Intelligent stacking composite robot

Abstract

The utility model provides an intelligent stacking composite robot. The intelligent stacking composite robot comprises a base, a plurality of pallets, a main machine body, a multi-axis movement mechanical arm and a clamping mechanism. The main machine body is arranged on the base, a control processing system is arranged in the main machine body, and the control processing system is in signal connection with the multi-axis movement mechanical arm and the clamping mechanism; the pallet is arranged at the side part of the base; the multi-axis movement mechanical arm is arranged on the main machine body and is in transmission connection with the clamping mechanism. According to the intelligent stacking composite robot, intelligent stacking can be conducted according to actual products and pallet conditions, operation is easy and convenient, workers can easily master the intelligent stacking composite robot, the overall equipment is reasonable in structural design, small in occupied space and convenient to install, the multi-axis movement mechanical arm can adaptively ascend and descend during stacking, and therefore the stacking height requirement is met; the intelligent stacking composite robot achieves the effects of improving the product production efficiency and reducing the cost through intelligent operation.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing, in particular to an intelligent palletizing composite robot. Background Art

[0002] In today's fast-developing world, enterprises have higher and higher requirements for production efficiency and quality, so intensive manual operation modes are constantly being replaced by automated equipment. The number of automated conveying equipment in logistics accounts for more than 50%. Palletizing is widely used in logistics. The use of palletizing robots greatly saves manual repetitive labor and also saves space. Palletizing robots are flexible, precise, fast, efficient, stable and efficient.

[0003] Traditional palletizing robots are complex to operate, and the overall equipment is large and often restricted by the production environment. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings and deficiencies in the prior art and provide an intelligent palletizing composite robot.

[0005] An embodiment of the utility model provides an intelligent palletizing compound robot, comprising: a base, a plurality of pallets, a main body, a multi-axis motion mechanical arm and a clamping mechanism;

[0006] The main body is arranged on the base, and a control processing system is arranged in the main body, and the control processing system is connected with the multi-axis motion robot arm and the clamping mechanism by signal;

[0007] The pallet is arranged on the side of the base and located on the side of the main body for supporting the product;

[0008] The multi-axis motion mechanical arm is arranged on the main body and is in transmission connection with the clamping mechanism. The multi-axis motion mechanical arm can drive the clamping mechanism to move between the material picking point and the pallet, so that the clamping mechanism places the product on the pallet according to the optimal stacking shape calculated by the control processing system;

[0009] The clamping mechanism is used for clamping products.

[0010] In some optional embodiments, the control processing system determines the optimal stacking shape based on the top support area of ​​the pallet, the product box type and the product size.

[0011] In some optional embodiments, the optimal palletizing configuration includes the arrangement of products in each layer of palletizing and the palletizing height.

[0012] In some optional embodiments, a liftable lifting platform is disposed on the main body, the multi-axis motion robot arm is disposed on the lift platform, and the lift platform drives the multi-axis motion robot arm to rise and fall based on the current stacking height on the pallet.

[0013] In some optional embodiments, during palletizing, the control processing system establishes a pallet coordinate system based on the pallet, and determines the palletizing coordinates of each product in the pallet coordinate system based on the optimal pallet type, wherein, among the products palletized on the same layer, adjacent products have a preset interval between each other.

[0014] In some optional embodiments, the intelligent palletizing compound robot also includes an intelligent obstacle avoidance module, which is connected to the control processing system signal, and is used to detect environmental information around the main body, identify the position of obstacles around the main body based on the environmental information, and the multi-axis motion robot arm drives the clamping mechanism to move to avoid the obstacles.

[0015] In some optional embodiments, the intelligent obstacle avoidance module includes multiple laser radars, multiple telescopic beams are arranged on the base, the telescopic beams are arranged on one side of the pallet, and the laser radars are arranged on the telescopic beams and the main body.

[0016] In some optional embodiments, the clamping mechanism is a vacuum clamping mechanism, and a plurality of vacuum suction cups are arranged on the vacuum clamping mechanism, and the vacuum suction cups are connected to a vacuum generator;

[0017] Before the vacuum clamping mechanism clamps the product, the magnitude of the negative pressure generated by the vacuum generator is detected, and when the magnitude of the negative pressure is not less than a preset value, the vacuum clamping mechanism clamps the product.

[0018] In some optional embodiments, an electrical network interface group is provided on one side of the main body.

[0019] In some optional embodiments, an air filter is disposed in the main body, a port opening and a door are disposed on one side of the main body, the door opens and closes the port opening, and the air filter is located on one side of the port opening.

[0020] Compared with the prior art, the intelligent palletizing compound robot of the utility model can perform intelligent palletizing according to the actual product and pallet conditions. It is easy to operate and the staff can easily get started. The overall equipment has a reasonable structural design, occupies a small space, and can be easily installed. When palletizing, the multi-axis motion robot arm can be adaptively raised and lowered to meet the palletizing height requirements. The intelligent palletizing compound robot achieves the effect of improving product production efficiency and reducing costs through intelligent operation.

[0021] In order to more clearly understand the present invention, the specific implementation of the present invention will be described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of an intelligent palletizing composite robot according to an embodiment of the utility model;

[0023] Figure 2 This is a schematic diagram of the structure of an intelligent palletizing composite robot in one embodiment of the utility model when palletizing products;

[0024] Figure 3 This is a structural schematic diagram of one side of an intelligent palletizing compound robot according to an embodiment of the utility model;

[0025] Figure 4 for Figure 3 An enlarged view of point A is shown;

[0026] Figure 5 The figure is a partial structural diagram of a main body of an embodiment of the utility model.

[0027] Description of reference numerals:

[0028] 10. Base; 11. Laser radar; 12. Telescopic beam; 20. Pallet; 30. Main body; 31. Human-machine interaction panel; 32. Lifting platform; 33. Electrical network interface group; 34. Air filter; 35. Warehouse opening; 40. Multi-axis motion robot arm; 50. Clamping mechanism; 60. Product. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Figure 1 An embodiment of the utility model provides an intelligent palletizing compound robot, including: a base 10, a plurality of pallets 20, a main body 30, a multi-axis motion robot arm 40 and a clamping mechanism 50.

[0030] The main body 30 is arranged on the base 10, and a control processing system (not shown) is arranged in the main body 30, and the control processing system is connected to the multi-axis motion robot 40 and the clamping mechanism 50 by signal. A human-machine interaction panel 31 for user-friendly operation can be arranged on one side of the main body 30, and various menu function options can be configured on the human-machine interaction panel 31, such as stack type setting, box type setting, pallet 20 setting, manual setting, production setting alarm log and other information.

[0031] The pallet 20 is disposed on the side of the base 10 and on the side of the main body 30 to support the product. In this embodiment, two pallets 20 are disposed on the base 10, and the two pallets 20 are respectively located on both sides of the main body 30. Of course, the number and position of the pallets 20 can be adjusted according to actual application requirements, and this example is not limited.

[0032] The multi-axis motion robot 40 is arranged on the main body 30 and is in transmission connection with the clamping mechanism 50. The multi-axis motion robot 40 can drive the clamping mechanism 50 to move between the material picking point and the pallet 20, so that the clamping mechanism 50 places the product on the pallet 20 according to the optimal stacking shape calculated by the control processing system. The clamping mechanism 50 is used to clamp the product.

[0033] The structure of the multi-axis motion robot 40 can be designed according to actual needs. For example, in this embodiment, the multi-axis motion robot 40 includes a plurality of rotating arms that rotate in sequence to achieve flexible movement through the cooperation of the plurality of rotating arms. Of course, the specific structure and principle of the multi-axis motion robot 40 are well known to those skilled in the art and will not be described in detail here.

[0034] In some optional embodiments, the control processing system determines the optimal stacking shape based on the top support area of ​​the pallet 20, the product box shape and the product size. The product box shape is the specific shape of the product, for example, whether the horizontal cross-section of the product is rectangular or square. The information such as the top support area of ​​the pallet 20, the product box shape and the product size can be input by the staff through the above-mentioned human-computer interaction panel 31, and then the control processing system automatically calculates the optimal stacking shape, and then automatically stacks, reducing the process of manual debugging of the stacking shape and simplifying the overall operation.

[0035] In some optional embodiments, the optimal palletizing type includes the arrangement form and the palletizing height of the products in each layer of palletizing. A reasonable arrangement form is conducive to the layout of the most products, and the palletizing height is determined based on the products to determine the most stable height after palletizing, so as to avoid the stacked products from being unable to be stably placed and easily tipping over. In some optional embodiments, in this embodiment, the control processing system obtains the coordinates required for grabbing and placing each product according to the arrangement form and the palletizing height of the products in each layer of palletizing. During palletizing, the control processing system establishes a pallet 20 coordinate system based on the pallet 20; determines the palletizing coordinates of each product in the pallet 20 coordinate system based on the optimal palletizing type; wherein, in the products stacked on the same layer, adjacent products have a preset interval between each other. The following is an explanation of the situation where the product has a length of 300 units, a width of 200 units, and a height of 100 units. At this time, the product is a rectangular box type. The control processing system calculates that the arrangement of the products in each layer of the optimal pallet type is that the length direction of the products in the first layer is toward the X-axis, the length direction of the products in the second layer is toward the Y-axis, the length direction of the products in the third layer is toward the X-axis, the length direction of the products in the fourth layer is toward the Y-axis, and so on. As a result, the products in adjacent layers are arranged in a staggered manner horizontally and vertically, making the products more stable after palletizing. The control processing system sets one side of the top of the plane used for supporting the top of the pallet 20 as the X-axis, the other side as the Y-axis, and the vertical direction as the Z-axis. The intersection of the X-axis, Y-axis and Z-axis is the pallet 20 palletizing coordinate origin (0, 0, 0), and sets the first box of the first layer The coordinates of the first box on the first layer are (300, 200, 0), and the preset interval is 20 units. The coordinates of the second box on the first layer are (620, 200, 0). The coordinates of the products on the first layer are determined by analogy. The coordinates of the first box on the second layer are (200, 300, 0), and the preset interval is 20 units. The coordinates of the second box on the second layer are (420, 300, 0). The coordinates of the products on the second layer are determined by analogy. The coordinates of the products on the subsequent layers are determined by analogy until the coordinates of the products on the highest layer are determined, thereby realizing the determination of the coordinates of all products in the current optimal stacking type. The subsequent multi-axis motion robot 40 and the clamping mechanism 50 move the products according to the coordinates of each product and place them in the corresponding positions, thereby realizing intelligent palletizing of the entire pallet 20.

[0036] When there are multiple pallets 20, a corresponding coordinate system can be designed for each pallet 20. In addition, the origin of the coordinate system can be selected according to the actual production environment. For example, the origin can be determined according to the position of the main body 30, the position of the worker, the position of the multi-axis motion robot 40, etc., so as to perform adaptive design for the specific production environment and improve the flexibility of coordinate system selection.

[0037] In some optional embodiments, a lift table 32 is provided on the main body 30, and a multi-axis motion robot 40 is provided on the lift table 32. The lift table 32 drives the multi-axis motion robot 40 to rise and fall based on the current stacking height on the pallet 20. By adjusting the height of the multi-axis motion robot 40 according to the current stacking height, the multi-axis motion robot 40 can better move the clamping mechanism 50 to the optimal stacking position, and can also increase the maximum stacking height, and adapt to stacking larger and higher products. The lift table 32 can be driven by a lift drive assembly built into the main body 30, and the lift drive assembly can be a screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly, or a linear motor translation drive assembly, etc., without limitation.

[0038] In some optional embodiments, the intelligent palletizing compound robot also includes an intelligent obstacle avoidance module. The intelligent obstacle avoidance module and the control processing system are connected by signal wirelessly or wiredly. The intelligent obstacle avoidance module is used to detect the environmental information around the main body 30, identify the position of obstacles around the main body 30 based on the environmental information, and the multi-axis motion robot 40 drives the clamping mechanism 50 to move to avoid obstacles. Obstacles may be structures of other equipment in the production environment, shelves, walls, staff, already stacked products, etc. By intelligently identifying obstacles, the multi-axis motion robot 40 drives the clamping mechanism 50 to move to avoid obstacles during the process of picking up or placing products, thereby preventing products from colliding with obstacles and falling, and can also improve the safety of human-computer interaction.

[0039] In some optional embodiments, the intelligent obstacle avoidance module includes multiple laser radars 11, which perform all-round and blind-angle scanning of the area around the main body 30. The base 10 is provided with multiple telescopic beams 12, which are arranged on one side of the pallet 20. The laser radar 11 is arranged on the telescopic beam 12 and the main body 30. The telescopic beam 12 adjusts the position of the laser radar 11 according to the size of the pallet 20, so that the detection range of the laser radar 11 can adapt to detect the entire pallet 20 area. The telescopic beam 12 can translate relative to the base 10, thereby realizing the position adjustment of the laser radar 11. The telescopic beam 12 can be driven by a translation drive assembly to achieve automatic movement. The translation drive assembly can be a screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly or a linear motor translation drive assembly. Of course, the telescopic beam 12 can also be adjusted manually. For example, a plurality of guide channels are provided on the base 10, and the telescopic beam 12 is movably inserted into the guide channels. A plurality of locking holes are provided on the telescopic beam 12. A screw is passed through one of the locking holes, and then the screw is threadedly matched with the base 10 to achieve locking of the telescopic beam 12.

[0040] The structure of the clamping mechanism 50 can be designed according to actual needs. For example, in some optional embodiments, the clamping mechanism 50 is a vacuum clamping mechanism 50, and a plurality of vacuum suction cups are arranged on the vacuum clamping mechanism 50, and the vacuum suction cups are connected to the vacuum generator. Of course, for different products, the clamping mechanism 50 can also be adaptively changed accordingly, and is not limited to the vacuum clamping mechanism 50. For example, for some magnetic products, the clamping mechanism 50 can also select an electromagnet clamping mechanism 50, and the product can be clamped or put down by turning the electromagnet on and off.

[0041] Before the vacuum clamping mechanism 50 clamps the product, the magnitude of the negative pressure generated by the vacuum generator is detected. When the magnitude of the negative pressure is not less than the preset value, the magnitude of the negative pressure meets the requirements for adsorbing the product. At this time, the vacuum clamping mechanism 50 adsorbs and clamps the product through the vacuum suction cup. When the magnitude of the negative pressure is less than the preset value, it means that the magnitude of the negative pressure does not meet the requirements for adsorbing the product. At this time, if the product is adsorbed, it is easy to cause the product to fall. By detecting the magnitude of the negative pressure generated by the vacuum generator, it is helpful to ensure the smooth progress of the palletizing process.

[0042] In some optional embodiments, an electrical network interface group 33 is provided on one side of the main body 30. The electrical network interface group 33 may include a network cable interface, a laser radar 11 signal interface, an air intake interface of the clamping mechanism 50, a safety door interface, a power supply interface, etc., which can be specifically designed according to actual needs and are not limited to the above-mentioned interfaces.

[0043] In some optional embodiments, an air filter 34 is provided in the main body 30. The air filter 34 is helpful to keep the inside and outside of the main body 30 clean and tidy and reduce dust, water mist and other impurities. The main body 30 is also equipped with a switch door to regularly clean water mist impurities to ensure clean use. A bayonet 35 and a bay door (not shown) are provided on one side of the main body 30. The bay door opens and closes the bay door 35. The bay door can be detachable from the main body 30 through a snap-on structure or a threaded structure, or can be rotatably matched with the main body 30 through a shaft structure, thereby realizing the opening and closing of the bay door 35. The air filter 34 is located on one side of the bay door 35. Opening the bay door facilitates regular cleaning of the air filter 34 to ensure that the air filter 34 is not easily affected by the accumulation of dirt and the use effect.

[0044] The following is an explanation of the palletizing process of the intelligent palletizing composite robot. Before operation, the optimal pallet type is calculated based on the input information, and the material collection coordinates and placement coordinates of each product have been determined:

[0045] The control processing system determines whether the incoming material is received based on whether the incoming material signal is received:

[0046] After confirming the incoming material, the multi-axis motion robot arm 40 drives the clamping mechanism 50 to move to the material collection point;

[0047] Detecting the magnitude of the negative pressure generated by the vacuum generator, and when the magnitude of the negative pressure is not less than a preset value, the clamping mechanism 50 grabs the product;

[0048] The multi-axis motion robot 40 drives the clamping mechanism 50 to move to the placement coordinate, the clamping mechanism 50 puts the product down, and then returns to the standby position to wait for the next operation;

[0049] The process continues in sequence until palletizing is completed.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent palletizing composite robot, characterized in that: include: A base, several pallets, a main body, a multi-axis motion robot arm and a clamping mechanism; The main body is arranged on the base, and a control processing system is arranged in the main body, and the control processing system is connected with the multi-axis motion robot arm and the clamping mechanism by signal; The pallet is arranged on the side of the base and located on the side of the main body, and is used to support the product; The multi-axis motion mechanical arm is arranged on the main body and is in transmission connection with the clamping mechanism. The multi-axis motion mechanical arm can drive the clamping mechanism to move between the material picking point and the pallet, so that the clamping mechanism places the product on the pallet according to the optimal stacking shape calculated by the control processing system; The clamping mechanism is used for clamping products.

2. The intelligent palletizing composite robot according to claim 1, characterized in that: The main body is provided with a liftable lifting platform, the multi-axis motion robot arm is arranged on the lift platform, and the lift platform drives the multi-axis motion robot arm to move up and down based on the current stacking height on the pallet.

3. An intelligent palletizing composite robot according to any one of claims 1 to 2, characterized in that: It also includes an intelligent obstacle avoidance module for detecting environmental information around the main body and identifying the position of obstacles around the main body based on the environmental information. The intelligent obstacle avoidance module is connected to the control processing system signal. The intelligent obstacle avoidance module and the multi-axis motion robot arm drive the clamping mechanism to move to avoid the obstacles.

4. The intelligent palletizing composite robot according to claim 3, characterized in that: The intelligent obstacle avoidance module includes a plurality of laser radars. A plurality of telescopic beams are arranged on the base. The telescopic beams are arranged on one side of the pallet. The laser radars are arranged on the telescopic beams and the main body.

5. The intelligent palletizing composite robot according to any one of claims 1 to 2, characterized in that: The clamping mechanism is a vacuum clamping mechanism, and a plurality of vacuum suction cups are arranged on the vacuum clamping mechanism, and the vacuum suction cups are connected to a vacuum generator.

6. An intelligent palletizing composite robot according to any one of claims 1 to 2, characterized in that: An electrical network interface group is arranged on one side of the main body.

7. An intelligent palletizing composite robot according to any one of claims 1 to 2, characterized in that: An air filter is arranged in the main body, a hatch and a door are arranged on one side of the main body, the door opens and closes the hatch, and the air filter is located on one side of the hatch.

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