CN216067459U

CN216067459U - Pile up neatly machine people based on sensor

Info

Publication number: CN216067459U
Application number: CN202121803226.7U
Authority: CN
Inventors: 晏海洋
Original assignee: Zhengzhou Agile Logistics Co ltd
Current assignee: Zhengzhou Agile Logistics Co ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2022-03-18
Anticipated expiration: 2031-08-04

Abstract

The utility model relates to a pile up neatly machine people's technical field, specifically a pile up neatly machine people based on sensor, including the dish that has a down dip, the dish that has a down dip is installed in ground, it has the dish that has an upward dip to have a set up the up dip to have a set up the up dip up end fixedly connected with arm body, the dish that has a down dip and the dish that has an upward dip all at least two articulated joints of fixedly connected with, the articulated joint rotates and is connected with the articulated shaft, the articulated shaft runs through all articulated joints, the axis of articulated shaft is through the centre of a circle of dish and the dish that has a down dip, install force sensor between the dish that has a down dip and the dish that has a down dip, the first end of force sensor is installed in the dish that has a down dip, the second end is installed in the dish that has a dip, force sensor is provided with two sets ofly, arrange respectively in the articulated shaft both sides, the line at two sets of force sensor centers is through the centre of a circle of dish and the dish that has a dip and is perpendicular to the axis of articulated shaft. This application reduces the harm that the arm body brought owing to transship through the real-time feedback of force sensor.

Description

Pile up neatly machine people based on sensor

Technical Field

The application relates to the technical field of palletizing robots, in particular to a palletizing robot based on a sensor.

Background

In the commodity circulation trade, the goods that transport come need the pile up neatly machine people to stack after carrying warehouse or other placement points through conveyer belt or AGV transport vechicle etc. take off the goods from conveyer belt or AGV transport vechicle, stack on the layer board to in storage. When the palletizing robot clamps and takes the goods, the goods are overweight, so that the palletizing robot is possibly overloaded, and a driving motor is burnt out.

Disclosure of Invention

To the not enough that prior art exists, the purpose of this application is to provide a pile up neatly machine people based on sensor that can provide overload protection.

The above application purpose of the present application is achieved by the following technical solutions:

a robot palletizer based on a sensor, comprising:

the declination tray is arranged on the ground;

the upper inclined disc is hinged to the upper end surface of the lower inclined disc;

the mechanical arm body is fixedly connected to the upper end face of the upper inclined disc;

the lower tilting tray and the upper tilting tray are at least fixedly connected with two hinged plates;

the hinge shaft penetrates through all the hinge plates and is in rotary connection with the hinge plates, and the axis of the hinge shaft passes through the circle centers of the downward tilting disk and the upward tilting disk;

the first end of the force sensor is arranged on the lower inclined disc, and the second end of the force sensor is arranged on the upper inclined disc;

the force sensors are arranged in two groups and are respectively arranged on two sides of the hinge shaft, and the connecting line of the centers of the two groups of force sensors passes through the circle centers of the downward tilting disk and the upward tilting disk and is perpendicular to the axis of the hinge shaft.

Optionally, at least two force sensors are arranged in each group, and the force sensors in each group are uniformly arranged along the axis direction of the hinge shaft.

Optionally, the vehicle further comprises a chassis, the chassis is mounted on the ground, and the declination plate is rotatably connected to the chassis.

Optionally, the downtilt tray includes:

a gear plate rotatably mounted to the chassis;

the connecting disc is detachably connected to the gear disc and is hinged with the upper inclined disc;

the gear plate is engaged with a driving gear, the chassis is fixedly connected with a driving motor, and the driving gear is fixedly connected with the output end of the driving motor.

Optionally, the driving motor is a stepping motor.

Optionally, a track is arranged below the chassis, the track is connected with a first slider in a sliding manner, the first slider is clamped on the track, and one end, far away from the track, of the first slider is fixedly connected to the bottom surface of the chassis.

Optionally, a screw rod parallel to the rail is arranged on one side of the rail, a second sliding block is connected to the screw rod in a threaded manner, the second sliding block is fixedly connected to the bottom surface of the chassis, and one end of the screw rod is connected with a driving motor.

Optionally, the force sensor is connected with an alarm device.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the damage of the mechanical arm body caused by overload is reduced through the real-time feedback of the force sensor;

2. the moving range of the mechanical arm body is increased through the rail, so that goods can be stacked in a larger space by the mechanical arm body.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;

FIG. 2 is a schematic structural view of a hinge block of an embodiment of the present application;

fig. 3 is a schematic structural diagram of a chassis according to an embodiment of the present application.

Reference numerals: 1. a mechanical arm body;

21. a downtilt pan; 211. a gear plate; 2111. a driving gear; 2112. a drive motor; 212. a connecting disc; 22. an upward tilting disk; 231. a hinge plate; 232. hinging a shaft; 24. a force sensor; 25. a chassis; 251. a track; 252. a first slider; 253. a screw rod; 254. and a second slider.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

In order to more clearly understand the technical solution shown in the embodiment of the present application, first, the working principle of the existing palletizing robot is described.

A common palletizing robot is a multi-degree-of-freedom mechanical arm, and goods transported by a conveying belt or an AGV (automatic guided vehicle) are taken down and neatly palletized. The joints of the robot palletizer are driven by motors, so that the robot can grab and transfer goods.

From the perspective of a user, the palletizing robot is fixedly connected to the ground through bolts or other modes, usually, the lower end face of the robot is connected to the ground only, when a mechanical claw at the other end grabs goods, an arm-shaped structure of the robot forms an approximate lever mechanism, when the mechanical claw extends out, the distance from the base is far, the torque applied to the ground connection part and a part of joints is large, and when the torque is too large, part of motors can be overloaded or unstable in connection with the ground connection part, and the palletizing precision is affected.

Please refer to fig. 1 and 2, a palletizing robot based on sensors disclosed in an embodiment of the present application includes a lower tilting tray 21, the lower tilting tray 21 is installed on the ground, an upper tilting tray 22 is hinged to an upper end surface of the lower tilting tray 21, a robot arm body 1 is fixedly connected to an upper end surface of the upper tilting tray 22, at least two hinge plates 231 are fixedly connected to the lower tilting tray 21 and the upper tilting tray 22, the hinge plates 231 are rotatably connected with hinge shafts 232, the hinge shafts 232 penetrate through all the hinge plates 231, an axis of the hinge shaft 232 passes through a circle center of the lower tilting tray 21 and the circle center of the upper tilting tray 22, force sensors 24 are installed between the upper tilting tray 22 and the lower tilting tray 21, a first end of each force sensor 24 is installed on the lower tilting tray 21, a second end of each force sensor 24 is installed on the upper tilting tray 22, two groups of the force sensors 24 are respectively arranged on two sides of the hinge shafts 232, and a connection line of centers of the two groups of the force sensors 24 passes through the circle centers of the lower tilting tray 21 and the circle center of the upper tilting tray 22 and is perpendicular to the axis of the hinge shafts 232.

Specifically, the lower tilting tray 21 and the upper tilting tray 22 are hinged to the hinge shaft 232 through the hinge plate 231, the force sensors 24 are distributed on both sides of the hinge shaft 232, and when the upper tilting tray 22 rotates through the hinge, the force sensors 24 are supported in the direction of the rotation of the upper tilting tray 22.

Like this, the torque that arm body 1 bore transmits to tilt up dish 22, and tilt up dish 22 atress rotates, forms extrusion or tensile to force sensor 24, can judge the torque that arm body 1 bore in real time through force sensor 24, reduces the possibility of arm body 1 operation under the overload condition to reduce the damage that arm body 1 brought because of overloading.

Furthermore, at least two force sensors 24 are arranged in each group, and the force sensors 24 in each group are uniformly arranged along the axial direction of the hinge shaft 232.

It should be understood that the force sensors 24 are supported in the rotation direction of the tilt tray 22, two force sensors 24 are arranged in each direction, and the tilt tray 22 is supported by 4 points, so that the relative positions of the tilt tray 21 and the tilt tray 22 are more stable when the robot arm body 1 operates, and the influence on the stacking precision of the robot arm body 1 is reduced.

In some feasible manners, the robot body 1 is a commonly-used multi-degree-of-freedom robot, the robot body 1 is bolted to the upper tilting tray 22, the upper tilting tray 22 and the lower tilting tray 21 are in the same disc shape, two hinge plates 231 are fixedly connected to the upper tilting tray 22, one end of each hinge plate 231 is in a semi-circular rectangular plate shape, the two hinge plates 231 on the upper tilting tray 22 are arranged at the position, close to the side face, of the lower end face of the upper tilting tray 22 in a central symmetry manner, the lower tilting tray 21 is connected with at least two hinge plates 231 in the same manner, all the hinge plates 231 are in the same straight line, hinge shafts 232 penetrate through all the hinge plates 231 and are in rotating connection with the hinge plates, the force sensor 24 is selected to be an S-shaped force sensor, and two ends of the force sensor 24 are connected to the upper tilting tray 22 and the lower tilting tray 21 through bolts.

Further description is provided below with respect to specific usage scenarios.

During the use, when the arm body 1 got the goods, the tilting tray 22 atress rotated, formed compression or tensile to force sensor 24, and force sensor 24 feedback atress condition, when the arm body 1 is elongated, tilting tray 22 atress increase, after reaching the threshold value of settlement, feedbacks through force sensor 24 to in order to protect arm body 1.

Referring to fig. 1 and 3, the sensor-based palletizing robot according to an embodiment of the present application further includes a chassis 25, the chassis 25 is installed on the ground, and the lower inclined plate 21 is rotatably connected to the chassis 25.

It should be understood that the force sensor 24 generates a feedback signal by compressing or stretching due to the rotation of the tilt-up disk 22, and when the axis of the hinge shaft 232 is always perpendicular to the stretching direction of the robot body 1, the force sensor 24 can be made to bear the force perpendicular to the direction of the force sensor 24, so that the force sensor 24 can perform monitoring feedback more accurately, and the tilt-down disk 21 is rotatably connected to the chassis 25, so that the tilt-down disk 21 rotates along with the robot body 1, and the axis of the hinge shaft 232 is always perpendicular to the stretching direction of the robot body 1.

Further, the declination tray 21 comprises a gear tray 211, the gear tray 211 is rotatably mounted on the chassis 25, the gear tray 211 is detachably connected with a connecting tray 212, the connecting tray 212 is hinged with the upper declination tray 22, the gear tray 211 is engaged with a driving gear 2111, the chassis 25 is fixedly connected with a driving motor 2112, and the driving gear 2111 is fixedly connected with an output end of the driving motor 2112.

It should be understood that the driving gear 2111 and the gear plate 211 are driven by the driving motor 2112 to rotate the connecting plate 212, so that the tilt-up plate 22 and the robot arm body 1 rotate, and the axis of the hinge shaft 232 is always perpendicular to the extending and retracting direction of the robot arm body 1.

Further, the driving motor 2112 is a stepping motor.

In some feasible manners, the chassis 25 includes two staggered hollow cylindrical housings and a rectangular bottom plate, the housings are bolted to the bottom plate, the gear plate 211 is rotatably mounted in each of the two staggered hollow cylinders of the housings on the driving gear 2111, the upper end surface of the housing is in the shape of two staggered rings, a flat bearing is mounted on the upper end surface of the gear plate 211 in an attaching manner, one surface of the flat bearing, which is far away from the gear plate 211, is attached to the lower end surface of the ring, a flat bearing is also mounted on the upper end surface of the ring in an attaching manner, the connecting plate 212 is mounted on the upper end surface of the flat bearing, the gear plate 211 and the connecting plate 212 are fixedly connected through bolts, the driving motor 2112 is bolted to the upper end surface of the ring, and the output end of the driving motor 2112 is fixedly connected to the driving gear 2111.

As a specific embodiment of the sensor-based palletizing robot provided by the application, a rail 251 is disposed under the chassis 25, the rail 251 is slidably connected with a first slider 252, the first slider 252 is clamped on the rail 251, and one end of the first slider 252, which is far away from the rail 251, is fixedly connected to the bottom surface of the chassis 25.

It should be understood that when the mechanical arm body 1 is stacked, the maximum extending arm length limits the stacking range of the mechanical arm body 1, and the stacking range of the mechanical arm body 1 is increased by sliding on the rail 251, so that the mechanical arm body 1 can work more conveniently.

Furthermore, a screw rod 253 parallel to the rail 251 is arranged on one side of the rail 251, a second sliding block 254 is connected to the screw rod 253 in a threaded manner, the second sliding block 254 is fixedly connected to the bottom surface of the chassis 25, and a motor is connected to one end of the screw rod 253.

It should be understood that the second slider 254 is driven by a motor and lead screw mechanism, so that the movement of the robot body 1 on the rail 251 is more conveniently controlled.

In some feasible manners, the first slider 252 is rectangular, a sliding groove is formed in the first slider 252, the cross section of the sliding groove is a sector with an included angle larger than 180 degrees, the sliding groove penetrates through the first slider 252 along the opening direction of the sector, the upper end of each rail 251 is a cylindrical rod with the same diameter as the sliding groove, the cylindrical rods are fixedly connected to a rectangular bar parallel to the cylindrical rods, the rectangular bar is fixedly connected to the cylindrical rods, the two first sliders 252 are arranged in parallel and fixedly installed on two sides of the bottom surface of the chassis 25, the screw rods 253 are rotatably installed between the two rails 251, the screw rods 253 are in threaded connection with the second slider 254, the second slider 254 is fixedly connected to the bottom surface of the chassis 25, a motor is installed at one end of the screw rods 253, and the motor drives the screw rods 253 to rotate.

As a specific embodiment of the sensor-based palletizing robot provided by the application, the force sensor 24 is connected with an alarm device.

It should be understood that an alarm device is connected to the force sensor 24, and when the robot arm body 1 is overloaded, an alarm is given by the alarm device so as to be handled by a worker.

In some feasible modes, the alarm device can be selected from a buzzer and an alarm lamp.

The embodiments of the present invention are preferred embodiments of the present application, and the scope of protection of the present application is not limited by the embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A robot palletizer based on a sensor, comprising:

a declination disc (21) which is arranged on the ground;

the upper inclined disc (22) is hinged to the upper end surface of the lower inclined disc (21);

the mechanical arm body (1) is fixedly connected to the upper end face of the upper inclined disc (22);

the hinged plate (231), the downward inclined plate (21) and the upward inclined plate (22) are at least fixedly connected with two hinged plates (231);

the hinge shaft (232) penetrates through all the hinge plates (231) and is rotatably connected with the hinge plates (231), and the axis of the hinge shaft (232) passes through the circle centers of the downward tilting tray (21) and the upward tilting tray (22);

a force sensor (24) having a first end mounted to the lower tilt plate (21) and a second end mounted to the upper tilt plate (22);

the force sensors (24) are arranged in two groups and are respectively arranged on two sides of the hinge shaft (232), and a connecting line of the centers of the two groups of force sensors (24) passes through the circle centers of the lower inclined disc (21) and the upper inclined disc (22) and is perpendicular to the axis of the hinge shaft (232).

2. A sensor-based palletizing robot as claimed in claim 1, characterized in that: at least two force sensors (24) are arranged in each group, and the force sensors (24) in each group are uniformly distributed along the axial direction of the hinge shaft (232).

3. A sensor-based palletizing robot as claimed in claim 1, characterized in that: the novel multifunctional floor is characterized by further comprising a chassis (25), wherein the chassis (25) is installed on the ground, and the declination plate (21) is rotatably connected to the chassis (25).

4. A sensor-based palletizing robot as claimed in claim 3, characterized in that: the downtilt tray (21) includes:

a gear plate (211) rotatably mounted to the chassis (25);

the connecting disc (212) is detachably connected to the gear disc (211) and hinged with the tilting disc (22);

the gear plate (211) is meshed with a driving gear (2111), the chassis (25) is fixedly connected with a driving motor (2112), and the driving gear (2111) is fixedly connected with the output end of the driving motor (2112).

5. A sensor-based palletizing robot as claimed in claim 4, characterized in that: the driving motor (2112) is a stepping motor.

6. A sensor-based palletizing robot as claimed in claim 3, characterized in that: a track (251) is arranged below the chassis (25), a first sliding block (252) is connected to the track (251) in a sliding mode, the first sliding block (252) is clamped to the track (251), and one end, far away from the track (251), of the first sliding block (252) is fixedly connected to the bottom surface of the chassis (25).

7. A sensor-based palletizing robot as claimed in claim 6, characterized in that: a screw rod (253) parallel to the rail (251) is arranged on one side of the rail (251), a second sliding block (254) is connected to the screw rod (253) in a threaded mode, the second sliding block (254) is fixedly connected to the bottom face of the chassis (25), and one end of the screw rod (253) is connected with a driving motor.

8. A sensor-based palletizing robot as claimed in any one of claims 1 to 7, characterized in that: the force sensor (24) is connected with an alarm device.