Stacking device for conveying building materials

Abstract

The invention provides a stacking device for conveying building materials, which comprises a track and a movable chassis arranged on the track, one side of the movable chassis is provided with a six-axis mechanical arm, and the other side of the movable chassis is provided with a counterweight device; the counterweight device comprises a guide rail and a counterweight block, the counterweight block is driven by the driving mechanism to move along the guide rail, encoders are arranged on a first shaft, a second shaft and a third shaft of the six-shaft mechanical arm respectively, and the driving mechanism gives displacement corresponding to the counterweight block according to joint angle signals fed back by the encoders; the driving mechanism comprises a sliding block lead screw, a rotary plunger pump is arranged at the tail end of the guide rail, a rotor of the rotary plunger pump is coaxially connected with the sliding block lead screw, a hydraulic damping cylinder in driving connection with the rotary plunger pump is further arranged at the tail end of the guide rail, and hydraulic supporting rods are connected to a second shaft and a fourth shaft of the six-shaft mechanical arm. The two connecting ends of the hydraulic supporting rod are universal hinge joints, and a hydraulic cavity of the hydraulic supporting rod is connected with the hydraulic damping cylinder through a high-pressure oil way.

Description

Technical Field

[0001] The invention relates to the technical field of building material handling devices, and in particular to a stacking device for conveying building materials. Background Art

[0002] The traditional palletizing device consists of a robotic arm system, a conveyor belt mechanism, a clamping end, a sensor group and a control system. The robotic arm mostly adopts a four-axis or six-axis joint structure, and is driven by a servo motor to complete three-dimensional spatial positioning. The conveyor belt is responsible for material transportation and unloading transmission, and the photoelectric sensor detects the material arrival signal. The clamping end is equipped with a vacuum suction cup or a mechanical gripper according to the characteristics of the goods. The control system realizes path planning based on PLC programming, and stacks the materials in layers according to the preset stacking type through the coordinate conversion algorithm. The stacking layers are staggered to enhance stability. The typical working cycle includes five action stages: grabbing, lifting, translation, lowering, and releasing.

[0003] The stacking of building materials needs to be improved in at least three aspects: 1. Develop a multi-modal clamping system, integrate electromagnetic clamps and adaptive mechanical claws, and add a pressure feedback module to the claws to prevent brittle materials from breaking; 2. Strengthen the support structure, use box-section steel beams for the columns, and configure a hydraulic leveling mechanism for the basic platform to improve the stability of large mass loads; 3. Add a mobile track chassis, realize longitudinal positioning along the construction axis through gear rack transmission, and realize dynamic alignment with a laser rangefinder. The working principle adopts a force and position hybrid control strategy to automatically adjust the gripping force and motion acceleration according to the material density.

[0004] However, the existing mobile chassis and robot arm of the palletizing device have inertial coupling problems. When performing high-speed palletizing operations, the reaction force generated by the movement of the robot arm can easily cause the chassis to move. Secondly, the current series structure of the six-axis joint has insufficient end stiffness when carrying heavy building materials, especially at the third and fourth axis connections, which are prone to elastic deformation. These two points will directly affect the quality and efficiency of palletizing. Summary of the invention

[0005] The present invention aims to solve the above-mentioned technical problems and provides a stacking device for conveying building materials.

[0006] The technical solution of the present invention is a stacking device for conveying building materials, which comprises a track and a mobile chassis arranged on the track, a six-axis mechanical arm is arranged on one side of the mobile chassis, and a counterweight device is arranged on the other side of the mobile chassis; The counterweight device comprises a guide rail parallel to the track and a counterweight block arranged on the guide rail, the counterweight block is driven by a driving mechanism to move along the guide rail, an encoder is respectively arranged on the first axis, the second axis, and the third axis of the six-axis robot arm, and the driving mechanism gives a displacement corresponding to the counterweight block according to the joint angle signals fed back by the encoders; The driving mechanism includes a slider screw drivingly connected to the counterweight block, a rotary piston pump is provided at the end of the guide rail, the rotor of the rotary piston pump is coaxially connected to the slider screw, and a hydraulic damping cylinder drivingly connected to the rotary piston pump is also provided at the end of the guide rail. Hydraulic support rods are connected at the second axis and the fourth axis of the six-axis robotic arm, and the two connecting ends of the hydraulic support rod are universal hinge joints. The hydraulic cavity of the hydraulic support rod is connected to the hydraulic damping cylinder through a high-pressure oil circuit, and a piezoelectric ceramic layer is provided at the piston of the hydraulic support rod. The driving mechanism also gives the displacement compensation amount corresponding to the counterweight block according to the stress signal fed back by the piezoelectric ceramic layer.

[0007] As an embodiment, the track is arranged on a base, a rack is also arranged on the base, a first motor is arranged on the mobile chassis, a driving shaft of the first motor passes through the mobile chassis and is connected to a gear, and the gear is meshed with the rack.

[0008] As an implementation manner, a motor cover is provided on the mobile chassis, and the motor cover covers the outer side of the first motor.

[0009] As an implementation mode, an explosion relief plate contacting the ground is provided at the bottom of the base.

[0010] As an embodiment, a robot arm base is provided on one side of the mobile chassis, the six-axis robot arm is arranged on the robot arm base, and the position of the robot arm base and the position of the counterweight device are symmetrical along the transverse axis of the mobile chassis.

[0011] As an embodiment, the driving mechanism also includes a second motor and a slide, the rotor of the second motor is coaxially connected to the slider screw, the slide is slidably connected to the guide rail, the counterweight is fixed on the slide, and the slider screw is drivingly connected to the counterweight via the slide.

[0012] As an implementation manner, the counterweight block is made of a high-density alloy, and the mass of the counterweight block is 30% to 50% of the maximum load of the six-axis robot arm.

[0013] As an implementation manner, the encoder is an absolute encoder.

[0014] As an embodiment, a shell extension bracket is provided at the second axis of the six-axis robot arm, and the lower end of the hydraulic support rod is connected to the shell extension bracket. A shell swivel is provided at the fourth axis of the six-axis robot arm, and the upper end of the hydraulic support rod is connected to the shell swivel.

[0015] As an implementation mode, anti-collision blocks are provided on both the front and rear sides of the mobile chassis.

[0016] Compared with the prior art, the present invention has the following beneficial effects: in order to improve the quality and efficiency of palletizing, the palletizing device for conveying building materials is provided with a driving mechanism of a counterweight device, which is linked with the six-axis robot arm. The first axis, the second axis, and the third axis of the six-axis robot arm are each provided with an encoder, and the joint angle signals fed back by these encoders can reflect the displacement of the robot arm along the longitudinal extension of the construction axis. The driving mechanism converts the linear motion of the robot arm into the reverse motion of the counterweight block accordingly. The overall torque of the mobile chassis of the six-axis robot arm is reset to zero when it is working, avoiding displacement and improving the quality of palletizing.

[0017] A hydraulic support rod is also added, which is connected to the second axis of the six-axis robot and the fourth axis of the six-axis robot. When the counterweight moves backward, the slider screw that drives the counterweight synchronously drives the rotary plunger pump to rotate mechanically. The high-pressure oil output by the rotary plunger pump forms a closed oil circuit system with the hydraulic damping cylinder. The change in oil pressure drives the hydraulic damping cylinder to move, so that the hydraulic support rod generates axial preload. The preload of the hydraulic support rod forms a triangular support structure between the upper arm and the lower arm, improves the joint stiffness, and greatly improves the bending resistance of the lower arm, thereby increasing the maximum working load of the six-axis robot and improving the efficiency of palletizing.

[0018] In addition, due to the closed oil circuit system formed by the hydraulic support rod and the hydraulic damping cylinder, when the robot arm moves at high speed, the reaction force generated by the preload is fed back to the counterweight through the oil circuit, forming an additional damping effect to suppress the vibration of the mobile chassis. In the event of a sudden impact load, the piezoelectric ceramic layer senses the stress mutation, triggering the counterweight to move quickly to compensate for the torque. The displacement of the counterweight simultaneously increases the preload of the hydraulic support rod, forming a bidirectional stiffness lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A first structural schematic diagram of a palletizing device for conveying building materials provided in an embodiment of the present invention; Figure 2 A second structural schematic diagram of a stacking device for conveying building materials provided in an embodiment of the present invention; Figure 3 Reason Figure 1 A partial enlarged view of a stacking device for conveying building materials provided in; Figure 4 A partially enlarged view of a palletizing device for conveying building materials provided in an embodiment of the present invention.

[0020] In the figure: 1. track; 2. mobile chassis; 3. six-axis robot arm; 4. counterweight device; 5. guide rail; 6. counterweight block; 7. driving mechanism; 8. encoder; 9. slider screw; 10. rotary piston pump; 11. hydraulic damping cylinder; 12. hydraulic support rod; 13. high-pressure oil circuit; 14. piezoelectric ceramic layer; 15. base; 16. rack; 17. first motor; 18. gear; 19. motor cover; 20. explosion-proof plate; 21. robot arm base; 22. second motor; 23. slide seat; 24. outer shell extension bracket; 25. outer shell swivel seat; 26. anti-collision block. DETAILED DESCRIPTION

[0021] The above and other embodiments and advantages of the present invention are described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments.

[0022] In one embodiment, Figures 1 to 3 shown.

[0023] The stacking device for conveying building materials provided in this embodiment includes a track 1 and a mobile chassis 2 arranged on the track 1, a six-axis robot 3 is arranged on one side of the mobile chassis 2, and a counterweight device 4 is arranged on the other side of the mobile chassis 2. The counterweight device 4 includes a guide rail 5 parallel to the track 1 and a counterweight block 6 arranged on the guide rail 5, and the counterweight block 6 is driven by a driving mechanism 7 to move along the guide rail 5. The first axis, the second axis, and the third axis of the six-axis robot 3 are each provided with an encoder 8, and the driving mechanism 7 gives the corresponding displacement of the counterweight block 6 according to the joint angle signals fed back by the encoders 8. The driving mechanism 7 includes a slider screw 9 which is drivingly connected to the counterweight 6, a rotary piston pump 10 is provided at the end of the guide rail 5, the rotor of the rotary piston pump 10 is coaxially connected to the slider screw 9, and a hydraulic damping cylinder 11 which is drivingly connected to the rotary piston pump 10 is also provided at the end of the guide rail 5. A hydraulic support rod 12 is connected to the second axis and the fourth axis of the six-axis robot 3, and the two connecting ends of the hydraulic support rod 12 are universal hinge joints. The hydraulic chamber of the hydraulic support rod 12 is connected to the hydraulic damping cylinder 11 through a high-pressure oil circuit 13, and a piezoelectric ceramic layer 14 is provided at the piston of the hydraulic support rod 12. The driving mechanism 7 also gives a displacement compensation amount corresponding to the counterweight 6 according to the stress signal fed back by the piezoelectric ceramic layer 14.

[0024] In this embodiment, the stacking device for conveying building materials is provided with a track 1 and a mobile chassis 2, and longitudinal positioning along the construction axis is achieved through a gear rack transmission. A six-axis robot arm 3 is used. It should be noted that the six-axis robot arm 3 has a series structure of six-axis joints, wherein the six axes are the base rotation axis (first axis), which is used to drive the whole machine to rotate around the Z axis; the lower arm pitch rotation axis (second axis), which is used to control the swing of the big arm in the vertical plane; the upper arm pitch rotation axis (third axis), which is used to control the swing of the forearm relative to the big arm; the forearm rotation axis (fourth axis), which is used to drive the wrist to rotate around its own axis; the wrist pitch rotation axis (fifth axis), which is used to adjust the end posture; the end rotation axis (sixth axis), which is used for final posture fine-tuning, and the end rotation axis is connected to the execution end fixture. Due to the needs of the working conditions, the rotation of the forearm rotation axis (fourth axis) does not exceed 180 degrees.

[0025] Based on this, in order to improve the quality and efficiency of palletizing, the stacking device for conveying building materials is equipped with a driving mechanism 7 of the counterweight device 4 and a linkage with the six-axis robot arm 3. Specifically, encoders 8 are provided on the first axis, the second axis, and the third axis of the six-axis robot arm 3. The joint angle signals fed back by these encoders 8 can reflect the displacement of the robot arm along the longitudinal extension of the construction axis. The driving mechanism 7 converts the linear motion of the robot arm into the reverse motion of the counterweight block. When the robot arm extends forward, a clockwise overturning moment M1=F×L1 (F=load gravity, L1=arm) is generated. The counterweight block moves backward to generate a counterclockwise balancing moment M2=G×L2 (G=counterweight gravity, L2=counterweight arm). When M1=M2, the overall torque of the mobile chassis 2 returns to zero, avoiding displacement and improving the quality of palletizing.

[0026] A hydraulic support rod 12 is also added, and the hydraulic support rod 12 is connected to the second axis of the six-axis robot arm 3 and the fourth axis of the six-axis robot arm 3. When the counterweight moves backward, the slider screw 9 that drives the counterweight synchronously drives the rotary plunger pump 10 to rotate mechanically. The high-pressure oil output by the rotary plunger pump 10 forms a closed oil circuit system with the hydraulic damping cylinder 11. The change in oil pressure drives the hydraulic damping cylinder 11 to move, so that the hydraulic support rod 12 generates an axial preload, and the preload can be adjusted according to actual needs. The preload of the hydraulic support rod 12 forms a triangular support structure between the upper arm and the lower arm, improves the joint stiffness, and greatly improves the bending resistance of the lower arm, thereby increasing the maximum working load of the six-axis robot arm 3 and improving the efficiency of stacking.

[0027] Among them, the closed oil circuit system formed by the hydraulic support rod 12 and the hydraulic damping cylinder 11, when the mechanical arm moves at high speed, the reaction force generated by the preload force is fed back to the counterweight block 6 through the oil circuit, forming an additional damping effect to suppress the vibration of the mobile chassis 2. When there is a sudden impact load, the piezoelectric ceramic layer 14 senses the stress mutation and triggers the counterweight block 6 to quickly move the compensation torque. The displacement of the counterweight block 6 simultaneously increases the preload force of the hydraulic support rod 12, forming a bidirectional stiffness lock.

[0028] Therefore, in this embodiment, the stacking device for conveying building materials is equipped with a counterweight device 4 and a hydraulic support rod 12, wherein the dynamic counterweight system reduces the unbalanced load of the chassis, providing a more stable base for the six-axis robot 3; and the enhanced joint stiffness reduces the response accuracy requirements of the counterweight compensation system, forming a positive synergistic effect. Through structural topology optimization, the maximum working load of the stacking device is increased, the efficiency of stacking is improved, the positioning repeatability accuracy of the system is improved, and the quality of stacking is improved.

[0029] In one embodiment, Figure 1 and Figure 4 shown.

[0030] The stacking device for conveying building materials provided in this embodiment has a track 1 arranged on a base 15, a rack 16 is also provided on the base 15, a first motor 17 is provided on the mobile chassis 2, a driving shaft of the first motor 17 passes through the mobile chassis 2 and is connected to a gear 18, and the gear 18 is meshed with the rack 16.

[0031] In this embodiment, the stacking device for conveying construction materials realizes precise positioning and driving of the mobile chassis 2 on the track 1 through the transmission system of the rack 16 and the gear 18. The first motor 17 provides controllable power output to ensure that the mobile chassis 2 has a positioning accuracy of ±5 cm when moving longitudinally along the construction axis. At the same time, the rack meshing structure has higher load-bearing capacity and anti-slip stability than traditional chain and belt transmission, and is suitable for the high load requirements of construction material transportation.

[0032] In one embodiment, Figure 4 shown.

[0033] The palletizing device for transporting building materials provided in this embodiment has a motor cover 19 on its movable chassis 2 , and the motor cover 19 covers the outer side of the first motor 17 .

[0034] In this embodiment, the motor cover 19 of the stacking device for conveying building materials forms a semi-enclosed protection for the first motor 17, preventing pollutants such as construction site dust and cement slurry from invading the interior of the motor, and ensuring the long-term reliable operation of the transmission system in harsh environments. At the same time, the cover design can also take into account the heat dissipation requirements, and a guide air duct is arranged inside to control the temperature rise of the motor within ΔT≤35°C.

[0035] In one embodiment, Figure 4 shown.

[0036] The stacking device for transporting building materials provided in this embodiment has an explosion relief plate 20 in contact with the ground at the bottom of the base 15 .

[0037] In this embodiment, the explosion relief plate 20 of the stacking device for conveying building materials serves as a pressure release device. When the chassis is subjected to a sudden impact load (such as falling building materials), the stress wave energy is quickly released through the directional rupture of the preset weak structural surface (the blasting pressure is set to 1.5 times the working limit load), thereby avoiding overall failure of the base 15 structure and improving the inherent safety level of the system.

[0038] In one embodiment, Figure 1 shown.

[0039] The stacking device for conveying construction materials provided in this embodiment has a robot base 21 provided on one side of the mobile chassis 2, and a six-axis robot 3 is provided on the robot base 21. The position of the robot base 21 and the position of the counterweight device 4 are symmetrical along the transverse axis of the mobile chassis 2.

[0040] In this embodiment, the symmetrical layout of the mechanical arm base 21 and the counterweight device 4 of the stacking device for conveying building materials forms a dynamic balance topology, and then the center of mass of the mobile chassis 2 is always located within the range of ±10cm of the center line of the track 1. This design converts the overturning moment of the mechanical arm during operation into a balance couple inside the chassis, reduces the pressure fluctuation amplitude of the track contact surface by 70%, and significantly extends the service life of the track.

[0041] In one embodiment, Figure 3 shown.

[0042] The stacking device for conveying building materials provided in this embodiment, its driving mechanism 7 also includes a second motor 22 and a slide 23, the rotor of the second motor 22 is coaxially connected to the slider screw 9, the slide 23 is slidably connected to the guide rail 5, the counterweight 6 is fixed on the slide 23, and the slider screw 9 is drivingly connected to the counterweight 6 through the slide 23.

[0043] In this embodiment, the sliding pair of the slide 23 and the guide rail 5 of the stacking device for conveying building materials adopts a double V-shaped roller guide rail, which cooperates with the precision transmission of the slider screw 9 to achieve low friction and fast response of the counterweight 6. The second motor 22 can drive the screw through the additional planetary reducer to ensure that the displacement of the counterweight 6 is strictly synchronized with the movement of the robot arm.

[0044] In one embodiment, Figure 3 shown.

[0045] The stacking device for conveying building materials provided in this embodiment has a counterweight block 6 made of a high-density alloy, and the mass of the counterweight block 6 is 30% to 50% of the maximum load of the six-axis robot arm 3 .

[0046] In this embodiment, the mass ratio design of the high-density alloy counterweight 6 provides sufficient balancing torque within a limited space while avoiding excessive increase in the total mass of the chassis.

[0047] In one embodiment, Figure 2 shown.

[0048] The encoder 8 of the palletizing device for conveying building materials provided in this embodiment is an absolute encoder 8 .

[0049] In this embodiment, the absolute encoder 8 of the stacking device for conveying building materials directly outputs a digital signal of the slider position without the need for a zero point reset operation, thereby reducing calibration time compared to an incremental encoder.

[0050] In one embodiment, if Figure 2 shown.

[0051] The stacking device for conveying construction materials provided in this embodiment has an outer shell extension bracket 24 at the second axis of the six-axis robot 3, the lower end of the hydraulic support rod 12 is connected to the outer shell extension bracket 24, and an outer shell swivel seat 25 is provided at the fourth axis of the six-axis robot 3, and the upper end of the hydraulic support rod 12 is connected to the outer shell swivel seat 25.

[0052] In this embodiment, the housing extension bracket 24 and the housing swivel 25 of the stacking device for conveying building materials form a double-hinged support system, and the assembly stress of the hydraulic support rod 12 is released through the universal joint. When the six-axis robot arm 3 is loaded, the pulling direction of the hydraulic support rod 12 is automatically adjusted to be perpendicular to the joint bending surface, converting more than 70% of the bending moment into the axial tension of the rod.

[0053] In one embodiment, Figure 1 shown.

[0054] In the stacking device for transporting building materials provided in this embodiment, anti-collision blocks 26 are provided on both the front and rear sides of the mobile chassis 2 .

[0055] In this embodiment, the anti-collision block 26 of the stacking device for conveying building materials is a polyurethane anti-collision block 26 with a Shore hardness of 75A, which is arranged at both ends of the moving direction of the mobile chassis 2 to prevent the end of the track 1 from being damaged by impact through nonlinear compression energy absorption. The anti-collision block 26 may also have a built-in pressure sensor, which triggers an emergency stop signal when the collision force exceeds 5kN, shortening the braking distance of the mobile chassis 2 to within 0.3m.

[0056] The stacking device for conveying building materials provided in the above-mentioned embodiment forms an indivisible technical whole through the deep integration of the optimization of the mechanical transfer chain and the electromechanical coupling control.

[0057] The specific implementation methods described above further describe the invention purpose, technical solutions, and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the protection scope of the present invention. It is particularly pointed out that for those skilled in the art, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A palletizing device for conveying building materials, characterized in that: It comprises a track and a mobile chassis arranged on the track, a six-axis mechanical arm is arranged on one side of the mobile chassis, and a counterweight device is arranged on the other side of the mobile chassis; The counterweight device comprises a guide rail parallel to the track and a counterweight block arranged on the guide rail, the counterweight block is driven by a driving mechanism to move along the guide rail, an encoder is respectively arranged on the first axis, the second axis, and the third axis of the six-axis robot arm, and the driving mechanism gives a displacement corresponding to the counterweight block according to the joint angle signals fed back by the encoders; The driving mechanism includes a slider screw drivingly connected to the counterweight block, a rotary piston pump is provided at the end of the guide rail, the rotor of the rotary piston pump is coaxially connected to the slider screw, and a hydraulic damping cylinder drivingly connected to the rotary piston pump is also provided at the end of the guide rail. Hydraulic support rods are connected at the second axis and the fourth axis of the six-axis robotic arm, and the two connecting ends of the hydraulic support rod are universal hinge joints. The hydraulic cavity of the hydraulic support rod is connected to the hydraulic damping cylinder through a high-pressure oil circuit, and a piezoelectric ceramic layer is provided at the piston of the hydraulic support rod. The driving mechanism also gives the displacement compensation amount corresponding to the counterweight block according to the stress signal fed back by the piezoelectric ceramic layer.

2. The stacking device for conveying building materials according to claim 1, characterized in that: The track is arranged on a base, a rack is also arranged on the base, a first motor is arranged on the mobile chassis, a driving shaft of the first motor passes through the mobile chassis and is connected with a gear, and the gear is meshed with the rack.

3. The stacking device for conveying building materials according to claim 2, characterized in that: The mobile chassis is provided with a motor cover, and the motor cover covers the outer side of the first motor.

4. The stacking device for conveying building materials according to claim 2, characterized in that: An explosion relief plate contacting the ground is arranged at the bottom of the base.

5. The stacking device for conveying building materials according to claim 1, characterized in that: A robotic arm base is provided on one side of the mobile chassis, the six-axis robotic arm is arranged on the robotic arm base, and the position of the robotic arm base and the position of the counterweight device are symmetrical along the transverse axis of the mobile chassis.

6. The stacking device for conveying building materials according to claim 1, characterized in that: The driving mechanism also includes a second motor and a slide seat, the rotor of the second motor is coaxially connected to the slider screw, the slide seat is slidably connected to the guide rail, the counterweight block is fixed on the slide seat, and the slider screw is drivingly connected to the counterweight block through the slide seat.

7. The stacking device for conveying building materials according to claim 6, characterized in that: The counterweight block is made of high-density alloy, and the mass of the counterweight block is 30% to 50% of the maximum load of the six-axis robot arm.

8. The stacking device for conveying building materials according to claim 1, characterized in that: The encoder is an absolute encoder.

9. The stacking device for conveying building materials according to claim 1, characterized in that: A shell extension bracket is provided at the second axis of the six-axis robot arm, and the lower end of the hydraulic support rod is connected to the shell extension bracket. A shell swivel is provided at the fourth axis of the six-axis robot arm, and the upper end of the hydraulic support rod is connected to the shell swivel.

10. The stacking device for transporting building materials according to claim 1, characterized in that: Anti-collision blocks are arranged on both the front and rear sides of the mobile chassis.

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