Clamp for loading and unloading robot and loading and unloading robot

Abstract

The invention provides a clamp for a loading and unloading robot and the loading and unloading robot, the clamp comprises a clamp main body, one side surface of the clamp main body is provided with a suction cup array, the suction cup array comprises a first suction cup array and a second suction cup array, and the other side surface of the clamp main body is used for connecting a tail end flange of the robot; and the pushing hand mechanism is arranged between the first suction cup array and the second suction cup array, and the pushing hand mechanism can stretch out or retract in the length direction of the clamp body and is used for pushing the target object out of the first suction cup array and the second suction cup array. According to the box stacking device, when a target object is pushed out from the first suction cup array and the second suction cup array, boxes can be placed in the top layer area of a box stack, and therefore the upper limit height of the box stack is increased when stacking is conducted in the space-limited environment such as a container.

Description

Technical Field

[0001] The present invention relates to an industrial robot, and in particular to a clamp for loading and unloading a robot and the loading and unloading robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses and electronic optical systems that can quickly sort and move goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0004] When an industrial robot is used to sort and carry goods, it is necessary to collect images of the goods through visual sensors, identify the images of the goods to determine their posture, and then the industrial robot picks or carries the goods through the loaded clamps or suction cups. When an industrial robot is used to disassemble goods in a cargo box, due to the limitation of the grabbing direction of the goods, the clamps used in picking scenarios such as palletizing and depalletizing are not only limited in their grabbing range when applied to this scenario, but are also prone to wear and damage. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a clamp for a loading and unloading robot and a loading and unloading robot.

[0006] A fixture for loading and unloading a robot provided by the present invention comprises:

[0007] A fixture body, wherein a suction cup array is disposed on one side of the fixture body, the suction cup array comprising a first suction cup array and a second suction cup array, and the other side of the fixture body is used for connecting to an end flange of the robot;

[0008] A push mechanism is arranged between the first suction cup array and the second suction cup array, and the push mechanism can be extended or retracted along the length direction of the clamp body to push the target object out from the first suction cup array and the second suction cup array.

[0009] Preferably, support plate mechanisms are provided at both side ends of the clamp body;

[0010] The support plate mechanism can extend or retract in a direction perpendicular to the plane of the fixture body, and is used to support the target object sucked by the suction cup array.

[0011] Preferably, the push handle mechanism comprises a first guide rail, a first slider, a push handle plate and a first drive motor;

[0012] A mounting channel is formed between the first suction cup array and the second suction cup array; the guide rail is arranged in the mounting channel;

[0013] The push plate is connected to the first guide rail via the first slider and can slide along the first guide rail;

[0014] The first driving motor is used to drive the push plate to slide along the first guide rail.

[0015] Preferably, the pusher mechanism further comprises: a driving wheel, a supporting wheel, a driven wheel and a transmission belt;

[0016] The first driving motor, the driven wheel and the supporting wheel are arranged on the other side of the clamp body; the transmission belt is arranged on the driving wheel, the supporting wheel and the driven wheel;

[0017] The supporting wheel is arranged between the driving wheel and the driven wheel, and is used to tighten the transmission belt;

[0018] The transmission belt is connected to the first slider;

[0019] The first driving motor is used to drive the driving wheel to rotate, and then drive the push plate to slide along the first guide rail through the transmission belt.

[0020] Preferably, the support plate mechanism comprises a second drive motor, a support plate, a second guide rail and a guide rail slide;

[0021] The guide rail slide is connected to the side of the clamp body, and the second guide rail is arranged in the guide rail slide and can slide along the guide rail slide;

[0022] The support plate is arranged on the second guide rail;

[0023] The second driving motor is used to drive the supporting plate to slide along the second guide rail.

[0024] Preferably, a ball support mechanism is provided on one side of the clamp body;

[0025] The ball support mechanism is arranged in the suction cup array.

[0026] Preferably, the ball support mechanism comprises: a first support rod, a second support rod, a mounting rod and a ball member;

[0027] The first support rod and the second support rod are arranged on a side surface of the clamp body;

[0028] One end of the mounting rod is fixed to the free end of the first support rod, and the other end is fixed to the free end of the second support rod;

[0029] A plurality of ball members are sequentially mounted on the mounting rod.

[0030] Preferably, a first spring member is sleeved on the first support rod, and one end of the mounting rod is limited between the outer end of the first spring member and the free end of the first support rod;

[0031] A second spring member is sleeved on the second support rod, and the other end of the mounting rod is limited between the outer end of the second spring member and the free end of the second support rod.

[0032] Preferably, the installation channel includes a first guide rail and sliding channels arranged on both sides of the first guide rail;

[0033] The conveyor belt is provided with an upper fixing plate and a lower fixing plate;

[0034] The two side ends of the push handle plate are connected to the push handle plate through a connecting piece; the connecting piece passes through the sliding channel and can slide along the sliding channel.

[0035] The loading and unloading robot provided by the present invention comprises the clamp for loading and unloading the robot, and also comprises a mechanical arm and a mobile base;

[0036] The fixture for loading and unloading the robot is arranged at the end of the robot arm;

[0037] The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In the present invention, a suction cup array is arranged on one side of the clamp body, and the suction cup array includes a first suction cup array and a second suction cup array. A pusher mechanism is arranged between the first suction cup array and the second suction cup array, and the pusher mechanism can extend or retract along the length direction of the clamp body, so that the target object can be pushed out from the first suction cup array and the second suction cup array, so as to facilitate the placement of boxes in the top layer area of ​​the box stack for stacking, thereby increasing the upper limit height of stacking and the number of boxes when stacking in a limited space environment such as a container. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0041] Figure 1 A schematic diagram of a state of a clamp used for loading and unloading a robot in an embodiment of the present invention;

[0042] Figure 2 Schematic diagram of another state of a clamp for loading and unloading a robot in an embodiment of the present invention;

[0043] Figure 3 Schematic diagram of the layout of the ball support mechanism in an embodiment of the present invention;

[0044] Figure 4 It is a structural schematic diagram of the ball support mechanism part in an embodiment of the present invention;

[0045] Figure 5 It is a structural schematic diagram of one direction of the push handle mechanism in an embodiment of the present invention;

[0046] Figure 6 It is a structural schematic diagram of another direction of the push handle mechanism in an embodiment of the present invention;

[0047] Figure 7 It is a structural schematic diagram of a support plate mechanism in an embodiment of the present invention;

[0048] Figure 8 Schematic diagram of the structure of the loading and unloading robot in an embodiment of the present invention.

[0049] In the figure:

[0050] 1 is the fixture body; 2 is the first suction cup array; 3 is the second suction cup array; 4 is the pusher mechanism; 5 is the support plate mechanism; 6 is the first support rod; 7 is the mounting rod; 8 is the first spring member; 9 is the ball member; 401 is the pusher plate; 402 is the first slider; 403 is the first guide rail; 404 is the connecting piece; 405 is the first photoelectric switch; 406 is the first drive motor; 407 is the transmission belt; 408 is the driving wheel; 409 is the support wheel; 410 is the driven wheel; 501 is the support plate; 502 is the guide rail slide; 503 is the second guide rail; 504 is the second drive motor; 505 is the second photoelectric switch; 100 is the fixture for loading and unloading robots; 200 is the robotic arm; 300 is the mobile base. DETAILED DESCRIPTION

[0051] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0054] The following specific embodiments are used to describe in detail the technical solutions of the present invention and how the technical solutions of the present application solve the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0055] Figure 1 FIG. 1 is a schematic diagram of a state of a clamp for loading and unloading a robot in an embodiment of the present invention, such as Figure 1 As shown, the clamp for loading and unloading a robot provided by the present invention comprises:

[0056] A fixture body 1, one side of which is provided with a suction cup array, the suction cup array comprising a first suction cup array 2 and a second suction cup array 3, and the other side is used for connecting to an end flange of a robot;

[0057] The push mechanism 4 is arranged between the first suction cup array 2 and the second suction cup array 3. The push mechanism 4 can be extended or retracted along the length direction of the clamp body 1 to push the target object out from the first suction cup array 2 and the second suction cup array 3.

[0058] Figure 2FIG. 2 is another schematic diagram of a clamp for loading and unloading a robot in an embodiment of the present invention. Figure 2 As shown, in the initial state, the pusher mechanism 4 is located at the inner end of the suction cup array, that is, in a retracted state. When the pusher mechanism 4 is extended along the channel between the first suction cup array 2 and the second suction cup array 3, the target object on the suction cup array is pushed to the top layer of the box stack.

[0059] Figure 3 FIG. 1 is a schematic diagram of the layout of the ball support mechanism in an embodiment of the present invention. Figure 3 As shown, a ball support mechanism is provided on one side of the clamp body 1;

[0060] The ball support mechanism is arranged in the suction cup array.

[0061] In the embodiment of the present invention, the first suction cup array 2 and the second suction cup array 3 each include three rows of suction cups arranged in sequence, and the number of suction cups in each row is 5;

[0062] The ball support mechanism is arranged between every two rows of suction cups.

[0063] Figure 4 FIG. 1 is a schematic diagram of the structure of the ball support mechanism in an embodiment of the present invention. Figure 4 As shown, the ball support mechanism includes: a first support rod 6, a second support rod, a mounting rod 7 and a ball member 9;

[0064] The first support rod 6 and the second support rod are arranged on one side surface of the clamp body 1;

[0065] One end of the mounting rod 7 is fixed to the free end of the first support rod 6, and the other end is fixed to the free end of the second support rod;

[0066] The plurality of ball members 9 are mounted on the mounting rod 7 in sequence.

[0067] In an embodiment of the present invention, the end of the ball member 9 has a ball, and the ball member 9 is used when the robot moves to the lower side of the target object where the fixture is located. The target object presses down on the suction cup array. At this time, the target object contacts the ball member 9 to support the target object. When the push mechanism 4 extends along the channel between the first suction cup array 2 and the second suction cup array 3, the friction between the target object and the suction cup array is reduced when the target object is pushed and moved.

[0068] In the embodiment of the present invention, a first spring member 8 is sleeved on the first support rod 6, and one end of the mounting rod 7 is limited between the outer end of the first spring member 8 and the free end of the first support rod 6;

[0069] A second spring member is sleeved on the second support rod, and the other end of the mounting rod 7 is limited between the outer end of the second spring member and the free end of the second support rod.

[0070] The first spring member 8 and the second spring member are used to buffer the weight of the target object.

[0071] like Figure 2 As shown, support plate mechanisms 5 are provided at both side ends of the clamp body 1;

[0072] The support plate mechanism 5 can be extended or retracted in a direction perpendicular to the plane of the clamp body 1 to support the target object sucked by the suction cup array.

[0073] When the clamp is in a vertical posture, that is, the vertical line of the plane where the suction cup array is located is perpendicular to the gravity line direction of the target object, the suction cup array needs a greater force to suck up the target object. At this time, the support plate mechanism 5 extends out to support the target object in the vertical direction, reducing the suction force requirement of the suction cup array and avoiding damage to the suction cup array caused by the gravity pulling of the target object.

[0074] Figure 5 FIG. 1 is a schematic diagram of the structure of the push handle mechanism in one direction according to an embodiment of the present invention. Figure 5 As shown, the push handle mechanism 4 includes a first guide rail 403, a first slider 402, a push handle plate 401 and a first drive motor 406;

[0075] A mounting channel is formed between the first suction cup array 2 and the second suction cup array 3; the guide rail is arranged in the mounting channel;

[0076] The push plate 401 is connected to the first guide rail 403 via the first slider 402 and can slide along the first guide rail 403;

[0077] The first driving motor 406 is used to drive the push plate 401 to slide along the first guide rail 403 .

[0078] In the embodiment of the present invention, the installation channel is actually a rectangular cavity on the fixture body 1; one end of the first guide rail 403 is connected to one side of the rectangular cavity, and the other end is connected to one side of the rectangular cavity, and the space on both sides of the first guide rail 403 forms a sliding channel;

[0079] The push handle plate 401 is formed in a Z shape, one side of the push handle plate 401 is perpendicular to the first sliding block 402 , and the other side of the push handle plate 401 is in close contact with the first sliding block 402 .

[0080] Figure 6FIG. 2 is a schematic diagram of the structure of the push handle mechanism in another direction according to an embodiment of the present invention. Figure 6 As shown, the push mechanism 4 further includes: a driving wheel 408, a supporting wheel 409, a driven wheel 410 and a transmission belt 407;

[0081] The first driving motor 406, the driven wheel 410 and the supporting wheel 409 are arranged on the other side of the clamp body 1; the transmission belt 407 is arranged on the driving wheel 408, the supporting wheel 409 and the driven wheel 410;

[0082] The supporting wheel 409 is disposed between the driving wheel 408 and the driven wheel 410, and is used to tighten the transmission belt 407;

[0083] The transmission belt 407 is connected to the first slider 402;

[0084] The first driving motor 406 is used to drive the driving wheel 408 to rotate, and then drive the push plate 401 to slide along the first guide rail 403 through the transmission belt 407 .

[0085] In the embodiment of the present invention, the installation channel includes a first guide rail 403 and sliding channels arranged on both sides of the first guide rail 403;

[0086] The conveyor belt 407 is provided with an upper fixing plate and a lower fixing plate;

[0087] Both side ends of the push handle plate 401 are connected to the push handle plate 401 via connecting pieces 404 ; the connecting pieces 404 pass through the sliding channel and can slide along the sliding channel.

[0088] In the embodiment of the present invention, there are multiple first photoelectric switches 405 , and the multiple first photoelectric switches 405 are arranged along the length direction of the first guide rail 403 to indicate the position of the push plate 401 .

[0089] Figure 7 FIG. 1 is a schematic diagram of the structure of the support plate mechanism in an embodiment of the present invention. Figure 7 As shown, the support plate mechanism 5 includes a second drive motor 504, a support plate 501, a second guide rail 503 and a guide rail slide 502;

[0090] The guide rail slide 502 is connected to the side of the fixture body 1, and the second guide rail 503 is arranged in the guide rail slide 502 and can slide along the guide rail slide 502;

[0091] The support plate 501 is disposed on the second guide rail 503;

[0092] The second driving motor 504 is used to drive the supporting plate 501 to slide along the second guide rail 503 .

[0093] In the embodiment of the present invention, the number of the guide rail slide 502 and the second guide rail 503 is two, and the two guide rail slides 502 and the second guide rail 503 are sequentially arranged along the length direction of the support plate 501; the two guide rail slides 502 and the second guide rail 503 are parallel to each other along the support plate 501;

[0094] The second driving motor 504 drives the support plate 501 through a ball screw structure; the support plate 501 is disposed on the screw nut of the ball screw.

[0095] There are two second photoelectric switches 505 , one of which is used to indicate the position of the support plate 501 after it is extended, and the other second photoelectric switch 505 is used to indicate the position of the support plate 501 after it is retracted.

[0096] Figure 8 FIG. 1 is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention. Figure 8 As shown, the loading and unloading robot provided by the present invention includes the fixture 100 for loading and unloading the robot, and also includes a mechanical arm 200 and a mobile base 300;

[0097] The fixture 100 for loading and unloading the robot is arranged at the end of the robot arm 200;

[0098] The mechanical arm 200 is disposed on the mobile base 300 , and the mobile base 300 is used to drive the mechanical arm to move.

[0099] When the loading and unloading robot provided by the present invention is used to load and unload a box, the following steps are included:

[0100] Step S1: Control the clamp to absorb one side of the target box;

[0101] Step S2: controlling the support plate mechanism to extend so that the support surface of the support plate mechanism is opposite to the other side surface of the target box;

[0102] Step S3: Control the movement of the robot arm 200 so that the support surface of the support plate mechanism supports the other side surface of the target box;

[0103] Step S4: controlling the push mechanism to push the target box to slide along the support surface, so as to push the target box to a target position.

[0104] In an embodiment of the present invention, a suction cup array is provided on one side of the clamp body, and the suction cup array includes a first suction cup array and a second suction cup array. A pusher mechanism is provided between the first suction cup array and the second suction cup array, and the pusher mechanism can extend or retract along the length direction of the clamp body, so that the target object can be pushed out from the first suction cup array and the second suction cup array, so as to facilitate the placement of boxes in the top layer area of ​​the box stack for stacking, thereby increasing the upper limit of stacking height and the number of boxes when stacking in a limited space environment such as a container.

[0105] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0106] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A fixture for loading and unloading a robot, characterized in that: include: A fixture body, wherein a suction cup array is disposed on one side of the fixture body, the suction cup array comprising a first suction cup array and a second suction cup array, and the other side of the fixture body is used for connecting to an end flange of the robot; A push mechanism is arranged between the first suction cup array and the second suction cup array. The push mechanism can be extended or retracted along the length direction of the clamp body, and is used to push the target object from the first suction cup array and the second suction cup array.

2. The fixture for loading and unloading a robot according to claim 1, characterized in that: Support plate mechanisms are provided at both side ends of the clamp body; The support plate mechanism can extend or retract in a direction perpendicular to the plane of the fixture body, and is used to support the target object sucked by the suction cup array.

3. The fixture for loading and unloading a robot according to claim 1, characterized in that: The push handle mechanism comprises a first guide rail, a first slider, a push handle plate and a first drive motor; A mounting channel is formed between the first suction cup array and the second suction cup array; the guide rail is arranged in the mounting channel; The push plate is connected to the first guide rail via the first slider and can slide along the first guide rail; The first driving motor is used to drive the push plate to slide along the first guide rail.

4. The fixture for loading and unloading a robot according to claim 3, characterized in that: The pusher mechanism also includes: a driving wheel, a supporting wheel, a driven wheel and a transmission belt; The first driving motor, the driven wheel and the supporting wheel are arranged on the other side of the clamp body; the transmission belt is arranged on the driving wheel, the supporting wheel and the driven wheel; The supporting wheel is arranged between the driving wheel and the driven wheel, and is used to tighten the transmission belt; The transmission belt is connected to the first slider; The first driving motor is used to drive the driving wheel to rotate, and then drive the push plate to slide along the first guide rail through the transmission belt.

5. The fixture for loading and unloading a robot according to claim 2, characterized in that: The support plate mechanism comprises a second driving motor, a support plate, a second guide rail and a guide rail slide; The guide rail slide is connected to the side of the clamp body, and the second guide rail is arranged in the guide rail slide and can slide along the guide rail slide; The support plate is arranged on the second guide rail; The second driving motor is used to drive the supporting plate to slide along the second guide rail.

6. The fixture for loading and unloading a robot according to claim 1, characterized in that: A ball support mechanism is provided on one side of the clamp body; The ball support mechanism is arranged in the suction cup array.

7. The fixture for loading and unloading a robot according to claim 6, characterized in that: The ball support mechanism comprises: a first support rod, a second support rod, a mounting rod and a ball member; The first support rod and the second support rod are arranged on a side surface of the clamp body; One end of the mounting rod is fixed to the free end of the first support rod, and the other end is fixed to the free end of the second support rod; A plurality of ball members are sequentially mounted on the mounting rod.

8. The fixture for loading and unloading a robot according to claim 7, characterized in that: A first spring member is sleeved on the first support rod, and one end of the mounting rod is limited between the outer end of the first spring member and the free end of the first support rod; A second spring member is sleeved on the second support rod, and the other end of the mounting rod is limited between the outer end of the second spring member and the free end of the second support rod.

9. The fixture for loading and unloading a robot according to claim 4, characterized in that: The installation channel includes a first guide rail and sliding channels arranged on both sides of the first guide rail; The conveyor belt is provided with an upper fixing plate and a lower fixing plate; The two side ends of the push handle plate are connected to the push handle plate through a connecting piece; the connecting piece passes through the sliding channel and can slide along the sliding channel.

10. A loading and unloading robot, characterized in that: A fixture for loading and unloading a robot according to any one of claims 1 to 9, further comprising a mechanical arm and a mobile base; The fixture for loading and unloading the robot is arranged at the end of the robot arm; The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

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