CN216265990U - Parallel multi-axis robot and container palletizing robot with same - Google Patents
Parallel multi-axis robot and container palletizing robot with same Download PDFInfo
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- CN216265990U CN216265990U CN202122692019.5U CN202122692019U CN216265990U CN 216265990 U CN216265990 U CN 216265990U CN 202122692019 U CN202122692019 U CN 202122692019U CN 216265990 U CN216265990 U CN 216265990U
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Abstract
The utility model provides a parallel multi-axis robot and a container stacking robot with the same, wherein the container stacking robot comprises a unstacking mechanism, a movable base, two four-axis robots and an integrated claw, the two four-axis robots and the integrated claw form the parallel multi-axis robot, the unstacking mechanism can separate materials of a material pile layer by layer, a Michelson wheel is arranged below the movable base, the omnibearing movement between the stacking mechanism and a container can be realized during stacking of the parallel multi-axis robot, and the integrated claw is used for clamping the materials separated layer by the unstacking mechanism and carrying the materials into the container for stacking. The parallel multi-axis robot overcomes the defects of stable arrangement and easy material falling of the traditional multi-axis robot during high-speed movement, is more flexible in space cooperation when being applied to stacking and carrying, and can meet the requirements of stacking containers under different working condition environments.
Description
Technical Field
The utility model relates to a movable stacking robot, in particular to a parallel multi-axis robot and a container stacking robot with the same.
Background
Traditional pile up neatly machine people is used for fixing by the production line mostly, to the assembly or the transport operation that the object goes on the production line, and the material is stacked and the transport route is relatively fixed. However, when the palletizing robot is applied to open working conditions such as railway stations, wharfs and the like, the development of intelligent logistics of container palletizing is restricted by the problems of large occupied special machine space, inflexible operation, limited application scene and the like, and the intelligent carrying and destacking operation needs to adopt the movable palletizing robot, and the movable palletizing robot can plan the path according to the positions of cargo carrying boxes such as carriages, containers and the like so as to automatically finish the cargo loading and unloading work. The existing mobile palletizing robot mostly uses preset ground rails or tracks to palletize short-distance open scenes, actions such as enough in-situ transverse movement and the like are difficult to realize in a narrow space in a container, and the change of the gravity center of the palletizing robot in carrying procedures can cause unstable shaking and even material falling of a multi-axis robot clamping jaw, so that the container palletizing is difficult.
SUMMERY OF THE UTILITY MODEL
The present invention aims to solve the above technical problem at least to some extent. Therefore, the utility model provides a parallel multi-axis robot and a container palletizing robot with the same, so as to meet the operation requirement of all-directional movement in a narrow space and improve the clamping stability of the palletizing robot during movement.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a parallel multi-axis robot is structurally characterized in that:
the two four-axis robots with the same structural form are respectively arranged at the upper end of the supporting bottom plate through robot bases, and the mounting positions on the supporting bottom plate are symmetrically arranged;
the fuselage outside of four-axis robot sets up two sets of parallelogram mechanisms from the first axle to between the fourth axle, and the fourth axis of rotation that corresponds to wrist joint can remain throughout perpendicular with ground through two sets of parallelogram mechanisms, installs the hand claw fixed plate at four-axis robot's end, installs the integrated hand claw with adjustable hand claw length between two hand claw fixed plates of a pair of four-axis robot, constitutes parallelly connected multiaxis robot's overall structure, integrated hand claw passes through wrist joint remains the level throughout.
The parallel multi-axis robot has the structural characteristics that:
in the two sets of parallelogram mechanisms:
the first parallelogram structure is composed of a base fixing plate, a first supporting rod, a first connecting rod and a middle connecting plate, two rod ends of the first supporting rod of the four-axis robot are hinged between a second rotating shaft and a third rotating shaft, the base fixing plate is hinged with the second rotating shaft of the four-axis robot through a base fixing plate rotating pair on the outer side of the first supporting rod, the middle connecting plate is hinged with the third rotating shaft of the four-axis robot through a connecting plate rotating pair on the outer side of the first supporting rod, the first connecting rod is externally arranged and is parallel to the first supporting rod, and the two rod ends are hinged between the middle connecting plate and the base fixing plate;
the second parallelogram mechanism is composed of a middle connecting plate, a second supporting rod, a second connecting rod and the paw fixing plate, two rod ends of the second supporting rod of the four-axis robot are hinged between a third rotating shaft and a fourth rotating shaft, the paw fixing plate is hinged with the fourth rotating shaft of the four-axis robot through a paw fixing plate rotating pair on the outer side of the second supporting rod, the second connecting rod is externally arranged and is parallel to the second supporting rod, and the two rod ends are hinged between the middle connecting plate and the paw fixing plate.
In the integrated hand claw:
the pair of adjustable horizontal shovels are symmetrically arranged and are respectively connected with the lower plate end of the corresponding paw fixing plate through the upper plate end of the mounting plate at the back part, the shovels are connected, the connected parts are attracted by the magnetic force of the electromagnet through the magnetic attraction locking mechanism to realize interlocking, the front sides of the shovels are opposite to the materials, and the vertical side baffles are arranged at the side edges of the shovels;
the adjustable horizontal shovel is characterized in that a material returning mechanism is arranged on the rear side of the adjustable horizontal shovel, the surface of a material returning plate of the material returning mechanism is opposite to the material, the material returning mechanism is driven by a material returning cylinder and can push the material forwards or retract backwards, and the material returning mechanism is used as a rear baffle on the rear side of the shovel plate during retraction.
The adjustable horizontal shovel is composed of a fixed shovel and a movable shovel, the fixed shovel and the shovel plate of the movable shovel are equal in width, opposite plate ends of the shovel plates of the fixed shovel of the pair of adjustable horizontal shovels are connected and attracted by the magnetic attraction locking mechanism, and the other ends of the fixed shovel and the shovel plate of the movable shovel are overlapped one above the other;
the shovel plate of the movable shovel is provided with a sliding pin at the plate end overlapped with the fixed shovel, the fixed shovel is provided with a key groove arranged along the plate length direction corresponding to the sliding pin, the sliding pin is matched in the key groove in a sliding mode along the plate length direction, the movable shovel can be pulled out or retracted inwards along the plate length direction relative to the fixed shovel through the sliding pin, and the adjustment of the whole length of the adjustable horizontal shovel is achieved.
The material returning device is characterized in that the mounting plate is mounted on the back of a fixed shovel of the adjustable horizontal shovel, a material returning cylinder of the material returning mechanism is mounted at the bottom of the mounting plate, a cylinder rod movably penetrates through a rear side baffle of the fixed shovel and is connected with a material returning plate located on the front side of the rear side baffle, and when the cylinder rod of the material returning cylinder retracts, the material returning plate is close to the rear side baffle.
The utility model also provides a container stacking robot, which comprises the parallel multi-axis robot and further comprises:
the movable trolley is used for the omnibearing movement of the robot between the unstacking mechanism and the container, a supporting base plate of the parallel multi-axis robot is taken as a base plate, four McHelmholtm wheels driven by independent servo speed reduction motors are arranged at four corners of the bottom of the supporting base plate, and a visual positioning device is arranged at the top end of the supporting base plate and used for acquiring the walking information of the movable trolley;
the unstacking mechanism comprises a vertical lifting mechanism, a shaping mechanism, a horizontal clamping mechanism and a sensing detection device, which are arranged on a positioning base; the material to be stacked is stacked on the positioning base layer by layer, the shaping mechanism and the horizontal clamping mechanism are arranged on a lifting mechanical arm of the vertical lifting mechanism and can lift up and down along with the lifting mechanical arm, the shaping mechanism and the horizontal clamping mechanism serve as a unstacking working position when the material rises to the height position of the top layer, the shaping mechanism at the unstacking working position can be driven by a shaping cylinder to enable a shaping plate to be in contact with the outer side wall of the top layer material, and is used for providing a reference surface for the horizontal clamping mechanism; the sensing detection device comprises a pressure sensor arranged on the clamping plate and used for detecting a signal of clamping completion of the horizontal clamping mechanism, and a photoelectric distance measuring sensor arranged on the lifting mechanical arm and used for detecting a position signal when the lifting mechanical arm rises to the height of the top layer material.
This container pile up neatly machine people's structural feature also lies in:
the visual positioning device comprises:
the binocular stereo camera is used for detecting the walking path of the movable trolley;
the short-range laser radar and the IMU are used for acquiring the walking parameters of the movable trolley;
the ultrasonic obstacle avoidance sensor and the collision sensor are used for detecting obstacle information of the movable trolley in the advancing process.
The positioning base is provided with a pair of material pile limiting blocks which are respectively arranged at two sides where the pair of clamping plates are arranged and are arranged on a sliding groove on the positioning base, and the distance between the material pile limiting blocks and the sliding groove can be adjusted through sliding fit;
the lifting mechanical arm of the vertical lifting mechanism is sleeved on a pair of guide posts erected on the positioning base at two ends respectively, is driven by the ball screw mechanism and can lift up and down along the pair of guide posts.
The lifting mechanical arm is of a horizontally arranged Contraband-shaped structure and is suspended above the positioning base, an area on the positioning base and corresponding to the area surrounded by the lifting mechanical arm is used as a material stacking area, the pair of horizontal clamping mechanisms are respectively arranged on two opposite arms in the lifting mechanical arm, and the shaping mechanism is arranged on the other arm of the lifting mechanical arm;
the shaping cylinder of the shaping mechanism is arranged on the lifting mechanical arm, and the surface of the shaping plate is vertical and is opposite to the side wall of the material;
the two arms of the lifting mechanical arm provided with the horizontal clamping mechanism are sequentially provided with a rack guide rail, a straight slide rail and a straight-through hole along the vertical direction, the rack guide rail, the straight slide rail and the straight-through hole are arranged along the arm length, a gear driven by a traveling motor, a pair of pulleys and a clamping cylinder are arranged on a clamping fixing plate of the horizontal clamping mechanism, the gear is meshed with the rack guide rail, the pair of pulleys are arranged in the straight slide rail in a sliding mode and used for guiding the horizontal clamping mechanism during horizontal movement and movement along the lifting mechanical arm, a cylinder rod of the clamping cylinder penetrates through the straight-through hole and is exposed out of a material stacking area, and the clamping plate is arranged at the rod end.
Compared with the prior art, the utility model has the beneficial effects that:
1. in the parallel multi-axis robot, two four-axis robots are arranged on a supporting base, and an integrated paw consisting of a pair of adjustable horizontal shovels locked by a magnetic suction locking mechanism is arranged between the tail ends of the two four-axis robots, so that the two four-axis robots are connected in parallel into a whole to form the parallel multi-axis robot, and the parallel multi-axis robot has better stability when being put into carrying operation; moreover, two sets of parallelogram mechanisms are configured for each four-axis robot, and the rotation shafts of the wrist joints of the four-axis robot can be always kept in a state of being vertical to the ground through the two sets of parallelogram mechanisms, so that the integrated paw can be always kept horizontal, the materials grabbed by the integrated paw are always horizontal, and the stability during operation is further guaranteed;
2. in the integrated paw of the parallel multi-axis robot, the length of the integrated paw is adjustable through a pair of adjustable horizontal shovels, vertical baffle plates are arranged on the outer sides of the adjustable horizontal shovels and are abutted from the side surfaces of materials to apply clamping force, the clamping stability is improved, and the material returning action can be completed through a material returning mechanism;
3. the container palletizing robot provided by the utility model utilizes the movable trolley with the McHeim wheels to realize the omnibearing movement of the parallel multi-axis robot during palletizing between the unstacking mechanism and the container, so that the flexibility of the palletizing robot is improved, the parallel multi-axis robot is arranged on the supporting base plate, the motion inertia generated during transporting the parallel multi-axis robot is overcome by utilizing the larger weight of the robot, the stability and the accuracy of transporting are favorably ensured, the walking information of the movable trolley is detected by the visual positioning device on the movable trolley and is used for planning the walking path, and the materials on the positioning base are separated layer by utilizing the cooperative fit of the positioning base, the vertical lifting mechanism, the shaping mechanism, the horizontal clamp mechanism and the sensing detection device of the unstacking mechanism, so that the operation efficiency of palletizing and transporting is improved.
Drawings
FIG. 1 is a schematic structural diagram of a parallel multi-axis robot of the present invention;
fig. 2 is a schematic structural view of the two four-axis robot of fig. 1;
FIG. 3 is a schematic structural view of a single four-axis robot of FIG. 1;
FIG. 4 is a schematic view of the integrated gripper of FIG. 1;
FIG. 5 is a schematic structural view of the material returning mechanism of FIG. 4;
FIG. 6 is a schematic cross-sectional view of the material return mechanism of FIG. 4;
fig. 7 is a schematic structural view of the container palletizing robot of the present invention;
FIG. 8 is a schematic view of the McHeim wheel configuration of the mobile cart of FIG. 7;
FIG. 9 is a schematic view of the visual positioning apparatus of FIG. 7 shown in a deployed configuration on the support base;
FIG. 10 is a schematic view of the unstacking mechanism of FIG. 7;
FIG. 11 is a schematic view of the structure of FIG. 10 from another perspective (only a single guide post hole is shown);
FIG. 12 is a schematic structural view of the horizontal clamping mechanism of FIG. 11;
fig. 13 is a schematic structural view of the ball screw mechanism;
fig. 14 is a schematic structural diagram of a positioning base material loading pile limiting block.
In the figure, 1 the trolley can be moved; 2 supporting the bottom plate; 3 machelm wheels; 4, servo speed reducing motor; 5, a motor supporting seat; 6 binocular stereo cameras; 7 short range laser radar; 8 IMU; 9 ultrasonic obstacle avoidance sensor; 10 a crash sensor; 11 a destacking mechanism; 12 positioning a base; 13 a material pile limiting block; 14 an upper limiting block; a lower limit block 15; 16 bolts; 17 a stop screw; 18 limit sliding chutes; 19 a guide post hole; 20 a ball screw mechanism; 21 a stepping motor; 22 a lead screw; 23, a nut; 24 lifting the mechanical arm; 25 rack guide rails; 26 straight slide rails; 27 through holes; 28 a guide post; 29 shaping the cylinder; 30, shaping the plate; 31 a horizontal gripping mechanism; 32 fixing the plate; 33 a walking motor; 34 a gear; 35 pulleys; 36 a gripping cylinder; 37, clamping plates; 38 a pressure sensor; 39 photoelectric distance measuring sensor; a 40-axis robot; 41 a base fixing plate; 42 a first support bar; 43 a first link; 44 an intermediate connecting plate; 45 a second support bar; 46 a second link; 47 paw fixing plate; 48 an integrated gripper; 49 fixing the shovel; 50 key grooves; 51 moving the shovel; 52 a slide pin; 53 side dams; 54 mounting the plate; 55 magnetic attraction locking mechanism; 56 a material returning cylinder; 57 material returning plate; 58 piles.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, the parallel multi-axis robot of the present embodiment has the following structural configuration:
the two four-axis robots 40 with the same structural form are respectively arranged at the upper end of the supporting base plate 2 through robot bases, the mounting positions on the supporting base plate 2 are symmetrically arranged, and the supporting base plate 2 provides a supporting base for the pair of four-axis robots 40;
the fuselage outside of four-axis robot 40 sets up two sets of parallelogram mechanisms from the first axle to the fourth axle, the fourth axis of rotation that corresponds to wrist joint can remain throughout perpendicular with ground through two sets of parallelogram mechanisms, install hand claw fixed plate 4732 at four-axis robot 40's end, install integrated hand claw 48 that hand claw length is adjustable between two hand claw fixed plates 4732 of a pair of four-axis robot 40, constitute parallelly connected multiaxis robot's overall structure, integrated hand claw 48 remains the level throughout through wrist joint, no matter how the four-axis robot 40 moves, guarantee that the material that is snatched remains the level throughout.
This parallelly connected multiaxis robot's structural arrangement also includes:
in the two sets of parallelogram mechanisms:
the first parallelogram structure is composed of a base fixing plate 4132, a first supporting rod 42, a first connecting rod 43 and an intermediate connecting plate 44, two rod ends of the first supporting rod 42 of the four-axis robot 40 are hinged between a second rotating shaft and a third rotating shaft, the base fixing plate 4132 is hinged with the second rotating shaft of the four-axis robot 40 through a base fixing plate 4132 rotating pair at the outer side of the first supporting rod 42, the intermediate connecting plate 44 is hinged with the third rotating shaft of the four-axis robot 40 through a connecting plate rotating pair at the outer side of the first supporting rod 42, the first connecting rod 43 is externally arranged and is parallel to the first supporting rod 42, and the two rod ends are hinged between the intermediate connecting plate 44 and the base fixing plate 4132;
the second parallelogram mechanism is composed of a middle connecting plate 44, a second supporting rod 45, a second connecting rod 46 and a paw fixing plate 4732, two rod ends of the second supporting rod 45 of the four-axis robot 40 are hinged between a third rotating shaft and a fourth rotating shaft, the paw fixing plate 4732 is hinged with the fourth rotating shaft of the four-axis robot 40 at the outer side of the second supporting rod 45 through a paw fixing plate 4732 rotating pair, the second connecting rod 46 is externally arranged and is parallel to the second supporting rod 45, and the two rod ends are hinged between the middle connecting plate 44 and the paw fixing plate 4732;
each revolute pair is fixed to a side surface of a body of the four-axis robot 40 by a bolt 16.
The robot master control cabinet is arranged at the upper end of the supporting base plate 2 and used for planning clamping tracks of the parallel multi-axis robot.
the pair of adjustable horizontal shovels are symmetrically arranged and are respectively connected with the lower plate end of the corresponding paw fixing plate 4732 through the upper plate end of the mounting plate 54 at the back part, the shovels are connected, the connected parts are attracted by the magnetic force of the electromagnet through the magnetic attraction locking mechanism 55 to realize interlocking, so that the two four-axis robots 40 are connected in parallel to form a whole, the clamping stability is improved, the front side of the shovels is opposite to the material, and vertical side baffles 53 are arranged at the side edges except the front side and used for tightly supporting the shoveled material from the side surface and applying the clamping force, so that the clamping stability of the integrated paw 48 is further improved;
the adjustable horizontal shovel is characterized in that a material returning mechanism is arranged on the rear side of the adjustable horizontal shovel, a material returning plate 57 of the material returning mechanism is opposite to the material and driven by a material returning cylinder 56 to be capable of pushing out the material forwards or retracting backwards, the material returning plate serves as a rear baffle plate on the rear side of the shovel plate during retraction, and three surfaces of the integrated paw 48 are enclosed together with the baffle plates on the side edges.
The adjustable horizontal shovel is composed of a fixed shovel 49 and a movable shovel 51, the fixed shovel 49 and the shovel plate of the movable shovel 51 are equal in width, opposite plate ends of the shovel plates of the fixed shovel 49 of the pair of adjustable horizontal shovels are connected and attracted by a magnetic attraction locking mechanism 55, and the other ends of the fixed shovel 49 and the shovel plate of the movable shovel 51 are overlapped one above the other;
the blade of the moving blade 51 is provided with a slide pin 52 at the plate end overlapping the fixed blade 49, the fixed blade 49 is provided with a key groove 50 arranged in the plate length direction in correspondence to the slide pin 52, the slide pin 52 is slidably fitted in the key groove 50 in the plate length direction, and the moving blade 51 can be pulled out or retracted inward in the plate length direction with respect to the fixed blade 49 through the slide pin 52, resulting in adjustment of the entire length of the adjustable horizontal blade.
The mounting plate 54 is mounted on the back of the fixed shovel 49 of the adjustable horizontal shovel, the material returning cylinder 56 of the material returning mechanism is mounted on the bottom of the mounting plate 54, the cylinder rod movably penetrates through the rear side baffle 53 of the fixed shovel 49 and is connected with the material returning plate 57 positioned on the front side of the rear side baffle 53, and when the cylinder rod of the material returning cylinder 56 retracts, the material returning plate 57 is close to the rear side baffle 53.
Referring to fig. 7 to 14, the present embodiment also provides a container palletizing robot, including the parallel multi-axis robot, further including:
the movable trolley 1 is used for the omnibearing movement of the robot between the unstacking mechanism 11 and the container, a supporting base plate 2 of the parallel multi-axis robot is used as a base plate, four McHelmholtz wheels 3 which are respectively driven by independent servo reducing motors 4 are arranged at four corners of the bottom of the supporting base plate 2, and a visual positioning device is arranged at the top end of the supporting base plate 2 and used for acquiring the walking information of the movable trolley 1;
the unstacking mechanism 11 is used for separating the materials of the material pile 58 layer by layer and comprises a vertical lifting mechanism, a shaping mechanism, a horizontal clamping mechanism 31 and a sensing detection device which are arranged on the positioning base 12; the materials to be stacked are stacked on the positioning base 12 layer by layer, the shaping mechanism and the horizontal clamping mechanism 31 are arranged on the lifting mechanical arm 24 of the vertical lifting mechanism and can lift up and down along with the lifting mechanical arm 24, when the materials are lifted to the height position of the top layer, the materials are taken as a unstacking working position, the shaping mechanism at the unstacking working position can drive the shaping plate 30 to be in contact with the outer side wall of the top layer of materials opposite to the shaping plate by the shaping cylinder 29, the pair of horizontal clamping mechanisms 31 are arranged oppositely and are respectively arranged at two sides of the top layer material, a pair of clamping plates 37 of the pair of horizontal clamping mechanisms 31 can be driven by corresponding clamping cylinders 36 to be clamped at two sides of the top layer material to form clamping of the top layer material, and the clamping is sequentially carried out downwards from the top layer, so that the material of the material pile 58 is separated layer by layer; the sensing and detecting device comprises a pressure sensor 38 arranged on the clamping plate 37 and used for detecting a signal of the completion of clamping by the horizontal clamping mechanism 31, and a photoelectric distance measuring sensor 39 arranged on the lifting mechanical arm 24 and used for detecting a position signal when the lifting mechanical arm 24 rises to the height of the top material.
The parallel multi-axis robot has the effects that a pair of four-axis robots 40 are matched with the integrated paw 48 in a cooperative mode, materials separated layer by layer through the unstacking mechanism 11 are clamped from the stacking mechanism through the integrated paw 48, and then the materials are stacked at the designated stacking position in the container through the movable trolley 1 and are discharged.
This container pile up neatly machine people's structure setting also includes:
the movable trolley 1 is used for realizing the all-round movement of the robot during stacking between the unstacking mechanism 11 and the container, wherein, each servo gear motor 4 is respectively installed in the corresponding motor supporting seat 5, the motor supporting seat 5 is installed at the bottom end of the supporting base plate 2, the servo gear motor 4 is prevented from directly bearing the pressure from the supporting base plate 2 above, the Machimu wheel 3 is connected with the motor shaft of the servo gear motor 4 through a coupler and a belt pulley, four Machimu wheels 3 are driven by four servo gear motors 4, the forward movement, the transverse movement, the oblique movement, the rotation, the combination and other movement modes of the movable trolley 1 are realized, the all-round movement is realized, the turning radius is small, the operation place which is limited in transfer space and narrow in operation passage is suitable for stacking the container. Install the robot base in supporting baseplate 2 upper end, aim at utilizes great weight to overcome the inertia of motion that produces when parallelly connected multiaxis robot carries, guarantees the stability and the accuracy nature of transport.
The visual positioning device comprises:
the binocular stereo camera 6 is used for detecting the walking path of the movable trolley 1;
a short-range laser radar 7 and an IMU8 (inertial navigation unit) for obtaining walking parameters of the mobile trolley 1;
the ultrasonic obstacle avoidance sensor 9 and the collision sensor 10 are used for detecting obstacle information of the movable trolley 1 in the advancing process; the ultrasonic obstacle avoidance sensors 9 are arranged in four, and are respectively positioned in the middle of four sides of the supporting base plate 2; the collision sensors 10 are provided in four numbers, and are respectively positioned at four corners of the support base plate 2.
The vision positioning device is connected to a controller of the movable trolley 1, obtained walking information is transmitted to the controller, and a walking path is planned through the controller.
The positioning base 12 is provided with a pair of material pile limiting blocks 13 for limiting the initial position of the material pile 58 during stacking, the pair of material pile limiting blocks 13 are respectively arranged at two sides of the pair of clamping plates 37 and are arranged on a sliding chute on the positioning base 12, and the distance between the pair of material pile limiting blocks 13 and the sliding chute can be adjusted through sliding fit; the positioning base 12 is also provided with a pair of guide post holes 19 for mounting the guide posts 28;
the two ends of the lifting mechanical arm 24 of the vertical lifting mechanism are respectively sleeved on a pair of guide posts 28 erected on the positioning base 12, the lifting mechanical arm is driven by the ball screw mechanism 20, the lifting mechanical arm can lift up and down along the pair of guide posts 28, and the verticality requirement of the lifting mechanical arm 24 during displacement is met through the matching of the lifting mechanical arm 24 and the guide posts 28. The lead screw 22 of the ball screw mechanism 20 is connected with the motor shaft of the stepping motor 21 through a coupler, the stepping motor 21 is installed on the positioning base 12, the driving nut 23 vertically displaces along the lead screw 22, and the lifting mechanical arm 24 is installed on the nut 23.
Further setting, the structure of stockpile limiting block 13 can be, divide into two parts of last limiting block 14 and lower limiting block 15, connect through bolt 16 between, set up spacing spout 18 on location base 12, lower limiting block 15 passes through the fastening of end screw 17 in the bottom of location base 12, upper limiting block 14 slides and sets up in spacing spout 18, be located the upper end of location base 12, can slide along spacing spout 18, slide along spacing spout 18 with a pair of last limiting block 14 respectively, link to each other with lower limiting block 15 through bolt 16 after to required position in order to fasten.
The lifting mechanical arm 24 is in a horizontally arranged Contraband-shaped structure and is suspended above the positioning base 12, an area on the positioning base 12 corresponding to the area surrounded by the lifting mechanical arm 24 is used as a material stacking area, the pair of horizontal clamping mechanisms 31 are respectively arranged on two opposite arms in the lifting mechanical arm 24, and the shaping mechanism is arranged on the other arm of the lifting mechanical arm 24;
a shaping cylinder 29 of the shaping mechanism is arranged on the lifting mechanical arm 24, and the surface of the shaping plate 30 is vertical and is opposite to the side wall of the material;
the two arms of the lifting mechanical arm 24 provided with the horizontal clamping mechanism 31 are sequentially provided with a rack guide rail 25, a straight slide rail 26 and a straight through hole 27 along the vertical direction, the horizontal clamping mechanism 31 is provided with a gear 34, a pair of pulleys 35 and a clamping cylinder 36 which are driven by a traveling motor 33 on a clamping fixing plate 32, the gear 34 is meshed with the rack guide rail 25 and matched, the pair of pulleys 35 is arranged in the straight slide rail 26 in a sliding manner and used for guiding the horizontal movement and the movement of the horizontal clamping mechanism 31 along the lifting mechanical arm 24, a cylinder rod of the clamping cylinder 36 penetrates through the straight through hole 27 and is exposed out of a material stacking area, and a clamping plate 37 is arranged at the rod end.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A parallel multi-axis robot is characterized in that:
two four-axis robots (40) with the same structural form are respectively installed at the upper end of the supporting bottom plate (2) through robot bases, and the installation positions on the supporting bottom plate (2) are symmetrically arranged;
the fuselage outside of four-axis robot (40), set up two sets of parallelogram mechanisms from the first axle to between the fourth axle, the fourth axis of rotation corresponding to wrist joint can remain throughout perpendicular with ground through two sets of parallelogram mechanisms, at the terminal installation hand claw fixed plate (47) of four-axis robot (40), install integrated hand claw (48) that hand claw length is adjustable between two hand claw fixed plates (47) of a pair of four-axis robot (40), constitute parallelly connected multiaxis robot's overall structure, integrated hand claw (48) pass through wrist joint remains the level throughout.
2. Parallel multi-axis robot according to claim 1, wherein in the two sets of parallelogram mechanisms:
the first parallelogram structure is composed of a base fixing plate (41), a first supporting rod (42), a first connecting rod (43) and a middle connecting plate (44), two rod ends of the first supporting rod (42) of the four-axis robot (40) are hinged between a second rotating shaft and a third rotating shaft, the base fixing plate (41) is hinged with the second rotating shaft of the four-axis robot (40) through a base fixing plate (41) rotating pair on the outer side of the first supporting rod (42), the middle connecting plate (44) is hinged with the third rotating shaft of the four-axis robot (40) through a connecting plate rotating pair on the outer side of the first supporting rod (42), the first connecting rod (43) is externally arranged and is parallel to the first supporting rod (42), and two rod ends are hinged between the middle connecting plate (44) and the base fixing plate (41);
the second parallelogram mechanism is composed of a middle connecting plate (44), a second supporting rod (45), a second connecting rod (46) and a paw fixing plate (47), two rod ends of the second supporting rod (45) of the four-axis robot (40) are hinged between a third rotating shaft and a fourth rotating shaft, the paw fixing plate (47) is hinged to the fourth rotating shaft of the four-axis robot (40) through a paw fixing plate (47) rotating pair on the outer side of the second supporting rod (45), the second connecting rod (46) is externally arranged and parallel to the second supporting rod (45), and the two rod ends are hinged between the middle connecting plate (44) and the paw fixing plate (47).
3. Parallel multi-axis robot according to claim 1, characterized in that in the integrated gripper (48):
the pair of adjustable horizontal shovels are symmetrically arranged and are connected with the lower plate end of the corresponding paw fixing plate (47) through the upper plate end of the mounting plate at the back part respectively, the shovels are connected, the connected parts are attracted by the magnetic force of the electromagnet through the magnetic attraction locking mechanism (55) to realize interlocking, the front sides of the shovels are opposite to the material, and the side edges of the shovels are provided with vertical side baffles;
the adjustable horizontal shovel is characterized in that a material returning mechanism is arranged on the rear side of the adjustable horizontal shovel, a material returning plate (57) of the material returning mechanism is opposite to the material, and the material returning mechanism is driven by a material returning cylinder (56) and can push the material forwards or retract backwards to serve as a rear baffle on the rear side of the shovel plate during retraction.
4. Parallel multi-axis robot according to claim 3, wherein: the adjustable horizontal shovel is composed of a fixed shovel (49) and a movable shovel (51), the fixed shovel (49) and the shovel plate of the movable shovel (51) are equal in width, the opposite plate ends of the shovel plates of the fixed shovel (49) of the adjustable horizontal shovel are connected and attracted by the magnetic attraction locking mechanism (55), and the other ends of the fixed shovel and the shovel plate of the movable shovel (51) are overlapped one above the other;
the shovel plate of the movable shovel (51) is provided with a sliding pin at the plate end overlapped with the fixed shovel (49), the fixed shovel (49) is provided with a key groove arranged along the plate length direction corresponding to the sliding pin, the sliding pin is slidably matched in the key groove along the plate length direction, the movable shovel (51) can be pulled out or retracted inwards relative to the fixed shovel (49) along the plate length direction through the sliding pin, and the adjustment of the whole length of the adjustable horizontal shovel is formed.
5. Parallel multi-axis robot according to claim 3, wherein: the material returning mechanism is characterized in that the mounting plate is mounted on the back portion of a fixed shovel (49) of the adjustable horizontal shovel, a material returning cylinder (56) of the material returning mechanism is mounted at the bottom of the mounting plate, a cylinder rod movably penetrates through a rear side baffle of the fixed shovel (49) and is connected with a material returning plate (57) located on the front side of the rear side baffle, and when a cylinder rod of the material returning cylinder (56) retracts, the material returning plate (57) is closely adjacent to the rear side baffle.
6. A container palletizing robot comprising the parallel multi-axis robot as claimed in any one of claims 1 to 5, characterized by further comprising:
the movable trolley (1) is used for the robot to move between the unstacking mechanism (11) and the container in all directions, a supporting base plate (2) of the parallel multi-axis robot is used as a base plate, four McHelmholtm wheels (3) which are respectively driven by independent servo speed reduction motors (4) are arranged at four corners of the bottom of the supporting base plate (2), and a visual positioning device is arranged at the top end of the supporting base plate (2) and used for acquiring the walking information of the movable trolley (1);
the unstacking mechanism (11) comprises a vertical lifting mechanism, a shaping mechanism, a horizontal clamping mechanism (31) and a sensing detection device, which are arranged on the positioning base (12); the materials to be stacked are stacked on the positioning base (12) layer by layer, the shaping mechanism and the horizontal clamping mechanism (31) are arranged on a lifting mechanical arm (24) of the vertical lifting mechanism and can lift up and down along with the lifting mechanical arm (24), the shaping mechanism in the unstacking working position is used as a unstacking working position when the materials ascend to the height position of the top layer, the shaping mechanism in the unstacking working position can be driven by a shaping cylinder (29) to drive a shaping plate (30) to touch the outer side wall of the top layer materials, and is used for providing a reference surface for the horizontal clamping mechanism (31), the pair of horizontal clamping mechanisms (31) are arranged in an opposite mode and are respectively arranged on two sides of the top layer materials, and a pair of clamping plates (37) of the pair of horizontal clamping mechanisms (31) can be clamped on two sides of the top layer materials under the driving of corresponding clamping cylinders (36) to clamp the top layer materials; the sensing detection device comprises a pressure sensor (38) arranged on the clamping plate (37) and used for detecting a signal of clamping completion of the horizontal clamping mechanism (31), and further comprises a photoelectric distance measuring sensor (39) arranged on the lifting mechanical arm (24) and used for detecting a position signal when the lifting mechanical arm (24) rises to the height of the top layer material.
7. Container palletizing robot as claimed in claim 6, characterized in that the visual positioning means comprise:
the binocular stereo camera (6) is used for detecting the walking path of the movable trolley (1);
the short-distance laser radar (7) and the IMU (8) are used for acquiring the walking parameters of the movable trolley (1);
the ultrasonic obstacle avoidance sensor (9) and the collision sensor (10) are used for detecting obstacle information of the movable trolley (1) in the advancing process.
8. The container palletizer robot as claimed in claim 6, wherein:
a pair of material pile (58) limiting blocks are arranged on the positioning base (12), the pair of material pile (58) limiting blocks are respectively arranged on two sides where the pair of clamping plates (37) are arranged and are installed on a sliding groove on the positioning base (12), and the distance between the pair of material pile (58) limiting blocks and the sliding groove can be adjusted through sliding fit;
the two ends of a lifting mechanical arm (24) of the vertical lifting mechanism are respectively sleeved on a pair of guide posts erected on the positioning base (12), and the lifting mechanical arm is driven by a ball screw mechanism (20) and can lift up and down along the pair of guide posts.
9. The container palletizer robot as claimed in claim 6, wherein:
the lifting mechanical arm (24) is of a horizontally arranged Contraband-shaped structure and is suspended above the positioning base (12), an area on the positioning base (12) and corresponding to the area surrounded by the lifting mechanical arm (24) is used as a material stacking area, the pair of horizontal clamping mechanisms (31) are respectively arranged on two opposite arms in the lifting mechanical arm (24), and the shaping mechanism is arranged on the other arm of the lifting mechanical arm (24);
a shaping cylinder (29) of the shaping mechanism is arranged on the lifting mechanical arm (24), and the surface of the shaping plate (30) is vertical and is opposite to the side wall of the material;
the two arms of the lifting mechanical arm (24) provided with the horizontal clamping mechanism (31) are sequentially provided with a rack guide rail (25), a straight slide rail (26) and a straight-through hole (27) along the vertical direction, the horizontal clamping mechanism (31) is provided with a gear, a pair of pulleys and a clamping cylinder (36) which are driven by a traveling motor on a clamping fixing plate, the gear is meshed with the rack guide rail (25), the pair of pulleys are arranged in the straight slide rail (26) in a sliding manner and used for guiding the horizontal clamping mechanism (31) along the horizontal movement and the movement of the lifting mechanical arm (24), a cylinder rod of the clamping cylinder (36) penetrates through the straight-through hole (27) and is exposed out of a material stacking area, and a clamping plate (37) is arranged at the rod end.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977550A (en) * | 2021-11-05 | 2022-01-28 | 中国科学院合肥物质科学研究院 | Parallel multi-axis robot and container palletizing robot with same |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977550A (en) * | 2021-11-05 | 2022-01-28 | 中国科学院合肥物质科学研究院 | Parallel multi-axis robot and container palletizing robot with same |
| CN113977550B (en) * | 2021-11-05 | 2024-08-20 | 中国科学院合肥物质科学研究院 | Parallel multi-axis robot and container palletizing robot with same |
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