A robot for industrial palletizing

Abstract

The application relates to the technical field of intelligent robots, in particular to an industrial stacking robot, which comprises a base, a plurality of symmetrical fixing frames fixedly installed at the bottom of the base, a rotating rod rotatably installed between every two fixing frames, rotating wheels fixedly installed at the two ends of each rotating rod, a first base fixedly installed at the upper end of the base, a second base fixedly installed at the upper end of the first base, and a fixing plate fixedly installed at the upper end of the second base; the upper end of the fixing plate is fixedly installed with a connecting frame; and the other end of the connecting frame is rotatably installed with a working arm. The mechanism of the connecting rod, the spring and the brake rod is arranged; after the robot body moves to a stacking position, the working arm and the clamp are operated to stack the articles; when the clamp clamps the articles, the working arm shakes, the stress of each part of the first base and the second base is different, and the point with larger stress on the first base extrudes the electric hydraulic rod to extrude the pressure sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, in particular to an industrial stacking robot. BACKGROUND

[0002] The stacking robot is a product of the organic combination of machinery and computer programs. It provides higher production efficiency for modern production. The stacking robot has quite wide application in the stacking industry. The existing stacking robot cannot adjust the height of the stacked objects as required, so that the working efficiency of the stacking robot is low.

[0003] The stacking machine in the prior art needs manual pushing of the trolley to the predetermined position, and manual assistance is required throughout the process. Moreover, the self-weight of the trolley after stacking is large, and it is not easy to pull. Moreover, the stacked material on the trolley after stacking is often stacked high, and manual pushing and pulling, if the force is uneven or an emergency stop occurs, the material stack is easy to collapse due to inertia, which is a serious safety hazard.

[0004] When the existing stacking robot stacks materials, the degree of shaking of the working arm of the robot becomes larger and larger, and the robot may even tip over when the degree of shaking is large, which seriously affects the stacking work.

[0005] Therefore, an industrial stacking robot is provided. SUMMARY

[0006] In order to overcome the above-mentioned defects of the prior art, the present application provides an industrial stacking robot, and the technical problem to be solved by the present application is that when the stacking robot stacks materials, the degree of shaking of the working arm of the robot becomes larger and larger, and the robot may even tip over when the degree of shaking is large.

[0007] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: an industrial stacking robot, comprising a base, a plurality of symmetrical fixed frames fixedly installed at the bottom of the base, a rotating shaft rotatably installed between every two fixed frames, a rotating wheel fixedly installed at both ends of each rotating shaft, a first base fixedly installed at the upper end of the base, a second base fixedly installed at the upper end of the first base, a fixed plate fixedly installed at the upper end of the second base, a connecting frame fixedly installed at the upper end of the fixed plate, a working arm rotatably installed at the other end of the connecting frame, a clamp rotatably installed at one end of the working arm, a steel wire rope fixedly connected to the clamp, the other end of the steel wire rope penetrating through the fixed plate, a first inner cavity formed in the inside of the base, a second inner cavity formed in the inside of the second base, the first inner cavity and the second inner cavity being communicated, and a brake balancing mechanism for balancing the rotating wheel being arranged at the bottom of the base.

[0008] The brake balancing mechanism comprises a plurality of jacks slidingly installed at the bottom of the base, the bottom of the plurality of jacks is hingedly connected with two symmetrically arranged connecting rods, the other end of each of the two connecting rods is hingedly connected with a sliding block, the sliding block is slidingly installed on a rotating rod, two springs are sleeved on the rotating rod, one end of the spring is fixedly connected to the sliding block, the other end of the spring is fixedly installed with a brake disc, the brake disc is slidingly installed on the rotating rod, a brake lever is fixedly installed on the side of the brake disc close to the rotating wheel, two strip-shaped grooves are formed in the bottom of the base, and the jack slides in the strip-shaped groove.

[0009] The control assembly is arranged between the base and the first pedestal for balancing the first pedestal.

[0010] The control assembly comprises a plurality of pressure sensors fixedly installed at the upper end of the base, a plurality of symmetrically arranged electric hydraulic rods are fixedly installed at the bottom of the first pedestal, the output end of the electric hydraulic rod is fixedly connected with the pressure sensor, and the pressure sensor and the electric hydraulic rod are electrically connected with the power supply through wires.

[0011] In a preferred embodiment, a supporting mechanism for positioning the base is arranged between the base and the first pedestal, the supporting mechanism comprises supporting plates hingedly connected to the two sides of the base, a socket into which the supporting plate is inserted is formed in the first pedestal, a recess is formed at the other end of the supporting plate, a sliding groove is formed in the inner wall of the second pedestal, a plug rod is slidingly installed in the sliding groove, and the plug rod slides in the recess.

[0012] In a preferred embodiment, a shielding mechanism for shielding the socket on the first pedestal is arranged in the second inner cavity, the shielding mechanism comprises a plurality of shielding plates hingedly connected to the first inner cavity, elastic ropes are fixedly connected to one side of the plurality of shielding plates, the other end of the elastic rope penetrates through the side wall of the first pedestal and is fixedly connected to the side wall of the supporting plate.

[0013] In a preferred embodiment, an auxiliary mechanism for assisting the movement of the jack is arranged in the first inner cavity and the second inner cavity, the auxiliary mechanism comprises a first counterweight plate fixedly connected to the bottom end of the steel wire rope, a first magnetic plate is fixedly installed at the bottom of the first counterweight plate, a second counterweight plate is fixedly installed at the top end of the jack, a second magnetic plate is fixedly installed at the upper end of the second counterweight plate, the first magnetic plate and the second magnetic plate attract each other, a plurality of memory springs are fixedly connected between the bottom wall of the first inner cavity and the bottom of the second counterweight plate, and the pressure sensor and the memory springs are electrically connected with the power supply through wires.

[0014] In a preferred embodiment, the supporting plate is in L-shaped structure, and the plug rod is also in L-shaped structure.

[0015] In a preferred embodiment, the material of the support plate is an aluminum oxide copper alloy.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] 1、The connecting rod, spring, brake lever and other mechanisms are arranged, after the robot body moves to the stacking location, the stacking work of the articles is carried out by operating the work arm and clamp, when the clamp clamps the articles, the work arm shakes, the stress of each part of the first base and the second base is different, the point with larger stress on the first base extrudes the electric hydraulic rod to extrude the pressure sensor, the data of the pressure sensor is transmitted to the controller through the CPU, the electric hydraulic rod is controlled to elongate, so that the first base is balanced again, when the clamp clamps the articles, the steel wire rope is stretched, the auxiliary mechanism is driven by the steel wire rope and the ejector rod moves downward in the strip-shaped groove, the connecting rod is deflected downward, the sliding block is driven to slide on the rotating rod by the connecting rod, the spring is compressed and the brake disc moves to the rotating wheel, the brake lever is inserted between the rotating wheel hubs, so that the rotating wheel is fixed, so that the rotating wheel cannot rotate, the shaking of the rotating wheel is caused, and the positioning of the rotating wheel is realized.

[0018] 2、The support plate, groove, plug rod and other mechanisms are arranged, when the steel wire rope pulls up the first counterweight plate, the plug rod is lifted, after the plug rod is separated from the groove, the support plate is deflected under the action of its own gravity, when the two support plates are deflected to the ground, the base is supported, the shaking of the work arm is prevented, so that the base does not shake too much and the robot body of the base does not fall down, and the stacking work is not failed. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0020] Figure 2 It is a side sectional view of the present application;

[0021] Figure 3 It is an enlarged view of the brake balancing mechanism of the present application;

[0022] Figure 4 It is an enlarged view of the supporting mechanism of the present application;

[0023] Figure 5 It is an enlarged view of the shielding mechanism of the present application;

[0024] Figure 6 It is an enlarged view of the auxiliary mechanism of the present application.

[0025] In the figure: 1, base; 11, first inner cavity; 2, fixed frame; 3, rotating rod; 4, rotating wheel; 51, first base; 52, second base; 521, second inner cavity; 53, fixed plate; 54, connecting frame; 55, working arm; 56, clamp; 57, steel wire rope; 6, brake balance mechanism; 61, top rod; 62, connecting rod; 63, sliding block; 64, spring; 65, brake disc; 66, brake rod; 67, strip-shaped groove; 71, pressure sensor; 72, electric hydraulic rod; 73, memory spring; 8, supporting mechanism; 81, supporting plate; 82, groove; 83, sliding groove; 84, insertion rod; 9, shielding mechanism; 91, baffle; 92, elastic rope; 10, auxiliary mechanism; 101, first counterweight plate; 102, first magnetic plate; 103, second counterweight plate; 104, second magnetic plate. DETAILED DESCRIPTION

[0026] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. In addition, the forms of each structure described in the following embodiments are only examples, and the industrial palletizing robot involved in the present application is not limited to each structure described in the following embodiments. All other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0027] Reference Figures 1-3 The present application provides an industrial palletizing robot, comprising a base 1, a plurality of symmetrically arranged fixed frames 2 fixedly installed at the bottom of the base 1, a rotating rod 3 rotatably installed between every two fixed frames 2, a rotating wheel 4 fixedly installed at both ends of each rotating rod 3, a first base 51 fixedly installed at the upper end of the base 1, a second base 52 fixedly installed at the upper end of the first base 51, a fixed plate 53 fixedly installed at the upper end of the second base 52, a connecting frame 54 fixedly installed at the upper end of the fixed plate 53, a working arm 55 rotatably installed at the other end of the connecting frame 54, a clamp 56 rotatably installed at one end of the working arm 55, a steel wire rope 57 fixedly connected to the clamp 56, the other end of the steel wire rope 57 penetrating through the fixed plate 53, a first inner cavity 11 formed in the inside of the base 1, a second inner cavity 521 formed in the inside of the second base 52, the first inner cavity 11 and the second inner cavity 521 being in communication, and a brake balance mechanism 6 for balancing the rotating wheel 4 arranged at the bottom of the base 1.

[0028] The brake balancing mechanism 6 comprises a plurality of jacks 61 slidingly installed at the bottom of the base 1, the bottoms of the plurality of jacks 61 are hingedly connected with two symmetrically arranged connecting rods 62, the other ends of the two connecting rods 62 are hingedly connected with sliding blocks 63, the sliding blocks 63 are slidingly installed on the rotating rod 3, the rotating rod 3 is sleeved with two springs 64, one end of the spring 64 is fixedly connected with the sliding block 63, the other end of the spring 64 is fixedly installed with a brake disc 65, the brake disc 65 is slidingly installed on the rotating rod 3, the brake disc 65 is fixedly installed with a brake lever 66 on the side close to the rotating wheel 4, the bottom of the base 1 is provided with two strip-shaped grooves 67, and the jack 61 slides in the strip-shaped groove 67.

[0029] A control assembly for balancing the first base 51 is arranged between the base 1 and the first base 51.

[0030] The control assembly comprises a plurality of pressure sensors 71 fixedly installed on the upper end of the base 1, the bottom of the first base 51 is fixedly installed with a plurality of symmetrically arranged electric hydraulic rods 72, the output ends of the electric hydraulic rods 72 are fixedly connected with the pressure sensors 71, and the pressure sensors 71 and the electric hydraulic rods 72 are electrically connected with the power supply through wires.

[0031] Compared with the prior art, the connecting rod 62, the spring 64 and the brake lever 66 are arranged, after the robot body moves to the stacking position, the work arm 55 and the clamp 56 are operated to stack the articles, when the clamp 56 clamps the articles, the work arm 55 shakes, the forces on different positions of the first base 51 and the second base 52 are different, the point on the first base 51 that bears a larger force extrudes the electric hydraulic rod 72 to extrude the pressure sensor 71, the data of the pressure sensor 71 is transmitted to the controller through the CPU, the electric hydraulic rod 72 is controlled to elongate, the first base 51 is balanced again, the clamping of the articles by the clamp 56 causes the steel wire rope 57 to stretch, the steel wire rope 57 drives the auxiliary mechanism 10 and indirectly drives the jack 61 to move downward in the strip-shaped groove 67, the jack 61 drives the connecting rod 62 to deflect downward, the connecting rod 62 drives the sliding block 63 to slide on the rotating rod 3, the spring 64 is compressed and drives the brake disc 65 to move to the rotating wheel 4, the brake lever 66 is inserted between the hubs of the rotating wheel 4, so that the rotating wheel 4 is fixed and cannot rotate, the rotating wheel 4 shakes, and the rotating wheel 4 is positioned.

[0032] Referring to Figure 2 , Figure 4 A supporting mechanism 8 for positioning the base 1 is arranged between the base 1 and the first base 51, the supporting mechanism 8 comprises support plates 81 hingedly connected on both sides of the base 1, the first base 51 is provided with a socket into which the support plate 81 is inserted, the other end of the support plate 81 is provided with a recess 82, the inner wall of the second base 52 is provided with a sliding groove 83, a plug rod 84 is slidingly installed in the sliding groove 83, and the plug rod 84 slides in the recess 82.

[0033] In the embodiment of the present application, when the steel wire rope 57 pulls up the first counterweight plate 101, the support plate 81 is lifted up, and after the insertion rod 84 is separated from the groove 82, the support plate 81 is deflected under the action of its own gravity, and when the two support plates 81 are deflected to the ground, they support the base 1, preventing the base 1 from shaking left and right due to the shaking of the working arm 55, so that the base 1 does not shake too much and cause the robot body to tip over, resulting in a stacking failure.

[0034] With reference to Figure 2 , Figure 5 , the inside of the second inner cavity 521 is provided with a shielding mechanism 9 for shielding the socket on the first base 51, the shielding mechanism 9 includes a plurality of baffles 91 hinged to the first inner cavity 11, one side of the plurality of baffles 91 is fixedly connected with an elastic rope 92, the other end of the elastic rope 92 penetrates through the side wall of the first base 51 and is fixedly connected to the side wall of the support plate 81.

[0035] In the embodiment of the present application, the socket on the first base 51 is exposed after the support plate 81 is deflected downward, the support plate 81 pulls the elastic rope 92 to stretch, the elastic rope 92 pulls the baffle 91 to deflect upward, and the baffle 91 shields the socket, preventing dust and impurities from entering the second inner cavity 521 from the socket, affecting the movement of the components in the second inner cavity 521, and affecting the stacking work.

[0036] With reference to Figure 2 , Figure 6 , the inside of the first inner cavity 11 and the second inner cavity 521 is provided with an auxiliary mechanism 10 for assisting the movement of the ejector rod 61, the auxiliary mechanism 10 includes a first counterweight plate 101 fixedly connected to the bottom end of the steel wire rope 57, a first magnetic plate 102 fixedly installed at the bottom of the first counterweight plate 101, a second counterweight plate 103 fixedly installed at the top end of the ejector rod 61, a second magnetic plate 104 fixedly installed at the upper end of the second counterweight plate 103, the first magnetic plate 102 and the second magnetic plate 104 attract each other, a plurality of memory springs 73 are fixedly connected between the bottom wall of the first inner cavity 11 and the bottom of the second counterweight plate 103, and the pressure sensor 71 and the memory springs 73 are electrically connected through wires and a power supply.

[0037] In the embodiment of the present application, the first counterweight plate 101 is driven by the steel wire rope 57 to ascend in the second inner cavity 521, the first magnetic plate 102 and the second magnetic plate 104 are forced to separate, at the same time, the data of the pressure sensor 71 is transmitted to the controller through the CPU, and the charged memory spring 73 is controlled to contract, the memory spring 73 pulls the second counterweight plate 103 to move downward, so that the first counterweight plate 101 and the second counterweight plate 103 are separated, the top rod 61 is driven to move downward under the gravity of the second counterweight plate 103, thereby forming driving to the brake supporting mechanism 6, when the stacking work is finished, the first counterweight plate 101 drives the first magnetic plate 102 to descend, the first magnetic plate 102 attracts the second magnetic plate 104 to ascend, so that the brake supporting mechanism 6 is reset, and the automatic braking and supporting of the rotating wheel 4 and the base 1 are realized.

[0038] With reference to Figure 2 The structure of the supporting plate 81 is L-shaped structure, and the plug rod 84 is also L-shaped structure.

[0039] In the embodiment of the present application, the supporting plate 81 and the plug rod 84 are L-shaped structure, so that the triangular structure at the corner of the supporting plate 81 contacts the ground after falling, and the support of the base 1 is more stable; the plug rod 84 is more easily pushed and ascended under the driving of the first counterweight plate 101.

[0040] With reference to Figure 1 The material of the supporting plate 81 is aluminum oxide copper alloy.

[0041] In the embodiment of the present application, the aluminum oxide copper alloy has the characteristics of high strength and wear resistance, and the aluminum oxide film on the surface of the supporting plate 81 can not be easily worn when the supporting plate 81 deflects and rubs with the first base 51.

[0042] Working principle:

[0043] After the robot body moves to the stacking location, the stacking work of the articles is performed by the manipulator arm 55 and the clamp 56, and the clamp 56 clamps the articles, which causes the manipulator arm 55 to shake, so that the forces on the first base 51 and the second base 52 are different, the point on the first base 51 that bears a larger force extrudes the electric hydraulic rod 72 to extrude the pressure sensor 71, and the pressure sensor 71 transmits data to the controller through the CPU, and then controls the electric hydraulic rod 72 to elongate, so that the first base 51 is balanced again, the clamp 56 clamps the articles, which causes the steel wire rope 57 to stretch, the steel wire rope 57 drives the auxiliary mechanism 10 and indirectly drives the jacking rod 61 to move downward in the strip-shaped groove 67, the jacking rod 61 drives the connecting rod 62 to deflect downward, the connecting rod 62 drives the sliding block 63 to slide on the rotating rod 3, thereby compressing the spring 64 and driving the brake disc 65 to move to the rotating wheel 4, the brake rod 66 is inserted between the hubs of the rotating wheel 4, so that the rotating wheel 4 is fixed and cannot rotate, at the same time, when the steel wire rope 57 pulls up the first counterweight plate 101, the inserting rod 84 is lifted, after the inserting rod 84 is separated from the groove 82, the support plates 81 are deflected under the action of their own gravity, when the two support plates 81 are deflected to the ground, the bottom seat 1 is supported, after the support plates 81 deflect downward, the sockets on the first base 51 are exposed, the support plates 81 drive the elastic ropes 92 to stretch, the elastic ropes 92 drive the baffles 91 to deflect upward, the baffles 91 shield the sockets, the steel wire rope 57 drives the first counterweight plate 101 to rise in the second inner cavity 521, the first magnetic plate 102 and the second magnetic plate 104 are forced to separate, at the same time, the pressure sensor 71 transmits data to the controller through the CPU, and then controls the memory spring 73 to be electrified to shrink, the memory spring 73 pulls the second counterweight plate 103 to move downward, so that the first counterweight plate 101 and the second counterweight plate 103 are separated, the second counterweight plate 103 drives the jacking rod 61 to move downward under the action of gravity, thereby driving the brake support mechanism 6, when the stacking work is completed, the first counterweight plate 101 drives the first magnetic plate 102 to descend, the first magnetic plate 102 attracts the second magnetic plate 104 to rise, so that the brake support mechanism 6 is reset.

[0044] Finally, it should be pointed out that: first, in the description of the present application, it should be pointed out that unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between two elements, or direct connection, "up", "down", "left", "right" and the like are only used to represent the relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may change;

[0045] Secondly: the present application discloses the structure involved in the embodiment of the present application, other structures can refer to the usual design, in the case of no conflict, the same embodiment and different embodiments of the present application can be combined with each other;

[0046] Finally: the above only for the preferred embodiments of the present application, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the scope of protection of the present application.

Claims

1. An industrial palletizing robot, comprising a base (1), a plurality of symmetrical fixed frames (2) fixedly installed at the bottom of the base (1), a rotating shaft (3) rotatably installed between every two fixed frames (2), a rotating wheel (4) fixedly installed at both ends of each rotating shaft (3), a first base (51) fixedly installed at the upper end of the base (1), a second base (52) fixedly installed at the upper end of the first base (51), and a fixed plate (53) fixedly installed at the upper end of the second base (52), characterized in that: The upper end of the fixed plate (53) is fixedly installed with a connecting frame (54), the other end of the connecting frame (54) is rotatably installed with a working arm (55), one end of the working arm (55) is rotatably installed with a clamp (56), the clamp (56) is fixedly connected with a steel wire rope (57), the other end of the steel wire rope (57) penetrates through the fixed plate (53), the inside of the base (1) is provided with a first inner cavity (11), the inside of the second base (52) is provided with a second inner cavity (521), the first inner cavity (11) and the second inner cavity (521) are communicated, the bottom of the base (1) is provided with a brake balance mechanism (6) for balancing the rotating wheel (4); The brake balance mechanism (6) comprises a plurality of top rods (61) slidably installed on the bottom of the base (1), the bottoms of the plurality of top rods (61) are hingedly connected with two symmetrically arranged connecting rods (62), the other ends of the two connecting rods (62) are both hingedly connected with a sliding block (63), the sliding block (63) is slidably installed on the rotating rod (3), the rotating rod (3) is sleeved with two springs (64), one end of the spring (64) is fixedly connected with the sliding block (63), the other end of the spring (64) is fixedly installed with a brake disc (65), the brake disc (65) is slidably installed on the rotating rod (3), the brake disc (65) is fixedly installed with a brake rod (66) on the side close to the rotating wheel (4), the bottom of the base (1) is provided with two strip-shaped grooves (67), the top rod (61) slides in the inside of the strip-shaped groove (67); The control assembly is arranged between the base (1) and the first base (51) for balancing the first base (51); The control assembly comprises a plurality of pressure sensors (71) fixedly installed on the upper end of the base (1), the bottom of the first base (51) is fixedly installed with a plurality of symmetrically arranged electric hydraulic rods (72), the output end of the electric hydraulic rod (72) is fixedly connected with the pressure sensor (71), and the pressure sensor (71) and the electric hydraulic rod (72) are electrically connected through wires and a power supply; The inside of the first inner cavity (11) and the second inner cavity (521) is provided with an auxiliary mechanism (10) for assisting the movement of the top rod (61), the auxiliary mechanism (10) comprises a first counterweight plate (101) fixedly connected with the bottom end of the steel wire rope (57), the bottom of the first counterweight plate (101) is fixedly installed with a first magnetic plate (102), the top end of the top rod (61) is fixedly installed with a second counterweight plate (103), the upper end of the second counterweight plate (103) is fixedly installed with a second magnetic plate (104), the first magnetic plate (102) and the second magnetic plate (104) are attracted to each other, a plurality of memory springs (73) are fixedly connected between the bottom wall of the first inner cavity (11) and the bottom of the second counterweight plate (103), and the pressure sensor (71) and the memory spring (73) are electrically connected through wires and a power supply.

2. The industrial palletizing robot according to claim 1, characterized in that: Supporting mechanism (8) for positioning of the base (1) is arranged between the base (1) and the first base (51), the supporting mechanism (8) comprises support plates (81) hinged on both sides of the base (1), the first base (51) is provided with a socket into which the support plate (81) is inserted, the other end of the support plate (81) is provided with a groove (82), the inner wall of the second base (52) is provided with a sliding groove (83), the sliding groove (83) is internally slidably provided with an insertion rod (84), the insertion rod (84) is slidably arranged in the groove (82).

3. A robot for industrial palletizing according to claim 2, characterized in that: The inside of the second inner cavity (521) is provided with a shielding mechanism (9) for shielding the socket on the first base (51), the shielding mechanism (9) comprises a plurality of baffles (91) hinged on the first inner cavity (11), one side of the plurality of baffles (91) is fixedly connected with elastic ropes (92), the other end of the elastic ropes (92) penetrates through the side wall of the first base (51) and is fixedly connected with the side wall of the support plate (81).

4. The industrial palletizing robot according to claim 2, characterized in that: The structure of the support plate (81) is L-shaped, and the insertion rod (84) is also L-shaped.

5. The industrial palletizing robot according to claim 2, characterized in that: The material of the support plate (81) is aluminum copper oxide alloy.

Images