Large-space-span stacking and carrying robot

Abstract

The large-space-span stacking and carrying robot comprises a driving stand column, a movable guide wheel is arranged at the top of the driving stand column, a tensioning rope is connected to the outer surface of the movable guide wheel in a rolling mode, a movable platform frame is fixedly connected to the front end of the tensioning rope, and an execution device is fixedly connected to the lower surface of the movable platform frame. The lower surface of the execution device is fixedly connected with six suction cups which are uniformly distributed, the rear end of the driving stand column is fixedly connected with a maintenance crawling ladder, and through the structure, a rope is adopted to replace a rigid branch chain for driving, the high-speed and high-acceleration characteristics are remarkable, and the service life of the maintenance crawling ladder is prolonged. And the robot has the advantages of being simple in structure, low in manufacturing cost, large in working space and small in power consumption and shows huge application potential in the field of high-speed robots, and the space-span loading and stacking robot is large in effective stacking movement range.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a large-space-span stacking and handling robot. Background Art

[0002] As the main force of production automation and intelligent manufacturing, the research and development, manufacturing and application of industrial robots have become an important indicator of a country's scientific and technological innovation and manufacturing level. Industrially developed countries such as the United States, Japan, Germany, and South Korea have focused on the development of industrial robots as a strategic industry, using robot technology to solve the problems caused by high-cost labor, in order to achieve the "return of manufacturing" and maintain their leading edge in the field of high-end manufacturing. The pace of application of industrial robots has steadily accelerated worldwide. According to statistics from the International Federation of Robotics, the global industrial robot density was 66 units per 10,000 people in 2015, 74 units per 10,000 people in 2016, 85 units per 10,000 people in 2017, and 99 units per 10,000 people in 2018. At present, the global manufacturing industry is developing towards automation, integration, intelligence, and greening, and will usher in an explosive growth of industrial robots.

[0003] Existing high-speed sorting robots are all rigid structures and are divided into serial robots and parallel robots. Rigid parallel robots have configurational advantages over rigid serial robots, achieve more efficient sorting movements, and have been successful in engineering and business, but still have the following problems: the motion branch chain of the parallel robot adopts rigid rods, which limits the further reduction of the mass of the moving parts and the further improvement of the motion efficiency. The motion branch chain of the high-speed parallel robot uses a large number of hinges such as rotating arms, universal joints and ball hinges. The motion range of the hinges limits the motion range of the motion platform, that is, the working space of the robot. At the same time, the hinge gap makes it difficult to ensure the high position accuracy and repeatability of the terminal motion platform. The high-speed parallel robot adopts an active rocker structure, and a precision reducer with a large reduction ratio is required in the drive unit. At the same time, precision transmission components are required in the motion chain, resulting in high costs. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of the present invention to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] Therefore, the purpose of the present invention is to provide a large-span palletizing and handling robot that can solve the existing problems of high cost, high bit error rate, environmental pollution and slow response speed.

[0006] In order to solve the above technical problems, the present invention provides a large-space-span palletizing and handling robot, which adopts the following technical solution: comprising a driving column, a moving guide wheel is arranged on the top of the driving column, a tensioning rope is rollingly connected to the outer surface of the moving guide wheel, a moving platform frame is fixedly connected to the front end of the tensioning rope, an actuator is fixedly connected to the lower surface of the moving platform frame, a suction cup is fixedly connected to the lower surface of the actuator, and the number of the suction cups is six and evenly distributed, a second connecting rod is fixedly connected to the upper surface of the driving column, a first connecting rod is fixedly connected to the upper surface of the second connecting rod, and a maintenance ladder is fixedly connected to the rear end of the driving column; The linkage assembly is arranged inside the driving column, and includes a mounting plate, a driving motor, a support member and a driving assembly; The tensioning assembly is arranged inside the driving column, and comprises a tensioning installation assembly, a tensioning wheel assembly, a connecting piece, a fixed wheel assembly, a buffer rubber head, a tensioning limit rod and a tensioning guide rod.

[0007] Optionally, a 3D camera is fixedly connected to the side surface of the first connecting rod to perform stereoscopic photography detection of the goods and detect the precise position of the goods to be transferred. The 3D camera can provide three-dimensional shape and size information of the object, capture depth data, and perform spatial positioning and navigation of the moving platform rack.

[0008] Optionally, a laser ranging radar is provided on the outer surface of the driving column, and the laser ranging radar is placed on a side close to the palletizing area. When the vehicle moves to the palletizing area and the system receives the palletizing signal, the laser ranging radar positions the vehicle in the palletizing area. The algorithm can accurately position the carriage and calculate the palletizing position, thereby completing loading of vans of various sizes.

[0009] Optionally, the tensioning mounting assembly is installed on the inner side wall of the driving column, the front surface of the tensioning mounting assembly is fixedly connected to the tensioning limit rod, the front end of the tensioning limit rod is fixedly connected to the buffer rubber head, and the front end of the tensioning mounting assembly is fixedly connected to the fixed wheel assembly.

[0010] Optionally, the outer surface of the tensioning wheel assembly is rollingly connected to the tensioning rope, the rear end of the tensioning wheel assembly is fixedly connected to the tensioning guide rod, and the outer surface of the tensioning guide rod is provided with a spring.

[0011] Optionally, there are eight linkage assemblies in total and they are evenly distributed inside the driving column, the upper surface of the mounting plate is fixedly connected to the support member, the output end of the driving motor is fixedly connected to the driving assembly via a reducer, and the outer surface of the driving assembly is rollingly connected to the tensioning rope.

[0012] Optionally, by rotating the driving assembly, the length of the tensioning rope from the rope exit point of the fixed wheel assembly to the moving platform frame changes, thereby pulling the moving platform frame, and the encoder provides real-time feedback on the rotation angle of the driving motor to achieve closed-loop control of the driving motor rotation, thereby achieving the accuracy of the rotation of the driving assembly and realizing precise control of the retraction and release length of the tensioning rope.

[0013] Optionally, the interior of the movable platform rack is provided with a rope fixing plate, an air circuit solenoid valve and fastening screws, and the tensioning rope groups are cross-fixed on the upper and lower layers of the movable platform rack. Each layer is constrained in four directions by eight groups of tensioning ropes. When the movable platform rack moves to a certain transportation point, the air circuit solenoid valve is used to control the suction cup at the lower end of the actuator and the cargo to be connected together, making the picking and placing of cargo more stable.

[0014] In summary, the present invention includes at least one of the following beneficial effects: 1. Cable-driven robots use ropes instead of rigid branch chains for driving, and have remarkable high-speed and high-acceleration characteristics. They also have the advantages of simple structure, low cost, large working space and low power consumption, and show great application potential in the field of high-speed robots.

[0015] 2. Spatial span loading and stacking robot, with large effective range of motion for stacking, easy platform construction, and convenient four-column transportation. It is more suitable for loading in large spaces of trucks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the column of the present invention; Figure 3 for Figure 2 A in the enlarged view; Figure 4 for Figure 2 The enlarged view of point B in the figure; Figure 5 It is a structural diagram of the dynamic platform of the present invention.

[0018] Explanation of the reference numerals: 1. driving column; 2. maintenance ladder; 3. first connecting rod; 4. second connecting rod; 5. 3D camera; 6. tensioning installation assembly; 7. tensioning wheel assembly; 8. connecting piece; 9. fixed wheel assembly; 10. mounting plate; 11. supporting piece; 12. driving motor; 13. driving assembly; 14. tensioning rope; 15. moving platform frame; 16. actuator; 17. suction cup; 18. buffer rubber head; 19. tensioning limit rod; 20. tensioning guide rod; 21. laser ranging radar; 22. moving guide wheel. DETAILED DESCRIPTION

[0019] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0020] Reference Figure 1-5 The embodiment of the present invention is a large-space-span palletizing and handling robot, which includes a driving column 1, a moving guide wheel 22 is arranged on the top of the driving column 1, and the outer surface of the moving guide wheel 22 is rollingly connected with a tensioning rope 14, and the front end of the tensioning rope 14 is fixedly connected with a moving platform frame 15, and the lower surface of the moving platform frame 15 is fixedly connected with an actuator 16, and the lower surface of the actuator 16 is fixedly connected with a suction cup 17, and the number of the suction cups 17 is six and evenly distributed, and the upper surface of the driving column 1 is fixedly connected with a second connecting rod 4, and the upper surface of the second connecting rod 4 is fixedly connected with a first connecting rod 3, and the rear end of the driving column 1 is fixedly connected with a maintenance ladder 2, and the first A 3D camera 5 is fixedly connected to the side surface of the connecting rod 3 to perform stereoscopic photography detection on the goods and detect the precise position of the goods to be transferred. The 3D camera 5 can provide three-dimensional shape and size information of the object, capture depth data, and perform spatial positioning and navigation on the dynamic platform rack 15. A laser ranging radar 21 is provided on the outer surface of the driving column 1. The laser ranging radar 21 is placed on the side close to the stacking area. When the vehicle moves to the stacking area, the system receives the stacking signal, and the laser ranging radar 21 locates the vehicle in the stacking area. The algorithm can accurately locate the position of the car body and accurately calculate the stacking placement position, so as to complete the loading of various large and small vans.

[0021] The linkage assembly is arranged inside the driving column 1, and includes a mounting plate 10, a driving motor 12, a support member 11 and a driving assembly 13. There are eight linkage assemblies in total and they are evenly distributed inside the driving column 1. The upper surface of the mounting plate 10 is fixedly connected to the support member 11, and the output end of the driving motor 12 is fixedly connected to the driving assembly 13 through a reducer. The outer surface of the driving assembly 13 is rollingly connected to the tensioning rope 14. Through the rotation of the driving assembly 13, the rope length of the tensioning rope 14 from the cable exit point of the fixed wheel assembly 9 to the moving platform frame 15 changes, thereby pulling the moving platform frame 15. The encoder feeds back the rotation angle of the driving motor 12 in real time to realize closed-loop control of the rotation of the driving motor 12, thereby achieving the accuracy of the rotation of the driving assembly 13 and realizing precise control of the retracted and released length of the tensioning rope 14.

[0022] The tensioning assembly is arranged inside the driving column 1, and includes a tensioning installation assembly 6, a tensioning wheel assembly 7, a connecting piece 8, a fixed wheel assembly 9, a buffer rubber head 18, a tensioning limit rod 19 and a tensioning guide rod 20. The tensioning installation assembly 6 is installed on the side inner wall of the driving column 1, the front surface of the tensioning installation assembly 6 is fixedly connected to the tensioning limit rod 19, the front end of the tensioning limit rod 19 is fixedly connected to the buffer rubber head 18, the front end of the tensioning installation assembly 6 is fixedly connected to the fixed wheel assembly 9, the outer surface of the tensioning wheel assembly 7 is rollingly connected to the tensioning rope 14, the rear end of the tensioning wheel assembly 7 is fixedly connected to the tensioning guide rod 20, and the outer surface of the tensioning guide rod 20 is provided with a spring.

[0023] The interior of the movable platform rack 15 is provided with a rope fixing plate, an air circuit solenoid valve and fastening screws. 14 groups of tensioning ropes are cross-fixed on the upper and lower layers of the movable platform rack 15. Each layer has eight groups of tensioning ropes 14 in four directions. When the movable platform rack 15 moves to a certain point of transportation, the air circuit solenoid valve is controlled to connect the suction cup 17 at the lower end of the actuator 16 to the goods, making the picking and placing of goods more stable.

[0024] Working principle: When there is a stacking task, the 3D camera 5 is started to take a three-dimensional photo of the goods to obtain the precise location information of the goods to be transferred, including the three-dimensional shape, size and specific location of the goods, and at the same time provide spatial positioning and navigation data for the active platform rack 15. After the vehicle moves to the stacking area, the laser ranging radar 21 receives the stacking signal of the system, locates the vehicle in the stacking area, and accurately calculates the car position and the stacking placement position with the help of the algorithm. The drive motor 12 is started and drives the drive assembly 13 to rotate through the reducer. The rotation of the drive assembly 13 changes the length of the tensioning rope 14 from the cable exit point of the fixed wheel assembly 9 to the moving platform rack 15, thereby pulling the moving platform rack 15 to move toward the cargo position.

[0025] The encoder feeds back the rotation angle of the drive motor 12 in real time, realizes the closed-loop control of the rotation of the drive motor 12, ensures the precise control of the retracted and released length of the tension rope 14, and enables the movable platform rack 15 to accurately reach above the goods. When the movable platform rack 15 moves to a certain point of transportation, the air circuit solenoid valve is controlled to connect the suction cup 17 at the lower end of the actuator 16 with the goods to complete the grabbing of the goods. After the movable platform rack 15 grabs the goods, the drive motor 12 continues to work, and according to the stacking placement position calculated by the laser ranging radar 21, the retracted and released length of the tension rope 14 is adjusted to transport the goods to the designated stacking position. After reaching the stacking position, the air circuit solenoid valve controls the suction cup 17 to release the goods to complete the stacking operation of the goods.

[0026] The staff can reach the high place of the equipment for maintenance and inspection work by driving the maintenance ladder 2 at the rear end of the column 1. The buffer rubber head 18 in the tensioning assembly and the spring on the outer surface of the tensioning guide rod 20 play a buffering and protective role, reducing the impact force of the equipment during operation and extending the service life of the equipment.

[0027] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A large-space-span palletizing and handling robot, comprising a driving column (1), characterized in that: A moving guide wheel (22) is arranged on the top of the driving column (1), the outer surface of the moving guide wheel (22) is rollingly connected to a tensioning rope (14), the front end of the tensioning rope (14) is fixedly connected to a moving platform frame (15), the lower surface of the moving platform frame (15) is fixedly connected to an actuator (16), the lower surface of the actuator (16) is fixedly connected to a suction cup (17), the number of the suction cups (17) is six and they are evenly distributed, the upper surface of the driving column (1) is fixedly connected to a second connecting rod (4), the upper surface of the second connecting rod (4) is fixedly connected to a first connecting rod (3), and the rear end of the driving column (1) is fixedly connected to a maintenance ladder (2); A linkage assembly is arranged inside the driving column (1), comprising a mounting plate (10), a driving motor (12), a support member (11) and a driving assembly (13); A tensioning assembly is arranged inside the driving column (1), comprising a tensioning mounting assembly (6), a tensioning wheel assembly (7), a connecting piece (8), a fixed wheel assembly (9), a buffer rubber head (18), a tensioning limit rod (19) and a tensioning guide rod (20).

2. A large-space-span palletizing and handling robot according to claim 1, characterized in that: A 3D camera (5) is fixedly connected to the side surface of the first connecting rod (3) to perform stereoscopic photography detection on the cargo and detect the precise position of the cargo to be loaded. The 3D camera (5) can provide three-dimensional shape and size information of the object, capture depth data, and perform spatial positioning and navigation on the moving platform frame (15).

3. The large-space-span palletizing and handling robot according to claim 1, characterized in that: The outer surface of the driving column (1) is provided with a laser ranging radar (21), and the laser ranging radar (21) is placed on a side close to the stacking area. When the vehicle moves to the stacking area and the system receives the stacking signal, the laser ranging radar (21) locates the vehicle in the stacking area. With the help of an algorithm, the position of the vehicle compartment can be accurately located, and the stacking placement position can be accurately calculated, so that loading of vans of various sizes can be completed.

4. The large-space-span palletizing and handling robot according to claim 1, characterized in that: The tensioning installation component (6) is installed on the inner side wall of the driving column (1); the front surface of the tensioning installation component (6) is fixedly connected to the tensioning limit rod (19); the front end of the tensioning limit rod (19) is fixedly connected to the buffer rubber head (18); and the front end of the tensioning installation component (6) is fixedly connected to the fixed wheel component (9).

5. The large-space-span palletizing and handling robot according to claim 1, characterized in that: The outer surface of the tension wheel assembly (7) is rollingly connected to the tension rope (14), the rear end of the tension wheel assembly (7) is fixedly connected to the tension guide rod (20), and the outer surface of the tension guide rod (20) is provided with a spring.

6. The large-space-span palletizing and handling robot according to claim 1, characterized in that: There are eight linkage components in total and they are evenly distributed inside the driving column (1); the upper surface of the mounting plate (10) is fixedly connected to the support member (11); the output end of the driving motor (12) is fixedly connected to the driving component (13) via a reducer; and the outer surface of the driving component (13) is rollingly connected to the tensioning rope (14).

7. The large-space-span palletizing and handling robot according to claim 1, characterized in that: The driving assembly (13) rotates so that the length of the tensioning rope (14) from the rope exit point of the fixed wheel assembly (9) to the moving platform frame (15) changes, thereby pulling the moving platform frame (15). The encoder feeds back the rotation angle of the driving motor (12) in real time, thereby realizing closed-loop control of the rotation of the driving motor (12), thereby achieving the accuracy of the rotation of the driving assembly (13) and realizing precise control of the retracted and extended length of the tensioning rope (14).

8. The large-space-span palletizing and handling robot according to claim 1, characterized in that: The movable platform frame (15) is provided with a cable fixing plate, an air circuit solenoid valve and fastening screws inside. A group of tensioning ropes (14) are cross-fixed on the upper and lower layers of the movable platform frame (15). Each layer is constrained by eight groups of tensioning ropes (14) in four directions. When the movable platform frame (15) moves to a certain point of transportation, the air circuit solenoid valve is controlled to connect the suction cup (17) at the lower end of the actuator (16) to the goods, so that the goods can be taken and placed more stably.

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