CN107601081B - Long-arm robot - Google Patents
Long-arm robot Download PDFInfo
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- CN107601081B CN107601081B CN201710810171.4A CN201710810171A CN107601081B CN 107601081 B CN107601081 B CN 107601081B CN 201710810171 A CN201710810171 A CN 201710810171A CN 107601081 B CN107601081 B CN 107601081B
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Abstract
The present invention provides a long arm robot comprising: the device comprises a base and a fixing frame arranged on the base, wherein a slewing mechanism is arranged on the base; the transmission device comprises a mechanical arm, a conveying belt arranged on the mechanical arm and an adjusting mechanism for adjusting the pitching angle of the mechanical arm; the mechanical arm is arranged on the fixing frame, and the adjusting mechanism is arranged on the base; the clamp for stacking cargoes is arranged on the mechanical arm, and a testing unit for measuring the position of the clamp relative to a carriage is arranged on the clamp. The long-arm robot is fixedly arranged, and is not contacted with a carriage when in work; the long-arm robot directly positions the stacking position, so that the working stroke is small and the efficiency is high; the compatibility is strong, and the vehicle cabin is suitable for carriages of various models; the loading modes are changeable, so that the combined loading of cargoes is realized; the long-arm robot is suspended to enter the carriage, does not need an additional lifting platform, and is compact in structure and high in practicability.
Description
Technical Field
The present invention relates to a long arm robot.
Background
With the development of society, the development of enterprises brings new requirements for the high efficiency and stability of the existing logistics warehouse. At present, logistics cargoes are transported from a warehouse to a carriage by virtue of a forklift, and are manually loaded and unloaded, workers move the cargoes from the warehouse to the carriage, the physical strength of the porters is high, the porters are inconvenient to walk in the carriage, the environment temperature is high, and the working environment is severe. In the current loading and unloading vehicle process, the labor intensity of workers for carrying is high, the number of people for carrying in the carrying industry is smaller and smaller, and the logistics efficiency cannot be further improved. With the strengthening of national labor regulations, the requirements on labor safety and occupational protection are higher and higher, and the logistic cost is higher and higher. Therefore, how to efficiently manage the warehouse system is a problem to be solved in the industry.
In the current loading process, the mechanical arm is mostly arranged in a carriage, and objects are stacked, so that the labor intensity of the existing workers can be reduced. However, the requirement of the structure on the carriage is large, and the carriage needs to have a large space to accurately position the manipulator. The existing warehouse loading and unloading platform cannot realize accurate positioning of a carriage, so that a manipulator is easy to deviate in the loading and unloading process, the loading and unloading process is caused to be faulty, and the overall efficiency is influenced.
The conventional mechanical loading means mainly depend on a negative pressure adsorption type clamp or a clamping type clamp, wherein a larger gap exists between adjacent cargoes in the loading process of the clamping type clamp, the cargoes are not firmly placed, the phenomena of inclination, toppling and the like caused by overlarge gaps often occur, the surface of the cargoes is easily damaged, and the selling of products is influenced; the adsorption type clamp has higher requirements on the clamp, the required energy is larger, in the use process, the fault rate is high, the requirements on goods are stricter, in the whole stacking process, the speed is slower, and the automation development is not facilitated.
Disclosure of Invention
Aiming at the technical defects, the invention provides a long-arm robot which has compact structure, less equipment and convenient realization; the device is fixedly installed, and the device is contactless with a carriage in the working process, so that the reliability is improved; the stacking position is directly positioned, the working stroke is small, and the working efficiency is high; the compatibility is good, and the vehicle cabin is suitable for carriages of various types; the labor force is greatly reduced, the comprehensive cost of enterprises is reduced, and the automation degree of the enterprises is improved.
In order to achieve the above object, the present invention provides a long-arm robot including:
the device comprises a base and a fixing frame arranged on the base, wherein a slewing mechanism is arranged on the base;
the transmission device comprises a mechanical arm, a conveying belt arranged on the mechanical arm and an adjusting mechanism for adjusting the pitching angle of the mechanical arm; the mechanical arm is arranged on the fixing frame, and the adjusting mechanism is arranged on the base;
the clamp for stacking cargoes is arranged on the mechanical arm, and a testing unit for measuring the position of the clamp relative to a carriage is arranged on the clamp.
In the invention, the conveying belt is directly attached to the long-arm robot, so that the whole equipment is simpler, the transmission process is firmer, and the device is well suitable for a loading process; and the carriage parameters are acquired through the test unit, so that accurate carriage parameter data is obtained, and the accuracy of the loading position is improved.
According to another embodiment of the invention, the mechanical arm comprises a base arm and a telescopic arm, wherein the base arm is arranged on the fixed frame, and the telescopic arm is telescopically arranged on the base arm. In the scheme, the base arm is rotatably arranged on the fixing frame, wherein the telescopic arm can be multiple sections. In the automatic loading process, the elongation of the telescopic arm changes according to the position change of the loading clamp, so that the automation of the whole loading process is realized.
In this scheme, flexible arm nestification goes into inside the basic arm, can a plurality of supports on the basic arm fixedly, and the conveyer belt width exceeds the width of flexible arm, is equipped with the welt on the position of corresponding flexible arm on the conveyer belt, and flexible following flexible arm.
According to another embodiment of the invention, the conveyor belt is a telescopic conveyor belt, on which an adjusting assembly for adjusting the length of the conveyor belt is arranged. In the scheme, the adjusting assembly comprises a counterweight adjusting assembly or a telescopic rod adjusting assembly; the counterweight adjusting assembly is characterized in that a counterweight part with a certain weight is arranged on the telescopic conveyor belt, a plurality of conveyor belt buffer areas are arranged on the counterweight part, and the height of the counterweight part can be changed to change the length of the conveyor belt on the mechanical arm in the telescopic process of the conveyor belt. The telescopic rod adjusting assembly comprises a fixed rod and a movable rod, a plurality of sections of conveyor belt buffer areas are arranged between the movable rod and the fixed rod, and the position of the movable rod can be changed in the process of stretching the conveyor belt so as to change the length of the conveyor belt on the mechanical arm; correspondingly, the movable rod is provided with a reset mechanism, such as an elastic reset mechanism and the like, for adjusting the position of the movable rod. In the process of stretching of the telescopic arm, the conveyer belt stretches along with the telescopic conveyer belt, on one hand, the allowance of the telescopic conveyer belt is provided through the adjusting component, and on the other hand, the tension of the conveyer belt is guaranteed, and the automatic stretching process is realized.
According to another specific embodiment of the invention, the clamp comprises a connecting arm, a support frame, a feeding conveyer belt arranged on the support frame and a supporting plate; one end of the connecting arm is connected with the mechanical arm, and the other end of the connecting arm is connected with the supporting frame; the supporting plate is arranged on the supporting frame through the transmission component.
In the scheme, one end of the connecting arm is rotatably connected with the mechanical arm, so that the whole clamp can rotate at a certain angle in a pitching way, and a motor for adjusting the angle is arranged on the connecting arm, so that the supporting plate of the clamp is in a horizontal position in the stacking process; the other end of the mechanical arm is hinged to the supporting frame, a telescopic component used for adjusting the length of the connecting arm is arranged in the connecting arm, the direction of goods stacking at the clamp supporting plate is adjusted by adjusting the length of the connecting arm, when a carriage is inclined, the whole quality of stacking can be automatically corrected, and tight connection between adjacent goods is guaranteed.
According to another specific embodiment of the invention, a driving roller way for conveying cargoes and a movable expansion plate for increasing the stacking area of the supporting plates are arranged on the supporting plates, and the driving roller way is arranged corresponding to the movable expansion plate. The driving roller way is arranged in the middle of the supporting plate, the number of the movable expansion plates is two, and the two sides of the driving roller way are symmetrically arranged. The motor is arranged on the driving roller way, so that bidirectional rotation can be realized. Under the action of the driving roller way, goods are automatically placed on the supporting plate according to a certain rule.
According to another specific embodiment of the invention, the supporting plate and the movable expansion plate are provided with universal balls. The existence of the universal ball reduces the friction force between the cargo box body and the supporting plate, reduces the damage to the surface of the cargo, and more conveniently conveys the cargo in place.
According to another embodiment of the invention, the support frame is provided with a movable baffle. The movable baffle cooperates the material loading conveyer belt to work, and during the pile up neatly, movable baffle is closed and supports the goods, and the layer board is taken out from the goods bottom under drive assembly's effect, and the goods gets into carriage assigned position department.
According to another specific embodiment of the invention, the feeding conveyor belt is provided with a guard plate, and the guard plate is arranged corresponding to the movable guard plate; the guard plate is provided with an independent pushing mechanism, and the pushing mechanism automatically adjusts the passable width of the conveying belt according to the goods and assists in conveying the goods from the feeding conveying belt to the supporting plate.
According to another specific embodiment of the invention, the adjusting mechanism comprises a screw rod, a sliding block and a driving rod, wherein one end of the driving rod is arranged on the screw rod through the sliding block, and the other end of the driving rod is connected with the mechanical arm. The servo motor is arranged on the screw rod, the screw rod is driven to rotate through the servo motor, the sliding block is further driven to act, the included angle between the driving rod and the horizontal plane is adjusted, and the pitching action of the mechanical arm connected with the driving rod is realized.
According to another embodiment of the invention, the mechanical arm is provided with a deviation rectifying mechanism for adjusting the position of the conveying belt.
According to the invention, the whole long-arm robot rotates under the action of the slewing mechanism, wherein the mechanical arm is hinged to the fixed frame, pitching motion of the mechanical arm is realized through the adjusting mechanism, the length of the whole conveying is adjusted through the arrangement of the telescopic arm and the telescopic belt on the mechanical arm, the position of the clamp is further determined, high-precision positioning is realized, and the automatic loading requirements of different boxes are met.
According to the invention, cargoes are firstly transmitted to the telescopic conveyor belt, the long-arm robot is used for positioning the clamp (pitching of the basic arm, stretching of the telescopic arm and rotation of the whole mechanical arm), the cargoes are then transmitted by the feeding conveyor belt, and the guard plates are adjusted to proper positions according to different sizes of cargo boxes, so that the cargoes can conveniently and smoothly pass through the feeding conveyor belt, and at the moment, the movable baffle is positioned at an opening position; goods are conveyed to the driving roller way, and are distributed through the driving roller way, so that the goods are automatically arranged on the supporting plate according to a certain rule. When stacking, the movable baffle is closed and props against the goods, the supporting plate is pulled away from the bottom of the goods, and the goods are stacked to the appointed position of the carriage.
The invention has the advantages that:
1. the long-arm robot is fixedly installed, and is not contacted with a carriage when in work;
2. the long-arm robot directly positions the stacking position, so that the working stroke is small and the efficiency is high;
3. the compatibility is strong, and the vehicle cabin is suitable for carriages of various models;
4. the loading modes are changeable, so that the combined loading of cargoes is realized;
5. the long-arm robot is suspended to enter the carriage, does not need an additional lifting platform, and is compact in structure and high in practicability.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the overall structure of a long-arm robot of embodiment 1;
fig. 2 is a schematic view of a long arm part structure of a long arm robot of embodiment 1;
fig. 3 is a schematic diagram of a jig portion of a long-arm robot of embodiment 1.
Detailed Description
Example 1
The embodiment provides a long-arm robot, which comprises a base 1, a slewing mechanism 2, a transmission device 3 and a clamp 4 as shown in figures 1-3.
As shown in fig. 1-2, a fixing frame 11 is arranged on a base 1, an auxiliary support is arranged on the fixing frame 11, a revolving mechanism 2 is arranged below the base 1 and comprises a supporting seat 21, a revolving flange 22 and a driving motor, the supporting seat 21 is fixedly arranged on the ground, the base 1 is connected with the supporting seat 21 through the revolving flange 22, and the driving motor drives the supporting seat 21 to carry out revolving motion.
The transmission device 3 comprises a mechanical arm 31, a conveying belt 32 arranged on the mechanical arm 31 and an adjusting mechanism 33 for adjusting the pitching angle of the mechanical arm 31; the mechanical arm 31 is provided on the mount 11, and the adjustment mechanism 33 is provided on the base 1. The mechanical arm 31 comprises a base arm 311 and a telescopic arm 312, wherein the base arm 311 is arranged on the fixed frame 11, the base arm 311 is hinged with the fixed frame 11 through a transverse hinge shaft 313, and the base arm 311 can pitch and rotate around the transverse hinge shaft 313; the horizontal pitching compensation device is suitable for carriages with different specifications, and realizes horizontal pitching compensation of the carriage bottom of the carriage. The telescopic arm 312 is telescopically arranged in the base arm 311, the telescopic arm 312 can be provided with a plurality of sections, and correspondingly, a servo motor is arranged on the base arm 311 for controlling the telescopic length of the telescopic arm 312.
The conveyor belt 32 is a telescopic conveyor belt, and an adjusting assembly 321 for adjusting the length of the conveyor belt 32 is arranged on the telescopic conveyor belt. The fixing piece 322 is arranged at the position, corresponding to the adjusting component 321, on the base arm 311, and the height of the adjusting component 321 changes in the telescopic process of the telescopic arm 312, so that the conveying belt 32 is ensured to maintain a certain tension degree and the stability of conveying in the whole conveying process.
The adjusting mechanism 33 comprises a screw rod 331, an adjusting motor 332 for driving the screw rod 331, a sliding block 333, a driving rod 334 and a fixed plate 335, wherein the adjusting motor 332 is arranged on the base 1, the fixed plate 335 is correspondingly arranged on the base 1, one end of the screw rod 331 is in driving connection with the adjusting motor 332, the other end of the screw rod 331 is rotatably arranged on the fixed plate 335, the sliding block 333 is provided with threads which are matched with the screw rod 331, and the position changes along with the rotation of the screw rod 331; one end of the driving rod 334 is fixedly connected to the slider 333, and the other end is fixedly connected to the base arm 311. By adjusting the position of the slider 333, the horizontal height of the base arm 311 is adjusted, and the entire pitching operation of the robot arm 31 is realized.
The clamp 4, as shown in fig. 3, is arranged on the movable end of the telescopic arm 312 and comprises a connecting arm 41, a supporting frame 42, a feeding conveyer belt 43 arranged on the supporting frame 42 and a supporting plate 44; one end of the connecting arm 41 is connected with the telescopic arm 312, and the other end is connected with the supporting frame 42; the supporting plate 44 is arranged on the supporting frame 42 through a sliding rail type transmission assembly 45; the slide rail type transmission assembly 45 acts to drive the supporting plate 44 to act along the position close to the supporting frame 42.
One end of the connecting arm 41 is hinged with the telescopic arm 312 through a horizontal hinge shaft 411, the connecting arm 41 can perform pitching rotation relative to the telescopic arm 312, the position between the connecting arm 41 and the telescopic arm 312 is adjusted through driving of a servo motor, the supporting plate 44 is always in a parallel state with the bottom of a carriage through the horizontal hinge shaft 411, and the compensation of the horizontal pitching angle of the carriage is achieved. The other end of the connecting arm 41 is hinged with the supporting frame 42 through a vertical hinge shaft 412. There are two connecting arms 41, and in one of the connecting arms, there is provided a telescopic slide rail 413 for adjusting the length of the connecting arm 41, which is controlled by a servo motor to precisely control the length of the connecting arm 41. Through setting up vertical articulated shaft 412 and flexible slide rail 413, guaranteed the front end of layer board 44 and carriage antetheca degree of agreeing, avoided because the skew of carriage position causes the unstable or too big scheduling problem of clearance of pile up neatly, realized that the carriage parks the position and compensate with the vertical deviation of arm. The support frame 42 is provided with a movable baffle 421 which is arranged corresponding to the feeding conveyor belt 43, and the movable baffle 421 comprises a first opening plate 422 and a second opening plate 423; the first opening and closing plate 422 is arranged on the supporting frame 42, the second opening and closing plate 423 is slidably arranged on the first opening and closing plate 422, correspondingly, a push rod 424 is arranged on the first opening and closing plate 422, a sliding rail 425 is arranged on the supporting frame 42, and the push rod 424 is connected with the sliding rail 425 through the push rod sliding block 426; the number of push rods 426 is two, and the push rods are synchronously controlled by a servo motor.
The feeding conveyer belt 43 is installed on the supporting frame 42 corresponding to the movable baffle 421, and a guard plate 431 for adjusting the width of the feeding conveyer belt 43 is arranged on the supporting frame. Guard plates 431 are arranged on two sides of the feeding conveyer belt 43, the distance between the guard plates 431 is adjusted through a servo motor, driving rollers 432 for assisting in conveying are arranged on the guard plates 431, one guard plate 431 is a driving roller, and the other guard plate 431 is a driven driving roller. On the one hand, the goods can not incline in the goods conveying process, and on the other hand, the stability of the conveying process is guaranteed.
The supporting plate 44 is provided with a driving roller way 441 for conveying cargoes, the driving roller way 441 is arranged corresponding to the first opening and closing plate 423, the driving roller way 441 is provided with a plurality of rollers 442, the bottom of the driving roller way 441 is provided with a lower sliding plate 443, and the lower sliding plate 443 is smooth in surface second, so that the whole supporting plate 44 is convenient to retract backwards. Two groups of movable expansion plates 444 are symmetrically arranged at the two sides of the driving roller way 441, the movable expansion plates 444 can extend outwards to enlarge the area of the supporting plate 44, and limiting blocks 445 for preventing cargoes from falling are arranged on the edges of the movable expansion plates 444; the universal ball 446 is arranged on the supporting plate 44 except the position of the driving roller way 441, so that the goods can smoothly arrive at the edge under the driving of the driving roller way 441, and the goods can be conveniently stacked on the supporting plate 44.
The test unit comprises three sensors, measures the length and the width of the carriage after the clamp 4 enters the carriage, and positions the stacking position in the loading process.
In the present embodiment, the base arm 311 is provided with a deviation correcting mechanism 5 for adjusting the position of the telescopic conveyor 32.
In the embodiment, the long-arm robot realizes the motion of five degrees of freedom, namely integral rotation, arm amplitude variation (pitching), upper arm expansion, clamp rotation and clamp amplitude variation (pitching), but accurately realizes the positioning of the clamp tail end supporting plate and the accurate control of the stacking position.
While the invention has been described in terms of preferred embodiments, it is not intended to limit the scope of the invention. It is intended that all modifications within the scope of the invention, i.e., all equivalents thereof, be embraced by the invention as they come within their scope without departing from the invention.
Claims (6)
1. A long-arm robot, the long-arm robot comprising:
the device comprises a base and a fixing frame arranged on the base, wherein a slewing mechanism is arranged on the base;
the transmission device comprises a mechanical arm, a conveying belt arranged on the mechanical arm and an adjusting mechanism for adjusting the pitching angle of the mechanical arm; the mechanical arm is arranged on the fixing frame, and the adjusting mechanism is arranged on the base;
the clamp for stacking cargoes is arranged on the mechanical arm, and a test unit for measuring the position of the clamp relative to a carriage is arranged on the clamp;
the mechanical arm comprises a basic arm and a telescopic arm, the basic arm is arranged on the fixing frame, and the telescopic arm is telescopically arranged on the basic arm;
the clamp comprises a connecting arm, a supporting frame, a feeding conveyer belt and a supporting plate, wherein the feeding conveyer belt and the supporting plate are arranged on the supporting frame; one end of the connecting arm is connected with the telescopic arm, the other end of the connecting arm is connected with the supporting frame, and the connecting arm can perform pitching rotation relative to the telescopic arm; the supporting plate is arranged on the supporting frame through a transmission assembly;
the pallet is provided with a driving roller way for conveying cargoes and a movable expansion plate for increasing the stacking area of the pallet, and the driving roller way is arranged corresponding to the movable expansion plate;
the movable baffle is arranged on the supporting frame and matched with the feeding conveyer belt to work, when stacking, the movable baffle is closed and props against the goods, the supporting plate is pulled away from the bottom of the goods under the action of the transmission assembly, and the goods enter the appointed position of the carriage.
2. The long arm robot of claim 1, wherein the conveyor belt is a telescopic conveyor belt, and an adjusting assembly for adjusting the length of the conveyor belt is provided on the telescopic conveyor belt.
3. The long arm robot of claim 1, wherein the pallet and the movable expansion plate are provided with universal balls.
4. The long arm robot of claim 1, wherein the loading conveyor is provided with a guard plate.
5. The long arm robot of claim 1, wherein the adjusting mechanism comprises a screw rod, a sliding block and a driving rod, one end of the driving rod is arranged on the screw rod through the sliding block, and the other end of the driving rod is connected with the mechanical arm.
6. The long arm robot of claim 1, wherein the mechanical arm is provided with a deviation correcting mechanism for adjusting the position of the conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810171.4A CN107601081B (en) | 2017-09-08 | 2017-09-08 | Long-arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810171.4A CN107601081B (en) | 2017-09-08 | 2017-09-08 | Long-arm robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107601081A CN107601081A (en) | 2018-01-19 |
| CN107601081B true CN107601081B (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710810171.4A Active CN107601081B (en) | 2017-09-08 | 2017-09-08 | Long-arm robot |
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| CN (1) | CN107601081B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109230578B (en) * | 2018-07-26 | 2020-06-05 | 广州圣益龙自动控制技术有限公司 | Goods stacking robot |
| CN109649943A (en) * | 2018-12-19 | 2019-04-19 | 中国铁建重工集团有限公司 | Vertical storage cassette holder |
| CN110733856A (en) * | 2019-12-09 | 2020-01-31 | 安徽恒洋新材料科技有限公司 | fused quartz ceramic roller product conveyor |
| CN112660845B (en) * | 2020-12-10 | 2022-08-16 | 上海克来机电自动化工程股份有限公司 | Car loader control method and device, electronic equipment and storage medium |
| CN113460585B (en) * | 2021-06-18 | 2023-12-05 | 杭州中水机器人制造有限公司 | Telescopic conveying line supported by cantilever |
| CN113320895B (en) * | 2021-06-23 | 2022-09-09 | 齐鲁工业大学 | Quick loading and unloading device and control method |
| CN114084668B (en) * | 2022-01-21 | 2022-07-05 | 中国科学院自动化研究所 | Loading and unloading manipulator and loading and unloading device |
| CN115231344B (en) * | 2022-09-03 | 2023-03-10 | 杭州中建云天科技有限公司 | Automatic loading device |
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| US9950881B2 (en) * | 2014-09-05 | 2018-04-24 | Bastian Soluitons, LLC | Robotic trailer loading device with telescoping robot |
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| CN107601081A (en) | 2018-01-19 |
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