Automatic stacking device and method based on manipulator

Abstract

The invention discloses an automatic stacking device and method based on a mechanical arm and a conveying and cleaning assembly. The conveying and cleaning assembly is composed of a conveying base, a conveying motor, a rolling shaft, a conveying belt, a first sliding rail, a first sliding block, a cleaning base, a cleaning motor, a rotating rod, a cleaning rolling brush, a first air cylinder, a buffering clamping piece and a clamping plate. A conveying motor is fixedly connected to the conveying base, the output end of the conveying motor is fixedly connected to one end of a rolling shaft, and the other end of the rolling shaft is rotationally connected to the conveying base. According to the device, the conveying belt is cleaned through the conveying cleaning assembly, and stable operation of the conveying belt is guaranteed; cargo carrying is completed through the carrying assembly, the movement range is large, and the robot can be suitable for complex use scenes. The goods are positioned and adjusted through the placing assembly, so that the positioning precision is improved; the site is monitored through the monitoring assembly, the observation range of the camera is enlarged, and most conditions in the site can be observed.

Description

Technical Field

[0001] The present invention relates to the technical field of automated palletizing devices, and in particular to an automated palletizing device and method based on a robot. Background Art

[0002] Automated palletizing devices are an important technology in modern industry, especially in the field of logistics and warehousing. They realize the stacking of items through automated equipment or robots. Automated palletizing devices are widely used in various scenarios such as the back end of production lines, warehouse management and logistics industries. They provide strong support for the production and development of enterprises by improving production efficiency, reducing labor costs, and improving safety and accuracy. However, traditional automated palletizing devices still have shortcomings. First, traditional automated palletizing devices usually use conveyor belts to transmit goods, but they cannot automatically clean the conveyor belts and cannot effectively ensure the smooth operation of the conveyor belts; second, the manipulators used in traditional automated palletizing devices have a limited range of activities and cannot be applied to more complex usage scenarios; third, traditional automated palletizing devices usually use manipulators to carry goods and perform rough positioning, and the positioning accuracy is insufficient, making it difficult to ensure the neatness of stacking; fourth, cameras are used in traditional automated palletizing devices to monitor the site, but the observation range of the cameras is limited and most of the situations in the site cannot be observed; therefore, it is necessary to design an automated palletizing device and method based on manipulators. Summary of the invention

[0003] The object of the present invention is to provide an automated palletizing device and method based on a robot to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic palletizing device based on a manipulator, comprising a conveying and cleaning component, wherein the conveying and cleaning component consists of a conveying base, a conveying motor, a roller, a conveyor belt, a first slide rail, a first slider, a cleaning base, a cleaning motor, a rotating rod, a cleaning roller brush, a first cylinder, a buffer card and a card plate, the conveying base is fixedly connected to the conveying motor, the output end of the conveying motor is fixedly connected to one end of the roller, the other end of the roller is rotatably connected to the conveying base, the conveying base is fixedly connected to the floor, the second cylinder in the handling component is fixedly connected to the floor, the output end of the second cylinder is fixedly connected to the first sliding base, the first sliding base is slidably connected to the second slide rail, the second slide rail is fixedly connected to the floor, the placing base in the placing component is fixedly connected to the floor, one end of the damper is fixedly connected to the placing base, a shock-absorbing spring is fixedly connected to the damper, the seventh cylinder in the monitoring component is fixedly connected to the floor, and the output end of the seventh cylinder is fixedly connected to the second sliding base.

[0005] As a further technical solution of the present invention, a first slide rail is fixedly connected to the conveying base, a first slider is slidably connected to the first slide rail, a cleaning base is fixedly connected to the first slider, a cleaning motor is fixedly connected to the cleaning base, the output end of the cleaning motor passes through the cleaning base and is fixedly connected to one end of a rotating rod, the other end of the rotating rod is rotatably connected to the cleaning base, a cleaning roller brush is rotatably connected to the rotating rod, the cleaning roller brush is tightly attached to the conveyor belt, the conveyor belt is connected to a roller through a latching gear engagement, a buffer card is fixedly connected to one end of the rotating rod, the buffer card is tightly attached to the card plate, the card plate is fixedly connected to the conveying base, a first cylinder is fixedly connected to the conveying base, and the output end of the first cylinder is fixedly connected to the first slider.

[0006] As a further technical solution of the present invention, the transport assembly is composed of a second cylinder, a first sliding base, a second slide rail, a first transport motor, a rotating base, a second transport motor, a first rotating arm, a third transport motor, a connecting piece, a fourth transport motor, a third cylinder, a transport base, a fifth transport motor, a transport frame, a vacuum pump and a transport suction cup. The first sliding base is fixedly connected to the first transport motor, the output end of the first transport motor is fixedly connected to the rotating base, the rotating base is fixedly connected to the second transport motor, the output end of the second transport motor passes through the rotating base and is fixedly connected to the first rotating arm, and the first rotating arm is rotatably connected to the On the rotating base, the output end of the third transport motor is fixedly connected to the first rotating arm, the third transport motor is fixedly connected to one end of the connecting piece, the other end of the connecting piece is fixedly connected to the fourth transport motor, the output end of the fourth transport motor is fixedly connected to the third cylinder, the output end of the third cylinder is fixedly connected to the transport base, the transport base is fixedly connected with the fifth transport motor, the fifth transport motor penetrates the transport base and is fixedly connected to the transport frame, the transport frame is rotatably connected to the transport base, the transport frame is fixedly connected with a vacuum pump, the output end of the vacuum pump penetrates the transport frame and is fixedly connected to the transport suction cup, and the transport suction cup is fixedly connected to the transport frame.

[0007] As a further technical solution of the present invention, the placement assembly is composed of a placement base, a damper, a placement plate, a shock-absorbing spring, a fourth cylinder, a second slider, a third slide rail, a fifth cylinder, a positioning base, a sixth cylinder, a positioning piece, a telescopic rod and a sleeve rod. One end of the damper is fixedly connected to the placement plate, the placement plate is slidably connected to the placement base, the fourth cylinder is symmetrically fixedly connected to the placement base, the output end of the fourth cylinder is fixedly connected to the second slider, the second slider is slidably connected to the third slide rail, the third slide rail is fixedly connected to the placement base, the second slider is fixedly connected to the fifth cylinder, the output end of the fifth cylinder is fixedly connected to the positioning base, the positioning base is fixedly connected to the sixth cylinder, the output end of the sixth cylinder is fixedly connected to the positioning piece, the positioning base is fixedly connected to the telescopic rod, the telescopic rod is slidably connected to the sleeve rod, and the sleeve rod is fixedly connected to the second slider.

[0008] As a further technical solution of the present invention, the monitoring component is composed of a seventh cylinder, a second sliding base, a slide groove, a servo motor, a worm gear reducer, a screw, a monitoring base, a monitoring motor and a camera. The second sliding base is slidably connected to the slide groove, and the slide groove is opened on the floor. The second sliding base is fixedly connected to a servo motor, and the output end of the servo motor is fixedly connected to the input end of the worm gear reducer. The worm gear reducer is fixedly connected to the second sliding base, and the output end of the worm gear reducer is fixedly connected to the screw rod. The screw rod has a monitoring base connected by a ball nut embedded internally. The monitoring base is fixedly connected to the monitoring motor, and the output end of the monitoring motor passes through the monitoring base and is fixedly connected to the camera, and the camera is rotatably connected to the monitoring base.

[0009] An automated palletizing method based on a manipulator comprises the following steps: step one, cleaning; step two, transporting; step three, positioning; step four, monitoring;

[0010] In the above step 1, the transport path of the items is automatically cleaned;

[0011] In the above step 2, the items are automatically transported;

[0012] In the above step 3, the position of the items to be palletized is determined;

[0013] In the above step 4, the area of ​​the workplace is monitored and checked.

[0014] As a further technical solution of the present invention, in the step one, the roller and the conveyor belt are driven to move by the output of the conveying motor, and the rotating rod and the cleaning roller brush are driven to move by the output of the cleaning motor, until the buffer clamp installed on the rotating rod is tightly attached to the clamping plate, so that the cleaning roller brush is tightly attached to the conveyor belt at this time, and at the same time, the first slider is driven to move on the first slide rail by the output of the first cylinder, thereby driving the cleaning roller brush to move on the conveyor belt, and the conveyor belt is cleaned by the cleaning roller brush. After cleaning, the rotating rod and the cleaning roller brush are retracted by the output of the cleaning motor.

[0015] As a further technical solution of the present invention, in the step two, the first transport motor of the first sliding base is driven to move by the output of the second cylinder, the rotating base is driven to move by the output of the first transport motor, the first rotating arm is driven to move by the output of the second transport motor, the connecting piece and the fourth transport motor are driven to move by the output of the third transport motor, the third cylinder is driven to move by the output of the fourth transport motor, the transport base and the fifth transport motor are driven to move by the output of the third cylinder, the transport frame, the vacuum pump and the transport suction cup are driven to move by the output of the fifth transport motor, the transport suction cup is driven to work by the vacuum pump, and the transport suction cup is used to complete the transport of goods.

[0016] As a further technical solution of the present invention, in the step three, when the goods are transported from the conveyor belt to the placement plate by using the transport suction cup, the damper and the shock-absorbing spring are used to absorb vibration, and at the same time, the second slider, the sleeve rod and the fifth cylinder are driven to move by the output of the fourth cylinder, the positioning base, the sixth cylinder, the telescopic rod and the sleeve rod are driven to move by the output of the fifth cylinder, and the positioning piece is driven to move by the output of the sixth cylinder, and the goods are positioned and adjusted by the positioning piece.

[0017] As a further technical solution of the present invention, in the step four, during the transportation and positioning process, the second sliding base and the servo motor are driven to move by the seventh cylinder, the servo motor drives the worm gear reducer to work, the worm gear reducer drives the screw, the monitoring base and the monitoring motor to move, and at the same time, the output of the monitoring motor drives the camera to move, and the camera is used to monitor the site.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: when the conveyor belt needs to be cleaned, the output of the conveying motor drives the roller and the conveyor belt to move, and at the same time, the output of the cleaning motor drives the rotating rod and the cleaning roller brush to move until the buffer clamp installed on the rotating rod is tightly attached to the clamping plate, so that the cleaning roller brush is tightly attached to the conveyor belt at this time, and at the same time, the output of the first cylinder drives the first slider to move on the first slide rail, thereby driving the cleaning roller brush to move on the conveyor belt, and the conveyor belt is cleaned by the cleaning roller brush to ensure the smooth operation of the conveyor belt; when the goods need to be transported, the first transport motor of the first sliding base is driven to move by the output of the second cylinder, the rotating base is driven to move by the output of the first transport motor, the first rotating arm is driven to move by the output of the second transport motor, the connecting piece and the fourth transport motor are driven to move by the output of the third transport motor, the third cylinder is driven to move by the output of the fourth transport motor, and the output of the third cylinder is driven to move. The transport base and the fifth transport motor are driven to move, and the transport frame, the vacuum pump and the transport suction cup are driven to move through the output of the fifth transport motor, and the transport suction cup is driven to work through the vacuum pump, and the transport suction cup is used to complete the transport of the goods, and the range of movement is large, which can be suitable for more complex usage scenarios; when the goods need to be positioned, the second slider, the sleeve rod and the fifth cylinder are driven to move through the output of the fourth cylinder, and the positioning base, the sixth cylinder, the telescopic rod and the sleeve rod are driven to move through the output of the fifth cylinder, and the positioning member is driven to move through the output of the sixth cylinder, and the positioning of the goods is adjusted through the positioning member, thereby improving the positioning accuracy; when observing the process, the second sliding base and the servo motor are driven to move through the seventh cylinder, and the worm gear reducer is driven to work through the servo motor, and the screw rod, the monitoring base and the monitoring motor are driven to move by the worm gear reducer, and the camera is driven to move through the output of the monitoring motor, and the site is monitored by the camera. The observation range of the camera becomes larger, and most of the conditions in the site can be observed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 for Figure 1 A magnified view of the local structure of area A in the middle;

[0021] Figure 3 for Figure 1 A magnified view of the local structure of the middle B area;

[0022] Figure 4 It is a schematic diagram of the position of the shock absorbing spring in the present invention;

[0023] Figure 5The figure is a flow chart of the method of the present invention.

[0024] In the figure: 1, conveying cleaning component; 3, handling component; 5, placing component; 7, monitoring component; 11, conveying base; 12, conveying motor; 13, roller; 14, conveyor belt; 15, first slide rail; 16, first slider; 17, cleaning base; 18, cleaning motor; 19, rotating rod; 20, cleaning roller brush; 21, first cylinder; 22, buffer card; 23, card plate; 31, second cylinder; 32, first sliding base; 33, second slide rail; 34, first conveying motor; 35, rotating base; 36, second conveying motor; 37, first rotating arm; 38, third conveying motor; 39, connecting piece; 40, fourth conveying motor; 4 1. The third cylinder; 42. The transport base; 43. The fifth transport motor; 44. The transport frame; 45. The vacuum pump; 46. The transport suction cup; 51. The placement base; 52. The damper; 53. The placement plate; 54. The shock-absorbing spring; 55. The fourth cylinder; 56. The second slider; 57. The third slide rail; 58. The fifth cylinder; 59. The positioning base; 60. The sixth cylinder; 61. The positioning piece; 62. The telescopic rod; 63. The sleeve rod; 71. The seventh cylinder; 72. The second sliding base; 73. The slide groove; 74. The servo motor; 75. The worm gear reducer; 76. The screw; 77. The monitoring base; 78. The monitoring motor; 79. The camera; 90. The floor. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Please see attached Figure 1 -Attached Figure 4An embodiment of the present invention is as follows: an automated palletizing device based on a manipulator comprises a conveying cleaning component 1, the conveying cleaning component 1 comprises a conveying base 11, a conveying motor 12, a roller 13, a conveyor belt 14, a first slide rail 15, a first slider 16, a cleaning base 17, a cleaning motor 18, a rotating rod 19, a cleaning roller brush 20, a first cylinder 21, a buffer card 22 and a card plate 23. The conveying base 11 is fixedly connected with the conveying motor 12, the output end of the conveying motor 12 is fixedly connected to one end of the roller 13, the other end of the roller 13 is rotatably connected to the conveying base 11, the conveying base 11 is fixedly connected to a floor 90, the floor 90 is fixedly connected with a second cylinder 31 in a handling component 3, the output end of the second cylinder 31 is fixedly connected to the floor 90, and the output end of the second cylinder 31 is fixedly connected to the floor 90. The first end of the transmission base 11 is fixedly connected to the first sliding base 32, the first sliding base 32 is slidably connected to the second slide rail 33, the second slide rail 33 is fixedly connected to the floor 90, the floor 90 is fixedly connected with the placement base 51 in the placement component 5, the placement base 51 is fixedly connected to one end of the damper 52, the damper 52 is fixedly connected to the shock absorbing spring 54, the floor 90 is fixedly connected with the seventh cylinder 71 in the monitoring component 7, the output end of the seventh cylinder 71 is fixedly connected to the second sliding base 72, the transmission base 11 is fixedly connected to the first slide rail 15, the first slide rail 15 is slidably connected to the first slider 16, the first slider 16 is fixedly connected to the cleaning base 17, the cleaning base 17 is fixedly connected to the cleaning motor 18, the cleaning motor 18 The output end passes through the cleaning base 17 and is fixedly connected to one end of the rotating rod 19. The other end of the rotating rod 19 is rotatably connected to the cleaning base 17. A cleaning roller brush 20 is rotatably connected to the rotating rod 19. The cleaning roller brush 20 is tightly attached to the conveyor belt 14. The conveyor belt 14 is connected to the roller 13 through a toothed engagement. A buffer card 22 is fixedly connected to one end of the rotating rod 19. The buffer card 22 is tightly attached to the card plate 23. The card plate 23 is fixedly connected to the conveying base 11. The conveying base 11 is fixedly connected to the first cylinder 21. The output end of the first cylinder 21 is fixedly connected to the first slider 16. The conveying assembly 3 consists of a second cylinder 31, a first sliding base 32, a second slide rail 33, a first conveying motor 34, a rotating base 35, and a second conveying motor 36. , a first rotating arm 37, a third transport motor 38, a connecting piece 39, a fourth transport motor 40, a third cylinder 41, a transport base 42, a fifth transport motor 43, a transport frame 44, a vacuum pump 45 and a transport suction cup 46. The first sliding base 32 is fixedly connected to the first transport motor 34, the output end of the first transport motor 34 is fixedly connected to the rotating base 35, the rotating base 35 is fixedly connected to the second transport motor 36, the output end of the second transport motor 36 passes through the rotating base 35 and is fixedly connected to the first rotating arm 37, the first rotating arm 37 is rotatably connected to the rotating base 35, the output end of the third transport motor 38 is fixedly connected to the first rotating arm 37, and the third transport motor 38 is fixedly connected to one end of the connecting piece 39.The other end of the connecting member 39 is fixedly connected to a fourth transport motor 40, the output end of the fourth transport motor 40 is fixedly connected to the third cylinder 41, the output end of the third cylinder 41 is fixedly connected to the transport base 42, the transport base 42 is fixedly connected to a fifth transport motor 43, the fifth transport motor 43 penetrates the transport base 42 and is fixedly connected to a transport frame 44, the transport frame 44 is rotatably connected to the transport base 42, the transport frame 44 is fixedly connected to a vacuum pump 45, the output end of the vacuum pump 45 penetrates the transport frame 44 and is fixedly connected to a transport suction cup 46, the transport suction cup 46 is fixedly connected to the transport frame 44, and the placement assembly 5 is composed of a placement base 51, a damper 52 , a placing plate 53, a shock absorbing spring 54, a fourth cylinder 55, a second slider 56, a third slide rail 57, a fifth cylinder 58, a positioning base 59, a sixth cylinder 60, a positioning member 61, a telescopic rod 62 and a sleeve rod 63. One end of the damper 52 is fixedly connected to the placing plate 53. The placing plate 53 is slidably connected to the placing base 51. The placing base 51 is symmetrically fixedly connected with the fourth cylinder 55. The output end of the fourth cylinder 55 is fixedly connected to the second slider 56. The second slider 56 is slidably connected to the third slide rail 57. The third slide rail 57 is fixedly connected to the placing base 51. The second slider 56 is fixedly connected with the fifth cylinder 58. The output end of the fifth cylinder 58 is fixedly connected to the second slider 56. The output end is fixedly connected to the positioning base 59, the positioning base 59 is fixedly connected with the sixth cylinder 60, the output end of the sixth cylinder 60 is fixedly connected to the positioning member 61, the positioning base 59 is fixedly connected with a telescopic rod 62, the telescopic rod 62 is slidably connected to the sleeve rod 63, the sleeve rod 63 is fixedly connected to the second slider 56, the monitoring assembly 7 is composed of the seventh cylinder 71, the second sliding base 72, the slide 73, the servo motor 74, the worm reducer 75, the screw 76, the monitoring base 77, the monitoring motor 78 and the camera 79, the second sliding base 72 is slidably connected to the slide 73, the slide 73 is opened on the floor 90, and the second sliding base 72 is fixedly connected to the second slider 56. A servo motor 74 is fixedly connected, and the output end of the servo motor 74 is fixedly connected to the input end of the worm gear reducer 75. The worm gear reducer 75 is fixedly connected to the second sliding base 72. The output end of the worm gear reducer 75 is fixedly connected to the screw rod 76. The screw rod 76 has a monitoring base 77 connected by a ball nut embedded inside. The monitoring base 77 is fixedly connected to the monitoring motor 78. The output end of the monitoring motor 78 penetrates the monitoring base 77 and is fixedly connected to the camera 79. The camera 79 is used to observe the situation in the venue. The camera 79 is rotatably connected to the monitoring base 77, and the monitoring base 77 is used to provide support for the camera 79.

[0027] Please see attached Figure 5 , an embodiment provided by the present invention: an automated palletizing method based on a robot, comprising the following steps: step one, cleaning; step two, transporting; step three, positioning; step four, monitoring;

[0028] In the above step 1, the roller 13 and the conveyor belt 14 are driven to move by the output of the conveying motor 12, and the rotating rod 19 and the cleaning roller brush 20 are driven to move by the output of the cleaning motor 18, until the buffer clamp 22 installed on the rotating rod 19 is tightly attached to the clamping plate 23, so that the cleaning roller brush 20 is now tightly attached to the conveyor belt 14, and the first slider 16 is driven to move on the first slide rail 15 by the output of the first cylinder 21, thereby driving the cleaning roller brush 20 to move on the conveyor belt 14, and the conveyor belt 14 is cleaned by the cleaning roller brush 20. After cleaning, the rotating rod 19 and the cleaning roller brush 20 are retracted by the output of the cleaning motor 18;

[0029] In the above step 2, the first transport motor 34 of the first sliding base 32 is driven to move by the output of the second cylinder 31, the rotating base 35 is driven to move by the output of the first transport motor 34, the first rotating arm 37 is driven to move by the output of the second transport motor 36, the connecting member 39 and the fourth transport motor 40 are driven to move by the output of the third transport motor 38, the third cylinder 41 is driven to move by the output of the fourth transport motor 40, the transport base 42 and the fifth transport motor 43 are driven to move by the output of the third cylinder 41, the transport frame 44, the vacuum pump 45 and the transport suction cup 46 are driven to move by the output of the fifth transport motor 43, the transport suction cup 46 is driven to work by the vacuum pump 45, and the transport suction cup 46 is used to complete the transport of goods;

[0030] In the above step three, when the goods are transported from the conveyor belt 14 to the placement plate 53 by the transport suction cup 46, the damper 52 and the shock-absorbing spring 54 are used to absorb vibration, and at the same time, the second slider 56, the sleeve rod 63 and the fifth cylinder 58 are driven to move by the output of the fourth cylinder 55, and the positioning base 59, the sixth cylinder 60, the telescopic rod 62 and the sleeve rod 63 are driven to move by the output of the fifth cylinder 58, and the positioning member 61 is driven to move by the output of the sixth cylinder 60, and the positioning member 61 is used to adjust the positioning of the goods;

[0031] In the above step four, during the transportation and positioning process, the second sliding base 72 and the servo motor 74 are driven to move by the seventh cylinder 71, the servo motor 74 drives the worm gear reducer 75 to work, the worm gear reducer 75 drives the screw 76, the monitoring base 77 and the monitoring motor 78 to move, and at the same time, the output of the monitoring motor 78 drives the camera 79 to move, and the camera 79 is used to monitor the site.

[0032] Working principle: When the conveyor belt 14 needs to be cleaned, the roller 13 and the conveyor belt 14 are driven to move by the output of the conveying motor 12, and the rotating rod 19 and the cleaning roller brush 20 are driven to move by the output of the cleaning motor 18, until the buffer clamp 22 installed on the rotating rod 19 is tightly attached to the clamp 23, so that the cleaning roller brush 20 is tightly attached to the conveyor belt 14, and the first slider 16 is driven to move on the first slide rail 15 by the output of the first cylinder 21, thereby driving the cleaning roller brush 20 to move on the conveyor belt 14, and the conveyor belt 14 is cleaned by the cleaning roller brush 20. , ensuring the smooth operation of the conveyor belt 14; when it is necessary to transport goods, the first transport motor 34 of the first sliding base 32 is driven to move by the output of the second cylinder 31, the rotating base 35 is driven to move by the output of the first transport motor 34, the first rotating arm 37 is driven to move by the output of the second transport motor 36, the connecting member 39 and the fourth transport motor 40 are driven to move by the output of the third transport motor 38, the third cylinder 41 is driven to move by the output of the fourth transport motor 40, and the transport base 42 and the fifth transport motor 43 are driven by the output of the third cylinder 41. The transport frame 44, the vacuum pump 45 and the transport suction cup 46 are driven to move by the output of the fifth transport motor 43, and the transport suction cup 46 is driven to work by the vacuum pump 45, and the transport suction cup 46 is used to complete the transport of the goods, and the range of movement is large, which can be applied to more complex usage scenarios; when the goods need to be positioned, the second slider 56, the sleeve rod 63 and the fifth cylinder 58 are driven to move by the output of the fourth cylinder 55, and the positioning base 59, the sixth cylinder 60, the telescopic rod 62 and the sleeve rod 63 are driven to move by the output of the fifth cylinder 58, and the output of the sixth cylinder 60 drives the The positioning member 61 moves, and the positioning of the goods is adjusted by the positioning member 61, thereby improving the positioning accuracy; when observing the process, the second sliding base 72 and the servo motor 74 are driven to move by the seventh cylinder 71, and the servo motor 74 drives the worm gear reducer 75 to work, and the worm gear reducer 75 drives the screw rod 76, the monitoring base 77 and the monitoring motor 78 to move, and at the same time, the output of the monitoring motor 78 drives the camera 79 to move, and the camera 79 is used to monitor the site, and the observation range of the camera 79 becomes larger, so that most of the conditions in the site can be observed.

[0033] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automated palletizing device based on a robot, comprising a conveying cleaning component (1), characterized in that: The conveying cleaning assembly (1) is composed of a conveying base (11), a conveying motor (12), a roller (13), a conveyor belt (14), a first slide rail (15), a first slide block (16), a cleaning base (17), a cleaning motor (18), a rotating rod (19), a cleaning roller brush (20), a first cylinder (21), a buffer clamp (22) and a clamping plate (23); the conveying base (11) is fixedly connected to the conveying motor (12); the output end of the conveying motor (12) is fixedly connected to one end of the roller (13); the other end of the roller (13) is rotatably connected to the conveying base (11); the conveying base (11) is fixedly connected to the floor (90); the floor (90) is fixedly connected to the cleaning roller brush (20); The second cylinder (31) in the transport component (3) is connected, the output end of the second cylinder (31) is fixedly connected to the first sliding base (32), the first sliding base (32) is slidably connected to the second slide rail (33), the second slide rail (33) is fixedly connected to the floor (90), the placement base (51) in the placement component (5) is fixedly connected to the floor (90), one end of the damper (52) is fixedly connected to the placement base (51), the damper (52) is fixedly connected to the shock absorbing spring (54), the seventh cylinder (71) in the monitoring component (7) is fixedly connected to the floor (90), and the output end of the seventh cylinder (71) is fixedly connected to the second sliding base (72).

2. The automatic palletizing device based on a robot according to claim 1, characterized in that: The conveying base (11) is fixedly connected with a first slide rail (15), the first slide rail (15) is slidably connected with a first slider (16), the first slider (16) is fixedly connected with a cleaning base (17), the cleaning base (17) is fixedly connected with a cleaning motor (18), the output end of the cleaning motor (18) passes through the cleaning base (17) and is fixedly connected to one end of a rotating rod (19), the other end of the rotating rod (19) is rotatably connected to the cleaning base (17), and the rotating rod (19) is rotatably connected to the cleaning base (17). A cleaning roller brush (20) is connected, the cleaning roller brush (20) is closely attached to the conveyor belt (14), the conveyor belt (14) is connected to the roller (13) through a toothed engagement, a buffer clamp (22) is fixedly connected to one end of the rotating rod (19), the buffer clamp (22) is closely attached to a clamping plate (23), the clamping plate (23) is fixedly connected to the conveying base (11), the conveying base (11) is fixedly connected to a first cylinder (21), and the output end of the first cylinder (21) is fixedly connected to the first slider (16).

3. The automatic palletizing device based on a robot according to claim 1, characterized in that: The transport assembly (3) is composed of a second cylinder (31), a first sliding base (32), a second slide rail (33), a first transport motor (34), a rotating base (35), a second transport motor (36), a first rotating arm (37), a third transport motor (38), a connecting piece (39), a fourth transport motor (40), a third cylinder (41), a transport base (42), a fifth transport motor (43), a transport frame (44), a vacuum pump (45) and a transport suction cup (46). The first sliding base (32) is fixedly connected to the first transport motor (34), an output end of the first transport motor (34) is fixedly connected to the rotating base (35), a second transport motor (36) is fixedly connected to the rotating base (35), an output end of the second transport motor (36) passes through the rotating base (35) and is fixedly connected to the first rotating arm (37), and the first rotating arm (37) is rotatably connected to the rotating base. (35), the output end of a third transport motor (38) is fixedly connected to the first rotating arm (37), the third transport motor (38) is fixedly connected to one end of a connecting piece (39), the other end of the connecting piece (39) is fixedly connected to a fourth transport motor (40), the output end of the fourth transport motor (40) is fixedly connected to a third cylinder (41), the output end of the third cylinder (41) is fixedly connected to a transport base (42), a fifth transport motor (43) is fixedly connected to the transport base (42), the fifth transport motor (43) passes through the transport base (42) and is fixedly connected to a transport frame (44), the transport frame (44) is rotatably connected to the transport base (42), a vacuum pump (45) is fixedly connected to the transport frame (44), the output end of the vacuum pump (45) passes through the transport frame (44) and is fixedly connected to a transport suction cup (46), and the transport suction cup (46) is fixedly connected to the transport frame (44).

4. The automatic palletizing device based on a robot according to claim 1, characterized in that: The placement assembly (5) is composed of a placement base (51), a damper (52), a placement plate (53), a shock absorbing spring (54), a fourth cylinder (55), a second slider (56), a third slide rail (57), a fifth cylinder (58), a positioning base (59), a sixth cylinder (60), a positioning member (61), a telescopic rod (62) and a sleeve rod (63); one end of the damper (52) is fixedly connected to the placement plate (53); the placement plate (53) is slidably connected to the placement base (51); the fourth cylinder (55) is symmetrically fixedly connected to the placement base (51); the output end of the fourth cylinder (55) is fixedly connected to the second slider (56), the second slider (56) is slidably connected to the third slider (57), the third slider (57) is fixedly connected to the placement base (51), the second slider (56) is fixedly connected to a fifth cylinder (58), the output end of the fifth cylinder (58) is fixedly connected to a positioning base (59), the positioning base (59) is fixedly connected to a sixth cylinder (60), the output end of the sixth cylinder (60) is fixedly connected to a positioning member (61), the positioning base (59) is fixedly connected to a telescopic rod (62), the telescopic rod (62) is slidably connected to a sleeve rod (63), and the sleeve rod (63) is fixedly connected to the second slider (56).

5. The automatic palletizing device based on a robot according to claim 1, characterized in that: The monitoring assembly (7) is composed of a seventh cylinder (71), a second sliding base (72), a slide groove (73), a servo motor (74), a worm gear reducer (75), a screw (76), a monitoring base (77), a monitoring motor (78) and a camera (79), wherein the second sliding base (72) is slidably connected to the slide groove (73), the slide groove (73) is provided on the floor (90), the second sliding base (72) is fixedly connected to the servo motor (74), and the output end of the servo motor (74) is fixedly connected to the worm gear reducer. On the input end of the gear reducer (75), the worm gear reducer (75) is fixedly connected to the second sliding base (72), the output end of the worm gear reducer (75) is fixedly connected to the screw rod (76), the screw rod (76) is provided with a monitoring base (77) connected by a ball nut embedded inside, the monitoring base (77) is fixedly connected with a monitoring motor (78), the output end of the monitoring motor (78) passes through the monitoring base (77) and is fixedly connected to the camera (79), and the camera (79) is rotatably connected to the monitoring base (77).

6. An automated palletizing method based on a robot, comprising the following steps: Step 1: cleaning; Step 2: transporting; Step 3: positioning; Step 4: monitoring; the characteristics are: In the above step 1, the transport path of the items is automatically cleaned; In the above step 2, the items are automatically transported; In the above step 3, the position of the items to be palletized is determined; In the above step 4, the area of ​​the workplace is monitored and checked.

7. The method for automated palletizing based on a robot according to claim 6, characterized in that: In the step 1, the roller (13) and the conveyor belt (14) are driven to move by the output of the conveying motor (12), and the rotating rod (19) and the cleaning roller brush (20) are driven to move by the output of the cleaning motor (18) until the buffer clamp (22) installed on the rotating rod (19) is in close contact with the clamping plate (23), so that the cleaning roller brush (20) is in close contact with the conveyor belt (14). At the same time, the first slider (16) is driven to move on the first slide rail (15) by the output of the first cylinder (21), thereby driving the cleaning roller brush (20) to move on the conveyor belt (14), and the conveyor belt (14) is cleaned by the cleaning roller brush (20). After the cleaning is completed, the rotating rod (19) and the cleaning roller brush (20) are retracted by the output of the cleaning motor (18).

8. The method of automatic palletizing based on a robot according to claim 6, characterized in that: In the step 2, the first transport motor (34) of the first sliding base (32) is driven to move by the output of the second cylinder (31), the rotating base (35) is driven to move by the output of the first transport motor (34), the first rotating arm (37) is driven to move by the output of the second transport motor (36), the connecting member (39) and the fourth transport motor (40) are driven to move by the output of the third transport motor (38), the third cylinder (41) is driven to move by the output of the fourth transport motor (40), the transport base (42) and the fifth transport motor (43) are driven to move by the output of the third cylinder (41), the transport frame (44), the vacuum pump (45) and the transport suction cup (46) are driven to move by the output of the fifth transport motor (43), the transport suction cup (46) is driven to work by the vacuum pump (45), and the transport suction cup (46) is used to complete the transport of goods.

9. The method of automatic palletizing based on a robot according to claim 6, characterized in that: In the step three, when the goods are transported from the conveyor belt (14) to the placement plate (53) by using the transport suction cup (46), the damper (52) and the shock-absorbing spring (54) are used to absorb vibration, and at the same time, the second slider (56), the sleeve rod (63) and the fifth cylinder (58) are driven to move by the output of the fourth cylinder (55), and the positioning base (59), the sixth cylinder (60), the telescopic rod (62) and the sleeve rod (63) are driven to move by the output of the fifth cylinder (58), and the positioning member (61) is driven to move by the output of the sixth cylinder (60), and the positioning member (61) is used to adjust the positioning of the goods.

10. The method for automated palletizing based on a robot according to claim 6, characterized in that: In the step 4, during the transportation and positioning process, the second sliding base (72) and the servo motor (74) are driven to move by the seventh cylinder (71), the servo motor (74) drives the worm gear reducer (75) to work, the worm gear reducer (75) drives the screw rod (76), the monitoring base (77) and the monitoring motor (78) to move, and the output of the monitoring motor (78) drives the camera (79) to move, and the camera (79) is used to monitor the site.

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