A versatile palletizing robot with a wide range of applications

Abstract

The present application relates to a multifunctional palletizing robot with a wide range of applications, and relates to the technical field of transport machinery, including a base and a mechanical arm rotatably arranged on the base, an assembly mechanism is arranged on the mechanical arm, and a functional module is detachably installed at the end of the mechanical arm through the assembly mechanism. The functional modules are arranged in a variety of types, and mechanical components of different structures are installed on different types of functional modules. The present application designs different types of functional modules, and then installs mechanical components of different functional structures on various functional modules. The staff selects the corresponding functional module according to the goods to be palletized, so that the mechanical arm can adapt to various work scene requirements and improve the application scope of the palletizing robot.

Description

Technical Field

[0001] The present application relates to the technical field of transport machinery, and in particular to a multifunctional palletizing robot with a wide range of applications. Background Art

[0002] A palletizing robot is an automated device specially designed to stack packaged products (such as cartons, bagged materials, etc.) on pallets or pallets in a predetermined arrangement in production, warehousing and logistics scenarios for subsequent storage, transportation and distribution.

[0003] In the related art, reference may be made to the Chinese invention patent with the authorization announcement number CN117228320A, which discloses a five-axis palletizing robot. The five-axis palletizing robot comprises a lifting platform device, a rotating device, a large arm support, a large arm mechanism, a small arm mechanism and a grasping and releasing mechanism; the rotating device is installed on the top of the lifting platform device through the large arm support and can rotate relative to the lifting platform device, the swing end of the large arm mechanism is rotatably connected to one end of the small arm mechanism, and the other end of the small arm mechanism is rotatably connected to the grasping and releasing mechanism.

[0004] In the actual production work of the factory, the shapes of the goods that need to be stacked are often diverse, and the above-mentioned palletizing robot can only use one grasping and releasing mechanism to grasp the goods. The way of transporting goods is relatively single, and it can only transport goods with small volume and regular shape. The scope of application is small, which is not conducive to large-scale promotion and use. Utility Model Content

[0005] In order to improve the application scope of the palletizing robot, the present application provides a multifunctional palletizing robot with a wide range of applications.

[0006] The present application provides a multifunctional palletizing robot with a wide range of applications, which adopts the following technical solutions:

[0007] A multifunctional palletizing robot with a wide range of applications comprises a base and a mechanical arm rotatably arranged on the base, the mechanical arm is provided with an assembly mechanism, a functional module is detachably mounted on the end of the mechanical arm through the assembly mechanism, the functional modules are provided with multiple types, and mechanical components of different structures are mounted on different types of functional modules, and the assembly mechanism comprises:

[0008] An assembly plug-in plate, wherein the assembly plug-in plate is arranged on the mechanical arm, a plug-in slot is provided on the functional module, and the assembly plug-in plate is plugged and matched with the plug-in slot;

[0009] An assembly column, wherein the assembly column is horizontally slidably arranged on the robot arm;

[0010] An assembly ring, wherein the assembly ring is arranged on the functional module;

[0011] A moving component is arranged on the mechanical arm and is used to drive the assembly column to move. The assembly column is plugged and matched with the assembly ring under the action of the moving component.

[0012] By adopting the above technical solution, different types of functional modules are designed, and then mechanical components with different functional structures are installed on various functional modules, and assembly plugs are set on the robot arm. The staff selects the corresponding functional module according to the goods to be palletized, and then moves the functional module to connect with the assembly plug on the robot arm. After the assembly plug is plugged into the functional module, the mobile component starts to drive the assembly column to be inserted into the assembly ring, thereby completing the installation of the functional module on the robot arm; when the functional module needs to be replaced, the mobile component is used to drive the assembly column to disengage from the assembly ring, and then the functional module is moved to make the assembly plug disengage from the plug slot, which is convenient and quick. Through the above work, the staff can replace the functional modules on the robot arm according to the specific work needs on site, so that the robot arm can adapt to various work scene requirements and improve the application scope of the stacking robot.

[0013] Optionally, the mobile component includes:

[0014] A moving block, the moving block is horizontally slidably arranged on the mechanical arm, and the assembly column is arranged on the moving block;

[0015] A movable screw rod, which is rotatably disposed on the mechanical arm and is threadedly connected to the movable block;

[0016] A moving motor is arranged on the mechanical arm and an output shaft is connected to the moving lead screw.

[0017] By adopting the above technical solution, the moving motor is started to drive the moving screw to rotate, the moving screw rotates to drive the moving block to move, the moving block moves to drive the assembly column to move, the assembly column moves to be plugged in or disengaged from the assembly ring, thereby realizing the plugging and disengagement of the assembly column and the assembly ring by controlling the moving motor.

[0018] Optionally, two assembly columns are provided, and the two assembly columns are respectively located at the two ends in the width direction of the robot arm, and the two assembly columns move in opposite directions. Two assembly rings are provided, and the two assembly columns are respectively plugged into the two assembly rings. Two moving blocks are provided, and the two moving blocks are respectively connected to the two assembly columns. The moving screw rod is provided with two threaded sections with opposite spiral lines from the middle to the two ends, and the two moving blocks are both threadedly connected to the moving screw rod and are respectively located on the two threaded sections with opposite spiral lines.

[0019] By adopting the above technical scheme, two threaded sections with opposite spiral lines are opened on the moving screw rod, so that the rotation of the moving screw rod can drive the two moving blocks to move closer to or away from each other, and the two moving blocks move closer to or away from each other to drive the two assembly columns and the assembly ring to be plugged in or out, and the assembly column and the assembly ring are both arranged in two and are respectively located on both sides of the robot arm and the functional module, so that the force applied to the robot arm and the functional module when connected is balanced and uniform, which improves the connection stability while reducing the connection force applied to the single connection point, thereby increasing the service life of the assembly column and the assembly ring.

[0020] Optionally, an arc-shaped guide surface is provided on one end of the assembly column that is plugged into the assembly ring.

[0021] By adopting the above technical solution, an arc-shaped guide surface is provided at the end of the assembly post, so that when the assembly post is inserted into the assembly ring at the assembly position, the diameter of the part of the assembly post inserted into the assembly ring gradually increases from small to large, which makes it easier to insert the assembly post into the assembly ring and makes the clamping connection between the assembly post and the assembly ring more stable, thereby reducing the probability that the assembly post and the assembly ring cannot be plugged in due to a slight position offset during plugging or the assembly post directly bumps and deforms the assembly ring.

[0022] Optionally, the robot arm is provided with a pushing component for pushing the functional module to be separated from the assembly plug-in board, and the pushing component includes:

[0023] A pushing cylinder, wherein the pushing cylinder is arranged on the mechanical arm;

[0024] A push plate is arranged on the piston of the push cylinder. The push plate is located at the end of one end where the mechanical arm is connected to the functional module. When the functional module is plugged into the assembly plug plate, the functional module is pressed against the push plate.

[0025] By adopting the above technical solution, when the functional module needs to be removed from the robotic arm, the oil cylinder is pushed to start and drive the push plate to move. The push plate moves the functional module until the assembly plug-in plate is disengaged from the functional module, thereby completing the disassembly work between the functional module and the robotic arm. There is no need to manually extract the functional module, which reduces work intensity and improves work efficiency.

[0026] Optionally, a side wall on one side of the functional module on which the plug-in slot is provided has an inclined chamfer at the opening end of the plug-in slot, and a vent hole is provided on the functional module, and the vent hole is communicated with the plug-in slot.

[0027] By adopting the above technical solution, an inclined chamfer is provided on the side wall of the functional module, so that when the assembly plug board is plugged into the plug hole, the chamfer can guide the assembly plug board, making it easier to insert the assembly plug board into the plug slot, thereby improving the plug-in efficiency; a vent hole connected to the plug slot is provided on the functional module, so that when the assembly plug board and the plug hole are plugged in more closely, it is easier to plug the assembly plug board into or out of the plug hole, thereby ensuring the plug-in effect between the assembly plug board and the plug hole.

[0028] Optionally, a distribution box is provided on the robotic arm, and connecting cables and switch devices are provided in the distribution box, and the connecting cables are used to connect to functional modules with mechanical components that require power control.

[0029] By adopting the above technical solution, a distribution box with connecting cables and switching devices is installed on the robot arm, so that when a functional module with mechanical components that require power control is connected to the robot arm, the mechanical components can be directly connected to the connecting cables in the distribution box, which facilitates the use of the mechanical components on the functional module.

[0030] In summary, the present application includes at least one of the following beneficial technical effects:

[0031] 1. By designing different types of functional modules, and then installing mechanical components with different functional structures on various functional modules, and setting an assembly plug plate on the robotic arm, the staff selects the corresponding functional module according to the goods to be palletized, and then moves the functional module to connect with the assembly plug plate on the robotic arm. After the assembly plug plate is plugged into the functional module, the mobile component starts to drive the assembly column to be inserted into the assembly ring, thereby completing the installation of the functional module on the robotic arm; when the functional module needs to be replaced, use the mobile component to drive the assembly column to disengage from the assembly ring, and then move the functional module to remove the assembly plug plate from the plug-in slot, which is convenient and quick. Through the above work, the staff can replace the functional modules on the robotic arm according to the specific work needs on site, so that the robotic arm can adapt to various work scene requirements and improve the application scope of the palletizing robot;

[0032] 2. The moving motor is started to drive the moving screw to rotate, the moving screw rotates to drive the moving block to move, the moving block moves to drive the assembly column to move, the assembly column moves to connect or disconnect with the assembly ring, so that the connection and disconnection of the assembly column and the assembly ring are realized by controlling the moving motor;

[0033] 3. By installing a distribution box with connecting cables and switching devices on the robot arm, when a functional module with mechanical parts that require power control is connected to the robot arm, the mechanical parts can be directly connected to the connecting cables in the distribution box, which facilitates the use of the mechanical parts on the functional module. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a three-dimensional structural schematic diagram of the present application;

[0035] Figure 2 It is a structural schematic diagram of the assembly mechanism and the propulsion component in this application, in which the robot arm and the functional module are exploded.

[0036] Figure numerals: 1. base; 11. robotic arm; 12. functional module; 13. plug-in slot; 14. chamfer; 15. vent; 16. guide surface; 17. distribution box; 2. assembly mechanism; 21. assembly plug plate; 22. assembly column; 23. assembly ring; 24. moving component; 25. moving block; 26. moving screw rod; 27. moving motor; 3. pushing component; 31. pushing cylinder; 32. push plate. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1 -Attached Figure 2 This application is described in further detail.

[0038] The embodiment of the present application discloses a multifunctional palletizing robot with a wide range of applications.

[0039] Reference Figure 1 The multifunctional palletizing robot with a wide range of applications includes a base 1 and a mechanical arm 11 rotatably mounted on the base 1. An assembly mechanism 2 is provided on the mechanical arm 11, and a functional module 12 is detachably mounted on the end of the mechanical arm 11 through the assembly mechanism 2. The functional modules 12 are provided in a variety of types, and mechanical components of different structures are mounted on different types of functional modules 12.

[0040] Reference Figure 1 By installing different types of functional modules 12 on the robot arm 11, the staff can replace the functional modules 12 on the robot arm 11 according to the specific work requirements on site, so that the robot arm 11 can adapt to various work scene requirements and improve the application scope of the stacking robot.

[0041] Reference Figure 1 and Figure 2 The assembly mechanism 2 includes an assembly plug plate 21, an assembly column 22, an assembly ring 23 and a moving component 24. The assembly plug plate 21 is fixedly connected to one end of the robot arm 11 away from the base 1. Two assembly columns 22 are provided, and the two assembly columns 22 are horizontally slidably installed on the upper surface of the robot arm 11 and are respectively located on both sides of the width direction of the robot arm 11. Two assembly rings 23 are provided. The two assembly rings 23 are respectively fixedly connected to the back and forth side walls of the functional module 12 in the horizontal direction where no mechanical components are installed. The moving component 24 is arranged on the robot arm 11 and is used to drive the assembly column 22 to move.

[0042] Reference Figure 1 and Figure 2 A horizontal plug-in slot 13 is provided on the side wall of the functional module 12 close to the mechanical arm 11, and an inclined chamfer 14 is provided at the opening of the plug-in slot 13. A vent hole 15 vertically connected to the plug-in slot 13 is provided on the upper surface of the functional module 12. The assembly plug plate 21 is plugged into the plug-in slot 13. The assembly column 22 is plugged into the assembly ring 23 under the action of the moving component 24. An arc-shaped guide surface 16 is provided on one end of the assembly column 22 for plugging with the assembly ring 23.

[0043] Reference Figure 1 and Figure 2 The moving assembly 24 includes a moving block 25, a moving screw 26 and a moving motor 27. Two moving blocks 25 are provided, and the two moving blocks 25 are horizontally slidably mounted on the upper surface of the robot arm 11 and are respectively connected to the two assembly columns 22. The moving screw 26 is rotatably mounted on the upper surface of the robot arm 11, and the moving screw 26 has two threaded sections with opposite spiral lines from the middle to both ends. The two moving blocks 25 are threadedly connected to the moving screw 26 and are respectively located on the two threaded sections with opposite spiral lines. The moving motor 27 is fixedly mounted on the upper surface of the robot arm 11 and the output shaft is connected to the moving screw 26.

[0044] Reference Figure 1 and Figure 2 The moving motor 27 is started to drive the moving screw 26 to rotate, the moving screw 26 rotates to drive the moving block 25 to move, the moving block 25 moves to drive the assembly column 22 to move, the assembly column 22 moves to be plugged in or disengaged from the assembly ring 23, thereby realizing the plugging and disengagement of the assembly column 22 and the assembly ring 23 by controlling the moving motor 27.

[0045] Reference Figure 1 and Figure 2 The mechanical arm 11 is provided with a pushing assembly 3 for pushing the functional module 12 to be separated from the assembly plug plate 21. The pushing assembly 3 includes a pushing cylinder 31 and a pushing plate 32. The pushing cylinder 31 is fixedly connected to the side wall of the mechanical arm 11, and the pushing plate 32 is fixedly installed on the piston rod of the pushing cylinder 31 and is located between the mechanical arm 11 and the functional module 12. When the functional module 12 is plugged into and matched with the assembly plug plate 21, the functional module 12 is pressed against the pushing plate 32.

[0046] Reference Figure 1 and Figure 2 When the functional module 12 needs to be removed from the robotic arm 11, the oil cylinder 31 is started to drive the push plate 32 to move, and the push plate 32 moves to push the functional module 12 until the assembly plug-in plate 21 is separated from the functional module 12, thereby completing the disassembly work between the functional module 12 and the robotic arm 11.

[0047] Reference Figure 1 A distribution box 17 is fixedly mounted on the lower surface of the robot arm 11, and connection cables and switch devices are arranged in the distribution box 17. When a functional module 12 with mechanical parts that need power control is connected to the robot arm 11, the mechanical parts can be directly connected to the connection cables in the distribution box 17, which facilitates the use of the mechanical parts on the functional module 12.

[0048] The working principle of the embodiment of the present application is as follows:

[0049] The staff selects the corresponding functional module 12 according to the goods to be palletized, and then moves the functional module 12 to connect with the assembly plug plate 21 on the robot arm 11. After the assembly plug plate 21 is plugged into the functional module 12, the mobile motor 27 is started to drive the assembly column 22 to be inserted into the assembly ring 23, thereby completing the installation of the functional module 12 on the robot arm 11; when the functional module 12 needs to be replaced, the mobile motor 27 is used to drive the assembly column 22 to disengage from the assembly ring 23, and then the functional module 12 is moved to make the assembly plug plate 21 disengage from the plug-in slot 13, which is convenient and quick.

[0050] Through the above work, the staff can replace the functional module 12 on the robot arm 11 according to the specific work requirements on site, so that the robot arm 11 can adapt to various work scene requirements and improve the application scope of the stacking robot.

[0051] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multifunctional palletizing robot with a wide range of applications, characterized by: The invention comprises a base (1) and a mechanical arm (11) rotatably arranged on the base (1), wherein the mechanical arm (11) is provided with an assembly mechanism (2), and a functional module (12) is detachably mounted on the end of the mechanical arm (11) through the assembly mechanism (2), wherein the functional modules (12) are provided in a plurality of types, and mechanical components of different structures are mounted on different types of functional modules (12), and the assembly mechanism (2) comprises: An assembly plugboard (21), the assembly plugboard (21) being arranged on the mechanical arm (11), a plug slot (13) being provided on the functional module (12), the assembly plugboard (21) being plugged and matched with the plug slot (13); An assembly column (22), wherein the assembly column (22) is horizontally slidably arranged on the mechanical arm (11); An assembly ring (23), wherein the assembly ring (23) is arranged on the functional module (12); A moving component (24) is arranged on the mechanical arm (11) and is used to drive the assembly column (22) to move. Under the action of the moving component (24), the assembly column (22) is plugged and matched with the assembly ring (23).

2. A multifunctional palletizing robot with a wide range of applications according to claim 1, characterized in that: The moving assembly (24) comprises: A moving block (25), the moving block (25) being horizontally slidably arranged on the mechanical arm (11), and the assembly column (22) being arranged on the moving block (25); A movable screw rod (26), wherein the movable screw rod (26) is rotatably disposed on the mechanical arm (11) and is threadably connected to the movable block (25); A moving motor (27), wherein the moving motor (27) is arranged on the mechanical arm (11) and the output shaft is connected to the moving lead screw (26).

3. A multifunctional palletizing robot with a wide range of applications according to claim 2, characterized in that: Two assembly posts (22) are provided, and the two assembly posts (22) are respectively located at the two ends of the width direction of the robot arm (11). The two assembly posts (22) move in opposite directions. Two assembly rings (23) are provided, and the two assembly posts (22) are respectively plugged into the two assembly rings (23). Two moving blocks (25) are provided, and the two moving blocks (25) are respectively connected to the two assembly posts (22). The moving screw rod (26) is provided with two threaded sections with opposite spiral lines from the middle to the two ends, and the two moving blocks (25) are both threadedly connected to the moving screw rod (26) and are respectively located on the two threaded sections with opposite spiral lines.

4. A multifunctional palletizing robot with a wide range of applications according to claim 3, characterized in that: An arc-shaped guide surface (16) is provided on one end of the assembly column (22) for plugging into the assembly ring (23).

5. The multifunctional palletizing robot with a wide range of applications according to claim 1, characterized in that: The mechanical arm (11) is provided with a pushing component (3) for pushing the functional module (12) to be separated from the assembly plug board (21), and the pushing component (3) comprises: A pushing cylinder (31), wherein the pushing cylinder (31) is arranged on the mechanical arm (11); A push plate (32), the push plate (32) being arranged on the piston of the push cylinder (31), the push plate (32) being located at the end of one end where the mechanical arm (11) is connected to the functional module (12), and when the functional module (12) is plugged into and matched with the assembly plug plate (21), the functional module (12) is pressed against the push plate (32).

6. The multifunctional palletizing robot with a wide range of applications according to claim 5, characterized in that: An inclined chamfer (14) is provided on a side wall of the functional module (12) on which the plugging slot (13) is provided, and is located at the opening end of the plugging slot (13). A vent hole (15) is provided on the functional module (12), and the vent hole (15) is communicated with the plugging slot (13).

7. The multifunctional palletizing robot with a wide range of applications according to claim 1, characterized in that: The mechanical arm (11) is provided with a distribution box (17), and the distribution box (17) is provided with connection cables and switch equipment, and the connection cables are used to connect to a functional module (12) with a mechanical component that requires power control.

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