Multimodal perception palletizing robot

Abstract

The present invention provides a multi-modal sensing palletizing robot, which belongs to the field of palletizing technology. 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, and 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, and two groups of clamping arms are rotatably installed at the ends of the two groups of pulling arms, and the ends of the clamping arms are rotatably connected to the bottom of the gripping mechanism. In the process of clamping the lifting and moving of the articles, the present invention allows the articles to be slowly lowered in the gripping mechanism, avoiding the stacking method of directly releasing the clamping claws and causing the articles to fall directly, reducing the impact force when stacking the articles, avoiding damage to the packaging bags of the articles, improving the stability of the stacking, and conveniently adjusting the slow-down angle of the articles in the gripping mechanism to be suitable for different types of packaging bags or the required slow-down speed under different use conditions.

Description

Technical Field

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

[0002] The roller conveyor line is a commonly used conveying device, which consists of a plurality of conveyor rollers arranged side by side. Each conveyor roller rotates in the same direction to convey the items placed thereon. Bagged goods are commonly conveyed by a roller conveyor line and then palletized by a palletizing robot after being conveyed to the designated position. The palletizing robot cooperating with the roller conveyor line usually uses a fork-type mechanical claw to stack bagged goods. This mechanical claw includes two relatively arranged claws, and each claw is provided with a plurality of claw fingers at intervals so as to extend into the interval between the conveyor rollers and lift the goods from the bottom.

[0003] When the existing palletizing robot palletizes bagged products such as rice, due to the very smooth surface of the claws, when the goods are lifted and then put down, they usually slide down rapidly along the surface of the claws and fall on the board or the already palletized bags. Due to the large gravity and high speed, when falling, not only a large amount of dust is lifted, but also it is very likely to cause damage to the surface of the bag, resulting in the rice inside the bag flowing out, which is difficult to clean later and affects the stability of palletizing. At the same time, most mechanical claws do not have a locking function when lifting the grabbed goods. In case of sudden power failure, the mechanical claws cannot maintain the clamping state, resulting in the dropped grabbed items. Therefore, the present application provides a multi-modal perception palletizing robot to meet the requirements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multi-modal perception palletizing robot to solve the problems that the existing one slides down rapidly along the surface of the claws and falls on the board or the already palletized bags, due to the large gravity and high speed, when falling, not only a large amount of dust is lifted, but also it is very likely to cause damage to the surface of the bag, resulting in the rice inside the bag flowing out, and when there is a sudden power failure, the grabbed items on the mechanical claws will fall.

[0005] To solve the above technical problems, the present invention provides the following technical solutions:

[0006] A multi-modal perception palletizing robot, including a three-axis robotic arm, a grasping mechanism is installed at the end of the three-axis robotic arm, a cylinder is installed on the top of the grasping mechanism, a chute is opened on the top surface of the grasping mechanism, two sets of pulling arms are arranged at the output end of the cylinder, the pulling arms are arranged inside the chute, two sets of clamping arms are rotatably installed at the ends of the two sets of pulling arms, the ends of the clamping arms are rotatably connected to the bottom of the grasping mechanism, a probe is installed at the center position of the bottom of the grasping mechanism, and two sets of shoveling components are installed at the bottom ends of the two sets of clamping arms, and the shoveling components are used for shoveling the items to be palletized;

[0007] Two sets of descender components are installed at the bottom ends of the two sets of lifting components, and the descender components are used to reduce the falling speed of the stacked items.

[0008] Two sets of sliding trigger components are installed on the top surfaces of the two sets of descender components, and the sliding trigger components are used to carry the stacked items and slide on the descender components.

[0009] A joint head component is installed at the bottom end of one of the two sets of descender components, and a support head component is installed at the bottom end of the other set of descender components. The joint head component is used to cooperate with the support head component for locking, and can cooperate with the impact when the sliding trigger component moves downward to unlock the joint head component and the support head component.

[0010] Optionally, the lifting component includes a shovel plate, the shovel plate is installed at the bottom end of the clamping arm, rotating columns are installed on the upper and lower surfaces of the clamping arm, side plates are installed on the bottom surface of the clamping arm, and a rotating cylinder is rotatably connected to the inner side of the side plate.

[0011] Optionally, a clamping plate is installed on the left side of the bottom of the shovel plate, 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 disc is installed at the left end of the threaded sleeve, an adjusting disc column is arranged on the left side of the toothed disc, a clamping tooth is installed on the right side of the adjusting disc column, and the inner wall of the adjusting disc column is rotatably connected to the surface of the turntable screw.

[0012] Optionally, the descender component includes a rotating insertion rod, the rotating insertion rod is installed in the inner wall of the bottom end of the shovel plate in a damped rotation manner, a descender outer plate is installed at the bottom end of the rotating insertion rod, an inner track plate is installed inside the descender outer plate, a side sliding groove is opened inside the inner track plate, a groove is opened at a position near the bottom end of the inner track plate, and the left end of the rotating insertion rod is fixedly connected to the right side of the adjusting disc column.

[0013] Optionally, the sliding trigger component includes a mounting block, the mounting block is installed inside the descender outer plate, a tension spring is installed at the bottom of the mounting block, a rotating seat is arranged at the bottom end of the tension spring, the two sides of the bottom end of the rotating seat are slidably connected to the inner wall of the side sliding groove, an L-shaped tray is installed at the top of the rotating seat, and a buffer elastic telescopic rod is installed at the bottom of the L-shaped tray.

[0014] Optionally, the joint head component includes a first mounting seat, the first mounting seat is installed at the bottom of the descender outer plate, a U-shaped clamp is installed inside the first mounting seat, and a slot is opened on the top surface of the U-shaped clamp.

[0015] Optionally, a gravity push plate is slidably connected to the inner wall of the slot, an elastic telescopic rod II is installed at the bottom of one side of the gravity push plate, and the bottom end of the elastic telescopic rod II is installed on the top surface of the U-shaped clamp.

[0016] Optionally, the support head assembly includes a second mounting base, the second mounting base is installed at the bottom of the other group of the slow descent outer plates, two support plates are installed inside the second mounting base, and a spring support clamp is installed inside the support plates.

[0017] Optionally, the elastic end of the spring support clamp is installed in the two support plates, inside the top support plate, and the bottom support plate is fixedly connected to the inside of the second mounting base.

[0018] Optionally, the outer shapes of the two spring support clamps are the same as the inner contour diameter of the U-shaped clamp, and the top support plate is movably connected to the inside of the second mounting base.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects:

[0020] In the above solution, by providing a grasping mechanism and a shoveling component, cooperating with the slow descent component, during the process of clamping and lifting an item and moving it, the item is slowly descended within the grasping mechanism, avoiding the stacking method where the item directly drops due to directly releasing the clamping jaws, reducing the impact force during item stacking, avoiding damage to the packaging bag of the item, improving the stability of stacking. At the same time, the slow descent is carried out during the transportation process, with high efficiency and no impact on the stacking effect.

[0021] By providing a sliding trigger component, it provides a buffering ability when the item falls during stacking, provides support during the slow descent of the item, and at the same time, when reaching the position about to unload, the angle is automatically changed through the groove to reach the best state for placing the item. The support part can also be automatically reset through the tension spring, and the gravity of the item itself is used to unlock the mating head component and the support head component. When releasing again, the mating head component and the support head component can be used to press and smooth the packaging bag through the three-axis robotic arm, which is beneficial to improving the stacking neatness.

[0022] By providing a mating head component and a support head component, when lifting the item after clamping, it is automatically locked to prevent the item from falling due to accidental power failure. At the same time, when the slow descent component reaches the target position, the mating head component and the support head component are unlocked through the impact of the sliding trigger component, without affecting the later release of the item, improving the safety during stacking.

[0023] By providing a clamping plate, a threaded sleeve, a turntable screw rod, and an adjusting disk column, it is convenient to adjust the angles of the slow descent outer plate and the inner track plate in the slow descent component as needed. According to the fact that the slope corresponding to the angle is proportional to the descending speed, the slow descent speed of the item in the grasping mechanism is adjusted to be suitable for the slow descent speeds required for different types of packaging bags or different working conditions. Description of the Drawings

[0024] The accompanying drawings incorporated herein and constituting a part of the specification illustrate embodiments of the present invention and, together with the specification, are further used to explain the principles of the present invention and enable those skilled in the relevant art to implement and use the present invention.

[0025] Figure 1 It is a schematic structural diagram of a three-axis robotic arm body and a grasping mechanism;

[0026] Figure 2 It is a schematic structural diagram of a grasping mechanism and a cylinder;

[0027] Figure 3 It is a schematic structural diagram of a grasping mechanism and a shoveling component;

[0028] Figure 4 It is a schematic structural diagram of a shoveling component;

[0029] Figure 5 It is Figure 4 an enlarged view of A in

[0030] Figure 6 It is a schematic structural diagram of a slow descent component;

[0031] Figure 7 It is a schematic structural diagram of a slow descent outer plate and an L-shaped tray;

[0032] Figure 8 It is a schematic structural diagram of an inner track plate;

[0033] Figure 9 It is a schematic structural diagram of a sliding trigger component;

[0034] Figure 10 It is a schematic structural diagram of a joint head component;

[0035] Figure 11 It is a schematic structural diagram of a support head component;

[0036] Figure 12 It is a schematic structural diagram when the joint head component and the support head component are combined.

[0037] Reference numerals:

[0038] 1. Three-axis robotic arm; 10. Gripping mechanism; 11. Cylinder; 12. Chute; 13. Pulling arm; 14. Clamping arm; 15. Probe; 2. Shoveling component; 20. Shoveling plate; 21. Rotating column; 22. Side plate; 23. Rotating cylinder; 24. Clamping plate; 25. Threaded sleeve; 26. Turntable screw; 27. Adjusting disk column; 28. Clamping teeth; 29. Tooth disk; 3. Slow-down component; 30. Rotating insertion rod; 31. Slow-down outer plate; 32. Inner track plate; 33. Side chute; 34. Groove; 4. Sliding trigger component; 40. Mounting block; 41. Pulling spring; 42. Rotating seat; 43. L-shaped tray; 44. Buffer elastic telescopic rod; 5. Joint head component; 50. First mounting seat; 51. U-shaped clamp; 52. Slotted opening; 53. Gravity pushing plate; 54. Second elastic telescopic rod; 6. Support head component; 60. Second mounting seat; 61. Support plate; 62. Spring support clamp.

[0039] As shown in the figure, in order to clearly implement the structure of the embodiments of the present invention, specific structures and devices are labeled in the figure. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device, and environment. According to specific needs, those of ordinary skill in the art can adjust or modify these devices and environments. Detailed implementation manners

[0040] The following describes in detail the multi-modal perception palletizing robot provided by the present invention in conjunction with the accompanying drawings and specific embodiments. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; moreover, the accompanying drawings are only for more specifically describing the embodiments and are not intended to specifically limit the present invention.

[0041] Generally, terms can be understood at least in part from their use in the context. For example, at least in part depending on the context, the term "one or more" as used herein can be used to describe any feature, structure, or property in a singular sense, or can be used to describe a combination of features, structures, or properties in a plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but rather, at least in part depending on the context, can allow for the existence of other factors that are not necessarily explicitly described.

[0042] It can be understood that the meanings of "on...", "above...", and "overhead of..." 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 intermediate features or layers therebetween, and "above..." or "overhead of..." not only means "above" or "overhead of" something, but also can include the meaning of being "above" or "overhead of" something with no intermediate features or layers therebetween.

[0043] In addition, spatial relative terms such as "under", "below", "lower part", "above", "upper part", etc. may be used herein for convenience of description to describe the relationship of one element or feature with another or more elements or features, as shown in the drawings. The spatial relative terms are intended to cover different orientations in the use or operation of the device in addition to the orientation depicted in the drawings. The device may be oriented in other ways, and the spatial relative descriptors used herein may be similarly interpreted accordingly.

[0044] As Figures 1 to 12 shown, an embodiment of the present invention provides a multi-modal perception palletizing robot, including a three-axis robotic arm 1. A grasping mechanism 10 is installed at the end of the three-axis robotic arm 1. A cylinder 11 is installed on the top of the grasping mechanism 10. A chute 12 is opened on the top surface of the grasping mechanism 10. Two groups of pulling arms 13 are arranged at the output end of the cylinder 11. The pulling arms 13 are arranged inside the chute 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 grasping mechanism 10. A probe 15 is installed at the center position of the bottom of the grasping mechanism 10. Two groups of lifting components 2 are installed at the bottom ends of the two groups of clamping arms 14. The lifting components 2 are used for lifting the items to be palletized; two groups of slow-down components 3 are installed at the bottom ends of the two groups of lifting components 2. The slow-down components 3 are used for reducing the falling speed of the palletized items; two groups of sliding trigger components 4 are installed on the top surfaces of the two groups of slow-down components 3. The sliding trigger components 4 are used for carrying the palletized items to slide on the slow-down components 3; a coupling head component 5 is installed at the bottom end of one of the two groups of slow-down components 3, and a support head component 6 is installed at the bottom end of the other group of slow-down components 3. The coupling head component 5 is used to cooperate with the support head component 6 for locking, and can cooperate with the impact when the sliding trigger component 4 moves downward to unlock the coupling head component 5 and the support head component 6.

[0045] As an implementation manner in this embodiment, as Figures 4 to 5 shown, the lifting component 2 includes a shovel plate 20. The shovel plate 20 is installed at the bottom end of the clamping arm 14. Rotary columns 21 are 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. A rotating cylinder 23 is rotatably connected inside the side plate 22. A clamping plate 24 is installed on the left side of the bottom of the shovel plate 20. 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. A gear disk 29 is installed at the left end of the threaded sleeve 25. An adjusting disk column 27 is arranged on the left side of the gear disk 29. A locking 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.

[0046] In this embodiment, when it is necessary to adjust the descending speed of the rice bag according to different working conditions, the staff stops the machine and manually loosens the turntable screw 26. At this time, the adjusting disc column 27 is no longer tightly engaged with the tooth disc 29 through the right-side teeth 28. Then, pull the adjusting disc column 27 outwards and rotate the adjusting disc column 27 and the rotating insertion rod 30 (there is a certain left-right translation space at the bottom end of the shovel plate 20 for the rotating insertion rod 30 and the adjusting disc column 27 to support the pulling out and fastening of the adjusting disc column 27). After adjusting the angle, insert the cylinder at the front section of the adjusting disc column 27 into the corresponding clamping plate 24. Finally, tighten the turntable screw 26. Through the tightening force and the meshing and fastening of the teeth 28 and the tooth disc 29, the descending outer plate 31 is locked, completing the angle adjustment of the descending component 3. Since the inclination angle corresponds to the sliding speed, the descending speed of the rice bag by the descending component 3 can be quickly adjusted.

[0047] As an implementation manner in this embodiment, as Figures 6 to 9 shown, the descending component 3 includes a rotating insertion rod 30, which is rotatably installed on the inner wall of the bottom end of the shovel plate 20 with damping. The bottom end of the rotating insertion rod 30 is installed with a descending outer plate 31. The inner side of the descending outer plate 31 is installed with an inner track plate 32. The inner side of the inner track plate 32 is provided with a side chute 33. A groove 34 is opened at a position near the bottom end of the inner track plate 32. The left end of the rotating insertion rod 30 is fixedly connected to the right side of the adjusting disc column 27. The sliding trigger component 4 includes a mounting block 40, which is installed on the inner side of the descending outer plate 31. A tension spring 41 is installed at the bottom of the mounting block 40. The bottom end of the tension spring 41 is provided with a rotating seat 42. The two sides of the bottom end of the rotating seat 42 are slidably connected to the inner wall of the side chute 33. The top of the rotating seat 42 is installed with an L-shaped tray 43. A buffer elastic telescopic rod 44 is installed at the bottom of the L-shaped tray 43.

[0048] In this embodiment, during the lifting and moving process of the rice bag, the rice bag is synchronously affected by its own gravity and moves downward, driving the two groups of L-shaped trays 43 at the bottom to slide slowly downward. The L-shaped trays 43 slide in the side chute 33 through the rotating seat 42 and pull the tension spring 41 to store energy. The tension spring 41 is used for the reset of the L-shaped tray 43 and can also provide a certain deceleration effect. Subsequently, when the three-axis robotic 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 is in close contact with the support plate 61 on the plate to be placed or the already stacked rice bag. Exactly, the two groups of L-shaped trays 43 also move to the bottommost end. At this time, the L-shaped tray 43 will reach the groove 34 near the bottom of the inner track plate 32 and will rotate 90 degrees inward on the rotating seat 42 along the shape of the groove 34 to reach the appropriate angle for placing 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 to prevent excessive impact from causing damage to the packaging. And the buffer elastic telescopic rod 44 will push the gravity push plate 53 at 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 and pushes the upper support plate 61, pushing the support plate 61 inward to form an unlocked state. At this time, the support plate 61 no longer spreads and is clamped inside the U-shaped clamp 51. At this time, the air cylinder 11 is activated to slowly push the pull arm 13 to 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 formed a certain pressing force on the top surface of the plate or the already stacked rice bag. And because the bottom surfaces of the U-shaped clamp 51 and the support plate 61 are arc-shaped and very smooth, the rice bag below will be smoothed during the unfolding process to prevent the next rice bag from tilting after being placed on it.

[0049] As an implementation manner in this embodiment, as Figures 10 to 12 shown, the coupling head assembly 5 includes a first mounting seat 50, the first mounting seat 50 is mounted at the bottom of the slow-down outer plate 31, a U-shaped clamp 51 is mounted inside the first mounting seat 50, a slot 52 is formed on the top surface of the U-shaped clamp 51, a gravity push plate 53 is slidably connected to the inner wall of the slot 52, an elastic telescopic rod II 54 is mounted at the bottom on one side of the gravity push plate 53, the bottom end of the elastic telescopic rod II 54 is mounted on the top surface of the U-shaped clamp 51. The support head assembly 6 includes a second mounting seat 60, the second mounting seat 60 is mounted at the bottom of another slow-down outer plate 31, two support plates 61 are mounted inside the second mounting seat 60, a spring support clamp 62 is mounted inside the support plates 61, the elastic end of the spring support clamp 62 is mounted in the two support plates 61, inside the top support plate 61, the bottom support plate 61 is fixedly connected to the inside of the second mounting seat 60, the outer shapes of the two spring support clamps 62 are the same as the inner contour diameter of the U-shaped clamp 51, and the top support plate 61 is movably connected to the inside of the second mounting seat 60.

[0050] In this embodiment, the cylinder 11 drives the gradual merging of the clamping arms 14. At the same time, the bottom surface of the rice bag is exactly supported on the two groups of L-shaped trays 43. At this time, the U-shaped clamp 51 of the closing head assembly 5 also exactly merges with the support plate 61. When merging, the upper part of the support plate 61 will contract inward and compress the spring support clamp 62 until it completely enters the U-shaped clamp 51 and bounces up by the elastic force of the spring support clamp 62 to form a temporary lock, preventing the rice bag from falling suddenly in case of a power outage when lifting the rice bag. And the buffer elastic telescopic rod 44 will be pushed by the gravity of the rice bag itself to push the gravity push plate 53 at the top of the U-shaped clamp 51. At this time, the gravity push plate 53 moves downward 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 no longer spreads and is fixed inside the U-shaped clamp 51. At this time, the cylinder 11 starts to push the pull arm 13 to slowly push open the clamping arms 14. At this time, the U-shaped clamp 51 is separated from the support plate 61, which does not affect the later release of the rice bag.

[0051] 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. At this time, the three-axis robotic arm 1 moves the grasping mechanism 10 above the rice bag conveyed by the roller conveyor line. At this time, the probe 15 senses the rice bag to be palletized. Subsequently, the cylinder 11 starts and pushes the pull arm 13 downward. The pull arm 13 pushes the clamping arms 14 to expand to the maximum on both sides. Subsequently, the three-axis robotic arm 1 moves the grasping mechanism 10 downward, and the clamping arms 14, the shovel plate 20, and the slow-down outer plate 31 are lowered below the rice bag. The L-shaped tray 43 reaches the position below the horizontal line of the rice bag. Subsequently, the cylinder 11 pulls the pull arm 13 upward again, pulling the clamping arms 14 to clamp the rice bag in the middle. The rice bag is shoveled up by the shovel plate 20, and the friction is reduced by the rotation of the rotating cylinder 23. 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 scratching.

[0052] Subsequently, as the cylinder 11 drives the gradual merging of the clamping arms 14, and at the same time the bottom surface of the rice bag is exactly supported on the two groups of L-shaped trays 43, at this time the U-shaped clamp 51 of the closing head assembly 5 also exactly merges with the support plate 61. During the merging, the upper part of the support plate 61 will contract inward and compress the spring support clamp 62 until it completely enters the U-shaped clamp 51 and bounces up by the elastic force of the spring support clamp 62 to form a temporary lock, preventing the rice bag from falling suddenly due to a power outage when lifting the rice bag. Subsequently, the rice bag is lifted. During the lifting and moving process, the rice bag will synchronously be affected by its own gravity and move downward, and drive the two groups of L-shaped trays 43 at the bottom to slide slowly downward, so that the L-shaped trays 43 slide in the side chute 33 through the rotating seat 42 and pull the tension spring 41 to store energy. The tension spring 41 is used for the reset of the L-shaped tray 43 and can also provide a certain deceleration effect. Subsequently, when the three-axis robotic 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 is in close contact with the support plate 61 on the to-be-placed board or the already stacked rice bag. Exactly at this time, the two groups of L-shaped trays 43 will also move to the bottommost position. At this time, the L-shaped tray 43 will reach the groove 34 near the bottom of the inner track plate 32 and will rotate 90 degrees inward on the rotating seat 42 along the shape of the groove 34 to reach the appropriate angle for placing the rice bag. At the same time, the bottom buffer elastic telescopic rod 44 will produce a buffering effect when touching the bottom, and the buffer elastic telescopic rod 44 will push the gravity push plate 53 at the top of the U-shaped clamp 51 by the gravity of the rice bag itself. At this time, the gravity push plate 53 moves downward to push the upper support plate 61 and push the support plate 61 inward to form an unlocked state. At this time, the support plate 61 no longer spreads and is fixed inside the U-shaped clamp 51. At this time, the cylinder 11 is activated to push 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 formed a certain pressing force on the top surface of the board or the already stacked rice bag that they have contacted. During the unfolding process, it will also smooth the rice bag below. At this time, as the shovel plate 20 and the slow-drop outer plate 31 slowly open the rice bag, the rice bag leaves the top of the U-shaped clamp 51 and the support plate 61 and steadily lands on the board or the already stacked rice bag above, completing one stacking operation.

[0053] When it is necessary to adjust the inclination angle of the descent component 3 according to the operating conditions to adjust the 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 fastened by meshing with the right-side gear teeth 28 and the gear disk 29. Then, pull the adjusting disk column 27 outwards and rotate the adjusting disk column 27 and the rotating insertion rod 30 (there is a certain left-right lateral movement space at the bottom end of the shovel plate 20 for the rotating insertion rod 30 and the adjusting disk column 27 to support the pulling out and fastening of the adjusting disk column 27). After adjusting the angle, insert the cylinder at the front end of the adjusting disk column 27 into the corresponding clamping plate 24. Finally, tighten the turntable screw 26. Through the tightening force and the meshing fastening of the gear teeth 28 and the gear disk 29, lock the descent outer plate 31 to complete the angle adjustment of the descent component 3. When the angle is adjusted, the descent speed of the descent component 3 will also be adjusted by the inclination angle to generate the descent speed.

[0054] The present invention covers any alternatives, modifications, equivalent methods and solutions made within the spirit and scope of the present invention. For the public to have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention. However, those skilled in the art can fully understand the present invention without the description of these details. In addition, well-known methods, processes, procedures, components and circuits are not described in detail to avoid unnecessary confusion to the essence of the present invention.

[0055] The above description is only a preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope 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-down assemblies, and a supporting head assembly is installed at the bottom end of the other group of slow-down 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. The shoveling assembly includes a shoveling plate; The slow-down assembly includes a rotating plug rod, which is installed on the inner wall of the bottom end of the shovel plate in a damping rotation manner, a slow-down outer plate is installed on the bottom end of the rotating plug rod, an inner track plate is installed on the inner side of the slow-down 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; 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.

2. The multimodal sensing palletizing robot according to claim 1, characterized in that: The shovel plate is installed at the bottom end of the clamping arm, the upper and lower surfaces of the shovel plate are installed with rotating columns, the bottom surface of the shovel plate is installed with side plates, and the inner side of the side plates is rotatably connected with a rotating drum.

3. The multimodal sensing 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 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.

5. The multi-modal sensing palletizing robot according to claim 4, 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.

6. The multi-modal sensing palletizing robot according to claim 5, 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.

7. The multi-modal perception palletizing robot according to claim 6, characterized in that: The elastic end of the spring support clip is installed on the inner side of the top support plate of the two support plates, and the bottom support plate is fixedly connected to the inner side of the second mounting seat.

8. The multi-modal perception palletizing robot according to claim 7, 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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