Storage loading and unloading robot

Abstract

The invention relates to the technical field of conveying, and particularly discloses a storage loading and unloading robot which comprises a clamping mechanism arranged at the free end of the loading and unloading robot and used for clamping cartons so as to convey the cartons to the designated position, the clamping mechanism comprises a connecting plate and a mounting plate, and clamping assemblies are arranged on the outer side of the mounting plate; clamping plates are fixedly arranged on the inner sides of the mounting plates correspondingly, and first sensing assemblies used for sensing the position of a carton are arranged on the inner sides of the clamping plates correspondingly. Whether a certain distance exists between an object in the carton and the carton or not is judged according to the carton clamping force and the moving distance of the clamping plate, so that on the premise that the carton is not opened, different clamping modes are automatically adopted for the cartons under different conditions, the object can be clamped more flexibly, the conveying efficiency is improved, and meanwhile the conveying efficiency is improved. And damage to cartons and objects is reduced.

Description

Technical Field

[0001] The present invention relates to the field of conveying technology, and specifically to a warehousing and loading / unloading robot. Background Art

[0002] Warehousing and loading / unloading robots can autonomously complete tasks such as loading, unloading, handling, and palletizing of goods, greatly improving work efficiency and reducing labor costs. Through automated and intelligent operations, the robots can quickly and accurately identify goods and operate according to pre-set rules, avoiding errors and delays in manual operations.

[0003] Publication No. CN118458204A discloses a robot for warehousing and loading / unloading. The problems raised in its background art are as follows: At present, the clamps of warehousing and loading / unloading robots are easily damaged by debris wear, reducing their service life. At the same time, they cannot clean the goods during the loading and unloading process.

[0004] Based on the existing technologies, the following problems exist: Existing warehousing and loading / unloading robots usually fix cardboard boxes containing objects by clamping, and then convey them to the designated position. However, there is a certain gap between some objects and the cardboard boxes wrapping them on the outside, that is, the objects cannot fill the entire cardboard box. And the warehousing and loading / unloading robots can only clamp the objects by clamping the cardboard boxes. When clamping a cardboard box with a gap between the object and the cardboard box, the clamping mechanism needs to continuously squeeze the cardboard box until it is in contact with the object. In this process, not only will the cardboard box be damaged, but also during the subsequent conveying process, the object is extremely likely to fall out of the damaged cardboard box, affecting the conveying efficiency and easily damaging the object. Moreover, it is not convenient to fix cardboard boxes containing irregular objects. In addition, when clamping cardboard boxes containing different objects, it is not convenient to adjust the clamping method according to the actual situation, there are certain deficiencies. To solve the above problems, a warehousing and loading / unloading robot is proposed. Summary of the Invention

[0005] In order to overcome the deficiencies of the above-mentioned existing technologies, the present invention provides a warehousing and loading / unloading robot, which is convenient for clamping cardboard boxes with a gap between the object and the cardboard box, improving the flexibility of clamping, thereby improving the conveying efficiency and not easily damaging the object, and is also convenient for fixing cardboard boxes containing irregular objects. In addition, it is convenient to adjust the clamping method according to the actual situation, facilitating actual conveying and use.

[0006] To achieve the above purposes, the present invention is realized through the following technical solutions: A warehousing and loading / unloading robot includes a conveyor and a loading / unloading robot, and further includes a clamping mechanism provided at the free end of the loading / unloading robot for clamping the cardboard box to convey the cardboard box to the designated position. A vision camera is provided at the upper end of the loading / unloading robot. The clamping mechanism includes: Connecting plate, fixedly arranged at the free end of the loading and unloading robot. On the front surface of the connecting plate, there are mounting plates that can approach or move away from each other. Clamping components are arranged on the outer sides of the mounting plates, and clamping plates are fixedly arranged on the inner sides of the mounting plates. First sensing components for sensing the position of the carton are arranged on the inner sides of the clamping plates. The first sensing components include: A rotating groove is opened on the inner side of the clamping plate. A universal ball seat is fixedly arranged on the inner wall of the rotating groove. A sphere is sleeved on the inner wall of the universal ball seat. On one side of the sphere outside the universal ball seat, a rotating ring plate is fixedly arranged so that the rotating ring plate can rotate after being squeezed by the carton. On one side of the sphere outside the universal ball seat, an angle sensor is fixedly sleeved to monitor the rotation angle of the rotating ring plate; A mounting rod is fixedly arranged on the inner wall of the universal ball seat. At the end of the mounting rod, a first pressure sensor and a rubber frame are fixedly arranged, and the first pressure sensor is located between the rubber frame and the mounting rod.

[0007] Furthermore, the sphere is designed to be hollow, and the center lines of the sphere, the mounting rod, the angle sensor, and the universal ball seat coincide. The diameter of the side wall of the mounting rod is smaller than the inner diameter of the sphere, so that the sphere can rotate within the universal ball seat; The first pressure sensor is located inside the rubber frame. The side of the rubber frame away from the mounting rod, the side of the rotating ring plate away from the sphere, and the inner side of the clamping plate are in the same vertical plane; A first spring is sleeved outside the universal ball seat.

[0008] Furthermore, the clamping component includes: A first support plate is movably arranged at the bottom of the mounting plate. On both sides of the first support plate, there are second support plates that can rotate towards or away from each other, used to limit the carton from the bottom and at multiple positions. Second sensing components and third sensing components for sensing the position of the carton from the bottom of the carton are respectively arranged at the tops of the first support plate and the second support plates. The second sensing components include: First grooves are spacedly opened at the top of the first support plate. On both inner walls of the first grooves, first chutes are spacedly arranged. First sliders are placed inside the first chutes. First rollers are rotatably arranged on the sides of the first sliders that approach each other.

[0009] Furthermore, the second sensing component further includes: A first rubber block is fixedly arranged on the bottom inner wall of the first chute and is fixedly connected to the bottom of the first slider; A second pressure sensor is fixedly arranged on the bottom inner wall of the first groove, used to monitor the force of the carton squeezing the first roller.

[0010] Furthermore, the third sensing component includes: The second groove is opened at the top of the second support plate. The inner wall of the second groove is provided with second sliding grooves arranged at intervals. Second sliders are placed inside the second sliding grooves. Second rollers are rotatably arranged on the sides of the second sliders close to each other. Second rubber blocks are fixedly arranged on the bottom inner walls of the second sliding grooves, and the second rubber blocks are fixedly connected to the bottoms of the second sliders. The second rollers are vertically arranged with respect to the first rollers, and both ends of the second rollers are designed in a frustum shape. The third pressure sensor is fixedly arranged on the bottom inner wall of the second groove.

[0011] Furthermore, the clamping assembly further includes: The electric push rod is fixedly arranged on the outer side of the mounting plate. The telescopic shaft of the electric push rod is fixedly provided with a cross-shaped plate. Elastic support components are arranged on both sides of the top of the cross-shaped plate. The vertical plate is fixedly arranged on the top of the first support plate and is located on the outer side of the mounting plate. A limiting component for limiting the movement of the vertical plate is arranged between the vertical plate and the mounting plate. A T-shaped plate is fixedly arranged on the side of the vertical plate away from the mounting plate. The bottom sides of both sides of the T-shaped plate are rotatably connected to the top of the second support plate, so as to drive the first support plate and the second support plate to move through the electric push rod. A rotating component for driving the second support plate to rotate is arranged on the top of the T-shaped plate. The moving plate is fixedly arranged at the bottom of the cross-shaped plate. A moving groove is opened at the top of the vertical plate, and the moving plate is sleeved in the moving groove.

[0012] Furthermore, the rotating component includes: The first gear is arranged on the top of the second support plate and is located on the outer side of the mounting plate. The inner wall of the first gear is fixedly provided with a first rotating shaft, and the first rotating shaft is fixedly connected to the top of the second support plate. The second gear is rotatably arranged on the top of the first support plate. A third gear meshing with the second gear is rotatably arranged on the top of the first support plate, and the third gear meshes with one of the first gears. The second gear meshes with the other first gear, so that the two second support plates rotate towards each other or away from each other. The first servo motor is fixedly arranged on the outer side of the T-shaped plate. The output shaft of the first servo motor is fixedly provided with a second rotating shaft through a coupling. A fourth gear is fixedly sleeved on the side wall of the second rotating shaft, and the fourth gear is in transmission connection with the second gear.

[0013] Furthermore, the limiting component includes: The third sliding grooves are arranged at intervals on the outer side of the mounting plate, and third sliders are placed inside. The guide rods are fixedly arranged on the side walls of the third sliders, and the guide rods are sleeved on the side wall of the vertical plate. Guide holes for sleeving the guide rods are opened on the side wall of the vertical plate.

[0014] Furthermore, the elastic support component includes: The support rod is fixedly arranged at the top of the T-shaped plate and extends to the top of the cross-shaped plate. A support hole for sleeving the support rod is formed at the top of the cross-shaped plate. At one end of the support rod located at the top of the support hole, a support block is fixedly arranged, and the diameter of the side wall of the support block is larger than that of the side wall of the support rod. A second spring is sleeved on the side wall of the support rod between the cross-shaped plate and the T-shaped plate.

[0015] Furthermore, the clamping mechanism further includes an adjusting component arranged on the side wall of the connecting plate for adjusting the clamping plates to approach or move away from each other. The adjusting component includes: An adjusting seat is fixedly arranged on the side wall of the connecting plate. A fourth sliding groove is formed on the side of the adjusting seat away from the connecting plate. Fourth sliding blocks arranged symmetrically with respect to the center point of the fourth sliding groove are placed inside the fourth sliding groove, and the fourth sliding blocks are fixedly connected to the mounting plate; A second servo motor is fixedly arranged on the side wall of the adjusting seat. The output shaft of the second servo motor is fixedly provided with a threaded rod extending into the fourth sliding groove through a coupling, and the threaded rod is in threaded connection with the fourth sliding block. The threaded rod is designed as a bidirectional screw rod to drive the clamping plates to approach or move away from each other; A distance measuring sensor is fixedly arranged on the side of the fourth sliding blocks away from each other; A limiting groove is formed at the upper end of the side wall of the adjusting seat. A limiting plate extending to the top of the mounting plate is sleeved on the inner wall of the limiting groove, and the bottom of the limiting plate is fixedly connected to the top of the side of the mounting plate away from the adjusting seat.

[0016] The present invention provides a warehousing and loading / unloading robot. Compared with the prior art, it has the following beneficial effects: 1. The present invention cooperates with the first sensing component and the distance measuring sensor to judge whether there is a certain distance between the object in the carton and the carton by the force of clamping the carton and the moving distance of the clamping plates, so as to automatically adopt different clamping methods for cartons in different situations without opening the carton, thereby being able to clamp the object more flexibly, improving the conveying efficiency and reducing the damage of the carton and the object.

[0017] 2. The present invention monitors the change of the value monitored by the angle sensor in the first sensing component, and thus cooperates with the clamping component to clamp the carton containing irregular objects, further improving the clamping flexibility, facilitating the clamping of cartons containing different objects, reducing the manual participation and improving the conveying efficiency.

[0018] 3. The present invention makes the sphere be designed as hollow, which is convenient for the rotating ring plate to rotate, and does not affect the angle sensor to monitor its rotation angle, nor does it affect the first pressure sensor to monitor the clamping force between the clamping plate and the carton, facilitating the actual use and facilitating the stable clamping of the object.

[0019] 4. Through the cooperation of the second sensing component and the third sensing component, the present invention judges the approximate force-receiving position of the object. When the values monitored by the second pressure sensor and the third pressure sensor are approximately the same or differ greatly, the distribution position of the second support plate is adjusted to cooperate with the clamping plate, so as to improve the stability of limiting the cardboard box containing different objects from the bottom, and it is convenient to support the cardboard box containing irregular objects, improving the flexibility of clamping and limiting, thereby improving the conveying efficiency.

[0020] 5. Through the cooperation of the electric push rod and the rotating component, the present invention facilitates the synchronous movement of the first support plate and the second support plate, and at the same time facilitates the synchronous driving of the first support plate to rotate towards each other or away from each other, which is convenient for actual operation. And through the limiting component and the moving plate, the horizontal and vertical movements of the first support plate and the second support plate are limited, improving the stability of their movement, thereby improving the stability of conveying. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the loading and unloading robot, vision camera and clamping mechanism of the present invention; Figure 3 is a schematic diagram of the right-side structure of the clamping mechanism of the present invention; Figure 4 is a schematic diagram of the left-side structure of the clamping mechanism of the present invention; Figure 5 is a schematic diagram of the structure of the adjusting component of the present invention; Figure 6 is a schematic diagram of the structure of the first sensing component of the present invention; Figure 7 is a schematic diagram of the structure of the rubber frame, mounting rod, first pressure sensor and sphere of the present invention; Figure 8 is a schematic diagram of the structure of the clamping component of the present invention; Figure 9 is a schematic diagram of the structure of the cross-shaped plate, T-shaped plate and rotating component of the present invention; Figure 10 is a schematic diagram of the structure of the first support plate and the second support plate of the present invention; Figure 11 is a schematic diagram of the structure of the limiting component of the present invention; Figure 12 is a schematic diagram of the structure of the elastic support component, vertical plate and moving plate of the present invention; Figure 13 is a schematic diagram of the structure of the rotating component of the present invention; Figure 14Schematic diagram of the first gear, fifth gear, second gear and third gear of the present invention; Figure 15 Schematic diagram of the second sensing component of the present invention; Figure 16 Schematic diagram of the third sensing component of the present invention; Figure 17 Schematic diagram of the separation structure of the first support plate and the second support plate of the present invention.

[0022] Reference numerals involved in the above drawings: 1, conveyor; 2, loading and unloading robot; 3, clamping mechanism; 4, vision camera; 30, mounting plate; 31, connecting plate; 32, adjusting component; 33, clamping plate; 34, first sensing component; 35, clamping component; 321, fourth chute; 322, limiting groove; 323, adjusting seat; 324, second servo motor; 325, limiting plate; 326, distance measuring sensor; 341, rotating ring plate; 342, universal ball seat; 343, sphere; 344, mounting rod; 345, first pressure sensor; 346, rubber frame; 347, rotating groove; 348, angle sensor; 351, third sensing component; 352, second support plate; 353, first support plate; 354, second sensing component; 355, limiting component; 356, rotating component; 357, elastic support component; 359, electric push rod; 3591, cross-shaped plate; 3592, T-shaped plate; 3593, vertical plate; 3594, moving plate; 3511, second roller; 3512, second groove; 3513, third pressure sensor; 3541, first groove; 3542, first roller; 3543, first chute; 3544, second pressure sensor; 3545, rubber block; 3551, guide rod; 3552, third chute; 3561, first servo motor; 3562, fourth gear; 3563, fifth gear; 3564, second gear; 3565, first gear; 3566, third gear; 3571, support rod; 3572, support block. Detailed implementation manners

[0023] 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.

[0024] Example 1: Please refer to Figure 1 and Figure 2 , a warehousing loading and unloading robot 2, including a conveyor 1 and a loading and unloading robot 2. The loading and unloading robot 2 can adjust the angle of the clamping mechanism 3 so that the clamping mechanism 3 can better clamp the cardboard box, and can carry the object to a designated position after clamping and fixing the cardboard box for warehousing. It also includes a clamping mechanism 3 arranged at the free end of the loading and unloading robot 2 for clamping the cardboard box to convey the cardboard box to the designated position. A vision camera 4 is arranged at the upper end of the loading and unloading robot 2.

[0025] Please refer to Figure 3 and Figure 4 , the clamping mechanism 3 includes: A connecting plate 31, fixedly arranged at the free end of the loading and unloading robot 2. On the front surface of the connecting plate 31, there are mounting plates 30 that can approach or move away from each other. Clamping assemblies 35 are arranged on the outer sides of the mounting plates 30. Clamping plates 33 are fixedly arranged on the inner sides of the mounting plates 30. First sensing components 34 for sensing the position of the cardboard box are arranged on the inner sides of the clamping plates 33.

[0026] Please refer to Figure 6 and Figure 7 , the first sensing component 34 includes: A rotating groove 347 is opened on the inner side of the clamping plate 33. A universal ball seat 342 is fixedly arranged on the inner wall of the rotating groove 347. A sphere 343 is sleeved on the inner wall of the universal ball seat 342. On one side of the sphere 343 outside the universal ball seat 342, a rotating ring plate 341 is fixedly arranged so that the rotating ring plate 341 can rotate after being squeezed by the cardboard box. On one side of the sphere 343 outside the universal ball seat 342, an angle sensor 348 is fixedly sleeved to monitor the rotation angle of the rotating ring plate 341; A mounting rod 344 is fixedly arranged on the inner wall of the universal ball seat 342. At the end of the mounting rod 344, a first pressure sensor 345 and a rubber frame 346 are fixedly arranged, and the first pressure sensor 345 is located between the rubber frame 346 and the mounting rod 344.

[0027] The sphere 343 is designed to be hollow, and the center lines of the sphere 343, the mounting rod 344, the angle sensor 348 and the universal ball seat 342 coincide. The diameter of the side wall of the mounting rod 344 is smaller than the inner diameter of the sphere 343, so that the sphere 343 can rotate in the universal ball seat 342; The first pressure sensor 345 is located inside the rubber frame 346. The side of the rubber frame 346 away from the mounting rod 344, the side of the rotating ring plate 341 away from the sphere 343 and the inner side of the clamping plate 33 are on the same vertical plane; A first spring is sleeved outside the universal ball seat 342.

[0028] In specific implementation, the adjusting assembly 32 drives the clamping plates 33 to approach each other to clamp and fix the cardboard box, so that the cardboard box moves along with the clamping mechanism 3, facilitating the conveying of the cardboard box and the objects inside the cardboard box to the designated position by the loading and unloading robot 2 for warehousing.

[0029] During the process of the clamping plate 33 clamping the cardboard box, the rubber frame 346 contacts the cardboard box. At this time, the value monitored by the first pressure sensor 345 changes. As the clamping continues, the value monitored by the first pressure sensor 345 increases rapidly and reaches the designated value, thereby clamping the cardboard box, facilitating the control of the clamping force, and thus facilitating the stable clamping of the cardboard box. When an abnormality occurs during clamping, after the first pressure sensor 345 contacts the cardboard box and as the clamping plate 33 continuously approaches the cardboard box, the force monitored by the first pressure sensor 345 does not correspond to the normal clamping force, indicating that the object inside the cardboard box does not fit the inner wall of the cardboard box, that is, there is a certain distance between the object and the cardboard box. At this time, if the clamping plate 33 is continuously approached, it will not only cause damage to the cardboard box, but also, when the object is heavy, it is impossible to clamp and fix the cardboard box together with the object inside it, and it will also damage the cardboard box, causing the object inside it to fall out of the cardboard box, affecting the actual conveying and use. Therefore, the clamping assembly 35 is used to support and limit the cardboard box from the bottom, so that the clamping plate 33 and the clamping assembly 35 cooperate to clamp it, clamping from both sides and the bottom of the object, thus facilitating the automatic clamping and fixing of cardboard boxes with different objects, such as when there is a certain distance between the object and the cardboard box, thereby improving the clamping stability and facilitating warehousing use.

[0030] The first sensing component 34 and the distance measuring sensor 326 cooperate with each other to judge whether there is a certain distance between the object in the cardboard box and the cardboard box based on the clamping force of the cardboard box and the moving distance of the clamping plate 33. Thus, without opening the cardboard box, different clamping methods can be automatically adopted for cardboard boxes in different situations, enabling more flexible clamping of the object, improving the conveying efficiency, and reducing the damage to the cardboard box and the object.

[0031] When the clamping plate 33 contacts the cardboard box, if the object inside the cardboard box is an irregular object, while squeezing the cardboard box, the object squeezes part of the rotating ring plate 341, causing the rotating ring plate 341 to deflect. At this time, the value monitored by the angle sensor 348 changes. Thus, in cooperation with the clamping assembly 35, the cardboard box with irregular objects is clamped, further improving the clamping flexibility, facilitating the clamping of cardboard boxes with different objects, reducing manual participation, and improving the conveying efficiency. By making the sphere 343 have a hollow design, it is convenient to rotate the rotating ring plate 341 while not affecting the angle sensor 348's monitoring of its rotation angle, and not affecting the first pressure sensor 345's monitoring of the clamping force between the clamping plate 33 and the cardboard box, which is convenient for actual use.

[0032] The inner wall diameter of the rotating groove 347 is larger than the outer wall diameter of the rotating ring plate 341, so that the rotating ring plate 341 has a space to rotate. The rotating ring plate 341 is elastically supported by the first spring, which is convenient for the rotating ring plate 341 to be in a vertical state, convenient for the angle sensor 348 to monitor, and convenient for the rotating ring plate 341 to reset after being squeezed.

[0033] By setting the vision camera 4, it is convenient for the clamping plate 33 to clamp from the positions near the centers of both sides of the cardboard box, which is convenient for actual clamping use.

[0034] Please refer to Figure 5 , the clamping mechanism 3 further includes an adjusting component 32 arranged on the side wall of the connecting plate 31 for adjusting the clamping plate 33 to move closer to or away from each other. The adjusting component 32 includes: The adjusting seat 323 is fixedly arranged on the side wall of the connecting plate 31. A fourth sliding groove 321 is opened on the side of the adjusting seat 323 away from the connecting plate 31. Fourth sliders arranged symmetrically with the center point of the fourth sliding groove 321 are placed inside the fourth sliding groove 321, and the fourth sliders are fixedly connected to the mounting plate 30; The second servo motor 324 is fixedly arranged on the side wall of the adjusting seat 323. The output shaft of the second servo motor 324 is fixedly provided with a threaded rod extending into the fourth sliding groove 321 through a coupling, and the threaded rod is threadedly connected to the fourth slider. The threaded rod is designed as a bidirectional screw rod to drive the clamping plate 33 to move closer to or away from each other; The distance measuring sensor 326 is fixedly arranged on the sides of the fourth sliders away from each other; The limiting groove 322 is opened on the upper end of the side wall of the adjusting seat 323. A limiting plate 325 extending to the top of the mounting plate 30 is sleeved on the inner wall of the limiting groove 322, and the bottom of the limiting plate 325 is fixedly connected to the top of the side of the mounting plate 30 away from the adjusting seat 323.

[0035] In specific implementation, start the first servo motor 3561 to drive the rotation of the threaded rod designed as a bidirectional screw rod, so that the fourth sliders move closer to or away from each other in the fourth sliding groove 321, driving the mounting plate 30 and the clamping plate 33 to move, so as to clamp or release an object. And the distance measuring sensor 326 monitors the moving distance of the clamping plate 33 to cooperate with the first sensing component 34 to clamp cardboard boxes containing different objects, improving the stability of clamping cardboard boxes containing different objects, thereby improving the conveying efficiency and reducing manual participation.

[0036] By means of the limiting plate 325 moving along the limiting groove 322 following the mounting plate 30, the side of the mounting plate 30 away from the adjusting seat 323 is limited, thereby improving the stability of the movement of the mounting plate 30 and the clamping plate 33.

[0037] Embodiment 2: Please refer to Figure 3 , Figure 8 , Figure 9 , Figure 10 and Figure 17 , and the different technical solution of this embodiment compared with Embodiment 1 is that the clamping assembly 35 includes: The first support plate 353 is movably arranged at the bottom of the mounting plate 30. On both sides of the first support plate 353, there are second support plates 352 that can rotate towards each other or away from each other, and are used to limit the cardboard box from the bottom and at multiple positions. At the top of the first support plate 353 and the second support plate 352, there are respectively a second sensing component 354 and a third sensing component 351 for sensing the position of the cardboard box from the bottom of the cardboard box.

[0038] Please refer to Figure 15 , the second sensing component 354 includes: The first groove 3541 is spacedly opened at the top of the first support plate 353. On both inner walls of the first groove 3541, there are first sliding grooves 3543 arranged at intervals. Inside the first sliding grooves 3543, there are first sliders placed. On the sides of the first sliders close to each other, there are first rollers 3542 rotatably arranged.

[0039] The second sensing component 354 further includes: The first rubber block 3545 is fixedly arranged on the bottom inner wall of the first sliding groove 3543 and is fixedly connected to the bottom of the first slider; The second pressure sensor 3544 is fixedly arranged on the bottom inner wall of the first groove 3541 and is used to monitor the force of the cardboard box squeezing the first roller 3542.

[0040] Please refer to Figure 16 , the third sensing component 351 includes: The second groove 3512 is opened at the top of the second support plate 352. On the inner wall of the second groove 3512, there are second sliding grooves arranged at intervals. Inside the second sliding grooves, there are second sliders placed. On the sides of the second sliders close to each other, there are second rollers 3511 rotatably arranged. On the bottom inner walls of the second sliding grooves, there are second rubber blocks 3545 fixedly arranged, and the second rubber blocks 3545 are fixedly connected to the bottoms of the second sliders. The second roller 3511 is perpendicularly arranged to the first roller 3542, and both ends of the second roller 3511 are designed in a frustum shape; The third pressure sensor 3513 is fixedly arranged on the bottom inner wall of the second groove 3512.

[0041] In specific implementation, when the clamping assembly 35 is required to limit the position of the cardboard box from its bottom, the first support plate 353 and the second support plate 352 enter the bottom of the cardboard box along the bottom of the mounting plate 30. During this process, the cardboard box squeezes the first roller body 3542 and the second roller body 3511, and then squeezes the rubber block 3545 and the second pressure sensor 3544 and the third pressure sensor 3513. Thus, the approximate force-receiving position of the object is judged through the values of the second pressure sensor 3544 and the third pressure sensor 3513. When the values monitored by the second pressure sensor 3544 and the third pressure sensor 3513 are approximately the same, it indicates that the overall forces received by the first support plate 353 and the second support plate 352 are not very different, that is, it indicates that the bottom of the object is relatively flat. Thus, after the first support plate 353 and the second support plate 352 are brought closer, they support and limit the cardboard box; When the values monitored by the second pressure sensor 3544 and the third pressure sensor 3513 are quite different, the position of the second support plate 352 can be adjusted through the rotating assembly 356, so as to adjust the support position of the cardboard box, in order to find the support position where the values monitored by the second pressure sensor 3544 and the third pressure sensor 3513 are approximately the same, thereby improving the stability of limiting the position of the cardboard box containing different objects from the bottom, and facilitating the support of the cardboard box containing irregular objects, improving the flexibility of clamping and limiting, and thus improving the conveying efficiency.

[0042] By providing the first roller body 3542 and the second roller body 3511, it is convenient for the first support plate 353 and the second support plate 352 to enter the bottom of the cardboard box, which is convenient for actual use, and the extrusion forces received by the first roller body 3542 and the second roller body 3511 act on the second pressure sensor 3544 and the third pressure sensor 3513 respectively, increasing the area for collecting the force-receiving position of the cardboard box, and facilitating the actual adjustment of the position of the second support plate 352 for use.

[0043] When clamping the object from the bottom of the object through the clamping assembly 35, at this time, the clamping plate 33 has already clamped the cardboard box to a certain extent from both sides, and the cardboard box is deformed. Since the clamping is performed from the centers of the two sides close to the cardboard box, the bottom of the cardboard box usually warps up, which is convenient for the first support plate 353 and the second support plate 352 to enter the bottom of the cardboard box, and the inner sides of the first support plate 353 and the second support plate 352 are both designed in an arc shape, further improving the stability of the first support plate 353 and the second support plate 352 entering the bottom of the cardboard box.

[0044] Please refer to Figure 3 、 Figure 8 and Figure 12 , the clamping assembly 35 further includes: The electric push rod 359 is fixedly arranged on the outer side of the mounting plate 30. A cross-shaped plate 3591 is fixedly arranged on the telescopic shaft of the electric push rod 359. Elastic support components 357 are arranged on both sides of the top of the cross-shaped plate 3591. The vertical plate 3593 is fixedly arranged on the top of the first support plate 353 and is located on the outer side of the mounting plate 30. A limiting component 355 for limiting the movement of the vertical plate 3593 is arranged between the vertical plate 3593 and the mounting plate 30. A T-shaped plate 3592 is fixedly arranged on the side of the vertical plate 3593 away from the mounting plate 30. The bottom sides of both sides of the T-shaped plate 3592 are rotatably connected to the top of the second support plate 352, so as to drive the first support plate 353 and the second support plate 352 to move through the electric push rod 359. A rotating component 356 for driving the second support plate 352 to rotate is arranged on the top of the T-shaped plate 3592. The moving plate 3594 is fixedly arranged at the bottom of the cross-shaped plate 3591. A moving groove is formed in the top of the vertical plate 3593, and the moving plate 3594 is sleeved in the moving groove.

[0045] In specific implementation, it is convenient to adjust the positions of the first support plate 353 and the second support plate 352 through the electric push rod 359. When the clamping component 35 needs to be used, the first support plate 353 and the second support plate 352 are moved to the bottom of the cardboard box. When the clamping component 35 does not need to be used, the first support plate 353 and the second support plate 352 are located outside the cardboard box.

[0046] Through the cooperation of the electric push rod 359 and the rotating component 356, it is convenient to synchronously move the first support plate 353 and the second support plate 352, and at the same time, it is convenient to synchronously drive the first support plate 353 to rotate towards each other or away from each other, which is convenient for actual operation.

[0047] By arranging the moving plate 3594 to move in the moving groove, when the first support plate 353 and the second support plate 352 move vertically, the movement of the vertical plate 3593 and the cross-shaped plate 3591 is limited, improving the stability of their movement, and when the electric push rod 359 drives the first support plate 353 and the second support plate 352 to move horizontally, it does not affect their movement.

[0048] Please refer to Figure 13 and Figure 14 , the rotating component 356 includes: The first gear 3565 is arranged on the top of the second support plate 352 and is located on the outer side of the mounting plate 30. A first rotating shaft is fixedly arranged on the inner wall of the first gear 3565, and the first rotating shaft is fixedly connected to the top of the second support plate 352. The second gear 3564 is rotatably arranged on the top of the first support plate 353. A third gear 3566 meshing with the second gear 3564 is rotatably arranged on the top of the first support plate 353. The third gear 3566 meshes with one of the first gears 3565, and the second gear 3564 meshes with the other first gear 3565, so that the two second support plates 352 rotate towards each other or away from each other. The first servo motor 3561 is fixedly arranged on the outside of the T-shaped plate 3592. The output shaft of the first servo motor 3561 is fixedly provided with a second rotating shaft through a coupling. A fourth gear 3562 is fixedly sleeved on the side wall of the second rotating shaft. The fourth gear 3562 is in transmission connection with the second gear 3564.

[0049] During specific implementation, when the first servo motor 3561 is started, the first servo motor 3561 drives the fourth gear 3562 to rotate. The fourth gear 3562 drives the second gear 3564 to rotate. The second gear 3564 drives the third gear 3566 and one of the first gears 3565 to rotate. The third gear 3566 drives the other first gear 3565 to rotate, so that the two second support plates 352 rotate towards each other or away from each other.

[0050] The rotating assembly 356 further includes a fifth gear 3563 coaxially rotating with the second gear 3564 and a transmission gear for transmitting and connecting the fifth gear 3563 and the fourth gear 3562. The fourth gear 3562 drives the fifth gear 3563 to rotate through the transmission gear, so as to drive the second gear 3564 to rotate.

[0051] Please refer to Figure 11 , the limiting assembly 355 includes: The third sliding grooves 3552 are spaced apart and opened on the outside of the mounting plate 30, and third sliders are placed inside. The guide rods 3551 are fixedly arranged on the side walls of the third sliders, and the guide rods 3551 are sleeved on the side walls of the vertical plates 3593. Guide holes for sleeving the guide rods 3551 are opened on the side walls of the vertical plates 3593.

[0052] During specific implementation, when the first support plate 353 and the second support plate 352 move vertically, the first support plate 353 drives the guide rods 3551 and the third sliders to move in the third sliding grooves 3552 through the vertical plates 3593, so as to limit their movement. When the first support plate 353 and the second support plate 352 move horizontally, the first support plate 353 moves along the side walls of the guide rods 3551 through the vertical plates 3593, so as to limit the vertical and horizontal movements of the first support plate 353 and the second support plate 352, and improve the stability of the movement.

[0053] Please refer to Figure 12 , the elastic support assembly 357 includes: The support rod 3571 is fixedly arranged at the top of the T-shaped plate 3592 and extends to the top of the cross-shaped plate 3591. A support hole for sleeving the support rod 3571 is formed at the top of the cross-shaped plate 3591. A support block 3572 is fixedly arranged at one end of the support rod 3571 located at the top of the support hole, and the diameter of the side wall of the support block 3572 is larger than that of the side wall of the support rod 3571. A second spring is sleeved on the side wall of the support rod 3571 and is located between the cross-shaped plate 3591 and the T-shaped plate 3592.

[0054] During specific implementation, the T-shaped plate 3592 and the vertical plate 3593 are elastically supported by the second spring, so as to avoid violent rigid contact between the first support plate 353, the second support plate 352 and the top of the conveyor 1, and make the bottoms of the first support plate 353 and the second support plate 352 fit the top of the conveyor 1, so as to facilitate entering the bottom of the cardboard box.

[0055] When the present invention is implemented, the cardboard box is conveyed by the conveyor 1. During the conveying process, the loading and unloading robot 2 clamps and fixes the cardboard box through the clamping mechanism 3, so as to convey the cardboard box to a designated position for storage by the loading and unloading robot 2; During the process of clamping the cardboard box, the clamping plates 33 are driven to approach each other by the adjusting assembly 32 to clamp the cardboard box. During this process, the distance of the movement of the clamping plates 33 is grasped in real time by the ranging sensor 326, and the clamping force on the cardboard box is grasped by the first sensing assembly 34. Thus, after clamping the cardboard box, the clamping situation is judged according to the changes in the clamping force and the position of the clamping plates 33. When clamping normally, after the first pressure sensor 345 contacts the cardboard box, the monitored force rapidly increases and reaches a specified value, so as to clamp the cardboard box. When the clamping is abnormal, after the first pressure sensor 345 contacts the cardboard box and as the clamping plates 33 continuously approach the cardboard box, the force monitored by the first pressure sensor 345 does not correspond to the normal clamping force, that is, it indicates that the object in the cardboard box does not fit the inner wall of the cardboard box. At this time, if the clamping plates 33 are continuously made to approach, it will not only cause damage to the cardboard box, but also when the object is heavy, the cardboard box and the object inside it cannot be clamped and fixed together. Therefore, the clamping assembly 35 is used to support and limit the cardboard box from the bottom, so that the clamping plates 33 and the clamping assembly 35 cooperate to clamp it, so as to facilitate automatically clamping and fixing cardboard boxes containing different objects, thereby improving the clamping stability and facilitating storage use.

[0056] At the same time, the content not detailedly described in this specification belongs to the prior art well known to those skilled in the art.

[0057] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0058] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A warehousing loading and unloading robot, comprising a conveyor and a loading and unloading robot, characterized in that, It also includes a clamping mechanism arranged at the free end of the loading and unloading robot for clamping the carton to convey the carton to a specified position. A vision camera is arranged at the upper end of the loading and unloading robot. The clamping mechanism includes: A connecting plate is fixedly arranged at the free end of the loading and unloading robot. On the front surface of the connecting plate, there are mounting plates that can approach or move away from each other. Clamping components are arranged on the outer sides of the mounting plates. Clamping plates are fixedly arranged on the inner sides of the mounting plates. First sensing components for sensing the position of the carton are arranged on the inner sides of the clamping plates. The first sensing components include: A rotating groove is opened on the inner side of the clamping plate. A universal ball seat is fixedly arranged on the inner wall of the rotating groove. A sphere is sleeved on the inner wall of the universal ball seat. On one side of the sphere outside the universal ball seat, a rotating ring plate is fixedly arranged so that the rotating ring plate can rotate after being squeezed by the carton. On one side of the sphere outside the universal ball seat, an angle sensor is fixedly sleeved to monitor the rotation angle of the rotating ring plate; A mounting rod is fixedly arranged on the inner wall of the universal ball seat. At the end of the mounting rod, a first pressure sensor and a rubber frame are fixedly arranged, and the first pressure sensor is located between the rubber frame and the mounting rod.

2. The warehousing and loading / unloading robot according to claim 1, wherein, The sphere is designed to be hollow, and the center lines of the sphere, the mounting rod, the angle sensor, and the universal ball seat coincide. The diameter of the side wall of the mounting rod is smaller than the inner diameter of the sphere, so that the sphere can rotate within the universal ball seat; The first pressure sensor is located inside the rubber frame. The side of the rubber frame away from the mounting rod, the side of the rotating ring plate away from the sphere, and the inner side of the clamping plate are in the same vertical plane; A first spring is sleeved outside the universal ball seat.

3. A warehousing and loading / unloading robot according to claim 1, characterized in that, The clamping component includes: A first support plate is movably arranged at the bottom of the mounting plate. On both sides of the first support plate, there are second support plates that can rotate towards or away from each other to limit the carton from the bottom and at multiple positions. Second sensing components and third sensing components for sensing the position of the carton from the bottom of the carton are respectively arranged at the tops of the first support plate and the second support plate. The second sensing component includes: First grooves are spacedly opened at the top of the first support plate. On both inner walls of the first grooves, first sliding grooves are spacedly arranged. First sliders are placed inside the first sliding grooves. First rollers are rotatably arranged on the sides of the first sliders close to each other.

4. The storage and handling robot according to claim 3, wherein, The second sensing component further includes: A first rubber block is fixedly arranged on the bottom inner wall of the first sliding groove and is fixedly connected to the bottom of the first slider; A second pressure sensor is fixedly arranged on the bottom inner wall of the first groove for monitoring the force of the carton squeezing the first roller.

5. The warehousing and loading / unloading robot according to claim 4, characterized in that, The third sensing component includes: A second groove is opened at the top of the second support plate. Second sliding grooves are spacedly arranged on the inner wall of the second groove. Second sliders are placed inside the second sliding grooves. Second rollers are rotatably arranged on the sides of the second sliders close to each other. Second rubber blocks are fixedly arranged on the bottom inner walls of the second sliding grooves and are fixedly connected to the bottoms of the second sliders. The second rollers are perpendicularly arranged to the first rollers, and both ends of the second rollers are designed to be frustum-shaped; A third pressure sensor is fixedly arranged on the bottom inner wall of the second groove.

6. The warehousing and loading / unloading robot according to claim 3, wherein The clamping component further includes: The electric push rod is fixedly arranged on the outside of the mounting plate. A cross-shaped plate is fixedly arranged on the telescopic shaft of the electric push rod. Elastic support components are arranged on both sides of the top of the cross-shaped plate. The vertical plate is fixedly arranged on the top of the first support plate and is located outside the mounting plate. A limiting component for limiting the movement of the vertical plate is arranged between the vertical plate and the mounting plate. A T-shaped plate is fixedly arranged on the side of the vertical plate away from the mounting plate. The bottom sides of both sides of the T-shaped plate are rotatably connected to the top of the second support plate, so as to drive the first support plate and the second support plate to move through the electric push rod. A rotating component for driving the second support plate to rotate is arranged on the top of the T-shaped plate. The moving plate is fixedly arranged at the bottom of the cross-shaped plate. A moving groove is formed in the top of the vertical plate, and the moving plate is sleeved in the moving groove.

7. A warehousing and loading / unloading robot according to claim 6, characterized in that, The rotating component includes: The first gear is arranged on the top of the second support plate and is located outside the mounting plate. A first rotating shaft is fixedly arranged on the inner wall of the first gear, and the first rotating shaft is fixedly connected to the top of the second support plate. The second gear is rotatably arranged on the top of the first support plate. A third gear meshing with the second gear is rotatably arranged on the top of the first support plate, and the third gear meshes with one of the first gears, and the second gear meshes with the other first gear, so that the two second support plates rotate towards each other or away from each other. The first servo motor is fixedly arranged on the outside of the T-shaped plate. The output shaft of the first servo motor is fixedly provided with a second rotating shaft through a coupling. A fourth gear is fixedly sleeved on the side wall of the second rotating shaft, and the fourth gear is in transmission connection with the second gear.

8. A warehousing and loading / unloading robot according to claim 6, characterized in that, The limiting component includes: The third sliding grooves are spacedly arranged on the outside of the mounting plate, and third sliders are placed inside. The guide rod is fixedly arranged on the side wall of the third slider, and the guide rod is sleeved on the side wall of the vertical plate. A guide hole for sleeving the guide rod is formed in the side wall of the vertical plate.

9. The warehousing and loading / unloading robot according to claim 6, wherein The elastic support component includes: The support rod is fixedly arranged on the top of the T-shaped plate and extends to the top of the cross-shaped plate. A support hole for sleeving the support rod is formed in the top of the cross-shaped plate. A support block is fixedly arranged at one end of the support rod located above the support hole, and the diameter of the side wall of the support block is larger than that of the side wall of the support rod. A second spring is sleeved on the side wall of the support rod between the cross-shaped plate and the T-shaped plate.

10. A warehousing and loading / unloading robot according to claim 1, characterized in that, The clamping mechanism further includes an adjusting component arranged on the side wall of the connecting plate for adjusting the clamping plates to approach or move away from each other. The adjusting component includes: The adjusting seat is fixedly arranged on the side wall of the connecting plate. A fourth sliding groove is formed on the side of the adjusting seat away from the connecting plate. Fourth sliders arranged symmetrically with respect to the center point of the fourth sliding groove are placed inside the fourth sliding groove, and the fourth sliders are fixedly connected to the mounting plate. The second servo motor is fixedly arranged on the side wall of the adjusting seat. The output shaft of the second servo motor is fixedly provided with a threaded rod extending into the fourth sliding groove through a coupling, and the threaded rod is in threaded connection with the fourth slider. The threaded rod is designed as a bidirectional threaded rod to drive the clamping plates to approach or move away from each other. The distance measuring sensor is fixedly arranged on the side of the fourth sliders away from each other. The limiting groove is formed in the upper end of the side wall of the adjusting seat. A limiting plate extending to the top of the mounting plate is sleeved on the inner wall of the limiting groove, and the bottom of the limiting plate is fixedly connected to the top of the side of the mounting plate away from the adjusting seat.

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