Multi-mode sensing palletizing robot

Abstract

The invention provides a multi-mode sensing palletizing robot, and belongs to the technical field of palletizing. Comprising a three-axis mechanical arm, a grabbing mechanism is installed at the end of the three-axis mechanical arm, an air cylinder is installed at the top of the grabbing mechanism, a sliding groove is formed in the top surface of the grabbing mechanism, two sets of pulling arms are arranged at the output end of the air cylinder and arranged on the inner side of the sliding groove, and two sets of clamping arms are rotationally installed at the ends of the two sets of pulling arms; the ends of the clamping arms are rotationally connected with the bottom of the grabbing mechanism. In the process of lifting and moving clamped objects, the objects slowly descend in the grabbing mechanism, the stacking mode that the objects directly fall due to the fact that clamping jaws are directly loosened is avoided, impact force generated when the objects are stacked is reduced, damage to packaging bags of the objects is avoided, the stacking stability is improved, and the stacking efficiency is improved. And meanwhile, the slow descending angle of the objects in the grabbing mechanism can be conveniently adjusted, so that the grabbing mechanism is suitable for different types of packaging bags or slow descending speeds required under different use working conditions.

Description

Technical Field

[0001] The present invention relates to the field of palletizing technology, and in particular to a multi-modal perception palletizing robot. Background Art

[0002] Roller conveyor lines are commonly used conveying devices, which are composed of multiple conveyor rollers arranged side by side. Each conveyor roller rotates in the same direction to convey the items placed on it. Bags are often transported by roller conveyor lines. After being transported to the destination, they are palletized by stacking robots. The palletizing robots that cooperate with roller conveyor lines usually use fork-type mechanical claws to stack bagged goods. This type of mechanical claw includes two grippers arranged oppositely, and each gripper is provided with multiple claw fingers at intervals, so as to extend into the gap between the conveyor rollers and lift the goods from the bottom.

[0003] When existing palletizing robots palletize bagged products such as rice, the surface of their claws is very smooth. When they lift up the goods and then put them down, they usually slide down quickly along with the surface of the claws and fall onto a board or already stacked bags. Due to the large gravity and fast speed, not only will a lot of dust be kicked up when they fall, but the surface of the bag is also likely to be damaged, causing the rice inside the bag to flow out, which is difficult to clean later and affects the stability of the palletizing. At the same time, most mechanical claws do not have a locking function when they grab the goods and lift them. In the event of a sudden power outage, the mechanical claws cannot maintain a clamped state, causing the grabbed items to fall. Therefore, the present application provides a multimodal sensing palletizing robot to meet the needs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a multimodal sensing palletizing robot to solve the problem that the existing robot falls rapidly as the surface of the claw slides and falls on a board or stacked bags. Due to the large gravity and the fast speed, not only a large amount of dust is raised when falling, but the surface of the bag is also likely to be damaged, causing the rice inside the bag to flow out, and the items grabbed by the mechanical claw will fall when a power outage occurs.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: A multimodal sensing palletizing robot comprises a three-axis mechanical arm, a gripping mechanism is installed at the end of the three-axis mechanical arm, a cylinder is installed on the top of the gripping mechanism, a slide groove is opened on the top surface of the gripping mechanism, two groups of pulling arms are arranged at the output end of the cylinder, the pulling arms are arranged on the inner side of the slide groove, two groups of clamping arms are rotatably installed at the ends of the two groups of pulling arms, the ends of the clamping arms are rotatably connected to the bottom of the gripping mechanism, a probe is installed at the center position of the bottom of the gripping mechanism, and two groups of scooping assemblies are installed at the bottom ends of the two groups of clamping arms, and the scooping assemblies are used to scoop up the objects to be stacked; Two sets of slow-down assemblies are installed at the bottom ends of the two sets of scooping assemblies, and the slow-down assemblies are used to reduce the falling speed of the stacked objects; Two sets of sliding trigger assemblies are installed on the top surfaces of the two sets of slow-down assemblies, and the sliding trigger assemblies are used to carry the stacked objects to slide on the slow-down assemblies; A closing head assembly is installed at the bottom end of one of the two groups of slow-descent assemblies, and a supporting head assembly is installed at the bottom end of the other group of slow-descent assemblies. The closing head assembly is used to cooperate with the supporting head assembly for locking, and can cooperate with the impact when the sliding trigger assembly moves downward to unlock the closing head assembly and the supporting head assembly.

[0006] Optionally, the scooping assembly includes a shovel plate, which is installed at the bottom end of the clamp arm. Rotating columns are installed on the upper and lower surfaces of the clamp arm. A side plate is installed on the bottom surface of the clamp arm. A rotating drum is rotatably connected to the inner side of the side plate.

[0007] Optionally, a clamping plate is installed on the left side of the bottom of the shovel plate, and a threaded sleeve is installed on the same side of the bottom of the shovel plate as the clamping plate, a turntable screw is threadedly connected to the inner wall of the threaded sleeve, a toothed disk is installed on the left end of the threaded sleeve, an adjusting disk column is provided on the left side of the toothed disk, a clamping tooth is installed on the right side of the adjusting disk column, and the inner wall of the adjusting disk column is rotatably connected to the surface of the turntable screw.

[0008] Optionally, the slow-descent assembly includes a rotating rod, which is installed on the inner wall of the bottom end of the shovel plate for damping rotation, a slow-descent outer plate is installed at the bottom end of the rotating rod, an inner track plate is installed on the inner side of the slow-descent outer plate, a side slide groove is provided on the inner side of the inner track plate, a groove is provided near the bottom end of the inner track plate, and the left end of the rotating rod is fixedly connected to the right side of the adjusting disk column.

[0009] Optionally, the sliding trigger assembly includes a mounting block, which is mounted on the inner side of the slow-descent outer plate, a tension spring is installed at the bottom of the mounting block, a rotating seat is provided at the bottom end of the tension spring, both sides of the bottom end of the rotating seat are slidably connected to the inner wall of the side slide groove, an L-shaped tray is installed on the top of the rotating seat, and a buffer elastic telescopic rod is installed at the bottom of the L-shaped tray.

[0010] Optionally, the joint assembly includes a mounting seat 1, which is installed at the bottom of the slow-descent outer plate, a U-shaped clip is installed on the inner side of the mounting seat 1, and a groove is provided on the top surface of the U-shaped clip.

[0011] Optionally, the inner wall of the groove is slidably connected with a gravity push plate, a second elastic telescopic rod is installed at the bottom of one side of the gravity push plate, and the bottom end of the second elastic telescopic rod is installed on the top surface of the U-shaped clip.

[0012] Optionally, the support head assembly includes a second mounting seat, the second mounting seat is installed at the bottom of another group of the slow-descent outer plates, two support plates are installed on the inner side of the second mounting seat, and spring support clips are installed on the inner side of the support plates.

[0013] Optionally, the elastic end of the spring support clamp is installed in the two support plates, the inner side of the top support plate, and the bottom support plate is fixedly connected to the inner side of the second mounting seat.

[0014] Optionally, the outer shapes of the two spring support clips are the same as the inner contour diameter of the U-shaped clip, and the support plate at the top is movably connected to the inner side of the second mounting seat.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: In the above scheme, a gripping mechanism and a scooping assembly are provided in cooperation with a slow-down assembly, so that during the process of lifting and moving the clamped objects, the objects are slowly lowered in the gripping mechanism, thereby avoiding the stacking method in which the objects fall directly due to direct loosening of the clamping claws, reducing the impact force during stacking of objects, avoiding damage to the packaging bags of the objects, and improving the stability of stacking. At the same time, the slow-down is carried out during transportation, which is efficient and will not affect the stacking effect.

[0016] By providing a sliding trigger component, a buffering capacity is provided for the falling of items during stacking, and support is provided when the items slowly descend. At the same time, when reaching the position where the materials are to be unloaded, the angle is automatically changed through the groove to achieve the best state for placing the items. The support part can also be automatically reset by the tension spring, and the gravity of the item itself is used to unlock the closing head assembly and the supporting head assembly. When released, the closing head assembly and the supporting head assembly can also be used by the three-axis robotic arm to press and smooth the packaging bag, which is beneficial to improve the neatness of stacking.

[0017] By providing a closing head assembly and a supporting head assembly, when lifting items after clamping, they are automatically locked to prevent items from falling due to accidental power outages. At the same time, when the slow-down assembly reaches the target position, the closing head assembly and the supporting head assembly are unlocked by the impact of the sliding trigger assembly, which does not affect the subsequent release of items and improves safety during stacking.

[0018] By setting a clamping plate, a threaded sleeve, a turntable screw and an adjusting disk column, it is convenient to adjust the angle of the outer descent plate and the inner track plate in the descent control assembly according to needs. The slope corresponding to the angle is proportional to the descent speed, so the descent speed of the object in the grasping mechanism can be adjusted to suit different types of packaging bags or the descent speed required under different usage conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0020] Figure 1 It is a structural diagram of the three-axis robot body and the grasping mechanism; Figure 2 It is a schematic diagram of the structure of the grabbing mechanism and the cylinder; Figure 3 It is a schematic diagram of the structure of the grabbing mechanism and the scooping assembly; Figure 4 It is a schematic diagram of the structure of the shovel assembly; Figure 5 for Figure 4 A magnified view of middle; Figure 6 It is a structural schematic diagram of the slow-down component; Figure 7 This is a schematic diagram of the structure of the slow-down outer plate and the L-shaped pallet; Figure 8 is a schematic diagram of the structure of the inner track plate; Fig. 9 It is a structural diagram of the sliding trigger component; Fig.10 It is a structural schematic diagram of the joint assembly; Fig.11 It is a structural schematic diagram of the support head assembly; Fig.12 It is a structural schematic diagram of the combined head assembly and the supporting head assembly.

[0021] Reference numerals: 1. Three-axis robot arm; 10. Grasping mechanism; 11. Cylinder; 12. Slide; 13. Pull arm; 14. Clamp arm; 15. Probe; 2. Shovel assembly; 20. Shovel plate; 21. Rotating column; 22. Side plate; 23. Rotating drum; 24. Clamping plate; 25. Threaded sleeve; 26. Turntable screw; 27. Adjusting disk column; 28. Clamping teeth; 29. ​​Toothed disk; 3. Slow-down assembly; 30. Rotating plug rod; 31. Slow-down outer plate; 32. Inner track plate; 33. Side slide groove; 34. Groove; 4. Sliding trigger assembly; 40. Mounting block; 41. Tension spring; 42. Rotating seat; 43. L-shaped tray; 44. Buffer elastic telescopic rod; 5. Joint assembly; 50. Mounting seat one; 51. U-shaped clamp; 52. Slot; 53. Gravity push plate; 54. Elastic telescopic rod two; 6. Support head assembly; 60. Mounting seat two; 61. Support plate; 62. Spring support clamp.

[0022] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0023] The multimodal sensing palletizing robot provided by the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for a more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0024] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0025] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0026] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0027] like Figures 1 to 12As shown, an embodiment of the present invention provides a multimodal perception palletizing robot, including a three-axis mechanical arm 1, a gripping mechanism 10 is installed at the end of the three-axis mechanical arm 1, a cylinder 11 is installed on the top of the gripping mechanism 10, a slide groove 12 is opened on the top surface of the gripping mechanism 10, two groups of pulling arms 13 are arranged at the output end of the cylinder 11, the pulling arms 13 are arranged on the inner side of the slide groove 12, two groups of clamping arms 14 are rotatably installed at the ends of the two groups of pulling arms 13, the ends of the clamping arms 14 are rotatably connected to the bottom of the gripping mechanism 10, a probe 15 is installed at the bottom center of the gripping mechanism 10, two groups of scooping components 2 are installed at the bottom ends of the two groups of clamping arms 14, and the scooping components 2 Used for shoveling up the objects to be stacked; two groups of slow-down components 3 are installed at the bottom ends of the two groups of scooping components 2, and the slow-down components 3 are used to reduce the falling speed of the stacked objects; two groups of sliding trigger components 4 are installed on the top surfaces of the two groups of slow-down components 3, and the sliding trigger components 4 are used to carry the stacked objects to slide on the slow-down components 3; a closing head component 5 is installed at the bottom end of one of the two groups of slow-down components 3, and a supporting head component 6 is installed at the bottom end of the other group of slow-down components 3, and the closing head component 5 is used to cooperate with the supporting head component 6 for locking, and can cooperate with the impact of the sliding trigger component 4 when it moves downward to unlock the closing head component 5 and the supporting head component 6.

[0028] As an implementation method in this embodiment, Figures 4 to 5 As shown, the scooping assembly 2 includes a shovel plate 20, which is installed at the bottom end of the clamping arm 14, and a rotating column 21 is installed on the upper and lower surfaces of the clamping arm 14. A side plate 22 is installed on the bottom surface of the clamping arm 14, and a rotating drum 23 is rotatably connected to the inner side of the side plate 22. A clamping plate 24 is installed on the left side of the bottom of the shovel plate 20, and a threaded sleeve 25 is installed on the same side of the bottom of the shovel plate 20 as the clamping plate 24. A turntable screw 26 is threadedly connected to the inner wall of the threaded sleeve 25, and a toothed disk 29 is installed on the left end of the threaded sleeve 25. An adjusting disk column 27 is provided on the left side of the toothed disk 29, and a clamping tooth 28 is installed on the right side of the adjusting disk column 27. The inner wall of the adjusting disk column 27 is rotatably connected to the surface of the turntable screw 26.

[0029] In this embodiment, when it is necessary to adjust the speed of the rice bag's descent according to different operating conditions, the staff stops the machine and manually loosens the turntable screw 26. At this time, the adjusting disk column 27 is no longer engaged and fastened by the right-side clamping teeth 28 and the toothed disc 29. At this time, the adjusting disk column 27 is pulled outward, and the adjusting disk column 27 and the rotating plug rod 30 are rotated (the rotating plug rod 30 and the adjusting disk column 27 leave a certain amount of left and right lateral movement space at the bottom end of the shovel plate 20, which is used to support the pulling out of the clamping plate 24 and the tightening of the adjusting disk column 27). After adjusting the angle, the cylinder at the front section of the adjusting disk column 27 is inserted into the corresponding clamping plate 24, and finally the turntable screw 26 is tightened. The descent outer plate 31 is locked by the tightening force and the engagement and tightening of the clamping teeth 28 and the toothed disc 29, and the angle adjustment of the descent assembly 3 is completed. Since the inclination angle corresponds to the sliding speed, the descent speed of the rice bag by the descent assembly 3 can be quickly adjusted.

[0030] As an implementation method in this embodiment, Figures 6 to 9 As shown, the slow-descent assembly 3 includes a rotating plug rod 30, which is damped and rotated on the inner wall of the bottom end of the shovel plate 20, and a slow-descent outer plate 31 is installed at the bottom end of the rotating plug rod 30. An inner track plate 32 is installed on the inner side of the slow-descent outer plate 31, and a side slide groove 33 is opened on the inner side of the inner track plate 32. A groove 34 is opened near the bottom end of the inner track plate 32, and the left end of the rotating plug rod 30 is fixedly connected to the right side of the adjusting disk column 27. The sliding trigger assembly 4 includes a mounting block 40, and the mounting block 40 is mounted on the inner side of the slow-descent outer plate 31. A tension spring 41 is installed at the bottom of the mounting block 40, and a rotating seat 42 is provided at the bottom end of the tension spring 41. The two sides of the bottom end of the rotating seat 42 are slidably connected with the inner wall of the side slide groove 33, and an L-shaped tray 43 is installed on the top of the rotating seat 42, and a buffer elastic telescopic rod 44 is installed at the bottom of the L-shaped tray 43.

[0031] In this embodiment, during the process of lifting and moving the rice bag, the rice bag will be simultaneously affected by its own gravity and move downward, and drive the two groups of L-shaped pallets 43 at the bottom to slide slowly downward, so that the L-shaped pallet 43 slides in the side slide groove 33 through the rotating seat 42, and pulls the tension spring 41 to store force. The tension spring 41 is used to reset the L-shaped pallet 43 and can also provide a certain deceleration effect. Subsequently, when the three-axis robot arm 1 drives the grasping mechanism 10 to transport the clamped rice bag to the stacking position and moves downward, the U-shaped clamp 51 and the support plate 61 are in close contact with the plate to be placed or the stacked rice bag. At this time, the two groups of L-shaped pallets 43 will also move to the bottom. At this time, the L-shaped pallet 43 will reach the groove 34 near the bottom of the inner track plate 32, and will follow the shape of the groove 34. At this time, the L-shaped pallet 43 will rotate 90 degrees inward on the rotating seat 42 to reach the appropriate position for the rice bag to be placed. The U-shaped clamp 51 is then pulled back to the top of the bag and the bottom surface of the bag is lifted up, ...

[0032] As an implementation method in this embodiment, Figures 10 to 12 As shown, the joint assembly 5 includes a mounting seat 50, which is installed at the bottom of the slow-down outer plate 31, a U-shaped clip 51 is installed on the inner side of the mounting seat 50, a slot 52 is provided on the top surface of the U-shaped clip 51, a gravity push plate 53 is slidably connected to the inner wall of the slot 52, an elastic telescopic rod 54 is installed at the bottom of one side of the gravity push plate 53, and the bottom end of the elastic telescopic rod 54 is installed on the top surface of the U-shaped clip 51, and the support head assembly 6 includes a mounting seat 60, which is installed Seat 2 60 is installed at the bottom of another set of slow-descent outer plates 31. Two support plates 61 are installed on the inner side of mounting seat 2 60. Spring support clamps 62 are installed on the inner side of support plates 61. The elastic ends of spring support clamps 62 are installed in the two support plates 61. The inner side of the top support plate 61 and the bottom support plate 61 are fixedly connected to the inner side of mounting seat 2 60. The outer shape of the two spring support clamps 62 is the same as the inner side contour diameter of the U-shaped clamp 51. The top support plate 61 is movably connected to the inner side of mounting seat 2 60.

[0033] When the bag is lifted, the upper portion of the U-shaped clamp 51 is pulled back and the lower ... upper portion of the U-shaped clamp 51 is pulled back and the lower portion of the U-shaped clamp 51 is pulled back and the lower portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the lower portion of the U-shaped clamp 51 is pulled back and the lower portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the lower portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp 51 is pulled back and the upper portion of the U-shaped clamp

[0034] The working principle of the technical solution provided by the present invention is as follows: first, the staff starts the program through the control center, and the three-axis robot arm 1 moves the grabbing mechanism 10 to the top of the rice bag transported by the roller conveyor line. At this time, the probe 15 senses the rice bag to be stacked, and then the cylinder 11 starts and pushes the pulling arm 13 downward. The pulling arm 13 pushes the clamping arm 14 to expand to the maximum on both sides, and then the three-axis robot arm 1 moves the grabbing mechanism 10 downward, and the clamping arm 14 and the shovel plate 20 and the slow-down outer plate 31 are lowered to the bottom of the rice bag, and the L-shaped pallet 43 reaches a position below the horizontal line of the rice bag. Then the cylinder 11 pulls up the pulling arm 13 again, and pulls the clamping arm 14 to the middle to clamp the rice bag. The rice bag is shoveled up with the shovel plate 20, and the friction is reduced by the rotation of the rotating drum 23, and the rice bag is clamped onto the shovel plate 20, and the friction is reduced by the rotation of the rotating column 21 to prevent scratches.

[0035] Then, as the cylinder 11 drives the clamping arms 14 to gradually merge, the bottom surface of the rice bag is just supported on the two groups of L-shaped trays 43. At this time, the U-shaped clamp 51 of the closing head assembly 5 is also just merged with the support plate 61. When merging, the upper part of the support plate 61 will shrink inward and compress the spring support clamp 62 until it completely enters the U-shaped clamp 51 and is bounced up by the elastic force of the spring support clamp 62, forming a temporary lock to prevent the rice bag from falling due to a sudden power outage when lifting the rice bag. Then, the rice bag is lifted. During the lifting and moving process, the rice bag will be simultaneously affected by its own gravity. The two groups of L-shaped pallets 43 at the bottom slide slowly downward, so that the L-shaped pallets 43 slide in the side slide groove 33 through the rotating seat 42, and pull the tension spring 41 to store force. The tension spring 41 is used to reset the L-shaped pallet 43 and can also provide a certain deceleration effect. Then, when the three-axis robot arm 1 drives the grasping mechanism 10 to transport the clamped rice bags to the stacking position and moves downward, the U-shaped clamp 51 and the support plate 61 are in close contact with the plate to be placed or the stacked rice bags. At the same time, the two groups of L-shaped pallets 43 will also move to the bottom. At this time, the L-shaped tray 43 will reach the groove 34 near the bottom of the inner track plate 32, and will follow the shape of the groove 34. At this time, the L-shaped tray 43 will rotate 90 degrees inward on the rotating seat 42 to reach a suitable angle for putting down the rice bag. At the same time, the buffer elastic telescopic rod 44 at the bottom will produce a buffering effect when it touches the bottom, and the buffer elastic telescopic rod 44 will push the gravity push plate 53 on the top of the U-shaped clamp 51 under the gravity of the rice bag itself. The gravity push plate 53 moves downward at this time to push the upper support plate 61, pushing the support plate 61 inward to form an unlocked state. At this time, the support plate 61 is no longer stretched and fixed on the inner side of the U-shaped clamp 51. At this time, the cylinder 11 is started, pushing the pulling arm 13 to slowly push open the clamping arm 14. At this time, the U-shaped clamp 51 is separated from the support plate 61, and the U-shaped clamp 51 and the support plate 61 have contacted the top surface of the plate or the stacked rice bags to form a certain pressing pressure. During the unfolding process, the rice bags underneath will be smoothed. At this time, as the shovel plate 20 and the slowly descending outer plate 31 slowly open the rice bags, the rice bags leave the top of the U-shaped clamp 51 and the support plate 61, and fall steadily on the plate or the stacked rice bags, completing one stacking.

[0036] When it is necessary to adjust the inclination angle of the slow-descent assembly 3 according to the operating conditions to achieve the adjusted slow-descent speed, the staff stops the machine and manually loosens the turntable screw 26. At this time, the adjusting disk column 27 is no longer engaged and tightened by the right-side clamping teeth 28 and the toothed disc 29. At this time, the adjusting disk column 27 is pulled outward, and the adjusting disk column 27 and the rotating plug rod 30 are rotated (the rotating plug rod 30 and the adjusting disk column 27 leave a certain amount of left and right lateral movement space at the bottom end of the shovel plate 20 to support the pulling out of the clamping plate 24 and the tightening of the adjusting disk column 27). After adjusting the angle, the cylinder at the front end of the adjusting disk column 27 is inserted into the corresponding clamping plate 24, and finally the turntable screw 26 is tightened. The slow-descent outer plate 31 is locked by the tightening force and the engagement and tightening of the clamping teeth 28 and the toothed disc 29 to complete the angle adjustment of the slow-descent assembly 3. When the angle is adjusted, the slow-descent speed of the slow-descent assembly 3 will also be adjusted by the falling speed generated by the inclination angle.

[0037] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Multimodal perception palletizing robot, characterized in that: It comprises a three-axis mechanical arm, a gripping mechanism is installed at the end of the three-axis mechanical arm, a cylinder is installed on the top of the gripping mechanism, a slide groove is opened on the top surface of the gripping mechanism, two groups of pulling arms are arranged at the output end of the cylinder, the pulling arms are arranged on the inner side of the slide groove, two groups of clamping arms are rotatably installed at the ends of the two groups of pulling arms, the ends of the clamping arms are rotatably connected to the bottom of the gripping mechanism, a probe is installed at the center position of the bottom of the gripping mechanism, and two groups of scooping assemblies are installed at the bottom ends of the two groups of clamping arms, and the scooping assemblies are used to scoop up the objects to be stacked; Two sets of slow-down assemblies are installed at the bottom ends of the two sets of scooping assemblies, and the slow-down assemblies are used to reduce the speed at which the stacked objects fall; Two sets of sliding trigger assemblies are installed on the top surfaces of the two sets of slow-down assemblies, and the sliding trigger assemblies are used to carry the stacked objects to slide on the slow-down assemblies; A closing head assembly is installed at the bottom end of one of the two groups of slow-descent assemblies, and a supporting head assembly is installed at the bottom end of the other group of slow-descent assemblies. The closing head assembly is used to cooperate with the supporting head assembly for locking, and can cooperate with the impact when the sliding trigger assembly moves downward to unlock the closing head assembly and the supporting head assembly.

2. The multimodal sensing palletizing robot according to claim 1, characterized in that: The scooping assembly includes a shovel plate, which is installed at the bottom end of the clamp arm. Rotating columns are installed on the upper and lower surfaces of the clamp arm. A side plate is installed on the bottom surface of the clamp arm. A rotating drum is rotatably connected to the inner side of the side plate.

3. The multimodal perception palletizing robot according to claim 2, characterized in that: A clamping plate is installed on the left side of the bottom of the shovel plate, and a threaded sleeve is installed on the same side of the bottom of the shovel plate as the clamping plate. A turntable screw is threadedly connected to the inner wall of the threaded sleeve, and a toothed plate is installed on the left end of the threaded sleeve. An adjusting disk column is provided on the left side of the toothed disk, and a clamping tooth is installed on the right side of the adjusting disk column. The inner wall of the adjusting disk column is rotatably connected to the surface of the turntable screw.

4. The multi-modal sensing palletizing robot according to claim 3, characterized in that: The slow-descent assembly includes a rotating plug rod, which is installed on the inner wall of the bottom end of the shovel plate for damping rotation, a slow-descent outer plate is installed at the bottom end of the rotating plug rod, an inner track plate is installed on the inner side of the slow-descent outer plate, a side slide groove is opened on the inner side of the inner track plate, and a groove is opened near the bottom end of the inner track plate, and the left end of the rotating plug rod is fixedly connected to the right side of the adjusting disk column.

5. The multi-modal sensing palletizing robot according to claim 4, characterized in that: The sliding trigger assembly includes a mounting block, which is mounted on the inner side of the slow-descent outer plate. A tension spring is installed at the bottom of the mounting block, and a rotating seat is provided at the bottom end of the tension spring. Both sides of the bottom end of the rotating seat are slidably connected to the inner wall of the side slide groove, an L-shaped tray is installed on the top of the rotating seat, and a buffer elastic telescopic rod is installed at the bottom of the L-shaped tray.

6. The multi-modal sensing palletizing robot according to claim 5, characterized in that: The joint assembly includes a mounting seat 1, which is mounted on the bottom of the slow-descent outer plate. A U-shaped clip is mounted on the inner side of the mounting seat 1, and a groove is formed on the top surface of the U-shaped clip.

7. The multi-modal perception palletizing robot according to claim 6, characterized in that: The inner wall of the slot is slidably connected with a gravity push plate, a second elastic telescopic rod is installed at the bottom of one side of the gravity push plate, and the bottom end of the second elastic telescopic rod is installed on the top surface of the U-shaped clip.

8. The multi-modal perception palletizing robot according to claim 7, characterized in that: The support head assembly includes a second mounting seat, which is installed at the bottom of another group of the slow-descent outer plates. Two support plates are installed on the inner side of the second mounting seat, and spring support clips are installed on the inner side of the support plates.

9. The multi-modal perception palletizing robot according to claim 8, characterized in that: The elastic end of the spring support clip is installed in the two support plates, the inner side of the top support plate, and the bottom support plate is fixedly connected to the inner side of the second mounting seat.

10. The multi-modal perception palletizing robot according to claim 9, characterized in that: The outer shapes of the two spring support clips are the same as the inner contour diameter of the U-shaped clip, and the support plate on the top is movably connected to the inner side of the second mounting seat.

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