A loading and unloading robot for intelligent warehouse

Abstract

The present invention relates to a loading and unloading robot for intelligent warehouses, which is used for stacking or unloading bagged products, and comprises a manipulator, a hook base plate at the end of the manipulator, and a plurality of hooks arranged on both sides of the hook base plate, wherein a side extension block is arranged at one end of the hook base plate, and two extension rods driven by a second motor to move toward each other are arranged on one side surface of the side extension block, and a cross bar for lifting bagged products is arranged at the bottom end of the extension rod. The loading and unloading robot is provided with a cross bar and a forward rod, and when unloading the stacked bagged products, the cross bar and the forward rod squeeze into the slit hole of the bagged products, and then the cross bar moves toward each other, and the gap of the bagged products is broken by the forward rod, so that the cross bar moves to a position sufficient to hold up the bagged products, and then the bagged products are suspended in the air and then the bagged products are grabbed, which has a good unloading effect on the stacked bagged products and will not puncture the packaging bag.

Description

Technical Field

[0001] The present invention belongs to the technical field of loading and unloading robots, and in particular relates to a loading and unloading robot for an intelligent warehouse. Background Art

[0002] The loading and unloading robot is a type of industrial robot. It is an automatic operating device that uses a five-axis manipulator and a grasping structure to grasp, move objects or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected operations, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] The loading and unloading robots have different grasping structures for different target products. Figure 8 When unloading bagged palletized products, the bagged products have a certain weight (such as cement, urea, grain, etc.), and the bags are stacked on each other. Common bagged product palletizing robots are as follows: Figure 2 The grab hook structure shown in the figure is only suitable for palletizing. When unloading materials, it cannot directly reach under the bag to grab it, and it is easy to puncture the contact position of the bag. Summary of the invention

[0004] The purpose of the present invention is to provide a loading and unloading robot for an intelligent warehouse for bagged products in order to solve the above-mentioned problem.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A loading and unloading robot for an intelligent warehouse is used for palletizing or unloading bagged products, comprising a manipulator, a grab hook base plate at the end of the manipulator, and a plurality of grab hooks arranged on both sides of the grab hook base plate, wherein a side extension block is arranged at one end of the grab hook base plate, and two extension rods driven by a second motor to move toward each other are arranged on a side surface of the side extension block, a cross bar for lifting bagged products is arranged at the bottom end of the extension rod, and a forward rod parallel to the cross bar and slidably connected to the bottom end of the extension rod is also arranged, wherein the forward rod is used to make the cross bar move forward and squeeze into the bottom of the bagged products to facilitate lifting the bagged products.

[0007] As a further optimization scheme of the present invention, the grab hook is rotatably connected to both sides of the grab hook base plate through a rotating shaft, and a first motor for driving the rotating shaft is provided at the end of the side extension block. The grab hook is a common clamping device used for palletizing bagged products, and is driven to open and close by the first motor to perform conventional palletizing and loading functions.

[0008] As a further optimization scheme of the present invention, the extension rod is driven by a bidirectional threaded rod to move away / toward synchronously. The threaded rod is arranged on the side surface of the side extension block and is driven to rotate by a second motor arranged at the end of the side extension block. The bidirectional threads on the surface of the threaded rod are respectively provided with two internal threaded sliders for driving the extension rod to move, which are used to drive the extension rod to move toward each other, so that the forward rod can squeeze into the gap of the bagged product for easy lifting.

[0009] As a further optimization scheme of the present invention, a rotating block is rotatably arranged at the bottom end of the extension rod, and the rotating block is used to be connected to the cross bar, wherein the rotating block is driven to rotate by a third motor arranged at the bottom end of the extension rod, and the third motor has a locking function. This arrangement is intended to allow the cross bar to adjust its position without affecting the normal feeding work of the grab hook.

[0010] As a further optimization scheme of the present invention, the forward rod is slidably connected to the surface of the cross bar through a limit ring, and the forward rod is driven by a driving assembly to slide back and forth. The driving assembly includes a fourth motor arranged on the surface of the rotating block, a turntable arranged on the end of the fourth motor shaft, and a connecting rod arranged on the surface of the turntable and hinged to the forward rod, so as to facilitate the forward rod to move along the gap of the bagged product and prevent the packaging bag from being punctured.

[0011] As a further optimization scheme of the present invention, the forward rod and the cross bar are subjected to mutual force through rollers, the side surface of the cross bar is provided with side grooves for installing rollers, and the side surface of the forward rod is provided with grooves contacting the rollers, wherein a limit member is provided between the forward rod and the roller to prevent the forward rod from tilting, and the limit member includes an arc-shaped limit groove provided on the surface of the groove, and a limit rod provided at the edge of the roller surface. The sliding friction between the forward rod and the cross bar can be reduced by the roller setting, and the limit member is provided to prevent the forward rod from detaching from the cross bar and tilting.

[0012] As a further optimization solution of the present invention, a curved surface is provided on the side surface of the advancing rod away from the cross bar to facilitate squeezing into the gap of the packaging bag.

[0013] As a further optimization scheme of the present invention, the width of the cross bar is gradually changed and becomes narrower at the end away from the rotating block, thereby improving the force bearing capacity of the cross bar, and the gradual shape allows the cross bar to enter the slits between the packaging bags.

[0014] As a further optimization solution of the present invention, thin shafts are provided on the upper and lower surfaces of the crossbar for parallel rotation to reduce the movement resistance of the crossbar.

[0015] The beneficial effects of the present invention are:

[0016] The present invention is provided with a cross bar and a forward rod. When unloading stacked bagged products, the cross bar and the forward rod squeeze into the slit holes of the bagged products, and then the cross bar moves in opposite directions. The forward rod breaks the slit of the bagged products, so that the cross bar moves to a position sufficient to hold up the bagged products. Then, the bagged products are suspended in the air and the bagged products are grabbed. This has a good unloading effect on the stacked bagged products and will not puncture the packaging bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the grab hook base plate of the present invention;

[0019] Figure 3 is a side view of the base plate structure of the grab hook of the present invention;

[0020] Figure 4 The present invention Figure 3 Middle AA section view;

[0021] Figure 5 It is a top view of the present invention Figure 4 Middle BB section view;

[0022] Figure 6 The present invention Figure 4 The enlarged cross-sectional view of the structure of part C in the middle;

[0023] Figure 7 The present invention Figure 4 Schematic diagram after removing the roller;

[0024] Figure 8 It is a schematic diagram of stacking bagged products applicable to the present invention;

[0025] In the figure: 1. manipulator; 2. grab hook base plate; 21. rotating shaft; 22. grab hook; 23. first motor; 3. side extension block; 31. threaded rod; 32. internal thread slider; 33. second motor; 34. extension rod; 35. rotating block; 36. third motor; 37. cross bar; 38. thin shaft; 4. forward structure; 41. limiting ring; 42. forward rod; 43. fourth motor; 44. turntable; 45. connecting rod; 371. side groove; 372. roller; 373. limiting rod; 421. groove; 422. arc-shaped limiting groove. DETAILED DESCRIPTION

[0026] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] Example 1

[0028] like Figure 1-7 As shown, a loading and unloading robot for intelligent warehouses is used for palletizing or unloading bagged products, including a manipulator 1, a grab hook base plate 2 located at the end of the manipulator 1, and a plurality of grab hooks 22 arranged on both sides of the grab hook base plate 2. The grab hooks 22 are rotatably connected to the two sides of the grab hook base plate 2 through a rotating shaft 21, and a first motor 23 for driving the rotating shaft 21 is arranged at the end of the side extension block 3. The first motor 23 drives the grab hook 22 to open and close through the rotating shaft 21, thereby realizing the grabbing of bagged products. The grab hook 22 structure is suitable for loading during palletizing.

[0029] A side extension block 3 is provided at one end of the grab hook base plate 2, and two extension rods 34 driven by a second motor 33 to move toward each other are provided on one side surface of the side extension block 3. The extension rods 34 are driven by a bidirectional threaded rod 31 to synchronously move away from / toward each other. The threaded rod 31 is provided on the side surface of the side extension block 3 and is driven to rotate by a second motor 33 provided at the end of the side extension block 3, and the bidirectional threads on the surface of the threaded rod 31 are respectively provided with two internal threaded sliders 32 for driving the extension rods 34 to move.

[0030] A rotating block 35 is rotatably provided at the bottom end of the extension rod 34, and the rotating block 35 is driven to rotate by a third motor 36 arranged at the bottom end of the extension rod 34, and the third motor 36 has a locking function. A cross bar 37 for lifting the bagged product is provided at the bottom end of the extension rod 34, and a forward rod 42 parallel to and slidably connected to the cross bar 37 is also provided at the bottom end of the extension rod 34. The forward rod 42 is used to make the cross bar 37 move forward and squeeze under the bagged product to facilitate lifting the bagged product.

[0031] When in use, the robot 1 is first moved so that the crossbar 37 and the forward rod 42 are inserted into the Figure 8 The second motor 33 then drives the two extension rods 34 to move toward each other, while the fourth motor 43 drives the forward rod 42 to slide back and forth, and the cross bar 37 moves from Figure 8 The slit hole shown is squeezed into the gap, and the forward rod 42 is used to break the gap to allow the cross bar 37 to enter smoothly. Until the position of the cross bar 37 is sufficient to lift the bagged product, the robot 1 rises and lifts the bagged product through the cross bar. After the bagged product is suspended in the air, the first motor 23 drives the grab hook 22 to rotate, grab the bagged product, and unload it.

[0032] In order to facilitate the forward rod 42 to slide back and forth, the forward rod 42 is slidably connected to the surface of the cross bar 37 through a limit ring 41, and the forward rod 42 is driven by a driving assembly to slide back and forth. The driving assembly includes a fourth motor 43 arranged on the surface of the rotating block 35, a turntable 44 arranged on the shaft end of the fourth motor 43, and a connecting rod 45 arranged on the surface of the turntable 44 and hinged to the forward rod 42.

[0033] In order to reduce the sliding friction between the forward rod 42 and the cross bar 37, the forward rod 42 and the cross bar 37 are subjected to mutual force through the roller 372, and the side surface of the cross bar 37 is provided with a side groove 371 for installing the roller 372, and the side surface of the forward rod 42 is provided with a groove 421 in contact with the roller 372, wherein a limiting member is provided between the forward rod 42 and the roller 372 to prevent the forward rod 42 from tilting, and the limiting member includes an arc-shaped limiting groove 422 arranged on the surface of the groove 421, and a limiting rod 373 arranged at the edge of the surface of the roller 372, and the limiting member is used to prevent the forward rod 42 from tilting, so that the forward rod 42 always remains parallel to the cross bar 37.

[0034] In order to prevent the advancing rod 42 from scratching the packaging bag when sliding, a curved surface is provided on the side surface of the advancing rod 42 away from the cross bar 37 to facilitate squeezing into the gap of the packaging bag.

[0035] The width of the cross bar 37 is gradually changed, and becomes narrower at one end away from the rotating block 35, so as to improve the force bearing capacity of the cross bar 37, and the gradually changed shape enables the cross bar 37 to enter the narrow slits between the packaging bags.

[0036] In order to reduce the friction force generated when the cross bar 37 moves between packaging bags, thin shafts 38 are provided on the upper and lower surfaces of the cross bar 37 so as to rotate parallel to each other.

[0037] The specific implementation method is as follows: when the present loading and unloading robot is used for loading, the third motor 36 drives the rotating block 35 to rotate, and the cross bar 37 and the forward rod 42 are rotated to the side away from the grab hook 22, so as to facilitate the loading of the grab hook 22. When loading and stacking, the grab hook 22 grabs the bagged products from the transmission line, and the grab hook 22 is tightened close to the bottom of the bagged products. If the stacked bagged products are to be unloaded, it is necessary to first separate the bagged products in the air and separate them from the bagged products below. Then, the grab hook 22 is used to grab them. Specifically, the cross bar 37 is inserted into the slits between the bagged products, and then the second motor 33 drives the cross bar 37 and the forward rod 42 to squeeze into the gaps between the bagged products. During the squeezing process, the fourth motor 43 drives the forward rod 42 to slide back and forth, so as to facilitate breaking the gap. Until the cross bar 37 reaches a position sufficient to hold up the bagged products, the robot arm rises to suspend the bagged products, and then Figure 2 As shown, the grab hook 22 rotates from the solid line position to the dotted line position to grab and lift the bagged product, and the third motor 36 drives the rotating block 35 to rotate, so that the cross bar 37 and the forward rod 42 rotate to the other side. At this time, the bagged product is unloaded through the grab hook 22.

[0038] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A loading and unloading robot for an intelligent warehouse, used for palletizing or unloading bagged products, comprising a manipulator (1), a grabbing hook base plate (2) located at the end of the manipulator (1), and a plurality of grabbing hooks (22) arranged on both sides of the grabbing hook base plate (2), characterized in that: A side extension block (3) is arranged at one end of the hook base plate (2); two extension rods (34) driven by a second motor (33) to move towards each other are arranged on one side surface of the side extension block (3); a cross bar (37) for lifting the bagged product is arranged at the bottom end of the extension rod (34); a forward rod (42) parallel to and slidably connected to the cross bar (37) is also arranged at the bottom end of the extension rod (34); the forward rod (42) is used to make the cross bar (37) move forward and squeeze under the bagged product to facilitate lifting the bagged product; A rotating block (35) is rotatably arranged at the bottom end of the extension rod (34), and the rotating block (35) is used to be connected to the cross bar (37), wherein the rotating block (35) is driven to rotate by a third motor (36) arranged at the bottom end of the extension rod (34), and the third motor (36) has a locking function; The forward rod (42) is slidably connected to the surface of the cross rod (37) through a limiting ring (41), and the forward rod (42) is driven by a driving assembly to slide back and forth. The driving assembly includes a fourth motor (43) arranged on the surface of the rotating block (35), a turntable (44) arranged on the shaft end of the fourth motor (43), and a connecting rod (45) arranged on the surface of the turntable (44) and hinged to the forward rod (42).

2. The loading and unloading robot for intelligent warehouse according to claim 1, characterized in that: The grab hook (22) is rotatably connected to the two sides of the grab hook base plate (2) via a rotating shaft (21), and a first motor (23) for driving the rotating shaft (21) is provided at the end of the side extension block (3).

3. The loading and unloading robot for intelligent warehouse according to claim 1, characterized in that: The extension rod (34) is driven by a bidirectional threaded rod (31) to synchronously move away from or toward each other. The threaded rod (31) is arranged on the side surface of the side extension block (3) and is driven to rotate by a second motor (33) arranged at the end of the side extension block (3). The bidirectional threads on the surface of the threaded rod (31) are respectively provided with two internal threaded sliders (32) for driving the extension rod (34) to move.

4. The loading and unloading robot for intelligent warehouse according to claim 1, characterized in that: The forward rod (42) and the cross rod (37) are mutually subjected to force through the roller (372); the side surface of the cross rod (37) is provided with a side groove (371) for installing the roller (372); the side surface of the forward rod (42) is provided with a groove (421) in contact with the roller (372); wherein a limiting member is provided between the forward rod (42) and the roller (372) to prevent the forward rod (42) from tilting; the limiting member comprises an arc-shaped limiting groove (422) provided on the surface of the groove (421), and a limiting rod (373) provided at the edge of the surface of the roller (372).

5. The loading and unloading robot for intelligent warehouse according to claim 1, characterized in that: A curved surface is provided on a side surface of the advancing rod (42) away from the cross rod (37).

6. The loading and unloading robot for intelligent warehouse according to claim 1, characterized in that: The width of the cross bar (37) is gradually changing, and becomes narrower at the end away from the rotating block (35).

7. The loading and unloading robot for intelligent warehouse according to claim 1, characterized in that: The upper and lower surfaces of the crossbar (37) are provided with thin shafts (38) for rotation in parallel.

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