Multi-manipulator-cooperating robot palletizer

Abstract

The invention relates to the field of robots and particularly relates to a multi-manipulator-cooperating robot palletizer. The multi-manipulator-cooperating robot palletizer comprises crawler travel mechanisms, a chassis, a rotating table, fine-adjustment tables, fine-adjustment air cylinders and three manipulators; the crawler travel mechanisms are located at the two sides of the chassis, the rotating table is located at the middle part of the chassis, the fine-adjustment tables are located at the upper end of the rotating table, the fine-adjustment air cylinders are located between the rotating table and the fine-adjustment tables, the manipulators are located at the upper ends of the fine-adjustment tables, and claws are separately mounted at the end parts of all the manipulators; the rotating table, the fine-adjustment air cylinders and all the fine-adjustment tables form a Stewart parallel platform; three identical or different claws can be mounted at the end parts of the three manipulators. According to the multi-manipulator-cooperating robot palletizer, the palletizing efficiency is high, the labor intensity for workers is lightened, and different goods can be palletized simultaneously; the accuracy of grabbing and palletizing the goods is high, so that the damage to the goods is greatly reduced.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-arm cooperative palletizing robot. Background technique [0002] With the continuous development of my country's economy and the rapid advancement of science and technology, robots have been widely used in industries such as palletizing, gluing, spot welding, arc welding, spraying, handling, and measurement. [0003] There are many reasons, including the type of packaging, factory environment and customer needs, which make palletizing a difficult bone in the packaging factory. To overcome these difficulties, every aspect of palletizing equipment is being developed, from the robotic arm to the software that operates it. The growing demand for flexibility in the market has affected many aspects of packaging, and the back end of the production line is no exception. Retail customers, especially those influential large supermarkets like Wal-Mart, often need to customize some random tra...

AI Technical Summary

Problems solved by technology

[0007] In the existing technology, robot loading also faces many problems. When the size, volume, shape of the customer's product and the outer dimensions of the pallet change, or when it is necessary to grab a completely different type of product, it is often necessary to replace different types of grippers. Hand, while the existing gripper replacement method often adopts manual replacement, and it is troublesome to replace the gripper each time;

[0008] At the same time, in

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