Intelligent stacking robot

Abstract

The invention relates to the technical field of robots, in particular to an intelligent stacking robot which comprises a driving unit, a stacking unit and a control unit. The transmission connecting rod unit is used for transmitting the power transmitted by the driving unit, and the transmission connecting rod unit is connected with the driving unit; the grabbing unit is used for grabbing materials, and the grabbing unit is connected with the transmission connecting rod unit; the moving unit is used for driving the stacking robot to advance; the moving unit comprises a mounting seat, a rotating wheel fixedly mounted on a motor, a rotating wheel fixedly connected with an output shaft of the motor, and a crawler belt meshed with the rotating wheel; the installation base is driven to move freely along with rotation of the crawler. And when the stacking robot is moved by arranging the moving unit, only a motor V needs to be started, the crawler belt of the motor V rotates, so that the stacking robot mounted on the mounting seat can walk automatically, manual carrying is not needed any more, time and labor are saved, and damage to the device caused by carrying is further reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an intelligent stacking robot. Background Art

[0002] Palletizing robots are a type of industrial robot that performs tasks such as grabbing, handling, palletizing, and depalletizing of large quantities of workpieces and packages in the industrial production process. They are high-tech electromechanical products that integrate mechanical, electronic, information, intelligent technology, computer science and other disciplines. With the continuous development of my country's robotics industry, the technology and research fields have reached a certain level, and the technical level of palletizing robots has also developed rapidly.

[0003] Patent application number CN202311848858.9 discloses an intelligent sorting and palletizing industrial robot workstation. The existing palletizing robot is directly fixed next to the transport conveyor belt. In the case of multiple conveyor belts, if a conveyor belt is idle, the palletizing robot next to the conveyor belt will be idle. The palletizing robot that cannot be quickly transferred and deployed cannot reduce the workload of the conveyor belt in time, which brings inconvenience to the cargo palletizing work. The following scheme is now proposed, including a function box, and a steering seat is arranged above the function box. An intelligent sorting and palletizing industrial robot workstation disclosed by the present invention can realize the rapid transfer and deployment of the palletizing robot workstation by using a quick deployment component, reduce the number of idle palletizing robots on non-operating conveyor belts, improve the palletizing efficiency on conveyor belts with high workloads, and improve the turnover rate of the palletizing robot, reducing the capital consumption caused by the purchase of additional palletizing robots.

[0004] This patent achieves the rapid transfer of palletizing robots by deploying components. However, since palletizing robots are generally heavy-duty and require mechanical transportation, the complexity of the transportation operation and potential physical impacts make the robot components extremely susceptible to damage, which in turn leads to more significant increases in economic costs and resource losses.

[0005] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent stacking robot which can effectively solve the above technical problems.

[0007] In order to achieve the purpose of the present invention, the following technical scheme is adopted:

[0008] An intelligent stacking robot comprises: a driving unit: providing power output;

[0009] Transmission connecting rod unit: transmits the power transmitted by the driven unit, and the transmission connecting rod unit is connected to the driving unit;

[0010] Grabbing unit: grabbing materials, the grabbing unit is connected with the transmission connecting rod unit;

[0011] and, a mobile unit that drives the stacking robot to move forward;

[0012] The mobile unit comprises: a mounting seat fixedly mounted on the motor 5, a rotating wheel fixedly connected to the output shaft of the motor 5, and a crawler meshed with the rotating wheel;

[0013] The mounting seat is driven to move freely as the crawler belt rotates.

[0014] Furthermore, the driving unit includes: a steering wheel rotatably mounted on a mounting seat, a motor 1 driving the steering wheel to rotate, a crankshaft 1 and a crankshaft 2 rotatably mounted on the steering wheel, a motor 2 driving the crankshaft 1 to rotate, and a motor 3 driving the crankshaft 2 to rotate.

[0015] Further, the transmission unit includes: a large arm swing assembly and a small arm swing assembly;

[0016] The boom swing assembly comprises: a support arm and an articulated rod; the two ends of the articulated rod are respectively articulated with the support arm and the crankshaft, and the support arm is rotatably mounted on a mounting seat;

[0017] The forearm swing assembly comprises: a pitch arm and a crank connecting rod; the crank connecting rod is rotationally connected to the crankshaft 2, the crank connecting rod is rotationally connected to the pitch arm, and the support arm is hinged to the pitch arm.

[0018] Furthermore, the grabbing unit includes: a flange, and a motor four for driving the flange to rotate, and the flange is rotatably installed at the end of the pitch arm.

[0019] Furthermore, it also includes: a gravity balance unit.

[0020] Furthermore, the gravity balance unit is composed of a counterweight iron and a connecting rocker, one end of the counterweight iron is fixedly connected to the crankshaft one and the crankshaft two, the connecting rocker is hinged to the pitch arm, and the other end of the connected rocker is hinged to the counterweight iron.

[0021] Furthermore, an angle encoder is installed in the steering wheel to measure the angle of rotation of the steering wheel relative to the mounting seat.

[0022] Compared with the prior art, the present invention has the following beneficial effects: by setting a mobile unit, when the stacking robot is moved, it is only necessary to start motor five, and the crawler track of motor five rotates, so that the stacking robot installed on the mounting base can walk on its own, and no manual transportation is required, which saves time and labor, and further reduces the damage of the device caused by transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0024] Figure 1 This is a structural schematic diagram of an intelligent stacking robot according to the present invention;

[0025] Figure 2 It is a structural schematic diagram of the driving mechanism in the present invention;

[0026] Figure 3 It is a structural schematic diagram of the transmission connecting rod unit in the present invention;

[0027] Figure 4 It is another perspective structural schematic diagram of the rotating mechanism in the present invention.

[0028] In the figure: 1. drive unit; 2. transmission connecting rod unit; 3. grabbing unit; 4. moving unit; 41. mounting seat; 42. motor five; 43. rotating wheel; 44. crawler track; 11. steering wheel; 12. motor one; 13. crankshaft one; 14. crankshaft two; 15. motor two; 16. motor three; 21. support arm; 22. articulated rod; 23. pitch arm; 24. crankshaft connecting rod; 31. flange; 32. motor four; 61. counterweight iron; 62. connecting rocker. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are partial embodiments of the present invention, rather than all embodiments.

[0030] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention. When a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a centered component. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centered component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a centered component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0031] like Figures 1 to 4 As shown, the present invention provides an intelligent stacking robot, comprising: a driving unit 1: providing power output:

[0032] The driving unit 1 includes: a steering wheel 11 rotatably mounted on a mounting seat 41, a motor 12 driving the steering wheel 11 to rotate, a crankshaft 13 and a crankshaft 14 rotatably mounted on the steering wheel 11, a motor 2 15 driving the crankshaft 13 to rotate, and a motor 3 16 driving the crankshaft 14 to rotate;

[0033] When the items need to be stacked, the motor 12 drives the steering wheel 11 to rotate, so that the steering wheel 11 and the components on the steering wheel 11 rotate, so as to facilitate real-time angle adjustment of the items to be clamped.

[0034] Transmission connecting rod unit 2: transmits the power transmitted by the driven unit 1, and the transmission connecting rod unit 2 is connected to the driving unit 1; the transmission unit includes: a large arm swing assembly and a small arm swing assembly; the large arm swing assembly includes: a support arm 21, a hinged rod 22; the two ends of the hinged rod 22 are respectively hinged to the support arm 21 and the crankshaft 13, and the support arm 21 is rotatably mounted on the mounting seat 41; the small arm swing assembly includes: a pitch arm 23, a crankshaft connecting rod 24; the crankshaft connecting rod 24 is rotatably connected to the crankshaft 14, the crankshaft connecting rod 24 is rotatably connected to the pitch arm 23, and the support arm 21 is hinged to the pitch arm 23;

[0035] When the support arm 21 needs to swing, the motor 2 15 rotates, and the rotation of the motor 2 15 drives the crankshaft 13 to rotate, so that the support arm 21 rotatably mounted on the crankshaft 13 swings accordingly, realizing the up and down lifting action, and then cooperates with the motor 12 to drive the axial rotation of the steering wheel 11, thereby realizing multi-axis rotation. When the forearm needs to be lifted up and down, the motor 3 16 drives the crankshaft 2 14 to rotate, so that the crankshaft connecting rod 24 rotatably mounted on the crankshaft 14 swings, and the pitch arm 23 swings with the crankshaft connecting rod 24 to realize the rotation of the pitch angle. The above-mentioned movement method can be used to realize the stacking of objects, thereby saving manual intervention.

[0036] Grabbing unit 3: Grabbing materials, the grabbing unit 3 is connected to the transmission link unit 2; a flange 31, a motor 32 driving the flange 31 to rotate, and the flange 31 is rotatably mounted at the end of the pitch arm 23;

[0037] When different materials need to be transported, the mechanical claw only needs to be fixed on the pitch arm 23 through the flange 31. At this time, the mechanical claw can be rotated by the motor 4 32, so as to realize multi-angle grasping of materials, reduce the dead angle of mechanical movement, and improve the efficiency of mechanical use.

[0038] The mobile unit 4 includes: a mounting seat 41 fixedly mounted on a motor 42, a rotating wheel 43 fixedly connected to the output shaft of the motor, and a crawler 44 meshing with the rotating wheel 43; the mounting seat 41 is driven to move freely as the crawler 44 rotates;

[0039] When the stacking robot needs to move, it is only necessary to start the motor 42, and the crawler 44 of the motor 42 rotates, so that the stacking robot installed on the mounting base 41 can move by itself, and no manual transportation is required, which saves time and labor and further reduces damage to the device caused by transportation.

[0040] It also includes: a gravity balance unit, which is composed of a counterweight iron 61 and a connecting rocker. One end of the counterweight iron 61 is fixedly connected to the crankshaft 13 and the crankshaft 2 14. The connecting rocker is hinged to the pitch arm 23, and the other end of the connected rocker is hinged to the counterweight iron 61.

[0041] When the pitch arm 23 performs a bending action to grab heavy objects, if the mass of the grabbed objects exceeds expectations, it may cause instability in the overall structure of the stacking robot, and then create a risk of tipping over; therefore, when the pitch arm 23 swings up and down to grab goods, it will drive the connecting rocker to move up and down, and the connecting rocker will synchronously drive the counterweight iron 61 to move in the opposite direction to generate a reverse force that offsets the forward tilting torque of the pitch arm 23, thereby achieving dynamic balance of the overall robot system.

[0042] An angle encoder is also installed in the steering wheel 11 to measure the angle of rotation of the steering wheel 11 relative to the mounting seat 41, so as to monitor in real time whether the steering wheel 11 has excessive deflection problem.

[0043] Working principle: when it is necessary to stack items, the steering wheel 11 is driven by the motor 12 to rotate, so that the steering wheel 11 and the components on the steering wheel 11 rotate, so as to facilitate real-time angle adjustment of the items to be clamped; when the support arm 21 needs to swing, the motor 2 15 rotates, and the rotation of the motor 2 15 drives the crankshaft 13 to rotate, so that the support arm 21 rotatably mounted on the crankshaft 13 swings accordingly, so as to realize the up and down carrying action, and then cooperates with the motor 12 to drive the axial rotation of the steering wheel 11, so as to realize multi-axis rotation. When the forearm needs to be lifted up and down, the motor 3 16 drives the crankshaft 2 14 to rotate, so that the crank connecting rod 24 rotatably mounted on the crankshaft 2 14 swings, and the pitch arm 23 swings with the crank connecting rod 24 to realize the rotation of the pitch angle. The above-mentioned movement method can realize the stacking of items, thereby saving manual intervention.

[0044] When the stacking robot needs to move, it is only necessary to start the motor 42, and the crawler 44 of the motor 42 rotates, so that the stacking robot installed on the mounting base 41 can move by itself, and no manual transportation is required, which saves time and labor and further reduces damage to the device caused by transportation.

[0045] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0046] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An intelligent stacking robot, characterized in that: include: Drive unit: provides power output; Transmission connecting rod unit: transmits the power transmitted by the driven unit, and the transmission connecting rod unit is connected to the driving unit; Grabbing unit: grabbing materials, the grabbing unit is connected with the transmission connecting rod unit; and, a mobile unit that drives the stacking robot to move forward; The mobile unit comprises: a mounting seat fixedly mounted on the motor 5, a rotating wheel fixedly connected to the output shaft of the motor 5, and a crawler meshed with the rotating wheel; The mounting seat is driven to move freely as the crawler belt rotates.

2. The intelligent stacking robot according to claim 1, characterized in that: The driving unit includes: a steering wheel rotatably mounted on a mounting seat, a motor 1 driving the steering wheel to rotate, a crankshaft 1 and a crankshaft 2 rotatably mounted on the steering wheel, a motor 2 driving the crankshaft 1 to rotate, and a motor 3 driving the crankshaft 2 to rotate.

3. The intelligent stacking robot according to claim 2, characterized in that: The transmission unit comprises: a large arm swing assembly and a small arm swing assembly; The boom swing assembly comprises: a support arm and an articulated rod; the two ends of the articulated rod are respectively articulated with the support arm and the crankshaft, and the support arm is rotatably mounted on a mounting seat; The forearm swing assembly comprises: a pitch arm and a crank connecting rod; the crank connecting rod is rotationally connected to the crankshaft 2, the crank connecting rod is rotationally connected to the pitch arm, and the support arm is hinged to the pitch arm.

4. The intelligent stacking robot according to claim 3, characterized in that: The grabbing unit comprises: a flange and a motor four for driving the flange to rotate, and the flange is rotatably mounted at the end of the pitch arm.

5. The intelligent stacking robot according to claim 1, characterized in that: Also includes: Gravity balancing unit.

6. The intelligent stacking robot according to claim 5, characterized in that: The gravity balance unit is composed of a counterweight iron and a connecting rocker. One end of the counterweight iron is fixedly connected to the crankshaft one and the crankshaft two. The connecting rocker is hinged to the pitch arm, and the other end of the connected rocker is hinged to the counterweight iron.

7. The robotic arm according to claim 1, characterized in that: An angle encoder is also installed in the steering wheel to measure the angle of rotation of the steering wheel relative to the mounting seat.

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