Assistance arm type loading and unloading robot

Abstract

The invention relates to the technical field of robots, and provides a power-assisted arm type loading and unloading robot which comprises a base, a magnetic suspension column is fixedly connected to the top of the base, and a multi-joint mechanical arm is arranged on one side of the magnetic suspension column. According to the device, the sleeve rod is manually pressed downwards to slide along the outer surface of the fixed rod and is separated from the rotating rod, the first limiting strip is synchronously separated from the first limiting groove, limiting on the sleeve rod is relieved, the spring is compressed, and after the sleeve rod is rotated, the fixed rod and the movable disc are cooperatively driven to rotate through cooperation of the second limiting strip and the second limiting groove, so that the sliding rod slides along the inclined groove opening; the structure can be adapted to large-specification material loading and unloading operation, the problem of insufficient adsorption stability caused by concentrated adsorption contact area and non-uniform acting force transmission is avoided, and the operation continuity and efficiency are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a power-assisted arm type loading and unloading robot. BACKGROUND

[0002] The power-assisted arm type loading and unloading robot is a man-machine collaborative automation equipment integrating a power-assisted arm body, a sensing control module and an adaptive end effector, and realizes material loading and unloading operation relying on gravity compensation and force feedback technology. The mechanical arm adopts a pneumatic, electric or hydraulic driving mode, and can offset the material gravity through an intelligent algorithm. An operator only needs to exert a small force to pull the robot to complete the material grabbing, carrying, positioning and placing.

[0003] The device is equipped with visual recognition, tactile sensing and other components, and can accurately adapt to small and medium-sized, irregular or fragile materials (such as mechanical parts, household appliance components, chemical barrels, etc.), and is suitable for flexible operation scenes such as workshop transfer, production line assembly and warehouse sorting. Compared with traditional loading and unloading equipment, it has the flexibility of manual operation and the accuracy of automated operation, can greatly reduce labor intensity, avoid safety risks in heavy object carrying, and improve loading and unloading consistency through standardized actions. It is a key equipment for adapting to multiple types of materials in flexible production and intelligent warehouse systems in manufacturing industry.

[0004] In the prior art, the multi-joint power-assisted arm type loading and unloading robot has excellent narrow space operation adaptability due to its multi-joint structure design, and can flexibly complete the material loading and unloading operation in a limited space. However, the end effector (sucker group) of the existing such robot adopts a fixed area design, and its structure adaptability is limited, and it is difficult to realize self-adaptive adjustment according to the size of the material. When loading and unloading larger size materials, the adsorption contact area of the sucker group and the material surface is unevenly distributed and concentrated in a local area, resulting in uneven adsorption force transmission, which reduces the material adsorption stability, and in the loading and unloading transfer process, the material is easy to fall off and collide and be damaged due to adsorption failure, which not only affects the operation continuity and efficiency, but also directly causes material loss and related economic losses, and cannot meet the efficient and safe loading and unloading needs of different size materials. SUMMARY

[0005] The purpose of the present application is to solve the problem that the multi-joint assisted arm type loading and unloading robot in the prior art has excellent narrow space operation adaptability and can flexibly complete material loading and unloading operation in a limited space due to its multi-joint structure design. However, the end effector (sucker group) of the existing robot adopts a fixed area design, and the structure adaptability is limited, and it is difficult to realize self-adaptive adjustment according to the size of the material. When loading and unloading larger size materials, the adsorption contact area of the sucker group and the material surface is unevenly distributed and concentrated in a local area, resulting in uneven adsorption force transmission, which reduces the material adsorption stability, and in the loading and unloading process, the material is easy to fall off and collide and be damaged due to adsorption failure, which not only affects the operation continuity and efficiency, but also directly causes material loss and related economic losses, and cannot meet the efficient and safe loading and unloading needs of different specifications of materials.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme: an assisted arm type loading and unloading robot, comprising: a base, a magnetic levitation column is fixedly connected to the top of the base, a multi-joint mechanical arm is arranged on one side of the magnetic levitation column, a rotating rod is rotatably connected to the inner wall of the end of the multi-joint mechanical arm, a plurality of connecting strips are fixedly connected to the outer surface of the rotating rod in a circular array, a square plate is fixedly connected to the bottom of the plurality of connecting strips, a plurality of sliding grooves are formed in the bottom of the square plate in a circular array, a sliding strip is slidably connected in the sliding groove, two connecting blocks are fixedly connected to the bottom of the sliding strip, a sucker group is fixedly connected to the bottom of the two connecting blocks, a circular groove is formed in the top of the square plate, a movable disc is rotatably connected in the circular groove, a plurality of inclined slots are formed in the top of the movable disc in a circular array, a sliding rod is fixedly connected to the top of the sliding strip, and the outer surface of the sliding rod is slidably connected in the inclined slot.

[0007] Preferably, the top of the movable disc is fixedly connected with a fixed rod, the outer surface of the fixed rod is slidably connected with a sleeve rod, and the outer surface of the sleeve rod is slidably connected in the inner part of the rotating rod.

[0008] Preferably, the inner wall of the rotating rod is formed with a plurality of limiting grooves one in a circular array, the outer surface of the sleeve rod is formed with a plurality of limiting strips one in a circular array, and the outer surface of the limiting strips one is slidably connected in the inner part of the limiting grooves one.

[0009] Preferably, the outer surface of the fixed rod is formed with a plurality of limiting grooves two in a circular array, the inner wall of the sleeve rod is fixedly connected with a plurality of limiting strips two in a circular array, and the outer surface of the limiting strips two is slidably connected in the inner part of the limiting grooves two.

[0010] Preferably, the outer surface of the fixed rod is provided with a spring, and the spring is fixedly connected with the movable disc and the sleeve rod respectively.

[0011] Preferably, one side of the suction disc group is fixedly connected with a connecting pipe in communication with the suction disc group, and the outer surface of the rotating rod is fixedly connected with two handles in a symmetrical manner.

[0012] Preferably, the bottom of the inner wall of the magnetic suspension column is fixedly connected with a fixed magnet, the inside of the magnetic suspension column is slidably connected with a moving magnet, the fixed magnet and the moving magnet repel each other magnetically, the inside of the magnetic suspension column is slidably connected with a sliding block, and the sliding block is fixedly connected with the moving magnet.

[0013] Preferably, one side of the sliding block is rotatably connected with a connecting frame one through a supporting rod, the inner wall of the connecting frame one is rotatably connected with two parallel plates through a supporting rod, the ends of the two parallel plates are rotatably connected with a connecting frame two through a supporting rod, the two parallel plates are arranged in parallel, and the connecting frame two is fixedly connected with the multi-joint mechanical arm.

[0014] Preferably, the top of the sliding block is rotatably connected with a U-shaped block one through a supporting rod, the opposite sides of the two arms of the U-shaped block one are rotatably connected with a hydraulic telescopic rod through a supporting rod, the top of the connecting frame two is fixedly connected with a U-shaped block two, and one end of the hydraulic telescopic rod is rotatably connected to the opposite sides of the two arms of the U-shaped block two through a supporting rod.

[0015] Compared with the prior art, the application has the advantages and positive effects that,

[0016] 1、The present application, by manually pressing the sleeve rod downward, makes it slide along the outer surface of the fixed rod and disengage from the rotating rod, the limiting strip one synchronously disengages from the limiting groove one, the limiting of the sleeve rod is released, the spring is compressed, after rotating the sleeve rod, through the cooperation of the limiting strip two and the limiting groove two, the fixed rod and the movable disc are driven to rotate, the sliding rod slides along the inclined slot, and then drives the sliding strip to slide outward along the sliding groove, drives the connecting block and the suction disc group to expand synchronously, and expands the suction coverage range of the plurality of suction disc groups, which can adapt to large-specification material loading and unloading operation, avoids the problem of insufficient suction stability caused by concentrated suction contact area and uneven force transmission, and effectively improves the operation continuity and efficiency.

[0017] 2、The present application, by loosening the sleeve rod, makes it slide upward along the outer surface of the fixed rod under the restoring force of the spring and inserts into the rotating rod, synchronously inserts the limiting strip one into the limiting groove one, limits the sleeve rod, and keeps the movable disc and the square plate in a relatively fixed state, which can prevent the suction disc group from moving, thereby further improving the stability of the suction disc group in suction of the material.

[0018] 3、The hydraulic telescopic rod is controlled to extend or contract by the controller, a pushing force or a pulling force can be applied to the U-shaped block two, and the connecting frame two can be kept in a vertical state and moved downward or upward under the cooperation of the parallel plates arranged in parallel, and the parallel plates are synchronously rotated by an appropriate angle, so that the multi-joint mechanical arm, the square plate and the suction cup group are moved upward or downward and kept in a horizontal state. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A schematic structural view of a power-assisted arm type loading and unloading robot is provided.

[0020] Figure 2 A partial side view schematic structural view of a power-assisted arm type loading and unloading robot is provided.

[0021] Figure 3 A partial bottom view schematic structural view of a power-assisted arm type loading and unloading robot is provided.

[0022] Figure 4 A side view schematic structural view of a suction cup group of a power-assisted arm type loading and unloading robot is provided.

[0023] Figure 5 A bottom view schematic structural view of a suction cup group of a power-assisted arm type loading and unloading robot is provided.

[0024] Figure 6 A partial exploded view schematic structural view of a power-assisted arm type loading and unloading robot is provided.

[0025] Legend:

[0026] 1, base; 101, magnetic levitation column; 102, sliding block; 103, moving magnet; 104, fixed magnet; 105, connecting frame one; 106, parallel plate; 107, connecting frame two; 108, U-shaped block one; 109, hydraulic telescopic rod; 110, U-shaped block two; 111, multi-joint mechanical arm; 2, rotating rod; 201, handle; 202, connecting strip; 203, square plate; 204, sliding groove; 205, sliding strip; 206, connecting block; 207, suction cup group; 208, connecting pipe; 209, sliding rod; 210, limiting groove one; 3, movable disc; 301, inclined slot; 302, fixed rod; 303, sleeve rod; 304, limiting strip one; 305, limiting strip two; 306, spring; 307, limiting groove two. DETAILED DESCRIPTION

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Examples, such as Figure 1 - Figure 6 As shown, the present invention provides a technical solution: a power-assisted loading and unloading robot, comprising: a base 1, a magnetic levitation column 101 fixedly connected to the top of the base 1, a multi-joint robotic arm 111 disposed on one side of the magnetic levitation column 101, a rotating rod 2 rotatably connected to the inner wall of the end of the multi-joint robotic arm 111, a plurality of connecting strips 202 fixedly connected in a circular array on the outer surface of the rotating rod 2, a square plate 203 fixedly connected to the bottom of the plurality of connecting strips 202, and a plurality of circular array openings on the bottom of the square plate 203. The slide 204 has a sliding strip 205 slidably connected inside it. Two connecting blocks 206 are fixedly connected to the bottom of the sliding strip 205. Suction cups 207 are fixedly connected to the bottom of the two connecting blocks 206. A circular groove is opened on the top of the square plate 203. A movable disk 3 is rotatably connected inside the circular groove. Multiple inclined slots 301 are opened in a circular array on the top of the movable disk 3. A sliding rod 209 is fixedly connected to the top of the sliding strip 205. The outer surface of the sliding rod 209 is slidably connected to the inside of the inclined slots 301.

[0029] Furthermore, such as Figure 1 - Figure 6 As shown, a fixed rod 302 is fixedly connected to the top of the movable disk 3, and a sleeve rod 303 is slidably connected to the outer surface of the fixed rod 302. The outer surface of the sleeve rod 303 is slidably connected to the inside of the rotating rod 2. With the above arrangement, when the sleeve rod 303 is disengaged from the rotating rod 2, the fixed rod 302 and the movable disk 3 can be rotated by rotating the sleeve rod 303.

[0030] Furthermore, such as Figure 1 - Figure 6 As shown, the inner wall of the rotating rod 2 is provided with multiple limiting grooves 210 in a circumferential array, and the outer surface of the sleeve rod 303 is provided with multiple limiting strips 304 in a circumferential array. The outer surface of the limiting strips 304 is slidably connected to the inside of the limiting grooves 210. By inserting the limiting strips 304 into the limiting grooves 210, the sleeve rod 303 can be limited, so that the sleeve rod 303 cannot rotate.

[0031] Furthermore, such as Figure 1 - Figure 6As shown, the outer surface of the fixed rod 302 is provided with a plurality of limiting grooves two 307 in a circumferential array, the inner wall of the sleeve rod 303 is fixedly connected with a plurality of limiting strips two 305 in a circumferential array, the outer surface of the limiting strip two 305 is slidingly connected in the inside of the limiting groove two 307, through the cooperation of the limiting groove two 307 and the limiting strip two 305, the sleeve rod 303 can only slide up or down along the outer surface of the fixed rod 302.

[0032] Further, as shown in Figure 1 - Figure 6 As shown, the outer surface of the fixed rod 302 is provided with a spring 306, the spring 306 is fixedly connected with the movable disc 3 and the sleeve rod 303 respectively, through the reset force of the spring 306, the sleeve rod 303 can slide up along the outer surface of the fixed rod 302.

[0033] Further, as shown in Figure 1 - Figure 6 As shown, the side of the suction disc group 207 is fixedly connected with a connecting pipe 208, the connecting pipe 208 is communicated with the suction disc group 207, the outer surface of the rotating rod 2 is fixedly connected with two handles 201 in a symmetrical manner, through connecting the connecting pipe 208 with the pneumatic system, the suction disc group 207 can adsorb the material.

[0034] Further, as shown in Figure 1 - Figure 6 As shown, the inner wall of the magnetic suspension column 101 is fixedly connected with a permanent magnet 104 at the bottom, the inside of the magnetic suspension column 101 is slidingly connected with a moving magnet 103, the permanent magnet 104 and the moving magnet 103 are magnetically repulsive, the inside of the magnetic suspension column 101 is slidingly connected with a sliding block 102, the sliding block 102 is fixedly connected with the moving magnet 103, through the cooperation of the magnetic repulsion between the permanent magnet 104 and the moving magnet 103, when the magnetic field strength of the permanent magnet 104 is adjusted, the moving magnet 103 can slide up or down due to the change of repulsive force.

[0035] Further, as shown in Figure 1 - Figure 6 As shown, the side of the sliding block 102 is rotatably connected with a connecting frame one 105 through a support rod, the inner wall of the connecting frame one 105 is rotatably connected with two parallel plates 106 through a support rod, the ends of the two parallel plates 106 are rotatably connected with a connecting frame two 107 through a support rod, the two parallel plates 106 are arranged in parallel, the connecting frame two 107 is fixedly connected with the multi-joint mechanical arm 111, through the cooperation of the parallel arrangement of the two parallel plates 106, the connecting frame two 107 can always keep vertical state.

[0036] Further, as shown in Figure 1 - Figure 6As shown, the top of the slider 102 is rotatably connected with a U-shaped block one 108 through a support rod, the opposite side of the two arms of the U-shaped block one 108 is rotatably connected with a hydraulic telescopic rod 109 through a support rod, the top of the connecting frame two 107 is fixedly connected with a U-shaped block two 110, one end of the hydraulic telescopic rod 109 is rotatably connected with the opposite side of the two arms of the U-shaped block two 110 through a support rod, the hydraulic telescopic rod 109 is controlled to expand or contract through the controller, a pushing force or a pulling force can be applied to the U-shaped block two 110, and under the cooperation of the parallel arrangement of the two parallel plates 106, the connecting frame two 107 can be kept in a vertical state to move downward or upward, synchronously making the parallel plate 106 rotate by an appropriate angle, so that the multi-joint mechanical arm 111, the square plate 203 and the suction cup group 207 can be moved upward or downward and kept in a horizontal state.

[0037] Working principle: in use, first of all, according to the size of the material, the distance between multiple suction cup groups 207 is adjusted, the sleeve rod 303 is pressed down by hand, and slides down along the outer surface of the fixed rod 302, and is separated from the inside of the rotating rod 2, at the same time, the limiting strip one 304 is separated from the limiting groove one 210, the limiting of the sleeve rod 303 is released, at the same time, the spring 306 is compressed, at this time, the sleeve rod 303 can be rotated, and under the cooperation of the limiting strip two 305 and the limiting groove two 307, the fixed rod 302 and the movable disc 3 can be driven to rotate synchronously, the slide rod 209 is subjected to a force and slides along the inclined slot 301, at the same time, the slide strip 205 slides outward along the slide groove 204, the connecting block 206 and the suction cup group 207 move outward, the multiple suction cup groups 207 move away from each other, which can increase the range of contact between the multiple suction cup groups 207 and the whole material, so as to adapt to the loading and unloading work of large specification materials, avoid uneven distribution and concentration of adsorbed contact cotton on the surface of the material, cause uneven transmission of adsorption force, reduce the stability of material adsorption, and further improve the continuity and efficiency of work, when the adjustment is completed, the sleeve rod 303 is loosened, and under the restoring force of the spring 306, it slides up along the outer surface of the fixed rod 302 and inserts into the rotating rod 2, at the same time, the limiting strip one 304 inserts into the limiting groove one 210, limiting the sleeve rod 303, so that the movable disc 3 and the square plate 203 remain in a relatively fixed state, which can prevent the suction cup group 207 from moving, thereby further improving the stability of the suction cup group 207 in adsorbing the material, holding the handle 201 by hand can make the rotating rod 2 rotate, at the same time, drive the connecting strip 202, the square plate 203 and the suction cup group 207 to rotate, which is convenient for the suction cup group 207 to adhere to the appropriate position on the surface of the material, and under the cooperation of the multi-joint mechanical arm 111, it can move in multiple directions, which is convenient for loading and unloading in a small space, at the same time, under the cooperation of the repulsion between the fixed magnet 104 and the moving magnet 103, when the magnetic field strength of the fixed magnet 104 is adjusted, the moving magnet 103 slides up or down due to the change of repulsive force, at the same time, drives the sliding block 102, the connecting frame one 105, the parallel plate 106, the connecting frame two 107, the multi-joint mechanical arm 111, the rotating rod 2, the square plate 203 and the suction cup group 207 to move up or down, so as to facilitate the suction cup group 207 to suck the material of different heights, connecting the connecting pipe 208 with the pneumatic system can make the suction cup group 207 adsorb the material, and the controller controls the hydraulic telescopic rod 109 to extend or shrink, which can exert a pushing force or a pulling force on the U-shaped block two 110, and under the cooperation of the parallel arrangement of the two parallel plates 106, the connecting frame two 107 can keep vertical state moving down or up, at the same time, the parallel plate 106 rotates an appropriate angle, which can move the multi-joint mechanical arm 111, the square plate 203 and the suction cup group 207 up or down, and keep horizontal state.

[0038] The above merely describes the preferred embodiments of the present application, but is not intended to limit the present application in other forms. Any person skilled in the art can make changes or modifications to the above disclosed technical contents into equivalent embodiments with equivalent changes, and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the technical solution of the present application still falls within the protection scope of the present application.

Claims

1. A power-assisted loading and unloading robot, characterized in that, include: A base (1) is fixedly connected to a magnetic levitation column (101) at its top. A multi-joint robotic arm (111) is provided on one side of the magnetic levitation column (101). A rotating rod (2) is rotatably connected to the inner wall of the end of the multi-joint robotic arm (111). Multiple connecting strips (202) are fixedly connected in a circular array on the outer surface of the rotating rod (2). A square plate (203) is fixedly connected to the bottom of the multiple connecting strips (202). Multiple sliding grooves (204) are opened in a circular array on the bottom of the square plate (203). The interior of the sliding grooves (204) A sliding strip (205) is slidably connected. Two connecting blocks (206) are fixedly connected to the bottom of the sliding strip (205). A suction cup assembly (207) is fixedly connected to the bottom of the two connecting blocks (206). A circular groove is opened on the top of the square plate (203). A movable disk (3) is rotatably connected inside the circular groove. Multiple oblique slots (301) are opened in a circular array on the top of the movable disk (3). A sliding rod (209) is fixedly connected to the top of the sliding strip (205). The outer surface of the sliding rod (209) is slidably connected to the inside of the oblique slot (301).

2. The assistive arm loading and unloading robot according to claim 1, characterized in that: The top of the movable disc (3) is fixedly connected to a fixed rod (302), and a sleeve rod (303) is slidably connected to the outer surface of the fixed rod (302). The outer surface of the sleeve rod (303) is slidably connected to the inside of the rotating rod (2).

3. The assistive arm loading and unloading robot according to claim 2, characterized in that: The inner wall of the rotating rod (2) is provided with a plurality of limiting grooves (210) arranged in a circular array, and the outer surface of the sleeve rod (303) is provided with a plurality of limiting strips (304) arranged in a circular array. The outer surface of the limiting strips (304) is slidably connected to the inside of the limiting grooves (210).

4. The assistive arm loading and unloading robot according to claim 3, characterized in that: The outer surface of the fixed rod (302) is provided with a plurality of limiting grooves (307) arranged in a circular array. The inner wall of the sleeve rod (303) is fixedly connected with a plurality of limiting strips (305) arranged in a circular array. The outer surface of the limiting strips (305) is slidably connected to the inside of the limiting grooves (307).

5. The assistive arm loading and unloading robot according to claim 4, characterized in that: A spring (306) is provided on the outer surface of the fixed rod (302), and the spring (306) is fixedly connected to the movable disc (3) and the sleeve rod (303) respectively.

6. The assistive arm loading and unloading robot according to claim 1, characterized in that: A connecting tube (208) is fixedly connected to one side of the suction cup assembly (207), and the connecting tube (208) is connected to the suction cup assembly (207). Two handles (201) are symmetrically fixedly connected to the outer surface of the rotating rod (2).

7. The assistive arm loading and unloading robot according to claim 1, characterized in that: A fixed magnet (104) is fixedly connected to the bottom of the inner wall of the magnetic levitation column (101), and a movable magnet (103) is slidably connected inside the magnetic levitation column (101). The fixed magnet (104) and the movable magnet (103) are magnetically repelled. A slider (102) is slidably connected inside the magnetic levitation column (101), and the slider (102) is fixedly connected to the movable magnet (103).

8. The assistive arm loading and unloading robot according to claim 7, characterized in that: One side of the slider (102) is rotatably connected to a connecting frame one (105) via a support rod. The inner wall of the connecting frame one (105) is rotatably connected to two parallel plates (106) via a support rod. The ends of the two parallel plates (106) are rotatably connected to a connecting frame two (107) via a support rod. The two parallel plates (106) are arranged in parallel. The connecting frame two (107) is fixedly connected to the multi-joint robotic arm (111).

9. A power-assisted loading and unloading robot according to claim 8, characterized in that: The top of the slider (102) is rotatably connected to a U-shaped block (108) via a support rod. The opposite sides of the two arms of the U-shaped block (108) are rotatably connected to a hydraulic telescopic rod (109) via a support rod. The top of the connecting frame (107) is fixedly connected to a U-shaped block (110). One end of the hydraulic telescopic rod (109) is rotatably connected to the opposite sides of the two arms of the U-shaped block (110) via a support rod.

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