CN112743533A

CN112743533A - Intelligent stacking robot

Info

Publication number: CN112743533A
Application number: CN201911035937.1A
Authority: CN
Inventors: 王金涛; 朱维金; 郭海冰; 崔健; 吕忠伟; 王化明; 刘长斌; 程虎丰; 高楠; 邓海军; 石磊; 佟秋芳
Original assignee: Tianjin Xinsong Robot Automation Co ltd
Current assignee: Tianjin Xinsong Robot Automation Co ltd
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2021-05-04

Abstract

The invention relates to the technical field of robots, in particular to an intelligent stacking robot. Including the base that rotates the connection in proper order, the waist seat, big arm, forearm and wrist end unit, wherein be equipped with in the base and be used for driving waist seat pivoted an actuating mechanism, it has first electric pull rod and second electric pull rod to articulate on the waist seat, the output of first electric pull rod is articulated with big arm, the output of second electric pull rod is articulated with the forearm, be equipped with four-axis actuating mechanism in the wrist end unit, four-axis actuating mechanism's output and magnetism are inhaled the formula tongs and are connected, big arm and forearm are connected with link mechanism, link mechanism is used for wrist end unit to keep horizontal gesture throughout. The structure of the invention is convenient for modular design, the tailor-welded structure reduces the cost and is suitable for low-speed heavy load; according to the requirements and design parameters of the low-speed heavy-load palletizing robot, the requirement that the palletizing robot always horizontally faces downwards to the tail end is met through the design of the parallelogram link mechanism.

Description

Intelligent stacking robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent stacking robot.

Background

The palletizing robot is a kind of industrial robot used for executing tasks of grabbing, carrying, palletizing, unstacking and the like of mass workpieces and packages in the industrial production process, and is a high and new electromechanical product integrating the disciplines of machinery, electronics, information, intelligent technology, computer science and the like. With the continuous development of the robot industry in China, the technical and research fields reach a certain level, and the technical level of the palletizing robot is rapidly developed.

The existing robots on some carrying and grabbing machines are basically six-degree-of-freedom or four-degree-of-freedom robots, and the front ends of the robots are mainly driven by concentric shafts and gears. The existing robot has large load capacity, and a balancing device structure (a balancing weight, a spring balancing structure, a cylinder balancing structure and the like) is adopted.

Some existing mechanical arms are complex in structure, large in size, poor in pertinence although high in universality, complex in program control when stacking is ready to transport, and high in manufacturing and processing cost; the balancing device is heavy and occupies a large space; the installation degree of difficulty is great, especially wherein the installation of bevel gear, needs the repeated debugging. The current four-axis stacking robot is mainly loaded with 300 kg.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an intelligent palletizing robot, which is adapted to a low-speed heavy load condition, so as to solve the problems of complicated structure, large volume, complicated program control, and high manufacturing and processing costs of the existing mechanical arm.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an intelligence pile up neatly machine people, is including rotating base, waist seat, big arm, forearm and the wrist end unit of connecting in proper order, wherein be equipped with in the base and be used for driving waist seat pivoted an actuating mechanism, it has first electric pull rod and second electric pull rod to articulate on the waist seat, the output of first electric pull rod with big arm is articulated, the output of second electric pull rod with the forearm is articulated, be equipped with four-axis actuating mechanism in the wrist end unit, four-axis actuating mechanism's output and magnetism are inhaled the formula tongs and are connected, big arm with the forearm is connected with link mechanism, link mechanism is used for wrist end unit remains horizontal gesture throughout.

The link mechanism comprises a connecting piece, a first connecting rod and a second connecting rod, wherein the connecting piece is hinged to the large arm and the third shaft between the small arms, one end of the first connecting rod is hinged to the waist seat, the other end of the first connecting rod is hinged to the connecting piece, one end of the second connecting rod is hinged to the connecting piece, and the other end of the second connecting rod is hinged to the wrist end unit.

The connecting piece is of a triangular structure, the vertex of the connecting piece is hinged with the third shaft, and the two base angles are respectively hinged with the first connecting rod and the second connecting rod.

A actuating mechanism includes gear, ring gear, motor I and speed reducer I, and wherein the ring gear rotationally installs the upper end of base, and with the waist seat is connected, motor I is installed in the base, and with the input shaft of speed reducer I, the gear set up in on the output shaft of speed reducer I and with the ring gear meshing.

A first closed cavity is arranged in the base, a grease inlet hole and a grease outlet hole are formed in the first closed cavity, and the gear, the gear ring and the speed reducer I are contained in the first closed cavity.

Four-axis actuating mechanism includes motor II, transmission shaft and speed reducer II, wherein the transmission shaft along vertical direction set up in on the wrist end unit, motor II and speed reducer II are installed on the wrist end unit, the output of motor II pass through synchronous belt drive mechanism with the upper end of transmission shaft is connected, the lower extreme of transmission shaft with the input shaft of speed reducer II, the output shaft of speed reducer II with the formula tongs is connected is inhaled to magnetism.

And an output shaft of the speed reducer II is of a hollow structure and is parallel to the transmission shaft.

The wrist end unit is provided with a second closed cavity, the second closed cavity is provided with an oil inlet hole and an oil discharge hole, the transmission shaft is rotatably installed through a bearing in the second closed cavity, two ends of the transmission shaft extend out of the second closed cavity, and the upper end of the transmission shaft is connected with the wrist end unit through the bearing.

The magnetic type gripper comprises a gripper body and an electromagnet arranged at the lower end of the gripper body, and the gripping or releasing of a target object is realized through the on-off of the electromagnet.

The waist seat is provided with two auxiliary connecting lugs, the tail parts of the first electric pull rod and the second electric pull rod are respectively hinged to the two auxiliary connecting lugs, the output end of the first electric pull rod is hinged to a hinged seat arranged at the tail part of the big arm, and the output end of the second electric pull rod is hinged to a hinged seat arranged at the tail part of the small arm.

The invention has the advantages and beneficial effects that: the structure of the invention is convenient for modular design, the tailor-welded structure reduces the cost and is suitable for low-speed heavy load.

According to the requirements and design parameters of the low-speed heavy-load palletizing robot, the design of the parallelogram link mechanism meets the requirement that the palletizing robot always horizontally faces downwards on the tail end.

The two electric pull rods drive the second shaft and the third shaft to move in a coupling mode, so that the wrist end unit is lifted up and down.

Drawings

FIG. 1 is one of the isometric views of the present invention;

FIG. 2 is a second isometric view of the present invention;

FIG. 3 is a front view of the present invention;

FIG. 4 is a sectional view of the first shaft according to the present invention;

FIG. 5 is a structural sectional view of a second shaft according to the present invention;

FIG. 6 is a sectional view showing the structure of a third shaft in the present invention;

FIG. 7 is a cross-sectional view of a fourth shaft according to the present invention;

FIG. 8 is a simplified diagram of a parallelogram linkage arrangement of the present invention;

FIG. 9 is a velocity profile of the center of a grab point of the present invention.

In the figure: 1. the base, 2, waist seat, 3, big arm, 4, forearm, 5, wrist end unit, 6, connecting piece, 7, first connecting arm, 8, second connecting arm, 9, first connecting rod, 10, first electric pull rod, 11, supplementary engaging lug, 12, second electric pull rod, 13, second connecting rod, 14, the gear, 15, the ring gear, 16, motor I, 17, speed reducer I, 18, the second shaft, 19 are the bearing, 20, the hollow shaft, 21, magnetism type tongs, 22, the electro-magnet, 23, the steel sheet, 24, the robot snatchs the orbit projection at some center, 25, the bearing, 26, the third axle, 27, motor II, 28, driving pulley, 29, the hold-in range, 30, driven pulley, 31, the transmission shaft, 32, the bearing, 33, speed reducer II.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-3, the intelligent palletizing robot provided by the invention comprises a base 1, a waist seat 2, a large arm 3, a small arm 4 and a wrist end unit 5 which are sequentially and rotatably connected, wherein a first shaft driving mechanism for driving the waist seat 2 to rotate is arranged in the base 1, a first electric pull rod 10 and a second electric pull rod 12 are hinged on the waist seat 2, the output end of the first electric pull rod 10 is hinged with the large arm 3, the output end of the second electric pull rod 12 is hinged with the small arm 4, a four-shaft driving mechanism is arranged in the wrist end unit 5, the output end of the four-shaft driving mechanism is connected with a magnetic type gripper 21, the large arm 3 and the small arm 4 are connected with a link mechanism, and the link mechanism is used for keeping the wrist end unit 5 in a horizontal posture all the.

The magnetic attraction type gripper 21 comprises a gripper body and an electromagnet 22 arranged at the lower end of the gripper body, and the gripping or releasing of the target object is realized by switching on and off the electromagnet 22.

The tail part of the large arm 3 is rotatably connected with the waist seat 2 through a second shaft 18, as shown in figure 5. The head end of the large arm 3 is pivotally connected to the tail end of the small arm 4 by a third shaft 26, as shown in figure 6.

Further, be equipped with two supplementary engaging lug 11 on the waist seat 2, the afterbody of first electric pull rod 10 and second electric pull rod 12 articulates respectively on two supplementary engaging lug 11, and the articulated seat that the output of first electric pull rod 10 and the afterbody of big arm 3 were equipped with is articulated, and the articulated seat that the output of second electric pull rod 12 and the afterbody of forearm 4 were equipped with is articulated. The waist seat 2, the large arm 3 and the first electric pull rod 10 are connected into a crank-slider mechanism for driving a second shaft 18 of the robot to rotate. The waist seat 2, the large arm 3, the small arm 4 and the second electric pull rod 12 are connected into another crank-slider mechanism for driving the third shaft 26 of the robot to rotate.

As shown in fig. 4, a shaft driving mechanism includes a gear 14, a gear ring 15, a motor i 16 and a speed reducer i 17, wherein the gear ring 15 is rotatably installed at the upper end of the base 1 and connected with the waist seat 2, the motor i 16 is installed in the base 1 and connected with an input shaft of the speed reducer i 17, and the gear 14 is arranged on an output shaft of the speed reducer i 17 and meshed with the gear ring 15. The motor I16 drives the gear 14 to rotate through the speed reducer I17, and the gear 14 is meshed with the gear ring 15, so that the gear ring 15 drives the waist seat 2 to rotate around a vertically arranged first shaft.

Further, be equipped with first closed cavity in the base 1, first closed cavity is equipped with into fat hole and grease discharging hole, and first cavity intussuseption is filled with lubricating grease. The gear 14, the gear ring 15 and the reducer I17 are accommodated in the first closed cavity. A sealing device is designed at the base 1, so that dust is effectively prevented from entering the base, and the protection grade is improved.

As shown in fig. 7, the four-axis driving mechanism includes a motor ii 27, a transmission shaft 31 and a speed reducer ii 33, wherein the transmission shaft 31 is arranged on the wrist end unit 5 along the vertical direction, the motor ii 27 and the speed reducer ii 33 are arranged on the wrist end unit 5, the output end of the motor ii 27 is connected with the upper end of the transmission shaft 31 through a synchronous belt transmission mechanism, the lower end of the transmission shaft 31 is connected with the input shaft of the speed reducer ii 33, and the output shaft of the speed reducer ii 33 is connected with the magnetic suction type gripper 21. The output shaft of the speed reducer II 33 is of a hollow structure and is parallel to the transmission shaft 31, and the hollow structure of the speed reducer II 33 can facilitate wiring.

And a second closed cavity is arranged on the wrist end unit 5, the second closed cavity is provided with an oil inlet hole and an oil discharge hole, and lubricating grease is filled in the second cavity. The transmission shaft 31 is rotatably installed in the second closed cavity through a bearing, two ends of the transmission shaft extend out of the second closed cavity, and the upper end of the transmission shaft 31 is connected with the wrist end unit 5 through a bearing. The sealing device is designed at the wrist end unit 5, so that dust is effectively prevented from entering, and the protection grade is improved.

The synchronous belt transmission mechanism comprises a driving belt wheel 28, a synchronous belt 29 and a driven belt wheel 30, wherein the driving belt wheel 28 is arranged on an output shaft of the motor II 27, and the driven belt wheel 30 is arranged at the upper end of the transmission shaft 31 and is connected with the driving belt wheel 28 through the synchronous belt 29. The motor II 27 drives the driving belt pulley 28 to rotate, the driving belt pulley 28 drives the driven belt pulley 30 to rotate through the synchronous belt 29, so that the transmission shaft 31 is driven to rotate, and the fourth shaft of the robot is driven to rotate through the speed reducer II 33.

As shown in fig. 1-2, the link mechanism includes a connecting member 6, a first link 9 and a second link 13, wherein the connecting member 6 is hinged on a third shaft 26 between the large arm 3 and the small arm 4, one end of the first link 9 is hinged with the waist seat 2, the other end is hinged with the connecting member 6, one end of the second link 13 is hinged with the connecting member 6, and the other end is hinged with the wrist end unit 5.

Further, the connecting member 6 is a triangular structure, and includes a first connecting arm 7 and a second connecting arm 8, a vertex of the triangular structure is hinged to the third shaft 26, and two base angles are hinged to the first connecting rod 9 and the second connecting rod 13, respectively. Namely, the first connecting arm 7 is hinged with the first connecting rod 9, and the second connecting arm 8 is hinged with the second connecting rod 13. The first connecting arm 7, the first link 9, the auxiliary engaging lug 11 and the large arm 3 are connected to form a parallelogram link mechanism, and the second connecting arm 8, the second link 13, the wrist end unit 5 and the small arm 4 are connected to form another parallelogram link mechanism, so as to form the parallelogram link mechanism, as shown by dotted lines in fig. 3. As shown in fig. 3, the trajectory projection 24 of the center of the robot grabbing point is a fan-shaped structure, a kinematics simulation method can be adopted, and the mechanism can simulate a plane motion range according to the structure, a second axis and a third axis, and further simulate a space motion range by combining a circle of motion and computer graphics.

FIG. 9 is a graph of the velocity profile of the center of a grab point of the present invention; the mechanism has the characteristics of quick return of mechanics, low speed of lifting heavy objects and labor saving according to the virtual work principle of theoretical mechanics. Otherwise the speed is high without the heavy object.

In the transmission process, the opposite rods forming a parallelogram link mechanism are always kept parallel, and the angular displacement, the angular velocity and the angular acceleration of the two links are always equal. When a plurality of parallelogram mechanisms are superposed for use, the displacement can be amplified. Due to the transmission characteristic of the parallelogram mechanism, the tail end of the robot is always horizontally downward, and the design requirement of the four-axis robot is met. In a simplified view of the parallelogram linkage, as shown in fig. 8, the lever a and the lever B are opposite levers, i.e., when the lever a rotates around the fulcrum O, the angular displacement, angular velocity and angular acceleration of the lever a and the lever B are always equal.

The invention relates to an intelligent stacking robot for low-speed heavy load application, which mainly comprises a base 1, a waist seat 2, a large arm 3, a small arm 4, a wrist end unit 5, a connecting rod mechanism and an electric pull rod according to the use characteristics of the stacking robot. The scheme is selected and designed according to the requirements and design parameters of the low-speed heavy-load palletizing robot, the requirement that the palletizing robot always horizontally faces downwards on the tail end is met through the design of a parallelogram link mechanism, the motor I16 is connected with a speed reducer I17, and the speed reducer I17 is connected with a gear pair to drive the rotation of a first shaft of the robot; the transmission of a second shaft and a third shaft of the robot is driven through a first electric pull rod 10 and a second electric pull rod 12; the motor II 27 is connected with a transmission shaft 31 through a synchronous belt transmission mechanism, and the transmission shaft 31 is connected with a speed reducer II 33 to drive the fourth shaft of the robot to rotate.

The intelligent robot palletizer in the invention adopts the magnetic type gripper 21 to suck and release targets. One end of the magnetic suction type gripper 21 is provided with a connecting shaft and is connected with the wrist end unit 5 through the connecting shaft; the other end of the magnetic attraction type hand grip 21 is provided with an electromagnet 22, and an object (a steel plate 23 or the like) is attracted by the electromagnet 22 performing an energizing operation, and the object is released by the electromagnet 22 performing a deenergizing operation.

In the mechanism of the intelligent stacking robot, balancing device structures such as a balancing weight, a spring balancing structure and a cylinder balancing structure are not needed, the design structure is simple and clear, and the intelligent stacking robot can load 2700 kg.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An intelligent robot palletizer is characterized by comprising a base (1), a waist seat (2), a big arm (3), a small arm (4) and a wrist end unit (5) which are connected in turn in a rotating way, wherein a shaft driving mechanism for driving the waist seat (2) to rotate is arranged in the base (1), a first electric pull rod (10) and a second electric pull rod (12) are hinged on the waist seat (2), the output end of the first electric pull rod (10) is hinged with the big arm (3), the output end of the second electric pull rod (12) is hinged with the small arm (4), a four-axis driving mechanism is arranged in the wrist end unit (5), the output end of the four-axis driving mechanism is connected with a magnetic type gripper (21), the large arm (3) and the small arm (4) are connected with a link mechanism, and the link mechanism is used for keeping the wrist end unit (5) in a horizontal posture all the time.

2. The intelligent palletizing robot according to claim 1, characterized in that the linkage comprises a connecting piece (6), a first connecting rod (9) and a second connecting rod (13), wherein the connecting piece (6) is hinged on a third shaft (26) between the large arm (3) and the small arm (4), one end of the first connecting rod (9) is hinged with the waist seat (2) and the other end is hinged with the connecting piece (6), one end of the second connecting rod (13) is hinged with the connecting piece (6) and the other end is hinged with the wrist end unit (5).

3. Intelligent palletizing robot according to claim 2, characterized in that the connecting element (6) is of triangular configuration, the vertex of which is articulated to the third axis (26) and the two base angles of which are articulated to the first connecting rod (9) and to the second connecting rod (13), respectively.

4. The intelligent palletizing robot as claimed in claim 1, wherein the shaft driving mechanism comprises a gear (14), a gear ring (15), a motor I (16) and a speed reducer I (17), wherein the gear ring (15) is rotatably installed at the upper end of the base (1) and is connected with the waist seat (2), the motor I (16) is installed in the base (1) and is connected with an input shaft of the speed reducer I (17), and the gear (14) is arranged on an output shaft of the speed reducer I (17) and is meshed with the gear ring (15).

5. The intelligent palletizing robot as claimed in claim 4, wherein a first closed cavity is arranged in the base (1), the first closed cavity is provided with a grease inlet hole and a grease outlet hole, and the gear (14), the gear ring (15) and the speed reducer I (17) are accommodated in the first closed cavity.

6. The intelligent palletizing robot as claimed in claim 1, wherein the four-axis driving mechanism comprises a motor II (27), a transmission shaft (31) and a speed reducer II (33), wherein the transmission shaft (31) is arranged on the wrist end unit (5) along a vertical direction, the motor II (27) and the speed reducer II (33) are arranged on the wrist end unit (5), an output end of the motor II (27) is connected with an upper end of the transmission shaft (31) through a synchronous belt transmission mechanism, a lower end of the transmission shaft (31) is connected with an input shaft of the speed reducer II (33), and an output shaft of the speed reducer II (33) is connected with the magnetic type gripper (21).

7. The intelligent palletizing robot as claimed in claim 6, wherein an output shaft of the speed reducer II (33) is of a hollow structure and is parallel to the transmission shaft (31).

8. The intelligent palletizing robot as claimed in claim 6, wherein a second closed cavity is arranged on the wrist end unit (5), the second closed cavity is provided with an oil inlet hole and an oil outlet hole, the transmission shaft (31) is rotatably installed in the second closed cavity through a bearing, two ends of the transmission shaft extend out of the second closed cavity, and the upper end of the transmission shaft (31) is connected with the wrist end unit (5) through a bearing.

9. The intelligent palletizing robot as claimed in claim 1, wherein the magnetic type gripper (21) comprises a gripper body and an electromagnet (22) arranged at the lower end of the gripper body, and the gripping or releasing of the target object is realized by switching on and off the electromagnet (22).

10. The intelligent palletizing robot as claimed in claim 1, wherein two auxiliary connecting lugs (11) are arranged on the waist seat (2), the tail parts of the first electric pull rod (10) and the second electric pull rod (12) are respectively hinged to the two auxiliary connecting lugs (11), the output end of the first electric pull rod (10) is hinged to a hinged seat arranged at the tail part of the large arm (3), and the output end of the second electric pull rod (12) is hinged to a hinged seat arranged at the tail part of the small arm (4).