Stacking robot with recognition function

Abstract

The utility model discloses a stacking robot with a recognition function, which relates to the technical field of stacking robots and comprises a stacking component, a lifting component and a lifting component. The stacking assembly comprises a moving track installed on the ground of the warehouse, a moving robot is arranged on the moving track, a bearing table is arranged on the moving robot, a vertical lifting module used for driving the bearing table to vertically ascend and descend is further arranged on the moving robot, an installation base is installed on the bearing table, and the vertical lifting module is used for driving the bearing table to vertically ascend and descend. A rotating seat is rotatably mounted on the top surface of the mounting seat, a first arm and a second arm are symmetrically arranged on the rotating seat, a mounting table is arranged on the second arm, a pallet fork is arranged on the mounting table, and a collision detection assembly is arranged at the front end of the pallet fork. The problem that components such as a robot mechanical arm and the like rigidly collide with the goods shelf is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of stacking robots, and in particular relates to a stacking robot with an identification function. Background Art

[0002] With the increase in land and labor costs, automated warehouses are increasingly widely used in food, medicine, machinery, petroleum and chemical industries. As the core of automated warehouses, stackers play a vital role. The positioning device of warehouse stackers is the basis for storing goods and is of great significance. The positioning device of warehouse stackers is related to their parking accuracy and has a direct impact on the quality of stored and retrieved goods.

[0003] The existing patent (application number: CN115009748A) proposes a precise addressing method system for a stacking industrial robot system, including multiple addressing marks, multiple identification modules, a control terminal and a database. Multiple addressing marks are set in the shelf area of ​​the warehouse and are located around the stacking industrial robot in sequence along the feasible path of the stacking industrial robot. By setting addressing marks around the stacker industrial robot and adding multiple reference parameters, more accurate location information is obtained, and information calibration can be performed at the same time, thereby providing a more accurate addressing function for the stacking industrial robot.

[0004] The above-mentioned robots lack protection during the process of identifying and stacking. During the long-term use of the stacking robot, the free clearance of mechanical components such as gears and control shafts will gradually increase. Therefore, when the robot transports or places goods according to the established work formation, the difference between the expected working stroke and the actual working stroke will cause the robot's mechanical arm and other components to have a rigid collision with the shelf, which will cause damage to the robot or the shelf.

[0005] In view of this, this application is hereby filed. Utility Model Content

[0006] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a stacking robot with an identification function to achieve the desired purpose.

[0007] In order to solve the above technical problems, the utility model provides a stacking robot with recognition function, comprising:

[0008] A stacking component for identifying and stacking goods;

[0009] The stacking assembly includes a moving track installed on the warehouse floor, a mobile robot is arranged on the moving track, a carrying platform is arranged on the mobile robot, a vertical lifting module for driving the carrying platform to vertically lift and lower is also arranged on the mobile robot, a mounting seat is installed on the carrying platform, a rotating seat is rotatably installed on the top surface of the mounting seat, a first arm and a second arm are symmetrically arranged on the rotating seat, a mounting platform is arranged on the second arm, a fork is arranged on the mounting platform, and a collision detection assembly is arranged at the front end of the fork.

[0010] Furthermore, the collision detection component includes an installation box fixedly installed at the front end of the fork, the installation box has an installation cavity inside, a fixing plate is installed on the inner top wall of the installation cavity, a spring plate is connected to one side of the lower surface of the fixing plate, a first conductor is installed on the bottom surface of the fixing plate, a second conductor is installed on the top surface of the spring plate, a collision column is installed on the bottom surface of the spring plate, an emergency stop switch is fixedly installed inside the installation cavity, and the emergency stop switch is electrically connected to the first conductor.

[0011] Furthermore, a through opening is provided at the front end of the installation box, the collision column is slidably arranged inside the through opening, and the outer wall of the collision column is in contact with the inner wall of the through opening.

[0012] Furthermore, the vertical lifting module includes a mounting plate which is symmetrically fixedly installed on the top of the mobile robot, and sliding seats are slidably installed on opposite sides of the mounting plate. The support platform is connected between the two sliding seats. A lifting screw is rotatably installed on the mounting plate, and the sliding seat is threadedly connected to the lifting screw. A motor for driving the lifting screw to rotate is also arranged inside the mounting plate.

[0013] Furthermore, the collision column is divided into a connecting section and a touching section, the connecting section is made of rubber, and the touching section is made of stainless steel.

[0014] Furthermore, an embedding groove is provided on the inner wall of the through opening, a sealing gasket is installed inside the embedding groove, and the sealing gasket is fitted with the outer wall of the collision column.

[0015] After adopting the above technical scheme, the utility model has the following beneficial effects compared with the prior art.

[0016] 1. In the utility model, the overall movement of the robot can be achieved by moving the mobile robot on the mobile track, and the overall lifting of the robot can be driven by the vertical lifting module to drive the vertical lifting of the load-bearing platform, and then the goods can be stacked in cooperation with the rotating seat, the first arm, the second arm, the mounting platform and the fork.

[0017] 2. In the utility model, in the initial state, the elastic force of the spring sheet can push the collision column to slide to the outside of the installation cavity. When a collision occurs between the collision column and the shelf, the collision column will slide toward the inside of the installation cavity. At this time, the spring sheet is subjected to force to make the second conductor contact with the first conductor and energize. The emergency stop switch is activated after the first conductor is energized, so that the entire robot is powered off, thereby improving the safety of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the front three-dimensional structure of the utility model;

[0020] Figure 2 It is a side view stereoscopic structural schematic diagram of the utility model;

[0021] Figure 3 It is a rear-view stereoscopic structural schematic diagram of the utility model;

[0022] Figure 4 It is a schematic diagram of the cross-sectional structure of the collision detection component in the utility model.

[0023] Numbers in the figure: 1, mobile track; 2, mobile robot; 3, vertical lifting module; 4, load-bearing platform; 5, mounting seat; 6, rotating seat; 7, first arm; 8, second arm; 9, mounting platform; 10, fork;

[0024] 11. Collision detection assembly; 111. Installation box; 112. Installation cavity; 113. Fixed sheet; 114. First conductor; 115. Spring sheet; 116. Collision column; 117. Second conductor; 118. Emergency stop switch.

[0025] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0027] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] like Figures 1 to 4 As shown, the utility model provides a stacking robot with identification function.

[0030] Specifically, by Figure 1-4 Given, including:

[0031] A stacking component for identifying and stacking goods;

[0032] The stacking assembly includes a moving track 1 installed on the warehouse floor, a mobile robot 2 is arranged on the moving track 1, a carrying platform 4 is arranged on the mobile robot 2, and a vertical lifting module 3 for driving the carrying platform 4 to vertically lift is also arranged on the mobile robot 2. A mounting seat 5 is installed on the carrying platform 4, and a rotating seat 6 is rotatably installed on the top surface of the mounting seat 5. A first arm 7 and a second arm 8 are symmetrically arranged on the rotating seat 6, a mounting platform 9 is arranged on the second arm 8, a fork 10 is arranged on the mounting platform 9, and a collision detection assembly 11 is arranged at the front end of the fork 10.

[0033] In the present utility model, the overall movement of the robot can be achieved by moving the mobile robot 2 on the mobile track 1, the overall lifting of the robot can be driven by the vertical lifting module 3 to drive the load-bearing platform 4 to rise and fall vertically, and then the goods can be stacked in cooperation with the rotating seat 6, the first arm 7, the second arm 8, the mounting platform 9 and the fork 10. An identification system is arranged in the robot body, and a plurality of addressing marks which are respectively arranged around the stacking industrial robot along the feasible path of the stacking industrial robot are arranged in the shelf area of ​​the warehouse, and an identification module corresponding to the addressing mark is integrated on the stacking industrial robot; when the stacking industrial robot is traveling on the feasible path, the identification module is started, and the identification module obtains the position information of the stacking industrial robot by identifying the addressing mark, and obtains the coordinate value information of the stacking industrial robot according to the position information. The present application obtains more accurate position information by setting addressing marks around the stacker industrial robot and adding a plurality of reference parameters, and can also perform information calibration, thereby providing a more accurate addressing function for the stacking industrial robot; the specific identification process refers to the comparative document, and the present application does not go into too much detail.

[0034] Furthermore, as a specific implementation of the present invention, the present invention provides a stacking robot with an identification function.

[0035] Specifically, Figure 1-4 It is given that the collision detection component 11 includes an installation box 111 fixedly installed at the front end of the fork 10, and an installation cavity 112 is opened inside the installation box 111, and a fixing plate 113 is installed on the inner top wall of the installation cavity 112, and a spring plate 115 is connected to one side of the lower surface of the fixing plate 113, a first conductor 114 is installed on the bottom surface of the fixing plate 113, a second conductor 117 is installed on the top surface of the spring plate 115, and a collision column 116 is installed on the bottom surface of the spring plate 115, and an emergency stop switch 118 is fixedly installed inside the installation cavity 112, and the emergency stop switch 118 is electrically connected to the first conductor 114.

[0036] In the present invention, in the initial state, the elastic force of the spring sheet 115 can push the collision column 116 to slide to the outside of the installation cavity 112. When a collision occurs between the collision column 116 and the shelf, the collision column 116 will slide toward the inside of the installation cavity 112. At this time, the spring sheet 115 is subjected to force to make the second conductor 117 contact with the first conductor 114 and energize. The emergency stop switch 118 is activated after the first conductor 114 is energized, so that the robot is powered off as a whole, thereby improving the safety of the robot.

[0037] Furthermore, as another specific implementation of the present invention, the present invention provides a stacking robot with an identification function.

[0038] Specifically, Figure 4It is shown that a through opening is opened at the front end of the installation box 111, and the collision column 116 is slidably arranged inside the through opening, and the outer wall of the collision column 116 is in contact with the inner wall of the through opening.

[0039] In the present invention, in order to ensure that the collision column 116 can slide on the installation box 111 .

[0040] Furthermore, as a specific implementation of the present invention, the present invention provides a stacking robot with an identification function.

[0041] Specifically, Figure 4 It is given that the vertical lifting module 3 includes a mounting plate which is symmetrically fixedly installed on the top of the mobile robot 2, and sliding seats are slidably installed on the opposite sides of the mounting plate. The support platform 4 is connected between the two sliding seats, and a lifting screw is rotatably installed on the mounting plate. The sliding seat is threadedly connected to the lifting screw, and a motor for driving the lifting screw to rotate is also arranged inside the mounting plate.

[0042] In the utility model, the lifting screw is driven by a motor to rotate on the mounting plate. The lifting screw can move up and down along the mounting plate when cooperating with the sliding seat thread. The sliding seat can drive the supporting platform 4 to lift and lower as a whole during the up and down movement, thereby achieving the lifting effect of the robot.

[0043] Furthermore, as a specific implementation of the present invention, the present invention provides a stacking robot with an identification function.

[0044] Specifically, Figure 4 It is shown that the collision column 116 is divided into a connecting section and a touching section, the connecting section is made of rubber, and the touching section is made of stainless steel.

[0045] In the present invention, the collision column 116 is ensured to have an insulating effect.

[0046] Furthermore, as a specific implementation of the present invention, the present invention provides a stacking robot with an identification function.

[0047] Specifically, Figure 4 It is shown that an embedding groove is provided on the inner wall of the through opening, a sealing gasket is installed inside the embedding groove, and the sealing gasket is in contact with the outer wall of the collision column 116 .

[0048] In the present invention, external dust is prevented from entering the interior of the installation cavity 112 .

[0049] Working principle: The overall movement of the robot can be achieved by moving the mobile robot 2 on the mobile track 1, and the overall lifting of the robot can be driven by the vertical lifting module 3 to drive the load-bearing platform 4 to rise and fall vertically, and then the goods can be stacked in cooperation with the rotating seat 6, the first arm 7, the second arm 8, the mounting platform 9 and the fork 10. In the initial state, the elastic force of the spring sheet 115 can push the collision column 116 to slide to the outside of the installation cavity 112. When a collision occurs between the collision column 116 and the shelf, the collision column 116 will slide toward the inside of the installation cavity 112. At this time, the spring sheet 115 is subjected to force to make the second conductor 117 contact with the first conductor 114 and energize. The emergency stop switch 118 is activated after the first conductor 114 is energized, so that the robot is powered off as a whole, thereby improving the safety of the robot.

[0050] The above is only a preferred embodiment of the present invention, and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the present invention.

Claims

1. A stacking robot with recognition function, comprising: A stacking component for identifying and stacking goods; The stacking assembly is characterized in that the stacking assembly comprises a moving track (1) installed on the warehouse floor, a moving robot (2) is arranged on the moving track (1), a carrying platform (4) is arranged on the mobile robot (2), a vertical lifting module (3) for driving the carrying platform (4) to vertically lift is also arranged on the mobile robot (2), a mounting seat (5) is installed on the carrying platform (4), a rotating seat (6) is rotatably installed on the top surface of the mounting seat (5), a first arm (7) and a second arm (8) are symmetrically arranged on the rotating seat (6), a mounting platform (9) is arranged on the second arm (8), a fork (10) is arranged on the mounting platform (9), and a collision detection assembly (11) is arranged at the front end of the fork (10).

2. A stacking robot with recognition function according to claim 1, characterized in that: The collision detection component (11) comprises a mounting box (111) fixedly mounted on the front end of the fork (10); a mounting cavity (112) is provided inside the mounting box (111); a fixing plate (113) is mounted on the inner top wall of the mounting cavity (112); a spring plate (115) is connected to one side of the lower surface of the fixing plate (113); a first conductor (114) is mounted on the bottom surface of the fixing plate (113); a second conductor (117) is mounted on the top surface of the spring plate (115); a collision column (116) is mounted on the bottom surface of the spring plate (115); an emergency stop switch (118) is fixedly mounted inside the mounting cavity (112); and the emergency stop switch (118) is electrically connected to the first conductor (114).

3. A stacking robot with recognition function according to claim 2, characterized in that: A through opening is formed at the front end of the installation box (111), and the collision column (116) is slidably arranged inside the through opening, with the outer wall of the collision column (116) being in contact with the inner wall of the through opening.

4. The stacking robot with recognition function according to claim 1, characterized in that: The vertical lifting module (3) includes a mounting plate symmetrically fixedly mounted on the top of the mobile robot (2), and sliding seats are slidably mounted on opposite sides of the mounting plate. The support platform (4) is connected between the two sliding seats. A lifting screw is rotatably mounted on the mounting plate, and the sliding seat is threadedly connected to the lifting screw. A motor for driving the lifting screw to rotate is also arranged inside the mounting plate.

5. The stacking robot with recognition function according to claim 3, characterized in that: The collision column (116) is divided into a connecting section and a touching section, the connecting section is made of rubber, and the touching section is made of stainless steel.

6. The stacking robot with recognition function according to claim 3, characterized in that: An embedding groove is provided on the inner wall of the through opening, a sealing gasket is installed inside the embedding groove, and the sealing gasket is in contact with the outer wall of the collision column (116).

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