Loading and unloading robot with double mechanical arms

Abstract

The double-mechanical-arm loading and unloading robot comprises a moving assembly, two robot grabbing assemblies are installed on the moving assembly, a lifting material taking platform assembly is arranged between the two robot grabbing assemblies, and an overturning conveying assembly is arranged on the rear side of the lifting material taking platform assembly. The lifting and conveying assemblies are arranged on the two sides of the overturning and conveying assembly, the feeding and taking platform assembly is arranged on the rear side of the overturning and conveying assembly, and the lifting and taking platform assembly, the overturning and conveying assembly, the lifting and conveying assembly and the feeding and taking platform assembly are installed on the moving assembly. The robot is provided with the two robot grabbing assemblies, goods can be grabbed at the same time, the robot grabbing assemblies are of a suction cup type structure, and goods are grabbed firmly; and the two lifting conveying assemblies are arranged to be matched with the feeding and taking platform assembly so that different products can be conveyed in different ways.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic loading and unloading equipment, and in particular to a dual-mechanical-arm loading and unloading robot. Background Art

[0002] With the continuous development of science and technology, the logistics and transportation industry has developed rapidly. And with the increasing number of transported goods, more and more intelligent robots have been put into the goods transportation and transshipment industry, which has greatly improved the transportation efficiency of goods and reduced the labor intensity during transportation. However, in the process of loading and unloading goods by loading and unloading robots, the robotic arms need to be adjusted at multiple angles, and the existing robots are prone to unstable grasping during the grasping process. In addition, the goods cannot be transported and sorted in multiple channels. Summary of the invention

[0003] The purpose of the present invention is to provide a dual-manipulator loading and unloading robot to solve the problems mentioned in the background technology. To achieve the above purpose, the present invention provides the following technical solutions: a dual-manipulator loading and unloading robot, comprising a moving component, a robot grabbing component is installed on the moving component, two robot grabbing components are provided, a lifting and retrieving platform component is provided between the two robot grabbing components, a flip conveying component is provided at the rear side of the lifting and retrieving platform component, lifting and retrieving components are provided on both sides of the flip conveying component, a feeding and retrieving platform component is provided at the rear side of the flip conveying component, and the lifting and retrieving platform component, the flip conveying component, the lifting and retrieving platform component and the feeding and retrieving platform component are installed on the moving component.

[0004] Preferably, the robot grasping assembly includes a mounting seat, a Z-axis lifting column is installed inside the mounting seat, the top of the Z-axis lifting column is connected to a six-axis robotic arm, and the six-axis robotic arm is connected to a suction cup gripper assembly.

[0005] Preferably, the suction cup gripper assembly comprises a suction cup gripper seat, a plurality of gripper suction cups are mounted on the suction cup gripper seat, the gripper suction cups are connected to a vacuum extractor via a pipeline, and the vacuum extractor is mounted on the moving assembly.

[0006] Preferably, the lifting and picking platform assembly and the lifting and conveying assembly have the same partial structure, both of which include a mounting plate, a lifting motor is installed at the bottom of the mounting plate, the lifting motor output end of the lifting motor of the lifting and picking platform assembly is connected to a driving wheel, the driving wheel is connected to a driven wheel through a synchronous belt, the driven wheel is connected to a lifting screw, the lifting motor of the lifting and conveying assembly is directly connected to the lifting screw, the lifting screw is rotatably installed on the mounting plate, the lifting screw is threadedly connected to the middle part of a moving plate, the two ends of the moving plate are connected to one side of the bottom of the lifting frame, the two ends of the moving plate are connected to sliders at the bottom, the sliders are slidably connected to slide rails, the slide rails are installed on the mounting plate, the top of the lifting frame is connected to a conveying plate, a rotating roller is rotatably installed on the conveying plate, the rotating rollers are connected by a driving belt, one of the rotating rollers is connected to a driving motor, the driving motor is installed on the conveying plate, a buffer column is installed on the mounting plate, and a buffer spring is installed on the top of the buffer column.

[0007] Preferably, a lifting cylinder is also installed on the conveying plate of the lifting material taking platform assembly, the top of the lifting cylinder is connected to the lifting plate, and a plurality of lifting blocks are installed on the top of the lifting plate, and the lifting blocks are located between adjacent rotating rollers.

[0008] Preferably, the flipping and conveying assembly includes a column, a flip frame is rotatably mounted on the column, one end of the flip frame is connected to a flip motor, a flip bracket is mounted on the flip frame, the flip motor is connected to the column, driving rollers are rotatably mounted on both ends of the flip bracket, a driving belt is tensioned between the two driving rollers, one of the driving rollers is connected to the output end of the conveying motor, the conveying motor is mounted on the flip bracket, a flip suction cup is mounted on the flip bracket, the flip suction cup is connected to a vacuum extractor through a pipeline, a lifting and blocking cylinder is mounted on the end of the column, the output end of the lifting and blocking cylinder is connected to the blocking bracket, and a blocking roller is rotatably mounted on the blocking bracket.

[0009] Preferably, the material feeding and retrieving platform assembly includes a variable angle conveying platform, the bottom of the variable angle conveying platform is rotatably connected to the output end of the angle push rod, the angle push rod is installed on the fixed frame through a bracket, and a plurality of rollers are rotatably connected to the mounting frame, and the plurality of rollers are connected by belts, one of the rollers is connected to a roller motor, and the roller motor is installed on the fixed frame, the variable angle conveying platform is rotatably connected to the fixed frame, and a plurality of guide roller shafts are rotatably installed on the variable angle conveying platform, guide rollers are installed on the guide roller shafts, and the ends of the guide roller shafts are connected to driving gears, and the plurality of driving gears are connected by driving toothed belts, one of the guide roller shafts is connected to a guide motor, and the guide motor is installed on the variable angle conveying platform.

[0010] Preferably, a guide bracket is installed on the side of the variable-angle conveying platform, and a guide side wheel is rotatably installed on the guide bracket.

[0011] Preferably, the moving assembly comprises a chassis frame, a plurality of moving motors are installed on both sides of the chassis frame, the moving motors are connected to moving wheels via a rotating shaft, and a rubber track is installed between the plurality of moving wheels on the same side.

[0012] The technical effects and advantages of the present invention are as follows: the robot is provided with two robot grasping components, which can grasp goods at the same time. The robot grasping components adopt a suction cup structure, and the goods are firmly grasped; two lifting and conveying components are provided to cooperate with the feeding and picking platform components to carry out the branch transportation of different products. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention;

[0014] Figure 2 It is a schematic diagram of the structure of the robot grasping component of the present invention;

[0015] Figure 3 This is a schematic structural diagram of the lifting and reclaiming platform assembly of the present invention;

[0016] Figure 4 It is a schematic diagram of the structure of the overturning conveying assembly of the present invention;

[0017] Figure 5 It is a schematic diagram of the structure of the lifting and conveying assembly of the present invention;

[0018] Figure 6 It is a schematic diagram of the structure of the material feeding and reclaiming platform assembly of the present invention;

[0019] Figure 7 It is a schematic diagram of the structure of the mobile component of the present invention;.

[0020] In the figure, 1. Robot gripping assembly; 2. Flipping conveying assembly; 3. Lifting conveying assembly; 4. Feeding and retrieving platform assembly; 5. Moving assembly; 6. Lifting and retrieving platform assembly; 11. Mounting seat; 12. Z-axis lifting column; 13. Six-axis robot arm; 14. Suction cup gripper seat; 15. Gripper suction cup; 16. Vacuum extractor; 21. Column; 22. Flipping frame; 23. Flipping motor; 24. Driving roller; 25. Flipping suction cup; 26. Lifting and blocking cylinder; 27. Blocking bracket; 28. Blocking roller; 41. Variable angle conveying platform; 42. Angle push rod ; 43. Mounting frame; 44. Roller; 45. Guide roller shaft; 46. Guide roller; 47. Guide bracket; 48. Guide side wheel; 51. Chassis frame; 52. Mobile motor; 53. Rubber track; 61. Mounting plate; 62. Lifting motor; 63. Driving wheel; 64. Synchronous belt; 65. Driven wheel; 66. Lifting screw; 67. Mobile plate; 68. Lifting frame; 69. Slider; 610. Slide rail; 611. Conveyor plate; 612. Rotating roller; 613. Driving belt; 614. Buffer column; 615. Buffer spring; 616. Lifting block. DETAILED DESCRIPTION

[0021] In order to make the technical means for realizing the present invention, the creative features, the objectives and effects to be achieved easy to understand, the present invention is further explained below in conjunction with specific diagrams. In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection or a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two components.

[0022] Example

[0023] like Figure 1-7A dual-arm loading and unloading robot is shown, comprising a moving assembly 5, on which a robot grabbing assembly 1 is installed. Two robot grabbing assemblies 1 are provided, and cartons and other goods can be stacked to a designated location or unstackered for transportation through the robot grabbing assemblies 1; a lifting and retrieving platform assembly 6 is provided between the two robot grabbing assemblies 1, and the lifting and retrieving platform assembly 6 can provide a material conveying platform for the goods grasped by the robot grabbing assembly 1; a flipping conveying assembly 2 is provided at the rear side of the lifting and retrieving platform assembly 6, and cartons and other goods can be flipped by the flipping conveying assembly 2 so as to be diverted and transferred to a designated location; lifting and conveying assemblies 3 are provided on both sides of the flipping conveying assembly 2, and the lifting and conveying assemblies 3 can adjust the height and realize the function of conveying goods; a feeding and retrieving platform assembly 4 is provided at the rear side of the flipping conveying assembly 2, and the feeding and retrieving platform assembly 4 can be connected to an external conveyor belt through the feeding and retrieving platform assembly 4 to realize the function of transporting goods; the lifting and retrieving platform assembly 6, the flipping conveying assembly 2, the lifting and conveying assembly 3 and the feeding and retrieving platform assembly 4 are installed on the moving assembly 1, and the entire device can be moved to a designated location through the moving assembly 1.

[0024] Among them, the robot grasping component 1 includes a mounting base 11, a Z-axis lifting column 12 is installed inside the mounting base 11, the top of the Z-axis lifting column 12 is connected to a six-axis robotic arm 13, the six-axis robotic arm 13 is connected to a suction cup gripper seat 14 of the suction cup gripper assembly, a plurality of gripper suction cups 15 are installed on the suction cup gripper seat 14, the gripper suction cup 15 is connected to a vacuum extractor 16 through a pipeline, and the vacuum extractor 16 is installed on the moving component 5; when using the robot grasping component 1, the height of the entire suction cup gripper assembly can be changed by the Z-axis lifting column 12, so that goods of different heights can be grasped or stacked, the direction of the gripper suction cup 15 is adjusted by the six-axis robotic arm 13, the gripper suction cup 15 is pressed against the surface of the goods to be grasped or stacked, the vacuum extractor 16 draws vacuum to make the gripper suction cup 15 grab the goods, and then the angle is adjusted by the six-axis robotic arm 13 to move the goods.

[0025] Among them, the lifting and retrieving platform assembly 6 includes a mounting plate 61, a lifting motor 62 is installed at the bottom of the mounting plate 61, the output end of the lifting motor 62 is connected to the driving wheel 63, the driving wheel 63 is connected to the driven wheel 65 through a synchronous belt 64, the driven wheel 65 is connected to the lifting screw 66, the lifting screw 66 is rotatably installed on the mounting plate 61, the lifting screw 66 is threadedly connected to the middle of a moving plate 67, the two ends of the moving plate 67 are connected to one side of the bottom of a lifting frame 68, the two ends of the moving plate 68 are connected to the bottom of a slider 69, the slider 69 is slidably connected to a slide rail 610, the slide rail 610 is installed on the mounting plate 61, the top of the lifting frame 68 is connected to a conveying plate 611, and a rotating roller 612 is rotatably installed on the conveying plate 611, and the rotating rollers 612 are between It is connected through a driving belt 613, one of the rotating rollers 612 is connected to a driving motor, the driving motor is installed on the conveying plate 611, a buffer column 614 is installed on the mounting plate 61, and a buffer spring 615 is installed on the top of the buffer column 614; when in use, the lifting motor 62 drives the lifting screw 66 to rotate, thereby driving the slider 69 to slide along the slide rail 610, so that the moving plate 67 drives the lifting frame 68 to lift, so that the lifting frame 68 drives the conveying plate 611 to rise, and the goods are placed on the rotating roller 612 on the conveying plate 611, and the goods are transported along the conveying plate 611 by the driving motor. During the lifting and lowering process of the conveying plate 611, the buffer column 614 cooperates with the buffer spring 615 to provide buffering.

[0026] The lifting and retrieving platform assembly 6 and the lifting and conveying assembly 3 have the same structure, and the lifting motor 62 of the lifting and conveying assembly 3 is directly connected to the lifting screw 66;

[0027] Among them, a lifting cylinder is also installed on the conveying plate 611 of the lifting material platform assembly 6, the top of the lifting cylinder is connected to the lifting plate, and multiple lifting blocks 616 are installed on the top of the lifting plate. The lifting blocks 616 are located between adjacent rotating rollers 612. The lifting cylinder drives the lifting blocks 616 to rise so that the goods can be lifted up.

[0028] The overturning conveying assembly 2 includes a column 21, a overturning frame 22 is rotatably mounted on the column 21, one end of the overturning frame 22 is connected to a overturning motor 23, a overturning bracket 23 is mounted on the overturning frame 22, the overturning motor 23 is connected to the column 21, driving rollers 24 are rotatably mounted on both ends of the overturning bracket 23, a driving belt is tensioned between the two driving rollers 24, one of the driving rollers 24 is connected to the output end of the conveying motor, the conveying motor is mounted on the overturning bracket 23, a overturning suction cup 25 is mounted on the overturning bracket 23, the overturning suction cup 25 is connected to the vacuum extractor 16 through a pipeline, and the end of the column 21 is mounted A lifting and blocking cylinder 26 is installed, and the output end of the lifting and blocking cylinder 26 is connected to a blocking bracket 27, on which a blocking roller 28 is rotatably installed; when the component is used, the goods to be turned over are placed on the turning bracket 23, and the turning suction cup 25 adsorbs the goods. The turning motor 23 drives the turning frame 22 to turn over, so that the goods are turned over and placed on the lifting and conveying component 3, and transported by the lifting and conveying component 3. The blocking roller 28 is raised by the lifting and blocking cylinder 26, so that the goods can be limited to prevent the goods from being sent out of the turning bracket 23, which is convenient for the later adsorption of the turning suction cup 25.

[0029] The feeding and retrieving platform assembly 4 comprises a variable angle conveying platform 41, the bottom of the variable angle conveying platform 41 is rotatably connected to the output end of the angle push rod 42, the angle push rod 42 is installed on the fixed frame 43 through a bracket, a plurality of rollers 44 are rotatably connected to the mounting frame 43, the plurality of rollers 44 are connected by belts, one of the rollers 44 is connected to a roller motor, the roller motor is installed on the fixed frame 43, the variable angle conveying platform 41 is rotatably connected to the fixed frame 43, a plurality of guide roller shafts 45 are rotatably installed on the variable angle conveying platform 41, a guide roller 46 is installed on the guide roller shaft 45, the end of the guide roller shaft 45 is connected to a driving gear, the plurality of driving gears are connected by a driving toothed belt, one of the guide roller shafts 45 is connected to a guide motor, and the guide motor is installed on the variable angle conveying platform 41; the roller 44 is driven by the roller motor to move to transport the goods, the goods are transported to the variable angle conveying platform 41, the angle of the variable angle conveying platform 41 is driven by the angle push rod 42 to adjust the angle, so as to adapt to the external conveyor belts of different heights, and the guide motor drives the guide roller 46 to deliver the goods to the external conveyor belt.

[0030] Among them, a guide bracket 47 is installed on the side of the variable angle conveying platform 41, and a guide side wheel 48 is rotatably installed on the guide bracket 47. The guide side wheel 48 can guide the goods on the variable angle conveying platform 41 to prevent the goods from falling.

[0031] Among them, the moving component 5 includes a chassis frame 51, and multiple moving motors 52 are installed on both sides of the chassis frame 51. The moving motor 52 is connected to the moving wheel through a rotating shaft. A rubber track 53 is installed between the multiple moving wheels on the same side. The rubber track 53 is driven by the moving motor 52 to run, so that it can move to the specified position.

[0032] The working process and principle of the present invention are as follows: when the device is used for destacking, the rubber crawler 53 is driven by the mobile motor 52 to move the device to the braking position, and the angle push rod 42 drives the variable angle conveying platform 41 to adjust the angle so as to adapt to the external conveyor belt, and the direction of the gripper suction cup 15 is adjusted by the six-axis robot 13, and the gripper suction cup 15 is pressed against the surface of the goods to be grasped or stacked, and the vacuum extractor 16 draws vacuum to grab the goods by the gripper suction cup 15, and then the six-axis robot 13 is used to adjust the angle to move the goods, and the goods are placed on the lifting and fetching platform assembly 6, and the lifting motor 62 drives the lifting screw 66 to rotate, thereby driving the slider 69 to slide along the slide rail 610, so that the moving plate 67 drives the lifting frame 68 to lift, so that the lifting frame 68 drives the conveying plate 611 to rise, and the goods The goods are placed on the rotating roller 612 on the conveying plate 611, and the driving motor drives the goods to be transported along the conveying plate 611, and the goods are transported to the lifting conveying component 3. Similarly, the height of the lifting conveying component 3 is adjusted, and the height of the lifting conveying component 3 is adapted to the height of the feeding and picking platform component 4. The goods are transported to the feeding and picking platform component 4, and the roller 44 is driven by the roller motor to move for goods transportation. The goods are transported to the variable angle conveying platform 41, and the guide motor drives the guide roller 46 to send the goods to the external conveyor belt; when the goods need to be flipped, the goods to be flipped are placed on the flipping bracket 23, the flipping suction cup 25 absorbs the goods, and the flipping motor 23 drives the flipping frame 22 to flip, so that the goods are flipped and placed on the lifting conveying component 3, and transported by the lifting conveying component 3.

[0033] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual-arm loading and unloading robot, comprising a moving assembly, characterized in that: A robot grabbing assembly is installed on the moving assembly, and two robot grabbing assemblies are provided. A lifting and picking material platform assembly is provided between the two robot grabbing assemblies, and a flip conveying assembly is provided on the rear side of the lifting and picking material platform assembly. Lifting and conveying assemblies are provided on both sides of the flip conveying assembly, and a feeding and picking material platform assembly is provided on the rear side of the flip conveying assembly. The lifting and picking material platform assembly, the flip conveying assembly, the lifting and conveying assembly and the feeding and picking material platform assembly are installed on the moving assembly.

2. A dual-arm loading and unloading robot according to claim 1, characterized in that: The robot grasping assembly includes a mounting seat, a Z-axis lifting column is installed inside the mounting seat, the top of the Z-axis lifting column is connected to a six-axis robotic arm, and the six-axis robotic arm is connected to a suction cup gripper assembly.

3. A dual-arm loading and unloading robot according to claim 2, characterized in that: The suction cup gripper assembly comprises a suction cup gripper seat, a plurality of gripper suction cups are mounted on the suction cup gripper seat, the gripper suction cups are connected to a vacuum extractor via a pipeline, and the vacuum extractor is mounted on the moving assembly.

4. A dual-arm loading and unloading robot according to claim 1, characterized in that: The lifting and retrieving platform assembly and the lifting and conveying assembly have the same structure, both of which include a mounting plate, a lifting motor is installed at the bottom of the mounting plate, the lifting motor output end of the lifting and retrieving platform assembly is connected to a driving wheel, the driving wheel is connected to a driven wheel through a synchronous belt, the driven wheel is connected to a lifting screw, the lifting motor of the lifting and conveying assembly is directly connected to the lifting screw, the lifting screw is rotatably installed on the mounting plate, the lifting screw is threadedly connected to the middle part of a moving plate, the two ends of the moving plate are connected to one side of the bottom of the lifting frame, the two ends of the moving plate are connected to sliders at the bottom, the sliders are slidably connected to slide rails, the slide rails are installed on the mounting plate, the top of the lifting frame is connected to a conveying plate, a rotating roller is rotatably installed on the conveying plate, the rotating rollers are connected by a driving belt, one of the rotating rollers is connected to a driving motor, the driving motor is installed on the conveying plate, a buffer column is installed on the mounting plate, and a buffer spring is installed on the top of the buffer column.

5. A dual-arm loading and unloading robot according to claim 4, characterized in that: A lifting cylinder is also installed on the conveying plate of the lifting material taking platform assembly, the top of the lifting cylinder is connected to the lifting plate, and a plurality of lifting blocks are installed on the top of the lifting plate, and the lifting blocks are located between adjacent rotating rollers.

6. The dual-arm loading and unloading robot according to claim 1, characterized in that: The flip conveying assembly includes a column, a flip frame is rotatably mounted on the column, one end of the flip frame is connected to a flip motor, a flip bracket is mounted on the flip frame, the flip motor is connected to the column, driving rollers are rotatably mounted on both ends of the flip bracket, a driving belt is tensioned between the two driving rollers, one of the driving rollers is connected to the output end of the conveying motor, the conveying motor is mounted on the flip bracket, a flip suction cup is mounted on the flip bracket, the flip suction cup is connected to a vacuum extractor through a pipeline, a lifting and blocking cylinder is mounted on the end of the column, the output end of the lifting and blocking cylinder is connected to the blocking bracket, and a blocking roller is rotatably mounted on the blocking bracket.

7. The dual-arm loading and unloading robot according to claim 1, characterized in that: The material feeding and retrieving platform assembly includes a variable angle conveying platform, the bottom of the variable angle conveying platform is rotatably connected to the output end of the angle push rod, the angle push rod is installed on the fixed frame through a bracket, and a plurality of rollers are rotatably connected to the mounting frame, and the plurality of rollers are connected by belts, one of the rollers is connected to a roller motor, and the roller motor is installed on the fixed frame, the variable angle conveying platform is rotatably connected to the fixed frame, and a plurality of guide roller shafts are rotatably installed on the variable angle conveying platform, guide rollers are installed on the guide roller shafts, and the ends of the guide roller shafts are connected to driving gears, and the plurality of driving gears are connected by driving toothed belts, one of the guide roller shafts is connected to a guide motor, and the guide motor is installed on the variable angle conveying platform.

8. The dual-arm loading and unloading robot according to claim 7, characterized in that: A guide bracket is installed on the side of the variable angle conveying platform, and a guide side wheel is rotatably installed on the guide bracket.

9. The dual-arm loading and unloading robot according to claim 1, characterized in that: The moving assembly comprises a chassis frame, a plurality of moving motors are installed on both sides of the chassis frame, the moving motors are connected to moving wheels via a rotating shaft, and a rubber track is installed between the plurality of moving wheels on the same side.

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