Automatic stacking device

Abstract

The present invention belongs to the technical field of stacking devices, and in particular relates to an automatic stacking device, comprising a base and a robotic arm, the robotic arm being fixedly mounted on the base, the joint configuration of the robotic arm being a six-axis series, the output end of the robotic arm being fixedly connected to a fixed plate, a six-dimensional force sensor being fixedly mounted on one side of the fixed plate, an electric push rod being fixedly mounted on one side of the fixed plate, one end of the electric push rod being fixedly connected to a mounting plate, the top of the fixed frame being fixedly connected to a connecting tube, the top of the connecting tube being fixedly connected to a second connecting plate; a computing box being fixedly mounted on the top of the base; a clamping assembly, the clamping assembly being arranged on the outside of the fixed frame and being used to clamp and fix goods, by setting the above structure, the force conditions during the stacking process can be sensed in real time, thus avoiding damage to the goods or unstable stacking, and thus being convenient for use by staff.

Description

Technical Field

[0001] The present invention belongs to the technical field of stacking devices, and in particular relates to an automatic stacking device. Background Art

[0002] The stacking device is a core device for achieving three-dimensional storage and efficient flow of goods in industrial logistics and intelligent warehousing. By integrating high-precision positioning, multimodal perception, and adaptive control technologies, it enables vertical and horizontal three-dimensional handling and precise stacking of goods within confined spaces. Its core structure comprises a rigid-flexible coupled robotic arm (with a payload of 50kg-10 tons), an omnidirectional mobile chassis (supporting ±0.5° steering accuracy within the aisle), and an intelligent scheduling system (path planning response speed <50ms). It can accommodate irregularly shaped goods such as pallets, bins, and coils. Laser SLAM and visual error correction enable millimeter-level stacking positioning, increasing efficiency 5-8 times compared to manual operation and achieving over 70% space utilization. The integration of energy recovery and fault prediction technologies significantly reduces energy consumption and downtime risks in cold chain, auto parts, and consumer electronics applications, driving the evolution of warehousing operations towards unmanned, high-density, and error-free operations.

[0003] For example, the Chinese patent with the announcement number CN113753586A discloses an industrial automation product stacking device, including a frame, a clamping mechanism and a conveying mechanism. The frame is provided with a feed port, a first hydraulic push rod and a second hydraulic push rod. A pallet is welded to the feed port. The top of the frame is provided with a frame plate, which is welded and fixed to the frame. The frame plate is provided with a slide. The clamping mechanism includes a movable frame, a lifting mechanism and a translation mechanism. The movable frame includes a horizontal frame and a vertical frame. The horizontal frame and the vertical frame are an integrated structure. The top of the movable frame is provided with a slide rail, which is engaged with the slide rail. The lifting mechanism is connected to both ends of the horizontal frame. This stacking device adopts a combination of a clamping mechanism and a conveying mechanism. The clamping mechanism can provide transfer for products of different types and sizes, while the conveying mechanism can move the collected products to a convenient place for storage and loading.

[0004] The above patent has the following problems: in actual use, it does not have the function of real-time perception of the stress conditions during the stacking process, which causes damage to the goods or unstable stacking, which is not conducive to use by workers. In view of this, we propose an automatic stacking device. Summary of the Invention

[0005] The object of the present invention is to provide an automatic stacking device to solve the problems raised in the above background technology.

[0006] In view of this, the present invention provides an automatic stacking device, comprising a base and a robotic arm, wherein the robotic arm is fixedly mounted on the base, the joint configuration of the robotic arm is a six-axis series connection, the output end of the robotic arm is fixedly connected to a fixed plate, a six-dimensional force sensor is fixedly mounted on one side of the fixed plate, an electric push rod is fixedly mounted on one side of the fixed plate, one end of the electric push rod is fixedly connected to a mounting plate, the top of the mounting plate is fixedly connected to a fixing frame, the fixing frame is "n"-shaped, a first connecting plate is slidably mounted on the outside of the fixing frame, the top of the fixing frame is fixedly connected to a connecting cylinder, and the top of the connecting cylinder is fixedly connected to a second connecting plate;

[0007] A computing box is fixedly mounted on the top of the base, a GPU and a real-time controller are fixedly mounted inside the computing box, a servo motor is fixedly mounted on the top of the base, an output end of the servo motor is fixedly connected to a rotating shaft, and a rotating plate is fixedly connected to the top of the rotating shaft;

[0008] The clamping assembly is arranged outside the fixing frame and is used to clamp and fix the goods.

[0009] In this technical solution, through the precise positioning of the robotic arm, the electric push rod and the rotating block can be quickly moved to the outside of the cargo in coordination. The electric push rod is started, and its output end drives the output rod to link the first connecting plate, the first connecting shaft and the first connecting plate, so that the rotating block can achieve efficient clamping action with a multi-stage transmission structure. Through the synchronous enveloping and adaptive fitting of the double rotating blocks, different specifications of goods can be stably grasped, and finally the robotic arm accurately lifts the goods to the top to complete the stacking. The entire process realizes the full process automation of "positioning-clamping-transfer", and is controlled by the rigid constraints of the mechanical structure and the closed-loop control of the motion trajectory.

[0010] Through the stereo vision-spatial scanning fusion technology of binocular cameras and lidar, the three-dimensional size, contour curvature and surface microstructure of the target goods, such as bumps and texture features, can be quickly acquired, and a holographic point cloud model with millimeter-level accuracy can be generated to provide high-dimensional data support for the grasping strategy; at the same time, the six-dimensional force sensor monitors the changes in three-axis normal pressure, shear force and torque during the grasping process in real time. When it is detected that the contact force exceeds the preset safety threshold, the system dynamically adjusts the output rod stroke of the electric push rod to achieve millisecond-level adaptive adjustment of the clamping force. Compared with the traditional fixed-force grasping mode, it significantly improves the operational flexibility and reliability in complex scenarios.

[0011] By arranging multiple groups of first pressure sensors on the top plate to build a distributed pressure monitoring network, the three-dimensional pressure distribution data of the stacking layer is captured in real time and transmitted to the GPU at high speed via the CAN bus for multi-source data fusion and center of gravity coordinate calculation. If the center of gravity offset exceeds the preset safety threshold, the GPU will dynamically adjust the placement trajectory of the robot arm based on the reinforcement learning algorithm, and realize the center of gravity return through reverse offset compensation. At the same time, the lidar scans the dynamic obstacles in the environment such as pallet offset and people walking, generates a real-time three-dimensional grid map and feeds it back to the motion planning module, so that the robot arm can complete millimeter-level precise stacking of goods under the obstacle avoidance path. Compared with the traditional manual stacking method, it achieves the dual guarantee of "zero intervention" intelligent stacking and safe operation.

[0012] In the above technical solution, further, a bottom plate is fixedly connected to one side of the base, a plurality of first pressure sensors distributed at equal distances are fixedly connected to the top of the bottom plate, and the tops of the plurality of first pressure sensors are fixedly connected to the same top plate.

[0013] In this technical solution, multiple first pressure sensors are set up to monitor the top plate pressure distribution in real time. The data is transmitted to the GPU via the CAN bus. The GPU calculates the center of gravity coordinates of the current stacking layer based on the first pressure sensor data.

[0014] In the above technical solution, further, servo dual-axis motors are fixedly installed inside the joints of the robotic arm, two output ends of multiple servo dual-axis motors are fixedly connected to output shafts, harmonic reducers are provided on the outside of the two output shafts, high-precision encoders are provided on the outside of the servo dual-axis motors, and joint torque sensors are provided inside the joints of the robotic arm.

[0015] In this technical solution, the joint torque load can be monitored by the provided joint torque sensor, and the robotic arm can be driven by the provided servo dual-axis motor and harmonic reducer.

[0016] In the above technical solution, further, a laser radar is fixedly installed on the wrist of the robotic arm, and a binocular camera is fixedly connected to the top of the rotating plate.

[0017] In this technical solution, the binocular camera and laser radar are set up to work together to scan the size, shape and surface features of the target goods such as flatness and concave-convex structure to generate a high-precision point cloud model.

[0018] In the above technical solution, further, the clamping assembly includes an output rod, which is fixedly connected to the output end of the electric push rod, and the output rod extends to the top of the fixed frame and moves inside the connecting cylinder. The first connecting plate is fixedly connected to the output rod, and two symmetrically distributed first connecting shafts are rotatably installed on both sides of the first connecting plate. The outsides of the four first connecting shafts are fixedly connected to the first connecting plate, and the outsides of the four first connecting plates are fixedly connected to the second connecting shaft. One end of each two of the second connecting shafts is fixedly connected to the same rotating block, and both sides of the two rotating blocks are fixedly connected to the third connecting shaft, and one end of each two of the third connecting shafts is provided with the same second connecting plate, and the second connecting plate is fixedly installed on the outside of the second connecting plate.

[0019] In this technical solution, the electric push rod is started, and the output end of the electric push rod drives the output rod to move, which can then drive the first connecting plate and the first connecting shaft to move, and then drive the first connecting plate and the rotating block to move and rotate, and then the two rotating blocks can clamp and fix the goods.

[0020] In the above technical solution, further, an arc-shaped groove is opened at one end of the two rotating blocks, and the interior of the connecting cylinder is a hollow structure.

[0021] In this technical solution, the clamping stability can be improved by providing the arc groove.

[0022] In the above technical solution, further, a slide groove is provided on the top of the base, and two symmetrically distributed sliders are fixedly connected to the bottom of the rotating plate, and the two sliders are slidably installed inside the slide groove.

[0023] In this technical solution, the slider is slidably installed inside the slide groove, so that the rotating plate can be made more stable when rotating.

[0024] In the above technical solution, further, the arm body of the robotic arm is made of carbon fiber composite material, and the joint shell of the robotic arm is made of aluminum alloy.

[0025] In this technical solution, the arm body is made of carbon fiber composite material and the joint shell is made of aluminum alloy, so that the arm body can be made lightweight and the joint can resist torque deformation.

[0026] In the above technical solution, further, the GPU is electrically connected to the real-time controller, and the real-time controller is electrically connected to the first pressure sensor, the servo dual-axis motor, the joint torque sensor, and the six-dimensional force sensor.

[0027] In this technical solution, the data of the robotic arm, the first pressure sensor, the servo dual-axis motor, the joint torque sensor, the six-dimensional force sensor, etc. can be synchronized through the set real-time controller, and the data can be calculated through the set GPU.

[0028] In the above technical solution, further, the shape of the slide groove is annular, and the shape of the two sliders is cylindrical.

[0029] In this technical solution, by providing the annular chute and the cylindrical slider, the slider can be slidably installed inside the chute.

[0030] In this technical solution, it also includes an adjusting component, which is arranged on the clamping component and is used to adjust the horizontal center of gravity of the clamped goods and horizontally transport the goods at a certain distance. The adjusting component includes a reference rod, a roller, a motor, a bearing seat and a cylinder. The reference rod is fixed on both ends of the rotating block close to the goods. Second pressure sensors are symmetrically arranged on the two inner sides of the reference rod. When the goods are clamped by the rotating block, the reference rod is attached to both sides of the goods, and the second pressure sensors are against both sides of the goods. An installation groove is provided on the rotating block, and the rollers are arranged in a row and are rotatably installed in the installation groove. The center of the roller is connected to a fourth connecting shaft that passes through the outside of the rotating block. The bearing seat is rotatably connected to the fourth connecting shaft, and the bearing seat is slidably fitted on the outside of the rotating block. The motor is driven and connected to the bearing seat, and the cylinder is fixed on the rotating block and driven and connected to the bearing seat.

[0031] The beneficial effects of the present invention are:

[0032] 1. Through the precise positioning of the robotic arm, the electric push rod and the rotating block can be quickly moved in coordination to the outside of the cargo. The electric push rod is started, and its output end drives the output rod to link the first connecting plate, the first connecting shaft and the first connecting plate, so that the rotating block can achieve efficient clamping action with a multi-stage transmission structure. Through the synchronous enveloping and adaptive fitting of the dual rotating blocks, different specifications of goods can be stably grasped. Finally, the robotic arm accurately lifts the goods to the top to complete the stacking. The entire process realizes the full automation of "positioning-clamping-transfer" and is controlled by the rigid constraints of the mechanical structure and the closed-loop control of the motion trajectory.

[0033] 2. Through the stereo vision-spatial scanning fusion technology of binocular cameras and lidar, the three-dimensional size, contour curvature and surface microstructure (such as bumps and textures) of the target goods can be quickly acquired, and a holographic point cloud model with millimeter-level accuracy can be generated, providing high-dimensional data support for the grasping strategy; at the same time, the six-dimensional force sensor monitors the changes in three-axis normal pressure, shear force and torque during the grasping process in real time. When it is detected that the contact force exceeds the preset safety threshold, the system dynamically adjusts the output rod stroke of the electric push rod to achieve millisecond-level adaptive adjustment of the clamping force. Compared with the traditional fixed-force grasping mode, it significantly improves the operational flexibility and reliability in complex scenarios.

[0034] 3. By deploying multiple sets of first pressure sensors on the top plate to build a distributed pressure monitoring network, the three-dimensional pressure distribution data of the stacking layer is captured in real time. The data is then transmitted to the GPU via the CAN bus at high speed for multi-source data fusion and center of gravity coordinate calculation. If the center of gravity offset exceeds the preset safety threshold, the GPU will dynamically adjust the placement trajectory of the robot arm based on the reinforcement learning algorithm, and realize the center of gravity correction through reverse offset compensation. At the same time, the lidar scans the environment for dynamic obstacles (such as pallet offset and people walking), generates a real-time three-dimensional grid map, and feeds it back to the motion planning module, enabling the robot arm to complete millimeter-level precise stacking of goods under the obstacle avoidance path. Compared with traditional manual stacking methods, this achieves the dual guarantee of "zero-intervention" intelligent stacking and safe operation.

[0035] 4. When the goods are clamped horizontally and docked to the platform, the goods need to be clamped horizontally and stably to the platform. At this time, the rotating block corresponds vertically up and down. When the goods are clamped, the reference rod is attached to the lower end of the goods. The reference rod has a certain elastic property. When the position of the goods is not in the center when clamped, the goods tilt, resulting in inconsistent deformation of the left and right sides of the reference rod. The pressure sensed on the second pressure sensor is different, which is analyzed by the controller. Then the rotating block slowly opens a little bit and controls the cylinder to pull the bearing seat so that the roller gradually extends from the inside of the mounting groove so that the roller just touches the upper and lower sides of the goods. The motor then works according to the value of the second pressure sensor to regulate the rotation of the roller, thereby moving the goods horizontally on the rotating block until the goods are in a horizontally balanced clamping state. At this time, the pressure on the second pressure sensor is consistent, and then the goods are docked to the platform, and the work of the coordinated motor is used to transfer the goods horizontally to the platform through the roller for unloading and stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 Schematic diagram of the structure of the bottom plate, the first pressure sensor and the top plate in the present invention;

[0038] Figure 3Schematic cross-sectional view of the mechanical arm structure in the present invention;

[0039] Figure 4 For the present invention Figure 3 A in the middle is an enlarged structural diagram;

[0040] Figure 5 Schematic diagram of the structure of the clamping assembly in the present invention;

[0041] Figure 6 It is a schematic cross-sectional view of the clamping assembly structure in the present invention;

[0042] Figure 7 For the present invention Figure 6 The enlarged structural diagram at B in the middle;

[0043] Figure 8 It is a partial cross-sectional schematic diagram of the clamping assembly structure in the present invention;

[0044] Figure 9 For the present invention Figure 8 The enlarged structural diagram at C in the middle;

[0045] Figure 10 Schematic diagram of the base structure in the present invention;

[0046] Figure 11 For the present invention Figure 10 The enlarged structural diagram at D in the middle;

[0047] Figure 12 The structure diagram of the adjustment component of the present invention is shown in FIG. Figure 1 ;

[0048] Figure 13 The structure diagram of the adjustment component of the present invention is shown in FIG. Figure 2 .

[0049] The marks in the figure are:

[0050] 1. Base; 2. Robotic arm; 3. Bottom plate; 4. First pressure sensor; 5. Top plate; 6. Servo dual-axis motor; 7. Output shaft; 8. Harmonic reducer; 9. High-precision encoder; 10. Joint torque sensor; 11. LiDAR; 12. Fixing plate; 13. Six-axis force sensor; 14. Electric push rod; 15. Output rod; 16. Mounting plate; 17. Fixing bracket; 18. First connecting plate; 19. First connecting shaft; 20. First connecting plate; 21. Connecting tube; 22 , second connecting plate; 23, second connecting plate; 24, second connecting shaft; 25, third connecting shaft; 26, rotating block; 27, arc groove; 28, computing box; 29, GPU; 30, real-time controller; 31, servo motor; 32, rotating shaft; 33, rotating plate; 34, binocular camera; 35, slide groove; 36, slider; 37, reference rod; 38, roller; 39, motor; 40, bearing seat; 41, cylinder; 42, second pressure sensor; 260, mounting groove. DETAILED DESCRIPTION

[0051] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0052] In the description of this application, it should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0053] It should be noted that the terms "first," "second," etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and that the objects distinguished by "first," "second," etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0054] It should be noted that, in the description of this application, the directions or positional relationships indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional terms do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional terms "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0055] It should be noted that, in the present application, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0056] Example 1: Please refer to Figures 1-11As shown, this embodiment provides an automatic stacking device, including a base 1 and a robotic arm 2, the robotic arm 2 is fixedly mounted on the base 1, the joint configuration of the robotic arm 2 is six-axis series, the output end of the robotic arm 2 is fixedly connected to a fixed plate 12, one side of the fixed plate 12 is fixedly mounted with a six-dimensional force sensor 13, one side of the fixed plate 12 is fixedly mounted with an electric push rod 14, one end of the electric push rod 14 is fixedly connected to a mounting plate 16, the top of the mounting plate 16 is fixedly connected to a fixing frame 17, the fixing frame 17 is "n"-shaped, the outside of the fixing frame 17 is slidably mounted with a first connecting plate 18, the top of the fixing frame 17 is fixedly connected to a connecting cylinder 21, and the top of the connecting cylinder 21 is fixedly connected to a second connecting plate 22;

[0057] A computing box 28 is fixedly mounted on the top of the base 1. A GPU 29 and a real-time controller 30 are fixedly mounted inside the computing box 28. A servo motor 31 is fixedly mounted on the top of the base 1. A rotating shaft 32 is fixedly connected to the output end of the servo motor 31. A rotating plate 33 is fixedly connected to the top of the rotating shaft 32.

[0058] The clamping assembly is arranged outside the fixing frame 17 and is used to clamp and fix the goods.

[0059] Among them, through the precise positioning of the robotic arm 2, the electric push rod 14 and the rotating block 26 can be quickly moved to the outside of the cargo in coordination. The electric push rod 14 is started, and its output end drives the output rod 15 to link the first connecting plate 18, the first connecting shaft 19 and the first connecting plate 20, so that the rotating block 26 can achieve efficient clamping action with a multi-stage transmission structure. Through the synchronous enveloping and adaptive fitting of the double rotating blocks 26, different specifications of goods can be stably grasped. Finally, the robotic arm 2 accurately lifts the goods to the top plate 5 to complete the stacking. The entire process realizes the full process automation of "positioning-clamping-transfer" and is controlled by the rigid constraints of the mechanical structure and the closed-loop control of the motion trajectory.

[0060] Through the stereo vision-spatial scanning fusion technology of the binocular camera 34 and the laser radar 11, the three-dimensional size, contour curvature and surface microstructure of the target goods, such as bumps and texture features, can be quickly acquired, and a holographic point cloud model with millimeter-level accuracy can be generated to provide high-dimensional data support for the grasping strategy; at the same time, the six-dimensional force sensor 13 monitors the changes in three-axis normal pressure, shear force and torque during the grasping process in real time. When it is detected that the contact force exceeds the preset safety threshold, the system dynamically adjusts the stroke of the output rod 15 of the electric push rod 14 to achieve millisecond-level adaptive adjustment of the clamping force, which significantly improves the operational flexibility and reliability in complex scenarios compared to the traditional fixed-force grasping mode.

[0061] By arranging multiple groups of first pressure sensors 4 on the top plate 5 to build a distributed pressure monitoring network, the three-dimensional pressure distribution data of the stacking layer is captured in real time and transmitted to GPU29 at high speed via the CAN bus for multi-source data fusion and center of gravity coordinate calculation. If the center of gravity offset exceeds the preset safety threshold, GPU29 will dynamically adjust the placement trajectory of the robot arm 2 based on the reinforcement learning algorithm, and realize the center of gravity return through reverse offset compensation. At the same time, the laser radar 11 scans the dynamic obstacles in the environment such as pallet offset and personnel movement, generates a real-time three-dimensional grid map and feeds it back to the motion planning module, so that the robot arm 2 can complete millimeter-level precise stacking of goods under the obstacle avoidance path. Compared with the traditional manual stacking method, it achieves the dual guarantee of "zero intervention" intelligent stacking and safe operation.

[0062] Example 2: This embodiment provides an automatic stacking device, which, in addition to the technical solutions of the above embodiments, also has the following technical features: a bottom plate 3 is fixedly connected to one side of the base 1, a plurality of equally distributed first pressure sensors 4 are fixedly connected to the top of the bottom plate 3, and the tops of the plurality of first pressure sensors 4 are fixedly connected to the same top plate 5.

[0063] Among them, through the setting of multiple first pressure sensors 4, the first pressure sensor 4 monitors the pressure distribution of the top plate 5 in real time, and the data is transmitted to GPU29 through the CAN bus. GPU29 will calculate the center of gravity coordinates of the current stacking layer based on the data of the first pressure sensor 4.

[0064] Example 3: This example provides an automatic stacking device, which, in addition to the technical solutions of the above examples, also has the following technical features: a servo dual-axis motor 6 is fixedly installed inside the joints of the robotic arm 2, and the two output ends of the multiple servo dual-axis motors 6 are fixedly connected to an output shaft 7, and a harmonic reducer 8 is provided on the outside of the two output shafts 7. A high-precision encoder 9 is provided on the outside of the servo dual-axis motor 6, and a joint torque sensor 10 is provided inside the joints of the robotic arm 2.

[0065] The joint torque load can be monitored by the provided joint torque sensor 10 , and the robotic arm 2 can be driven by the provided servo dual-axis motor 6 and harmonic reducer 8 .

[0066] Example 4: This example provides an automatic stacking device, which, in addition to the technical solutions of the above examples, also has the following technical features: a laser radar 11 is fixedly installed on the wrist of the robotic arm 2, and a binocular camera 34 is fixedly connected to the top of the rotating plate 33.

[0067] Among them, through the coordinated work of the binocular camera 34 and the laser radar 11, the size, shape and surface features of the target goods such as flatness and concave-convex structure are scanned to generate a high-precision point cloud model.

[0068] Example 5: This embodiment provides an automatic stacking device, which, in addition to the technical solutions of the above embodiments, also has the following technical features: the clamping assembly includes an output rod 15, which is fixedly connected to the output end of the electric push rod 14, and the output rod 15 extends to the top of the fixed frame 17 and moves inside the connecting tube 21. The first connecting plate 18 is fixedly connected to the output rod 15, and two symmetrically distributed first connecting shafts 19 are rotatably installed on both sides of the first connecting plate 18. The outsides of the four first connecting shafts 19 are fixedly connected to the first connecting plates 20, and the outsides of the four first connecting plates 20 are fixedly connected to the second connecting shafts 24. One end of each two second connecting shafts 24 is fixedly connected to the same rotating block 26, and both sides of the two rotating blocks 26 are fixedly connected to the third connecting shaft 25. One end of each two third connecting shafts 25 is provided with the same second connecting plate 23, and the second connecting plate 23 is fixedly installed on the outside of the second connecting plate 22.

[0069] Among them, the electric push rod 14 is started, and the output end of the electric push rod 14 drives the output rod 15 to move, and then drives the first connecting plate 18 and the first connecting shaft 19 to move, and then drives the first connecting plate 20 and the rotating block 26 to move and rotate. At this time, the two rotating blocks 26 can clamp and fix the goods.

[0070] Example 6: This embodiment provides an automatic stacking device, which, in addition to the technical solutions of the above embodiments, also has the following technical features: an arc groove 27 is provided at one end of the two rotating blocks 26, and the interior of the connecting tube 21 is a hollow structure.

[0071] The arc groove 27 can improve the clamping stability.

[0072] Example 7: This embodiment provides an automatic stacking device, which, in addition to the technical solutions of the above embodiments, also has the following technical features: a slide groove 35 is provided on the top of the base 1, and two symmetrically distributed sliders 36 are fixedly connected to the bottom of the rotating plate 33, and the two sliders 36 are both slidably installed inside the slide groove 35.

[0073] The slider 36 is slidably mounted inside the slide groove 35, so that the rotating plate 33 can be more stable when rotating.

[0074] Example 8: This embodiment provides an automatic stacking device, which, in addition to the technical solutions of the above embodiments, also has the following technical features: the arm body of the robotic arm 2 is made of carbon fiber composite material, and the joint shell of the robotic arm 2 is made of aluminum alloy.

[0075] Among them, the arm body is made of carbon fiber composite material and the joint shell is made of aluminum alloy, so that the arm body can be made lightweight and the joint can resist torque deformation.

[0076] Example 9: This embodiment provides an automatic stacking device, which, in addition to the technical solutions of the above embodiments, also has the following technical features: the GPU29 is electrically connected to the real-time controller 30, and the real-time controller 30 is electrically connected to the first pressure sensor 4, the servo dual-axis motor 6, the joint torque sensor 10, and the six-dimensional force sensor 13.

[0077] Among them, through the set real-time controller 30, the data of the robotic arm 2, the first pressure sensor 4, the servo dual-axis motor 6, the joint torque sensor 10, the six-dimensional force sensor 13 and the like can be synchronized, and the data can be calculated through the set GPU29.

[0078] Example 10: This example provides an automatic stacking device, which, in addition to the technical solutions of the above examples, also has the following technical features: the shape of the slide groove 35 is annular, and the shape of the two sliders 36 is cylindrical.

[0079] The annular sliding groove 35 and the cylindrical sliding block 36 are provided so that the sliding block 36 can be slidably installed inside the sliding groove 35 .

[0080] Working principle: By starting the robotic arm 2, the electric push rod 14 and the rotating block 26 can be moved to the outside of the cargo, and then the electric push rod 14 is started. The output end of the electric push rod 14 drives the output rod 15 to move, and then the first connecting plate 18 and the first connecting shaft 19 can be driven to move, and then the first connecting plate 20 and the rotating block 26 are driven to move and rotate. At this time, the two rotating blocks 26 can clamp and fix the cargo, and then the robotic arm 2 is started to move the clamped cargo to the top plate 5 for stacking operation.

[0081] Through the coordinated work of the binocular camera 34 and the laser radar 11, the size, shape and surface features (such as flatness and concave-convex structure) of the target goods are scanned to generate a high-precision point cloud model. The six-dimensional force sensor 13 can provide real-time feedback on the three-axis force and torque during the grasping process. If it is detected that the grasping force exceeds the limit, the output rod 15 of the electric push rod 14 will be controlled to move a distance, thereby achieving the effect of reducing the clamping force.

[0082] By setting up multiple first pressure sensors 4, the first pressure sensor 4 monitors the pressure distribution of the top plate 5 in real time, and the data is transmitted to GPU29 through the CAN bus. GPU29 will calculate the center of gravity coordinates of the current stacking layer based on the data of the first pressure sensor 4. If the center of gravity deviates from the safe area, GPU29 will re-plan the placement of the robotic arm 2, such as shifting the goods in the opposite direction of the center of gravity. The environmental map can be updated in real time through the laser radar 11, and the robotic arm 2 dynamically avoids obstacles when moving. By setting up the above structure, the force conditions during the stacking process can be perceived in real time, avoiding damage to the goods or unstable stacking, and thus facilitating use by the staff.

[0083] Example 11: Figure 12 and 13, also includes an adjustment component, which is arranged on the clamping component for adjusting the horizontal center of gravity of the clamped goods and horizontally transmitting the goods at a certain distance. The adjustment component includes a reference rod 37, a roller 38, a motor 39, a bearing seat 40 and a cylinder 41. The reference rod 37 is fixed on both ends of the rotating block 26 close to the goods. Second pressure sensors 42 are symmetrically provided on both inner sides of the reference rod 37. When the goods are clamped by the rotating block 26, the reference rod 37 is attached to both sides of the goods, and the second pressure sensors 42 are against both sides of the goods. A mounting groove 260 is opened on the rotating block 26, and the rollers 38 are arranged in a row and rotatably installed in the mounting groove 260. The center of the roller 38 is connected to a fourth connecting shaft that passes through the rotating block 26. The bearing seat 40 is rotatably connected to the fourth connecting shaft. The bearing seat 40 is slidably fitted on the outside of the rotating block 26. The motor 39 is driven and connected to the bearing seat 40. The cylinder 41 is fixed on the rotating block 26 and is driven and connected to the bearing seat 40. When the goods are clamped horizontally and docked on the platform, the goods need to be clamped horizontally and stably to the platform to correspond. At this time, the rotating block 26 corresponds vertically up and down. When the goods are clamped, the reference rod 37 is attached to the lower end of the goods. The reference rod 37 has a certain elasticity. When the position of the goods is not in the center when clamped, the goods tilt, causing the reference rod 37 to move left and right. The deformation on both sides is inconsistent. When the cargo is clamped and tilted, there is a great safety hazard. The pressures sensed by the second pressure sensor 42 are different, which are analyzed by the controller. Then the rotating block 26 is slowly opened a little bit (the cargo will still not fall at this time), and the cylinder 41 is controlled to pull the bearing seat, so that the roller 38 gradually extends from the inside of the installation groove, so that the roller 38 just touches the upper and lower sides of the cargo. The motor 39 then works according to the value of the second pressure sensor 42 to regulate the rotation of the roller 38, thereby moving the cargo horizontally on the rotating block 26 until the cargo is in a horizontally balanced clamping state. At this time, the pressure on the second pressure sensor 42 is consistent, and then the cargo is docked to the flat On the platform, the cooperative motor 39 works through the roller 38 to transfer the goods horizontally to the platform for stacking. Of course, it is conceivable that the rotating block 26 can be converted to clamp the left and right sides of the goods or to be in a hanging clamping manner to achieve the practice of placing the goods on the platform. However, compared with the method of clamping the upper and lower sides in this embodiment, the above two methods obviously require greater clamping force. Therefore, the use of this clamping angle can not only reduce the clamping power, but also cooperate with the clamping component to adjust the horizontal center of gravity of the clamped goods, and the goods can be horizontally unloaded while docking on the platform, reducing the impact on the placement of the goods and protecting the safety of the stacking of goods.

[0084] The embodiments of the present application are described above in conjunction with the accompanying drawings. Unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. An automatic stacking device, comprising a base (1) and a robotic arm (2), characterized in that: The robotic arm (2) is fixedly mounted on the base (1), the joint configuration of the robotic arm (2) is a six-axis series connection, the output end of the robotic arm (2) is fixedly connected to a fixed plate (12), a six-dimensional force sensor (13) is fixedly mounted on one side of the fixed plate (12), an electric push rod (14) is fixedly mounted on one side of the fixed plate (12), one end of the electric push rod (14) is fixedly connected to a mounting plate (16), the top of the mounting plate (16) is fixedly connected to a fixing frame (17), the fixing frame (17) is "n" shaped, a first connecting plate (18) is slidably mounted on the outside of the fixing frame (17), the top of the fixing frame (17) is fixedly connected to a connecting tube (21), and the top of the connecting tube (21) is fixedly connected to a second connecting plate (22); A computing box (28) is fixedly mounted on the top of the base (1), a GPU (29) and a real-time controller (30) are fixedly mounted inside the computing box (28), a servo motor (31) is fixedly mounted on the top of the base (1), an output end of the servo motor (31) is fixedly connected to a rotating shaft (32), and a rotating plate (33) is fixedly connected to the top of the rotating shaft (32); A clamping assembly is provided on the outside of the fixing frame (17) and is used to clamp and fix the goods. The clamping assembly includes an output rod (15), the output rod (15) is fixedly connected to the output end of the electric push rod (14), the output rod (15) extends to the top of the fixing frame (17) and moves inside the connecting tube (21), the first connecting plate (18) is fixedly connected to the output rod (15), and two symmetrically distributed first connecting shafts (19) are rotatably installed on both sides of the first connecting plate (18). The first connecting shafts (19) are fixedly connected to the outside of the first connecting plates (20), the outside of the four first connecting plates (20) are fixedly connected to the second connecting shafts (24), one end of each two second connecting shafts (24) is fixedly connected to the same rotating block (26), both sides of the two rotating blocks (26) are fixedly connected to the third connecting shaft (25), one end of each two third connecting shafts (25) is provided with the same second connecting plate (23), and the second connecting plate (23) is fixedly mounted on the outside of the second connecting plate (22).

2. The automatic stacking device according to claim 1, characterized in that: A bottom plate (3) is fixedly connected to one side of the base (1), a plurality of first pressure sensors (4) distributed at equal distances are fixedly connected to the top of the bottom plate (3), and the tops of the plurality of first pressure sensors (4) are fixedly connected to the same top plate (5).

3. The automatic stacking device according to claim 1, characterized in that: A servo dual-axis motor (6) is fixedly installed inside the joints of the robotic arm (2), two output ends of the plurality of servo dual-axis motors (6) are fixedly connected to an output shaft (7), a harmonic reducer (8) is provided outside the two output shafts (7), a high-precision encoder (9) is provided outside the servo dual-axis motor (6), and a joint torque sensor (10) is provided inside the joints of the robotic arm (2).

4. The automatic stacking device according to claim 1, characterized in that: A laser radar (11) is fixedly mounted on the wrist of the robotic arm (2), and a binocular camera (34) is fixedly connected to the top of the rotating plate (33).

5. The automatic stacking device according to claim 4, characterized in that: An arc-shaped groove (27) is formed at one end of the two rotating blocks (26), and the interior of the connecting cylinder (21) is a hollow structure.

6. The automatic stacking device according to claim 1, characterized in that: A slide groove (35) is provided on the top of the base (1), and two symmetrically distributed sliders (36) are fixedly connected to the bottom of the rotating plate (33). The two sliders (36) are slidably installed inside the slide groove (35). The shape of the slide groove (35) is annular, and the shape of the two sliders (36) is cylindrical.

7. The automatic stacking device according to claim 1, characterized in that: The arm body of the mechanical arm (2) is made of carbon fiber composite material, and the joint shell of the mechanical arm (2) is made of aluminum alloy.

8. The automatic stacking device according to claim 1, characterized in that: The GPU (29) is electrically connected to the real-time controller (30), and the real-time controller (30) is electrically connected to the first pressure sensor (4), the servo dual-axis motor (6), the joint torque sensor (10), and the six-dimensional force sensor (13).

9. The automatic stacking device according to claim 6, characterized in that: The invention also includes an adjusting component, which is arranged on the clamping component and is used to adjust the horizontal center of gravity of the clamped goods and horizontally transport the goods at a certain distance. The adjusting component includes a reference rod (37), a roller (38), a motor (39), a bearing seat (40) and a cylinder (41). The reference rod (37) is fixed on both ends of the rotating block (26) close to the goods. The reference rod (37) is symmetrically provided with a second pressure sensor (42) on both inner sides. When the goods are clamped by the rotating block (26), the reference rod (37) is attached to both sides of the goods, and the second pressure sensor (42) is pressed against the goods. The sensor (42) is against both sides of the cargo, and a mounting groove (260) is provided on the rotating block (26). The rollers (38) are arranged in a row and are rotatably mounted in the mounting groove (260). The center of the rollers (38) is connected to a fourth connecting shaft that passes through the outside of the rotating block (26). The bearing seat (40) is rotatably connected to the fourth connecting shaft. The bearing seat (40) is slidably fitted on the outside of the rotating block (26). The motor (39) is drive-connected to the bearing seat (40), and the cylinder (41) is fixed on the rotating block (26) and drive-connected to the bearing seat (40).

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