Multifunctional logistics unstacking and stacking composite robot and control method thereof

Abstract

The invention provides a multifunctional logistics unstacking and stacking composite robot which comprises a supporting plate, a top plate, a sliding hole, a control box, a PLC, a supporting and pushing movable frame structure, a shielding and protecting guide frame structure, a sliding carrying operation frame structure and a supporting and adjusting horizontal observation plate structure. The upper ends of the supporting plates are fixed to the left side and the right side of the bottom end of the top plate through bolts correspondingly. A sliding hole is transversely formed in the middle position in the top plate; a control box is fixed to the middle position of the upper portion of the right side of the supporting plate arranged on the right side through bolts. A PLC is fixed to the upper portion of the inner wall of the left side of the control box through bolts. Through the arrangement of the guiding and conveying frame, the guiding and conveying groove, the guiding and conveying roller and the shielding plate, objects can be conveniently placed at the upper end of the guiding and conveying roller in the using process, then the guiding and conveying roller is connected with the guiding and conveying frame through a pin shaft, and the guiding and conveying roller is matched with the inclination angle of the guiding and conveying frame, so that the object guiding and conveying work is conveniently carried out in the unstacking or stacking process.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a multifunctional logistics depalletizing and palletizing composite robot and a control method thereof. Background Art

[0002] With the development of the logistics industry, logistics warehouses tend to be standardized, making the application scenarios of logistics robots more extensive. Most traditional logistics robots are in a single depalletizing mode, that is, they transfer and place whole piles of goods according to the program. The existing robots are not convenient for conveying work during the depalletizing and palletizing process, and it is not convenient to adjust the height of the guide mechanism according to the work during use. The height of the robot cannot be adjusted according to the needs during use. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a multifunctional logistics depalletizing and palletizing composite robot and a control method thereof, which facilitates the conveying work during the depalletizing and palletizing process and facilitates the conveying height adjustment work during the use and sets the robot height adjustment mechanism during the use, so as to facilitate the purpose of adjusting the robot height according to the depalletizing or palletizing height during the use.

[0004] A multifunctional logistics depalletizing and stacking composite robot comprises a support plate, the upper end of which is bolted to the left and right sides of the bottom end of the top plate; a sliding hole is horizontally opened in the middle position of the inner part of the top plate; a control box is bolted to the middle position of the upper right side of the support plate arranged on the right side; a PLC is bolted to the upper part of the left inner wall of the control box; a supportable and pushable moving frame structure is respectively arranged at the bottom end of the inner wall of the support plate; a shielding and protective guide frame structure is arranged at the upper end of the supportable and pushable moving frame structure; a slidable carrying and operating frame structure is arranged at the upper end of the top plate; a supportable and adjustable horizontal observation plate structure is arranged at the lower middle position of the outer wall of the support plate; the supportable and pushable moving frame structure comprises a support seat, and a first electric telescopic rod is bolted to the middle position of the upper front end and the middle position of the upper rear end of the support seat; a connecting frame is connected to the upper outer wall of the first electric telescopic rod by a pin shaft; side plates are bolted to the left and right sides of the bottom end of the support seat; and moving wheels are respectively connected to the front and rear ends of the side plates by pin shafts.

[0005] Preferably, the shieldable protective guide frame structure includes a guide frame, a guide groove is arranged inside the upper end of the guide frame; the lower part of the inner wall of the guide groove is pin-connected with guide rollers in sequence from front to back; and shielding plates are bolted to the upper part of the front and rear ends of the guide frame.

[0006] Preferably, the slidable carrying operating frame structure includes a connecting plate, a motor is bolted to the middle position of the right side of the connecting plate arranged on the right side; a threaded tube is bolted to the outer wall of the output shaft of the motor; the threaded tube thread penetrates the inner middle position of the moving block; the bottom end of the moving block is bolted to the middle position of the upper end of the fixed plate; the second electric telescopic rod is bolted to the middle position on the left and right sides of the bottom end of the fixed plate; the bottom ends of the second electric telescopic rod are bolted to the middle positions on the left and right sides of the upper end of the connecting plate.

[0007] Preferably, the structure capable of supporting and adjusting the horizontal observation plate includes a driving plate, a horizontal bead is embedded in the middle position of the upper end of the driving plate; a third electric telescopic rod is bolted to the middle position in front of the bottom end and the middle position in the rear of the bottom end of the driving plate; the bottom end of the third electric telescopic rod is bolted to the middle position of the upper end of the bottom plate.

[0008] A control method for a multifunctional logistics depalletizing and palletizing composite robot is as follows;

[0009] Step 1: Move and position, move the support plate and the top plate to a suitable position, and use external wires to connect the external power supply;

[0010] Step 2: Adjust the angle. During the operation of the first electric telescopic rod controlled by PLC, observe the angle of the guide frame according to the working environment and work needs, adjust the inclination angle of the guide frame, and facilitate the article guiding work during the work. During the article guiding process, the article is placed inside the guide groove and at the upper end of the guide roller to guide the article;

[0011] Step 3: Left and right diversion. During the process of depalletizing or stacking, the PLC controls the motor to drive the threaded tube to rotate, and at the same time drives the manipulator set at the bottom of the connecting plate to move. Then, during the movement, the PLC controls the manipulator to drive the items to fall inside the upper end of the guide rack, which is convenient for diversion during work and improves work efficiency.

[0012] Step 4: Adjust the height. During the depalletizing or palletizing process, according to the working environment and work needs, the third electric telescopic rod starts working through PLC control, and then drives the support plate and the top plate to move up and down, so as to facilitate the height adjustment according to the work needs and working environment, thereby completing the work of the robot.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. In the present invention, the arrangement of the guide frame, guide groove, guide roller and shielding plate is conducive to placing the items on the upper end of the guide roller during use, and then connecting the guide roller and the guide frame pin shaft and coordinating the inclination angle of the guide frame to facilitate the guiding work of the items during the depalletizing or stacking process.

[0015] 2. In the present invention, the arrangement of the guide frame, the support seat, the first electric telescopic rod, the connecting frame, the side plate and the moving wheel is conducive to controlling the first electric telescopic rod to work during use, and is connected to the bottom end of the guide frame through the connecting frame during work, so that the angle of the guide frame can be adjusted during use, and the purpose of guiding items during depalletizing or stacking is convenient.

[0016] 3. In the present invention, the supporting plate, top plate, driving plate, horizontal bead, third electric telescopic rod and bottom plate are arranged in coordination with each other, which is conducive to controlling the third electric telescopic rod to work through PLC during use, and driving the supporting plate to move up and down during the operation of the third electric telescopic rod, so as to facilitate the purpose of adjusting the height of the robot during depalletizing or stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 It is a structural schematic diagram of the supporting and pushing movable frame structure of the present invention.

[0019] Figure 3 It is a structural schematic diagram of the shieldable protection guide frame structure of the present invention.

[0020] Figure 4 It is a structural schematic diagram of the slidable and portable operating frame structure of the present invention.

[0021] Figure 5 It is a structural schematic diagram of the supporting and adjusting horizontal observation plate structure of the present invention.

[0022] Figure 6 It is a flow chart of the control method of the present invention.

[0023] Figure 7 It is a schematic diagram of electrical wiring of the present invention.

[0024] In the figure:

[0025] 1. Support plate; 2. Top plate; 3. Slide hole; 4. Control box; 5. PLC; 6. Structure capable of supporting and pushing the moving frame; 61. Support seat; 62. First electric telescopic rod; 63. Connecting frame; 64. Side plate; 65. Moving wheel; 7. Structure capable of shielding and protecting the guide frame; 71. Guide frame; 72. Guide groove; 73. Guide roller; 74. Shielding plate; 8. Structure capable of slidably carrying the operating frame; 81. Connecting plate; 82. Motor; 83. Threaded pipe; 84. Moving block; 85. Fixed plate; 86. Second electric telescopic rod; 87. Connecting plate; 9. Structure capable of supporting and adjusting the horizontal observation plate; 91. Driving plate; 92. Horizontal bead; 93. Third electric telescopic rod; 94. Bottom plate. DETAILED DESCRIPTION

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1 and attached Figure 2 As shown, a multifunctional logistics depalletizing and stacking composite robot comprises a support plate 1, a top plate 2, a sliding hole 3, a control box 4, a PLC 5, a support and push movable frame structure 6, a shielding and protective guide frame structure 7, a slidable carrying operating frame structure 8 and a support and adjustment horizontal observation plate structure 9, wherein the upper end of the support plate 1 is bolted to the left and right sides of the bottom end of the top plate 2; a sliding hole 3 is horizontally provided at the inner middle position of the top plate 2; a control box 4 is bolted to the middle position of the upper right side of the support plate 1 arranged on the right side; a PLC 5 is bolted to the upper part of the left inner wall of the control box 4; the bottom end of the inner wall of the support plate 1 is respectively provided with a support and push movable frame structure 6; the upper end of the support and push movable frame structure 6 is provided with a shielding and protective guide frame structure 7; the upper end of the top plate 2 is provided with a slidable carrying operating frame structure Structure 8; a supportable and adjustable horizontal observation plate structure 9 is provided at the lower middle position of the outer wall of the support plate 1; the supportable and pushable movable frame structure 6 comprises a support seat 61, a first electric telescopic rod 62, a connecting frame 63, a side plate 64 and a moving wheel 65, and the first electric telescopic rod 62 is bolted to the middle position of the upper front end and the middle position of the upper rear end of the support seat 61; the upper end outer wall of the first electric telescopic rod 62 is pin-connected to the connecting frame 63; the left and right sides of the bottom end of the support seat 61 are bolted to the side plates 64; the front and rear sides between the side plates 64 are pin-connected to the moving wheels 65; when in use, the support plate 1 and the top plate 2 are moved to a suitable position, and an external wire is used to connect the external power supply, and then the first electric telescopic rod 62 is controlled to work to push the connecting frame 63 to move to a suitable height.

[0027] In this embodiment, combined with the Figure 3As shown, the shieldable protective guide frame structure 7 includes a guide frame 71, a guide groove 72, a guide roller 73 and a shielding plate 74. The upper end of the guide frame 71 is provided with a guide groove 72; the lower part of the inner wall of the guide groove 72 is pin-connected with guide rollers 73 in sequence from front to back; the upper part of the front and rear ends of the guide frame 71 are bolted with shielding plates 74 respectively; in the process of controlling the first electric telescopic rod 62 to work, the angle of the guide frame 71 is observed according to the working environment and work needs, and the inclination angle of the guide frame 71 is adjusted to facilitate the guiding of articles at work. In the process of guiding articles, the articles are placed inside the guide groove 72 and at the upper end of the guide roller 73, and the guide roller 73 is pin-arranged inside the guide frame 71 to prevent the articles from falling during the guiding process.

[0028] In this embodiment, combined with the Figure 4 As shown, the slidable carrying operating frame structure 8 includes a connecting plate 81, a motor 82, a threaded tube 83, a moving block 84, a fixed plate 85, a second electric telescopic rod 86 and a connecting plate 87. The motor 82 is bolted to the middle position of the right side of the connecting plate 81 arranged on the right side; the threaded tube 83 is bolted to the outer wall of the output shaft of the motor 82; the threaded tube 83 threadedly penetrates the inner middle position of the moving block 84; the bottom end of the moving block 84 is bolted to the middle position of the upper end of the fixed plate 85; the second electric telescopic rod 86 is bolted to the middle position of the left and right sides of the bottom of the fixed plate 85; the bottom end of the second electric telescopic rod 86 is bolted to the middle position of the left and right sides of the upper end of the connecting plate 87; during use, the article is moved at the upper end of the guide roller 73, and then the PLC5 issues an instruction to control the manipulator arranged at the lower end of the connecting plate 87 to work, and the PLC5 controls the motor 82 to work and drive the threaded tube 83 to rotate during work, thereby realizing the work of depalletizing or stacking.

[0029] In this embodiment, combined with the Figure 5 As shown, the supportable and adjustable horizontal observation plate structure 9 includes a driving plate 91, a horizontal bead 92, a third electric telescopic rod 93 and a bottom plate 94, and the driving plate 91 is inlaid with a horizontal bead 92 in the middle position of the upper end; the third electric telescopic rod 93 is bolted to the middle position in front of the bottom end and the middle position in the rear of the bottom end of the driving plate 91; the bottom ends of the third electric telescopic rod 93 are bolted to the middle position of the upper end of the bottom plate 94; during the work process, according to the working environment and the needs of depalletizing or stacking, the PLC5 sends instructions to control the third electric telescopic rod 93 to work, and pushes the bottom plate 94 downward to contact the ground during work, and then pushes the support plate 1 and the top plate 2 upward to achieve the purpose of height adjustment, thereby completing the work of the robot.

[0030] In this embodiment, specifically, the support seats 61 are bolted to the bottom of the inner wall of the support plate 1 ; the moving wheels 65 are respectively arranged at the four corners below the support plate 1 and the top plate 2 .

[0031] In the present embodiment, specifically, the shielding plate 74 is made of a rectangular stainless steel plate and a silicone ring is provided between the shielding plate 74 and the guide frame 71 .

[0032] In this embodiment, specifically, the guide frame 71 is respectively arranged on the left and right sides below the top plate 2; the connecting frame 63 is respectively bolted to the front and rear of the middle position of the bottom end of the guide frame 71.

[0033] In this embodiment, specifically, both ends of the threaded tube 83 respectively penetrate the inner middle position of the connecting plate 81 and bearings are provided at the connection; proximity switches are bolted to the inner wall of the connecting plate 81; and a manipulator is provided at the bottom end of the connecting plate 87.

[0034] In this embodiment, specifically, the connecting plate 81 is bolted to the left and right sides of the upper end of the top plate 2 respectively; the moving block 84 slides through the interior of the sliding hole 3; and the fixing plate 85 is slidably arranged below the top plate 2.

[0035] In this embodiment, specifically, the driving plates 91 are respectively bolted to the lower middle portion of the outer wall of the support plate 1 .

[0036] In this embodiment, specifically, the first electric telescopic rod 62, the motor 82, the second electric telescopic rod 86, the third electric telescopic rod 93 and the manipulator arranged at the bottom end of the connecting plate 87 are electrically connected to the output end of the PLC5 respectively.

[0037] In this embodiment, specifically, the control method of the multifunctional logistics depalletizing and palletizing composite robot is as follows;

[0038] Step 1: Move and position, move the support plate 1 and the top plate 2 to a suitable position, and use external wires to connect the external power supply;

[0039] Step 2: Adjust the angle. During the operation of the first electric telescopic rod 62 controlled by the PLC5, observe the angle of the guide frame 71 according to the working environment and work needs, and adjust the inclination angle of the guide frame 71 to facilitate the article guiding work during the work. During the article guiding process, the article is placed inside the guide groove 72 and at the upper end of the guide roller 73 to guide the article;

[0040] Step 3: Left and right diversion. During the process of depalletizing or stacking, the PLC5 controls the motor 82 to drive the threaded tube 83 to rotate, and at the same time drives the manipulator set at the bottom of the connecting plate 87 to move. Then, during the movement, the PLC5 controls the manipulator to drive the items to fall into the upper end of the guide rack 71, which is convenient for diversion work during work and improves work efficiency.

[0041] Step 4: Adjust the height. During the process of depalletizing or stacking, according to the working environment and work needs, the third electric telescopic rod 93 starts working through PLC5, and then drives the support plate 1 and the top plate 2 to perform lifting work, so as to facilitate the purpose of adjusting the height according to the work needs and the working environment, thereby completing the work of the robot.

[0042] How it works

[0043] In the present invention, when in use, the support plate 1 and the top plate 2 are moved to appropriate positions, and an external wire is used to connect an external power supply, and then the first electric telescopic rod 62 is controlled to work, and the connecting frame 63 is pushed to move to an appropriate height. In the process of controlling the first electric telescopic rod 62 to work, the angle of the guide frame 71 is observed according to the working environment and work needs, and the inclination angle of the guide frame 71 is adjusted to facilitate the object guiding work at work. In the process of guiding the objects, the objects are placed inside the guide groove 72 and at the upper end of the guide roller 73. The pin of the guide roller 73 is set inside the guide frame 71 to prevent the objects from falling during the guiding process. In the process of use, the articles are moved on the upper end of the guide roller 73, and then the PLC5 issues a command to control the manipulator arranged at the lower end of the connecting plate 87 to work, and during the work, the PLC5 controls the motor 82 to work and drive the threaded tube 83 to rotate, thereby realizing the work of depalletizing or stacking. In the process of work, according to the working environment and the needs of depalletizing or stacking, the PLC5 issues a command to control the third electric telescopic rod 93 to work, and during the work, the bottom plate 94 is pushed downward to contact the ground, and then the support plate 1 and the top plate 2 are pushed upward to achieve the purpose of height adjustment, thereby completing the work of the robot.

[0044] Utilizing the technical solution described in the present invention, or those skilled in the art designing a similar technical solution inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. A multifunctional logistics depalletizing and stacking composite robot, comprising a support plate (1), wherein the upper end of the support plate (1) is bolted to the left and right sides of the bottom end of a top plate (2); a sliding hole (3) is transversely opened in the middle position inside the top plate (2); a control box (4) is bolted to the middle position of the upper right side of the support plate (1) arranged on the right side; a PLC (5) is bolted to the upper part of the left inner wall of the control box (4); characterized in that: The bottom end of the inner wall of the support plate (1) in the multifunctional logistics depalletizing and stacking composite robot is respectively provided with a supportable and pushable moving frame structure (6); the upper end of the supportable and pushable moving frame structure (6) is provided with a shielding and protective guide frame structure (7); the upper end of the top plate (2) is provided with a slidable carrying operation frame structure (8); the lower part of the middle position of the outer wall of the support plate (1) is provided with a supportable and adjustable horizontal observation plate structure (9); the supportable and pushable moving frame structure (6) comprises a support seat (61), and a first electric telescopic rod (62) is bolted to the middle position of the upper front end and the middle position of the upper rear end of the support seat (61); the upper end outer wall of the first electric telescopic rod (62) is pin-connected to a connecting frame (63); the left and right sides of the bottom end of the support seat (61) are respectively bolted to side plates (64); the front and rear sides between the side plates (64) are respectively pin-connected to moving wheels (65).

2. The multifunctional logistics palletizing and stacking robot according to claim 1, characterized in that: The shieldable protective guide frame structure (7) comprises a guide frame (71), wherein a guide groove (72) is arranged inside the upper end of the guide frame (71); guide rollers (73) are pin-connected to the lower part of the inner wall of the guide groove (72) in sequence from front to back; shielding plates (74) are bolted to the upper parts of the front and rear ends of the guide frame (71).

3. The multifunctional logistics palletizing and stacking robot according to claim 1, characterized in that: The slidable carrying operating frame structure (8) comprises a connecting plate (81), a motor (82) is bolted to the middle position of the right side of the connecting plate (81) arranged on the right side; a threaded tube (83) is bolted to the outer wall of the output shaft of the motor (82); the threaded tube (83) threadably penetrates the middle position of the inside of the moving block (84); the bottom end of the moving block (84) is bolted to the middle position of the upper end of the fixing plate (85); the second electric telescopic rod (86) is bolted to the middle position of the left and right sides of the bottom end of the fixing plate (85); the bottom end of the second electric telescopic rod (86) is bolted to the middle position of the left and right sides of the upper end of the connecting plate (87).

4. The multifunctional logistics palletizing and stacking robot according to claim 1, characterized in that: The supportable and adjustable horizontal observation plate structure (9) comprises a driving plate (91), wherein a horizontal bead (92) is inlaid in the middle position of the upper end of the driving plate (91); a third electric telescopic rod (93) is bolted to the middle position of the front and rear of the bottom end of the driving plate (91); and the bottom end of the third electric telescopic rod (93) is bolted to the middle position of the upper end of the bottom plate (94).

5. The multifunctional logistics palletizing and stacking robot according to claim 1, characterized in that: The support seats (61) are bolted to the bottom of the inner wall of the support plate (1); the moving wheels (65) are respectively arranged at the four corners below the support plate (1) and the top plate (2).

6. The multifunctional logistics palletizing and unpalletizing compound robot according to claim 2, characterized in that: The guide frame (71) is respectively arranged on the left and right sides below the top plate (2); the connecting frame (63) is respectively bolted to the front of the middle position of the bottom end and the back of the middle position of the bottom end of the guide frame (71).

7. The multifunctional logistics depalletizing and palletizing compound robot as claimed in claim 3, characterized in that: The connecting plate (81) is bolted to the left and right sides of the upper end of the top plate (2) respectively; the moving block (84) slides through the interior of the sliding hole (3); and the fixing plate (85) is slidably arranged below the top plate (2).

8. The multifunctional logistics palletizing and stacking robot according to claim 4, characterized in that: The driving plates (91) are respectively bolted to the lower middle portion of the outer wall of the support plate (1).

9. A control method for a multifunctional logistics palletizing and depalletizing composite robot, characterized in that: The control method of the multifunctional logistics depalletizing and palletizing composite robot is as follows; Step 1: Move and position the support plate (1) and the top plate (2) to a suitable position, and connect the external power supply using an external wire; Step 2: adjusting the angle, during the operation of the first electric telescopic rod (62) controlled by the PLC (5), observing the angle of the guide frame (71) according to the working environment and work needs, adjusting the inclination angle of the guide frame (71) to facilitate the article guiding work during the work, and during the article guiding process, making the article inside the guide groove (72) and at the upper end of the guide roller (73), and performing the article guiding work; Step 3: left and right diversion. During the process of depalletizing or stacking, the PLC (5) controls the motor (82) to drive the threaded tube (83) to rotate, and at the same time drives the manipulator provided at the bottom of the connecting plate (87) to move. During the movement, the PLC (5) controls the manipulator to drive the articles to fall into the upper end of the guide frame (71), so as to facilitate the diversion work during the work and improve the work efficiency. Step 4: Adjusting the height. During the process of depalletizing or palletizing, according to the working environment and work needs, the third electric telescopic rod (93) is controlled by the PLC (5) to start working, and then drives the support plate (1) and the top plate (2) to move up and down, so as to facilitate the purpose of adjusting the height according to the working needs and working environment during work, thereby completing the work of the robot.

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