CN115626493A - Semiautomatic stacking machine for mechanical arm for logistics - Google Patents

Abstract

The invention discloses a semiautomatic stacker crane of mechanical arms for automation logistics, and particularly relates to the field of stacking machinery. The invention solves the problem that when more goods on the ground block a channel, the stacking robot cannot move to a destination, so that the working efficiency is greatly reduced.

Description

Semiautomatic stacking machine for mechanical arm for logistics

Technical Field

The invention belongs to the field of stacking machinery, and particularly relates to a semi-automatic mechanical arm stacking machine for automatic logistics.

Background

The palletizing robot is used for stacking the cartons loaded into the containers on trays and pallets (wood and plastic) according to a certain arrangement, automatically stacking the cartons, stacking the cartons into multiple layers, and then pushing the cartons out so as to facilitate the transportation of a forklift to a warehouse for storage. The labor force and the labor intensity can be greatly reduced. The palletizing robot is used for automatically stacking bags, cartons or other packing materials conveyed by a conveyor into a stack according to the working mode of a client process requirement.

For random pallets, the palletizing robot is the only choice, and when using the palletizing robot, an important matter is also considered, namely how the robot can grasp a product. Vacuum grippers are the most common end-of-arm tools of robotic arms. They are relatively inexpensive, easy to handle, and capable of efficiently loading large portions of a load. However, in certain applications, vacuum grips can also encounter problems, such as substrates with porous surfaces, flexible packages with liquid contents, or packages with uneven surfaces, and the like.

Other options include flip-top grips that can grip the sides of a bag or other packaging form; a fork-type grip inserted into the bottom of the package to lift the package; and the bag type hand grip is a mixture of a flip type hand grip and a fork type hand grip, and the fork part of the bag type hand grip can wrap the bottom and two sides of the package.

In the prior art, the robot loading also faces a lot of problems, when the size, the volume and the shape of a customer product and the overall dimension of a tray are changed, or products of different types need to be grabbed, different types of grabs often need to be replaced, the existing gripper replacement mode often adopts manual replacement, and the replacement of the gripper each time is troublesome;

meanwhile, in the prior art, when a plurality of products need to be stacked, due to the fact that the stacking amount is huge, a plurality of robots are often required to work simultaneously, and therefore the running cost of equipment is increased, a robot capable of increasing the stacking efficiency is urgently needed, and at present, a stacking robot does not exist, and can simultaneously stack different types of products (on the premise that the different types are not suitable for the same gripper).

In order to solve the problem, chinese patent (publication number: CN 105752697B) proposes a multi-mechanical-arm collaborative palletizing robot, which comprises a crawler travel mechanism, a chassis, a rotating table, a fine adjustment cylinder and a mechanical arm; the crawler traveling mechanisms are positioned on two sides of the chassis, the rotating table is positioned in the middle of the chassis, the fine tuning table is positioned at the upper end of the rotating table, the fine tuning cylinder is positioned between the rotating table and the fine tuning table, the mechanical arms are positioned at the upper end of the fine tuning table, and the end parts of the mechanical arms are provided with grippers; a Stewart parallel platform is formed among the rotating platform, the fine adjustment cylinder and each fine adjustment platform; three mechanical arms are provided; the three robot arm ends may mount three identical grippers or different grippers.

Although above-mentioned pile up neatly machine people can increase the efficiency of putting things in good order to can also carry out the pile up neatly simultaneously to different types of product, it makes the pile up neatly machine people move through crawler-type chassis, when the passageway is plugged up to the goods on ground more, the pile up neatly machine people just can't move to the destination, thereby makes work efficiency greatly reduced.

Disclosure of Invention

Based on the problems, the invention provides the semiautomatic stacker crane with the mechanical arm for the automation logistics, which can ensure that the stacker crane is not influenced by ground obstacles and can realize free movement, thereby greatly improving the working efficiency.

The technical purpose of the invention is realized by the following technical scheme: the utility model provides an automatic logistics uses semi-automatic formula hacking machine of arm, includes the portal frame, the portal frame comprises carriage and many support columns that are the rectangle, sliding connection has the bracing piece in the carriage, sliding connection has the supporting seat on the bracing piece, rotating connection has the revolving stage on the supporting seat, install many arms on the revolving stage, the tongs is installed to the front end of arm, the tongs is used for fixed goods.

The principle and the effect of the technology are as follows: when the ground has the barrier to block the motion of the mechanical arm, the position of the whole stacker crane can be changed by only moving the whole portal frame, so that the barrier does not block the mechanical arm any more.

Further, every the gyro wheel is all installed to the bottom of support column, driving motor is all installed to inside on the gyro wheel, all common electricity is connected with central processing unit between the driving motor.

By adopting the scheme, the portal frame can be moved more easily.

Further, install the arm that three intervals set up on the revolving stage, the arm encloses into circularly, the CCD camera is installed to the centre of arm, the CCD camera is connected with central processing unit electricity.

By adopting the scheme, the stacker crane can automatically determine whether the mechanical arm has an obstacle on the movement stroke, so that the portal frame can automatically run.

Further, the top of carriage is installed and is deposited the case, deposit the case and be used for depositing different kinds of tongs.

By adopting the scheme, the mechanical arm can conveniently select different grippers according to different goods, so that the time for replacing the grippers by the mechanical arm is reduced.

Furthermore, the inboard lateral wall of carriage is gone up to open and is had the spout of relative setting, the both ends of bracing piece are rotated respectively and are connected with the pulley, in the pulley sliding connection has the spout respectively, install miniature pneumatic cylinder in the spout, install the sleeve between miniature pneumatic cylinder's piston and the bracing piece, the bracing piece rotates with the sleeve and is connected.

By adopting the scheme, the positions of all the mechanical arms can be changed rapidly through the miniature hydraulic cylinder, and corresponding changes can be made according to the positions of goods.

Compared with the prior art, the invention has the beneficial effects that: can be regardless of the block of subaerial goods, the automatic position change to pile up neatly the goods fast, and can also arrange other places fast, equally can also be according to the different tongs of the different quick replacement of goods.

Drawings

FIG. 1 is a schematic structural diagram of a semi-automatic stacker crane with a mechanical arm for automated logistics according to the present invention;

FIG. 2 is a bottom plan view of the support frame of the present invention;

in the figure: 1. a support frame; 2. a support column; 3. a chute; 4. a support bar; 5. a pulley; 6. a micro hydraulic cylinder; 7. a sleeve; 8. a roller; 9. a rotating table; 10. a mechanical arm; 11. a CCD camera; 12. and (7) storing the box.

Detailed Description

The following is a more detailed description of the present invention with reference to specific embodiments.

As shown in fig. 1 to 2, a semi-automatic stacker crane with a mechanical arm 10 for automatic logistics comprises a portal frame, wherein the portal frame is composed of a rectangular support frame 1 and four support columns 2, slide grooves 3 are respectively formed in two opposite side walls of the support frame 1, and support rods 4 are connected in the slide grooves 3 in a sliding manner. Two ends of the supporting rod 4 are respectively sleeved with a pulley 5, the pulley 5 is rotatably connected with the supporting rod 4, and the pulley 5 is slidably connected with the sliding groove 3. All install miniature pneumatic cylinder 6 in every spout 3, the welding has the sleeve 7 of cover on the bracing piece 4 on the piston of miniature pneumatic cylinder 6, and sleeve 7 rotates with bracing piece 4 to be connected. When the micro hydraulic cylinder 6 is started, the piston of the micro hydraulic cylinder 6 can drive the support rod 4 to move together through the sleeve 7. Four support column 2 are bolted connection respectively around support frame 1, and gyro wheel 8 is all installed to the bottom of every support column 2, all installs driving motor between every support column 2 and the gyro wheel 8, and common electricity is connected with central processing unit between all driving motor, can be so that the portal frame removes simple and conveniently through driving motor. The bottom of bracing piece 4 is opened there is the spacing groove, and miniature pneumatic cylinder 6 is installed equally to the spacing inslot, and sliding connection has the supporting seat in the spacing groove, and the top of supporting seat is circular protruding form, and circular protruding form is located the spacing inslot, and miniature pneumatic cylinder 6's piston and circular protruding form welding. The bottom of supporting seat articulates there is revolving stage 9, and bolted connection has the arm 10 of three intervals settings on revolving stage 9, and three arms 10 enclose into a circular shape. The tail end of each mechanical arm 10 is provided with different types of grippers, the top of the support frame 1 is connected with a storage box 12 through bolts, and the storage box 12 is used for storing the grippers which do not pass through the type. The rotating platform 9 is provided with a CCD camera 11 positioned in the middle of the three mechanical arms 10, and the CCD camera 11 is electrically connected with the central processing unit.

The specific implementation process is as follows:

when the stacking machine is used, the mechanical arm 10 confirms the position of goods through the sensor, then clamps the goods through the gripper, and then conveys the goods to a destination, so that stacking is completed. When the goods on the ground block the motion stroke of the mechanical arm 10, the central processor confirms the surrounding environment through the CCD camera 11, then controls the driving motor to rotate, and the driving motor drives the roller 8 to rotate so as to change the position of the portal frame.

While the embodiments of the present invention have been described above, it is to be understood that the present invention is not limited to the details of construction and arrangement of parts, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention. The scope of the claims of the present application shall be defined by the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (5)

1. The utility model provides an automatic semi-automatic formula hacking machine of machinery arm (10) for logistics, includes the portal frame, its characterized in that, the portal frame comprises carriage (1) and many support columns (2) that are the rectangle, sliding connection has bracing piece (4) in carriage (1), sliding connection has the supporting seat on bracing piece (4), it is connected with revolving stage (9) to rotate on the supporting seat, install many arms (10) on revolving stage (9), the tongs is installed to the front end of arm (10), the tongs is used for fixed goods.

2. The automated logistics robotic arm (10) semi-automated palletizer as claimed in claim 1, wherein: every gyro wheel (8) are all installed to the bottom of support column (2), driving motor is all installed to inside on gyro wheel (8), all common electricity is connected with central processing unit between the driving motor.

3. The automated logistics robotic arm (10) semi-automated palletizer according to claim 2, characterized in that: install arm (10) that three intervals set up on revolving stage (9), arm (10) enclose into circularly, CCD camera (11) are installed to the centre of arm (10), CCD camera (11) are connected with the central processing unit electricity.

4. A semi-automatic palletizer of robotic arms (10) for automated logistics, in accordance with claim 1, characterized by: the top of carriage (1) is installed and is deposited case (12), deposit case (12) and be used for depositing different kinds of tongs.

5. The automated logistics robotic arm (10) semi-automated palletizer as claimed in claim 1, wherein: open spout (3) that have relative setting on the inboard lateral wall of carriage (1), the both ends of bracing piece (4) are rotated respectively and are connected with pulley (5), pulley (5) sliding connection respectively has in spout (3), install miniature pneumatic cylinder (6) in spout (3), install sleeve (7) between piston and bracing piece (4) of miniature pneumatic cylinder (6), bracing piece (4) are rotated with sleeve (7) and are connected.

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