Suction type stacking cooperation robot device and stacking cooperation method

Abstract

The invention relates to the technical field of palletizing robots, and particularly discloses a suction type palletizing collaborative robot device which comprises a rack, a manipulator mounted on the rack and a picker, the picker comprises a hollow box, a suction cup arranged on the hollow box and a vacuum generation pipe arranged in the hollow box, the suction cup is communicated with the vacuum generation pipe, the vacuum generation pipe is connected with an external vacuum pump, and the external vacuum pump drives negative pressure to be generated between the suction cup and an external article to pick up the external article; a control table and a lifting assembly are arranged on the rack, the lifting assembly comprises a driving piece installed on the rack and a lifting table in driving connection with the driving piece, the control table controls the driving piece to drive the lifting table to move so as to drive the mechanical arm to move, and the moving mechanical arm drives external objects through the picking piece. Physical pressure on articles is reduced through vacuum adsorption of the articles, and external articles are prevented from being damaged; and meanwhile, the lifting platform enables the manipulator to flexibly adjust the working height, and the working efficiency and flexibility are improved.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, and in particular discloses a suction-type palletizing collaborative robot device and a palletizing collaborative method. Background Art

[0002] In modern industrial production, palletizing is a vital link in logistics, transportation and warehousing management. Traditional palletizing operations usually rely on manual operation, which is labor-intensive and inefficient, and it is difficult to meet the current needs of large-scale production and efficient logistics. Especially when dealing with irregularly shaped, light-weight, and fragile items, manual palletizing is not only time-consuming and labor-intensive, but also prone to product damage due to improper operation. In addition, long-term repetitive labor can easily lead to worker fatigue and increase safety hazards. Therefore, palletizing collaborative robots in the field of industrial automation came into being.

[0003] Existing palletizing robots mainly rely on mechanical arms to carry and stack items. Usually, these mechanical arms grasp items through grippers or suction cups, and rely on motors, drive devices and sensors to control the movement of the manipulators. However, traditional palletizing robots have the following shortcomings: traditional manipulators usually use mechanical clamping or a single suction cup structure to grasp items, which has poor grasping effect for irregularly shaped, light or easily damaged items (such as plastic bags, cartons, thin plate materials, etc.), and are prone to unstable grasping or damage to items; and some palletizing robots adopt a rigid design, with limited degrees of freedom of joints, which makes it difficult to adapt to the stacking requirements of items at different positions or heights. Especially in complex logistics scenarios, it is difficult for robots to efficiently complete multi-angle and multi-height palletizing of items. Summary of the invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, an object of the present invention is to provide a palletizing collaborative robot device with strong adaptability in object grasping and strong manipulator flexibility.

[0005] To achieve the above purpose, a suction type palletizing collaborative robot device of the present invention comprises a frame, a manipulator mounted on the frame, and a picker mounted on the free end of the manipulator; the picker comprises a hollow box, a suction cup arranged on the hollow box, and a vacuum generating tube arranged in the hollow box, the suction cup is connected to the vacuum generating tube, the vacuum generating tube is connected to an external vacuum pump, the external vacuum pump drives the suction cup to generate negative pressure between the suction cup and the external object, and the external vacuum pump drives the suction cup to pick up the external object via the vacuum generating tube; a control console and a lifting assembly are provided on the frame, the lifting assembly comprises a driving member mounted on the frame, a lifting platform driving the driving connection driving member, the control console is electrically connected to the driving member, the manipulator is mounted on the lifting platform, the control console controls the driving member to drive the lifting platform to move so as to drive the manipulator to move, and the moving manipulator drives the external object via the picker. The present invention reduces the physical pressure on the object by vacuum adsorbing the object to prevent damage to the external object; at the same time, the lifting platform enables the manipulator to flexibly adjust the working height, thereby improving work efficiency and flexibility.

[0006] Furthermore, the manipulator includes an arm section, a second arm section, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint and a picker, wherein the first joint is rotatably arranged on a lifting platform, the second joint and the third joint are respectively arranged at two ends of the arm section, the second joint is rotatably connected to the first joint, the fourth joint and the fifth joint are respectively arranged at two ends of the second arm section, the fourth joint is rotatably connected to the third joint, the fifth joint is rotatably connected to the sixth joint, the sixth joint is rotatably connected to the seventh joint, and the seventh joint is rotatably connected to the picker. The multi-joint design enables the manipulator to have high flexibility and freedom, and can perform complex palletizing tasks. The independent rotation of each joint provides more movement possibilities and adapts to a variety of work scenarios.

[0007] Furthermore, the first joint includes a joint module and a housing covered outside the joint module. The joint module includes a motor connected to the housing and a harmonic reducer. The harmonic reducer shaft is connected to the motor output shaft. The harmonic reducer is used to reduce the motor speed and increase the motor torque. The second joint, the third joint, the fourth joint, the fifth joint, the sixth joint and the seventh joint have the same structure as the first joint. The harmonic reducer improves the operating accuracy and load capacity of the manipulator by reducing the motor speed and increasing the torque. The unified joint structure design simplifies the manufacturing and maintenance process.

[0008] Furthermore, the console includes a display, which is detachably mounted on a frame via fasteners, the frame is provided with a mounting hole for mounting the display, the frame is provided with a block extending into the mounting hole, the block is provided with a through hole, the display has a control module and a touch screen arranged on the control module, the control module is accommodated in the mounting hole and pressed on the block, the touch screen is pressed on the frame and covers the mounting hole, and the control module and the block are connected via bolts.

[0009] Furthermore, the touch screen includes a display panel, an explosion-proof panel covering the front and rear sides of the display screen, a plurality of through holes are provided on the control module and the display panel, a plurality of limit holes are provided on one end of the explosion-proof panel close to the display panel, and external bolts pass through the control module, the display panel and the explosion-proof panel in sequence, and the control module and the explosion-proof panel cooperate to clamp the display panel. Through precise debugging of the display, it can be ensured that the manipulator follows the preset safety regulations during operation, and reduce safety accidents caused by human operation errors. Since the display and the frame are detachably installed through a fastening device, when the display needs to be maintained, replaced or upgraded, it can be easily disassembled without large-scale disassembly of the entire industrial robot, thereby improving maintenance efficiency and reducing maintenance costs. The detachable display design allows users to flexibly replace displays of different specifications and functions according to actual needs to adapt to different working environments and task requirements, thereby enhancing the adaptability and flexibility of industrial robots.

[0010] Furthermore, the lifting platform has an inner cavity for accommodating the driving member, and a lifting opening is provided at the upper end of the frame. The lifting platform is telescopically arranged in the frame through the lifting opening. The upper end of the lifting platform is flush with the upper end of the frame to form an installation position for installing the manipulator. The driving member drives the lifting platform to move in the first direction through the lifting opening. The lower end of the lifting platform after lifting is located at the extension and lowering opening to cover and protect the driving member. By arranging the lifting platform in the frame, the lifting platform and the lifting opening of the frame cooperate to form a manipulator installation position. By installing the manipulator at the installation position, the driving member and the lifting platform are coordinated to achieve height adjustment of the manipulator. After the lifting platform is lifted, the lifting platform can cover the lifting opening to avoid dust adsorbed on the driving member to cause lifting obstacles. At the same time, by arranging the connecting wires in the frame, the problem of connecting wire entanglement generated during the installation of the manipulator is effectively avoided.

[0011] Furthermore, the frame is provided with a base, which includes a counterweight part and a telescopic arm. The counterweight part is arranged at an end of the frame away from the manipulator, and the counterweight part is provided with a accommodating cavity for accommodating the telescopic arm. The telescopic arm is telescopically arranged in the counterweight part via the accommodating cavity, and the length of the telescopic arm protruding from the counterweight part is greater than the distance of a single movement of the manipulator; the counterweight part is used to stably limit the frame on an external bearing surface, and the telescopic arm is used to lower the center of gravity of the manipulator when transferring external objects to prevent tipping.

[0012] Furthermore, the hollow box is provided with an inner cavity, and the vacuum generating tube is provided with an air inlet pipe, an air outlet pipe and a vacuum tube which are interconnected, the vacuum tube is connected with the inner cavity, and the air inlet pipe is connected with an external vacuum pump; a connecting head is provided on the suction cup, and the suction cup is arranged on the hollow box via the connecting head, one end of the connecting head can be detachably installed on the hollow box, and the other end of the connecting head is provided with a plug and a friction convex ring arranged on the outside of the plug, the friction convex ring is arranged around the central axis of the plug, and the suction cup is sleeved on the plug.

[0013] Furthermore, the connecting head is provided with an inner hole and a spherical body movable in the inner hole, the inner hole is used to connect the suction cup and the inner cavity, and the spherical body is used to block or open the inner hole; there are multiple suction cups, and the multiple suction cups are arranged in a rectangular array along the length direction of the hollow box and the width direction of the smoke hollow box.

[0014] A palletizing collaboration method comprises the following steps: S1, inputting the palletizing speed, palletizing height and number of palletizing layers via a control console; S2, the control console controls a driving component to drive a lifting platform to move, thereby driving a manipulator to approach external objects; S3, an external vacuum pump drives a negative pressure to be generated between a suction cup and the external objects, and a picker picks up the external objects; S4, the control console controls a driving component to drive the lifting platform to move, thereby driving a manipulator to move, and the moving manipulator drives the external objects via the picker, and places the external objects on an external material table.

[0015] Beneficial effects of the present invention: The present invention reduces the physical pressure on the objects by vacuum adsorbing the objects, thereby preventing damage to external objects; at the same time, the lifting platform enables the manipulator to flexibly adjust the working height, thereby improving work efficiency and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a suction-type palletizing collaborative robot device of the present invention; Figure 2 It is a structural schematic diagram of the frame and the control console of the present invention; Figure 3 It is an exploded view of the frame and the display of the present invention; Figure 4 is an exploded view of a display of the present invention; Figure 5 It is a structural schematic diagram of the electric cabinet box body of the present invention; Figure 6 It is a structural schematic diagram of another viewing angle of the structural schematic diagram of the present invention; Figure 7 It is a structural schematic diagram of the manipulator of the present invention; Figure 8 is an exploded view of the first joint of the present invention; Fig. 9 It is an exploded view of a boom section of the present invention; Fig.10 is an exploded view of a pickup of the present invention; Fig.11 It is a schematic structural diagram of the connector of the present invention; Fig.12 It is a schematic structural diagram of the vacuum generating tube of the present invention; Fig.13 It is a structural schematic diagram of the connector of the present invention from another perspective.

[0017] Reference numerals include: 1. Frame; 2. Manipulator; 3. Picker; 4. Hollow box; 5. Suction cup; 6. Vacuum generating tube; 7. Control console; 8. Lifting assembly; 9. Driving part; 10. Lifting platform; 11. First arm; 12. Second arm; 13. First joint; 14. Second joint; 15. Third joint; 16. Fourth joint; 17. Fifth joint; 18. Sixth joint; 19. Seventh joint; 20. Joint module; 21. Shell; 22. Motor; 23. Harmonic reducer; 24. Display; 25. Stopper; 26. Control module; 27. Touch screen; 28. Display panel; 29. ​​Explosion-proof panel; 30. Inner cavity; 31. Lifting opening; 32. Base; 33. Counterweight part; 34. Telescopic arm; 35. Accommodating cavity; 36. Inlet pipe; 37. Outlet pipe; 38. Vacuum tube; 39. Connector; 40. Plug column; 41. Friction convex ring; 42. Inner hole; 43. End cover; 44. Fin; 45. Mounting head; 46. Assembly part; 47. Connecting part; 48. Assembly ring; 49. Shock-absorbing convex block; 50. Assembly hole; 51. Electric cabinet body; 52. First rear cover; 53. First dustproof plate; 54. Second dustproof plate; 55. Second rear cover; 56. Auxiliary slide groove; 57. Sphere. DETAILED DESCRIPTION

[0018] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0019] See also Figures 1 to 13As shown, a suction-type palletizing collaborative robot device of the present invention comprises a frame 1, a manipulator 2 mounted on the frame 1, and a picker 3 mounted at the free end of the manipulator 2; the picker 3 comprises a hollow box 4, a suction cup 5 arranged on the hollow box 4, and a vacuum generating tube 6 arranged in the hollow box 4, the suction cup 5 is connected to the vacuum generating tube 6, the vacuum generating tube 6 is connected to an external vacuum pump, the external vacuum pump drives the suction cup 5 to generate negative pressure between the suction cup 5 and external objects, and the external vacuum pump drives the suction cup 5 to pick up external objects via the vacuum generating tube 6; a control console 7 and a lifting assembly 8 are provided on the frame 1, the lifting assembly 8 comprises a driving member 9 mounted on the frame 1, and a lifting platform 10 drivingly connected to the driving member 9, the control console 7 is electrically connected to the driving member 9, the manipulator 2 is mounted on the lifting platform 10, the control console 7 controls the driving member 9 to drive the lifting platform 10 to move, thereby driving the manipulator 2 to move, and the moving manipulator 2 drives external objects via the picker 3. The present invention reduces the physical pressure on the objects by vacuum adsorbing the objects, thereby preventing damage to external objects; at the same time, the lifting platform 10 enables the manipulator 2 to flexibly adjust the working height, thereby improving work efficiency and flexibility.

[0020] The manipulator 2 includes a first arm 11, a second arm 12, a first joint 13, a second joint 14, a third joint 15, a fourth joint 16, a fifth joint 17, a sixth joint 18 and a seventh joint 19. The first joint 13 is rotatably arranged on the lifting platform 10, the second joint 14 and the third joint 15 are respectively arranged at both ends of the first arm 11, the second joint 14 is rotatably connected to the first joint 13, the fourth joint 16 and the fifth joint 17 are respectively arranged at both ends of the second arm 12, the fourth joint 16 is rotatably connected to the third joint 15, the fifth joint 17 is rotatably connected to the sixth joint 18, the sixth joint 18 is rotatably connected to the seventh joint 19, and the seventh joint 19 is rotatably connected to the picker 3. The multi-joint design enables the manipulator 2 to have high flexibility and freedom, and can perform complex palletizing tasks. The independent rotation of each joint provides more movement possibilities and adapts to a variety of work scenarios.

[0021] The first joint 13 includes a joint module 20 and a housing 21 covered outside the joint module 20. The joint module 20 includes a motor 22 connected to the housing 21 and a harmonic reducer 23. The shaft of the harmonic reducer 23 is connected to the output shaft of the motor 22. The harmonic reducer 23 is used to reduce the speed of the motor 22 and increase the torque of the motor 22. The second joint 14, the third joint 15, the fourth joint 16, the fifth joint 17, the sixth joint 18 and the seventh joint 19 have the same structure as the first joint 13. The harmonic reducer 23 improves the operating accuracy and load capacity of the manipulator 2 by reducing the speed of the motor 22 and increasing the torque. The unified joint structure design simplifies the manufacturing and maintenance process.

[0022] Specifically, the shell 21 is provided with an end cover 43 that cooperates with the shell 21 and is used to encapsulate the joint module 20 in the shell 21. The end cover 43 and / or the shell 21 are provided with fins 44, which are used to accelerate the dissipation of heat generated by the driving member 9.

[0023] Specifically, the end cover 43 and / or the shell 21 and the fin 44 are made through an integrated forming process. The integrated forming process can ensure that the connection between the end cover 43 and / or the shell 21 and the fin 44 is tight and seamless, eliminating the weaknesses of the seams or connection points that may exist in the traditional assembly process, and can effectively improve the strength and rigidity of the overall structure, so that the end cover 43 and / or the shell 21 can better withstand external loads and vibrations. At the same time, the integrated forming process can combine the manufacturing and assembly steps of multiple components into one process step, thereby greatly shortening the production cycle, which can not only improve production efficiency, but also reduce production costs, improve product competitiveness, and through the one-piece formed structure, avoid failures caused by improper assembly or fatigue of connection points, thereby improving product reliability and stability.

[0024] Specifically, the connection port between the end cover 43 and the housing 21 is an oblique opening, one end of the motor 22 is connected to the housing, and the other end of the motor 22 extends out of the housing 21 through the oblique opening. By partially extending the motor 22 out of the housing, it is convenient to take and install the motor 22, and the structure is simple, the installation is convenient, and the installation efficiency is improved; through the design of the oblique opening, the space inside the robot joint is compact, and the overall volume of the robot joint is smaller.

[0025] Specifically, the one-section arm 11 includes an arm body and a mounting head 45 arranged at both ends of the arm body. The middle part of the arm body is hollow and formed into a wire passage. The mounting head 45 includes an assembly part 46 and a connecting part 47 and an assembly ring 48 located between the assembly part 46 and the connecting part 47. The outer diameter of the assembly ring 48 is larger than the outer diameter of the assembly part 46 and the outer diameter of the connecting part 47. The end of the arm body is plugged and fixed with the connecting part 47, and the end of the assembly ring 48 close to the connecting part 47 is used to stop and resist the arm body. The assembly part 46 is used to be plugged and matched with the motor 22, and the end of the assembly ring 48 close to the assembly part 46 is used to stop and resist the motor 22.

[0026] Specifically, the structure of the second-section boom 12 is the same as that of the first-section boom 11 .

[0027] Specifically, a through hole is provided in the middle of the mounting head 45, which is connected to the wire-passing channel, and an arc-shaped anti-scratch surface is formed on the inner side of the mounting head 45; a shock-absorbing protrusion 49 is provided at the end of the assembly portion 46, and an assembly hole 50 is provided on the end surface of the shock-absorbing protrusion 49, and the assembly hole 50 is used to connect with the motor 22. By arranging the mounting head 45 at the end of the arm body, and then arranging the shock-absorbing protrusion 49 at one end of the assembly portion 46 of the mounting head 45, and connecting with the motor 22 through the assembly hole 50 provided at the shock-absorbing protrusion 49, the vibration generated by the motor 22 during operation can be damped and eliminated, so as to avoid excessive vibration frequencies from being transmitted through the arm body, so as to achieve the effect of vibration elimination, effectively avoid the influence of vibration on each motor 22, and thus improve the service life of the mechanical arm.

[0028] The console 7 includes a display 24, which is detachably mounted on the frame 1 via fasteners. The frame 1 is provided with a mounting hole for mounting the display 24, and the frame 1 is provided with a block 25 extending into the mounting hole, and the block 25 is provided with a through hole. The display 24 has a control module 26 and a touch screen 27 arranged on the control module 26. The control module 26 is accommodated in the mounting hole and pressed on the block 25, and the touch screen 27 is pressed on the frame 1 and covers the mounting hole. The control module 26 and the block 25 are connected via bolts.

[0029] The touch screen 27 includes a display panel 28 and an explosion-proof panel 29 covering the front and rear sides of the display screen. The control module 26 and the display panel 28 are both provided with multiple sets of through holes. The end of the explosion-proof panel 29 close to the display panel 28 is provided with multiple sets of limit holes. The external bolts penetrate the control module 26, the display panel 28 and the explosion-proof panel 29 in sequence. The control module 26 and the explosion-proof panel 29 cooperate to clamp the display panel 28. Through the precise debugging of the display 24, it can be ensured that the manipulator 2 follows the preset safety regulations during operation, and reduce safety accidents caused by human operation errors. Since the display 24 and the frame 1 are detachably installed through the fastening device, when the display 24 needs to be maintained, replaced or upgraded, it can be easily disassembled without large-scale disassembly of the entire industrial robot, thereby improving maintenance efficiency and reducing maintenance costs. The detachable display 24 design allows users to flexibly replace displays 24 of different specifications and functions according to actual needs to adapt to different working environments and task requirements, thereby enhancing the adaptability and flexibility of the industrial robot.

[0030] The lifting platform 10 has an inner cavity 30 for accommodating the driving member 9. The upper end of the frame 1 is provided with a lifting opening 31. The lifting platform 10 is telescopically arranged in the frame 1 through the lifting opening 31. The upper end of the lifting platform 10 is flush with the upper end of the frame 1 to form an installation position for installing the manipulator 2. The driving member 9 drives the lifting platform 10 to move in the first direction through the lifting opening 31. The lower end of the lifting platform 10 after lifting is located at the extension and lowering opening to cover the protective driving member 9. By arranging the lifting platform 10 in the frame 1, the lifting platform 10 cooperates with the lifting opening 31 of the frame 1 to form a manipulator installation position. By installing the manipulator at the installation position, the driving member 9 and the lifting platform 10 are coordinated to achieve the height adjustment of the manipulator. After the lifting platform 10 is lifted, the lifting platform 10 can cover the lifting opening 31 to avoid dust adsorbed on the driving member 9 to cause lifting obstacles. At the same time, by arranging the connecting wires in the frame 1, the problem of connecting wire entanglement generated during the installation of the manipulator is effectively avoided.

[0031] Specifically, a first installation space and a second installation space are provided in the frame 1 , the first installation space and the second installation space are not communicated with each other, the console 7 is installed in the first installation space, and the lifting assembly 8 is provided in the second installation space.

[0032] Specifically, the rack 1 includes an electric cabinet body 51 , a mounting opening is provided at the rear side of the electric cabinet body 51 , and a first rear cover plate 52 is provided at the mounting opening to form the first installation space inside the electric cabinet body 51 .

[0033] Specifically, the frame 1 also includes a first dustproof plate 53, a second dustproof plate 54 and a second rear cover plate 55. The first dustproof plate 53 and the second dustproof plate 54 are relatively arranged at the same end of the first rear cover plate 52 and are far away from each other on both sides. The second rear cover plate 55 is arranged on the side of the first dustproof plate 53 and the second dustproof plate 54 away from the first rear cover plate 52 and cooperates with the first rear cover plate 52, the first dustproof plate 53, and the second dustproof plate 54 to enclose to form the second installation space. The upper ends of the first dustproof plate 53 and the second dustproof plate 54 are flush with the upper end of the electrical cabinet box body 51 and a notch is formed after the first dustproof plate 53 and the second dustproof plate 54 are enclosed to form the lifting opening 31.

[0034] Specifically, the back of the first rear cover plate 52 is provided with an auxiliary slide groove 56, and an auxiliary sliding member is slidably provided at the auxiliary slide groove 56, and the lifting cylinder is connected to the auxiliary sliding member. In this embodiment, an auxiliary slide groove 56 is provided on the back of the first rear cover plate 52, and an auxiliary sliding member such as a slider is slidably provided on the auxiliary slide groove 56, and the outer wall of the lifting cylinder is connected to the auxiliary sliding member in the second installation space, thereby improving the stability of the lifting cylinder in the lifting mode. A base 32 is provided on the frame 1, and the base 32 includes a counterweight part 33 and a telescopic arm 34. The counterweight part 33 is arranged at an end of the frame 1 away from the manipulator 2. A receiving cavity 35 for accommodating the telescopic arm 34 is provided on the counterweight part 33. The telescopic arm 34 is telescopically arranged in the counterweight part 33 via the receiving cavity 35. The length of the telescopic arm 34 protruding from the counterweight part 33 is greater than the distance of a single movement of the manipulator 2; the counterweight part 33 is used to stably limit the frame 1 on the external bearing surface, and the telescopic arm 34 is used to lower the center of gravity of the manipulator 2 to prevent tipping when transferring external objects.

[0035] Specifically, a sensor is provided at one end of the telescopic arm 34 away from the frame 1, and the sensor is electrically connected to the console 7. The console 7 is used to receive the tilt signal of the telescopic arm 34 detected by the sensor and control the manipulator 2 to move in the opposite direction of its moving direction or stop moving. The sensor can detect the tilt of the telescopic arm 34 and transmit the signal to the console 7 in real time. The console 7 adjusts the movement of the manipulator 2 according to the tilt signal to prevent accidental overturning and enhance safety.

[0036] The hollow box 4 is provided with an inner cavity, and the vacuum generating tube 6 is provided with an air inlet pipe 36, an air outlet pipe 37 and a vacuum tube 38 which are interconnected. The vacuum tube 38 is connected with the inner cavity, and the air inlet pipe 36 is connected with an external vacuum pump. The suction cup 5 is provided with a connector 39, and the suction cup 5 is arranged on the hollow box 4 via the connector 39. One end of the connector 39 can be detachably installed on the hollow box 4, and the other end of the connector 39 is provided with a plug post 40 and a friction convex ring 41 arranged on the outside of the plug post 40. The friction convex ring 41 is arranged around the central axis of the plug post 40, and the suction cup 5 is sleeved on the plug post 40.

[0037] The connecting head 39 is provided with an inner hole 42 and a spherical body movably accommodated in the inner hole 42. The inner hole 42 is used to connect the suction cup 5 and the inner cavity, and the spherical body is used to block or open the inner hole 42. There are multiple suction cups 5, and the multiple suction cups 5 are arranged in a rectangular array along the length direction of the hollow box 4 and the width direction of the smoke hollow box 4.

[0038] A palletizing collaboration method comprises the following steps: S1, inputting the palletizing speed, the palletizing height and the number of palletizing layers via a control console 7; S2, the control console 7 controls a driving member 9 to drive a lifting platform 10 to move, thereby driving a manipulator 2 to approach external objects; S3, an external vacuum pump drives a suction cup 5 to generate negative pressure between the external object, and a picker 3 picks up the external object; S4, the control console 7 controls a driving member 9 to drive a lifting platform 10 to move, thereby driving a manipulator 2 to move, and the moving manipulator 2 drives the external object via the picker 3, and places the external object on an external material table.

[0039] Specifically, the step S3 specifically includes: S31, the external vacuum pump inflates through the air inlet pipe 36, and the air is discharged from the air outlet pipe 37 through the Venturi effect. Through the Venturi effect, the air in the air inlet pipe 36 drives the air in the inner cavity to be discharged from the air outlet pipe 37, and the air pressure forces the external air to flow into the inner cavity through the suction cup 5, forcing the suction cup 5 to adsorb on the external object; S32, the spherical body in the inner hole 42 is sucked to the end of the inner hole 42 close to the hollow box 4, the inner diameter of the end of the inner hole 42 close to the hollow box 4 is larger than the diameter of the spherical body, and does not affect the air entering the inner cavity, and the inner diameter of the end of the inner hole 42 close to the suction cup 5 is smaller than the diameter of the spherical body; S33, the external vacuum pump stops inflating, and the spherical body falls to the end of the inner hole 42 close to the suction cup 5, the spherical body blocks the inner hole 42, and the inside of the suction cup 5 is in a vacuum state, so that the suction cup 5 adsorbs the external object.

[0040] Specifically, the step S4 specifically includes: S41, the manipulator 2 picks up external objects via the picker 3; S42, adjusts the height of the lifting platform 10 through the touch screen 27 to make the manipulator 2 reach the appropriate stacking position; S43, the sensor on the telescopic arm 34 monitors the inclination of the robot in real time. If a tilt or unstable signal is detected, the sensor will transmit the information to the console 7. The console 7 adjusts the movement path and speed of the manipulator 2 according to the sensor signal; S44, the picker 3 releases the external object and places the external object on the external material platform for stacking.

[0041] In this embodiment, the main power switch on the robot base 32 is turned on to start the power supply of the entire system, and the control console 7 is started on the touch screen 27 on the base 32. The system parameters and status, including the position of the manipulator 2, the height of the lifting platform 10, and the status of the counterweight 33, are checked through the interface of the control console 7. According to the height of the material, the height of the lifting platform 10 is adjusted through the touch screen 27 so that the manipulator 2 reaches the appropriate grasping position. The robot working range is set through the control console 7 to prevent the robot from accidentally entering the dangerous area during the stacking process; the manipulator 2 moves to the location of the material according to the preset path through the coordinated movement of each joint; the manipulator 2 has multiple The joint design provides high degrees of freedom of movement, ensuring that the material position can be accurately located. After the manipulator 2 grabs the material, it moves the material from the grabbing position to the predetermined stacking position according to the set path. The picker 3 stops the vacuum system, releases the negative pressure, and gently puts down the material. After confirming that the material is firmly placed, the manipulator 2 returns to the initial position to prepare for the next grabbing task. The sensor on the telescopic arm 34 monitors the inclination of the robot in real time. If a tilt or unstable signal is detected, the sensor will transmit the information to the console 7. The console 7 adjusts the movement path and speed of the manipulator 2 according to the sensor signal, or suspends the operation to ensure the safety and stability of the system.

[0042] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A suction-type palletizing collaborative robot device, comprising a frame (1), a manipulator (2) mounted on the frame (1), and a picker (3) mounted on the free end of the manipulator (2); characterized in that: The picker (3) comprises a hollow box (4), a suction cup (5) arranged on the hollow box (4), and a vacuum generating tube (6) arranged in the hollow box (4); the suction cup (5) is connected to the vacuum generating tube (6); the vacuum generating tube (6) is connected to an external vacuum pump; the external vacuum pump drives the suction cup (5) to generate negative pressure between the suction cup (5) and the external object; the external vacuum pump drives the suction cup (5) to pick up the external object via the vacuum generating tube (6); a control console (7) and a lifting assembly (8) are provided on the frame (1); the lifting assembly (8) comprises a driving member (9) mounted on the frame (1) and a lifting platform (10) drivingly connected to the driving member (9); the control console (7) and the driving member (9) are electrically connected; the manipulator (2) is mounted on the lifting platform (10); the control console (7) controls the driving member (9) to drive the lifting platform (10) to move, thereby driving the manipulator (2) to move; the moving manipulator (2) drives the external object via the picker (3).

2. The suction type palletizing collaborative robot device according to claim 1, characterized in that: The manipulator (2) comprises an arm (11), an arm (12), a first joint (13), a second joint (14), a third joint (15), a fourth joint (16), a fifth joint (17), a sixth joint (18) and a seventh joint (19), wherein the first joint (13) is rotatably arranged on a lifting platform (10), the second joint (14) and the third joint (15) are respectively arranged at two ends of the arm (11), the second joint (14) is rotatably connected to the first joint (13), the fourth joint (16) and the fifth joint (17) are respectively arranged at two ends of the arm (12), the fourth joint (16) is rotatably connected to the third joint (15), the fifth joint (17) is rotatably connected to the sixth joint (18), the sixth joint (18) is rotatably connected to the seventh joint (19), and the seventh joint (19) is rotatably connected to the picker (3).

3. The suction type palletizing collaborative robot device according to claim 2, characterized in that: The first joint (13) comprises a joint module (20) and a housing (21) which is arranged outside the joint module (20); the joint module (20) comprises a motor (22) connected to the housing (21) and a harmonic reducer (23); a rotating shaft of the harmonic reducer (23) is connected to an output shaft of the motor (22); the harmonic reducer (23) is used to reduce the rotation speed of the motor (22) and increase the torque of the motor (22); the second joint (14), the third joint (15), the fourth joint (16), the fifth joint (17), the sixth joint (18) and the seventh joint (19) have the same structure as the first joint (13).

4. The suction type palletizing collaborative robot device according to claim 1, characterized in that: The console (7) comprises a display (24), the display (24) being detachably mounted on the frame (1) via fasteners, the frame (1) being provided with a mounting hole for mounting the display (24), the frame (1) being provided with a stopper (25) extending into the mounting hole, the stopper (25) being provided with a through hole, the display (24) comprising a control module (26) and a touch screen (27) arranged on the control module (26), the control module (26) being accommodated in the mounting hole and pressed on the stopper (25), the touch screen (27) being pressed on the frame (1) and covering the mounting hole, and the control module (26) and the stopper (25) being connected via bolts.

5. The suction type palletizing collaborative robot device according to claim 4, characterized in that: The touch screen (27) comprises a display panel (28) and an explosion-proof panel (29) covering the front and rear sides of the display screen. The control module (26) and the display panel (28) are both provided with a plurality of through holes. An end of the explosion-proof panel (29) close to the display panel (28) is provided with a plurality of limit holes. External bolts penetrate the control module (26), the display panel (28) and the explosion-proof panel (29) in sequence. The control module (26) and the explosion-proof panel (29) cooperate to clamp the display panel (28).

6. The suction type palletizing collaborative robot device according to claim 1, characterized in that: The lifting platform (10) has an inner cavity (30) for accommodating a driving member (9); a lifting opening (31) is provided at the upper end of the frame (1); the lifting platform (10) is telescopically arranged in the frame (1) via the lifting opening (31); the upper end of the lifting platform (10) is flush with the upper end of the frame (1) to form an installation position for installing the robot (2); the driving member (9) drives the lifting platform (10) to move in a first direction via the lifting opening (31); and the lower end of the lifting platform (10) after being raised is located at the telescopic opening to cover and protect the driving member (9).

7. The suction type palletizing collaborative robot device according to claim 1, characterized in that: The frame (1) is provided with a base (32), the base (32) comprising a counterweight (33) and a telescopic arm (34), the counterweight (33) being arranged at one end of the frame (1) away from the manipulator (2), the counterweight (33) being provided with a receiving cavity (35) for receiving the telescopic arm (34), the telescopic arm (34) being telescopically arranged in the counterweight (33) via the receiving cavity (35), the length of the telescopic arm (34) protruding from the counterweight (33) being greater than the distance of a single movement of the manipulator (2); the counterweight (33) being used to stably limit the frame (1) on an external bearing surface, and the telescopic arm (34) being used to lower the center of gravity of the manipulator (2) when transferring external objects to prevent tipping.

8. The suction type palletizing collaborative robot device according to claim 1, characterized in that: The hollow box (4) is provided with an inner cavity, and the vacuum generating tube (6) is provided with an air inlet tube (36), an air outlet tube (37) and a vacuum tube (38) which are interconnected, the vacuum tube (38) is connected with the inner cavity, and the air inlet tube (36) is connected with an external vacuum pump; a connecting head (39) is provided on the suction cup (5), the suction cup (5) is arranged on the hollow box (4) via the connecting head (39), one end of the connecting head (39) is detachably mounted on the hollow box (4), and the other end of the connecting head (39) is provided with a plug post (40) and a friction convex ring (41) arranged on the outside of the plug post (40), the friction convex ring (41) is arranged around the central axis of the plug post (40), and the suction cup (5) is sleeved on the plug post (40).

9. The suction type palletizing collaborative robot device according to claim 8, characterized in that: The connector (39) is provided with an inner hole (42) and a spherical body movably accommodated in the inner hole (42); the inner hole (42) is used to connect the suction cup (5) and the inner cavity; the spherical body is used to block or open the inner hole (42); the number of the suction cups (5) is multiple, and the multiple suction cups (5) are arranged in a rectangular array along the length direction of the hollow box (4) and the width direction of the cigarette hollow box (4).

10. A palletizing collaborative method, characterized in that: The following steps are involved: S1, inputting the palletizing speed, palletizing height and number of palletizing layers via the control console (7); S2, the control console (7) controls the driving member (9) to drive the lifting platform (10) to move, thereby driving the manipulator (2) to approach the external object; S3, the external vacuum pump drives the suction cup (5) to generate negative pressure between the suction cup (5) and the external object, and the picker (3) picks up the external object; S4. The control console (7) controls the driving member (9) to drive the lifting platform (10) to move, thereby driving the manipulator (2) to move. The moving manipulator (2) drives the external object via the picker (3) and places the external object on the external material table.

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