A six-axis robot

Abstract

The present application relates to the technical field of six-axis robot, and particularly discloses a six-axis robot, which comprises a stacking machine body, a stacking suction disc mechanism, the stacking suction disc mechanism is arranged on a support plate II, the stacking suction disc mechanism is provided with a plurality of stacking suction disc mechanisms for fixing goods, a leveling mechanism, the leveling mechanism is arranged on the stacking suction disc mechanism to measure the gravity center of the goods lifted by the stacking suction disc mechanism, and a dust cleaning mechanism, the dust cleaning mechanism is arranged in the suction disc of the stacking suction disc mechanism to clean the impurities on the surface of the goods. The present application detects the gravity center of the subsequent lifted goods through the leveling mechanism, so that the neatness and stability of the goods can be ensured, when the gravity center of the subsequent goods is different from that of the first goods, it indicates that the direction of the goods changes, so that an alarm is given or the goods are moved to a specified position, which is beneficial to the stability when the goods are stacked.

Description

Technical Field

[0001] This invention relates to the field of six-axis robot technology, specifically to a six-axis robot. Background Technology

[0002] The six-axis marine palletizing robot is an automated robot capable of operating on the sea surface. It possesses six degrees of freedom, enabling it to perform various complex movements in three-dimensional space. Its working principle involves a control system that directs the robot to perform tasks such as handling, stacking, and organizing goods according to pre-programmed instructions or commands from on-site operators. Marine palletizing robots are primarily used in marine engineering, fisheries, and aquaculture, replacing manual labor in high-intensity, high-efficiency tasks in harsh environments.

[0003] A six-axis robot consists of six joints, each driven by a servo motor. The rotation of the six joint axes is driven by a harmonic reducer, synchronous pulleys, etc. The end effector performs palletizing operations by adsorbing and transporting objects. However, on the sea, some goods packed in boxes may have different centers of gravity due to different box orientations. In addition, the ship may be rocking on the sea, which may cause the boxes to face different directions during palletizing, resulting in a messy palletizing phenomenon. To address this, we propose a six-axis robot. Summary of the Invention

[0004] The purpose of this invention is to provide a six-axis robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a six-axis robot, comprising: a palletizing machine body, the palletizing machine body including a six-axis robotic arm, a connector fixedly mounted on the output end of the six-axis robotic arm, a support plate one fixedly mounted on the connector, and a support plate two of the same size as the support plate one mounted on the support plate one.

[0006] The palletizing suction cup mechanism is mounted on the second support plate. Several palletizing suction cups are provided to fix the goods.

[0007] The leveling mechanism is installed on the palletizing suction cup mechanism to measure the center of gravity of the goods lifted by the palletizing suction cup mechanism.

[0008] The dust removal mechanism is installed in the suction cup of the palletizing suction cup mechanism to clean impurities from the surface of the goods.

[0009] Preferably, the palletizing suction cup mechanism includes a suction cup, the air supply end of the suction cup is fixedly connected to an air pressure pipe, the other end of the air pressure pipe is connected to an air supply device that cooperates with the main body of the palletizing machine, and the suction cup is connected to the air supply device through the air pressure pipe.

[0010] Preferably, the top of the suction cup penetrates through the second support plate, and a pressure chamber is fixedly installed on the top of the suction cup. A piston is slidably installed inside the pressure chamber. Several push-up columns penetrating the bottom wall of the pressure chamber are fixedly installed on the lower wall of the piston. A force-bearing plate is fixedly installed at the bottom of the several push-up columns, and the force-bearing plate is parallel to the second support plate.

[0011] Preferably, the air supply end of the pressure chamber is fixedly connected to a connecting pipe, the other end of the connecting pipe is connected to a combination head, a pressure accumulator is fixedly installed below the combination head, the bottom surface of the pressure accumulator is fixedly connected to the second support plate, and the center points of the second support plate, the first support plate and the pressure accumulator coincide with each other.

[0012] Preferably, the accumulator plate has several independent air chambers inside. The independent air chambers are connected to the pressure chambers through a combination head and a connecting pipe. Each independent air chamber corresponds to a pressure chamber, and the air pressure of each independent air chamber is the same.

[0013] Preferably, the leveling mechanism includes two leveling columns, which are aligned with each other. Each leveling column has a leveling chamber inside, and an expansion pad is fixedly installed at the bottom of the leveling chamber, forming a seal with the leveling chamber.

[0014] Preferably, an impact column is fixedly installed on one side of the flat pressure column, and several sets of conductive sheets are fixedly embedded in the inner wall of the impact column. Each set of conductive sheets consists of two corresponding but unconnected semi-rings. Each semi-ring of the conductive sheet is fixedly connected to a data line, and the data line is connected to the intelligent system of the palletizing machine body.

[0015] Preferably, a sliding plate is slidably provided on the inner side of the conductive sheet, and a conductive ring is fixedly provided on the outer wall of the sliding plate. The outer diameter of the conductive ring is the same as the inner diameter of the conductive sheet. A guide post is provided at the center of the sliding plate, and the sliding plate and the guide post are slidably connected. Two flat pressure posts are interconnected through an impact post.

[0016] Preferably, the dust removal mechanism includes a telescopic column, and a force-bearing head is fixedly provided at the bottom end of the telescopic column. The outer wall of the force-bearing head is provided with a number of air jet holes, and the height of the number of air jet holes gradually decreases from the center of the telescopic column to the outside.

[0017] Preferably, an air box is fixedly installed on the telescopic column, and the air box is connected to the telescopic column.

[0018] This invention has at least the following beneficial effects:

[0019] This invention utilizes a six-axis robot for palletizing. The six-axis robotic arm moves support plates one and two directly above the goods. A palletizing suction cup mechanism then firmly lifts the goods, which are then neatly stacked together. Simultaneously, a dust removal mechanism blows away impurities from the goods' surface, ensuring the stability of the suction cup lifting process. This stability is beneficial when moving the goods. While lifting the goods, a leveling mechanism detects and records the center of gravity of the goods. This leveling mechanism then detects the center of gravity of subsequent lifted goods, ensuring the neatness and stability of the goods. If the center of gravity of a subsequent goods differs from that of the first goods, it indicates a change in the goods' orientation, triggering an alarm or moving the goods to a designated position. This design improves stability when palletizing goods on the sea surface, reducing the impact of ship movement on the palletizing process. Attached Figure Description

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

[0021] Figure 2 This is a schematic diagram of the support plate structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the accumulator disk structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the internal structure of the accumulator disk of the present invention;

[0024] Figure 5 This is a schematic diagram of the internal structure of the flat pressure column of the present invention;

[0025] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0026] Figure 7 This is a schematic diagram of the internal structure of the air pressure chamber of the present invention;

[0027] Figure 8 This is a schematic diagram of the internal structure of the telescopic column of the present invention;

[0028] Figure 9 for Figure 8 Enlarged diagram of point B in the middle.

[0029] In the diagram: 1. Palletizing machine body; 11. Six-axis robotic arm; 12. Connector; 13. Support plate one; 14. Support plate two; 2. Palletizing suction cup mechanism; 21. Suction cup; 22. Force plate; 23. Pressure chamber; 24. Accumulator plate; 25. Pushing column; 26. Connecting pipe; 27. Independent air chamber; 28. Piston; 29. ​​Pressure pipe; 201. Data cable; 202. Combined head; 3. Leveling mechanism; 31. Leveling column; 32. Expansion pad; 33. Impact column; 34. Guide column; 35. Conductive sheet; 36. Sliding plate; 37. Conductive ring; 38. Leveling chamber; 4. Dust removal mechanism; 41. Telescopic column; 42. Force head; 43. Air box; 44. Air jet hole. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figure 1-9 The present invention provides a technical solution:

[0032] Example 1,

[0033] A six-axis robot includes: a palletizing machine body 1, the palletizing machine body 1 including a six-axis robotic arm 11, a connector 12 fixedly mounted on the output end of the six-axis robotic arm 11, a support plate 13 fixedly mounted on the connector 12, and a support plate 14 of the same size as the support plate 13 mounted on the support plate 13.

[0034] The palletizing suction cup mechanism 2 is mounted on the support plate 14. Several palletizing suction cup mechanisms 2 are provided for fixing goods.

[0035] The leveling mechanism 3 is installed on the palletizing suction cup mechanism 2 to measure the center of gravity of the goods lifted by the palletizing suction cup mechanism 2.

[0036] The dust removal mechanism 4 is installed in the suction cup 21 of the palletizing suction cup mechanism 2 to clean impurities on the surface of the goods.

[0037] When using a six-axis robot for palletizing, the six-axis robotic arm 11 moves support plates 13 and 14 directly above the goods. The palletizing suction cup mechanism 2 then firmly lifts the goods and stacks them neatly together. Simultaneously, the dust removal mechanism 4 blows away impurities on the surface of the goods, ensuring the stability of the suction cup 21 in lifting the goods. This helps ensure stability when moving the goods. While lifting the goods, the leveling mechanism 3 detects and records the center of gravity of the goods. The leveling mechanism 3 then detects the center of gravity of subsequent goods being lifted, thus ensuring the neatness and stability of the goods. When the center of gravity of a subsequent goods differs from that of the first goods, it indicates a change in the orientation of the goods, triggering an alarm or moving the goods to a designated position. This improves the stability of palletizing goods on the sea surface and reduces the impact of the ship's movement on the palletizing process.

[0038] The palletizing suction cup mechanism 2 includes a suction cup 21. The air supply end of the suction cup 21 is fixedly connected to an air pressure pipe 29. The other end of the air pressure pipe 29 is connected to an air supply device that cooperates with the main body of the palletizing machine 1. The suction cup 21 is connected to the air supply device through the air pressure pipe 29.

[0039] The top of the suction cup 21 penetrates the support plate 14, and a pressure chamber 23 is fixedly installed on the top of the suction cup 21. A piston 28 is slidably installed inside the pressure chamber 23. Several push-up columns 25 are fixedly installed on the lower wall of the piston 28, penetrating the bottom wall of the pressure chamber 23. A force-bearing plate 22 is fixedly installed at the bottom end of the push-up columns 25, and the force-bearing plate 22 is parallel to the support plate 14. First, multiple suction cups 21 are pressed simultaneously onto the upper surface of the goods, and the air supply device circulates the air in the suction cups 21. The air is discharged, and the goods are lifted by negative pressure. At the same time as the goods are lifted, the downward pull force on the two rows of suction cups 21 varies depending on the center of gravity of the goods. While the suction cups 21 are pulled down by the goods, they squeeze the force plate 22, thereby driving the push column 25 to retract into the air pressure chamber 23 and pushing the piston 28 to squeeze the air in the air pressure chamber 23. In this way, the downward pull force of the goods on the two rows of suction cups 21 can be detected. The different centers of gravity of the goods indirectly result in different squeezing forces on the air pressure chamber 23.

[0040] The air supply end of the air pressure chamber 23 is fixedly connected to a connecting pipe 26, and the other end of the connecting pipe 26 is connected to a combination head 202. A pressure accumulator 24 is fixedly installed below the combination head 202. The bottom surface of the pressure accumulator 24 is fixedly connected to the second support plate 14, and the center points of the second support plate 14, the first support plate 13 and the pressure accumulator 24 coincide with each other.

[0041] The accumulator plate 24 has several independent air chambers 27 inside. The independent air chambers 27 are connected to the pressure chamber 23 through the combination head 202 and the connecting pipe 26. Each of the several independent air chambers 27 corresponds to one of the pressure chambers 23, and the air pressure of the several independent air chambers 27 is the same. When the air in the pressure chamber 23 is compressed, it enters the independent air chamber 27 through the connecting pipe 26. Thus, the air pressure returning to the independent air chamber 27 is different due to the different pulling force of the goods on the suction cup 21.

[0042] Example 2,

[0043] The leveling mechanism 3 includes two leveling columns 31, which are aligned with each other. The leveling column 31 has a leveling chamber 38 inside. An expansion pad 32 is fixedly installed at the bottom of the leveling chamber 38, and the expansion pad 32 and the leveling chamber 38 form a seal.

[0044] An impact column 33 is fixedly installed on one side of the flat pressure column 31. Several sets of conductive sheets 35 are fixedly embedded in the inner wall of the impact column 33. Each set of conductive sheets 35 consists of two corresponding but unconnected semi-rings. Each semi-ring of the conductive sheet 35 is fixedly connected to a data line 201, and the data line 201 is connected to the intelligent system of the palletizing machine body 1.

[0045] A sliding plate 36 is slidably disposed on the inner side of the conductive sheet 35. A conductive ring 37 is fixedly disposed on the outer wall of the sliding plate 36, and the outer diameter of the conductive ring 37 is the same as the inner diameter of the conductive sheet 35. A guide post 34 is disposed at the center of the sliding plate 36, and the sliding plate 36 is slidably connected to the guide post 34. Two flat pressure posts 31 are interconnected through an impact post 33. Due to the different pulling forces of the cargo on the suction cup 21, the air pressure returning to the independent air chamber 27 is different. When the air in the air pressure chamber 23 is compressed, it enters the independent air chamber 27 through the connecting pipe 26. As the air pressure in the independent air chamber 27 increases, the air impacts the expansion pad 32, causing the expansion pad 32 to expand in the flat pressure chamber 38. Thus, the suction cup 21 experiences a greater pulling force on the side closer to the center of gravity of the cargo than the other side, resulting in more air returning to the independent air chamber 27 than returning to the other independent air chamber 27. Therefore, the suction cup 21 experiences a greater pulling force. The greater the expansion of the expansion pad 32, the greater the compression of the air in the pressure chamber 38, and the more it pushes the slide plate 36 to slide along the guide post 34. The conductive ring 37 slides along with the slide plate 36. The conductive ring 37 is made of conductive rubber, and the center of the slide plate 36 is composed of rubber blocks, creating a seal between the slide plate 36 and the guide post 34. The conductive ring 37 also forms a seal with the inner wall of the impact post 33. The conductive sheet 35 is flush with the inner wall of the impact post 33. The conductive ring 37 allows the same group of conductive sheets 35 to conduct, transmitting signals to the intelligent system and storing them. Each group of conductive sheets 35 sends a different signal to the intelligent system. The leveling mechanism 3 then detects the center of gravity of the subsequently lifted goods, ensuring the neatness and stability of the goods. When the center of gravity of a subsequent goods differs from that of the first goods, it indicates a change in the direction of the goods, triggering an alarm or moving the goods to a designated position, which is beneficial for the stability of stacked goods.

[0046] In Example 3, based on Example 1, the leveling mechanism 3 can detect the center of gravity when lifting the goods based on the signal transmitted from the conductive sheet 35, and adjust it to a horizontal position by controlling the six-axis robotic arm 11 through the intelligent system. This is beneficial for the neatness of stacking and placing goods, and for the stability of stacking goods on the sea surface, reducing the impact of the ship's swaying on the sea surface on the stacking.

[0047] The dust removal mechanism 4 includes a telescopic column 41, and a force-bearing head 42 is fixedly provided at the bottom end of the telescopic column 41. Several air jet holes 44 are opened on the outer wall of the force-bearing head 42, and the height of the several air jet holes 44 gradually decreases from the center position of the telescopic column 41 to the outside.

[0048] An air box 43 is fixedly installed on the telescopic column 41. The air box 43 is connected to the telescopic column 41. When the suction cup 21 is pressed down, the force-receiving head 42 contacts the goods first. As the suction cup 21 descends, the telescopic column 41 squeezes the air box 43, thereby squeezing the air in the air box 43 and spraying it onto the surface of the goods through several air jet holes 44. This blows away impurities on the goods, prevents the suction cup 21 from being affected by impurities, and helps the suction cup 21 to lift the goods with stability.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A six-axis robot, include: The palletizing machine body (1) includes a six-axis robotic arm (11). A connector (12) is fixedly installed at the output end of the six-axis robotic arm (11). A support plate (13) is fixedly installed on the connector (12). A support plate (14) with the same size as the support plate (13) is installed on the support plate (13). Its features are: The palletizing suction cup mechanism (2) is set on the support plate (14). Several palletizing suction cup mechanisms (2) are provided for fixing goods. The leveling mechanism (3) is set on the palletizing suction cup mechanism (2) to measure the center of gravity of the goods lifted by the palletizing suction cup mechanism (2); The dust removal mechanism (4) is installed in the suction cup (21) of the palletizing suction cup mechanism (2) to clean impurities on the surface of the goods; The palletizing suction cup mechanism (2) includes a suction cup (21), and the air supply end of the suction cup (21) is fixedly connected to an air pressure pipe (29). The other end of the air pressure pipe (29) is connected to an air supply device that cooperates with the main body (1) of the palletizing machine, and the suction cup (21) is connected to the air supply device through the air pressure pipe (29). The top of the suction cup (21) passes through the second support plate (14), and a pressure chamber (23) is fixedly installed on the top of the suction cup (21). A piston (28) is slidably installed inside the pressure chamber (23). Several push columns (25) that pass through the bottom wall of the pressure chamber (23) are fixedly installed on the lower wall of the piston (28). A force plate (22) is fixedly installed at the bottom end of the several push columns (25), and the force plate (22) is parallel to the second support plate (14). The air supply end of the air pressure chamber (23) is fixedly connected to a connecting pipe (26), and the other end of the connecting pipe (26) is connected to a combination head (202). A pressure accumulator (24) is fixedly installed below the combination head (202). The bottom surface of the pressure accumulator (24) is fixedly connected to the second support plate (14), and the center points of the second support plate (14), the first support plate (13), and the pressure accumulator (24) coincide with each other. The accumulator (24) has several independent air chambers (27) inside. The independent air chambers (27) are connected to the pressure chamber (23) through the combination head (202) and the connecting pipe (26). The several independent air chambers (27) correspond one-to-one with the pressure chamber (23), and the air pressure of the several independent air chambers (27) is the same. The leveling mechanism (3) includes two leveling columns (31) and the two leveling columns (31) are aligned with each other. The leveling column (31) has a leveling chamber (38) inside. An expansion pad (32) is fixedly installed at the bottom of the leveling chamber (38) and the expansion pad (32) and the leveling chamber (38) form a seal. An impact column (33) is fixedly installed on one side of the flat pressure column (31). Several sets of conductive sheets (35) are fixedly embedded in the inner wall of the impact column (33). Each set of conductive sheets (35) consists of two corresponding but unconnected semi-rings. Each semi-ring of the conductive sheet (35) is fixedly connected to a data line (201), and the data line (201) is connected to the intelligent system of the palletizing machine body (1). A sliding plate (36) is slidably disposed on the inner side of the conductive sheet (35). A conductive ring (37) is fixedly disposed on the outer wall of the sliding plate (36), and the outer diameter of the conductive ring (37) is the same as the inner diameter of the conductive sheet (35). A guide post (34) is inserted through the center of the sliding plate (36), and the sliding plate (36) and the guide post (34) are slidably connected. The two flat pressure posts (31) are interconnected through the impact post (33).

2. The six-axis robot according to claim 1, characterized in that: The dust removal mechanism (4) includes a telescopic column (41), and a force-bearing head (42) is fixedly provided at the bottom end of the telescopic column (41). The outer wall of the force-bearing head (42) is provided with a number of air jet holes (44), and the height of the number of air jet holes (44) gradually decreases from the center position of the telescopic column (41) to the outside.

3. The six-axis robot according to claim 2, characterized in that: An air box (43) is fixedly installed on the telescopic column (41), and the air box (43) is connected to the telescopic column (41).

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