Intelligent industrial transfer robot

Abstract

The invention relates to the technical field of robots, in particular to an intelligent industrial transfer robot which comprises a movable base, a mechanical arm is arranged on the movable base, a mounting plate is mounted at the end of the mechanical arm, and an adsorption puncture grabbing mechanism is fixed to the mounting plate; the adsorption puncture grabbing mechanism comprises a first telescopic rod fixed to the mounting plate, a suction cup is fixed to the telescopic end of the bottom of the first telescopic rod, and a linkage grabbing assembly is arranged on the first telescopic rod. And after the suction cups make contact with the woven bags and suck up the contact positions of the woven bags, the sucked-up parts are grabbed through the linkage grabbing assemblies, and the top faces of the woven bags which are tightly stacked are grabbed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an intelligent industrial carrying robot. BACKGROUND

[0002] The industrial carrying robot is an automatic device for replacing manual carrying operation. In industrial production, the industrial robot can replace manual work, improve efficiency and safety.

[0003] The carrying object of the carrying robot is mostly a box or a bag, such as a woven bag containing materials. Generally, the carrying robot adopts a grabbing mode from both sides when facing the carrying of the woven bag. In fact, when the stacked woven bags are unloaded, it is difficult to use the grabbing mode due to the close arrangement of the woven bags.

[0004] Therefore, the present application provides an intelligent industrial carrying robot. The suction grabbing structure and the gripping structure are combined by structural arrangement to realize the carrying and grabbing of the stacked woven bags. SUMMARY

[0005] The present application aims to solve the problem that the conventional gripping robot cannot stably grab the goods due to limited space when the woven bags are unloaded.

[0006] The present application provides an intelligent industrial carrying robot, which comprises a mobile base, a mechanical arm arranged on the mobile base, an installation plate installed at the end of the mechanical arm, and a suction and piercing gripping mechanism fixed on the installation plate.

[0007] The suction and piercing gripping mechanism comprises a telescopic rod one fixed on the installation plate, a suction cup fixed at the telescopic end of the bottom of the telescopic rod one, and a linkage gripping assembly arranged on the telescopic rod one.

[0008] Preferably, the linkage gripping assembly comprises a support one fixed on the fixed cylinder of the telescopic rod one and the installation plate, and a support two fixed on the telescopic part of the telescopic rod one. The support one is hingedly connected with a connecting rod, and the support two is hingedly connected with a connecting rod. The connecting rod is hingedly connected with the middle part of the connecting rod, and the end of the connecting rod is fixed with a spike. The extension and contraction of the telescopic rod one can control the extension and retraction of the suction cup.

[0009] When the telescopic rod one is extended, the spike moves to the front side. When the telescopic rod one is contracted, the spike moves away from the suction cup and is located at the rear side of the suction cup.

[0010] Preferably, the first support and the second support are distributed with multiple groups on the periphery of the first telescopic rod, and are used to transversely penetrate into the woven bag from the periphery of the suction cup.

[0011] Preferably, the end of the mechanical arm is provided with at least two groups of mounting plates, and the angle adjusting assembly is connected between the two groups of mounting plates and the end of the mechanical arm, and is used to control the included angle between the two groups of mounting plates.

[0012] Preferably, the angle adjusting assembly comprises a horizontal shaft fixedly connected with the end of the mechanical arm, the horizontal shaft is located between the two groups of mounting plates, and a support rod is connected between the horizontal shaft and the mounting plate in an intersecting manner, and a second telescopic rod is hingedly connected between the horizontal shaft and the mounting plate.

[0013] Preferably, the port of the suction cup is provided with a pressure sensor, and the pressure sensor is electrically connected with the control device of the first telescopic rod, the second telescopic rod and the suction cup.

[0014] Preferably, the mechanical arm comprises a horizontal arm rotatably arranged on the moving base, a vertical rail fixed at the end of the horizontal arm, and an extension arm slidably arranged on the vertical rail and fixedly connected with the horizontal shaft.

[0015] The above structure makes the present application have the following beneficial effects:

[0016] 1. The suction cup and the linkage gripping assembly are used to realize the gripping of the top surface of the closely stacked woven bags;

[0017] 2. The suction cup provides a stable gripping area for the linkage gripping assembly to avoid empty piercing;

[0018] 3. The first telescopic rod is used to realize linkage control of the suction cup and the linkage gripping assembly;

[0019] 4. The suction cup can be used alone to perform gripping work when facing the box or other light packaging bags. DETAILED DESCRIPTION

[0020] The accompanying drawings are included to provide a further understanding of the application and constitute a part of the specification, illustrate the application and are used to explain the application, and do not constitute a limitation on the application. In the drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0022] Figure 2 It is a schematic diagram of the structure of the mechanical arm of the present application;

[0023] Figure 3 It is a schematic diagram of the structure of the mounting plate of the present application;

[0024] Figure 4 It is a structural schematic view of the angle adjusting assembly of the present application;

[0025] Figure 5 It is a structural schematic view of the suction cup of the present application;

[0026] Figure 6 It is a structural schematic view of the linkage gripping assembly of the present application;

[0027] Figure 7 It is a structural schematic view of the suction puncture gripping mechanism of the present application.

[0028] 1, moving base;

[0029] 2, mechanical arm; 21, horizontal arm; 22, vertical rail; 23, extension arm;

[0030] 3, suction puncture gripping mechanism; 31, telescopic rod one; 32, suction cup; 33, linkage gripping assembly; 331, support one; 332, support two; 333, connecting rod; 334, connecting rod; 335, puncture;

[0031] 4, mounting plate;

[0032] 5, angle adjusting assembly; 51, horizontal shaft; 52, support rod; 53, telescopic rod two. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application; based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] Please refer to Figures 1-7 , the intelligent industrial handling robot comprises a moving base 1, the moving base 1 is provided with a mechanical arm 2, and a mounting plate 4 is installed at the end of the mechanical arm 2, and a suction puncture gripping mechanism 3 is fixed on the mounting plate 4;

[0035] The suction puncture gripping mechanism 3 comprises a telescopic rod one 31 fixed on the mounting plate 4, a suction cup 32 is fixed at the telescopic end of the bottom of the telescopic rod one 31, and a linkage gripping assembly 33 is arranged on the telescopic rod one 31, and the linkage gripping assembly 33 is used to grip the part sucked up after the suction cup 32 contacts with the woven bag and sucks up the contact part of the woven bag.

[0036] Please refer to Figure 2 , Figures 5-7, the intelligent industrial carrying robot, the linkage gripping assembly 33 comprises a support I 331 fixed on the fixed cylinder of the telescopic rod I 31 and the fixed plate 4, and a support II 332 fixed on the telescopic part of the telescopic rod I 31, the support I 331 is hingedly connected with a connecting rod 333, and the support II 332 is hingedly connected with a connecting rod 334, the connecting rod 334 is hingedly connected with the middle part of the connecting rod 333, and the end of the connecting rod 333 is fixed with a spike 335, and the extension and contraction of the telescopic rod I 31 can not only control the extension and retraction of the suction cup 32, but also simultaneously drive the spike 335 to approach or move away; the support I 331 and the support II 332 are distributed on the side of the telescopic rod I 31, and are used for transversely piercing into the woven bag from the side of the suction cup 32, thereby improving the stability of the gripping, and the suction and piercing gripping mechanism 3 is distributed on the fixed plate 4;

[0037] When the telescopic rod I 31 is extended, the suction cup 32 is in contact with the woven bag and adsorbs the woven bag, and with the contraction of the telescopic rod I 31, the adsorbed part is lifted, at this time, the spike 335 originally in the state of moving away is swung by the connecting rod 333 to approach and drive the spike 335 to move to the front side of the spike 335 and transversely pierce into the part of the woven bag lifted, so that the woven bag is gripped, and the surrounding of the woven bag does not need to be in an empty state;

[0038] When the telescopic rod I 31 is extended, the spike 335 moves away from the suction cup 32 and is located at the rear side of the suction cup 32.

[0039] Please refer to Figures 2-4 , the intelligent industrial carrying robot, the end of the mechanical arm 2 is provided with at least two groups of fixed plates 4, and the two groups of fixed plates 4 are connected with the end of the mechanical arm 2 through an angle adjusting assembly 5, the angle adjusting assembly 5 is used for controlling the included angle between the two groups of fixed plates 4, so that the suction cups 32 on the two groups of fixed plates 4 are adapted to the inclined angles of the two sides of the middle part of the woven bag;

[0040] The angle adjusting assembly 5 comprises a horizontal shaft 51 fixedly connected with the end of the mechanical arm 2, the horizontal shaft 51 is located between the two groups of fixed plates 4, and the horizontal shaft 51 is connected with the fixed plate 4 through a support rod 52, and the horizontal shaft 51 is hingedly connected with the fixed plate 4 through a telescopic rod II 53, and the included angle between the two groups of fixed plates 4 is controlled through the extension and contraction of the telescopic rod II 53.

[0041] Please refer to Figure 2 , Figure 7 , the intelligent industrial carrying robot, the port of the suction cup 32 is provided with a pressure sensor, the pressure sensor is electrically connected with the control devices of the telescopic rod I 31, the telescopic rod II 53 and the suction cup 32, so that when the pressure sensor detects that the suction cup 32 is in contact with the woven bag, the suction cup 32 is started, and then the telescopic rod I is controlled to contract, and the piercing and gripping action of the woven bag is completed.

[0042] Please refer to Figures 1-3, intelligent industrial carrying robot, the mechanical arm 2 includes the cross arm 21 that is rotationally arranged with the mobile base 1, the vertical rail 22 is fixed at the end of the cross arm 21, and the extension arm 23 is slidably arranged on the vertical rail 22 and is fixedly connected with the cross shaft 51, the extension arm 23 is threadedly connected with the lead screw rotationally arranged in the vertical rail 22 through the threaded hole, and the lifting of the mounting plate 4 is controlled by the rotation of the lead screw;

[0043] The vertical rail 22 is fixedly connected with a motor one connected with the lead screw, and a motor two is fixed in the mobile base 1, and the output shaft of the motor two is fixedly connected with the cross arm 21, for driving the cross arm 21 to rotate;

[0044] The mobile base 1 is provided with a controller, and the controller is electrically connected with the motor one, the motor two, the pressure sensor, the telescopic rod one 31, the telescopic rod two 53 and the suction cup 32, for controlling the working state thereof;

[0045] The extension arm 23 is provided with an image recognition collector, the image recognition collector is used for collecting the image below, and the image recognition collector is connected with the controller, for feeding back the collected image; when in use, the mounting plate 4 is moved to the upper side of the woven bag by controlling the mobile base 1 and the mechanical arm 2, and the included angle between the two groups of mounting plates 4 is controlled according to the shape of the woven bag, then the suction cup 32 is started to adsorb when the suction cup 32 contacts the woven bag, then the adsorption position is lifted, and the protruding spike 335 is penetrated into the woven bag, so that the woven bag is gripped.

[0046] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An intelligent industrial handling robot, characterized in that: Including mobile base (1), mechanical arm (2) is arranged on the mobile base (1), and mounting plate (4) is installed on the end of mechanical arm (2), and adsorption puncture gripping mechanism (3) is fixed on the mounting plate (4); The adsorption puncture gripping mechanism (3) includes a telescopic rod (31) fixed on the mounting plate (4), a suction cup (32) fixed on the telescopic end of the bottom of the telescopic rod (31), and a linkage gripping assembly (33) arranged on the telescopic rod (31), the linkage gripping assembly (33) is used for gripping the part sucked up by the linkage gripping assembly (33) after the suction cup (32) contacts the woven bag and sucks up the contact part of the woven bag.

2. The intelligent industrial handling robot according to claim 1, characterized in that: The linkage gripping assembly (33) includes a support (331) fixed on the fixed cylinder of the telescopic rod (31) and the mounting plate (4), and a support (332) fixed on the telescopic part of the telescopic rod (31), the support (331) is hingedly connected with a connecting rod (333), and the support (332) is hingedly connected with a connecting rod (334), the connecting rod (334) is hingedly connected with the connecting rod (333), and the end of the connecting rod (333) is fixed with a spike (335).

3. The intelligent industrial handling robot according to claim 2, characterized in that: The support (331) and the support (332) are distributed on the side of the telescopic rod (31).

4. The intelligent industrial handling robot according to claim 1, characterized in that: The end of the mechanical arm (2) is provided with at least two groups of mounting plates (4), and the angle adjusting assembly (5) is connected between the two groups of mounting plates (4) and the end of the mechanical arm (2), the angle adjusting assembly (5) is used for controlling the included angle between the two groups of mounting plates (4).

5. The intelligent industrial handling robot according to claim 4, characterized in that: The angle adjusting assembly (5) includes a horizontal shaft (51) fixed with the end of the mechanical arm (2), the horizontal shaft (51) is located between the two groups of mounting plates (4), and the horizontal shaft (51) is hingedly connected with the mounting plate (4) through a supporting rod (52), and the horizontal shaft (51) is hingedly connected with the mounting plate (4) through a telescopic rod (53).

6. The intelligent industrial handling robot according to claim 1, characterized in that: The adsorption puncture gripping mechanism (3) is distributed on the mounting plate (4).

7. The intelligent industrial handling robot according to claim 3 and 5, characterized by: A pressure sensor is arranged at the port of the suction cup (32), and the pressure sensor is electrically connected with the control device of the telescopic rod (31), the telescopic rod (53) and the suction cup (32).

8. The intelligent industrial handling robot according to claim 5, characterized in that: The mechanical arm (2) includes a horizontal arm (21) rotatably arranged on the mobile base (1), a vertical rail (22) fixed on the end of the horizontal arm (21), and an extension arm (23) slidably arranged on the vertical rail (22) and fixed with the horizontal shaft (51).

9. The intelligent industrial handling robot according to claim 2, characterized in that: The spike (335) is located behind the suction cup (32) when the telescopic rod (31) is stretched, and moves to the front side of the suction cup (32) after the telescopic rod (31) is contracted.

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