude utilizing six groups of alignment sensor assemblies to realize waiting to capture casing is determined, the crawl pose capturing front paw is determined in adjustment accordingly, and then ensure that the accurate of lower plugboard insertion position.
Six is have the function distinguished the abnormal pose casing being not suitable for capturing.When piling up neatly in shape in time capturing casing attitude and be too crooked, as, wait to capture casing upper surface over-tilting, be arranged in sensor in three groups of sensor modules on top board at the downward convergence of paw in time capturing casing, would not be triggered, the time period length between the moment to last moment be triggered in three sensors that utilization produces sensor-triggered at first, as criterion, differentiates the inclined degree of casing upper surface simultaneously, interval time is longer, illustrates that box top more tilts.When casing too tilts and is not suitable for the situation generation continuing to capture, paw and robot palletizer stop whole action, and then carry out manual intervention adjustment, so the present invention also has intelligent judgment function to a certain degree.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of piling according to an embodiment of the invention-unstacking robot paw.
Fig. 2 is the middle according to one embodiment of present invention arrangement schematic diagram of sucker in piling-unstacking robot paw.
Fig. 3 is lower plug device schematic diagram according to an embodiment of the invention.
Fig. 4 is side-plate device schematic diagram according to an embodiment of the invention.
Fig. 5 is side direction pinch device schematic diagram according to an embodiment of the invention.
Fig. 6 is bottom side plug device schematic diagram according to an embodiment of the invention.
Fig. 7 is alignment sensor assembly schematic diagram according to an embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment for casing piling-unstacking robot paw according to the present invention is described in detail.
Fig. 1 and 2, piling according to an embodiment of the invention-unstacking robot paw comprises: flange 1, top board 2, a pair time plug device 3 and 4, pair of side plates device 5 and 6, a pair side direction pinch device 7 and 8, a pair bottom side plug device 9 and 10, be arranged in position sensor assembly 11 to 16 on top board and side plate respectively, arrange the sucker erecting frame 17 and sucker 18 that are installed on below top board.
Flange 1 is that this piling-unstacking robot paw carries out installing the mechanical interface be connected with robot palletizer wrist, it has seam 102 and bolt hole 101.Top board 2 is generally square, is the installation foundation of other device of paw, it has the strip hole 201 for adjusting installation side panel assembly.
Fig. 3 shows lower plug device 3 according to an embodiment of the invention; The structure of lower plug device 4 is identical with lower plug device 3.Two lower plug devices 3 and 4 are vertically installed on two adjacent edge middle position (see figure 1)s at such as cubic any one angle of top board 2 upper surface respectively by mounting bracket 303.
Lower plug device 3 or 4 respectively comprises following components and parts: a cylinder 310, and it is installed on support 303 by Cylinder mount bracket 302,304; A lower plugboard 305, it is installed on piston rod 306 and pilot bar 301,314 lower end of cylinder 310 by nut (not shown); The linear axis bearing 307,312 of two supporting pilot bars 301,314; Two groups of linear bearings 308,313 of one group between two; Be installed on the position transduser 309,311 on cylinder 310.
The function of lower plug device 3 and 4 is, its lower plugboard 305 tangentially inserts downwards in two adjacent side waiting to capture object (as casing) or two gaps in buttress shape between object (as casing) and contiguous object (as casing), captures object creation clamping conditions for completing further.Application force at gap place between object in buttress shape is very little, and this gap is outwardness, insert action can realize smoothly, its action is as follows: the lower plugboard 305 of lower plug device 3 and 4 is driven by cylinder 310, in the gap of downward tangential insertion objects both sides, depth of penetration is about 1/3rd of such as object (as casing) height; According to a specific embodiment of the present invention, this depth of penetration depends on the length of lower plugboard 305 and is installed on the installation site of two position transdusers 309 and 311 on cylinder 310.
Figure 4 shows that side-plate device 5 according to an embodiment of the invention; And side-plate device 6 is except the installation group number difference of alignment sensor assembly, all the other structures are identical with side-plate device 5.Side-plate device 5 and 6 is installation foundation (see figure 1)s of side direction pinch device 7 and 8, bottom side plug device 9 and 10 and corresponding alignment sensor assembly 14-16.
Side-plate device 5 and 6 to be installed with top board 2 by bolt (not shown) and is connected, facing with the installation site of lower plug device 3 and 4 respectively; The installation site of side-plate device 5 and 6 can regulate along the normal direction of respective epipleural 501 with the casing (see figure 1) adapting to different size dimension.For side-plate device 5, lower side panel 515 can slide along the axial direction of pilot bar 505,523 relative to the epipleural 501 be fixed on top board 2, and the distance of slip can be adjusted by the different installation sites of pilot bar locating bush 502,526 on pilot bar 505,523; In pilot bar 505,523 the first half, preset several guide-localizations cover mounting hole 528 with the mutual cross interlace mode of axially bored line, guide-localization cover 502,526 and pilot bar 505,523 are connected by articulation hole bolt and nut 527 and are fixed.Lower side panel 515 is fixedly installed on pilot bar 505,523 by guide rod seat 509,511,516,518 and straight pin 510,512,517,519.Linear axis bearing 503,507,521,525 is fixedly installed on epipleural 501, and four linear bearings 504,506,522,524 be installed in these four linear axis bearings 503,507,521,525 are secondary to the corresponding formation linear slide of pilot bar 505,523.
Between guide rod seat 509 and 518 to linear axis bearing 507 and 521, along corresponding pilot bar axis direction, a spring 508,520 is installed respectively.When not being subject to the contact thrust upwards of the placed side of casing (object) at lower side panel 515, this spring 508,520 makes upper and lower side plate 501 and 515 remain on state separated from one another, i.e. lower side panel 515 reset mode downwards.Lower side panel 515 is equipped with two tin hats 513,514 made of the material such as rubber or resin; for when carrying out capturing or placing operation; lower side panel descend most edge by with casing placed side produce contact when, avoid casing placed side scratched by paw or scratch.
Fig. 5 shows the structure of side direction pinch device 7 according to an embodiment of the invention; The structure of side direction pinch device 8 and structure identical with side direction pinch device 7.Two side direction pinch devices 7 and 8 are fixedly installed in (see figure 4) on the epipleural 501 of side-plate device 3 and 4 respectively by the support shown in label 701 in such as Fig. 5.Side direction pinch device 7 comprises: one to be installed on the cylinder 709 on support 701 by Cylinder mount bracket 702 and 712; One is installed on the keep plate 705 of piston rod 707 and pilot bar 713,714 front end by nut (not shown), with the rill 704 for increasing friction on its end face; Two linear axis bearings 703 and 715; Two groups of the one group linear bearings represented by label 706 and 711 are arranged in linear axis bearing 703,715 respectively between two; Two for determining the position transduser 708,710 of the outreach of keep plate 705.
It is facing that the driving surface (not shown) of the keep plate 705 that side direction pinch device 7 stretches out and lower plug device 4 insert the lower plugboard driving surface (not shown) put in place downwards, two sides away form one another on the corresponding casing of common clamping.Equally, the lower plugboard of the keep plate that another group side direction pinch device 8 stretches out and lower plug device 3 by another group right clamping sides away from one another of casing, thus, when paw upwards lifts, wait that capturing casing (object) is picked up.
Fig. 6 shows bottom side plug device 9 according to an embodiment of the invention; The structure of bottom side plug device 10 is identical with bottom side plug device 9.(see figure 1) on the lower side panel that under two bottoms, plug device 9 and 10 is fixedly installed in side-plate device 5,6 respectively by the support shown in label 902 in such as Fig. 6, and can slide up and down with lower side panel.The object of this slip, be avoid the placed side of casing to be grabbed (object) to produce the physical construction of lower plug device to interfere, this interference can make the side plate of bottom side plug device insert bottom half.
Bottom side plug device 9 or 10 comprises: a support 902 is for being installed on lower side panel 515 by bottom side plug device, one cylinder 909, a pair Cylinder mount bracket 901 and 905, a pair pilot bar 903 and 904, a pair linear axis bearing 907 and 912, two groups of linear bearings 906 and 911 of one group between two, a pair position transduser 908 and 910, side plate 914 is installed on piston rod 913 and pilot bar 903 and 904 front end by nut (not shown).
Fig. 7 shows alignment sensor assembly 11 according to an embodiment of the invention; Structure and the trigger action principle of alignment sensor assembly 12,13,14,15,16 are identical with alignment sensor assembly 11.Alignment sensor assembly 11 comprise sensor 1110, mounting frame for sensor 1109, slip feeler lever 1101, contact block 1102, adjusting nut 1103, linear bearing 1104,1105, spring 1108, adjusting nut 1106, contact 1107.Alignment sensor assembly 11,12,13 is installed on top board 2, and make the geometric centre of each contact 1107 in a plane, this plane is parallel with top plate plant tilting; Alignment sensor assembly 14,15 is installed on the epipleural of side-plate device 6, makes the geometric centre line of their two contacts 1107 and corresponding epipleural plane parallel; Alignment sensor assembly 16 is installed on the epipleural 501 of side-plate device 5.For alignment sensor assembly 11, when wait capture the surface of casing in normal direction with contact 1107 moving contact time, under the effect of contact force, slip feeler lever 1101 is retracted, thus drive contact block 1102 to move, sensor pulley 1111 is slided in its surface, and after reaching certain position, sensor 1110 is triggered.
Utilize the locus of six contacts 1107 of above-mentioned six groups of alignment sensor assembly 11-16, can determine to wait to capture casing by the placement attitude before picking up, use herein and determined object " six point locations " principle in locus.Determine the location, insertion position namely completing two lower plug device lower plugboards after capturing the attitude of casing.
Determine that capturing the crawled front process of placing attitude of casing is by six groups of alignment sensor assembly 11-16:
-the first, after paw to be completed by palletizing mechanical hand-motion and treats and capture casing basic fixed position, without pausing, continue by waiting to capture downward convergence above casing, ideally, three sensors 1110 be installed in the sensor module 11,12,13 on top board 2 are triggered simultaneously, and the downward convergence motion of paw stops, and completes the location of casing upper surface to be grabbed; If three sensors 1110 successively trigger, after all having triggered, the downward convergence motion of paw stops, and completes the location waiting to capture casing upper surface.
-the second, while waiting to capture casing upper surface position fixing process, paw also levels off to the body side relative with two side-plate devices 5 and 6, start pawl around corresponding vertical axes rotation adjustment by the wrist rotating belt of robot palletizer in this approach procedure, all triggered the moment in respective sensor 1110, attitude orientation completes.
Be operating as example with de-stacking, its grasping movement step is: paw, by the drive of robot palletizer forearm, waits by convergence downward above casing to be grabbed the placement location capturing casing (or other objects), Fig. 1 is seen by alignment sensor assembly 11-16() determine to wait to capture casing attitude, contact 1107 in three alignment sensor assemblies 11,12,13 on paw top board 2 will contact with casing upper surface, the slide bar 1101 promoted in alignment sensor assembly is upwards retracted, until after being arranged in sensor 1110 triggering in all sensors assembly on top board 2, the motion stopping that paw is downward, in above process, two side-plate devices 5 and 6 convergence of paw is waited to capture body side accordingly simultaneously, and after the sensor 1110 in corresponding alignment sensor assembly triggers completely, side direction convergence has been located, so far, the lower plugboard 305 of lower plug device 3 and 4 to be just in time positioned between casing directly over gap, at the downward convergence of paw in time capturing casing, side-plate device 5 with 6 lower side panel 515 contacted with casing placed side by the lower edge of tin hat 514 after, produce contact thrust, lower side panel 515 is retracted with side plug device 5 and 6 upward sliding, reach distance of retracting when set requirements (slidably retractable distance is sitting in plane as adjusting foundation according to the driving surface (not marking) of box height and the rear side plate 914 that resets slightly lower than wait grabbing tank floor) (be also now sensor 1110 be triggered the moment) on top board 2 in all sensors assembly 11-13, lower plugboard 305 inserts downwards and puts in place, the keep plate 704 of side direction pinch device 7 and 8 protracts, compress respective side, jointly casing is clamped with lower plugboard 305 after compression puts in place, sucker 18 action, hold the upper surface of casing (object), after this paw drives crawled casing to lift, lower side panel on side-plate device resets under gravity and spring recover the combined action of elastic force with bottom side plug device, when reset completes, the side plate 914 driving surface (not shown) of side plug device 9 and 10 is just in time slightly lower than the bottom surface of casing, thus make side plate 914 insert tank floor smoothly, casing is held, so far crawl process is completed.

Claims (11)

1., for a robot hand for the piling-de-stacking of object, it is characterized in that comprising:
Sucker (18), for holding the upper surface of object;
Top board (2), it is as the installation foundation of other parts of described robot hand;
A pair time plug device (3,4), it is respectively with lower plugboard, for with in two gaps between the object in two adjacent side of the downward tangentially insertion objects of lower plugboard and/or buttress and contiguous object, for clamping conditions is created in the crawl completing object;
Pair of side plates device (5,6), they are installed with top board (2) respectively and are connected, and facing with the installation site of described a pair time plug device (3,4) respectively;
A pair side direction pinch device (7,8), they are fixedly installed on described pair of side plates device (5,6) respectively, and respectively comprise an exsertile keep plate (705), the driving surface of the lower plugboard that the driving surface of described keep plate (705) and the downward insertion of corresponding lower plug device (3,4) put in place is facing, for jointly clamping two sides away form one another on object;
A pair bottom side plug device (9,10), they respectively have a side plate (914), and be fixedly installed on the scalable lower side panel (515) on described pair of side plates device (5,6) respectively, for avoiding the placed side of described object described bottom side plug device (9,10) produced and interfere, thus avoid this interference to make the side plate (914) of bottom side plug device cannot bottom insertion objects.
2. robot hand according to claim 1, is characterized in that comprising further:
Flange (1), it is the connecting interface of the wrist on described robot hand and robot palletizer forearm;
First to the 6th alignment sensor assembly (11,12,13,14,15,16), for determining the placement attitude of described object before picking up.
3., according to the robot hand of claim 1 or 2, it is characterized in that:
The structure of described a pair time plug device (3,4) is mutually the same, and described in each, lower plug device (3 or 4) comprising:
First cylinder (310), it is installed on first support (303), and it comprises a first piston bar (306);
Two first pilot bars (301,314);
Two the first linear axis bearings (307,312) of described two first pilot bars (301,314) of common supporting;
Be arranged on two group of first linear bearing (308,313) of a group between two on described two the first linear axis bearings (307,312), for two first pilot bars (301,314) described in guide support;
Described lower plugboard (305), it is fixedly installed in the lower end of described first piston bar (306) and the lower end of described two first pilot bars (301,314);
Be installed on two position transdusers (309,311) on the first cylinder (310);
Wherein, the lower plugboard (305) of described lower plug device (3,4) tangentially inserts in two adjacent side of object to be captured and/or the object in buttress shape and two gaps between contiguous object downwards, captures object create clamping conditions for completing further;
The action of described lower plugboard (305) comprising: in the gap of lower plugboard (305) downward tangential insertion objects both sides under the first cylinder (310) drives.
4. robot hand according to claim 3, is characterized in that:
Depth of penetration in the gap of the downward tangential insertion objects both sides of lower plugboard (305) depends on the length of lower plugboard (305) and is installed on the installation site of described two position transdusers (309,311) on the first cylinder (310)
Described top board (2) is square top board, and
Described a pair time plug device (3,4) is vertically installed on two adjacent edge middle positions at any one angle of upper surface of top board (2) respectively by the first support (303).
5., according to the robot hand of claim 1 or 2, it is characterized in that:
The structure of described pair of side plates device (5,6) is mutually the same,
Described pair of side plates device (5,6) is connected with top board (2), facing with the installation site of described a pair time plug device (3,4) respectively;
Described pair of side plates device (5,6) installation site can regulate along the normal direction in respective epipleural (501) plate face with the object adapting to different size dimension;
Each in described pair of side plates device comprises:
A pair second pilot bars (505,523);
Be fixed on the epipleural 501 on top board (2);
A pair pilot bar locating bush (502,526), for positioning respectively on described a pair second pilot bars (505,523);
A lower side panel (515), it can slide along the axial direction of described second pilot bar (505,523) relative to described epipleural (501), and the distance of this slip can be adjusted by the different installation sites of pilot bar locating bush (502,526) on the second pilot bar (505,523);
Guide rod seat (509,511,516,518) and straight pin (510,512,517,519), for being fixedly installed in the second pilot bar (505,523) described lower side panel (515);
Be fixedly installed in the second linear axis bearing (503,507,521,525) on epipleural (501);
Be installed on the second linear bearing (504,506,522,524) in this second linear axis bearing (503,507,521,525) respectively, it is secondary that itself and described second pilot bar (505,523) form corresponding linear slide;
Along the first spring (508,520) that corresponding pilot bar axis direction is installed respectively between guide rod seat (509,518) and corresponding the second linear axis bearing (507,521),
Wherein, when not being subject to the contact thrust upwards of the placed side of object at lower side panel (515), first spring described in this (508,520) makes upper and lower side plate (501,515) remain on state separated from one another, i.e. the state of lower side panel (515) reset downwards.
6. robot hand according to claim 5, is characterized in that:
Preset several pilot bar locating bush mounting holes (528) in the first half of the second pilot bar (505,523) with the mutual cross interlace mode of axially bored line, pilot bar locating bush (502,526) and the second pilot bar (505,523) are connected by articulation hole bolt and nut (527) and are fixed;
Lower side panel (515) is equipped with two tin hats (513,514); for when carrying out capturing or placing operation; lower side panel descend most edge by with the placed side of object produce contact when, avoid described placed side scratched by paw or scratch.
7., according to the robot hand of claim 1 or 2, it is characterized in that the structure of described a pair side direction pinch device (7,8) is mutually the same, and comprise respectively:
A pair second Cylinder mount bracket (702,712);
Second support (701);
A pair the 3rd pilot bars (713,714);
Be installed on the second cylinder (709) on described second support (701) by the second Cylinder mount bracket (702,712), it has the second piston rod (707);
Be installed on the keep plate (705) of the front end of the second piston rod (707) and the 3rd pilot bar (713,714), with the rill (704) for increasing friction on its end face;
Two the 3rd linear axis bearings (703,715);
Two group of the 3rd linear bearing (706,711) of one group between two, it is arranged in the 3rd linear axis bearing (703,715) respectively;
For determining the position transduser (708,710) of the outreach of keep plate (705);
Wherein,
It is facing that driving surface and the corresponding lower plug device (3,4) of the keep plate (705) that side direction pinch device (7,8) stretches out insert the lower plugboard driving surface put in place downwards, two sides away form one another in common clamping corresponding object, thus, when described robot hand upwards lifts, wait that capturing object is picked up.
8., according to the robot hand of claim 1 or 2, it is characterized in that
The structure of described a pair bottom side plug device (9,10) is mutually the same, and comprises:
A pair the 3rd Cylinder mount bracket (901,905);
3rd support (902);
A pair the 4th pilot bars (903,904);
Described a pair bottom side plug device (9,10) is fixedly installed on the lower side panel of respective side panels device (5,6) respectively by corresponding 3rd support (902), and can slide up and down with lower side panel,
Described slip is used for and the placed side of object to be grabbed can be avoided to produce the physical construction of lower plug device interfering.
9. robot hand according to claim 2, is characterized in that the structure of the described first to the 6th alignment sensor assembly (11,12,13,14,15,16) is mutually the same, and comprises separately:
Mounting frame for sensor (1109);
Be arranged on the sensor (1110) on mounting frame for sensor (1109) respectively;
Slip feeler lever (1101);
Contact block (1102);
First adjusting nut (1103);
A pair the 4th linear bearings (1104,1105);
Second spring (1108);
Second adjusting nut (1106);
Contact (1107);
Sensor pulley (1111);
Wherein
First to the 3rd alignment sensor assembly (11,12,13) is installed on top board (2), the geometric centre of the contact (1107) making it each by the first adjusting nut (1103) in same plane, this plane and top board (2) place plane parallel;
4th and the 5th alignment sensor assembly (14,15) is installed on the epipleural of one of side-plate device (6), is made the line of the geometric centre of their contact (1107) and corresponding epipleural plane parallel by the first adjusting nut (1103);
6th alignment sensor assembly (16) is installed on the epipleural (501) of another (5) of side-plate device, and its contact (1107) outreach is adjusted by the first adjusting nut (1103);
When wait the surface of the object captured in normal direction with contact (1107) moving contact time, slip feeler lever (1101) is retracted under the effect of contact force, thus drive contact block (1102) motion, make sensor pulley (1111) along sliding with on the surface of its tangent contact block (1102) contacted, and after this slip reaches certain distance, trigger corresponding sensor (1110);
Utilize the locus of six contacts (1107) of the above-mentioned first to the 6th alignment sensor assembly (11,12,13,14,15,16), use and determine object " six point locations " principle in locus, determine to wait to capture object by the placement attitude before picking up, by determining the attitude waiting to capture object, complete the location, insertion position of the lower plugboard of two lower plug devices.
10. in the piling-de-stacking of object with robot hand according to claim 9 determine crawled object crawled before the method for placement attitude, it is characterized in that comprising:
A) after having been driven the basic fixed position treated and capture object by robot palletizer at described paw, when without continuing by waiting to capture above object convergence downwards when pausing;
B) when the sensor (1110) of the described first to the 3rd alignment sensor assembly (11,12,13) is all triggered, the downward convergence motion of described paw is stopped, thus completes the location of object upper surface to be grabbed;
C) while waiting to capture object upper surface location, two side-plate devices (5,6) of described paw level off to relative object side, in this approach procedure, drive described paw to rotate around corresponding vertical axes to adjust accordingly by the revolution of the flange (1) of robot palletizer, when the respective sensor (1110) of described 4th to the 6th alignment sensor assembly (14,15,16) is all triggered, attitude orientation completes.
11. methods operated with the de-stacking that robot hand according to claim 9 carries out the piling of object, is characterized in that comprising:
A) by the drive of robot palletizer forearm, make described paw by above the object treating de-stacking downwards convergence wait to capture the placement location of object;
B) attitude waiting to capture object is determined by the first to the 6th alignment sensor assembly (11-16), contact (1107) in three alignment sensor assemblies (11,12,13) wherein on top board (2) contacts with object upper surface, the slip feeler lever (1101) promoted in alignment sensor assembly (11,12,13) is upwards retracted, until after the sensor (1110) be arranged in the first to the 3rd alignment sensor assembly on top board (2) is all triggered, the downward motion of paw stops;
C) with step b) side by side, two of paw side-plate device (5,6) convergences are made to wait to capture the respective side of object accordingly, when sensor (1110) in the 4th to the 6th alignment sensor assembly is all triggered, complete side direction convergence location, now, the lower plugboard (305) of described a pair time plug device (3,4) to be just in time positioned between object directly over gap;
D) the downward convergence of paw wait capture object time, described pair of side plates device (5, 6) lower side panel (515) contacts with object placed side thus produces and contacts thrust, make lower side panel (515) with described pair of side plates device (5, 6) upward sliding is retracted, when the setting reaching retraction distance requires that is all sensors (1110) in the first to the 3rd alignment sensor assembly (11-13) has all been triggered, lower plugboard (305) inserts downwards and puts in place, described a pair side direction pinch device (7, 8) respective keep plate (705) protracts thus compresses the respective side of described object and jointly clamped by object with lower plugboard (305) after compression puts in place,
E) upper surface of object is held with sucker (18);
F) drive crawled object to lift with paw, the lower side panel on described side-plate device resets under gravity and spring recover the combined action of elastic force with bottom side plug device;
When g) having resetted, the driving surface of the side plate (914) of described bottom side plug device (9,10) is just in time slightly lower than the bottom surface of object, thus make side plate (914) insertion objects bottom surface, object is held, so far completes crawl process.
CN201310522904.6A 2013-10-29 2013-10-29 For the robot hand of casing piling-de-stacking Expired - Fee Related CN103552849B (en)

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CN107444710B (en) * 2017-06-23 2019-11-19 青岛海尔特种电冰柜有限公司 The anti-set mistake method and system of packing case
CN108081295B (en) * 2018-01-31 2023-11-07 青岛宝佳智能装备股份有限公司 Robotic end effector for irregular solid gel block material handling
CN109079829A (en) * 2018-09-05 2018-12-25 珠海格力智能装备有限公司 Material transporting mechanism and robot with it
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