A fully automatic loading and unloading manipulator

Abstract

The present invention discloses a fully automatic loading and unloading manipulator, which relates to the technical field of manipulators. The fully automatic loading and unloading manipulator comprises: a gripper base, which is a shell-like structure with an opening; a first gripper plate, which is assembled on one side of the opening and extends from the opening; a second gripper plate, which is assembled on the other side of the opening and extends from the opening; the fully automatic loading and unloading manipulator can make the first gripper plate detach from the goods first by setting a detachment component, and due to the setting of the power block, the second gripper plate can push the goods to move a certain distance after the first gripper plate detaches from the goods, so that the fully automatic loading and unloading manipulator provided by the embodiment of the present invention can ensure that the goods are stacked more tightly after being stacked. Such tight stacking can reduce the space occupied by the goods on the one hand, and improve the stability of the goods after being stacked on the other hand.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a fully automatic loading and unloading manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] Most of the palletizing robots in the prior art have a structure with two gripping plates, that is, two sets of plate structures are arranged on both sides of the gripper base, and the two sets of plate structures can approach or move away from each other. When the two sets of plate structures are close to each other, they can grab the goods, and when the two sets of plate structures are away from each other, they can release the goods.

[0004] However, the gripping plate of this type of palletizing robot is made thinner in order to reduce the distance between two adjacent goods during palletizing. Once the gripping plate is made thicker, the distance between the two goods will increase, which will directly increase the floor space of the stack, and loose goods will also cause the stack to be unstable. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a fully automatic loading and unloading manipulator, which solves the problems in the prior art that the floor space occupied by the cargo stack increases and the loose cargo may cause the cargo stack to be unstable.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a fully automatic loading and unloading robot, comprising: a gripper base, the gripper base is a shell-like structure with an opening; a first gripper plate, the first gripper plate is assembled on one side of the opening and extends from the opening; a second gripper plate is assembled on the other side of the opening and extends from the opening; a force-applying member, the force-applying member is installed on the gripper base and is used to drive the first gripper plate and the second gripper plate to move relative to or toward each other, so that the first gripper plate and the second gripper plate can clamp or release the goods; a disengagement component, the disengagement component is located in the gripper base, and the disengagement component is used to drive the first gripper plate to move along the outer wall of the goods and disengage from the goods; a pushing component, the pushing component is arranged on a side of the gripper base close to the second gripper plate, and the pushing component is used to push the second gripper plate, so that after the first gripper plate is separated from the goods, the second gripper plate can push the goods to tightly stack the goods.

[0007] Furthermore, the pushing assembly includes: a base plate, which is located on the side of the second grab plate away from the first grab plate; a pressure rod, which is inserted into the base plate, and one end of the pressure rod is fixedly connected to the second grab plate, and a return spring is sleeved on the other side of the pressure rod; and a power block, which can change its position so that the power block generates a thrust on the second grab plate through the pressure rod.

[0008] Furthermore, it also includes: a first moving base, which is slidably arranged in the gripper base along the direction of the line connecting the first grab plate and the second grab plate, and the first grab plate is inserted in the first moving base along the direction perpendicular to the sliding direction of the first moving base; a second moving base, which is slidably arranged in the gripper base along the direction of the line connecting the first grab plate and the second grab plate, and the second grab plate is slidably arranged on the second moving base, the substrate is fixed on the second moving base, and the second grab plate is attached to the substrate in the natural state of the return spring; the force-applying member is used to drive the first moving base and the second moving base to move relative to or toward each other; a transmission assembly, which is used to drive the power block to change its position when the first grab plate is separated from the cargo, so that the power block pushes the pressure rod.

[0009] Furthermore, the power block is a protruding portion with a slope; the transmission assembly is a first transmission assembly, and the first transmission assembly includes: a mounting frame, the mounting frame is located on a side of the base plate away from the second grab plate, the mounting frame is slidably arranged on the second moving base through a guide profile, the power block is fixed on a side of the mounting frame close to the base plate, and the position of the power block is opposite to the reset spring; a connecting frame, the connecting frame is fixedly arranged on a side of the mounting frame close to the first moving base, and an inner plate is arranged on a side of the connecting frame close to the first grab plate, a hollow plate is sleeved on a side of the inner plate close to the first moving base through a compensation spring, and a first opening for inserting the hollow plate is provided on a side of the first grab plate close to the second grab plate; a convex portion, the convex portion is fixedly arranged on a side of the hollow plate inserted into the first moving base, and a recessed area is provided at one end of the first grab plate away from the gripper base, so that the convex portion can extend into the recessed area when the first grab plate has not completely detached from the cargo, and the first grab plate drives the first transmission assembly to move synchronously.

[0010] Furthermore, a limiting sliding block is fixedly provided below one side of the connecting frame close to the base plate, and a guiding sliding groove adapted to the connecting frame is provided on the base plate.

[0011] Furthermore, the power block is a cam; the transmission assembly is a second transmission assembly, and the second transmission assembly includes: a transmission shaft, the transmission shaft includes an inner shaft, an outer shaft sleeved on one end of the inner shaft, and a third spring for connecting the inner shaft and the outer shaft, the inner shaft is assembled on the first movable base through a bearing, and the outer shaft is installed on the second movable base through a bearing seat, and a cooperative structure is provided between the inner shaft and the outer shaft to make the inner shaft and the outer shaft rotate synchronously; an active rotation structure, the active rotation structure includes an active gear installed in the first movable base on a side away from the second grab plate, and a second rack portion is provided on the outer side surface of one end of the first grab plate away from the grab base, so that the first When a grab plate is detached from the cargo, the second rack portion can drive the active rotating structure to rotate, and the active gear drives the inner shaft to rotate through the bevel gear set and the first belt transmission structure; an installation frame, the installation frame is fixed on the second moving base, the power block is rotatably installed on the installation frame at a position opposite to the pressure rod through the camshaft, and the two adjacent camshafts are rotatably connected through the second belt transmission structure, and a driven shaft is rotatably installed on one end of the installation frame close to the second moving base, and the driven shaft is rotatably connected to one of the camshafts through the second belt transmission structure; a driven structure, the driven structure is used to transmit and connect the outer shaft and the driven shaft so that the outer shaft drives the driven shaft to rotate.

[0012] Furthermore, the first grab plate is provided with an empty area along the direction in which the first grab plate is separated from the goods, and the empty area is opposite to the position of the inner shaft.

[0013] Furthermore, the disengagement assembly includes: a first rack portion, which is arranged on a side of the first grab plate away from the second grab plate; a disengagement gear, which is rotatably installed in the first mobile base through a central axis; a disengagement motor, which is assembled in the first mobile base, and a first umbrella wheel is fixedly provided at the power output end of the disengagement motor, and a second umbrella wheel meshing with the first umbrella wheel is fixedly provided on the central axis of the disengagement gear.

[0014] Furthermore, a pointed portion is provided on a side of the first gripping plate away from the gripper base, so that the first gripping plate can be inserted between stacked goods without gaps.

[0015] Furthermore, the force-applying member is two separate air cylinders / hydraulic cylinders, a double-headed air cylinder / hydraulic cylinder or an electric telescopic member.

[0016] The present invention has the following beneficial effects:

[0017] (1) The fully automatic loading and unloading robot can make the first gripping plate detach from the goods first by setting a detaching component, and due to the setting of the power block, the second gripping plate can push the goods to move a certain distance after the first gripping plate detaches from the goods. Therefore, the fully automatic loading and unloading robot provided by the embodiment of the present invention can ensure that the goods are stacked more compactly. Such compact stacking can reduce the space occupied by the goods on the one hand, and improve the stability of the goods after stacking on the other hand. In addition, since the second gripping plate can push the goods to move a certain distance, the thickness of the first gripping plate can be increased, thereby improving the strength of the first gripping plate.

[0018] (2) The fully automatic loading and unloading robot can be equipped with a transmission component so that when the first gripping plate is disengaged upward, the power block can be actively driven by the transmission component to change its position, and then the first gripping plate can be disengaged to drive the second gripping plate to push, thereby realizing fully automatic palletizing of the robot.

[0019] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the present invention being assembled on a robotic arm;

[0021] Figure 2 For the present invention Figure 1 A partial map of

[0022] Figure 3 This is an overall diagram of the manipulator in the first embodiment of the present invention;

[0023] Figure 4 For the present invention Figure 3 A schematic diagram of the structure without the gripper base installed;

[0024] Figure 5 A schematic diagram of the position of the detached component in the first embodiment of the present invention;

[0025] Figure 6 This is a bottom perspective view of the first grab plate and the second grab plate in the first embodiment of the present invention;

[0026] Figure 7 For the present invention Figure 5 Another perspective of the picture;

[0027] Figure 8 Schematic diagram of the position of the convex portion in the first embodiment of the present invention;

[0028] Fig. 9 is an exploded view of the first transmission assembly in the first embodiment of the present invention;

[0029] Fig.10 For the present invention Figure 2 A magnified image of area A;

[0030] Fig.11 For the present invention Figure 6 The main view of

[0031] Fig.12 For the present invention Fig.11 Schematic diagram of the first grab plate pulling the cargo upward;

[0032] Fig.13 For the present invention Fig.12 Schematic diagram of the first grab plate in the middle continuously pulling upwards away from the cargo and then the convex part entering the concave area;

[0033] Fig.14 For the present invention Fig.13 A schematic diagram of the first transmission assembly driving the power block to move upward when the first grab plate continues to move upward;

[0034] Fig.15 A schematic diagram of the structure of the second transmission assembly in the second embodiment of the present invention

[0035] Fig.16 For the present invention Fig.15 A magnified view of area B;

[0036] Fig.17 Schematic diagram of the position of the cam in the second embodiment of the present invention.

[0037] In the figure, 100, mechanical arm; 200, second transmission assembly; 210, active rotating structure; 211, active gear; 212, first belt transmission structure; 213, bevel gear group; 220, transmission shaft; 221, inner shaft; 222, outer shaft; 230, driven shaft; 240, second belt transmission structure; 250, driven structure; 251, worm; 252, worm wheel; 260, mounting frame; 270, camshaft; 300, gripper base; 310, guide rod; 400, first gripper plate; 410, guide part; 420, pointed part; 430, first movable base; 431, first opening; 440, recessed area; 450, limit plate; 460, first movable base; 470, first movable base; 481, first movable base; 490, first movable base; 501, first movable base; 512, first movable base; 513, first movable base; 514, first movable base; 515, first movable base; 516, first movable base; 517, first movable base; 518, first movable base; 519, first movable base; 520, first movable base; 521, first movable base; 522, first movable base; 523, first movable base; 524, first movable base; 525, first movable base; 526, first movable base; 527, first movable base; 528, first movable base; 529, first movable base; 530, first movable base; 531, first movable base; 532, first movable base; 533, first movable base; 534, first movable base; 535, first movable base; 536, first movable base; 537, first movable base; 538, first movable base; 53 60, second rack portion; 470, empty area; 500, second grab plate; 510, second movable base; 600, pushing assembly; 610, base plate; 611, guide slide groove; 620, return spring; 630, pressure rod; 640, power block; 700, first transmission assembly; 710, connecting frame; 720, inner plate; 730, hollow plate; 740, convex portion; 750, compensation spring; 760, mounting frame; 770, guide profile; 780, limit slider; 800, double-head cylinder; 900, disengagement assembly; 910, disengagement motor; 920, first umbrella wheel; 930, second umbrella wheel; 940, disengagement gear; 950, first rack portion. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] According to the following Figure 1 - Fig.17 The invention describes a fully automatic loading and unloading robot.

[0041] Embodiment 1:

[0042] See also Figure 1-Figure 3 As shown, an embodiment of the present invention provides a fully automatic loading and unloading robot, and the robot should be controlled by a robot arm 100.

[0043] The fully automatic loading and unloading robot includes a gripper base 300, which is a shell-like structure with an opening. A first gripper plate 400 is assembled on one side of the opening, and a second gripper plate 500 is assembled on the other side of the opening. The first gripper plate 400 and the second gripper plate 500 both extend from the opening, thereby forming a gripping space between the first gripper plate 400 and the second gripper plate 500.

[0044] like Figure 4 In order to realize the grabbing operation, a force-applying member is provided on the gripper base 300, and the force-applying member is used to drive the first grab plate 400 and the second grab plate 500 to move relative to or toward each other, so that the first grab plate 400 and the second grab plate 500 can clamp or release the goods.

[0045] Optionally, the force applying member is two separate air cylinders / hydraulic cylinders, a double-headed air cylinder / hydraulic cylinder or an electric telescopic member. Figure 4 What is shown is a double-headed cylinder 800, which is fixed in the middle of the gripper base 300 and synchronously drives the first gripping plate 400 and the second gripping plate 500 to move relative to or towards each other through the piston rods at both ends.

[0046] like Figure 4 and Figure 5As shown, in order to avoid a gap between two adjacent goods in the horizontal direction when the robot palletizes, a separation component 900 is also provided. The separation component 900 is located in the gripper base 300. When the separation component 900 is working, it can drive the first gripper 400 to move along the outer wall of the goods and separate from the goods. The movement along the outer wall of the goods here means, for example, Figure 5 When the goods are grabbed in the state shown, the detachment component 900 drives the first grab plate 400 to move upward after palletizing, so that the first grab plate 400 can be detached from the goods. In addition, a pushing component 600 is provided. The pushing component 600 is arranged on a side of the gripper base 300 close to the second grab plate 500, and the pushing component 600 is used to push the second grab plate 500.

[0047] Therefore, since there is no obstruction of the first grab plate 400 between the two goods, after the first grab plate 400 is separated from the goods, the pushing assembly 600 can push the second grab plate 500 towards the goods, and the second grab plate 500 can push the goods when moving, so that the goods are tightly stacked.

[0048] Therefore, the fully automatic loading and unloading robot provided in the embodiment of the present invention can ensure that the cargo pile after palletizing is relatively compact. Such compact stacking can reduce the space occupied by the cargo on the one hand, and improve the stability of the cargo after palletizing on the other hand.

[0049] Combination Figure 4 - Fig. 9 In the illustrated embodiment, the aforementioned pushing assembly 600 includes a base plate 610 , a pressure rod 630 and a power block 640 .

[0050] Among them, the base plate 610 is located on the side of the second grab plate 500 away from the first grab plate 400, the pressure rod 630 is inserted on the base plate 610, and one end of the pressure rod 630 is fixed to the second grab plate 500, and the other side of the pressure rod 630 is sleeved with a return spring 620, so that the power block 640 can change its position.

[0051] In this embodiment, when the return spring 620 is in a natural state, the second grab plate 500 is attached to the base plate 610. When the power block 640 pushes the pressure rod 630, the return spring 620 is in a compressed state. At this time, the pressure rod 630 is in a state of pushing the second grab plate 500, so that the second grab plate 500 pushes the goods.

[0052] In addition, in order to realize the movement of the first grab plate 400 and the second grab plate 500, a first movable base 430 and a second movable base 510 are also provided here. The first movable base 430 is slidably arranged in the gripper base 300 along the direction of the connection line between the first grab plate 400 and the second grab plate 500, and the first grab plate 400 is inserted in the first movable base 430 along a direction perpendicular to the sliding direction of the first movable base 430, so that the sliding of the first movable base 430 can drive the first grab plate 400 to slide along the grabbing direction, and the first grab plate 400 can also be separated from the goods separately by moving the first movable base 430.

[0053] Preferably, a limiting plate 450 is fixed on the upper side of the first grab plate 400 , and the limiting plate 450 is located on the upper surface of the gripper base 300 to ensure the stability of the first grab plate 400 .

[0054] Preferably, guide rods 310 are assembled on both sides of the gripper base 300 , and the guide rods 310 pass through the first movable base 430 and the second movable base 510 , thereby ensuring stable movement of the first movable base 430 and the second movable base 510 .

[0055] The second movable base 510 is slidably set in the gripper base 300 along the connecting direction of the first gripping plate 400 and the second gripping plate 500, and the second gripping plate 500 is slidably set on the second movable base 510. The substrate 610 is fixed on the second movable base 510, so that when the second movable base 510 moves along the gripping direction, it can drive the second gripping plate 500 to move along the gripping direction.

[0056] The force applying member mentioned above is used to drive the first movable base 430 and the second movable base 510 to move relative to or toward each other, and finally realize the grabbing and releasing operations of the first grabbing plate 400 and the second grabbing plate 500.

[0057] In order to enable the second grab plate 500 to automatically push the cargo when the first grab plate 400 is about to completely detach from the cargo, a transmission assembly is provided here, which is used to drive the power block 640 to change its position when the first grab plate 400 detaches from the cargo, so that the power block 640 pushes the pressure rod 630.

[0058] Specifically, in this embodiment, combined with Figure 4 - Fig. 9As shown, the power block 640 here is a protruding portion with a slope, and the slope can be an arc slope or an inclined slope, and the transmission assembly is a first transmission assembly 700, and the first transmission assembly 700 includes a mounting frame 760 for carrying the power block 640, and the mounting frame 760 is located on the side of the base plate 610 away from the second grab plate 500, and the mounting frame 760 should be slidably set on the second moving base 510 through a guide profile 770 (the sliding setting here means that the mounting frame 760 can move in the vertical direction of the grabbing direction, refer to Figure 4 From the perspective shown, the mounting frame 760 should be able to move up and down under the guidance of the guide profile 770), and the power block 640 is fixed on the side of the mounting frame 760 close to the base plate 610, and the position of the power block 640 is opposite to the return spring 620, so that when the mounting frame 760 moves upward, the protruding portion with the slope (power block 640) can gradually push the pressure rod 630, so that the pressure rod 630 can push the second grab plate 500.

[0059] In addition, in order to realize the up and down movement of the mounting frame 760, a protrusion 740 is provided here, the connecting frame 710 is fixed to the side of the mounting frame 760 close to the first movable base 430, and is integrated with the mounting frame 760, and an inner plate 720 is provided on the side of the connecting frame 710 close to the first grab plate 400, and a hollow plate 730 is mounted on the side of the inner plate 720 close to the first movable base 430 through a compensation spring 750, and a first opening 431 for inserting the hollow plate 730 is provided on the side of the first grab plate 400 close to the second grab plate 500, the protrusion 740 is fixed to the side where the hollow plate 730 is inserted into the first movable base 430, and a recessed area 440 is provided on the end of the first grab plate 400 away from the gripper base 300.

[0060] In the present embodiment, when the first grab plate 400 has not yet been pulled out of the cargo or has been pulled out of the cargo but not completely pulled out of the cargo, the protrusion 740 is in a state of being squeezed by the first grab plate 400, and the compensation spring 750 is in a compressed state at this time. When the first grab plate 400 continues to pull out the cargo, the recessed area 440 can reach the position of the protrusion 740, and the compensation spring 750 rebounds at this time, thereby pushing the hollow plate 730 to insert the protrusion 740 into the recessed area 440. At this time, when the first grab plate 400 continues to pull out the cargo upward, the protrusion 740 can drive the entire first transmission assembly 700 to move upward, so that the mounting frame 760 can drive the power block 640 to move upward, thereby achieving the purpose of the pressure rod 630 pushing the second grab plate 500.

[0061] Therefore, the fully automatic loading and unloading robot provided in the embodiment of the present invention can drive the first transmission assembly 700 to move synchronously through the force generated during the withdrawal of the first grab plate 400, so that the power block 640 moves upward, and then the pressure rod 630 pushes the second grab plate 500, and finally the second grab plate 500 is able to push the stacked goods for a certain distance (this distance should also be equal to the thickness of the first grab plate 400, that is, the distance that the power block 640 pushes the pressure rod 630 to move is also equal to the thickness of the first grab plate 400), avoiding the large area occupied by the stack of goods and the instability of the stack of goods caused by the presence of gaps between the goods.

[0062] It should be understood that when the double-headed cylinder 800 pulls the first grab plate 400 and the second grab plate 500 closer to each other, the compensation spring 750 is also in a compressed state, so as to compensate for the change in the lateral length of the first transmission assembly 700 when the distance between the first grab plate 400 and the second grab plate 500 changes.

[0063] Combination Figure 2 , Figure 8 and Fig.10 As shown, preferably, a limiting slider 780 is fixedly provided at the lower side of the mounting frame 760 close to the base plate 610, and a guide groove 611 adapted to the connecting frame 710 is provided on the base plate 610, so that in the process of the mounting frame 760 moving up and down, the mounting frame 760 can be limited by the limiting slider 780 and the guide groove 611, thereby ensuring the vertical movement of the mounting frame 760.

[0064] The above-mentioned disengagement assembly 900 can be any structure capable of driving the first grab plate 400 to move vertically, such as a screw lifting structure, a gear rack lifting structure or a hydraulic cylinder lifting structure. A preferred structure is given below. Figure 5 As shown, the disengagement assembly 900 includes a first rack portion 950, a disengagement gear 940 and a disengagement motor 910, wherein the first rack portion 950 is arranged on a side of the first grab plate 400 away from the second grab plate 500, and the first grab plate 440 here is a tic-tac-toe structure, and the first rack portion 950 is symmetrically arranged on the tic-tac-toe, that is, it is best to set two groups of first rack portions 950 and be equipped with two groups of disengagement gears 940, the disengagement gear 940 is rotatably installed in the first movable base 430 through the central axis, the disengagement motor 910 is assembled in the first movable base 430, and the power output end of the disengagement motor 910 is fixedly provided with a first umbrella wheel 920, and the central axis of the disengagement gear 940 is fixedly provided with a second umbrella wheel 930 meshing with the first umbrella wheel 920.

[0065] In this embodiment, when the disengagement motor 910 rotates forward, it can drive the first umbrella wheel 920 to rotate and then realize the rotation of the second umbrella wheel 930, so that the disengagement gear 940 coaxial therewith can rotate, and the disengagement gear 940 can drive the first grab plate 400 to move upward through the first rack portion 950. Conversely, when the disengagement motor 910 rotates reversely, the first grab plate 400 moves downward, so that the first grab plate 400 returns to a position opposite to the second grab plate 500, waiting to be grabbed.

[0066] In addition, it should be noted that since there is no gap between the goods on the stack after palletizing, in order to facilitate unloading of the goods from the stack, a pointed head 420 is provided on the side of the first grab plate 400 away from the gripper base 300 so that the first grab plate 400 can be inserted between the seamless stacked goods to facilitate unloading.

[0067] When used in palletizing, Figure 1 and Figure 2 In the state shown, the double-headed cylinder 800 works, pulling the first moving base 430 and the second moving base 510, so that the first grab plate 400 and the second grab plate 500 can gradually approach each other, and then grab the goods. After grabbing the goods, the robot arm 100 can drive the robot to the stacking area, and the robot places the goods at the designated position. At this time, the disengagement motor 910 rotates forward and drives the disengagement gear 940 to rotate through the first umbrella wheel 920 and the second umbrella wheel 930. The disengagement gear 940 drives the first grab plate 400 to move upward through the first rack portion 950. In the process of its upward movement, it gradually disengages from the goods (such as Fig.11 - Fig.12 The compensation spring 750 is always in a compressed state until the first grab plate 400 moves upward to the position where the recessed area 440 reaches the convex portion 740, and the compensation spring 750 rebounds, thereby pushing the convex portion 740 through the hollow plate 730, that is, the convex portion 740 enters the recessed area 440 (such as Fig.12 - Fig.13 As the first grab plate 400 continues to move upward, the first grab plate 400 drives the entire first transmission assembly 700 to move upward through the convex portion 740, so that the mounting frame 760 can drive the power block 640 to move upward, and the pressure rod 630 pushes the second grab plate 500 (such as Fig.13 - Fig.14 During the process, the second gripper 500 can push the goods to a certain distance, so that the stacked goods are closely arranged, and then the robot arm 100 controls the entire robot arm to separate from the goods (i.e., Fig.14 In the state, the robot arm 100 drives the robot to move to the location of the source of goods, and during the movement, the motor 910 is disengaged and works in the reverse direction, so that the robot is restored to Fig.11 status shown, waiting for the next crawling job).

[0068] When the goods are taken down from the cargo stack, the separation motor 910 does not work, that is, the entire manipulator is the same as an ordinary manipulator, and only performs the steps of grasping and releasing, without the step of the first grasping plate 400 first separating from the goods.

[0069] Embodiment 2

[0070] Combination Fig.15 - Fig.17 As shown, the difference between this embodiment and the first embodiment is that the power block 640 is set as a cam, so that when the cam rotates, the protruding side thereof can drag the pressure rod 630, so that the pressure rod 630 pushes the second grab plate 500.

[0071] The transmission assembly in this embodiment is a second transmission assembly 200, which includes a transmission shaft 220, an active rotating structure 210, a mounting frame 260, and a driven structure 250. In this solution, the force of the upward movement of the first grab plate 400 drives the transmission shaft 220 to rotate through the active rotating structure 210, and then the transmission shaft 220 drives the cam to rotate through the driven structure 250, thereby achieving the purpose of pushing the pressure rod 630 after the cam rotates.

[0072] In actual application scenarios, since the first grab plate 400 and the second grab plate 500 can be close to or away from each other, the transmission shaft 220 here must be in a retractable state to adapt to the change in the distance between the first grab plate 400 and the second grab plate 500. Specifically, the transmission shaft 220 includes an inner shaft 221, an outer shaft 222 sleeved on one end of the inner shaft 221, and a third spring for connecting the inner shaft 221 and the outer shaft 222. The inner shaft 221 is assembled on the first movable base 430 through a bearing, and the outer shaft 222 is installed on the second movable base 510 through a bearing seat. When the first movable base 430 and the second movable base 510 move relative to or toward each other, the total length of the outer shaft 222 and the inner shaft 221 is reduced or extended.

[0073] In addition, a cooperative structure is provided between the inner shaft 221 and the outer shaft 222 so that the inner shaft 221 and the outer shaft 222 rotate synchronously; the cooperative structure here can be to set the inner shaft 221 as a polygonal shaft and the inner cavity of the outer shaft 222 as a polygonal cavity, so as to achieve the purpose of synchronous rotation of the two; in addition, a protruding ridge can be provided on the inner shaft 221, and a matching groove can be provided on the outer shaft 222; furthermore, the protruding ridge can be provided on the outer shaft 222, and the groove can be provided on the inner shaft 221.

[0074] Secondly, the active rotating structure 210 includes a driving gear 211 installed in the first mobile base 430 on the side away from the second grab plate 500, and the outer side surface of one end of the first grab plate 400 away from the grip base 300 (the outer side surface here refers to the side of the first grab plate 400 away from the second grab plate 500) is provided with a second rack portion 460, so that when the first grab plate 400 is separated from the cargo, the second rack portion 460 can drive the active rotating structure 210 to rotate, and the driving gear 211 drives the inner shaft 221 to rotate through the umbrella wheel group 213 and the first belt transmission structure 212.

[0075] In this embodiment, when the first grab plate 400 moves upward to separate from the cargo, the second rack portion 460 will drive the inner shaft 221 to rotate through the driving gear 211 so that the umbrella wheel group 213 and the first belt transmission structure 212 (specifically, the umbrella wheel group 213 mentioned here should include an active umbrella wheel and a driven umbrella wheel, the active umbrella wheel is coaxial with the driving gear 211, and the first belt transmission structure 212 is arranged between the driven umbrella wheel and the inner shaft 221).

[0076] Preferably, the first gripper 400 has an empty area 470 along the direction in which it is separated from the goods, and the empty area 470 is opposite to the position of the inner shaft 221, so as to ensure that the first gripper 400 does not conflict with the position of the inner shaft 221 when moving up and down.

[0077] The mounting frame 260 is fixed on the second movable base 510, and the power block 640 is rotatably mounted on the mounting frame 260 at a position opposite to the pressure rod 630 via the camshaft 270. Two adjacent camshafts 270 are rotatably connected via the second belt transmission structure 240. A driven shaft 230 is rotatably mounted on one end of the mounting frame 260 close to the second movable base 510, and the driven shaft 230 is rotatably connected to one of the camshafts 270 via the second belt transmission structure 240. The driven structure 250 is used for transmission connection between the outer shaft 222 and the driven shaft 230, so that the outer shaft 222 drives the driven shaft 230 to rotate.

[0078] In this embodiment, when the outer shaft 222 rotates, the driven shaft 230 can be driven to rotate through the driven structure 250, and each camshaft 270 can be driven to rotate through each second belt transmission structure 240, thereby finally realizing the rotation of the cam.

[0079] Preferably, the driven structure 250 here includes a worm 251 fixed on the outer shaft 222 and a worm wheel 252 fixed on the driven shaft 230, and the two are meshed.

[0080] When in use, when in palletizing, Figure 1 and Figure 2In the state shown, the double-headed cylinder 800 works, pulling the first moving base 430 and the second moving base 510, so that the first grab plate 400 and the second grab plate 500 can gradually approach each other, and then grab the goods. After grabbing the goods, the robot arm 100 can drive the robot to the stacking area, and the robot places the goods at the designated position. At this time, the disengagement motor 910 rotates forward and drives the disengagement gear 940 to rotate through the first umbrella wheel 920 and the second umbrella wheel 930. The disengagement gear 940 drives the first grab plate 400 to move upward through the first rack portion 950. During its upward movement, it gradually disengages from the goods. When the second rack portion 460 passes through the driving gear 211, the bevel wheel set 213 and the first belt transmission structure 212 drive the inner shaft 221 to rotate, and then the outer shaft 222 can drive the driven shaft 230 to rotate through the driven structure 250, and drive each cam shaft 270 to rotate through each second belt transmission structure 240, and finally realize the rotation of the cam. When the cam rotates, its more protruding position can push the pressure rod 630, and the pressure rod 630 pushes the second grab plate 500, and the second grab plate 500 can push the goods for a distance, so that the stacked goods are closely arranged, and then the robot arm 100 controls the entire robot to separate from the goods (that is, when Fig.14 In this state, the robot arm 100 drives the robot to move to the source of goods, and during the movement, the motor 910 is disengaged and works in the reverse direction, so that the robot resumes the grasping state and waits for the next grasping operation).

[0081] When the goods are taken down from the cargo stack, the separation motor 910 does not work, that is, the entire manipulator is the same as an ordinary manipulator, and only performs the steps of grasping and releasing, without the step of the first grasping plate 400 first separating from the goods.

[0082] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0083] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A fully automatic loading and unloading manipulator, characterized in that: include: A gripper base (300), wherein the gripper base (300) is a shell-like structure having an opening; A first grab plate (400), the first grab plate (400) being assembled on one side of the opening and extending from the opening; A second grab plate (500), the second grab plate (500) being assembled on the other side of the opening and extending from the opening; A force applying member, the force applying member being mounted on the gripper base (300) and used to drive the first gripping plate (400) and the second gripping plate (500) to move relative to or towards each other, so that the first gripping plate (400) and the second gripping plate (500) can clamp or release goods; A detachment assembly (900), the detachment assembly (900) being located in the gripper base (300), and the detachment assembly (900) being used to drive the first gripping plate (400) to move along the outer wall of the cargo and detach from the cargo; A pushing component (600), the pushing component (600) being arranged on a side of the gripper base (300) close to the second gripping plate (500), and the pushing component (600) being used to push the second gripping plate (500), so that after the first gripping plate (400) is separated from the goods, the second gripping plate (500) can push the goods, thereby tightly stacking the goods; The pushing assembly (600) comprises: A base plate (610), the base plate (610) being located on a side of the second gripping plate (500) away from the first gripping plate (400); A pressure rod (630), wherein the pressure rod (630) is inserted on the base plate (610), one end of the pressure rod (630) is fixedly connected to the second gripping plate (500), and the other side of the pressure rod (630) is sleeved with a return spring (620); A power block (640), wherein the power block (640) is capable of changing position so that the power block (640) generates a thrust force on the second grab plate (500) through the pressure rod (630); Also includes: A first movable base (430), the first movable base (430) being slidably disposed in the gripper base (300) along a direction connecting the first gripping plate (400) and the second gripping plate (500), and the first gripping plate (400) being inserted into the first movable base (430) along a direction perpendicular to the sliding direction of the first movable base (430); A second movable base (510), the second movable base (510) is slidably disposed in the gripper base (300) along the direction of the connection line between the first gripping plate (400) and the second gripping plate (500), the second gripping plate (500) is slidably disposed on the second movable base (510), the base plate (610) is fixed on the second movable base (510), and the second gripping plate (500) is attached to the base plate (610) in a natural state of the return spring (620); The force applying member is used to drive the first movable base (430) and the second movable base (510) to move relative to or towards each other; A transmission assembly, the transmission assembly being used to drive the power block (640) to change position when the first grab plate (400) is separated from the cargo, so that the power block (640) pushes the pressure rod (630); The disengagement assembly (900) comprises: A first rack portion (950), the first rack portion (950) being arranged on a side of the first grab plate (400) away from the second grab plate (500); A disengagement gear (940), the disengagement gear (940) being rotatably mounted in the first movable base (430) via a central axis; A disengagement motor (910) is assembled in the first movable base (430), and a first umbrella wheel (920) is fixedly provided at the power output end of the disengagement motor (910), and a second umbrella wheel (930) meshing with the first umbrella wheel (920) is fixedly provided on the central axis of the disengagement gear (940).

2. A fully automatic loading and unloading manipulator according to claim 1, characterized in that: The power block (640) is a protruding portion having a slope; The transmission assembly is a first transmission assembly (700), and the first transmission assembly (700) comprises: A mounting frame (760), the mounting frame (760) being located on a side of the base plate (610) away from the second grab plate (500), the mounting frame (760) being slidably disposed on the second movable base (510) via a guide profile (770), the power block (640) being fixed on a side of the mounting frame (760) close to the base plate (610), and the position of the power block (640) being opposite to the return spring (620); A connecting frame (710), the connecting frame (710) being fixedly mounted on a side of the mounting frame (760) close to the first movable base (430), and an inner plate (720) being arranged on a side of the connecting frame (710) close to the first grab plate (400), a hollow plate (730) being sleeved on a side of the inner plate (720) close to the first movable base (430) via a compensation spring (750), and a first opening (431) for inserting the hollow plate (730) being provided on a side of the first grab plate (400) close to the second grab plate (500); A convex portion (740) is fixedly arranged on a side of the hollow plate (730) inserted into the first movable base (430); a concave area (440) is provided at one end of the first grab plate (400) away from the gripper base (300), so that the convex portion (740) can extend into the concave area (440) when the first grab plate (400) has not completely separated from the goods, and the first grab plate (400) drives the first transmission assembly (700) to move synchronously.

3. A fully automatic loading and unloading manipulator according to claim 2, characterized in that: A limiting sliding block (780) is fixedly provided below one side of the connecting frame (710) close to the base plate (610), and a guiding sliding groove (611) adapted to the connecting frame (710) is provided on the base plate (610).

4. The fully automatic loading and unloading manipulator according to claim 1 is characterized in that: The power block (640) is a cam; The transmission assembly is a second transmission assembly (200), and the second transmission assembly (200) comprises: A transmission shaft (220), the transmission shaft (220) comprising an inner shaft (221), an outer shaft (222) sleeved on one end of the inner shaft (221), and a third spring for connecting the inner shaft (221) and the outer shaft (222), the inner shaft (221) being assembled on a first movable base (430) via a bearing, the outer shaft (222) being mounted on a second movable base (510) via a bearing seat, and a cooperative structure being provided between the inner shaft (221) and the outer shaft (222) so that the inner shaft (221) and the outer shaft (222) rotate synchronously; An active rotating structure (210), the active rotating structure (210) comprising a driving gear (211) installed on a side of the first moving base (430) away from the second grab plate (500), a second rack portion (460) being provided on an outer side surface of an end of the first grab plate (400) away from the gripper base (300), so that when the first grab plate (400) is separated from the cargo, the second rack portion (460) can drive the active rotating structure (210) to rotate, and the driving gear (211) drives the inner shaft (221) to rotate via an umbrella wheel group (213) and a first belt transmission structure (212); A mounting frame (260), wherein the mounting frame (260) is fixed on the second movable base (510), the power block (640) is rotatably mounted on the mounting frame (260) at a position opposite to the pressure rod (630) via a camshaft (270), two adjacent camshafts (270) are rotatably connected via a second belt transmission structure (240), a driven shaft (230) is rotatably mounted on one end of the mounting frame (260) close to the second movable base (510), and the driven shaft (230) is rotatably connected to one of the camshafts (270) via a second belt transmission structure (240); A driven structure (250) is used to drive and connect the outer shaft (222) and the driven shaft (230) so that the outer shaft (222) drives the driven shaft (230) to rotate.

5. The fully automatic loading and unloading manipulator according to claim 4 is characterized in that: The first grab plate (400) is provided with an empty area (470) along the direction in which it is separated from the goods, and the empty area (470) is opposite to the position of the inner shaft (221).

6. A fully automatic loading and unloading manipulator according to any one of claims 1 to 5, characterized in that: A pointed portion (420) is provided on a side of the first gripping plate (400) away from the gripping base (300) so that the first gripping plate (400) can be inserted between stacked goods without gaps.

7. A fully automatic loading and unloading manipulator according to any one of claims 1 to 5, characterized in that: The force applying member is two separate air cylinders / hydraulic cylinders, a double-headed air cylinder / hydraulic cylinder or an electric telescopic member.

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