Intelligent loading and unloading robot

Abstract

The invention relates to the technical field of loading, unloading and conveying, in particular to an intelligent loading and unloading robot which comprises a loading, unloading and grabbing support, a joint assembly, a grabbing assembly and a state regulation and control assembly, a first control arm is arranged in the center of one side of the loading, unloading and grabbing support, and a second control arm is arranged on one side of the first control arm; a third control arm is arranged on one side of the second control arm, the state regulation and control assembly is arranged on one side of the loading and unloading grabbing support, and when the loading and unloading vehicle robot goes deep into a compartment and grabs and carries goods, the loading and unloading vehicle robot can rotate according to the size of a box body, grabbing adsorption heads of the four movable loading and unloading arms are used for large-area grabbing and carrying; when the movable loading and unloading arm is used for grabbing operation or the grabbing adsorption head of a single movable loading and unloading arm, the suction cup assembly does not need to be frequently replaced and adjusted, meanwhile, when the grabbing adsorption head of the single movable loading and unloading arm is used for grabbing operation, the movable loading and unloading arm can be used in more narrow scenes, the multiple movable loading and unloading arms can be alternately used, and the loading and unloading grabbing function stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading conveying, and particularly to an intelligent loading and unloading vehicle robot. Background Art

[0002] A loading and unloading vehicle robot is an industrial robot. When in use, it can cooperate with sensing modules such as vision to intelligently analyze the state of goods, and then pick or carry the goods through the loaded fixture or suction cup.

[0003] The invention with the publication number CN114426211B discloses an automatic loading and unloading robot for boxed goods, including a transfer vehicle, a follow-up conveying mechanism, a large arm mechanism and a small arm mechanism; after grasping the box of boxed goods through a suction cup, the suction cup is used to drive a synchronous belt to drive the box to move backward along the upper surface of the gripper guide plate, and the suction cup moves to the lower part of the box within the suction cup avoidance gap to avoid the box. The structure of the present invention is reasonably designed, occupies a small space and has a strong bearing capacity, and can realize the automatic continuous grasping of the box. When using a suction cup as a carrier for grasping goods, in order to adapt to different box sizes, it is often necessary to customize or replace a suitable grasping mechanism in advance. Otherwise, when loading and unloading goods, it is easy to have problems such as ineffective grasping or unstable grasping after grasping. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent loading and unloading vehicle robot to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An intelligent loading and unloading vehicle robot, including: A loading and unloading grasping bracket, a first control arm is provided at the center of one side of the loading and unloading grasping bracket, a second control arm is provided on one side of the first control arm, a third control arm is provided on one side of the second control arm, a grasping component is provided on the loading and unloading grasping bracket through a joint component, the joint component includes four cut-off control boxes, and the grasping component includes four movable loading and unloading arms; A state regulation component, the state regulation component is provided on one side of the loading and unloading grasping bracket, the state adjustment component includes an arc control box and an arc push rod, one side of the arc push rod is inserted into the arc control box, and the movable loading and unloading arm is fixedly connected to one side of the arc push rod.

[0006] Preferably, conical tooth grooves are respectively opened inside the opposite sides of the four cut-off control boxes, a rotation hole is respectively penetrated through the center of one side inside the conical tooth grooves, both sides of the movable loading and unloading arm are respectively located between the two cut-off control boxes, and both ends of the movable loading and unloading arm respectively movably penetrate through the rotation holes and are inserted into synchronous bevel gears.

[0007] Preferably, one side of the two synchronous bevel gears in the cut-off control box are both connected, one end of the movable loading and unloading arm placed in the bevel tooth groove is sleeved with a synchronous bevel gear, and one side of the two synchronous bevel gears in the cut-off control box are meshed and connected.

[0008] Preferably, a collecting groove is provided in the center of the movable loading and unloading arm, and a plurality of grabbing adsorption heads are vertically provided on the side of the movable loading and unloading arm away from the loading and unloading grabbing bracket, and one end of the plurality of grabbing adsorption heads are connected to the collecting groove.

[0009] Preferably, one side of the collecting groove of the movable loading and unloading arm is set up as a through-hole, and a connecting pipe is horizontally provided on one side of the collecting groove through the movable loading and unloading arm in the cut-off control box, and a valve groove is opened on one side of the connecting pipe in the cut-off control box, and the connecting pipe is connected in the valve groove, and one end of the connecting pipe is plugged into the collecting groove through a bearing seal.

[0010] Preferably, a shut-off valve core is rotatably provided in the valve groove of the shut-off control box, a connecting joint is provided on one side of the shut-off valve core passing through the shut-off control box, a central groove is opened in the center of the shut-off valve core, connecting grooves are respectively opened on both sides of the central groove, one of the connecting grooves passes through the connecting joint, and the other connecting groove is corresponding to the connecting pipe.

[0011] Preferably, a main control ring is provided on one side of the loading and unloading grabbing bracket, an annular air groove is opened in the main control ring, and a connecting hose is provided on one side of the main control ring close to the four cut-off control boxes, and the two ends of the connecting hose are respectively connected to the connecting joints of the annular air groove and the shut-off valve core.

[0012] Preferably, the arc-shaped control box is arranged on one side of the loading and unloading grabbing bracket close to the movable loading and unloading arm, an arc-shaped piston groove is opened in the arc-shaped control box, an arc-shaped guide hole is opened on one side of the arc-shaped piston groove and passes through the arc-shaped control box, one side of the arc-shaped push-pull rod is movably inserted into the arc-shaped guide hole, and the virtual axes of the arc-shaped push-pull rod, the arc-shaped piston groove, the arc-shaped control box and the arc-shaped guide hole are all coaxially arranged with the virtual axis of the movable loading and unloading arm.

[0013] Preferably, a pulling block is provided on the side of the movable loading and unloading arm close to the arc-shaped push-pull rod and away from the arc-shaped control box, and a retaining piston is provided on the side of the arc-shaped push-pull rod inserted into the arc-shaped piston groove. When the arc-shaped push-pull rod extends out of the arc-shaped piston groove to the maximum extent, the grabbing adsorption head is flush with the plane of the loading and unloading grabbing bracket. When the arc-shaped push-pull rod is retracted into the arc-shaped piston groove to the maximum extent, the grabbing adsorption head is perpendicular to the plane of the loading and unloading grabbing bracket.

[0014] Preferably, a first pressure air groove is provided on one side of the arc-shaped piston groove close to the arc-shaped guide groove. When the arc-shaped push-pull rod extends to the maximum extent of the arc-shaped piston groove, the side of the piston close to the arc-shaped push-pull rod is kept in contact with the first pressure air groove, and the end of the arc-shaped piston groove away from the arc-shaped guide groove is connected to a second pressure air groove.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: When the loading and unloading robot enters the carriage deeply and grabs and transports goods, it can rotate according to the size of the box body whether to use the grabbing and adsorbing heads of the four movable loading and unloading arms for large-area grabbing and transportation or the grabbing and adsorbing heads of a single movable loading and unloading arm for grabbing operations. There is no need to frequently replace and adjust the suction cup assembly. At the same time, when using the grabbing and adsorbing head of a single movable loading and unloading arm for grabbing operations, it can be used in more narrow scenarios, and multiple movable loading and unloading arms can be used alternately to improve the functional stability of loading and unloading and grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the first perspective of the structure of the present invention; Figure 2 is a schematic diagram of the second perspective of the structure of the present invention; Figure 3 is of the present invention Figure 2 schematic diagram of part A; Figure 4 is a schematic diagram of the partial side-sectional structure of the present invention; Figure 5 is of the present invention Figure 4 schematic diagram of part B; Figure 6 is a schematic diagram of the side-sectional connection of the arc-shaped push-pull rod of the present invention; Figure 7 is of the present invention Figure 6 schematic diagram of part C; Figure 8 is of the present invention Figure 7 schematic diagram of part D.

[0017] In the figure: loading and unloading grabbing bracket 1, first control arm 2, second control arm 3, third control arm 4, cut-off control box 5, bevel gear groove 6, movable loading and unloading arm 7, synchronous bevel gear 8, collecting groove 9, joint pipe 10, shut-off valve core 11, central groove 12, master control ring 13, annular air groove 14, adapter hose 15, grabbing and adsorbing head 16, arc control box 17, arc piston groove 18, pulling block 19, arc-shaped push-pull rod 20, retaining piston 21, first pressure air groove 22, second pressure air groove 23, valve groove 24. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to the attachedFigure 1-8 , the present application provides the following technical solutions.

[0020] An intelligent loading and unloading vehicle robot includes a loading and unloading grasping bracket 1. A first control arm 2 is provided at the center of one side of the loading and unloading grasping bracket 1. A second control arm 3 is provided on one side of the first control arm 2. The first control arm 2 is fixedly connected to the loading and unloading grasping bracket 1 by bolts. The first control arm 2 can control the loading and unloading grasping bracket 1 to perform a self-rotation activity, so that the four faces of the third control arm 4 can face a designated position. The driving mode of the self-rotation activity control can be controlled by a motor in cooperation with a reducer. The second control arm 3 controls the flipping activity of the first control arm 2 through a rotating pin shaft, and the control mode can also be controlled by a motor in cooperation with a reducer. The third control arm 4 can perform an axial rotation activity on the second control arm 3, the first control arm 2 and the loading and unloading grasping bracket 1, and compensate for the axial rotation direction of the first control arm 2 to realize the multi-spatial position adjustment of the loading and unloading grasping bracket 1, so as to adapt to different loading and unloading vehicle environments.

[0021] A third control arm 4 is provided on one side of the second control arm 3. A grasping assembly is provided on the loading and unloading grasping bracket 1 through a joint assembly. The joint assembly includes four cut-off control boxes 5. The grasping assembly includes four movable loading and unloading arms 7. Conical tooth grooves 6 are respectively opened inside the opposite sides of the four cut-off control boxes 5. A self-rotation hole is respectively penetrated through the center of one side inside the conical tooth groove 6. Both sides of the movable loading and unloading arm 7 are respectively located between two cut-off control boxes 5, and both ends of the movable loading and unloading arm 7 respectively penetrate through the self-rotation hole and are inserted into the synchronous bevel gears 8. The two synchronous bevel gears 8 on one side inside the cut-off control box 5 are both communicated. One end of the movable loading and unloading arm 7 placed inside the conical tooth groove 6 is respectively sleeved with a synchronous bevel gear 8, and the two synchronous bevel gears 8 on one side inside the cut-off control box 5 are both meshed and connected. When one of the movable loading and unloading arms 7 rotates, synchronous rotation control can be performed through the meshing of the synchronous bevel gears 8.

[0022] A collecting groove 9 is opened at the center inside the movable loading and unloading arm 7. A plurality of grasping suction heads 16 are respectively vertically provided on the side of the movable loading and unloading arm 7 away from the loading and unloading grasping bracket 1. One end of each of the plurality of grasping suction heads 16 is communicated with the collecting groove 9. One side inside the collecting groove 9 of the movable loading and unloading arm 7 is provided in a through manner. A joint pipe 10 is respectively horizontally provided inside the cut-off control box 5 on the side where the collecting groove 9 penetrates through the movable loading and unloading arm 7. A valve groove 24 is opened on one side of the joint pipe 10 inside the cut-off control box 5. The valve groove 24 is communicated with the joint pipe 10. One end of the joint pipe 10 is hermetically inserted into the collecting groove 9 through a bearing. When negative pressure suction occurs at the position of the joint pipe 10, negative pressure suction can be performed on the plurality of grasping suction heads 16 through the collecting groove 9.

[0023] A shut-off valve core 11 is rotatably arranged in a valve groove 24 of a cut-off control box 5. One side of the shut-off valve core 11 penetrates through the cut-off control box 5 and is provided with an adapter joint. A central groove 12 is opened in the center of the shut-off valve core 11. Transfer grooves are respectively opened on both sides in the central groove 12. One of the transfer grooves penetrates through the adapter joint. The other transfer groove is arranged corresponding to a joint pipe 10. A master control ring 13 is arranged on one side of a loading and unloading gripper bracket 1. An annular air groove 14 is opened in the master control ring 13. Adapter hoses 15 are arranged on one side of the master control ring 13 close to the four cut-off control boxes 5. Two ends of each adapter hose 15 are respectively communicated and inserted with the annular air groove 14 and the adapter joint of the shut-off valve core 11. An external negative pressure device is connected to the annular air groove 14 of the master control ring 13 through a hose. At this time, a negative pressure is applied to the four adapter hoses 15 by the annular air groove 14. The other ends of the four adapter hoses 15 are respectively connected to the adapter joints of the four shut-off valve cores 11. At this time, if the central groove 12 is docked with the joint pipe 10 and the transfer groove is docked with the joint pipe 10, the negative pressure state applied by the annular air groove 14 will be conducted to a plurality of gripper suction heads 16 through the joint pipe 10, realizing the negative pressure adsorption and gripping of the gripper suction heads 16; When a gripper suction head 16 on one of the movable loading and unloading arms 7 is damaged, the use of the gripper suction head 16 at this position can be directly interrupted, and the gripper suction heads 16 of the remaining movable loading and unloading arms 7 are normally connected for use. Similarly, if only one movable loading and unloading arm 7 is needed for work requirements, the remaining movable loading and unloading arms 7 can be blocked.

[0024] A state control component is arranged to adjust the rotational movement of the movable loading and unloading arm 7. The state control component is arranged on one side of the loading and unloading gripper bracket 1. The state adjustment component includes an arc control box 17 and an arc push rod 20. One side of the arc push rod 20 is inserted into the arc control box 17. The movable loading and unloading arm 7 is fixedly connected to one side of the arc push rod 20. The arc control box 17 is arranged on one side of the loading and unloading gripper bracket 1 close to the movable loading and unloading arm 7. An arc piston groove 18 is opened in the arc control box 17. An arc guide hole penetrates through one side of the arc piston groove 18 and the arc control box 17. One side of the arc push rod 20 is movably inserted into the arc guide hole. The virtual axes of the arc push rod 20, the arc piston groove 18, the arc control box 17 and the arc guide hole are all coaxial with the virtual axis of the movable loading and unloading arm 7. The sizes of the arc push rod 20 and the arc control box 17 can be adjusted according to requirements to ensure the stable posture of the movable loading and unloading arm 7; On one side of the movable loading and unloading arm 7 close to the arc-shaped push rod 20 and far from the arc-shaped control box 17, there is a pulling block 19. On one side of the arc-shaped push rod 20 inserted into the arc-shaped piston groove 18, there is a holding piston 21. When the arc-shaped push rod 20 extends out of the arc-shaped piston groove 18 to the maximum extent, the grasping and adsorbing head 16 is flush with the plane of the loading and unloading grasping bracket 1. When the arc-shaped push rod 20 retracts into the arc-shaped piston groove 18 to the maximum extent, the grasping and adsorbing head 16 is perpendicular to the plane of the loading and unloading grasping bracket 1. On one side of the arc-shaped piston groove 18 close to the arc-shaped guide groove, there is a first pressure air groove 22. When the arc-shaped push rod 20 extends out of the arc-shaped piston groove 18 to the maximum extent, one side surface of the holding piston 21 close to the arc-shaped push rod 20 abuts against the first pressure air groove 22. The end of the arc-shaped piston groove 18 far from the arc-shaped guide groove is communicated with a second pressure air groove 23. When the goods box to be loaded and unloaded is of a narrow structure and the placement method is vertical or horizontal stacking, by rotating the loading and unloading grasping bracket 1, several grasping and adsorbing heads 16 of one of the movable loading and unloading arms 7 are made to correspond to the box vertically or horizontally, and the master control ring 13 performs individual suction on this movable loading and unloading arm 7 to complete the loading and unloading operation of the narrow box. When the grasping and adsorbing heads 16 of one of the movable loading and unloading arms 7 are used for a long time and the elastic fatigue of the sucker material may occur, the loading and unloading grasping bracket 1 can be rotated through the first control arm 2 to quickly switch to the other movable loading and unloading arm 7 for use.

[0025] When the box for loading and unloading the vehicle is a large-area directional box, high-pressure gas is sent into the arc-shaped piston groove 18 through the first pressure air groove 22, and the high-pressure gas controls the arc-shaped push rod 20 and the pulling block 19 to perform rotational activities. At this time, under the pulling action of the pulling block 19, the movable loading and unloading arm 7 drives the grasping and adsorbing head 16 towards the side of the loading and unloading grasping bracket 1 far from the master control ring 13. At this time, several grasping and adsorbing heads 16 at the upper ends of the four movable loading and unloading arms 7 perform adsorption operations simultaneously to complete the stable loading and unloading operation of the large-area box, quickly adapt to the adjustment, and improve the convenience of loading and unloading the vehicle. In addition, according to the changes in the use scenario, the designed quantities of the loading and unloading grasping bracket 1, the movable loading and unloading arm 7, and the grasping and adsorbing head 16 can be customized according to requirements.

[0026] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent loading and unloading vehicle robot, characterized in that, Including: A loading and unloading grabbing bracket (1), a first control arm (2) is provided at the center of one side of the loading and unloading grabbing bracket (1), a second control arm (3) is provided on one side of the first control arm (2), a third control arm (4) is provided on one side of the second control arm (3), and a grabbing component is provided on the loading and unloading grabbing bracket (1) through a joint component. The joint component includes four cut-off control boxes (5), and the grabbing component includes four movable loading and unloading arms (7); A state regulation component, the state regulation component is provided on one side of the loading and unloading grabbing bracket (1). The state adjustment component includes an arc control box (17) and an arc push-pull rod (20). One side of the arc push-pull rod (20) is inserted into the arc control box (17), and the movable loading and unloading arm (7) is fixedly connected to one side of the arc push-pull rod (20).

2. The intelligent loading and unloading vehicle robot according to claim 1, characterized in that: Conical tooth grooves (6) are respectively opened inside the opposite sides of the four cut-off control boxes (5). A self-rotation hole is respectively penetrated through the center of one side inside the conical tooth grooves (6). Both sides of the movable loading and unloading arm (7) are respectively located between two cut-off control boxes (5), and both ends of the movable loading and unloading arm (7) respectively pass through the self-rotation holes movably and are inserted into synchronous bevel gears (8).

3. The intelligent loading and unloading vehicle robot according to claim 2, wherein: On one side of the two synchronous bevel gears (8) inside the cut-off control box (5), they are both connected in a communicating manner. One end of the movable loading and unloading arm (7) placed inside the conical tooth groove (6) is respectively sleeved with a synchronous bevel gear (8), and on one side of the two synchronous bevel gears (8) inside the cut-off control box (5), they are meshed and connected.

4. An intelligent loading and unloading vehicle robot according to claim 3, characterized in that: A collecting groove (9) is opened at the center inside the movable loading and unloading arm (7). A plurality of grabbing suction heads (16) are respectively vertically provided on the side of the movable loading and unloading arm (7) away from the loading and unloading grabbing bracket (1). One end of each of the plurality of grabbing suction heads (16) is communicated with the collecting groove (9).

5. The intelligent loading and unloading vehicle robot according to claim 4, characterized in that: One side inside the collecting groove (9) of the movable loading and unloading arm (7) is in a through setting. Inside the cut-off control box (5), on the side where the collecting groove (9) penetrates the movable loading and unloading arm (7), joint pipes (10) are respectively horizontally provided. Inside the cut-off control box (5), on one side of the joint pipe (10), a valve groove (24) is opened. The valve groove (24) is communicated with the joint pipe (10). One end of the joint pipe (10) is hermetically inserted into the collecting groove (9) through a bearing.

6. The intelligent loading and unloading vehicle robot according to claim 5, characterized in that: A blocking valve core (11) is rotatably provided inside the valve groove (24) of the cut-off control box (5). One side of the blocking valve core (11) penetrates the cut-off control box (5) and is provided with a transfer joint. A central groove (12) is opened at the center inside the blocking valve core (11). Transfer grooves are respectively penetrated through both sides inside the central groove (12). One of the transfer grooves penetrates the transfer joint, and the other transfer groove is correspondingly arranged with the joint pipe (10).

7. The intelligent loading and unloading vehicle robot according to claim 6, wherein: A main control ring (13) is provided on one side of the loading and unloading grabbing bracket (1). An annular air groove (14) is opened inside the main control ring (13). On the side of the main control ring (13) close to the four cut-off control boxes (5), transfer hoses (15) are respectively provided. Both ends of the transfer hoses (15) are respectively communicated and inserted into the annular air groove (14) and the transfer joint of the blocking valve core (11).

8. The intelligent loading and unloading vehicle robot according to claim 7, characterized in that: The arc-shaped control box (17) is arranged on one side of the loading and unloading grabbing bracket (1) close to the movable loading and unloading arm (7). An arc-shaped piston groove (18) is formed in the arc-shaped control box (17). An arc-shaped guide hole is formed through the arc-shaped control box (17) on one side of the arc-shaped piston groove (18). One side of the arc-shaped push rod (20) is movably inserted into the arc-shaped guide hole, and the virtual axes of the arc-shaped push rod (20), the arc-shaped piston groove (18), the arc-shaped control box (17) and the arc-shaped guide hole are all coaxially arranged with the virtual axis of the movable loading and unloading arm (7).

9. The intelligent loading and unloading vehicle robot according to claim 8, characterized in that: A pulling block (19) is arranged on one side of the movable loading and unloading arm (7) close to the arc-shaped push rod (20) and far from the arc-shaped control box (17). A holding piston (21) is arranged on one side of the arc-shaped push rod (20) inserted into the arc-shaped piston groove (18). When the arc-shaped push rod (20) extends out of the arc-shaped piston groove (18) to the maximum extent, the gripping and suction head (16) is flush with the plane of the loading and unloading grabbing bracket (1). When the arc-shaped push rod (20) retracts into the arc-shaped piston groove (18) to the maximum extent, the gripping and suction head (16) is perpendicular to the plane of the loading and unloading grabbing bracket (1).

10. The intelligent loading and unloading vehicle robot according to claim 9, wherein: A first pressure air groove (22) is arranged on one side of the arc-shaped piston groove (18) close to the arc-shaped guide groove. When the arc-shaped push rod (20) extends out of the arc-shaped piston groove (18) to the maximum extent, the side surface of the holding piston (21) close to the arc-shaped push rod (20) abuts against the first pressure air groove (22). The end of the arc-shaped piston groove (18) far from the arc-shaped guide groove is communicated with a second pressure air groove (23).

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