Loading and unloading integrated composite robot

Abstract

The invention relates to the technical field of loading and unloading equipment, in particular to a loading and unloading integrated composite robot. The loading and unloading integrated composite robot comprises a movable chassis, a second conveying mechanism, a first conveying mechanism, a lifting mechanism, a supporting frame, a mechanical arm mechanism, a visual camera mechanism and a control box. The first conveying mechanism and the mechanical arm mechanism are arranged in the first direction, the mechanical arm is installed on the movable chassis, and the first conveying mechanism extends in the second direction and is installed on the movable chassis through the lifting mechanism. The lifting mechanism is used for driving the first conveying mechanism to ascend and descend according to instructions of the control box. Through cooperative work of the lifting mechanism and the first conveying mechanism, the height of the first conveying mechanism is always kept close to the height of goods in current operation, so that the vertical movement stroke of grabbing and placing the goods by the manipulator mechanism is greatly shortened, and the cycle time of single operation is shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading and unloading equipment, in particular to a loading and unloading integrated composite robot. BACKGROUND

[0002] At present, the carrying and stacking modes used in stacking operation include: one is manual carrying; two is mechanical stacking machine; three is stacking robot; among them, manual carrying has the problems of high labor intensity, low efficiency and poor safety; the mechanical stacking machine is an automatic device controlled by fixed program through mechanical structure (including gantry, push rod, conveying plate, etc.), but its overall structure is large and has high requirements for plant space. The stacking robot is a high degree of freedom industrial robot (usually four-axis or six-axis joint robot), which is equipped with a gripper (such as suction cup type, clamping plate type) at the end, which learns action through offline programming and optimizes path and stacking type by relying on advanced stacking algorithm to realize full-automatic stacking, and the robot body occupies small area and has large working radius, which can work efficiently in limited space.

[0003] However, the current stacking robot has the problems that when stacking goods, the robot picks up the goods on the ground and stacks them, but once stacked to a high place, the height difference between the current stacking height and the ground is large, so that the travel of the robot is large, and when the robot stacks the last few layers of goods, it needs to repeatedly pick up the goods on the ground and stack them to a high place, so that the stacking efficiency is low; on the contrary, when unloading the stacked goods, because of the large height difference between the high layer goods and the ground, when unloading the high layer goods, the action of placing the high layer goods on the ground needs to be repeated constantly, so that the action travel of the robot is large and the unloading efficiency is low. SUMMARY

[0004] (I) The problem to be solved by the present application is that the current stacking robot has the problems that when stacking goods and unloading goods, the vertical movement travel is large, resulting in long single operation time and low efficiency.

[0005] (II) Technical solution A loading and unloading integrated composite robot, comprising a mobile chassis, a second conveying mechanism, a first conveying mechanism, a lifting mechanism, a support frame, a mechanical hand mechanism, a visual camera mechanism and a control box; The first conveying mechanism and the mechanical hand mechanism are arranged along a first direction, the mechanical hand is installed on the mobile chassis, the first conveying mechanism extends along a second direction and is installed on the mobile chassis through the lifting mechanism, and the lifting mechanism is used to lift the first conveying mechanism according to the instruction of the control box; The support frame is mounted on the moving chassis and slides along a first direction, a first end of the second conveying mechanism is rotatably mounted on the support frame through a first shaft, and a second end of the second conveying mechanism is rotatably mounted on the first conveying mechanism through a second shaft, and the shafts of the first shaft and the second shaft extend along a second direction.

[0006] According to an embodiment of the present application, the first conveying mechanism comprises a drum conveyor and a turning conveyor connected in sequence, the drum conveyor and the turning conveyor are arranged along a second direction, the conveying direction of the drum conveyor is the same as the second direction, the turning conveyor is used for changing the conveying direction of the goods, the second conveying mechanism and the turning conveyor are arranged along a first direction, and one end of the second conveying mechanism is hingedly connected to one end of the turning conveyor.

[0007] According to an embodiment of the present application, the lifting mechanism comprises a scissor fork lifter, and the moving chassis is provided with a mounting groove, and the scissor fork lifter is mounted in the mounting groove.

[0008] According to an embodiment of the present application, the moving chassis is provided with at least one guide rail extending along a first direction, and the support frame is slidably connected to the guide rail.

[0009] According to an embodiment of the present application, the mechanical hand mechanism comprises a mechanical arm and a suction clamp mechanism, the mechanical arm is fixedly mounted on the moving chassis, and the suction clamp mechanism is mounted on the mechanical arm; the suction clamp mechanism comprises a main plate body, at least one side plate body, at least one rotary motor and a plurality of vacuum suction disc mechanisms. The main plate body is in a strip shape, the main plate body is detachably connected to the mechanical arm, one end of the side plate body and the main plate body in the length direction is rotatably connected through a rotating shaft, and the axis direction of the rotating shaft is perpendicular to the length direction of the main plate body. A plurality of vacuum suction disc mechanisms for grabbing are mounted on the main plate body along the length direction of the main plate body, at least one vacuum suction disc mechanism is mounted on the side plate body, the rotary motor is in one-to-one correspondence with the rotating shaft, the output end of the rotary motor is connected to the end of the rotating shaft, so as to drive the rotating shaft to rotate around its own axis to make the side plate body rotate around the rotating shaft.

[0010] According to an embodiment of the present application, the side plate body is provided with two, the two side plate bodies are rotatably connected to the two ends of the main plate body through rotating shafts respectively, and at least one vacuum suction disc mechanism is mounted on each of the two side plate bodies; the rotary motor is provided with two, and the two rotary motors drive the two rotating shafts to rotate respectively.

[0011] According to one embodiment of the present application, the mobile chassis is provided with an electric lifting column on the top, and the visual camera mechanism is installed on the electric lifting column, which is used to adjust the height of the visual camera mechanism according to the instruction of the control box.

[0012] According to one embodiment of the present application, the visual camera mechanism comprises a bearing plate, a linear drive mechanism, a sliding plate, a camera holder, a camera, a fill light, and a pitch angle adjusting mechanism; the bearing plate is fixedly installed on the top of the electric lifting column, the sliding plate is slidably installed on the bearing plate, the linear drive mechanism is used to drive the sliding plate to move in a first direction, the camera holder is rotatably installed on the sliding plate, the camera and the fill light are installed on the camera holder, and the pitch angle adjusting mechanism is used to drive the camera holder to pitch to adjust the pitch angle of the camera holder.

[0013] According to one embodiment of the present application, the top of the bearing plate is fixedly provided with at least one guide bottom block, the bottom of the sliding plate is provided with a rail corresponding to the guide bottom block, and the rail and the guide bottom block are slidably connected; the linear drive mechanism comprises an electric push rod, the electric push rod is fixed to the bearing plate, and the output end of the electric push rod is fixedly connected with the sliding plate.

[0014] According to one embodiment of the present application, the pitch angle adjusting mechanism comprises a vertical plate, two fixed plates, and an axis-free motor, the top of the sliding plate is fixedly provided with a vertical plate, the two fixed plates are fixedly installed on the bottom of the camera holder, the axis-free motor is fixedly installed on the vertical plate, the output end of the axis-free motor is fixedly connected with one of the fixed plates, and the other fixed plate is rotatably connected with the vertical plate.

[0015] The present application has the following advantages: The loading and unloading integrated composite robot is different from the traditional stacking robot, and has the following advantages: Firstly, through the cooperation of the lifting mechanism and the first conveying mechanism, the height of the first conveying mechanism (the bearing platform) is always close to the height of the current work, which greatly shortens the vertical movement stroke of the mechanical hand mechanism for grabbing and placing the goods, reduces the single operation cycle time, and thus can maintain high efficiency in the high-level operation stage of stacking and unloading.

[0016] Secondly, the work plane is dynamically adjusted by the lifting mechanism, which essentially "moves" the goods platform or the unloading point to the most convenient operation height of the mechanical hand mechanism, and fundamentally optimizes the action path and improves the efficiency.

[0017] Third, the palletizing, unloading, conveying and other functions are integrated on a mobile platform, so that a machine can complete the complete loading and unloading process, the special equipment for palletizing and unloading is avoided, the equipment investment and site occupation are reduced, and the high functional compounding is realized. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0019] Figure 1 The first state diagram of the loading and unloading integrated composite robot provided by the embodiment of the present application; Figure 2 The second state diagram of the loading and unloading integrated composite robot provided by the embodiment of the present application; Figure 3 The structural diagram of the first conveying mechanism provided by the embodiment of the present application; Figure 4 The structural diagram of the electric lifting column and the visual camera mechanism provided by the embodiment of the present application; Figure 5 The first perspective view of the visual camera mechanism provided by the embodiment of the present application; Figure 6 The second perspective view of the visual camera mechanism provided by the embodiment of the present application; Figure 7 The third perspective view of the visual camera mechanism provided by the embodiment of the present application; Figure 8 The first state diagram of the suction cup clamp provided by the embodiment of the present application; Figure 9 The second state diagram of the suction cup clamp provided by the embodiment of the present application; Figure 10 The structural diagram of the vacuum suction cup mechanism provided by the embodiment of the present application.

[0020] Icons: 1. Mobile chassis; 2. Robotic arm; 3. Suction cup clamp; 301. Main body; 302. First side plate; 303. Second side plate; 304. Rotating shaft; 305. First vacuum suction cup mechanism; 306. Second vacuum suction cup mechanism; 307. Third vacuum suction cup mechanism; 308. First rotary motor; 309. Second rotary motor; 310. Distance sensor; 311. Pressure sensor; 312. Connecting arm; 313. Vacuum box; 314. Vacuum suction cup; 315. Fixing rod; 4. First conveying mechanism; 401. Roller conveyor; 40 2. Steering conveyor; 403. Roller; 404. Steering wheel assembly; 405. Steering motor; 406. Belt conveyor; 5. Second conveying mechanism; 6. Vision camera mechanism; 601. Fixing frame; 602. Bearing plate; 603. Rail; 604. Sliding plate; 605. Vertical plate; 606. Camera mount; 607. Shaftless motor; 608. Camera; 609. Fill light; 610. Electric push rod; 611. Guide block; 612. Fixing plate; 7. Support frame; 8. Control box; 9. Scissor lift; 10. Electric lifting column; 11. Guide rail. Detailed Implementation

[0021] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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.

[0022] like Figures 1-10 As shown, one embodiment of the present invention provides as follows: Figures 1-10 As shown, one embodiment of the present invention provides an integrated loading and unloading robot, including a mobile chassis 1, a second conveying mechanism 5, a first conveying mechanism 4, a lifting mechanism, a support frame 7, a robotic arm mechanism, a vision camera mechanism 6, and a control box 8. The first conveying mechanism 4 and the robotic arm mechanism are arranged along the first direction. The robotic arm is mounted on the mobile chassis 1. The first conveying mechanism 4 extends along the second direction and is mounted on the mobile chassis 1 through a lifting mechanism. The lifting mechanism is used to drive the first conveying mechanism 4 to lift according to the instructions of the control box 8. The support frame 7 is slidably mounted on the mobile chassis 1 along the first direction. The first end of the second conveying mechanism 5 is rotatably mounted on the support frame 7 via the first shaft, and its second end is rotatably mounted on the first conveying mechanism 4 via the second shaft. The axes of the first shaft and the second shaft both extend along the second direction.

[0023] In this embodiment, for the convenience of description, it is assumed that the stacking height required in a certain stacking operation is the height of ten boxes of goods. The process of stacking goods using the integrated loading and unloading composite robot is roughly divided into the following processes: First, the goods are stacked to the fourth layer: since the stacking height at this time is low, the lifting mechanism is not started, and the first end (the feeding end) of the second conveying mechanism 5 is higher than the second end (the discharging end), i.e., it reaches the state as shown in Figure 1 At this time, the end of the second conveying mechanism 5 close to the first conveying mechanism 4 is the discharging end, and the end of the second conveying mechanism 5 away from the first conveying mechanism 4 is the feeding end. The worker places the goods on the feeding end of the second conveying mechanism 5, and the goods move with the second conveying mechanism 5 and are moved from the discharging end of the second conveying mechanism 5 to the first conveying mechanism 4. Then, the vision camera mechanism 6 photographs the stacking area and uploads the photographed image to the control box 8, and the control box 8 controls the mechanical hand mechanism to grab the goods on the first conveying mechanism 4 and stack the goods to the designated position; Second, the goods are stacked from the fourth layer to the tenth layer: at this time, the lifting mechanism starts to raise the height of the first conveying mechanism 4 to the third layer, and the slope of the second conveying mechanism 5 becomes smaller. Then, the mechanical hand mechanism grabs the goods on the first conveying mechanism 4 and stacks them on the third layer of goods. Then, the lifting mechanism continues to raise the first conveying mechanism 4 to the height of the fourth layer of goods, and then the mechanical hand mechanism grabs the goods on the first conveying mechanism 4 and stacks them on the fourth layer of goods, and so on until the top layer is stacked.

[0024] The process of unloading using the integrated loading and unloading composite robot is roughly divided into the following processes: First, the goods from the tenth to the fourth layer are unloaded: first, the vision camera mechanism 6 photographs the goods stacked together in the unloading area, and sends the photographed goods stacking image to the control box 8. The control box 8 controls the lifting mechanism to start to raise the first conveying mechanism 4 to the height of the ninth layer of goods, so that the first end (the discharging end) of the second conveying mechanism 5 is lower than the second end (the feeding end), i.e., it reaches the state as shown in Figure 2 At this time, the end of the second conveying mechanism 5 close to the first conveying mechanism 4 is the feeding end, and the end of the second conveying mechanism 5 away from the first conveying mechanism 4 is the discharging end. Then, the mechanical hand mechanism is controlled to grab the goods on the top layer (the tenth layer) and place them on the first conveying mechanism 4, and the first conveying mechanism 4 transports the goods to the second conveying mechanism 5. Then, the worker at the discharging end of the second conveying mechanism 5 takes the goods and places them on the transport vehicle or the ground. Then, the lifting mechanism is controlled to lower by one layer of goods, so that the first conveying mechanism 4 is flush with the eighth layer of goods. Then, the mechanical hand mechanism is controlled to grab the ninth layer of goods and place them on the first conveying mechanism 4, and then the above-mentioned actions are repeated until the fourth layer of goods is grabbed. At this time, the first conveying mechanism 4 is lowered to a position flush with the third layer of goods.

[0025] Second, the 1-3 layer goods are unloaded, the lifting mechanism is controlled to descend to the lowest position, that is, to reach Figure 1 the state shown in the figure, and then the mechanical hand mechanism is controlled to grasp the remaining 3 layer goods onto the first conveying mechanism 4.

[0026] Obviously, the present loading and unloading integrated composite robot is different from the traditional stacking robot, and has the following advantages: First, through the cooperation of the lifting mechanism and the first conveying mechanism 4, the height of the first conveying mechanism 4 (the bearing platform) is always close to the height of the current work goods, which greatly shortens the vertical movement stroke of the mechanical hand mechanism for grabbing and placing goods, reduces the single operation cycle time, and thus can maintain high efficiency during the high-level operation stage of stacking and unloading.

[0027] Second, the work plane is dynamically adjusted by the lifting mechanism, which essentially "moves" the goods platform or unloading point to the most convenient operation height of the mechanical hand mechanism, fundamentally optimizing the action path.

[0028] Third, the functions of stacking, unloading, conveying and the like are integrated on one mobile platform, and a complete loading and unloading process can be completed by one machine, avoiding the need to configure special equipment for stacking and unloading, reducing equipment investment and site occupation, and realizing high functional integration.

[0029] It should be noted that the first direction is the length direction of the mobile chassis 1, and the second direction is the width direction of the mobile chassis 1. Figure 1 Figure 1

[0030] In some embodiments, as shown in Figure 1 , the lifting mechanism is installed at the front position of the mobile chassis 1, the first conveying mechanism 4 is installed on the lifting mechanism, and the conveying direction of the first conveying mechanism 4 is always along the width direction of the mobile chassis 1, while the second conveying mechanism 5 is located at one side of the width direction of the mobile chassis 1 and arranged along the length direction of the mobile chassis 1. The first conveying mechanism 4 and the second conveying mechanism 5 are arranged in an "L" type direction. From the tail to the head direction of the mobile chassis 1, the visual camera mechanism 6 and the mechanical hand mechanism are arranged in sequence, that is, the mechanical hand mechanism is closer to the first conveying mechanism 4. It should be noted that the first conveying mechanism 4, the second conveying mechanism 5, the mechanical hand mechanism and the visual camera mechanism 6 are arranged in a "mouth" shape, which aims to improve the integration of the loading and unloading integrated composite robot, reduce the equipment size, and reduce the site area.

[0031] ​​It is worth noting that the first conveying mechanism 4 and the second conveying mechanism 5 adopt an "L"-shaped arrangement. This compact design enables the vehicle to complete the turning and delivery process efficiently and smoothly within a limited chassis area, avoiding the need for the mobile chassis 1 to move extensively in place to adjust the direction of the goods, thus saving time and space.

[0032] In this embodiment, as Figure 2 As shown, a groove is provided at the front of the mobile chassis 1, and the lifting mechanism is a scissor lift 9. The scissor lift 9 is installed in the mounting groove. Thus, when the scissor lift 9 is fully retracted to its lowest height, the first conveying mechanism 4 is basically flush with the top surface of the mobile chassis 1.

[0033] In this embodiment, the first conveying mechanism 4 includes a roller conveyor 401 and a steering conveyor 402 connected to each other. The roller conveyor 401 and the steering conveyor 402 are arranged along the width direction of the mobile chassis 1. The conveying direction of the roller conveyor 401 is along the width direction of the mobile chassis 1, and the conveying direction of the steering conveyor 402 is along the length direction of the mobile chassis 1. One end of the second conveying mechanism 5 is rotatably connected to one end of the steering conveyor 402 through a second shaft. The steering conveyor 402 serves to change the direction of cargo transportation.

[0034] In this embodiment, as Figure 3 As shown, the outer frame of the roller conveyor 401 and the outer frame of the steering conveyor 402 are fixedly connected. The steering conveyor 402 includes a belt conveyor 406, two steering wheel sets 404, and two steering motors 405. The belt conveyor 406 is fixedly installed inside the outer frame of the steering conveyor 402, and its conveying direction is consistent with that of the roller conveyor 401. The two steering wheel sets 404 are located on both sides of the belt conveyor 406 in the width direction, i.e., the two steering wheel sets 404 are arranged in a direction perpendicular to the conveying direction of the belt conveyor 406. Each steering wheel set 404 includes a steering wheel shaft and multiple steering wheels fixed to the circumference of the steering wheel shaft. The steering wheel shaft is rotatably installed inside the steering conveyor 402, and its axial direction is consistent with the conveying method of the roller conveyor 401. The steering motors 405 are fixedly installed on the outer frame of the steering conveyor 402, and their output ends are fixedly connected to one end of the steering wheel shaft. It should be noted that the top surface of the belt conveyor 406 is at the same height as the top of the steering wheel, and the top surface of the belt conveyor 406 is at the same height as the roller 403 of the roller conveyor 401. That is to say, when the goods are on the steering conveyor 402, the bottom surface of the goods is in contact with both the belt conveyor 406 and the steering wheel of the steering wheel assembly 404.

[0035] When the goods are stacked, the goods on the second conveying mechanism 5 begin to enter the turning conveyor 402, at this time, the turning motor 405 close to the second conveying mechanism 5 is controlled to start, so that the goods gradually move from the side of the turning conveyor 402 close to the second conveying mechanism 5 to the side away from the second conveying mechanism 5 under the drive of the turning wheel set 404, until the goods are aligned with the drum conveyor 401, the turning motor 405 is paused, then the belt conveyor 406 is controlled to start, and the goods move along the belt conveyor 406 to the drum conveyor 401, so as to complete the turning work during stacking.

[0036] When the goods are unloaded, the goods on the drum conveyor 401 gradually enter the turning conveyor 402 under the drive of the drum conveyor 401, and the belt conveyor 406 is started to make the goods gradually move away from the side of the drum conveyor 401, until the goods are aligned with the second conveying mechanism 5, the belt conveyor 406 is paused, then the two turning motors 405 are controlled to start, so that the goods move to the second conveying mechanism 5, until the goods enter the second conveying mechanism 5, so as to complete the turning work during unloading.

[0037] In the embodiment, as shown in Figure 1 and Figure 2 , a groove is arranged at the tail position of the moving chassis 1, two guide rails 11 are fixedly installed in the groove, the two guide rails 11 are arranged along the width direction of the moving chassis 1, the length direction of the guide rail 11 is consistent with the length direction of the moving chassis 1, a sliding block is fixedly installed on each guide rail 11, and the sliding blocks on the two guide rails 11 are fixedly connected with the bottom of the support frame 7, that is, the support frame 7 can slide along the guide rail 11. Further, one end of the second conveying mechanism 5 is rotationally connected with the top of the support frame 7 through a first shaft, and the other end is rotationally connected with one side of the turning conveyor 402 through a second shaft.

[0038] It should be noted that when the scissor fork lifter 9 lowers the height of the first conveying mechanism 4, the support frame 7 will move away from the first conveying mechanism 4 along the guide rail 11 under the drive of the second conveying mechanism 5; when the scissor fork lifter 9 raises the height of the first conveying mechanism 4, the support frame 7 will move close to the first conveying mechanism 4 along the guide rail 11 under the drive of the second conveying mechanism 5.

[0039] In the embodiment, the second conveying mechanism 5 is preferably a belt conveyor, which is more stable and less likely to slip when conveying goods compared with a drum conveyor.

[0040] It should be noted that the moving chassis 1 is an AGV (automatic guided vehicle) or an AMR (autonomous mobile robot).

[0041] In the embodiment, the mechanical hand mechanism comprises a mechanical arm 2 and a suction cup clamp mechanism, wherein the mechanical arm 2 is fixedly installed on the mobile chassis 1, the mechanical arm 2 is a multi-axis mechanical arm, preferably a 6-axis mechanical arm, and the suction cup clamp mechanism is installed on the mechanical arm 2.

[0042] Preferably, as shown in Figure 8 , Figure 9 and Figure 10 , the suction cup clamp mechanism comprises a main plate body 301, at least one side plate body, at least one rotary motor and a plurality of vacuum suction cup mechanisms; wherein the main plate body 301 is in the shape of a long strip plate, the back surface of the main plate body 301 is provided with a connecting arm 312 for connection with the mechanical arm 2, the connecting arm 312 comprises a connecting column and a flange plate, one end of the connecting column is fixedly welded to the back surface of the main plate body 301, and the flange plate is welded to the circumferential surface of the end of the connecting column away from the main plate body 301, the flange on the mechanical arm 2 and the flange plate of the connecting arm 312 are fixedly connected through bolts, the side plate body and one end of the main plate body 301 in the length direction are rotationally connected through a rotating shaft 304, the axis direction of the rotating shaft 304 is perpendicular to the length direction of the main plate body 301. A plurality of vacuum suction cup mechanisms for grabbing cigarettes are installed on the front surface of the main plate body 301 along the length direction thereof, at least one vacuum suction cup mechanism is installed on the side plate body, the rotary motor corresponds to the rotating shaft 304 one by one, the output end of the rotary motor is connected with the end of the rotating shaft 304, so as to drive the rotating shaft 304 to rotate around its own axis to make the side plate body rotate around the rotating shaft 304.

[0043] It should be noted that when facing a narrow space, the length of the suction cup clamp mechanism needs to be adjusted to adapt to the narrow space, at this time, the rotating shaft 304 is driven to rotate by the rotary motor, thereby driving the side plate body to rotate around the rotating shaft 304, so that the side plate body is rotated to the back surface of the main plate body 301, thereby reducing the length of the entire clamp, facilitating the adaptation to the narrow space, thereby improving the adaptability of the clamp and being more flexible.

[0044] As a specific embodiment, as shown in Figure 8 and Figure 9As shown, the side plate body is provided with two, respectively first side plate body 302 and second side plate body 303, rotating motor is provided with two, respectively first rotating motor 308 and second rotating motor 309; rotating shaft 304 is also provided with two, respectively first rotating shaft and second rotating shaft. First rotating shaft is rotatably mounted to the right end of the main plate body 301, the second rotating shaft is rotatably mounted to the left end of the main plate body 301, one end of the first side plate body 302 is fixedly connected with the first rotating shaft, one end of the second side plate body 303 is rotatably connected with the second rotating shaft, the first rotating motor 308 is fixed to the top of the main plate body 301, and the top end of the first rotating shaft is fixedly connected with the first rotating motor 308, the second rotating motor 309 is fixed to the top of the main plate body 301, and the output end of the second rotating motor 309 is fixedly connected with the top end of the second rotating shaft. In addition, the vacuum chuck mechanism is provided with five, specifically including three first vacuum chuck mechanisms 305, one second vacuum chuck mechanism 306 and one third vacuum chuck mechanism 307, wherein the three first vacuum chuck mechanisms 305 are evenly arranged on the front surface of the main plate body 301 along the length direction of the main plate body 301, the second vacuum chuck mechanism 306 is arranged on the front surface of the first side plate body 302, and the third vacuum chuck mechanism 307 is arranged on the front surface of the second side plate body 303.

[0045] It should be noted that when it is needed to use one-time to grab four goods, at this time, the first rotating motor 308 or the second rotating motor 309 is started by control, so as to fold the first side plate body 302 to the back of the main plate body 301 or fold the second side plate body 303 to the back of the main plate body 301. In this way, the front surface of the clamp has only four vacuum chuck mechanisms, that is, four goods can be grabbed at the same time.

[0046] When it is needed to one-time to grab three goods, at this time, the first rotating motor 308 and the second rotating motor 309 are started by control, so as to fold the first side plate body 302 to the back of the main plate body 301 and fold the second side plate body 303 to the back of the main plate body 301, at this time, the front surface of the clamp has only three first vacuum chuck mechanisms 305, that is, only three goods can be grabbed at the same time.

[0047] It can be seen that by using the multi-station clamp, multiple boxes of goods can be handled at one time to improve efficiency, and the length of the clamp can be adjusted, so that in some narrow space, the length of the clamp can be adjusted by folding the first side plate body 302 or the second side plate body 303, so as to facilitate the stacking or unloading work in narrow environment.

[0048] It should be noted that, as Figure 8As shown, when the front face of the first side plate body 302, the front face of the main plate body 301 and the front face of the second side plate body 303 are located in the same horizontal plane, the distance between the second vacuum chuck mechanism 306 and the first vacuum chuck mechanism 305 adjacent thereto, the distance between any two adjacent first vacuum chuck mechanisms 305 and the distance between the third vacuum chuck mechanism 307 and the first vacuum chuck mechanism 305 adjacent thereto are all the same, that is, when the first side plate body 302 and the second side plate body 303 are fully unfolded, the distance between any two vacuum chuck mechanisms at this time is the same, that is, the five vacuum chuck mechanisms are uniformly arranged. In this way, when the neatly arranged goods are grasped each time, each vacuum chuck mechanism can be smoothly attached to the middle position of the side face of the goods.

[0049] In some embodiments, as shown in Figure 10 As shown, the vacuum chuck mechanism includes a vacuum box 313 and a plurality of vacuum chucks 314, wherein a plurality of fixing rods 315 are mounted on the back face of the vacuum box 313, the vacuum box 313 is fixed to the main plate body 301 or the side plate body through the fixing rods 315, and the plurality of vacuum chucks 314 are uniformly mounted on the front face of the vacuum box 313.

[0050] It should be noted that the vacuum chuck system is a very mature existing technology, which usually includes a vacuum generator, a vacuum pipeline, a vacuum electromagnetic valve and a PLC controller. In the present embodiment, the outlet of the vacuum generator is connected to a five-way vacuum manifold, each outlet of the manifold is provided with a normally closed two-position two-way vacuum electromagnetic valve, and the outlets of the five electromagnetic valves are respectively connected to the five vacuum boxes 313 through independent pipelines. When the vacuum chuck mechanism needs to grasp the goods, the PLC controller controls the electromagnetic valve to be powered on to open the vacuum passage; when the goods are released, the electromagnetic valve is controlled to be powered off to cut off the vacuum and open the atmospheric breaking. In this way, the balance between centralized power supply and branch precise control is achieved, which not only ensures the unity of the system, but also ensures the independence and reliability of each chuck action.

[0051] In some embodiments, at least one pressure sensor 311 is mounted on each vacuum box 313, the air inlet end of the pressure sensor 311 is in communication with the vacuum box 313, the vacuum box 313 is signal connected with the control box 8, and is used for detecting the vacuum degree inside the vacuum box 313.

[0052] In some embodiments, as shown in Figure 1 As shown, a plurality of distance sensors 310 are mounted on the front face of the main plate body 301, the front face of the first side plate body 302 and the front face of the third side plate body 3, and the distance sensors 310 are signal connected with the control box 8. It should be noted that among these distance sensors 310, some are used for detecting the distance between the clamp and the goods to be grasped, and some are used for detecting the distance between the clamp and the surrounding obstacles.

[0053] In this embodiment, an electric lifting column 10 is installed on the top of the mobile chassis 1, and a vision camera mechanism 6 is mounted on the electric lifting column 10. The electric lifting column 10 is used to adjust the height of the vision camera mechanism 6 according to the instructions of the control box 8. The electric lifting column 10 enables the camera 608 to maintain an ideal height with stacks of goods of different heights, avoiding geometrical image distortion caused by excessive upward or downward viewing angles.

[0054] In this embodiment, as Figure 5 , Figure 6 and Figure 7 As shown, the visual camera mechanism 6 includes a support plate 602, a linear drive mechanism, a sliding plate 604, a camera mount 606, a camera 608, a supplementary light 609, and a pitch angle adjustment mechanism. A fixing frame 601 is welded to the bottom of the support plate 602 and is fixed to the top side of the electric lifting column 10. The support plate 602 rests on the top surface of the electric lifting column 10. Two guide blocks 611 are fixedly installed on the top of the support plate 602. The bottom of the sliding plate 604 is provided with a rail 603 corresponding to the guide blocks 611, and the rail 603 and the guide blocks 611 are slidably connected.

[0055] Furthermore, the linear drive mechanism includes an electric push rod 610, which is fixed to the support plate 602. The output end of the electric push rod 610 is fixedly connected to the sliding plate 604. The linear drive mechanism is used to drive the sliding plate 604 to move along a first direction. The camera mount 606 is rotatably mounted on the sliding plate 604. The camera 608 and the fill light 609 are mounted on the camera mount 606. The pitch angle adjustment mechanism is used to drive the camera mount 606 to perform pitch movement to adjust the pitch angle of the camera mount 606.

[0056] In this embodiment, as Figure 6 As shown, the pitch angle adjustment mechanism includes a vertical plate 605, two fixed plates 612, and a shaftless motor 607. The vertical plate 605 is fixedly mounted on the top of the sliding plate 604. The two fixed plates 612 are fixedly mounted on the bottom of the camera mount 606. The shaftless motor 607 is fixedly mounted on the vertical plate 605. The output end of the shaftless motor 607 is fixedly connected to one fixed plate 612, and the other fixed plate 612 is rotatably connected to the vertical plate 605. The axis of the shaftless motor 607 is aligned with the second direction, or in other words, with the width direction of the movable chassis 1.

[0057] In some embodiments, such as Figure 6 As shown, there are two fill lights 609, which are mounted in front of the camera mount 606. The fill lights 609 are used for supplemental lighting to facilitate shooting by the camera 608.

[0058] In some embodiments, two cameras 608 are provided, which are respectively mounted at both ends of the camera mount 606, and the lenses of the cameras 608 face the front of the movable chassis 1.

[0059] In this embodiment, the electric lifting column 10 enables the camera 608 to maintain an ideal height with stacks of goods of different heights, avoiding image geometric distortion caused by excessive upward or downward viewing angles.

[0060] The linear drive mechanism is used to drive the sliding plate 604, thereby moving the camera 608 along the first direction to approach or move away from the palletizing area or unloading area. By moving the camera 608 back and forth, the field of view can be flexibly adjusted, which can capture details at close range (such as box gaps and label positions for precise positioning) and observe the overall pallet pattern at a distance.

[0061] The tilt angle adjustment mechanism can drive the camera mount 606 to tilt, thereby flexibly adjusting the shooting angle of the camera 608 and expanding its shooting field of view. By adjusting the shooting angle of the camera 608 through the tilt angle adjustment mechanism, the camera 608 can shoot both the bottom and top layer of goods.

[0062] Two 608 cameras are arranged in parallel to form the basis of the binocular stereo vision system. This system can not only provide two-dimensional images, but also calculate the depth information and three-dimensional spatial coordinates of the goods through the principle of triangulation, providing the robotic arm 2 with precise gripping points and avoiding collisions.

[0063] In addition, two fill lights 609 are integrated and move and rotate with the camera lens 608 to ensure that the target is evenly and adequately illuminated at any angle and distance.

[0064] In the description of this invention, it should be noted that the terms "upper" and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A composite robot integrating loading and unloading, characterized in that, It includes a mobile chassis (1), a second conveying mechanism (5), a first conveying mechanism (4), a lifting mechanism, a support frame (7), a robotic arm mechanism, a vision camera mechanism (6), and a control box (8); The first conveying mechanism (4) and the robotic arm mechanism are arranged along the first direction. The robotic arm is mounted on the mobile chassis (1). The first conveying mechanism (4) extends along the second direction and is mounted on the mobile chassis (1) through the lifting mechanism. The lifting mechanism is used to drive the first conveying mechanism (4) to lift according to the instructions of the control box (8). The support frame (7) is slidably mounted on the mobile chassis (1) along the first direction. The first end of the second conveying mechanism (5) is rotatably mounted on the support frame (7) through the first shaft, and its second end is rotatably mounted on the first conveying mechanism (4) through the second shaft. The axes of the first shaft and the second shaft both extend along the second direction.

2. The integrated loading and unloading robot according to claim 1, characterized in that, The first conveying mechanism (4) includes a roller conveyor (401) and a steering conveyor (402) connected to each other. The roller conveyor (401) and the steering conveyor (402) are arranged along a second direction. The conveying direction of the roller conveyor (401) is the same as that of the second direction. The steering conveyor (402) is used to change the conveying direction of goods. The second conveying mechanism (5) and the steering conveyor (402) are arranged along a first direction. One end of the second conveying mechanism (5) is hinged to one end of the steering conveyor (402).

3. The integrated loading and unloading robot according to claim 2, characterized in that, The lifting mechanism includes a scissor lift (9), and the mobile chassis (1) is provided with an installation groove, in which the scissor lift (9) is installed.

4. The integrated loading and unloading robot according to claim 1, characterized in that, The mobile chassis (1) is provided with at least one guide rail (11) extending in a first direction, and the support frame (7) is slidably connected to the guide rail (11).

5. The integrated loading and unloading robot according to claim 4, characterized in that, The robotic arm mechanism includes a robotic arm (2) and a suction cup clamping mechanism. The robotic arm (2) is fixedly mounted on the mobile chassis (1), and the suction cup clamping mechanism is mounted on the robotic arm (2). The suction cup clamping mechanism includes a main body (301), at least one side plate, at least one rotary motor, and multiple vacuum suction cup mechanisms. The main board (301) is elongated and is detachably connected to the robotic arm (2). The side plate and one end of the main board (301) in the length direction are rotatably connected by a rotating shaft (304). The axis of the rotating shaft (304) is perpendicular to the length direction of the main board (301). The main body (301) is equipped with a plurality of vacuum suction cup mechanisms for gripping along its length, and the side plate is equipped with at least one vacuum suction cup mechanism; the rotary motor corresponds one-to-one with the rotating shaft (304), and the output end of the rotary motor is connected to the end of the rotating shaft (304) to drive the rotating shaft (304) to rotate around its own axis so that the side plate rotates around the rotating shaft (304).

6. The integrated loading and unloading robot according to claim 5, characterized in that, Two side plates are provided, and the two side plates are rotatably connected to the two ends of the main plate (301) through rotating shafts (304). At least one vacuum suction cup mechanism is installed on each of the two side plates. Two rotary motors are provided, and the two rotary motors drive the two rotating shafts (304) to rotate respectively.

7. The integrated loading and unloading robot according to claim 1, characterized in that, An electric lifting column (10) is installed on the top of the mobile chassis (1), and the vision camera mechanism (6) is installed on the electric lifting column (10). The electric lifting column (10) is used to adjust the height of the vision camera mechanism (6) according to the instructions of the control box (8).

8. The integrated loading and unloading robot according to claim 7, characterized in that, The visual camera mechanism (6) includes a support plate (602), a linear drive mechanism, a sliding plate (604), a camera mount (606), a camera (608), a fill light (609), and a pitch angle adjustment mechanism. The support plate (602) is fixedly installed on the top of the electric lifting column (10). The sliding plate (604) is slidably mounted on the support plate (602). The linear drive mechanism is used to drive the sliding plate (604) to move along a first direction. The camera mount (606) is rotatably mounted on the sliding plate (604). The camera (608) and the fill light (609) are mounted on the camera mount (606). The pitch angle adjustment mechanism is used to drive the camera mount (606) to perform pitch movement to adjust the pitch angle of the camera mount (606).

9. A loading and unloading integrated composite robot according to claim 8, characterized in that, At least one guide block (611) is fixedly installed on the top of the support plate (602), and a rail (603) corresponding to the guide block (611) is provided on the bottom of the sliding plate (604). The rail (603) and the guide block (611) are slidably connected. The linear drive mechanism includes an electric push rod (610), which is fixed on the support plate (602), and the output end of the electric push rod (610) is fixedly connected to the sliding plate (604).

10. A loading and unloading integrated composite robot according to claim 9, characterized in that, The pitch angle adjustment mechanism includes a vertical plate (605), two fixed plates (612), and a shaftless motor (607). The vertical plate (605) is fixedly installed on the top of the sliding plate (604). The two fixed plates (612) are fixedly installed on the bottom of the camera frame (606). The shaftless motor (607) is fixedly installed on the vertical plate (605). The output end of the shaftless motor (607) is fixedly connected to one of the fixed plates (612), and the other fixed plate (612) is rotatably connected to the vertical plate (605).

Images