CN119349238A - A suction type palletizing collaborative robot device and a palletizing collaborative method - Google Patents
A suction type palletizing collaborative robot device and a palletizing collaborative method Download PDFInfo
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- CN119349238A CN119349238A CN202411694365.9A CN202411694365A CN119349238A CN 119349238 A CN119349238 A CN 119349238A CN 202411694365 A CN202411694365 A CN 202411694365A CN 119349238 A CN119349238 A CN 119349238A
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- sucker
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- 238000000034 method Methods 0.000 title claims description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000001965 increasing effect Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 19
- 230000003028 elevating effect Effects 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 12
- 239000000463 material Substances 0.000 description 10
- 238000013461 design Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000003678 scratch resistant effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- 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
-
- 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
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/16—Preventing pulverisation, deformation, breakage, or other mechanical damage to the goods or materials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of palletizing robots, in particular to a suction type palletizing cooperative robot device which comprises a frame, a manipulator and a pickup, wherein the manipulator is arranged on the frame, the pickup comprises a hollow box, a sucker arranged on the hollow box and a vacuum generating tube arranged in the hollow box, the sucker is communicated with the vacuum generating tube, the vacuum generating tube is connected with an external vacuum pump, the external vacuum pump drives negative pressure between the sucker and an external object to pick up the external object, a console and a lifting assembly are arranged on the frame, the lifting assembly comprises a driving piece and a lifting table, the driving piece is arranged on the frame, the lifting table is connected with the driving piece in a driving mode, and the console controls the driving piece to drive the lifting table to move so as to drive the manipulator to move, and the moving manipulator drives the external object through the pickup piece. The invention reduces the physical pressure to the articles by vacuum adsorption, prevents the damage to external articles, and simultaneously, the lifting platform enables the mechanical arm to flexibly adjust the working height, thereby improving the working efficiency and the flexibility.
Description
Technical Field
The invention relates to the technical field of palletizing robots, and particularly discloses a suction type palletizing cooperation robot device and a palletizing cooperation method.
Background
In modern industrial production, stacking is a vital link in logistics transportation and storage management. Traditional stacking operation generally depends on manual operation, and is high in labor intensity and low in efficiency, and the current requirements of mass production and efficient logistics are difficult to meet. Especially when handling irregularly shaped, light in weight, fragile article, manual pile up neatly not only consuming time and effort, still easily lead to the product damage because of the mishandling. In addition, long-time repeated labor also easily causes fatigue of workers, and potential safety hazards are increased. Accordingly, palletizing cooperative robots in the field of industrial automation have been developed.
The existing palletizing robot mainly relies on a mechanical arm to carry and stack articles. Typically, these robotic arms grasp an item via a jaw or suction cup and rely on motors, drives, and sensors to control the movement of the robotic arm. However, the conventional palletizing robot has the defects that the conventional manipulator usually adopts a mechanical clamping or single sucker structure to grasp articles, has poor grasping effect on articles (such as plastic bags, cartons, sheet materials and the like) with irregular shapes and light weight or easy to damage, and is easy to grasp unstable or damage, and the palletizing robot adopts a rigid design, has limited freedom degree of joints, is difficult to adapt to stacking requirements of articles with different positions or heights, and is difficult to efficiently finish multi-angle and multi-height article palletizing particularly in complex logistics scenes.
Disclosure of Invention
In order to overcome the defects and the shortcomings in the prior art, the invention aims to provide the stacking cooperative robot device with strong adaptability and strong manipulator flexibility for grabbing articles.
The suction type stacking cooperative robot device comprises a frame, a manipulator arranged on the frame and a pickup device arranged at the free end of the manipulator, wherein the pickup device comprises a hollow box, a sucker arranged on the hollow box and a vacuum generating tube arranged in the hollow box, the sucker is communicated with the vacuum generating tube, the vacuum generating tube is connected with an external vacuum pump, the external vacuum pump drives the sucker to generate negative pressure with an external object, the external vacuum pump drives the sucker to pick up the external object through the vacuum generating tube, a control table and a lifting assembly are arranged on the frame, the lifting assembly comprises a driving piece arranged on the frame and a lifting table which is connected with the driving piece, the control table is electrically connected with the driving piece, the control table controls the driving piece to drive the lifting table to move so as to drive the manipulator to move, and the moving manipulator drives the external object through the pickup device. The invention reduces the physical pressure to the articles by vacuum adsorption, prevents the damage to external articles, and simultaneously, the lifting platform enables the mechanical arm to flexibly adjust the working height, thereby improving the working efficiency and the flexibility.
Further, the manipulator includes a section arm, two sections arm, first joint, second joint, third joint, fourth joint, fifth joint, sixth joint, seventh joint and pick-up, and first joint sets up on rotating the elevating platform, and second joint and third joint set up respectively at a section arm both ends, and the second joint rotates with first joint to be connected, and fourth joint and fifth joint set up respectively at two sections arm both ends, and fourth joint rotates with the third joint to be connected, and fifth joint rotates with sixth joint to be connected, and sixth joint rotates with seventh joint to be connected, and seventh joint rotates with the pick-up to be connected. The multi-joint design enables the manipulator to have higher flexibility and freedom degree and can execute complex stacking tasks. Independent rotation of each joint provides more motion possibilities, accommodating multiple working scenarios.
Further, the first joint comprises a joint module and a shell covered outside the joint module, the joint module comprises a motor connected with the shell and a harmonic speed reducer, a rotating shaft of the harmonic speed reducer is connected with an output shaft of the motor, the harmonic speed reducer is used for reducing the rotating speed of the motor and increasing the torque of the motor, and the structures of the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint and the seventh joint are identical to those of the first joint. The harmonic speed reducer improves the operation precision and the load capacity of the manipulator by reducing the rotation speed of the motor and increasing the torque, and the unified joint structure design simplifies the manufacturing and maintenance process.
Further, the control console comprises a display, the display is detachably mounted with the rack through a fastener, a mounting hole for mounting the display is formed in the rack, a stop block extending into the mounting hole is arranged on the rack, a through hole is formed in the stop block, the display is provided with a control module and a touch screen arranged on the control module, the control module is contained in the mounting hole and is pressed on the stop block, the touch screen is pressed on the rack and covers the mounting hole, and the control module is connected with the stop block through a bolt.
Further, the touch screen comprises a display panel and explosion-proof panels covering the front side and the rear side of the display screen, a plurality of groups of through holes are formed in the control module and the display panel, a plurality of groups of limiting holes are formed in one end, close to the display panel, of the explosion-proof panel, external bolts sequentially penetrate through the control module, the display panel and the explosion-proof panel, and the control module and the explosion-proof panel are matched to clamp the display panel. Through accurate debugging of the display, the manipulator can be ensured to follow a preset safety rule in the operation process, and safety accidents caused by manual misoperation are reduced. Because realize demountable installation through fastener between display and the frame, when the display needs maintenance, change or upgrade, can dismantle conveniently, need not to disassemble on a large scale whole industrial robot to improved maintenance efficiency and reduced maintenance cost, the detachable display design makes the user can change the display of different specifications, different functions in a flexible way according to actual demand, with adaptation different operational environment and task demand, strengthened industrial robot's adaptability and flexibility.
Further, the lifting platform is provided with an inner cavity for accommodating the driving piece, the upper end of the rack is provided with a lifting opening, the lifting platform is telescopically arranged in the rack through the lifting opening, the upper end of the lifting platform is flush with the upper end of the rack to form a mounting position for mounting the manipulator, the driving piece drives the lifting platform to move in a first direction through the lifting opening, and the lower end of the lifting platform after lifting is positioned at the stretching opening to cover the protection driving piece. Setting up the elevating platform in the frame, by the elevating platform with the lift opening cooperation of frame form the robot installation position, through installing the robot to installation position department, in order to realize the altitude mixture control to the robot at cooperation driving piece and elevating platform, can shelter from the elevating opening in order to avoid the dust to adsorb in driving piece department and cause the lift to hinder at the elevating platform completion after rising, simultaneously through setting up the connecting wire in the frame, effectively avoided the winding problem of the connecting wire that the robot produced in the installation.
Further, a base is arranged on the rack and comprises a weight part and a telescopic arm, the weight part is arranged at one end of the rack away from the manipulator, the weight part is provided with a containing cavity for containing the telescopic arm, the telescopic arm is arranged in the weight part in a telescopic manner through the containing cavity, the length of the telescopic arm protruding out of the weight part is larger than the single movement distance of the manipulator, the weight part is used for stably limiting the rack on an external bearing surface, and the telescopic arm is used for reducing the gravity center of the manipulator when transferring external objects to prevent toppling.
The vacuum generating tube is provided with an air inlet tube, an air outlet tube and a vacuum tube which are mutually communicated, the vacuum tube is communicated with the inner cavity, the air inlet tube is communicated with an external vacuum pump, the sucker is provided with a connector, the sucker is arranged on the hollow box through the connector, one end of the connector is detachably arranged on the hollow box, the other end of the connector is provided with an inserting column and a friction convex ring arranged on the outer side of the inserting column, the friction convex ring is arranged around the central axis of the inserting column, and the sucker is sleeved on the inserting column.
Further, the connector is provided with a content hole and a sphere movably accommodated in the content hole, the content hole is used for communicating the sucker and the inner cavity, the sphere is used for blocking or opening the content hole, the number of the sucker is multiple, and the suckers are arranged in a rectangular array along the length direction of the hollow box and the width direction of the smoke hollow box.
A stacking cooperation method comprises the following steps of S1, inputting stacking speed, stacking height and stacking layer number through a control console, S2, controlling a driving piece to drive a lifting platform to move so as to drive a manipulator to approach to an external object through the control console, S3, driving a sucker and the external object to generate negative pressure through an external vacuum pump, picking up the external object through a pickup, S4, controlling the driving piece to drive the lifting platform to move so as to drive the manipulator to move through the control console, and driving the external object through the pickup by the moving manipulator and placing the external object on an external material platform.
The invention has the beneficial effects that the physical pressure on the articles is reduced by vacuum adsorption of the articles, the damage to external articles is prevented, and meanwhile, the lifting table enables the mechanical arm to flexibly adjust the working height, so that the working efficiency and the flexibility are improved.
Drawings
Fig. 1 is a schematic structural view of a suction palletizing cooperative robot device of the present invention;
FIG. 2 is a schematic diagram of the structure of the frame and console of the present invention;
FIG. 3 is an exploded view of the stand, display of the present invention;
FIG. 4 is an exploded view of the display of the present invention;
FIG. 5 is a schematic view of the structure of the cabinet body of the present invention;
FIG. 6 is a schematic diagram of another view of the present invention;
FIG. 7 is a schematic view of a manipulator according to the present invention;
FIG. 8 is an exploded view of a first joint of the present invention;
FIG. 9 is an exploded view of a section of arm of the present invention;
FIG. 10 is an exploded view of the pickup of the present invention;
FIG. 11 is a schematic structural view of a connector according to the present invention;
FIG. 12 is a schematic view of a vacuum generating tube according to the present invention;
fig. 13 is a schematic view of another view of the connector according to the present invention.
The reference numerals include:
1. A frame; 2, a manipulator, 3, a pickup, 4, a hollow box, 5, a suction cup, 6, a vacuum generating tube, 7, a control console, 8, a lifting assembly, 9, a driving part, 10, a lifting platform, 11, a section arm, 12, a section arm, 13, a first joint, 14, a second joint, 15, a third joint, 16, a fourth joint, 17, a fifth joint, 18, a sixth joint, 19, a seventh joint, 20, a joint module, 21, a shell, 22, a motor, 23, a harmonic reducer, 24, a display, 25, a stop, 26, a control module, 27, a touch screen, 28, a display panel, 29, an explosion-proof panel, 30, an inner cavity, 31, a lifting opening, 32, a base, 33, a counterweight part, 34, a telescopic arm, 35, a containing cavity, 36, an air inlet pipe, 37, an air outlet pipe, 38, a vacuum tube, 39, a connector, 40, a plug post, 41, a friction convex ring, 42, a content hole, 43, an end cover, 44, a fin, 45, a mounting head, 46, an assembly part, 47, a connecting part, a rotary joint, 27, a touch screen, a display panel, 29, an explosion-proof panel, a dustproof panel, 30, an inner cavity, 31, a lifting opening, 32, a lifting opening, a base, 33, a lifting opening, a base, a 32, a lifting cover, a base, a 33, a lifting plate, a 33, a.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description will refer to the specific implementation, structure, characteristics and effects according to the present invention with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1 to 13, the suction type stacking cooperative robot device comprises a frame 1, a manipulator 2 arranged on the frame 1 and a pickup 3 arranged at the free end of the manipulator 2, wherein the pickup 3 comprises a hollow box 4, a sucker 5 arranged on the hollow box 4 and a vacuum generating tube 6 arranged in the hollow box 4, the sucker 5 is communicated with the vacuum generating tube 6, the vacuum generating tube 6 is connected with an external vacuum pump, the external vacuum pump drives the sucker 5 to generate negative pressure with external objects, the external vacuum pump drives the sucker 5 to pick up the external objects through the vacuum generating tube 6, a control console 7 and a lifting assembly 8 are arranged on the frame 1, the lifting assembly 8 comprises a driving piece 9 arranged on the frame 1 and a lifting table 10 connected with the driving piece 9, the control console 7 is electrically connected with the driving piece 9, the manipulator 2 is arranged on the lifting table 10, the control console 7 controls the driving piece 9 to drive the lifting table 10 to move so as to drive the manipulator 2 to move, and the pickup 2 drives the external objects through the pickup 3. The invention reduces the physical pressure to the articles by vacuum adsorption, prevents the damage to the external articles, and simultaneously, the lifting platform 10 enables the manipulator 2 to flexibly adjust the working height, thereby improving the working efficiency and the flexibility.
The manipulator 2 comprises a first arm 11, a second arm 12, a first joint 13, a second joint 14, a third joint 15, a fourth joint 16, a fifth joint 17, a sixth joint 18 and a seventh joint 19, wherein the first joint 13 is rotatably arranged on the lifting platform 10, the second joint 14 and the third joint 15 are respectively arranged at two ends of the first arm 11, the second joint 14 is rotatably connected with the first joint 13, the fourth joint 16 and the fifth joint 17 are respectively arranged at two ends of the second arm 12, the fourth joint 16 is rotatably connected with the third joint 15, the fifth joint 17 is rotatably connected with the sixth joint 18, the sixth joint 18 is rotatably connected with the seventh joint 19, and the seventh joint 19 is rotatably connected with the pickup 3. The multi-joint design enables the manipulator 2 to have higher flexibility and freedom and to be capable of performing complex palletizing tasks. Independent rotation of each joint provides more motion possibilities, accommodating multiple working scenarios.
The first joint 13 comprises a joint module 20 and a shell 21 covered outside the joint module 20, the joint module 20 comprises a motor 22 and a harmonic speed reducer 23, the motor 22 is connected with the shell 21, the rotating shaft of the harmonic speed reducer 23 is connected with the output shaft of the motor 22, the harmonic speed reducer 23 is used for reducing the rotating speed of the motor 22 and increasing the torque of the motor 22, and the structures of the second joint 14, the third joint 15, the fourth joint 16, the fifth joint 17, the sixth joint 18 and the seventh joint 19 are the same as those of the first joint 13. The harmonic speed reducer 23 improves the operation precision and the load capacity of the manipulator 2 by reducing the rotation speed of the motor 22 and increasing the torque, and the unified joint structure design simplifies the manufacturing and maintenance process.
Specifically, the shell 21 is provided with an end cover 43 that is used with the shell 21 and is used for packaging the joint module 20 in the shell 21, and the end cover 43 and/or the shell 21 is provided with fins 44, and the fins 44 are used for accelerating the dissipation of heat generated by the driving member 9.
Specifically, the end cover 43 and/or the shell 21 and the fins 44 are manufactured through an integral forming process, the integral forming process can ensure that the connection between the end cover 43 and/or the shell 21 and the fins 44 is tight and seamless, so that the weakness of joints or connection points possibly existing in the traditional assembly process can be eliminated, the strength and rigidity of the integral structure can be effectively improved, the end cover 43 and/or the shell 21 can better bear external load and vibration, and meanwhile, the integral forming process can combine the manufacturing and assembly steps of a plurality of parts into one process step, so that the production period is greatly shortened, the production efficiency can be improved, the production cost can be reduced, the competitiveness of products can be improved, and faults caused by improper assembly or fatigue of the connection points can be avoided through the integrally formed structure, and the reliability and stability of the products can be improved.
Specifically, the connection port between the end cover 43 and the housing 21 is an oblique opening, one end of the motor 22 is connected to the housing, and the other end of the motor 22 extends out of the housing 21 through the oblique opening. The motor 22 is partially extended out of the casing, so that the motor 22 is convenient to take and mount, the structure is simple, the mounting is convenient, the mounting efficiency is improved, and the space in the robot joint is compact through the design of the inclined opening, so that the whole size of the robot joint is smaller.
Specifically, the arm 11 includes an arm body and mounting heads 45 disposed at two ends of the arm body, the middle of the arm body is hollow to form a wire passing channel, the mounting heads 45 include an assembly portion 46, a connection portion 47, and an assembly ring 48 disposed between the assembly portion 46 and the connection portion 47, the outer diameter of the assembly ring 48 is larger than the outer diameter of the assembly portion 46 and the outer diameter of the connection portion 47, the end of the arm body is fixedly inserted into the connection portion 47, one end of the assembly ring 48 close to the connection portion 47 is used for blocking the interference arm body, the assembly portion 46 is used for being matched with the motor 22 in an inserted manner, and one end of the assembly ring 48 close to the assembly portion 46 is used for blocking the interference motor 22.
Specifically, the two-section arm 12 has the same structure as the one-section arm 11.
Specifically, a through hole is formed in the middle of the mounting head 45, the through hole is communicated with the wire passing channel, an arc-shaped scratch-resistant surface is formed on the inner side of the mounting head 45, a shock absorption bump 49 is arranged at the end of the mounting portion 46, an assembly hole 50 is formed in the end face of the shock absorption bump 49, and the assembly hole 50 is used for being connected with the motor 22. Through setting up the installation head 45 at the tip of the arm body, set up the bradyseism lug 49 in the one end of the assembly portion 46 of installation head 45 again, be connected with motor 22 through the pilot hole 50 that bradyseism lug 49 department set up to the vibrations that produce when the motor 22 during operation carry out the bradyseism and eliminate, in order to avoid too much vibrations frequency to pass through the arm body conduction, in order to reach vibrations elimination's effect, effectively avoid vibrations to each motor 22's influence, and then improve the life of arm.
The console 7 comprises a display 24, the display 24 is detachably mounted with the frame 1 through fasteners, a mounting hole for mounting the display 24 is formed in the frame 1, a stop block 25 extending into the mounting hole is arranged on the frame 1, a through hole is formed in the stop block 25, the display 24 is provided with a control module 26 and a touch screen 27 arranged on the control module 26, the control module 26 is contained in the mounting hole and is pressed on the stop block 25, the touch screen 27 is pressed on the frame 1 and covers the mounting hole, and the control module 26 is connected with the stop block 25 through bolts.
The touch screen 27 comprises a display panel 28 and explosion-proof panels 29 covering the front side and the rear side of the display screen, a plurality of groups of through holes are formed in the control module 26 and the display panel 28, a plurality of groups of limiting holes are formed in one end, close to the display panel 28, of the explosion-proof panels 29, external bolts sequentially penetrate through the control module 26, the display panel 28 and the explosion-proof panels 29, and the control module 26 and the explosion-proof panels 29 are matched to clamp the display panel 28. By precisely debugging the display 24, the manipulator 2 can be ensured to follow a preset safety regulation in the operation process, and the safety accidents caused by human misoperation are reduced. Because realize demountable installation through fastener between display 24 and the frame 1, when the display 24 needs maintenance, change or upgrade, can dismantle conveniently, need not to disassemble on a large scale whole industrial robot to improved maintenance efficiency and reduced maintenance cost, the detachable display 24 design makes the user can change the display 24 of different specifications, different functions in a flexible way according to actual demand, in order to adapt to different operational environment and task demands, strengthened industrial robot's adaptability and flexibility.
The lifting platform 10 has an inner cavity 30 for accommodating the driving member 9, the upper end of the frame 1 is provided with a lifting opening 31, the lifting platform 10 is telescopically arranged in the frame 1 through the lifting opening 31, the upper end of the lifting platform 10 is flush with the upper end of the frame 1 to form a mounting position for mounting the manipulator 2, the driving member 9 drives the lifting platform 10 to move in a first direction through the lifting opening 31, and the lower end of the lifted lifting platform 10 is positioned at the stretching opening to cover the protection driving member 9. Setting up elevating platform 10 in frame 1, by elevating platform 10 and the lift opening 31 cooperation of frame 1 form the manipulator installation position, through installing the manipulator to installation position department, in order to realize the altitude mixture control to the manipulator at cooperation driving piece 9 and elevating platform 10, elevating platform 10 can shelter from elevating opening 31 in order to avoid the dust to adsorb in driving piece 9 department and cause the lift to hinder after elevating platform 10 accomplishes to rise, simultaneously through setting up the connecting wire in frame 1, effectively avoided the winding problem of the connecting wire that the manipulator produced in the installation.
Specifically, a first installation space and a second installation space are arranged in the frame 1, the first installation space and the second installation space are not communicated with each other, the console 7 is installed in the first installation space, and the lifting assembly 8 is arranged in the second installation space.
Specifically, the rack 1 includes an electric cabinet body 51, an assembly opening is provided at a rear side of the electric cabinet body 51, and a first back cover plate 52 is provided at the assembly opening in a cover manner so as to form the first installation space inside the electric cabinet body 51.
Specifically, the rack 1 further includes a first dust-proof plate 53, a second dust-proof plate 54 and a second back cover plate 55, where the first dust-proof plate 53 and the second dust-proof plate 54 are relatively disposed at the same end of the first back cover plate 52 and are away from two sides of the first back cover plate, the second back cover plate 55 is disposed at one side of the first dust-proof plate 53 and the second dust-proof plate 54 away from the first back cover plate 52 and is mutually matched with the first back cover plate 52, the first dust-proof plate 53 and the second dust-proof plate 54 to form the second installation space, the upper ends of the first dust-proof plate 53 and the second dust-proof plate 54 are mutually flush with the upper end of the electric cabinet body 51, and a notch is formed after the first dust-proof plate 53 and the second dust-proof plate 54 are enclosed to form the lifting opening 31.
Specifically, an auxiliary chute 56 is disposed on the back of the first back cover plate 52, an auxiliary sliding member is slidably disposed at the auxiliary chute 56, and the lifting cylinder is connected with the auxiliary sliding member. In this embodiment, an auxiliary chute 56 is disposed on the back of the first back cover plate 52, and an auxiliary sliding member such as a slider is slidably disposed on the auxiliary chute 56, so that the outer sidewall of the lifting cylinder is connected with the auxiliary sliding member in the second installation space, thereby improving the stability of the lifting cylinder in lifting
The machine frame 1 is provided with a base 32, the base 32 comprises a weight part 33 and a telescopic arm 34, the weight part 33 is arranged at one end of the machine frame 1 far away from the manipulator 2, a containing cavity 35 for containing the telescopic arm 34 is arranged on the weight part 33, the telescopic arm 34 is arranged in the weight part 33 in a telescopic manner through the containing cavity 35, the length of the telescopic arm 34 protruding out of the weight part 33 is larger than the single-movement distance of the manipulator 2, the weight part 33 is used for stably limiting the machine frame 1 on an external bearing surface, and the telescopic arm 34 is used for reducing the gravity center of the manipulator 2 when transferring external objects to prevent toppling.
Specifically, a sensor is disposed at one end of the telescopic arm 34 away from the frame 1, the sensor is electrically connected with the console 7, and the console 7 is configured to receive the inclination signal of the telescopic arm 34 detected by the sensor and control the manipulator 2 to move or stop moving in the opposite direction of the transfer direction. The sensor is able to detect the tilting of the telescopic arm 34 and transmit a signal in real time to the console 7. The control console 7 adjusts the movement of the manipulator 2 according to the inclination signal, prevents accidental overturning, and enhances safety.
The vacuum generating tube 6 is provided with an inner cavity, the vacuum generating tube 6 is provided with an air inlet tube 36, an air outlet tube 37 and a vacuum tube 38 which are mutually communicated, the vacuum tube 38 is communicated with the inner cavity, the air inlet tube 36 is communicated with an external vacuum pump, the sucker 5 is provided with a connector 39, the sucker 5 is arranged on the hollow box 4 through the connector 39, one end of the connector 39 is detachably arranged on the hollow box 4, the other end of the connector 39 is provided with an inserting column 40 and a friction convex ring 41 arranged on the outer side of the inserting column 40, the friction convex ring 41 is arranged around the central axis of the inserting column 40, and the sucker 5 is sleeved on the inserting column 40.
The connector 39 is provided with a content hole 42 and a sphere movably accommodated in the content hole 42, the content hole 42 is used for communicating the sucker 5 and the inner cavity, the sphere is used for blocking or opening the content hole 42, the number of the sucker 5 is multiple, and the suckers 5 are arranged in a rectangular array along the length direction of the hollow box 4 and the width direction of the hollow box 4.
A stacking cooperation method comprises the following steps of S1, inputting stacking speed, stacking height and stacking layer number through a control console 7, S2, controlling a driving piece 9 to drive a lifting platform 10 to move so as to drive a manipulator 2 to be close to an external object by the control console 7, S3, driving a sucker 5 and the external object to generate negative pressure by an external vacuum pump, and picking up the external object by a pickup device 3, S4, controlling the driving piece 9 to drive the lifting platform 10 to move so as to drive the manipulator 2 to move by the control console 7, driving the external object by the aid of the pickup device 3 by the moving manipulator 2, and placing the external object on an external material platform.
Specifically, the step S3 includes that the external vacuum pump is inflated through the air inlet pipe 36, air is discharged from the air outlet pipe 37 through a Venturi effect, the air in the inner cavity is driven by the air in the air inlet pipe 36 to be discharged from the air outlet pipe 37 through the Venturi effect, the air pressure forces the external air to flow into the inner cavity through the sucking disc 5 to be adsorbed on the external object, the spherical body in the content hole 42 is sucked to the end of the content hole 42 close to the hollow box 4, the inner diameter of the end of the content hole 42 close to the hollow box 4 is larger than the diameter of the spherical body, the air is not influenced to enter the inner cavity, the inner diameter of the end of the content hole 42 close to the sucking disc 5 is smaller than the diameter of the spherical body, the air is stopped from being inflated by the S, the external vacuum pump drops to the end of the content hole 42 close to the sucking disc 5, the spherical body blocks the content hole 42, and the inside of the sucking disc 5 is in a vacuum state, so that the sucking disc 5 adsorbs the external object.
Specifically, the step S4 includes the steps of picking up the external object by the manipulator 2 via the pickup 3, S42, adjusting the height of the lifting platform 10 through the touch screen 27 to enable the manipulator 2 to reach a proper stacking position, S43, monitoring the inclination of the robot in real time by the sensor on the telescopic arm 34, if the inclination or unstable signal is detected, transmitting information to the console 7 by the sensor, adjusting the movement path and speed of the manipulator 2 by the console 7 according to the sensor signal, and S44, releasing the external object by the pickup 3 to place the external object on the external material platform for stacking.
In this embodiment, a main power switch on a robot base 32 is turned on to start power supply of the whole system, a touch screen 27 on the base 32 starts a control console 7, various system parameters and states including the position of a manipulator 2, the height of a lifting platform 10, the state of a counterweight part 33 and the like are checked through an interface of the control console 7, the height of the lifting platform 10 is adjusted through the touch screen 27 according to the height of the materials, the manipulator 2 reaches a proper grabbing position, a working range of the robot is set through the control console 7 to avoid the robot from entering a dangerous area by mistake in the stacking process, the manipulator 2 moves to the position where the materials are located through coordinated movement of joints according to a preset path, the multi-joint design of the manipulator 2 provides high-degree-of-freedom movement to ensure that the materials can be accurately positioned to the position of the materials, after the manipulator 2 grabs the materials according to the set path, the vacuum system is stopped, negative pressure is released, the manipulator 2 returns to the initial position to prepare for the next grabbing task after the materials are confirmed to be stably placed, a sensor on a telescopic arm 34 detects the inclination or non-stable state of the manipulator, and the control console 7 can stably control the motion of the manipulator according to the stable motion of the sensor 7, and the control system is controlled to stably move the sensor 7 or stably move the sensor to the path, so that the motion of the sensor is ensured is stable, and the motion of the system is stable, or the speed is stable.
The present invention is not limited in any way by the above-described preferred embodiments, but is not limited to the above-described preferred embodiments, and any person skilled in the art will appreciate that the present invention can be embodied in the form of a program for carrying out the method of the present invention, while the above disclosure is directed to equivalent embodiments capable of being modified or altered in some ways, it is apparent that any modifications, equivalent variations and alterations made to the above embodiments according to the technical principles of the present invention fall within the scope of the present invention.
Claims (10)
1. A suction type stacking cooperative robot device comprises a frame (1), a manipulator (2) arranged on the frame (1) and a pickup (3) arranged at the free end of the manipulator (2), and is characterized in that the pickup (3) comprises a hollow box (4), a sucker (5) arranged on the hollow box (4) and a vacuum generating tube (6) arranged in the hollow box (4), the sucker (5) is communicated with the vacuum generating tube (6), the vacuum generating tube (6) is connected with an external vacuum pump, the external vacuum pump drives the sucker (5) to generate negative pressure with external objects, the external vacuum pump drives the sucker (5) to pick up the external objects through the vacuum generating tube (6), a control console (7) and a lifting assembly (8) are arranged on the frame (1), the lifting assembly (8) comprises a driving piece (9) arranged on the frame (1) and a lifting table (10) which is electrically connected with the driving piece (9), the manipulator (2) is arranged on the lifting table (10), the control console (7) controls the driving piece (9) to drive the lifting table (2) to move, the moving manipulator (2) drives the external object through the pick-up device (3).
2. The suction type stacking cooperative robot device according to claim 1, wherein the manipulator (2) comprises a first arm (11), a second arm (12), a first joint (13), a second joint (14), a third joint (15), a fourth joint (16), a fifth joint (17), a sixth joint (18) and a seventh joint (19), the first joint (13) is rotatably arranged on the lifting table (10), the second joint (14) and the third joint (15) are respectively arranged at two ends of the first arm (11), the second joint (14) is rotatably connected with the first joint (13), the fourth joint (16) and the fifth joint (17) are respectively arranged at two ends of the second arm (12), the fourth joint (16) is rotatably connected with the third joint (15), the fifth joint (17) is rotatably connected with the sixth joint (18), the sixth joint (18) is rotatably connected with the seventh joint (19), and the seventh joint (19) is rotatably connected with the pick-up device (3).
3. The suction type stacking cooperative robot device as claimed in claim 2, wherein the first joint (13) comprises a joint module (20) and a shell (21) covered outside the joint module (20), the joint module (20) comprises a motor (22) connected with the shell (21) and a harmonic speed reducer (23), a rotating shaft of the harmonic speed reducer (23) is connected with an output shaft of the motor (22), the harmonic speed reducer (23) is used for reducing the rotating speed of the motor (22) and increasing the torque of the motor (22), and the structures of the second joint (14), the third joint (15), the fourth joint (16), the fifth joint (17), the sixth joint (18) and the seventh joint (19) are identical to those of the first joint (13).
4. The suction type stacking cooperative robot device as claimed in claim 1, wherein the control console (7) comprises a display (24), the display (24) is detachably mounted with the frame (1) through a fastener, a mounting hole for mounting the display (24) is formed in the frame (1), a stop block (25) extending into the mounting hole is formed in the frame (1), a through hole is formed in the stop block (25), the display (24) is provided with a control module (26) and a touch screen (27) arranged on the control module (26), the control module (26) is accommodated in the mounting hole and is pressed on the stop block (25), the touch screen (27) is pressed on the frame (1) and covers the mounting hole, and the control module (26) is connected with the stop block (25) through bolts.
5. The suction type stacking cooperative robot device as claimed in claim 4, wherein the touch screen (27) comprises a display panel (28) and explosion-proof panels (29) covering the front side and the rear side of the display screen, a plurality of groups of through holes are formed in the control module (26) and the display panel (28), a plurality of groups of limiting holes are formed in one end, close to the display panel (28), of the explosion-proof panels (29), external bolts sequentially penetrate through the control module (26), the display panel (28) and the explosion-proof panels (29), and the control module (26) and the explosion-proof panels (29) are matched to clamp the display panel (28).
6. The suction type stacking cooperative robot device according to claim 1, wherein the lifting table (10) is provided with an inner cavity (30) for accommodating the driving piece (9), the upper end of the frame (1) is provided with a lifting opening (31), the lifting table (10) is telescopically arranged in the frame (1) through the lifting opening (31), the upper end of the lifting table (10) is flush with the upper end of the frame (1) to form a mounting position for mounting the manipulator (2), the driving piece (9) drives the lifting table (10) to move in a first direction through the lifting opening (31), and the lower end of the lifted lifting table (10) is positioned at the stretching opening to cover the protection driving piece (9).
7. The suction type stacking cooperative robot device as claimed in claim 1, wherein the frame (1) is provided with a base (32), the base (32) comprises a weight part (33) and a telescopic arm (34), the weight part (33) is arranged at one end of the frame (1) far away from the manipulator (2), the weight part (33) is provided with a containing cavity (35) for containing the telescopic arm (34), the telescopic arm (34) is arranged in the weight part (33) in a telescopic manner through the containing cavity (35), the length of the telescopic arm (34) protruding out of the weight part (33) is larger than the single moving distance of the manipulator (2), the weight part (33) is used for stably limiting the frame (1) on an external bearing surface, and the telescopic arm (34) is used for reducing the gravity center of the manipulator (2) when transferring external objects to prevent toppling.
8. The suction type stacking cooperative robot device as claimed in claim 1, wherein the hollow box (4) is provided with an inner cavity, the vacuum generating tube (6) is provided with an air inlet tube (36), an air outlet tube (37) and a vacuum tube (38) which are mutually communicated, the vacuum tube (38) is communicated with the inner cavity, the air inlet tube (36) is communicated with an external vacuum pump, the sucker (5) is provided with a connector (39), the sucker (5) is arranged on the hollow box (4) through the connector (39), one end of the connector (39) is detachably arranged on the hollow box (4), the other end of the connector (39) is provided with a plug post (40) and a friction convex ring (41) arranged on the outer side of the plug post (40), the friction convex ring (41) is arranged around the central axis of the plug post (40), and the sucker (5) is sleeved on the plug post (40).
9. The suction type stacking cooperative robot device as claimed in claim 8, wherein the connector (39) is provided with a content hole (42) and a sphere movably accommodated in the content hole (42), the content hole (42) is used for communicating the sucker (5) and the inner cavity, the sphere is used for blocking or opening the content hole (42), the sucker (5) is multiple, and the suckers (5) are arranged in a rectangular array along the length direction of the hollow box (4) and the width direction of the hollow box (4).
10. The stacking cooperation method is characterized by comprising the following steps of:
s1, inputting stacking speed, stacking height and stacking layer number through a control console (7);
S2, a control console (7) controls a driving piece (9) to drive a lifting table (10) to move so as to drive a manipulator (2) to be close to an external object;
S3, an external vacuum pump drives the suction disc (5) to generate negative pressure with the external object, and the pickup device (3) picks up the external object;
S4, the control console (7) controls the driving piece (9) to drive the lifting table (10) to move so as to drive the manipulator (2) to move, the moving manipulator (2) drives the external object through the pick-up device (3), and the external object is placed on the external object table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411694365.9A CN119349238A (en) | 2024-11-25 | 2024-11-25 | A suction type palletizing collaborative robot device and a palletizing collaborative method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411694365.9A CN119349238A (en) | 2024-11-25 | 2024-11-25 | A suction type palletizing collaborative robot device and a palletizing collaborative method |
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| CN119349238A true CN119349238A (en) | 2025-01-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120793534A (en) * | 2025-09-11 | 2025-10-17 | 江苏扬先科技有限公司 | Transport mechanical structure is used in workshop production |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120793534A (en) * | 2025-09-11 | 2025-10-17 | 江苏扬先科技有限公司 | Transport mechanical structure is used in workshop production |
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