Automatic stacking industrial robot

Abstract

The invention discloses an automatic stacking industrial robot, and relates to the field of industrial robots. The cross beam is distributed in the diameter direction of the ring frame, the two ends of the cross beam are slidably connected with the ring frame, the cross beam is provided with a first motor, and an output shaft of the first motor and the surface of the ring frame are provided with matched gears and gear rings for driving the cross beam to rotate around the ring frame; two sliding seats linearly slide on the surface of the cross beam, each sliding seat is provided with a second motor, and an output shaft of each second motor and the surface of the cross beam are provided with a gear and a rack which are matched with each other. The multi-degree-of-freedom adjustment of the height and the horizontal position of stacked objects is achieved by controlling the movement of the lifting arms, the change of the distance between the two lifting arms and the change of the length of the lifting arms, and the objects can be transferred and stacked quickly and conveniently in cooperation with the rotation adjustment of the cross beam.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to an automatic palletizing industrial robot. Background Art

[0002] Automated palletizing equipment is widely used in industrial production. It replaces manual work to position and stack objects. It has the advantages of high stacking efficiency and high stacking stability. Automated palletizing equipment generally uses vertical multi-axis robotic arms, rotary joint robots or gantry lifting robots. No matter which type of palletizing robot is used, it stacks objects through multi-degree-of-freedom coordinated motion. The multiple degrees of freedom of the palletizing equipment are connected by single joints. The gravity exerted when lifting objects acts on each single joint. Excessive load on the joints is prone to failure, which makes the palletizing robot unable to serve the palletizing of heavy objects for a long time. Summary of the invention

[0003] In order to make up for the deficiencies of the prior art, the purpose of the present invention is to provide an automatic palletizing industrial robot for solving the problem that single-joint load failures of traditional palletizing robots are prone to occur.

[0004] In order to solve the problems of the prior art, the technical solution of the present invention is as follows:

[0005] Industrial robots for automated palletizing, including ring stands;

[0006] A crossbeam, which is distributed along the diameter direction of the ring frame, and whose two ends are slidably connected with the ring frame. The crossbeam is provided with a first motor, and the output shaft of the first motor and the surface of the ring frame are provided with matching gears and gear rings, which are used to drive the crossbeam to rotate around the ring frame;

[0007] The boom has two slides sliding linearly on the surface of the beam, each slide is provided with a second motor, and the output shaft of the second motor and the surface of the beam are provided with matching gears and racks for driving the slide to move linearly along the beam, the tops of the two booms are respectively rotatably connected to the slides, and the bottom ends of the two booms are commonly connected to the suspension assembly, so that the two booms are distributed in a V shape.

[0008] Preferably, the boom includes an upper arm and a lower arm which are slidably connected to each other up and down, a fourth motor is arranged on the surface of the upper arm, the output shaft of the fourth motor is connected to a screw, the screw is threadedly connected to the lower arm, and the fourth motor drives the screw to rotate, so that the upper arm and the lower arm can be telescopically moved to adjust the length of the boom.

[0009] Preferably, the suspension assembly includes a suspension seat, the bottom end of the suspension arm is rotatably connected to the suspension seat, a connecting seat for mounting a clamp is rotatably connected below the suspension seat, the suspension seat is provided with a third motor, the third motor is connected to the rotating part of the connecting seat through a gear set transmission, and is used to drive the connecting seat to rotate.

[0010] Preferably, a weight sensor is provided at the connection portion between the connecting seat and the hanging seat.

[0011] Preferably, a vertically extending telescopic column is provided between the hanging seat and the cross beam, the bottom end of the telescopic column is fixedly connected to the hanging seat, and the top end of the telescopic column slides linearly with the cross beam.

[0012] Preferably, a liquid storage tank is provided on the top of the telescopic column, and damping liquid is stored in the liquid storage tank. The liquid storage tank is connected to the inner cavity of the telescopic column through a valve assembly for filling the damping liquid into the telescopic column.

[0013] Preferably, the valve assembly includes a first valve tube and a second valve tube that are T-shaped and pass through, the first valve tube passes through the telescopic column, the second valve tube passes through the liquid storage tank, the first valve tube is slidably adapted with a valve plug inside, the valve plug is connected to an electromagnetic telescopic rod, the electromagnetic telescopic rod drives the valve plug to move linearly, so that the valve plug blocks or opens the passing portion between the first valve tube and the second valve tube.

[0014] Preferably, the cross beam is fixed with an auxiliary beam, the auxiliary beam and the cross beam are distributed in a T shape, and the auxiliary beam is slidably connected to the ring frame.

[0015] Compared with the prior art, the advantages of the present invention are as follows:

[0016] 1. The present invention uses two V-shaped booms to jointly hold the clamping components, which has a high load strength and a low failure rate at the joints. By controlling the movement of the booms, the change in the spacing between the two booms, and the change in the length of the booms themselves, the height and horizontal position of the stacked items can be adjusted with multiple degrees of freedom. In conjunction with the rotation adjustment of the crossbeam, the items can be quickly and conveniently transferred and stacked.

[0017] 2. The present invention increases the horizontal stability of the clamping jaws by setting up the telescopic column, and controls the opening and closing of the damping liquid conduction path in the telescopic column by the valve assembly, so as to keep the length of the telescopic column fixed during the highly inconvenient transportation process, so that the telescopic column shares the load of the boom, further reduces the failure rate of the boom, and prolongs the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the boom assembly connection structure of the present invention;

[0020] Figure 3 It is a schematic diagram of the boom structure of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the suspension assembly of the present invention;

[0022] Figure 5 It is a schematic diagram of the connection structure between the telescopic column and the liquid storage tank of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the valve assembly of the present invention.

[0024] Figure numerals: 1, ring frame; 11, first motor; 2, cross beam; 3, slide seat; 31, second motor; 4, suspension arm; 41, upper arm; 42, lower arm; 43, fourth motor; 44, screw; 5, suspension seat; 51, connecting seat; 52, third motor; 53, weight sensor; 6, auxiliary beam; 7, telescopic column; 71, liquid storage tank; 8, valve assembly; 81, first valve pipe; 82, second valve pipe; 83, valve plug; 84, electromagnetic telescopic rod. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] like Figure 1 As shown, the automatic palletizing industrial robot is composed of a ring frame 1, a crossbeam 2, a suspension arm 4 and a suspension assembly;

[0027] The ring frame 1 is supported by evenly distributed columns, the top surface of the ring frame 1 has an annular track, and a gear ring is fixed on the inner side of the ring frame 1;

[0028] The length of the crossbeam 2 is the same as the diameter of the ring frame 1. The crossbeam 2 is arranged along the diameter direction of the ring frame 1. The two ends of the crossbeam 2 slide with the annular track on the surface of the ring frame 1 through a slider. The first motor 11 is installed at both ends of the crossbeam 2. The output shaft of the first motor 11 is fixed with a gear, and the gear is meshed and connected with the gear ring inside the ring frame 1.

[0029] like Figure 2 , Figure 3 As shown, a rack is fixedly installed on the surface of the crossbeam 2 in a straight line, and two slides 3 are slidably installed on the surface of the crossbeam 2 in a straight line, and each slide 3 is installed with a second motor 31, and the output shaft of the second motor 31 is meshed and connected with the rack on the surface of the crossbeam 2 through a gear, and a suspension arm 4 is rotatably installed at the bottom of each slide 3, and the suspension arm 4 includes an upper arm 41 and a lower arm 42, and the lower arm 42 is slidably plugged with the upper arm 41 by the bottom, and a sliding limit component is provided, so that the lengths of the upper arm 41 and the lower arm 42 can be slidably changed, and a fourth motor 43 is installed on the surface of the upper arm 41, and the output shaft of the fourth motor 43 is fixed with a lead screw 44, and the lead screw 44 is threadedly connected with the lower arm 42;

[0030] like Figure 4As shown, the suspension assembly is arranged below the suspension arm 4, and the suspension assembly includes a suspension seat 5. The bottom ends of the two suspension arms 4 are rotatably connected to the suspension seat 5, so that the two suspension arms 4 are distributed in a V shape. A connecting seat 51 is rotatably arranged below the suspension seat 5 through an axis member. The connecting seat 51 is used to assemble and install components such as clamping claws for performing grasping work. A third motor 52 is arranged on the surface of the suspension seat 5, and the third motor 52 is rotatably connected to the shaft of the connecting seat 51 through two mutually meshing gears.

[0031] The first motor 11, the second motor 31, the fourth motor 43, and the third motor 52 are all programmed and controlled by the controller, and the palletizing robot has the following control motions:

[0032] Movement 1: The first motor 11 drives the gear to rotate, and the crossbeam 2 rotates around the ring frame 1 through meshing transmission, so as to adjust the angle of the grabbing component and the movement direction of the cargo transfer;

[0033] Movement 2: The two second motors 31 respectively drive the two slides 3 to move linearly on the surface of the beam 2, so as to adjust the angle between the two V-shaped booms 4 and the linear position of the grabbing component, so as to control the height and linear position of the cargo delivery;

[0034] Movement three: the fourth motor 43 drives the lead screw 44 to rotate, and the lower arm 42 and the upper arm 41 slide and retract through the thread transmission, and the lengths of the two booms 4 change synchronously, so that the angle between the two V-shaped booms 4 is adjusted, so as to realize the height position control of the cargo delivery;

[0035] Movement 4: The third motor 52 drives the connecting seat 51 to rotate, so as to adjust the material taking and discharging angles.

[0036] The palletizing working principle of the palletizing robot based on the above four basic control movements is as follows:

[0037] Set the material picking point position P0X0, Y0, Z0, and the stacking point position P1X1, Y1, Z1;

[0038] Step 1: Determine the P0 position and the P1 position, turn on the first motor 11 to drive the beam 2 to rotate around the ring frame 1, so that the beam 2 coincides with the horizontal plane path from P0 to P1;

[0039] Step 2, turn on the two second motors 31 to drive the two slides 3 to move toward P0 at a differential speed, the slide 3 close to P0 moves slowly, and the slide 3 away from P0 moves quickly, and the distance between the two slides 3 gradually becomes smaller during the movement, so that the angle between the two V-shaped hanging arms 4 gradually becomes smaller, and the material-taking component gradually descends, so that the midpoint of the two slides 3 approaches the material-taking point while the height of the clamping part decreases, and the clamping component quickly reaches above P0 with an oblique movement path. At this time, the height between the clamping component and the object is small, and then the hanging arm 4 is turned on to extend synchronously, so that the clamping component descends vertically to clamp the object, and then the hanging arm 4 is turned on to contract synchronously to lift the clamped object up to a certain height;

[0040] Step three, after the clamping component picks up the material at P0, the two second motors 31 are turned on to drive the two slides 3 to move toward P1. In the process of approaching P1, the two slides 3 are controlled to move differentially according to the height difference between P0 and P1, and the angle between the two V-shaped hanging arms 4 changes, so that the clamped objects rise or fall in the process of approaching P1. The objects reach the top of P1 with an oblique movement path, and then the two hanging arms 4 are turned on and extended synchronously to stack the objects vertically downward at the P1 position.

[0041] The height change during the object stacking operation is mainly achieved by controlling the two booms 4 to move closer or further apart, and the length adjustment of the boom 4 itself controls the height change of the clamping component, which is used to control the clamping component to vertically take and place objects at the P0 position and the P1 position. In addition, the change in the length of the boom 4 itself controls the height change of the clamping component, which is also used to compensate for excessive height differences during the object stacking operation.

[0042] When using a palletizing robot to palletize heavy items, it cannot be transferred through an oblique path for safety reasons. The specific operations are as follows:

[0043] like Figure 4 As shown, a weight sensor 53 for measuring the weight of the grabbed cargo is provided at the connection portion between the connecting seat 51 and the hanging seat 5. The weight sensor 53 is connected to the controller. The grabbed object is measured by the weight sensor 53. If the weight of the object reaches the set value, the heavy object operation program is changed. After the clamping component reaches P0 to clamp the object, the boom 4 is turned on and synchronously retracted to raise the object height to a height higher than P1. If the boom 4 is fully retracted and the height does not meet the standard, the two slides 3 are driven to move and expand the two arms 4 until the object height is higher than P1. Then, the second motor 31 is used to drive the two slides 3 to move synchronously, so that the object moves horizontally to P1, and then the boom 4 is turned on and synchronously extended to stack the object downward.

[0044] like Figure 2As shown, the telescopic column 7 is vertically arranged between the hanging seat 5 and the cross beam 2, the bottom end of the telescopic column 7 is fixedly connected to the hanging seat 5, and the top end of the telescopic column 7 slides linearly with the cross beam 2 through the slide seat 3. The telescopic column 7 always vertically aligns the clamping component to increase the stability of the horizontal state of the clamping component.

[0045] like Figure 5 , Figure 6 As shown, the telescopic column 7 is composed of a plurality of rods that are continuously sealed and slidably plugged, and the interior thereof is a closed variable-capacity chamber, and a liquid storage tank 71 is fixedly installed at the top of the telescopic column 7, and the liquid storage tank 71 stores damping liquid, and the valve assembly 8 includes a first valve tube 81 and a second valve tube 82 that are T-shaped and connected, the first valve tube 81 is connected to the inner cavity of the telescopic column 7, and the second valve tube 82 is connected to the liquid storage tank 71, and the first valve tube 81 is slidably adapted to the valve plug 83, and the electromagnetic telescopic rod 84 is installed at the end of the first valve tube 81 and connected to the valve plug 83;

[0046] The valve plug 83 is driven to move linearly by the electromagnetic telescopic rod 84, so that the valve plug 83 blocks or opens the through-portion between the first valve tube 81 and the second valve tube 82. When the through-portion is opened, the damping liquid can be conducted between the telescopic column 7 and the liquid storage tank 71, so that the telescopic column 7 can be freely extended and retracted. When the through-portion is closed, the damping liquid in the inner cavity of the telescopic column 7 is sealed, so that the telescopic column 7 maintains a fixed length.

[0047] When the clamping component is moving objects and the height of the clamped objects changes, the valve assembly 8 is opened to allow the telescopic column 7 to telescope along with the height change of the objects. When the height of the clamped objects does not change, the valve assembly 8 is closed to keep the telescopic column 7 at a fixed length, thereby sharing the counterweight of the boom 4 and reducing the failure rate of the boom 4.

[0048] like Figure 1 As shown, the cross beam 2 is fixed with an auxiliary beam 6, the auxiliary beam 6 and the cross beam 2 are distributed in a T shape, and the auxiliary beam 6 is slidably connected to the ring frame 1. The setting of the auxiliary beam 6 increases the load strength of the cross beam 2 and improves the stability of the cross beam 2 rotating around the ring frame 1.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Automatic palletizing industrial robot, characterized by: include: Ring stand (1); A crossbeam (2) is distributed along the diameter direction of the ring frame (1), and both ends of the crossbeam (2) are slidably connected to the ring frame (1). The crossbeam (2) is provided with a first motor (11), and an output shaft of the first motor (11) and a surface of the ring frame (1) are provided with matching gears and gear rings for driving the crossbeam (2) to rotate around the ring frame (1); The boom (4) has two slides (3) sliding linearly on the surface of the beam (2), each slide (3) is provided with a second motor (31), and the output shaft of the second motor (31) and the surface of the beam (2) are provided with matching gears and racks for driving the slide (3) to move linearly along the beam (2). The tops of the two booms (4) are respectively rotatably connected to the slides (3), and the bottoms of the two booms (4) are commonly connected to the suspension assembly, so that the two booms (4) are distributed in a V shape.

2. The automatic palletizing industrial robot according to claim 1, characterized in that: The boom (4) comprises an upper arm (41) and a lower arm (42) which are slidably connected to each other up and down. A fourth motor (43) is provided on the surface of the upper arm (41). The output shaft of the fourth motor (43) is connected to a lead screw (44). The lead screw (44) is threadedly connected to the lower arm (42). The fourth motor (43) drives the lead screw (44) to rotate, so that the upper arm (41) and the lower arm (42) can be telescopically moved to adjust the length of the boom (4).

3. The automatic palletizing industrial robot according to claim 1, characterized in that: The suspension assembly includes a suspension seat (5), the bottom end of the suspension arm (4) is rotatably connected to the suspension seat (5), a connecting seat (51) for mounting a clamp is rotatably connected below the suspension seat (5), and the suspension seat (5) is equipped with a third motor (52), which is connected to the rotating part of the connecting seat (51) through a gear train and is used to drive the connecting seat (51) to rotate.

4. The automatic palletizing industrial robot according to claim 3, characterized in that: A weight sensor (53) is provided at the connection portion between the connecting seat (51) and the hanging seat (5).

5. The automatic palletizing industrial robot according to claim 3, characterized in that: A vertically extending telescopic column (7) is provided between the hanging seat (5) and the crossbeam (2); the bottom end of the telescopic column (7) is fixedly connected to the hanging seat (5), and the top end of the telescopic column (7) slides linearly with the crossbeam (2).

6. The automatic palletizing industrial robot according to claim 5, characterized in that: A liquid storage tank (71) is provided on the top of the telescopic column (7), wherein damping liquid is stored in the liquid storage tank (71), and the liquid storage tank (71) is connected to the inner cavity of the telescopic column (7) via a valve assembly (8) for filling the interior of the telescopic column (7) with damping liquid.

7. The automatic palletizing industrial robot according to claim 6, characterized in that: The valve assembly (8) includes a first valve tube (81) and a second valve tube (82) that are T-shaped and pass through. The first valve tube (81) passes through the telescopic column (7), and the second valve tube (82) passes through the liquid storage tank (71). A valve plug (83) is slidably adapted inside the first valve tube (81). The valve plug (83) is connected to an electromagnetic telescopic rod (84). The electromagnetic telescopic rod (84) drives the valve plug (83) to move linearly, so that the valve plug (83) blocks or opens the through-hole between the first valve tube (81) and the second valve tube (82).

8. The automatic palletizing industrial robot according to claim 1, characterized in that: An auxiliary beam (6) is fixed to the crossbeam (2), the auxiliary beam (6) and the crossbeam (2) are distributed in a T-shape, and the auxiliary beam (6) is slidably connected to the ring frame (1).

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