Triple screen stable adsorption anti-collision unloading robot

Abstract

This invention belongs to the field of industrial robots, specifically a three-screen stable adsorption and anti-collision unloading robot, including a cabinet, a robotic arm mounted on the cabinet, a crossbar fixedly mounted at the working end of the robotic arm, an adsorption and pickup component for transporting and transferring the three screens mounted on the crossbar, casters mounted at the four corners of the bottom of the cabinet, a sensor bracket mounted on one side of the robotic arm on the cabinet, an omnidirectional LiDAR mounted on the top of the sensor bracket, the omnidirectional LiDAR being positioned at the rotation center of the robotic arm's main shaft, the detection range of the omnidirectional LiDAR covering the movement range of the adsorption and pickup component, and an anti-collision component mounted on the adsorption and pickup component acting on the three screens.

Description

Technical Field

[0001] This invention belongs to the field of industrial robots, specifically a three-screen stable adsorption anti-collision unloading robot. Background Technology

[0002] With the continuous iteration and upgrading of display technology, triple screens have been widely used in the field of automotive cockpits due to their advantages such as wide field of view and excellent visual experience. Especially now that cars are developing towards a more intelligent direction, more and more models are launching triple screens of various shapes that integrate the driver's instrument panel, center console, and passenger seat.

[0003] The large overall size, high aspect ratio, brittle glass substrate, and precise structure of triple-panel displays place stringent demands on the gripping stability, positioning accuracy, and anti-collision protection capabilities of the material handling equipment during production line assembly and finished product transfer. Currently, the industry generally uses fixed adsorption-type material handling robots to complete the material handling of triple-panel displays. However, traditional equipment has many inherent defects in terms of structural adaptation, positioning and clamping, motion buffering, and safety protection, making it difficult to meet the mass production material handling requirements of flexible, high-precision, and high-safety triple-panel displays of various models.

[0004] Firstly, traditional triple-screen unloading robots mostly use fixed assembly for their picking racks, suction cups, and supporting clamping structures. The installation positions and relative spacing of each component cannot be flexibly adjusted according to different models and shapes of triple screens. Since there are significant differences in the overall outline, border position, and adsorption area of ​​triple screens of different specifications, the fixed picking and adsorption structure is difficult to match the optimal adsorption point of various screens, which easily leads to problems such as insufficient local adsorption force and uneven force distribution. This not only greatly reduces the stability of screen picking, but also easily causes screen displacement and slippage during transportation. The equipment has low versatility and can only be adapted to a single or a few triple-screen products. When changing products, the entire tooling needs to be disassembled and modified, resulting in a large amount of debugging work and poor production continuity.

[0005] Secondly, the linkage gripping mechanism of conventional unloading robots has a single motion trajectory, and it cannot achieve adaptive posture switching in different working conditions such as suction cup picking up the screen, gripping and lifting the screen, and unloading and placing the screen. After the suction cup completes adsorption, the gripping structure tends to encroach on the screen's adsorption space, interfering with the suction cup's adsorption effect. During the process of placing the three-panel screen into the carrier box, the gripping structure cannot effectively press and position the screen and the box, often resulting in problems such as screen misalignment and box displacement. In addition, traditional lifting actions are mostly large-amplitude swing contact, and when the gripper quickly approaches the screen's edge, it is easy to generate impact disturbance, which can disrupt the stable adsorption state between the suction cup and the three-panel screen. This can cause the screen to loosen locally or even fall off and be damaged, making it difficult to guarantee the smoothness of the operation.

[0006] Finally, traditional triple-screen unloading robots generally lack active obstacle detection and multi-level buffer protection systems. When the robotic arm is moving the screen at high speed, if a sudden obstruction appears in the working area, the equipment cannot detect it in advance and respond accordingly, which can easily lead to rigid collisions and directly cause the brittle screen to break. Even if some equipment is equipped with a simple deceleration structure, in emergency stop conditions, the inertial impact force generated by the robotic arm's sudden stop will directly act on the triple screen, causing the screen to shake and bump due to inertia, resulting in a high defect rate. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention addresses the technical problem of selecting a different number of pickup frames based on the specific model and structure of the triple-panel screen. The position of each pickup frame on the crossbeam is adjustable, and suction cups are placed at designated locations with corresponding openings on the lower cover. This is combined with adjustable swing arm seats and clamping seats, thereby configuring the structure for suction pickup according to the actual suction position, improving suction stability, and making it suitable for automatic unloading of triple-panel screens of different models and structures. By setting the hinge position and length of the first and second swing arms, the clamping seat is positioned perpendicular to the pickup frame when the suction cup picks up the triple-panel screen, ensuring sufficient space for suction cup pickup. When the triple-panel screen is placed into the corresponding carrier box, the clamping seat remains perpendicular, and the end of the clamping seat presses and positions the carrier box, ensuring accurate unloading and stable unloading action. During the pickup and transfer process, the gripper is quickly controlled to flip and approach the frame of the triple-screen display. When the gripper is near the frame and about to contact it, it is restricted to a near-parallel motion to ensure that the end of the gripper smoothly and accurately fits the edge of the triple-screen display for lifting and support. This avoids the lifting action itself affecting the stability of the triple-screen display's adsorption. By setting up an omnidirectional LiDAR, the system detects whether there are any obstructions in the movement coverage area of ​​the robotic arm. If an obstruction is found, the robotic arm is immediately controlled to decelerate until it stops, preventing direct collisions with the triple-screen display during transport and avoiding damage. During deceleration and stopping, air is inflated into the contact layer through the connecting port to pick up and expand the triple-screen display, thus flexibly supporting it. Combined with the inherently flexible suction cup component, this achieves floating support for the triple-screen display during deceleration, allowing for sufficient buffering during rapid stopping and preventing unnecessary collisions that could damage the triple-screen display.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a three-screen stable adsorption anti-collision unloading robot, comprising: The equipment includes a rack with a robotic arm. A crossbeam is fixed to the working end of the robotic arm, and an adsorption / pickup component for moving the triple-screen display is mounted on the crossbeam. Casters are mounted at the four corners of the rack's bottom. A sensor bracket is mounted on one side of the robotic arm, and an omnidirectional LiDAR is mounted on top of the sensor bracket. The omnidirectional LiDAR is positioned at the rotation center of the robotic arm's main shaft, and its detection range covers the movement range of the adsorption / pickup component. The adsorption / pickup component is equipped with anti-collision components that act on the triple-screen display.

[0009] Furthermore, the adsorption and pickup component includes a pickup frame, and the plurality of pickup frames are spaced apart on the cross frame. The position of each pickup frame can be adjusted along the length direction of the cross frame. A lower cover plate is alternatively provided on the bottom side of the end of the pickup frame, and at least one suction cup for adsorbing the triple screen is provided on the lower cover plate at a designated position.

[0010] Furthermore, each of the pickup racks is fixedly provided with an upper cover plate on its top side, and a first connector is provided on the upper cover plate. Air chambers are formed at the connection points between the upper cover plate and the lower cover plate and the pickup rack. Channels connecting the two air chambers are provided on the pickup rack at corresponding positions on the upper cover plate and the lower cover plate. The first connector and the suction cup are respectively connected to the two air chambers.

[0011] Furthermore, each of the pickup racks is provided with two sets of position-adjustable swing arm seats on both sides. Each swing arm seat is hinged with a first swing arm and a second swing arm. The ends of the first and second swing arms away from the swing arm seats are hinged with clamping seats. The ends of the clamping seats are used to support the edges of the triple screen. The clamping seats have two states: parallel to the pickup rack and perpendicular to the pickup rack.

[0012] Furthermore, the hinge positions of the first and second swing arms and the swing arm seat are offset from each other in the direction along the length of the pickup frame and in the direction perpendicular to the length of the pickup frame, respectively. The length of the second swing arm is shorter than that of the first swing arm. The first and second swing arms are respectively hinged on both sides of the clamping seat, and the first swing arm is further away from the swing arm seat than the second swing arm.

[0013] Furthermore, the hinge position of the first swing arm and the swing arm seat is higher than the upper surface of the pickup frame. A rotating shaft is rotatably provided between each set of swing arm seats at the hinge position of the first swing arm. Both ends of each rotating shaft pass through the swing arm seat and are fixedly connected to the first swing arm. A worm gear is fixedly connected to the center of the rotating shaft. A cover is provided on the top of the pickup frame to cover the worm gear and the rotating shaft. A servo motor is fixedly connected to one side of the cover. The power output end of the servo motor is driven by a worm gear that meshes with and drives the worm gear.

[0014] Furthermore, multiple mounting holes are evenly spaced on both sides of the pickup frame, and at least two oblong holes are provided on each swing arm seat along the length of the pickup frame. The slot length of each oblong hole is consistent with the spacing between each mounting hole. Screws are provided in each oblong hole and threadedly connected to the corresponding mounting hole to fix the swing arm seat.

[0015] Furthermore, the anti-collision component includes a clamping block, which is disposed at the end of the clamping seat to support the triple screen. The structural shape of each clamping block can be set according to the structure of the triple screen. The surface of each clamping block is provided with a flexible contact layer, and the bottom end of the clamping block is provided with a tenon for locking and fixing to the end of the clamping seat.

[0016] Furthermore, the contact layer is supported by a flexible rubber material, and the main body of the contact layer is folded in a corrugated shape at the end of the clamping block. Each edge of the contact layer is embedded and fixed to the clamping block, and the surface of the contact layer that contacts the triple screen is coated with an isolation coating.

[0017] Furthermore, the clamping seat has a connecting port, the latch has a vent hole connecting the internal space of the contact layer, the end of the clamping seat has an air passage connecting the vent hole and the connecting port, and a second connector is provided at the end of the connecting port away from the air passage.

[0018] In summary, compared with the prior art, the beneficial effects of the present invention are as follows: (1) Depending on the specific triple screen model and structure, different numbers of pickup racks can be selected and the position of each pickup rack on the crossbar can be adjusted. Suction cups are set at designated positions and lower cover plates with corresponding opening positions are selected. Adjustable swing rod seats and clamping seats are used to realize the configuration of the structure for adsorption and pickup according to the actual adsorption position, improve adsorption stability, and are suitable for automatic unloading of triple screens of different models and structures.

[0019] (2) By setting the hinge position of the first swing arm and the second swing arm and setting the length of the first swing arm and the second swing arm, the clamping seat is in a vertical state with the picking frame when the suction cup picks up the triple screen, thus avoiding the space for the suction cup to pick up the triple screen. When the triple screen is placed into the corresponding carrier box, the clamping seat is also vertical. Then the end of the clamping seat is used to press and position the carrier box, ensuring that the triple screen is accurately placed and the feeding action is stable.

[0020] (3) During the adsorption, pickup and transfer process, quickly control the clamp to flip and get close to the frame of the triple screen. When the clamp is near the frame of the triple screen and is about to contact the frame, restrict the clamp to get close to the frame of the triple screen in a near-parallel manner, so that the end of the clamp can smoothly and accurately fit the edge of the triple screen for lifting and support, and avoid the lifting action itself from affecting the adsorption stability of the triple screen.

[0021] (4) By setting up an omnidirectional lidar, the robot arm can detect whether there are any obstructions in its movement coverage area. If an obstruction is found, the robot arm will be controlled to slow down until it stops, so as to avoid the three screens being directly bumped and damaged during the transportation process. During the deceleration and stopping process, the robot arm can be picked up and expanded by inflating the contact layer through the connecting port to flexibly support the three screens. In conjunction with the flexible suction cup component, the three screens can be floated during the deceleration process, so that the three screens can be fully buffered during the rapid stopping process, and avoid unnecessary collisions that could damage the three screens. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of the present patent.

[0023] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0024] Figure 3 This is a front view of the patent.

[0025] Figure 4 This is a schematic diagram of the structure of the adsorption and pickup component.

[0026] Figure 5 for Figure 4 A magnified view of a section at point B.

[0027] Figure 6 This is a schematic diagram of the clamping seat in this patent.

[0028] Figure 7 This is a schematic diagram of the clamping base.

[0029] Figure 8 This is a schematic diagram of the clamping seat from another perspective.

[0030] Figure 9 This is a schematic diagram of the structure of the pickup rack in this patent.

[0031] Explanation of reference numerals in the attached drawings: Cabinet 10; Robotic arm 11; Horizontal frame 12; Casters 13; Sensor bracket 14; Omnidirectional LiDAR 15; Pickup rack 16; Top cover 17; First connector 18; Bottom cover 19; Suction cup 20; Mounting hole 21; Swing arm seat 22; Waist-shaped hole 23; First swing arm 24; Second swing arm 25; Clamping seat 26; Clamping block 27; Contact layer 28; Locking tenon 29; Vent 30; Connecting port 31; Air passage 32; Second connector 33; Rotating shaft 34; Worm gear 35; Worm 36; Cover 37; Servo motor 38. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0033] like Figure 1-9 As shown, a three-screen stable adsorption anti-collision unloading robot includes a robotic arm 11. The working end of the robotic arm 11 is fixedly connected to a crossbeam 12. Multiple pickup frames 16 are arranged on the crossbeam 12. A lower cover plate 19 is fixedly arranged on the bottom side of the end of each pickup frame 16. At least one suction cup 20 is arranged on the lower cover plate 19. An upper cover plate 17 is arranged on the top side of the end of the pickup frame 16. A first connector 18 is connected to one end of the upper cover plate 17. The upper cover plate 17 and the first connector 18 respectively form an air cavity with the pickup frame 16. Multiple holes are opened on the pickup frame 16 to connect two air cavities. The number and position of the pickup frames 16 can be set according to the specific structure of the three-screen. Similarly, the number and position of the suction cups 20 can be set according to the specific adsorption position of the three-screen and the corresponding shape of the lower cover plate 19 can be installed and replaced.

[0034] By setting up a robotic arm 11 and a suction cup 20, the suction cup 20 can be used to pick up the target triple screen, and the robotic arm 11 can be used to transport and transfer it, so as to realize the automatic unloading action in the automated production process of automotive triple screens.

[0035] During the material preparation process of triple-panel displays, the screen surface is usually facing down and the back panel is facing up. However, the back panel structure is not flat, and the distribution of positions for stable adsorption and pickup is not uniform. Therefore, the operator can select different numbers of pickup racks 16 according to the specific triple-panel display model and structure, and the position of each pickup rack 16 on the horizontal frame 12 can be adjusted. At the same time, suction cups 20 can be set on each pickup rack 16 according to the actual adsorption position, and a lower cover plate 19 with corresponding opening positions can be selected. This allows the structure for adsorption and pickup to be configured according to the actual adsorption position, improving adsorption stability and making it suitable for automatic material preparation of triple-panel displays of different models and structures.

[0036] like Figure 1-9As shown, a swing arm seat 22 is provided on both sides of the pickup frame 16. A first swing arm 24 and a second swing arm 25 are hinged on each swing arm seat 22. A clamping seat 26 is hinged to the end of the first swing arm 24 and the second swing arm 25 away from the swing arm seat 22. The end of the clamping seat 26 is used to support the edge of the triple screen. Multiple mounting holes 21 are evenly spaced on both sides of the pickup frame 16. Two waist-shaped holes 23 are opened on the swing arm seat 22 along the length of the pickup frame 16. The slot length of each waist-shaped hole 23 is consistent with the spacing of the mounting holes 21. Screws are installed in the waist-shaped holes 23 and threadedly connected to the corresponding mounting holes 21 to fix the swing arm seat 22 to both sides of the pickup frame 16.

[0037] By setting up the clamping base 26, the edge of the triple screen can be supported during the adsorption and transportation process, preventing the suction cup 20 from detaching from the back of the triple screen during the transfer process, thus preventing adsorption failure and protecting the triple screen from falling off and being damaged during transportation.

[0038] Meanwhile, the swing arm seat 22 can be freely adjusted in the length direction of the pickup frame 16 by cooperating with the waist-shaped hole 23 and the mounting hole 21. At the same time, depending on the actual use, the swing arm seat 22 and the clamping seat 26 can be omitted on a specific pickup frame 16 to adapt to different models and structures of triple screens and provide stable and accurate support for the triple screens.

[0039] like Figure 6 As shown, the clamping seat 26 has two states: parallel to the pickup frame 16 and perpendicular to the pickup frame 16. The hinge positions of the first swing arm 24 and the second swing arm 25 with the swing arm seat 22 are offset from each other in the length direction along the pickup frame 16 and in the length direction perpendicular to the pickup frame 16, respectively. The length of the second swing arm 25 is shorter than that of the first swing arm 24. The first swing arm 24 and the second swing arm 25 are respectively hinged on both sides of the clamping seat 26. The first swing arm 24 is further away from the swing arm seat 22 than the second swing arm 25.

[0040] By setting the hinge position of the first swing arm 24 and the second swing arm 25, and setting the length of the first swing arm 24 and the second swing arm 25, the clamping seat 26 is in a perpendicular state to the picking frame 16 when the suction cup 20 picks up the triple screen, thus avoiding the space for the suction cup 20 to pick up the triple screen. When the triple screen is placed into the corresponding carrier box, the clamping seat 26 is also perpendicular. The end of the clamping seat 26 is used to press and position the carrier box, ensuring that the triple screen is accurately placed and the feeding action is stable.

[0041] During the adsorption, pickup, and transfer process, the clamping base 26 is quickly controlled to flip and approach the edge of the triple screen. When the clamping base 26 is near the edge of the triple screen and about to contact the edge, the clamping base 26 is restricted to approach the edge of the triple screen in a near-parallel manner. This allows the end of the clamping base 26 to smoothly and accurately fit the edge of the triple screen for lifting and support, avoiding any impact on the adsorption stability of the triple screen caused by the lifting action itself.

[0042] like Figure 1-9 As shown, the hinge position of the first swing arm 24 and the swing arm seat 22 is higher than the upper surface of the pickup frame 16. A rotating shaft 34 is rotatably provided between each set of swing arm seats 22 at the hinge position of the first swing arm 24. Both ends of each rotating shaft 34 pass through the swing arm seat 22 and are fixedly connected to the first swing arm 24. A worm gear 35 is fixedly connected to the center of the rotating shaft 34. A cover 37 covering the worm gear 35 and the rotating shaft 34 is provided on the top of the pickup frame 16. A servo motor 38 is fixedly connected to one side of the cover 37. The power output end of the servo motor 38 is driven by a worm 36 that meshes with the worm gear 35.

[0043] By setting the worm gear 35 and worm 36 to transmit the power of the servo motor 38, the movement and position of the clamping seat 26 can be driven and controlled. At the same time, the worm gear transmission pair is used in conjunction with the servo motor 38 to achieve accurate driving and positioning. Moreover, the worm gear transmission pair has a self-locking characteristic. Even if the servo motor 38 suddenly fails or the power is disconnected when the clamping seat 26 is supporting the triple screen, the worm gear 35 and worm 36 can still maintain their current state to provide stable support for the triple screen.

[0044] like Figure 1-9 As shown, the clamping base 26 has clamping blocks 27 at its end for supporting the triple screen. The shape of each clamping block 27 can be selected according to the structure of the triple screen. In this embodiment, the clamping blocks 27 are preferably L-shaped. Each clamping block 27 has a flexible contact layer 28 on its surface. The bottom of the clamping block 27 has a tenon 29 for snapping and fixing to the end of the clamping base 26. The contact layer 28 is made of flexible rubber material for support. The main body of the contact layer 28 is folded in a corrugated shape at the end of the clamping block 27. The edge of each contact layer 28 is embedded and fixed to the clamping block 27. The surface of the contact layer 28 that contacts the triple screen is coated with an isolation coating. In this embodiment, the isolation coating is preferably a Teflon coating.

[0045] like Figure 1-9As shown, the clamping base 26 has a connecting port 31, the latch 29 has a vent 30 connecting the internal space of the contact layer 28, the end of the clamping base 26 has an air passage 32 connecting the vent 30 and the connecting port 31, the end of the connecting port 31 away from the air passage 32 is provided with a second connector 33, the bottom of the robotic arm 11 is provided with a cabinet 10, the four corners of the bottom of the cabinet 10 are provided with casters 13, the cabinet 10 is provided with a sensor bracket 14 on one side of the robotic arm 11, the top of the sensor bracket 14 is provided with an omnidirectional lidar 15, the omnidirectional lidar 15 is located at the rotation center of the main shaft of the robotic arm 11.

[0046] By setting the clamping block 27 and the contact layer 28, the clamping block 27 can be adapted to the shape of the triple screen frame to provide stable support for the triple screen. The flexible contact layer 28 can avoid scratches caused by direct hard contact between the clamping block 27 and the surface of the triple screen, and provides good protection for the air passage. The clamping block 27 can be freely replaced with different shapes and types according to the actual use and the specific structure of the triple screen, so as to adapt to different use needs and scenarios.

[0047] By setting up an omnidirectional lidar 15, the robot arm 11 is able to detect whether there are any obstructions in its movement range. If an obstruction is found, the robot arm 11 is immediately controlled to decelerate until it stops, thus avoiding direct collisions between the three screens during transport and preventing damage. During the deceleration and stopping process, air is inflated into the contact layer 28 through the connecting port 31 to pick up the expansion and flexibly support the three screens. In conjunction with the flexible suction cup 20 component, the three screens are floated and supported during deceleration, so that the three screens can be fully buffered during the rapid stop and avoid unnecessary collisions that could damage the three screens.

[0048] In this embodiment, initially, the power supply and control system of this patent are connected, and the first connector 18 and the second connector 33 are connected to the pneumatic device through hoses. The operator configures an appropriate number of pickup racks 16 and adjusts the position of the pickup racks 16 according to actual needs. At the same time, the appropriate lower cover plate 19 and suction cup 20 are configured according to the actual adsorption position, which can stably adsorb the triple screen of a specific model and structure.

[0049] In use, the control system automatically generates a transport path based on the adsorption and pickup position and the material placement position. The robotic arm 11 moves above the adsorption and pickup position. At this time, the servo motor 38 drives the clamping seat 26 to swing and unfold to both sides until the clamping seat 26 is in a state perpendicular to the pickup frame 16, making room for the suction cup 20 to adsorb and pick up the triple screen. Then the pickup frame 16 moves down so that the suction cup 20 contacts the designated adsorption position on the back of the triple screen. The start device draws air at each first connector 18. The air is drawn through the air chambers of the upper cover plate 17 and the lower cover plate 19, and low pressure is generated at the suction cup 20 to adsorb the triple screen. Then the robotic arm 11 controls the pickup frame 16 to lift and pick up the triple screen.

[0050] Then, the robotic arm 11 transfers the triple screen. The servo motor 38 drives the first swing arm 24 to swing through the transmission of the worm gear 35 and the worm 36, thereby driving the clamping seat 26 to quickly approach the edge of the triple screen until the surface of the contact layer 28 abuts against the edge of the triple screen. The Teflon coating on the contact layer 28 prevents the contact layer 28 from leaving marks on the surface of the triple screen.

[0051] During the handling process, the triple screen is not only attracted by the suction cup 20, but also supported by the clamping seat 26, which provides stable protection and support for the triple screen in the vertical and lateral directions, thereby preventing the triple screen from slipping or falling off during the transfer process. This can further improve the speed at which the robotic arm 11 transfers the triple screen and increase work efficiency.

[0052] When the robotic arm 11 moves the triple screen to the designated unloading position, it needs to be placed in the injection-molded carrier box. At this time, the servo motor 38 controls the clamping seat 26 to swing and unfold to both sides and be perpendicular to the pickup frame 16. The robotic arm 11 controls the pickup frame 16 and the suction cup 20 to move the triple screen down, pressing or restricting the ends of the clamping seat 26 to prevent positional deviation, until the triple screen is stably placed in the carrier box. Then, the suction cup 20 is released from the triple screen, and the unloading action is completed.

[0053] During the transfer process, if the omnidirectional lidar 15 detects objects or personnel other than the device within the movement range of the robotic arm 11, it will send a signal to the control system. The control system will then compare and judge the signal and respond quickly, controlling the robotic arm 11 to decelerate until it stops. During this process, the control system will control the starting device to inflate each of the second connectors 33. The wave-shaped folded contact layer 28 will expand under the air pressure, providing flexible wrapping and support for the triple screen. Combined with the flexible suction cup 20, this achieves floating support for the triple screen. This protects the triple screen from potential collisions and bumps during the rapid stop, preventing damage to the triple screen.

[0054] The aforementioned robotic arm 11, omnidirectional lidar 15, servo motor 38, etc., are mature existing technologies. The structures in the attached drawings are only for illustration, and their working principles will not be described in detail in this article.

[0055] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0056] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0057] The foregoing description illustrates and describes several preferred embodiments of this application. However, as previously stated, it should be understood that this application is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the application concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this application should be within the protection scope of the appended claims.

Claims

1. A three-screen stable adsorption anti-collision unloading robot, characterized in that, The triple-screen stable adsorption and anti-collision unloading robot includes: A cabinet (10) is provided, on which a robotic arm (11) is provided. A crossbeam (12) is fixedly provided at the working end of the robotic arm (11). An adsorption and pickup component for moving and transferring the three-panel screen is provided on the crossbeam (12). Casters (13) are provided at the four corners of the bottom of the cabinet (10). A sensor bracket (14) is provided on the cabinet (10) on one side of the robotic arm (11). An omnidirectional laser radar (15) is provided on the top of the sensor bracket (14). The omnidirectional laser radar (15) is located at the rotation center of the main shaft of the robotic arm (11). The detection range of the omnidirectional laser radar (15) covers the movement range of the adsorption and pickup component. An anti-collision component is provided on the adsorption and pickup component to act on the three-panel screen.

2. The triple-screen stable adsorption anti-collision unloading robot according to claim 1, characterized in that, The adsorption and pickup component includes a pickup frame (16), and the plurality of pickup frames (16) are spaced apart on the cross frame (12). The position of each pickup frame (16) can be adjusted along the length direction of the cross frame (12). A lower cover plate (19) can be alternatively provided on the bottom side of the end of the pickup frame (16). At least one suction cup (20) for adsorbing the triple screen is provided on the lower cover plate (19) at a designated position.

3. The triple-screen stable adsorption anti-collision unloading robot according to claim 2, characterized in that, Each of the pickup racks (16) has an upper cover plate (17) fixedly installed on its top side. The upper cover plate (17) has a first connector (18). Air chambers are formed at the connection between the upper cover plate (17), the lower cover plate (19) and the pickup rack (16). The pickup rack (16) has a channel connecting the two air chambers at the corresponding positions of the upper cover plate (17) and the lower cover plate (19). The first connector (18) and the suction cup (20) are respectively connected to the two air chambers.

4. The triple-screen stable adsorption anti-collision unloading robot according to claim 2, characterized in that, Each of the pickup racks (16) has two sets of adjustable swing arm seats (22) on both sides. Each swing arm seat (22) is hinged with a first swing arm (24) and a second swing arm (25). The ends of the first swing arm (24) and the second swing arm (25) away from the swing arm seat (22) are hinged with clamping seats (26). The ends of the clamping seats (26) are used to support the edges of the triple screen. The clamping seats (26) have two states: parallel to the pickup rack (16) and perpendicular to the pickup rack (16).

5. The triple-screen stable adsorption anti-collision unloading robot according to claim 4, characterized in that, The first swing arm (24) and the second swing arm (25) are offset from each other from the hinge position of the swing arm seat (22) along the length direction of the pickup frame (16) and perpendicular to the length direction of the pickup frame (16), respectively. The second swing arm (25) is shorter than the first swing arm (24). The first swing arm (24) and the second swing arm (25) are respectively hinged on both sides of the clamping seat (26). The first swing arm (24) is further away from the swing arm seat (22) than the second swing arm (25).

6. The triple-screen stable adsorption anti-collision unloading robot according to claim 5, characterized in that, The hinge position of the first swing arm (24) and the swing arm seat (22) is higher than the upper surface of the pickup frame (16). Each set of swing arm seats (22) is rotatably provided with a rotating shaft (34) at the hinge position of the first swing arm (24). The two ends of each rotating shaft (34) pass through the swing arm seat (22) and are fixedly connected to the first swing arm (24). A worm gear (35) is fixedly connected to the center of the rotating shaft (34). A cover (37) covering the worm gear (35) and the rotating shaft (34) is provided on the top of the pickup frame (16). A servo motor (38) is fixedly connected to one side of the cover (37). The power output end of the servo motor (38) is driven by a worm (36) that meshes with the worm gear (35).

7. The triple-screen stable adsorption anti-collision unloading robot according to claim 5, characterized in that, The pickup frame (16) has multiple mounting holes (21) evenly spaced on both sides. Each swing arm seat (22) has at least two waist-shaped holes (23) along the length of the pickup frame (16). The slot length of each waist-shaped hole (23) is consistent with the spacing between each mounting hole (21). Each waist-shaped hole (23) is fitted with a screw and threadedly connected to the corresponding mounting hole (21) to fix the swing arm seat (22).

8. The triple-screen stable adsorption anti-collision unloading robot according to claim 7, characterized in that, The anti-collision component includes a clamping block (27), which is disposed at the end of the clamping base (26) to support the triple screen. The structural shape of each clamping block (27) can be selected according to the structure of the triple screen. A flexible contact layer (28) is provided on the surface of each clamping block (27). A tenon (29) is provided at the bottom of the clamping block (27) for locking and fixing to the end of the clamping base (26).

9. The triple-screen stable adsorption anti-collision unloading robot according to claim 8, characterized in that, The contact layer (28) is supported by a flexible rubber material. The main body of the contact layer (28) is folded in a corrugated shape at the end of the clamping block (27). The edge of each contact layer (28) is embedded and fixed to the clamping block (27). The surface of the contact layer (28) used to contact the triple screen is coated with an isolation coating.

10. The triple-screen stable adsorption anti-collision unloading robot according to claim 9, characterized in that, The clamping seat (26) has a communication port (31) inside, the latch (29) has a vent hole (30) that communicates with the internal space of the contact layer (28) inside, the clamping seat (26) has an air passage (32) that communicates with the vent hole (30) and the communication port (31) at the end, and a second connector (33) is provided at the end of the communication port (31) away from the air passage (32).

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