A loading and unloading robot for logistics production line

Abstract

The present invention discloses a loading and unloading robot for a logistics assembly line in the field of robot technology, comprising: a base, a manipulator installed on the base and a mounting piece arranged on a moving end of the manipulator, four groups of telescopic mechanisms arranged on the side walls around the mounting piece, connecting pieces are installed on the moving ends of the four groups of telescopic mechanisms, and the four groups of connecting pieces are commonly connected to a vacuum adsorption mechanism, four groups of mounting holes are opened on the side walls around the mounting piece, a moving piece is slidably inserted into the mounting hole, a supporting piece is provided on the outer end of the moving piece, and a pressing detection mechanism is provided at the contact portion between the supporting piece and the moving end of the telescopic mechanism. In this application, the telescopic mechanism is utilized to make the vacuum adsorption mechanism move horizontally below the mounting piece, so as to balance the gravity applied by the vacuum adsorption mechanism to the mounting piece, so that the gravity applied to the mounting piece is more uniform, and to ensure that the connection between the vacuum adsorption mechanism and the mounting piece is uniformly stressed.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a loading and unloading robot used in a logistics assembly line. Background Art

[0002] In the logistics transportation assembly line, robots are used to increase the level of automation and improve work efficiency. Among them, loading and unloading robots are one type of robots.

[0003] During the use of the existing loading and unloading robot with vacuum adsorption equipment, the vacuum adsorption equipment is used to adsorb the packaging box of the logistics, the packaging box is fixed at the vacuum adsorption equipment, and then the loading and unloading robot moves the packaging box to the predetermined area to complete the loading and unloading;

[0004] During the process of the vacuum adsorption device adsorbing the packaging box, the vacuum adsorption device generally directly adsorbs the middle area of ​​the packaging box. However, when the weight distribution inside the packaging box is inconsistent (the weight on one side of the packaging box is greater than the other side), the vacuum adsorption device will be subjected to uneven force in the process of moving the packaging box. The vacuum adsorption device and the loading and unloading robot are generally fixedly connected, which will cause inconsistent force at the connection between the vacuum adsorption device and the loading and unloading robot (the burdens in various areas of the connection are inconsistent, which will apply a lateral pressure to the connection, easily causing deformation of the connector at the connection). This affects the stability of the connection between the vacuum adsorption device and the loading and unloading robot. For this reason, we propose a loading and unloading robot for logistics assembly lines. Summary of the invention

[0005] The object of the present invention is to provide a loading and unloading robot for a logistics assembly line, so as to solve the problem proposed in the above background technology that when the internal weight distribution of the packaging box is inconsistent, the vacuum adsorption equipment will be subjected to uneven force in the process of moving the packaging box, which will lead to inconsistent force at the connection between the vacuum adsorption equipment and the loading and unloading robot.

[0006] To achieve the above object, the present invention provides the following technical solution: a loading and unloading robot for a logistics assembly line, comprising: a base, a manipulator mounted on the base, and a mounting member provided on a moving end of the manipulator, the loading and unloading robot further comprising: four sets of telescopic mechanisms provided on the side walls around the mounting member;

[0007] Connectors are installed on the moving ends of the four groups of telescopic mechanisms, and the four groups of connecting members are commonly connected to a vacuum adsorption mechanism;

[0008] Four groups of mounting holes are provided on the side walls around the mounting member, and a moving member having the same moving path as the telescopic mechanism is slidably inserted into the mounting hole, the moving end of the telescopic mechanism is connected to the moving member, and a support member is provided on the outer end of the moving member to support the moving end of the telescopic mechanism;

[0009] Among them, a press-type detection mechanism is provided at the contact position between the support member and the mobile end of the telescopic mechanism. The press-type detection mechanism is electrically connected to the controller, and the controller is electrically connected to the telescopic mechanism. When there is a large difference in the pressing force exerted by the mobile end of the telescopic mechanism on the press-type detection mechanisms on two relative sides, the controller detects the information and controls the telescopic mechanism to work, drive the vacuum adsorption mechanism to move, and balance the gravity exerted by the vacuum adsorption mechanism on the mounting member.

[0010] Preferably, the press-type detection mechanism is a touch sensor.

[0011] Preferably, the press-type detection mechanism includes an inflatable airbag and a pressure sensor disposed in the inflatable airbag.

[0012] Preferably, two groups of mounting boxes are provided on the mounting member, and the inflatable airbags on opposite sides are respectively connected to the two sides of the inner cavity of the two groups of mounting boxes, and a pressure plate is slidably provided in the mounting box for dividing the inner cavity of the mounting box into two mutually isolated cavities, and an elastic member is provided on the pressure plate to limit the movement of the pressure plate. Two groups of touch switches are provided in the mounting box and are respectively located on both sides of the pressure plate, and the touch switches are electrically connected to the telescopic mechanism to turn on the power supply of the telescopic mechanism.

[0013] Preferably, the installation box is provided with two groups of inflatable boxes respectively connected to the two sides of the inner cavity of the installation box, and a push plate is slidably provided in the inflatable box for pushing the gas inside the inflatable box into the installation box;

[0014] Wherein, a magnetic block is arranged on the push plate, a first electromagnet opposite to the magnetic block is arranged in the inflation box, the first electromagnet is electrically connected to a controller, and the controller is electrically connected to a pressure sensor.

[0015] Preferably, a storage part is provided on the mounting part, and a connecting rope connected to the vacuum adsorption mechanism is provided inside the storage part;

[0016] Wherein, the storage component is provided with a winding mechanism for pulling the connecting rope into the storage component.

[0017] Preferably, a touch sensor that fits the vacuum adsorption mechanism is provided on the mounting member, and the touch sensor is electrically connected to the controller so that the controller controls the winding mechanism to work and pull the connecting rope into the storage member;

[0018] Wherein, a second electromagnet is provided on the mounting piece and is in contact with the vacuum adsorption mechanism. A magnetic plate is provided on the side of the vacuum adsorption mechanism facing the mounting piece. The second electromagnet is powered on and controlled by a controller to adsorb the vacuum adsorption mechanism.

[0019] Compared with the prior art, the beneficial effect of the present invention is: in the present application, when symmetrical gravity imbalance occurs during the process of the vacuum adsorption mechanism adsorbing the packaging box for loading and unloading, the telescopic mechanism is utilized to make the vacuum adsorption mechanism move horizontally under the mounting part, so as to balance the gravity applied by the vacuum adsorption mechanism to the mounting part, make the gravity applied to the mounting part more uniform, ensure that the connection between the vacuum adsorption mechanism and the mounting part is subjected to uniform force, and ensure the stability of the installation of the vacuum adsorption mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the connection structure between the mounting piece and the vacuum adsorption mechanism of the present invention;

[0022] Figure 3 This is an enlarged schematic diagram of the structure at A of the present invention;

[0023] Figure 4 This is a schematic diagram of the connection structure between the installation box and the inflation box of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the inflatable box of the present invention;

[0025] Figure 6 It is a schematic diagram of the connection structure between the storage piece and the connecting rope of the present invention.

[0026] In the figure: 1. base; 2. manipulator; 3. mounting part; 4. vacuum adsorption mechanism; 5. telescopic mechanism; 6. connecting part; 7. moving part; 8. supporting part; 9. press-type detection mechanism; 10. mounting box; 11. pressing plate; 12. elastic part; 13. touch switch; 14. inflatable box; 15. push plate; 16. first electromagnet; 17. magnetic block; 18. touch sensor; 19. storage part; 20. connecting rope; 21. second electromagnet. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Embodiment 1:

[0029] See also Figure 1 , a loading and unloading robot for a logistics assembly line, comprising: a base 1, a manipulator 2 mounted on the base 1, and a mounting member 3 provided on a moving end of the manipulator 2;

[0030] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , telescopic mechanisms 5 are provided on the side walls around the mounting member 3, and connecting members 6 are installed on the moving ends of the four sets of telescopic mechanisms 5, and the four sets of connecting members 6 are commonly connected to the vacuum adsorption mechanism 4;

[0031] Four groups of mounting holes are evenly opened on the side walls around the mounting member 3, and a moving member 7 is slidably inserted into the mounting hole. The sliding path of the moving member 7 in the mounting hole is the same as the moving path of the moving end of the telescopic mechanism 5. The moving end of the telescopic mechanism 5 is connected to the moving member 7, so that when the telescopic mechanism 5 is extended or retracted, the moving member 7 can be moved together. A support member 8 is provided on the outer end of the moving member 7, and the support member 8 is in contact with the lower side of the moving end of the telescopic mechanism 5, and is used to support the moving end of the telescopic mechanism 5;

[0032] A press-type detection mechanism 9 is provided at the contact portion between the support member 8 and the moving end of the telescopic mechanism 5. The press-type detection mechanism 9 is electrically connected to a controller (the controller refers to a PLC controller, and the model of the PLC controller is DVP50MC11T), and the controller is electrically connected to the telescopic mechanism 5;

[0033] In summary, the loading and unloading robot carries the packaging box in the following manner: the manipulator 2 moves with the mounting part 3 and the vacuum adsorption mechanism 4, so that the vacuum adsorption mechanism 4 contacts the packaging box; then the vacuum adsorption mechanism 4 works to adsorb the packaging box, and then the manipulator 2 moves with the mounting part 3 and the vacuum adsorption mechanism 4 to move the packaging box. After the packaging box is moved to the predetermined area, the vacuum adsorption mechanism 4 releases the packaging box, and the loading and unloading work is completed;

[0034] When the vacuum adsorption mechanism 4 adsorbs the packaging box and lifts it up, the gravity of the packaging box will be applied to the vacuum adsorption mechanism 4, causing pulling on the connecting piece 6 and the movable end of the telescopic mechanism 5, so that the movable end of the telescopic mechanism 5 applies pressure to the pressing detection mechanism 9; the pressing detection mechanism 9 transmits the detected information to the controller, and when it is detected that the difference in pressing force on the two symmetrical sides is large, the controller controls the telescopic mechanism 5 to work, driving the vacuum adsorption mechanism 4 to move horizontally under the mounting member 3 (when the pressure on the left side is greater than that on the right side, the vacuum adsorption mechanism 4 moves to the right, when the pressure on the right side is greater than that on the left side, the vacuum adsorption mechanism 4 moves to the left, when the pressure on the front side is greater than that on the rear side, the vacuum adsorption mechanism 4 moves backward, and when the pressure on the rear side is greater than that on the front side, the vacuum adsorption mechanism 4 moves forward), so that the pulling force applied by the vacuum adsorption mechanism 4 to the mounting member 3 is more balanced; ensuring the stability of the connection between the mounting member 3 and the vacuum adsorption mechanism 4;

[0035] Furthermore, the press-type detection mechanism 9 may be a touch-type sensor;

[0036] Furthermore, the press-type detection mechanism 9 can also be an inflatable airbag and a pressure sensor (model PT124G-111) arranged in the inflatable airbag. Two groups of installation boxes 10 are arranged on the installation member 3. The inflatable airbags on the opposite sides are respectively connected to the two sides of the inner cavity of the two groups of installation boxes 10 (that is, the inflatable airbags on the left and right sides are connected to one installation box 10, and the inflatable airbags on the front and rear sides are connected to the other installation box 10). A pressure plate 11 is slidably arranged in the installation box 10 (the pressure plate 11 divides the installation box 10 into two isolated cavities), and an elastic member 12 is arranged between the pressure plate 11 and the installation box 10 to limit the movement of the pressure plate 11. Two groups of touch switches 13 are respectively located on both sides of the pressure plate 11, and the touch switches 13 are electrically connected to the telescopic mechanism 5 and the external power supply; in the process of carrying the packaging box, the moving end of the telescopic mechanism 5 will pressurize the inflatable airbag, so that the air inside the inflatable airbag enters the inner cavity of the installation box 10; when the pressure difference on the opposite sides is not large, the amount of air entering the inflatable airbag on both sides of the inner cavity of the installation box 10 on the opposite side is not much different, which will make the pressure plate 11 not move or move with a small amplitude, and will not squeeze the touch switch 13, so that the telescopic mechanism 5 is not powered, ensuring that when the pressure difference on the opposite sides of the mounting member 3 is not large, the telescopic mechanism 5 will not work;

[0037] Furthermore, the installation box 10 is provided with two groups of inflatable boxes 14, and the two groups of inflatable boxes 14 are respectively connected to the two sides of the inner cavity of the installation box 10, and a push plate 15 is slidably provided in the inflatable box 14, which is used to push the internal gas of the inflatable box 14 into the installation box 10 (the installation box 10 and the inflatable box 14 are filled with air); a magnetic block 17 (magnet) is provided on the push plate 15, and a first electromagnet 16 opposite to the magnetic block 17 is provided in the inflatable box 14, and the first electromagnet 16 is electrically connected to the controller, and the controller is electrically connected to the pressure sensor; when the inflatable airbag is pressed and the pressure sensor is pressurized, the controller receives the information and controls the first electromagnet The iron 16 is energized to work, generating a magnetic force to repel the magnetic block 17, causing the push plate 15 to move in the inner cavity of the inflation box 14, and is used to push the air inside the inflation box 14 into the inner cavity of the installation box 10, and is used to increase the air entering the installation box 10, and ensure that the pressure plate 11 has a significant movement amplitude (the greater the pressure on the pressure sensor, the greater the current connected to the first electromagnet 16 controlled by the controller, which is used to increase the magnetic force generated by the first electromagnet 16, so that the amplitude of movement of the push plate 15 increases, and the air entering the installation box 10 is increased. The amount of air entering the installation box 10 from the inflation box 14 is proportional to the pressure of the pressure sensor).

[0038] Embodiment 2:

[0039] As a preferred option, see Figure 6 The mounting member 3 is provided with a storage member 19 (for storing an object such as a box for storing the connecting rope 20), the connecting rope 20 connected to the vacuum adsorption mechanism 4 is provided in the storage member 19, and the storage member 19 is provided with a reeling mechanism for pulling the connecting rope 20 into the storage member 19; the connecting rope 20 is connected to the vacuum adsorption mechanism 4 to ensure that the vacuum adsorption mechanism 4 will not fall off;

[0040] The mounting member 3 is provided with a touch sensor 18 which is in contact with the vacuum adsorption mechanism 4. The touch sensor 18 is electrically connected to the controller, and the controller is electrically connected to the winding mechanism. When the weight of the packaging box adsorbed by the vacuum adsorption mechanism 4 is relatively large (the packaging box is relatively heavy), the pulling force exerted by the vacuum adsorption mechanism 4 on the connecting member 6 and the moving end of the telescopic mechanism 5 is relatively large, which will cause a gap between the vacuum adsorption mechanism 4 and the mounting member 3, so that the vacuum adsorption mechanism 4 and the touch sensor 18 are not in contact. After the controller receives the information, the controller controls the winding mechanism to work, pulls the connecting rope 20 into the storage member 19, tightens the connecting rope 20, and applies a pulling force to the vacuum adsorption mechanism 4, so as to share the pulling force exerted on the connection between the vacuum adsorption mechanism 4 and the mounting member 3, thereby ensuring the stability of the installation of the vacuum adsorption mechanism 4.

[0041] Furthermore, a second electromagnet 21 is provided on the mounting member 3 and is in contact with the vacuum adsorption mechanism 4. A magnetic plate (a metal plate that can be magnetically adsorbed, such as iron) is provided on the side of the vacuum adsorption mechanism 4 facing the mounting member 3. The second electromagnet 21 is powered on and controlled by the controller. When the controller controls the winding mechanism to work, the second electromagnet 21 is also controlled to work, so as to adsorb the magnetic plate and provide a pulling force to the vacuum adsorption mechanism 4, thereby further reducing the pulling force on the moving end of the connecting member 6 and the telescopic mechanism 5.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A loading and unloading robot for a logistics line, comprising: A base (1), a manipulator (2) mounted on the base (1), and a mounting member (3) arranged on the moving end of the manipulator (2), characterized in that: the loading and unloading robot further comprises: four sets of telescopic mechanisms (5) arranged on the side walls around the mounting member (3); Connectors (6) are installed on the moving ends of the four groups of telescopic mechanisms (5), and the four groups of connecting members (6) are commonly connected to a vacuum adsorption mechanism (4); Four groups of mounting holes are provided on the side walls around the mounting member (3), a moving member (7) having the same moving path as the telescopic mechanism (5) is slidably inserted into the mounting hole, the moving end of the telescopic mechanism (5) is connected to the moving member (7), and a support member (8) is provided on the outer end of the moving member (7) to support the moving end of the telescopic mechanism (5); A pressing detection mechanism (9) is provided at the contact portion between the support member (8) and the mobile end of the telescopic mechanism (5); the pressing detection mechanism (9) is electrically connected to a controller; the controller is electrically connected to the telescopic mechanism (5); when there is a large difference in the pressing force exerted by the mobile end of the telescopic mechanism (5) on the pressing detection mechanisms (9) on two opposite sides, the controller detects the information and controls the telescopic mechanism (5) to operate, thereby driving the vacuum adsorption mechanism (4) to move and balancing the gravity exerted by the vacuum adsorption mechanism (4) on the mounting member (3).

2. The loading and unloading robot for a logistics line according to claim 1, characterized in that: The pressing detection mechanism (9) is a touch sensor.

3. The loading and unloading robot for a logistics line according to claim 1, characterized in that: The press-type detection mechanism (9) comprises an inflatable airbag and a pressure sensor arranged in the inflatable airbag.

4. The loading and unloading robot for a logistics line according to claim 3 is characterized in that: Two groups of installation boxes (10) are arranged on the installation member (3), and the inflatable airbags on opposite sides are respectively connected to the two sides of the inner cavity of the two groups of installation boxes (10). A pressure plate (11) is slidably arranged in the installation box (10) for dividing the inner cavity of the installation box (10) into two mutually isolated cavities. An elastic member (12) is arranged on the pressure plate (11) to limit the movement of the pressure plate (11). Two groups of touch switches (13) are arranged in the installation box (10) and are respectively located on both sides of the pressure plate (11). The touch switch (13) is electrically connected to the telescopic mechanism (5) to turn on the power supply of the telescopic mechanism (5).

5. The loading and unloading robot for a logistics line according to claim 4, characterized in that: The installation box (10) is provided with two groups of inflatable boxes (14) respectively connected to the two sides of the inner cavity of the installation box (10), and a push plate (15) is slidably provided in the inflatable box (14) for pushing the internal gas of the inflatable box (14) into the installation box (10); Wherein, a magnetic block (17) is provided on the push plate (15), and a first electromagnet (16) opposite to the magnetic block (17) is provided in the inflation box (14), the first electromagnet (16) is electrically connected to a controller, and the controller is electrically connected to a pressure sensor.

6. The loading and unloading robot for a logistics line according to claim 1, characterized in that: The mounting member (3) is provided with a storage member (19), and the storage member (19) is provided with a connecting rope (20) connected to the vacuum adsorption mechanism (4); Wherein, the storage member (19) is provided with a reeling mechanism for pulling the connecting rope (20) into the storage member (19).

7. The loading and unloading robot for a logistics line according to claim 6, characterized in that: The mounting member (3) is provided with a touch sensor (18) which is in contact with the vacuum adsorption mechanism (4), and the touch sensor (18) is electrically connected to the controller so that the controller controls the winding mechanism to work and pulls the connecting rope (20) into the storage member (19); The mounting member (3) is provided with a second electromagnet (21) which is in contact with the vacuum adsorption mechanism (4); a magnetic plate is provided on the side of the vacuum adsorption mechanism (4) facing the mounting member (3); and the second electromagnet (21) is powered on by a controller to adsorb the vacuum adsorption mechanism (4).

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