Palletizing Manipulator Based on Three Parallel Manipulators and Its Working Method

Abstract

The present invention relates to a palletizing manipulator based on a three-parallel robotic arm and its working method, belonging to logistics loading equipment. The technical solution adopted by the present invention is as follows: it includes a three-parallel robotic arm, a discharge plate, and a steering seat; the three-parallel robotic arm is a linear push rod structure, and two sets of top robotic arms are respectively horizontally arranged on the top horizontal hinge frame, the top horizontal hinge frame is arranged on the top longitudinal hinge frame, and the other set of bottom robotic arms is arranged at the middle position below the two top robotic arms; the guiding telescopic rod is in the middle of the two top robotic arms and is also arranged on the top horizontal hinge frame; the steering seat includes a bottom plate and a steering plate, the bottom plate and the steering plate support are provided with a steering support, and the steering support is provided with a steering motor; the discharge plate is a plate-like structure, with transverse rollers arranged in the transverse roller holes and longitudinal rollers arranged in the longitudinal roller holes. The present invention improves the structure of the parallel manipulator to realize swing palletizing loading in the horizontal direction.

Description

Technical Field

[0001] The present invention relates to a palletizing and placing manipulator based on a three - parallel manipulator arm and its working method, belonging to logistics loading equipment. Background Art

[0002] Currently, the transfer manipulator is usually of a multi - joint arm structure. The transfer manipulator connected by multiple joints grabs and unloads goods to achieve logistics loading or palletizing.

[0003] However, the current loading and palletizing manipulator takes a long time in the process of grabbing and placing goods, and is only suitable for palletizing with low - speed requirements, and the speed for loading trucks is too low.

[0004] The parallel manipulator arm is a commonly used manipulator structure for sorting. It is suitable for picking and placing goods with a small stroke, and usually moves in the vertical direction and short horizontal distance, and its characteristic is high speed. Summary of the Invention

[0005] The present invention provides a palletizing and placing manipulator based on a three - parallel manipulator arm and its working method, realizing the palletizing and loading of goods in the horizontal direction by the parallel manipulator structure.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] The palletizing and placing manipulator based on a three - parallel manipulator arm of the present invention is characterized in that

[0008] it includes a three - parallel manipulator arm, a discharge plate, a steering seat and a base;

[0009] The three - parallel manipulator arm is of a linear push - rod structure, including the structure of three manipulator arms. Two of the top manipulator arms are respectively horizontally arranged on the top transverse hinge frame, and the top transverse hinge frame is arranged on the top longitudinal hinge frame. The other bottom manipulator arm is arranged at the middle position below the two top manipulator arms and is arranged on the lower transverse hinge frame, and the lower transverse hinge frame is arranged on the lower longitudinal hinge frame;

[0010] The guiding telescopic rod is in the middle of the two top manipulator arms and is also arranged on the top transverse hinge frame;

[0011] The steering seat includes a bottom plate and a steering plate. A steering support is arranged between the bottom plate and the steering plate, and a steering motor is provided on the steering support. A transfer frame is provided at the rear end of the bottom plate. The three manipulator arms of the three - parallel manipulator arm are hinged to the transfer frame, and the front end of the guiding telescopic rod is fixed to the transfer frame;

[0012] The adapter frame at the rear of the bottom plate of the steering seat is hingedly connected to the rear of the bottom plate, and an angle adjustment telescopic push rod is arranged between the adapter frame and the front of the bottom plate. The adapter frame is I-shaped, and the upper two sides are respectively connected to the front ends of the two mechanical arms at high positions through universal joints, and the middle bottom is connected to the front ends of the bottom mechanical arms;

[0013] The unloading plate is a plate-shaped structure, fixed to the front edge of the steering plate, with a flat upper side surface and horizontal and vertical roller holes. A horizontal roller is arranged in the horizontal roller hole, and a vertical roller is arranged in the vertical roller hole. The horizontal roller and the vertical roller protrude from the upper plane of the unloading plate, and the center of the horizontal roller is perpendicular to the center of the vertical roller.

[0014] The discharge plate is provided with at least two rows of longitudinal rollers, and the longitudinal axles of the longitudinal rollers pass through the discharge plate and are connected to the longitudinal discharge drive;

[0015] At least two rows of transverse rollers are arranged on the unloading plate, the transverse wheel axles of the transverse rollers pass through the unloading plate and are connected to the transverse unloading drive, the longitudinal wheel axles of the longitudinal rollers and the transverse wheel axles of the transverse rollers are arranged alternately up and down, and the transverse rollers cover the transverse section of the unloading plate.

[0016] According to the stacking and placing robot based on three parallel mechanical arms, two groups of transverse rollers are arranged in each row, the longitudinal roller is arranged between the two groups of transverse rollers, the outer diameter of the longitudinal roller is larger than the outer diameter of the transverse roller, the longitudinal axle of the longitudinal roller is exposed on the rear end face of the unloading plate, a driven sprocket is arranged on the longitudinal axle, the longitudinal drive motor is fixed on the steering plate, the output shaft is connected to a longitudinal axle through a coupling, and a chain transmission is arranged between the driven sprockets of adjacent longitudinal axles;

[0017] A transverse axle of a transverse roller is arranged on the side of the unloading plate, a driven sprocket is arranged on the side of the transverse axle exposed from the unloading plate, a transverse driving motor is fixedly arranged on the end of the unloading plate, a driving sprocket is arranged on the output shaft of the transverse driving motor, and a chain transmission is arranged between the driving sprocket and the driven sprocket.

[0018] According to the stacking and placing robot based on three parallel robotic arms, the top transverse articulated frame is installed with two top robotic arms, and the top transverse articulated frame is provided with a vertical hinge shaft, and the upper and lower ends of the vertical hinge shaft are connected to the longitudinal articulated frame, and the longitudinal articulated frame is rectangular. The vertical hinge shafts on the top transverse articulated frame of the two top robotic arms and the middle guide telescopic rod are simultaneously arranged in the longitudinal articulated frame, and the two ends of the longitudinal articulated frame are connected to the base through transverse hinge shafts, and the transverse hinge shafts on both sides of the lower transverse articulated frame of the bottom robotic arm are connected to the base.

[0019] According to the stacking and placing robot based on three parallel robot arms, the base is a rectangular frame structure, a longitudinal hinge frame is arranged on the top, and two parallel plates are arranged at the bottom of the base for connecting the transverse hinge shaft on the bottom robot arm.

[0020] According to the palletizing and placing manipulator based on the three - parallel robotic arm, the linear push - rod structure is an electric push - rod.

[0021] The present invention improves the structure of the parallel robotic arm to achieve swing palletizing and loading in the horizontal direction, with a fast movement speed, which is faster than the process of the robotic arm grasping and putting down.

[0022] This device can be combined with a mobile trolley to achieve loading at any position and height inside the freight car.

[0023] This device can achieve swing in the horizontal direction and adjustment in the height direction, with an adjustable cargo release angle and high unloading and palletizing loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the schematic diagram of the overall structure of the present invention Figure 1 ,

[0025] Figure 2 is the schematic diagram of the overall structure of the present invention Figure 2 ,

[0026] Figure 3 is the schematic side - view structure diagram of the present invention,

[0027] Figure 4 is the schematic end - view structure diagram of the present invention,

[0028] Figure 5 is the schematic top - view structure diagram of the present invention,

[0029] Reference Signs:

[0030] 1. Three - parallel robotic arm, 11. Top robotic arm, 12. Top horizontal hinge frame, 13. Longitudinal hinge frame, 14. Guide telescopic rod, 15. Vertical hinge shaft, 16. Horizontal hinge shaft, 17. Bottom robotic arm, 18. Lower horizontal hinge frame, 2. Discharge plate, 21. Horizontal roller, 22. Longitudinal roller, 23. Longitudinal discharge drive, 24. Horizontal discharge drive, 25. Horizontal wheel shaft, 26. Longitudinal wheel shaft, 3. Steering seat, 31. Base plate, 32. Steering plate, 33. Steering support, 34. Steering motor, 35. Angle - adjusting telescopic push - rod, 36. Adapter frame, 37. Universal joint, 4. Base. DETAILED DESCRIPTION OF THE INVENTION

[0031] The following further describes the specific structure of the present invention:

[0032] The palletizing and placing manipulator based on the three - parallel robotic arm of the present invention is used for cargo handling, palletizing and loading. The goods conveyed by the conveyor are placed in the carriage to improve the palletizing efficiency. Specifically, this device includes a three - parallel robotic arm 1, a discharge plate 2, a steering seat 3 and a base 4.

[0033] In the present invention, the three-parallel manipulator 1 has a linear push rod structure, and specifically, the linear push rod structure is an electric push rod.

[0034] Two of the top manipulators are respectively horizontally arranged on the top horizontal hinge frame 12, and the top horizontal hinge frame 12 is arranged on the top longitudinal hinge frame 13. The other bottom manipulator is arranged at the middle position below the two top manipulators and is arranged on the lower horizontal hinge frame 18, and the lower horizontal hinge frame 18 is arranged on the lower longitudinal hinge frame 13.

[0035] For the manipulator on the top horizontal hinge frame 12, the top horizontal hinge frame 12 is provided with a vertical hinge shaft 15. The upper and lower ends of the vertical hinge shaft 15 are connected to the longitudinal hinge frame 13. The longitudinal hinge frame 13 is rectangular. The vertical hinge shafts 15 on the top horizontal hinge frames 12 of the two groups of top manipulators and the middle guiding telescopic rod 14 are simultaneously arranged in the longitudinal hinge frame 13. The two ends of the longitudinal hinge frame 13 are connected to the base 4 through a transverse hinge shaft 16. The two sides of the lower horizontal hinge frame of the bottom manipulator 17 are connected to the base 4 through the transverse hinge shaft 16.

[0036] In the present invention, the three-parallel manipulator is a three-degree-of-freedom parallel robot. The fixed end is provided with a Hooke joint structure composed of a horizontal hinge frame and a longitudinal hinge frame, which has two rotational degrees of freedom and one translational degree of freedom. The moving end has a three-rotational-degree-of-freedom structure, with two rotations and one translation degree of freedom, that is, rotations around X and Y and a translational degree of freedom in the Z direction. The three-parallel manipulator can ensure that the unloading plate of the moving platform is always in a parallel state, so as to form a plane above for placing goods.

[0037] The three-parallel manipulator is provided with a guiding telescopic rod 14 for motion guiding and support. Specifically, the guiding telescopic rod 14 is arranged in the middle of the two top manipulators and is also arranged on the top horizontal hinge frame 12.

[0038] Taking the left swing and raising the unloading height as an example, the movement of the three-parallel manipulator is illustrated. The placement point of the unloading plate is on the left side, and the height is higher than the current unloading plate height. Based on the state in Figure 1

[0039] 1) The top manipulator on the left side retracts, the manipulator on the right side extends, and the bottom manipulator extends or retracts synchronously, and the swivel seat and the unloading plate move to the left;

[0040] 2) The bottom manipulator extends, and the two top manipulators retract synchronously, and the swivel seat and the unloading plate are lifted;

[0041] 3) When the three parallel robotic arms are long enough, the swivel base and the discharge plate move leftward to reach the leftmost side, or the rightmost side, or a stacking height higher than themselves of the carriage to be loaded.

[0042] In the present invention, when the discharge plate reaches the stacking and discharging position, it is necessary to adjust the square of the discharge. This process is realized through the swivel base. Specifically, the swivel base 3 includes a base plate 31 and a swivel plate 32. A swivel support 33 is arranged between the base plate 31 and the swivel plate 32. The swivel support 33 is provided with a swivel motor 34. A transfer frame 36 is arranged at the rear end of the base plate 31. The three robotic arms of the three parallel robotic arms 1 are hingedly connected to the transfer frame 36. The front end of the guiding telescopic rod 14 is fixed to the transfer frame 36.

[0043] The discharge plate 2 is of a plate-like structure and is fixed to the front edge of the swivel plate 32. The upper side is a plane, and transverse and longitudinal roller holes are opened. Transverse rollers 21 are arranged in the transverse roller holes, and longitudinal rollers 22 are arranged in the longitudinal roller holes. The transverse rollers 21 and the longitudinal rollers 22 protrude from the upper plane of the discharge plate 2. The centers of the transverse rollers 21 and the longitudinal rollers 22 are perpendicular. At least three rows of longitudinal rollers 22 are arranged on the discharge plate 2. The rotating shafts of the longitudinal rollers 22 pass through the discharge plate 2 and are connected to the longitudinal discharge drive 23.

[0044] Three rows of transverse rollers 21 are arranged on the discharge. The transverse wheel shafts 25 of the transverse rollers 21 pass through the discharge plate 2 and are connected to the transverse discharge drive 24. The longitudinal wheel shafts 26 of the longitudinal rollers 22 and the rotating shafts of the transverse rollers 21 are arranged vertically staggered. The transverse rollers 21 cover the transverse section of the discharge plate 2.

[0045] Two groups of transverse rollers 21 are arranged in each row. The longitudinal rollers 22 are arranged between the two groups of transverse rollers 21. The outer diameter of the longitudinal rollers 22 is larger than the outer diameter of the transverse rollers 21. The longitudinal wheel shafts 26 of the longitudinal rollers 22 are exposed at the rear end face of the discharge plate 2. Driven sprockets are arranged on the longitudinal wheel shafts 26. The longitudinal drive motor is fixed on the swivel plate 32. The output shaft is connected to a longitudinal wheel shaft 26 through a coupling. A chain drive is arranged between the driven sprockets of adjacent longitudinal wheel shafts 26;

[0046] The transverse wheel shafts 25 of the transverse rollers 21 are arranged on the side surface of the discharge plate 2. The transverse wheel shafts 25 are exposed on the side surface of the discharge plate 2 and are provided with driven sprockets. A transverse drive motor is fixedly arranged at the end of the discharge plate 2. A driving sprocket is arranged on the output shaft of the transverse drive motor. A chain drive is arranged between the driving sprocket and the driven sprocket.

[0047] The adapter frame 36 at the rear of the bottom plate 31 of the steering seat 3 is hingedly connected to the rear of the bottom plate 31, and an angle adjustment telescopic push rod 35 is arranged between the adapter frame 36 and the front of the bottom plate 31. The adapter frame 36 is I-shaped, and the upper two sides are respectively connected to the front ends of the two mechanical arms at high positions through universal joints 37, and the middle bottom is connected to the front end of the bottom mechanical arm 17. The angle adjustment telescopic push rod is used to adjust the bottom plate and the steering plate to always be in a horizontal state, and is used in conjunction with the three parallel mechanical arms to lift the steering seat.

[0048] In the present invention, the base 4 is a rectangular frame structure, a longitudinal hinge frame 13 is arranged on the top, and two parallel plates are arranged at the bottom of the base 4 for connecting the transverse hinge shaft 16 on the bottom mechanical arm 17.

[0049] Steps for using this device:

[0050] First, the three-parallel robotic arms drive the unloading plate to the material receiving position;

[0051] The conveyor drops the goods onto the discharge board;

[0052] The three-parallel robotic arms drive the unloading plate to lift or move to the stacking positions on both sides;

[0053] The steering motor in the steering seat drives the unloading plate to rotate to the placement angle of the goods;

[0054] The horizontal rollers or vertical rollers on the unloading plate rotate to drive the goods to be unloaded from the unloading plate and fall to the stacking position according to the required angle and direction to achieve the stacking requirements.

[0055] The present invention improves the parallel manipulator structure to achieve swing stacking and loading in the horizontal direction, with a fast movement speed, which is faster than the process speed of grabbing and putting down by the manipulator;

[0056] This device can be combined with a mobile trolley to achieve loading at any position and height in the truck;

[0057] The device can realize horizontal swing and height adjustment, the cargo release angle is adjustable, and the unloading, stacking and loading efficiency is high.

Claims

1. A palletizing and placing robot based on three parallel robot arms, characterized in that: It comprises three parallel mechanical arms (1), a discharge plate (2), a steering seat (3) and a base (4); The three-parallel mechanical arm (1) is a linear push rod structure, comprising a structure of three mechanical arms, wherein two top mechanical arms are respectively arranged horizontally on a top transverse articulated frame (12), the top transverse articulated frame (12) is arranged on a top longitudinal articulated frame (13), and another bottom mechanical arm is arranged at a middle position below the two top mechanical arms and is arranged on a lower transverse articulated frame (18), and the lower transverse articulated frame (18) is arranged on a lower longitudinal articulated frame (13); A guide telescopic rod (14) is located between the two top mechanical arms and is also arranged on the top transverse hinge frame (12); The steering seat (3) comprises a bottom plate (31) and a steering plate (32), a steering support (33) is arranged between the bottom plate (31) and the steering plate (32), the steering support (33) is provided with a steering motor (34), a transfer frame (36) is arranged at the rear end of the bottom plate (31), three mechanical arms of the three-parallel mechanical arm (1) are hingedly connected to the transfer frame (36), and a front end of the guide telescopic rod (14) is fixed to the transfer frame (36); The adapter frame (36) at the rear of the bottom plate (31) of the steering seat (3) is hingedly connected to the rear of the bottom plate (31), and an angle-adjusting telescopic push rod (35) is arranged between the adapter frame (36) and the front of the bottom plate (31). The adapter frame (36) is I-shaped, and the upper two sides are respectively connected to the front ends of the two mechanical arms at a high position through universal joints (37), and the middle bottom is connected to the front end of the bottom mechanical arm (17); The unloading plate (2) is a plate-shaped structure, fixed to the front edge of the steering plate (32), the upper side surface is a plane, and has transverse and longitudinal roller holes, the transverse roller (21) is arranged in the transverse roller hole (21), and the longitudinal roller (22) is arranged in the longitudinal roller hole (22), the transverse roller (21) and the longitudinal roller (22) protrude from the upper plane of the unloading plate (2), and the center of the transverse roller (21) and the center of the longitudinal roller (22) are perpendicular; The discharge plate (2) is provided with at least two rows of longitudinal rollers (22), and the longitudinal wheel axles (26) of the longitudinal rollers (22) pass through the discharge plate (2) and are connected to the longitudinal discharge drive (23); At least two rows of transverse rollers (21) are provided on the discharge plate (2); transverse axles (25) of the transverse rollers (21) pass through the discharge plate (2) and are connected to the transverse discharge drive (24); longitudinal axles (26) of the longitudinal rollers (22) and the transverse axles (25) of the transverse rollers (21) are arranged alternately up and down; and the transverse rollers (21) cover the transverse cross section of the discharge plate (2).

2. The palletizing and placing manipulator based on a three-parallel robotic arm according to claim 1, characterized in that, Two sets of transverse rollers (21) are arranged in each row, and the longitudinal rollers (22) are arranged between the two sets of transverse rollers (21). The outer diameter of the longitudinal rollers (22) is larger than that of the transverse rollers (21). The longitudinal axle (26) of the longitudinal rollers (22) is exposed at the rear end face of the discharge plate (2). A driven sprocket is arranged on the longitudinal axle (26). The longitudinal driving motor is fixed on the steering plate (32), and the output shaft is connected to a longitudinal axle (26) through a coupling. A chain drive is arranged between the driven sprockets of adjacent longitudinal axles (26); The transverse axle (25) of the transverse rollers (21) is arranged on the side of the discharge plate (2). The driven sprocket is arranged on the transverse axle (25) exposed on the side of the discharge plate (2). The transverse driving motor is fixedly arranged at the end of the discharge plate (2). The output shaft of the transverse driving motor is provided with a driving sprocket. A chain drive is arranged between the driving sprocket and the driven sprocket.

3. The palletizing and placing manipulator based on a three-parallel robotic arm according to claim 1, characterized in that, Two of the top robotic arms are installed on the top horizontal hinge frame (12). The top horizontal hinge frame (12) is provided with a vertical hinge shaft (15). The upper and lower ends of the vertical hinge shaft (15) are connected to the longitudinal hinge frame (13). The longitudinal hinge frame (13) is rectangular. The vertical hinge shafts (15) on the two top robotic arms and the middle guiding telescopic rod (14) are simultaneously arranged in the longitudinal hinge frame (13). The two ends of the longitudinal hinge frame (13) are connected to the base (4) through the horizontal hinge shafts (16). The lower parts of the two sides of the horizontal hinge shafts (16) of the bottom robotic arm (17) are connected to the base (4).

4. The palletizing and placing manipulator based on a three-parallel robotic arm according to claim 1, wherein The base (4) is of a rectangular frame structure. The longitudinal hinge frame (13) is arranged at the top. Two parallel plates are provided at the bottom of the base (4) for connecting the horizontal hinge shafts (16) on the bottom robotic arm (17).

5. The palletizing and placing manipulator based on a three-parallel manipulator according to claim 1, characterized in that, The linear push rod structure is an electric push rod.

6. A working method of the palletizing and placing manipulator based on a three-parallel manipulator according to claim 1, characterized in that, The usage steps of this device are as follows: 1) First, the three-parallel robotic arm drives the discharge plate to the material receiving position; 2) The conveyor drops the goods onto the discharge plate; 3) The three-parallel robotic arm drives the discharge plate to lift or move to the stacking and placing positions on both sides; 4) The steering motor in the swivel base drives the discharge plate to rotate to the placing angle of the goods; 5) The transverse rollers or longitudinal rollers on the discharge plate rotate, driving the goods to unload from the discharge plate and fall to the stacking and placing positions at the required angle and direction, achieving the stacking and placing requirements.

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