CN110723551A - Intelligent stacking robot for containers - Google Patents
Intelligent stacking robot for containers Download PDFInfo
- Publication number
- CN110723551A CN110723551A CN201910964412.XA CN201910964412A CN110723551A CN 110723551 A CN110723551 A CN 110723551A CN 201910964412 A CN201910964412 A CN 201910964412A CN 110723551 A CN110723551 A CN 110723551A
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- China
- Prior art keywords
- rod
- supporting
- fixedly provided
- telescopic
- end effector
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Abstract
The invention provides an intelligent container palletizing robot, which comprises a robot body and an end effector, wherein one side of the bottom of the robot body is fixedly provided with supporting telescopic bottom rods, the number of the supporting telescopic bottom rods is 2, a placing plate is fixedly arranged between the two supporting telescopic bottom rods, each supporting telescopic bottom rod comprises an outer rod and an inner rod, one end of each outer rod is provided with a telescopic groove, the inner side wall of each telescopic groove, far away from the opening end, is fixedly provided with a hydraulic rod III, one end of each inner rod penetrates through the opening end of each telescopic groove and is fixedly connected with an output shaft of the hydraulic rod III, the top of each placing plate is fixedly provided with a supporting arm, the top of each supporting arm is provided with a connecting seat through a rotating shaft, the intelligent container palletizing robot is reasonable in design and can work in a container, the end effector can grasp an object in a hand-grasping manner or a suction, the practicability is strong.
Description
Technical Field
The invention belongs to the technical field of container using equipment, and particularly relates to an intelligent stacking robot for a container.
Background
Artificial intelligence is a strategic technology leading the future, is an important driving force for a new round of scientific and technological revolution and industrial change, has become a new focus of international competition and a new engine for economic development, and plays an increasingly important role in supporting structural reformation of a supply side, creating a high-quality modern economic system, promoting social progress and the like. In the future, from the horizontal transportation in the to-be-transported field station of the container freight field station of receiving and dispatching boxes, assembling and disassembling container collecting, packing in the field station, field station storage and the like, the container is tested from the receiving and dispatching boxes in the storage yard to the gate opening of the field station through the gate, the number of the links depending on manual operation is reduced, all the links are to complete the dispatching and the flow reconstruction through an intelligent brain system based on the technologies of Artificial Intelligence (AI), cloud computing, big data and the like, and the trend becomes a new characteristic of the operation of the modern container field station. The intelligent modification of the disassembly and assembly production line of the container freight yard station is highly expected by the industry in the aspects of transportation product quality control, comprehensive resource utilization, shipping supply chain information safety guarantee, station worker occupational health, safety, environmental protection and the like, the center of gravity of the shipping supply chain industry is transferred towards intelligent flexible transportation under the strong support of the country and the positive response of the market, at present, the number of a container in and out of the container freight yard station is basically identified by naked eyes, the number of the container in and out of the container yard is recorded by manually recording the number of the container, and a special person is arranged at each entry and exit gate to identify and record the number of the container. The mode has high recognition error rate, low efficiency, high labor cost and potential safety hazard for workers. In addition, data are transmitted through paper documents in a transfer mode, delay and loss of data entry and secondary information entry errors exist, and therefore the intelligent container stacking robot is provided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the intelligent container stacking robot which is reasonable in design and capable of working inside a container, and an end effector can grab an object in a hand grabbing manner or a sucker manner, so that the object to be grabbed is prevented from being damaged, and the intelligent container stacking robot is high in practicability.
In order to achieve the purpose, the invention is realized by the following technical scheme: an intelligent container stacking robot comprises a robot body and an end effector, wherein one side of the bottom of the robot body is fixedly provided with supporting telescopic bottom rods, the number of the supporting telescopic bottom rods is 2, a placing plate is fixedly arranged between two supporting telescopic bottom rods, each supporting telescopic bottom rod comprises an outer rod and an inner rod, one end of each outer rod is provided with a telescopic groove, a hydraulic rod III is fixedly arranged on the inner side wall, away from the opening end, of each telescopic groove, one end of each inner rod penetrates through the opening end of each telescopic groove and is fixedly connected with an output shaft of the corresponding hydraulic rod III, the top of each placing plate is fixedly provided with a supporting arm, the top of each supporting arm is provided with a connecting seat through a rotating shaft, a square pipe is fixedly arranged on one side of each connecting seat, a hydraulic rod II is fixedly arranged on one side of each supporting arm, the output shaft of the, the one end of flexible arm is installed in the square tube, the top fixed mounting of square tube has hydraulic stem one, the bottom fixed mounting of the flexible arm other end has the motor case, motor incasement fixed mounting has servo motor, one side fixed mounting of motor case has laser sensor and RFID electronic tags to read the ware, fixed mounting has the rotation seat on servo motor's the output shaft, one side fixed mounting who rotates the seat has the connecting rod, end effector installs the bottom in connecting rod one end, end effector includes but not limited to hand-held type end effector and sucking disc formula end effector, the operation button is installed to the front side of automobile body.
In a preferred embodiment of the present invention, a roller is fixedly installed at the bottom of the other end of the inner rod.
As a preferred embodiment of the present invention, a processor and a storage battery are installed in the vehicle body, the processor is electrically connected to the operation keys, the first hydraulic rod, the laser sensor, the end effector, the second hydraulic rod, the servo motor, the third hydraulic rod and the RFID electronic tag reader, respectively, the processor is electrically connected to a control system of the vehicle body, and the storage battery is electrically connected to the vehicle body, the processor, the operation keys, the first hydraulic rod, the laser sensor, the end effector, the second hydraulic rod, the servo motor, the third hydraulic rod and the RFID electronic tag reader, respectively, through a power supply circuit.
As a preferred embodiment of the present invention, a supporting seat is fixedly installed at the top of the telescopic arm, and an output shaft of the first hydraulic rod is fixedly connected to the supporting seat.
In a preferred embodiment of the present invention, the support arm is fixedly connected to the vehicle body.
The invention has the beneficial effects that: the invention discloses an intelligent container stacking robot which comprises a robot body, a supporting arm, a connecting seat, a square tube, a first hydraulic rod, a telescopic arm, a supporting seat, a motor box, a laser sensor, a rotating seat, a connecting rod, an end effector, a second hydraulic rod, a second supporting telescopic bottom rod, a placing plate, a servo motor, an inner rod, a telescopic groove, a third hydraulic rod, a roller, a processor, an outer rod, an RFID electronic tag reader and an operation key.
1. This intelligent pile up neatly machine people of container can realize the accessibility of container inner work space, and end effector can adopt hand-held type or sucking disc formula to snatch the object, avoids being grabbed the object damage, and laser sensor is used for realizing that accurate object snatchs and keeps away the barrier function, the security of having not only guaranteed, can not harm the container moreover, adopts this kind of structure, can realize the intelligent transport of goods.
2. The intelligent container palletizing robot is provided with the RFID electronic tag reader, the FRID electronic tag configured on the container is identified through the FRID technology, the time-space information of the container in time and space is recorded, and the real-time data is remotely transmitted to the control room or the background management system, so that the time delay of manual copying and inputting is avoided, the real-time tracking and inquiring of the container are realized, the automatic identification of the container number and the supervision of the container are realized, and the foundation is laid for the realization of the Internet of things system of the container freight station.
3. This flexible sill bar of support of container intelligence pile up neatly machine people has flexible function, and when snatching the great object of weight, the extension that supports flexible sill bar can effectual improvement holistic stability, avoids misoperation, and the security is high, and cooperation RFID electronic tags reads ware discernment object basic information, can support the automatically regulated of flexible sill bar according to object weight, and the practicality is strong.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent container palletizing robot;
FIG. 2 is a schematic cross-sectional view of a motor box of the intelligent container palletizing robot;
FIG. 3 is a schematic cross-sectional view of a support telescopic bottom rod of the intelligent container palletizing robot;
FIG. 4 is a schematic diagram of a processor circuit connection of an intelligent container palletizing robot;
in the figure: the system comprises a vehicle body 1, a support arm 2, a connection seat 3, a square tube 4, a hydraulic rod I5, a telescopic arm 6, a support seat 7, a motor box 8, a laser sensor 9, a rotating seat 10, a connecting rod 11, an end actuator 12, a hydraulic rod II 13, a telescopic support bottom rod 14, a placement plate 15, a servo motor 16, an inner rod 17, a telescopic groove 18, a hydraulic rod III 19, a roller 20, a processor 21, an outer rod 22, an RFID (radio frequency identification) electronic tag reader 23 and an operation key 24.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 4, the present invention provides a technical solution: an intelligent container stacking robot comprises a robot body 1 and an end effector 12, wherein one side of the bottom of the robot body 1 is fixedly provided with a supporting telescopic bottom rod 14, the number of the supporting telescopic bottom rods 14 is 2, two supporting telescopic bottom rods 14 are fixedly provided with a placing plate 15, each supporting telescopic bottom rod 14 comprises an outer rod 22 and an inner rod 17, one end of each outer rod 22 is provided with a telescopic groove 18, the inner side wall of each telescopic groove 18, far away from the opening end, is fixedly provided with a hydraulic rod III 19, one end of each inner rod 17 penetrates through the opening end of the corresponding telescopic groove 18 and is fixedly connected with an output shaft of the corresponding hydraulic rod III 19, the top of the placing plate 15 is fixedly provided with a supporting arm 2, the top of the supporting arm 2 is provided with a connecting seat 3 through a rotating shaft, one side of the connecting seat 3 is fixedly provided with a square pipe 4, one side of the supporting, the output shaft of two 13 hydraulic stems passes through the axis of rotation and is connected with the bottom of square pipe 4, and the one end of flexible arm 6 is installed in square pipe 4, the top fixed mounting of square pipe 4 has hydraulic stem one 5, the bottom fixed mounting of the 6 other ends of flexible arm has motor case 8, fixed mounting has servo motor 16 in the motor case 8, one side fixed mounting of motor case 8 has laser sensor 9 and RFID electronic tags to read 23, fixed mounting has rotation seat 10 on servo motor 16's the output shaft, one side fixed mounting who rotates seat 10 has connecting rod 11, end effector 12 installs the bottom in connecting rod 11 one end, end effector 12 includes but not limited to hand-held end effector and sucking disc formula end effector, operation button 24 is installed to the front side of automobile body 1.
In a preferred embodiment of the present invention, a roller 20 is fixedly mounted on the bottom of the other end of the inner rod 17.
As a preferred embodiment of the present invention, a processor 21 and a storage battery are installed in the vehicle body 1, the processor 21 is electrically connected to the operation key 24, the first hydraulic rod 5, the laser sensor 9, the end effector 12, the second hydraulic rod 13, the servo motor 16, the third hydraulic rod 19 and the RFID electronic tag reader 23, respectively, the processor 21 is electrically connected to a control system of the vehicle body 1, and the storage battery is electrically connected to the vehicle body 1, the processor 21, the operation key 24, the first hydraulic rod 5, the laser sensor 9, the end effector 12, the second hydraulic rod 13, the servo motor 16, the third hydraulic rod 19 and the RFID electronic tag reader 23, respectively, through a power supply circuit.
In a preferred embodiment of the present invention, a supporting seat 7 is fixedly installed on the top of the telescopic arm 6, and an output shaft of the hydraulic rod one 5 is fixedly connected with the supporting seat 7.
In a preferred embodiment of the present invention, the support arm 2 is fixedly connected to the vehicle body 1.
As a preferred mode of the present invention, the laser sensor 9 monitors the positions of the inner side wall of the container and the object, and realizes the functions of precisely grabbing the object and avoiding obstacles, thereby not only ensuring the safety, but also not damaging the container.
In a preferred embodiment of the present invention, the RFID tag reader 23 identifies an RFID tag on an object to obtain object information, and the processor 21 controls the third hydraulic rod 19 to operate according to the weight of the object, so as to change the length of the telescopic bottom rod 14, and when an object with a large weight is grabbed, the extension of the telescopic bottom rod 14 can effectively improve the overall stability, avoid misoperation, and achieve high safety.
As a preferred mode of the present invention, the RFID tag reader 23 can identify the RFID tag configured on the container, record the temporal and spatial information of the container, and remotely transmit the real-time data to the control room or the background management system, so as to avoid the time delay of manual copying and recording, simultaneously implement the real-time tracking and query of the container, implement the automatic identification of the container number and the supervision of the container, and lay a foundation for the implementation of the internet of things system of the container freight station.
The working principle is as follows: when the intelligent container palletizing robot is used, a palletizing instruction is input through the operation keys 24, the processor 21 controls the vehicle body 1 to run into a container through the vehicle body 1 control system, the laser sensor 9 monitors the inner side wall of the container and the position of an object, the accurate object grabbing and obstacle avoiding functions are realized, the safety is ensured, and the container is not damaged, the processor 21 controls the first hydraulic rod 5, the second hydraulic rod 13 and the servo motor 16 to work in a matching way, the first hydraulic rod 5 controls the extending length of the supporting arm 2, the second hydraulic rod 13 controls the tail end height of the supporting arm 2, the servo motor 16 drives the tail end actuator 12 to rotate in a small range through the rotating seat 10 and the connecting rod 11, the accurate movement of the tail end actuator 12 is realized to grab the object, then the processor 21 controls palletizing operation, and the RFID electronic tag reader 23 identifies RFID electronic tags on, the processor 21 controls the hydraulic rod III 19 to work according to the weight of an object, so that the length of the supporting telescopic bottom rod 14 is changed, when an object with larger weight is grabbed, the extension of the supporting telescopic bottom rod 14 can effectively improve the overall stability, misoperation is avoided, the safety is high, the RFID electronic tag reader 23 is used for identifying the FRID electronic tag arranged on the container, the time and space information of the container is recorded, and the real-time data is remotely transmitted to a control room or a background management system, so that the time delay of manual copying and recording is avoided, the real-time tracking and query of the container are realized, the automatic identification of the number of the container and the supervision of the container are realized, the foundation is laid for the realization of an internet of things system of a container freight station, and the accessibility of the internal working space of the container can be realized by the intelligent container stacking robot, the end effector 12 can adopt a hand-held type or a sucker type to grab an object, the object is prevented from being damaged by the grabbed object, the laser sensor 9 is used for realizing the functions of grabbing and avoiding obstacles of the accurate object, the safety is guaranteed, the container cannot be damaged, and intelligent cargo handling can be realized by adopting the structure.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. The intelligent container stacking robot comprises a robot body (1) and an end effector (12), and is characterized in that one side of the robot body (1) is fixedly provided with a supporting telescopic bottom rod (14), the supporting telescopic bottom rods (14) are 2 in number and two in number, a placing plate (15) is fixedly arranged between the supporting telescopic bottom rods (14), each supporting telescopic bottom rod (14) comprises an outer rod (22) and an inner rod (17), a telescopic groove (18) is formed in one end of each outer rod (22), a hydraulic rod III (19) is fixedly arranged on the inner side wall, away from the open end, of each telescopic groove (18), one end of each inner rod (17) penetrates through the open end of each telescopic groove (18) and is fixedly connected with an output shaft of the corresponding hydraulic rod III (19), a supporting arm (2) is fixedly arranged at the top of the placing plate (15), and a connecting seat (3) is arranged at the top of the supporting arm (2) through a rotating shaft, one side of the connecting seat (3) is fixedly provided with a square pipe (4), one side of the supporting arm (2) is fixedly provided with a second hydraulic rod (13), an output shaft of the second hydraulic rod (13) is connected with the bottom of the square pipe (4) through a rotating shaft, one end of a telescopic arm (6) is installed in the square pipe (4), the top of the square pipe (4) is fixedly provided with a first hydraulic rod (5), the bottom of the other end of the telescopic arm (6) is fixedly provided with a motor box (8), a servo motor (16) is fixedly installed in the motor box (8), one side of the motor box (8) is fixedly provided with a laser sensor (9) and an RFID electronic tag reader (23), an output shaft of the servo motor (16) is fixedly provided with a rotating seat (10), one side of the rotating seat (10) is fixedly provided with a connecting rod (11), and the end executor (12) is installed at the bottom of one end, the end effector (12) comprises a hand-held end effector and a sucker-type end effector, and an operation key (24) is installed on the front side of the vehicle body (1).
2. The intelligent palletizing robot for containers as claimed in claim 1, wherein: and the bottom of the other end of the inner rod (17) is fixedly provided with a roller (20).
3. The intelligent palletizing robot for containers as claimed in claim 1, wherein: install treater (21) and battery in automobile body (1), treater (21) respectively with operation button (24), hydraulic stem one (5), laser sensor (9), end effector (12), hydraulic stem two (13), servo motor (16), hydraulic stem three (19) and RFID electronic tags reader (23) electric connection, treater (21) and the control system electric connection of automobile body (1), the battery passes through supply circuit respectively with automobile body (1), treater (21), operation button (24), hydraulic stem one (5), laser sensor (9), end effector (12), hydraulic stem two (13), servo motor (16), hydraulic stem three (19) and RFID electronic tags reader (23) electric connection.
4. The intelligent palletizing robot for containers as claimed in claim 1, wherein: the top of flexible arm (6) is fixed with supporting seat (7), the output shaft and the supporting seat (7) fixed connection of hydraulic stem (5).
5. The intelligent palletizing robot for containers as claimed in claim 1, wherein: the supporting arm (2) is fixedly connected with the vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910964412.XA CN110723551A (en) | 2019-10-11 | 2019-10-11 | Intelligent stacking robot for containers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910964412.XA CN110723551A (en) | 2019-10-11 | 2019-10-11 | Intelligent stacking robot for containers |
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| Publication Number | Publication Date |
|---|---|
| CN110723551A true CN110723551A (en) | 2020-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910964412.XA Pending CN110723551A (en) | 2019-10-11 | 2019-10-11 | Intelligent stacking robot for containers |
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| CN (1) | CN110723551A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870102A (en) * | 2009-04-25 | 2010-10-27 | 鸿富锦精密工业（深圳）有限公司 | Palletizing robot |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204872924U (en) * | 2015-07-31 | 2015-12-16 | 湖南国耀科技发展(集团)有限公司 | Drive pile up neatly machine people slides |
| CN205772108U (en) * | 2016-05-31 | 2016-12-07 | 广州达意隆包装机械股份有限公司 | A kind of robot automatic loading system |
| CN107600224A (en) * | 2017-10-27 | 2018-01-19 | 班戈设备系统（苏州）有限公司 | A kind of logistics automatic cargo allocation car |
| CN108127644A (en) * | 2017-12-31 | 2018-06-08 | 柳州福能机器人开发有限公司 | Intelligent mobile transfer robot and its method of work |
| CN108527324A (en) * | 2018-04-18 | 2018-09-14 | 芜湖易法网络科技有限公司 | Can automatic adjusument robot base mechanism |
| CN108584425A (en) * | 2018-04-26 | 2018-09-28 | 阜阳盛东智能制造技术研发有限公司 | A kind of Mobile Cargo robot arm |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN209259161U (en) * | 2018-11-13 | 2019-08-16 | 河南聚合科技有限公司 | A kind of industrial palletizing apparatus |
-
2019
- 2019-10-11 CN CN201910964412.XA patent/CN110723551A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870102A (en) * | 2009-04-25 | 2010-10-27 | 鸿富锦精密工业（深圳）有限公司 | Palletizing robot |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204872924U (en) * | 2015-07-31 | 2015-12-16 | 湖南国耀科技发展(集团)有限公司 | Drive pile up neatly machine people slides |
| CN205772108U (en) * | 2016-05-31 | 2016-12-07 | 广州达意隆包装机械股份有限公司 | A kind of robot automatic loading system |
| CN107600224A (en) * | 2017-10-27 | 2018-01-19 | 班戈设备系统（苏州）有限公司 | A kind of logistics automatic cargo allocation car |
| CN108127644A (en) * | 2017-12-31 | 2018-06-08 | 柳州福能机器人开发有限公司 | Intelligent mobile transfer robot and its method of work |
| CN108527324A (en) * | 2018-04-18 | 2018-09-14 | 芜湖易法网络科技有限公司 | Can automatic adjusument robot base mechanism |
| CN108584425A (en) * | 2018-04-26 | 2018-09-28 | 阜阳盛东智能制造技术研发有限公司 | A kind of Mobile Cargo robot arm |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN209259161U (en) * | 2018-11-13 | 2019-08-16 | 河南聚合科技有限公司 | A kind of industrial palletizing apparatus |
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Application publication date: 20200124 |
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