Anti-collision manipulator stacking device

Abstract

The utility model provides an anti-collision manipulator stacking device, relates to the technical field of manipulators, and solves the technical problem that a manipulator of an existing stacking device is easy to collide with irregularly-stacked products. The clamp is provided with a first sensor used for detecting whether the clamp clamps a product or not. The feeding end and the discharging end of the arraying machine are provided with a second sensor transmitting end and a second sensor feedback end which are used for detecting whether the arraying machine generates stacking or not, and the first sensor, the second sensor transmitting end and the second sensor feedback end are electrically connected with the mechanical arm. The mechanical arm is effectively prevented from colliding with products on the arraying machine in the clamping process, and the equipment failure rate is reduced; clamping is convenient and stable; the influence on sensing due to the fact that products are alloy products or other products with smooth surfaces is effectively prevented, and the sensing accuracy is improved; and the aligning clamping plates are driven by the aligning air cylinders to arrange and align the products.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an anti-collision manipulator stacking device. Background Art

[0002] Manipulators play an important role in industrial production. For example, in the aluminum alloy production process, they grab the aluminum alloy ingots on the whole machine and move them to the finished product machine for stacking. They can effectively solve the problems of low efficiency in handling aluminum alloy ingots, improve work efficiency, uneven stacking, etc.

[0003] For example, the patent with publication number CN212736009U proposes a metal stacking manipulator, which can make the moving block more stable and less likely to shake by clamping metal parts. At the same time, it can make the moving block immovable when the power is off to prevent the product from falling and causing equipment damage and safety accidents. As the manipulator is continuously used in actual production, the following main problems exist during use:

[0004] (1) When the product is transported to the grabbing position on the aligner, the product is easily misplaced as the aligner chain continues to run. When the robot grabs the product, it will collide with the misplaced product. When there are a large number of products placed on the aligner, aluminum alloy ingots will be stacked, causing the robot to collide when grabbing the aluminum alloy ingots.

[0005] (2) When the robot gripper cylinder fails, it cannot open or close normally. The robot cannot identify whether there is a product in the middle of the gripper cylinder, and collides with the product to be grasped during grasping and stacking.

[0006] Therefore, there is an urgent need to propose a grabbing and stacking device that can effectively prevent the machine from colliding with irregularly stacked products. Utility Model Content

[0007] The utility model aims to provide an anti-collision manipulator stacking device to solve the technical problem that the manipulator of the existing stacking device is easy to collide with irregularly stacked products.

[0008] The embodiments of the present invention are implemented by the following technical solutions:

[0009] A collision-proof manipulator stacking device comprises a aligner for conveying products, a manipulator arm for approaching products and a plurality of clamps arranged on the manipulator arm for clamping products, wherein the clamp is provided with a first sensor for detecting whether the clamp has clamped the product; a second sensor transmitting end and a second sensor feedback end are provided at the feeding end and the discharging end of the aligner for detecting whether the aligner generates stacking, and the first sensor, the second sensor transmitting end and the second sensor feedback end are electrically connected to the manipulator arm.

[0010] Preferably, it also includes an alignment clamp for aligning products and an alignment cylinder for operating the alignment clamp.

[0011] Preferably, the alignment cylinder is hinged to the side of the alignment machine through a first hinged part, and is connected to the alignment clamp through a transmission device; the transmission device includes a hinged rod hinged to the telescopic end of the alignment cylinder; the hinged rod is provided with a first rack meshingly connected to a gear, and the gear is also staggered and meshed with a second rack that is overlapped and meshed with the first rack, and the second rack is connected to the alignment clamp.

[0012] Preferably, the robotic arm includes a frame for fixing, a rotating disk rotatably connected to the frame, a large arm hinged to the rotating disk through a second hinge, a small arm hinged to the large arm through a third hinge, and a horizontal disk for connecting the clamp, and the horizontal disk is hinged to the small arm through a fourth hinge.

[0013] Preferably, the rotating disk is articulated with a first cylinder for controlling the upper arm, the upper arm is articulated with a second cylinder for controlling the lower arm, and the lower arm is provided with a third cylinder for controlling the horizontal disk; the rotating disk is provided with a first articulated frame articulated to the first cylinder, and the other end of the first articulated frame is articulated to the upper arm; the upper arm is provided with a second articulated frame articulated to the second cylinder, and the other end of the second articulated frame is articulated to the lower arm; the lower arm is provided with a third articulated frame articulated to the third cylinder, and the other end of the third articulated frame is articulated to the horizontal disk.

[0014] Preferably, the clamp comprises two groups of clamping cylinders arranged back to back and a clamping plate connected to the telescopic ends of the clamping cylinders, the clamping plate is provided with fixing parts for fixing the clamped product; the first sensor is mounted between the two groups of clamping cylinders through a first sensor.

[0015] Preferably, the second sensor transmitting end and the second sensor feedback end are set as two groups, which are respectively arranged on both sides of the whole machine for detecting whether single-sided stacking occurs.

[0016] Preferably, the first sensor is set as an infrared photoelectric sensor, the second sensor transmitting end is set as a retro-reflective photoelectric sensor transmitting end with MSR function, and the second sensor feedback end is set as a retro-reflective photoelectric sensor reflecting plate with MSR function.

[0017] Preferably, the second sensor transmitting end is set as an MSR functional photoelectric sensor transmitting end, and the second sensor feedback end is set as an MSR functional photoelectric sensor receiving end.

[0018] By adopting this technical solution, the first sensor is used to detect whether the product is clamped or put down in the manipulator clamp to determine whether it is stacked in place, and the distance between it and the product can be measured to prevent collision. The second sensor transmitting end and the second sensor feedback end are used to detect whether the products on the whole machine are stacked, and the signal is fed back to the manipulator and the clamp, which effectively prevents the manipulator from colliding with the products on the whole machine during the clamping process, thereby reducing the equipment failure rate.

[0019] The mechanical arm of the device of the present application can be flexibly and accurately adjusted to different angles, orientations and heights by adjusting the rotating disk, the upper arm, the lower arm and the horizontal disk, and the clamping surface of the clamp is ensured to be horizontal, so that the clamping is convenient and stable;

[0020] The second sensor adopts MSR functional photoelectric sensor, which effectively prevents the product from being alloy products or other products with relatively smooth surfaces from affecting the sensing, thus improving the sensing accuracy;

[0021] In the present application, when the first sensor or the second sensor detects that the products are stacked, the alignment cylinder drives the alignment clamp to align the products, and then when the first sensor and the second sensor detect normally, the stack is clamped.

[0022] The technical solution of the embodiment of the utility model has at least the following advantages and beneficial effects:

[0023] 1. The utility model effectively prevents the robot arm from colliding with the products on the whole machine during the clamping process, thereby reducing the equipment failure rate;

[0024] 2. The utility model is convenient and stable to clamp;

[0025] 3. The utility model effectively prevents the product from being an alloy product or other product with a relatively smooth surface from affecting the sensing, thereby improving the sensing accuracy;

[0026] 4. The utility model uses the alignment cylinder to drive the alignment clamp to align the products. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic front view of the structure of the anti-collision manipulator stacking device provided in Example 1 of the utility model;

[0029] Figure 2 A schematic diagram of the front view structure of the mechanical arm and the clamp of the anti-collision manipulator stacking device provided in Example 1 of the utility model;

[0030] Figure 3 A schematic diagram of the structure of the alignment clamp and the alignment cylinder of the anti-collision manipulator stacking device provided in Example 2 of the utility model;

[0031] Figure 4 A schematic diagram of the structure of the anti-collision manipulator stacking device fixture provided in Example 2 of the utility model;

[0032] Figure 5 A schematic diagram of the structure of the transmission structure of the anti-collision manipulator stacking device provided in Example 2 of the utility model;

[0033] Figure 6 A schematic diagram of the structure of the mechanical arm of the anti-collision manipulator stacking device provided in Example 3 of the utility model;

[0034] Icons: 1. Arrangement machine; 2. Robotic arm; 21. Frame; 22. Rotating disk; 23. Second articulated part; 231. First articulated frame; 24. Upper arm; 241. First cylinder; 25. Third articulated part; 251. Second articulated frame; 26. Lower arm; 27. Fourth articulated part; 28. Horizontal disk; 281. Third articulated frame; 3. Clamp; 31. Clamping plate; 311. Fixing piece; 4. Alignment clamp; 5. Alignment cylinder; 51. First articulated part; 52. Articulated rod; 53. Rack; 54. Gear; 55. Second rack; 6. Clamping cylinder; 7. First sensor; 8. Transmitting end of second sensor; 9. Feedback end of second sensor; 10. First sensor frame. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the present invention, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Example 1

[0041] A collision-proof manipulator stacking device comprises an aligner 1 for conveying products, a manipulator 2 for approaching products and a plurality of clamps 3 arranged on the manipulator 2 for clamping products, wherein the clamps 3 are provided with a first sensor 7 for detecting whether the clamps 3 clamp the products; a second sensor transmitting end 8 and a second sensor feedback end 9 for detecting whether the aligner 1 generates stacking are provided at the feeding end and the discharging end of the aligner 1, and the first sensor 7, the second sensor transmitting end 8 and the second sensor feedback end 9 are electrically connected to the manipulator 2.

[0042] In this embodiment, the second sensor transmitting end 8 and the second sensor feedback end 9 are provided in two groups, which are respectively arranged at two sides of the aligner 1 for detecting whether single-side stacking is performed.

[0043] In this embodiment, the first sensor 7 is set as an infrared photoelectric sensor, the second sensor transmitting end 8 is set as a retro-reflective photoelectric sensor transmitting end with MSR function, and the second sensor feedback end 9 is set as a retro-reflective photoelectric sensor reflecting plate with MSR function.

[0044] In this embodiment, the second sensor transmitting end 8 is set as an MSR functional photoelectric sensor transmitting end, and the second sensor feedback end 9 is set as an MSR functional photoelectric sensor receiving end.

[0045] Working principle and usage:

[0046] The present application uses the first sensor 7 to detect whether the product is clamped or put down in the manipulator clamp 3 to determine whether the stacking is in place, and can measure the distance between it and the product to prevent collision. The second sensor transmitting end 8 and the second sensor feedback end 9 detect whether the product on the arranging machine 1 is stacked, and the signal is fed back to the manipulator 2 and the clamp 3, which effectively prevents the manipulator 2 from colliding with the product on the arranging machine 1 during the clamping process, thereby reducing the equipment failure rate;

[0047] The second sensor adopts MSR functional photoelectric sensor, which can effectively prevent the product from being an alloy product or other products with relatively smooth surface from affecting the sensing and improve the sensing accuracy. It is set as two groups on both sides to effectively detect whether there is single-sided stacking and prevent unstable grasping of single-sided stacking.

[0048] Example 2

[0049] The only difference between this embodiment and the first embodiment is that, in this embodiment, an alignment clamp 4 for aligning products and an alignment cylinder 5 for operating the alignment clamp 4 are further included.

[0050] In this embodiment, the alignment cylinder 5 is hinged to the side of the alignment machine 1 through a first hinge part 51, and is connected to the alignment clamp plate 4 through a transmission device; the transmission device includes a hinged rod 52 hinged to the telescopic end of the alignment cylinder 5; the hinged rod 52 is provided with a first rack 53 meshingly connected to a gear 54, and the gear 54 is also staggered and overlapped with the first rack 53 and meshed with a second rack 55, and the second rack 55 is connected to the alignment clamp plate 4.

[0051] In this embodiment, the clamp 3 includes two groups of clamping cylinders 6 arranged back to back and a clamping plate 31 connected to the telescopic ends of the clamping cylinders 6, and the clamping plate 31 is provided with a fixing part 311 for fixing the clamped product; the first sensor 7 is arranged between the two groups of clamping cylinders 6 through the first sensor frame 10.

[0052] In this embodiment, the clamps 3 are arranged in seven parallel groups to improve the clamping and stacking efficiency.

[0053] Working principle and usage:

[0054] In the present application, when the first sensor 7 or the second sensor detects that the products are stacked, the alignment cylinder 5 drives the alignment clamp 4 to align the products, and then when the first sensor 7 and the second sensor detect normally, the stack is clamped.

[0055] Example 3

[0056] The only difference between this embodiment and embodiment 1 is that, in this embodiment, the robot arm 2 includes a frame 21 for fixing, a rotating disk 22 rotatably connected to the frame 21, a large arm 24 hinged to the rotating disk 22 via a second hinge 23, a small arm 26 hinged to the large arm 24 via a third hinge 25, and a horizontal disk 28 for connecting the clamp 3, and the horizontal disk 28 is hinged to the small arm 26 via a fourth hinge 27.

[0057] In this embodiment, the rotating disk 22 is hingedly provided with a first cylinder 241 for controlling the upper arm 24, the upper arm 24 is hingedly provided with a second cylinder for controlling the lower arm 26, and the lower arm 26 is provided with a third cylinder for controlling the horizontal disk 28; the rotating disk 22 is provided with a first articulated frame 231 articulated to the first cylinder 241, and the other end of the first articulated frame 231 is articulated to the upper arm 24; the upper arm 24 is provided with a second articulated frame 251 articulated to the second cylinder, and the other end of the second articulated frame 251 is articulated to the lower arm 26; the lower arm 26 is provided with a third articulated frame 281 articulated to the third cylinder, and the other end of the third articulated frame 281 is articulated to the horizontal disk 28.

[0058] Working principle and usage:

[0059] The robot arm 2 of the device of the present application can be flexibly and accurately adjusted to different angles, orientations and heights by adjusting the rotating disk 22, the upper arm 24, the lower arm 26 and the horizontal disk 28, and the clamping surface of the clamp 3 is ensured to be horizontal, so that clamping is convenient and stable.

[0060] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-collision manipulator stacking device, comprising a aligner (1) for conveying products, a manipulator (2) for approaching the products, and a plurality of clamps (3) provided on the manipulator (2) for clamping the products, characterized in that: The clamp (3) is provided with a first sensor (7) for detecting whether the clamp (3) has clamped a product; the feeding end and the discharging end of the alignment machine (1) are provided with a second sensor transmitting end (8) and a second sensor feedback end (9) for detecting whether the alignment machine (1) has generated a stack; the first sensor (7), the second sensor transmitting end (8) and the second sensor feedback end (9) are electrically connected to the mechanical arm (2).

2. The anti-collision manipulator stacking device according to claim 1, characterized in that: It also includes an alignment clamp (4) for aligning products and an alignment cylinder (5) for operating the alignment clamp (4).

3. The anti-collision manipulator stacking device according to claim 2, characterized in that: The alignment cylinder (5) is hinged to the side of the alignment machine (1) through a first hinged portion (51), and is connected to the alignment clamp (4) through a transmission device; the transmission device includes a hinged rod (52) hinged to the telescopic end of the alignment cylinder (5); the hinged rod (52) is provided with a first rack (53) meshingly connected to a gear (54), and the gear (54) is also staggered and overlapped with the first rack (53) and meshedly connected to a second rack (55), and the second rack (55) is connected to the alignment clamp (4).

4. An anti-collision manipulator stacking device according to any one of claims 1 to 3, characterized in that: The mechanical arm (2) comprises a frame (21) for fixing, a rotating disk (22) rotatably connected to the frame (21), a large arm (24) hinged to the rotating disk (22) via a second hinge (23), a small arm (26) hinged to the large arm (24) via a third hinge (25), and a horizontal disk (28) for connecting the clamp (3), wherein the horizontal disk (28) is hinged to the small arm (26) via a fourth hinge (27).

5. The anti-collision manipulator stacking device according to claim 4, characterized in that: The rotating disk (22) is hingedly provided with a first cylinder (241) for controlling the upper arm (24), the upper arm (24) is hingedly provided with a second cylinder for controlling the lower arm (26), and the lower arm (26) is provided with a third cylinder for controlling the horizontal disk (28); the rotating disk (22) is provided with a first articulated frame (231) articulated to the first cylinder (241), and the other end of the first articulated frame (231) is articulated to the upper arm (24); the upper arm (24) is provided with a second articulated frame (251) articulated to the second cylinder, and the other end of the second articulated frame (251) is articulated to the lower arm (26); the lower arm (26) is provided with a third articulated frame (281) articulated to the third cylinder, and the other end of the third articulated frame (281) is articulated to the horizontal disk (28).

6. An anti-collision manipulator stacking device according to any one of claims 1 to 3, characterized in that: The clamp (3) comprises two groups of clamping cylinders (6) arranged back to back and a clamping plate (31) connected to the telescopic ends of the clamping cylinders (6), the clamping plate (31) being provided with a fixing member (311) for fixing the clamped product; the first sensor (7) is arranged between the two groups of clamping cylinders (6) via a first sensor frame (10).

7. An anti-collision manipulator stacking device according to any one of claims 1 to 3, characterized in that: The second sensor transmitting end (8) and the second sensor feedback end (9) are provided in two groups, which are respectively arranged on both sides of the alignment machine (1) for detecting whether single-sided stacking is performed.

8. An anti-collision manipulator stacking device according to any one of claims 1 to 3, characterized in that: The first sensor (7) is set as an infrared photoelectric sensor, the second sensor transmitting end (8) is set as a retro-reflective photoelectric sensor transmitting end with MSR function, and the second sensor feedback end (9) is set as a retro-reflective photoelectric sensor reflecting plate with MSR function.

9. An anti-collision manipulator stacking device according to any one of claims 1 to 3, characterized in that: The second sensor transmitting end (8) is set as an MSR functional photoelectric sensor transmitting end, and the second sensor feedback end (9) is set as an MSR functional photoelectric sensor receiving end.

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