Adjustable stacking robot

Abstract

The utility model relates to the technical field of palletizing robots, in particular to an adjustable palletizing robot which comprises a mechanical arm, a base located at the bottom of the mechanical arm and used for installing the mechanical arm, and an executing mechanism installed at the tail end of the mechanical arm and used for grabbing materials. A detection unit is mounted on one side of the execution mechanism, and a driving unit is mounted on one side of the mechanical arm; the detection unit comprises a protective shell, an emergency stop assembly and a distance measurement assembly, the protective shell is vertically installed on one side of the execution mechanism, the emergency stop assembly and the distance measurement assembly are embedded in the protective shell, and the arranged distance measurement assembly can realize sealing protection on an internal distance measurement sensor module, so that the fault of the distance measurement sensor module during operation in a dust space is avoided; the front of the sensor lens can be kept clean, and dust is prevented from adhering to the outside to influence the detection precision; and through the arranged emergency stop assembly, the effect of emergency stop of the mechanical arm can be achieved when the executing mechanism is about to collide with materials (or other materials).

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to an adjustable palletizing robot. Background Technique

[0002] First of all, a palletizing robot is an automated device used for stacking goods in logistics and manufacturing. It is usually controlled by a computer program and can accurately stack goods at a specified position, improving efficiency and reducing labor costs.

[0003] Palletizing robots are usually equipped with sensors and cameras to identify the position and shape of goods. They can operate according to the specified stacking pattern and can adapt to different stacking tasks in different environments, but there are still some problems: 1) When the palletizing robot operates in a dusty environment, dust is likely to adhere to the surface of its sensors, thereby affecting the detection accuracy and even making it impossible to detect the material. Therefore, it needs to be cleaned frequently; 2) The position of the execution mechanism of the palletizing robot has no active stop function. It relies on sensors to detect the path. When in a dusty space, dust will affect the signals sent and received by the sensors, which may lead to a decrease in the accuracy of distance measurement, resulting in a collision between the execution mechanism and the material. Therefore, in view of the above current situation, there is an urgent need to develop an adjustable palletizing robot to overcome the deficiencies in current practical applications and meet the current needs. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an adjustable palletizing robot to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: An adjustable palletizing robot includes a robotic arm, a base located at the bottom of the robotic arm for installing the robotic arm, and an execution mechanism installed at the end of the robotic arm for grasping materials; a detection unit is installed on one side of the execution mechanism, and a driving unit is installed on one side of the robotic arm.

[0006] The detection unit includes a protective shell, an emergency stop component and a ranging component. The protective shell is vertically installed on one side of the execution mechanism, and the emergency stop component and the ranging component are embedded in the interior of the protective shell.

[0007] The ranging component includes a mounting disk, an external gear disk, a glass lens, a motor, a gear, a collection box, a wiper blade, a protective cover, and a ranging sensor module. The mounting disk is vertically installed on the inner sidewall of the protective housing. The external gear disk is embedded in the interior of the mounting disk and is rotatably connected to the mounting disk. The glass lens is embedded in the middle position inside the external gear disk. The motor is horizontally installed at the edge of the mounting disk. The gear is embedded in the edge position of the mounting disk. The collection box is embedded in the protective housing and is detachably connected to the protective housing. The wiper blade is obliquely installed at the inner bottom of the mounting disk. A through hole horizontally aligned with the mounting disk is provided on the sidewall of the protective housing. The protective cover is embedded in the interior of the through hole. The ranging sensor module is horizontally installed at the middle position inside the protective housing and is horizontally aligned with the glass lens. Specifically, the ranging sensor module can detect the distance between the actuator and the material, improving the grasping accuracy. At the same time, the glass lens can provide a sealing and protective effect for the ranging sensor module, facilitating use in a dusty environment. The wiper blade and other structures cooperate with each other to scrape off the dust attached to the surface of the glass lens, preventing the dust from affecting the detection accuracy of the ranging sensor module.

[0008] Preferably, the emergency stop component includes a mounting sleeve, a push-button emergency stop switch, a limit sleeve, and a spring. The limit sleeve is horizontally installed inside the protective housing. One end of the mounting sleeve is embedded in the interior of the limit sleeve and is slidably connected to the limit sleeve. The other end of the mounting sleeve penetrates the protective housing and extends to the outside and is slidably connected to the protective housing. The push-button emergency stop switch is embedded in the interior of the mounting sleeve. The spring is embedded between the mounting sleeve and the limit sleeve. Specifically, when the push-button emergency stop switch touches the material, it will compress the spring and retract into the limit sleeve together with the mounting sleeve. While triggering the push-button emergency stop switch, it can prevent the push-button emergency stop switch from being damaged by collision.

[0009] Preferably, the gear is drivingly connected to the motor, and the gear meshes with the external gear disk. The motor drives the external gear disk to rotate through the gear, thereby driving the glass lens to rotate to scrape off the dust attached to the outer surface.

[0010] Preferably, the wiper blade is located between the outer side of the glass lens and the protective housing, and the edge of the wiper blade is closely attached to the glass lens. The dust attached to the outer wall of the glass lens can be cleaned by the provided wiper blade.

[0011] Preferably, a through groove is provided at the bottom of the mounting disk, and a slag discharge pipe is installed at the bottom of the through groove. The slag discharge pipe is communicated with the collection box. The dust scraped off by the wiper blade can be guided into the collection box through the provided through groove and slag discharge pipe.

[0012] Preferably, a soft brush is installed on the side of the wiper blade (537) close to the glass lens (533). Specifically, the dust attached to the surface of the glass lens (533) can be removed by the provided soft brush in cooperation with the wiper blade (537).

[0013] Compared with the prior art, the utility model provides an adjustable palletizing robot, which has the following

[0014] beneficial effects:

[0015] 1. The provided ranging component can seal and protect the internal ranging sensor module, prevent it from malfunctioning when operating in a dusty space, and keep the front of the sensor lens clean to avoid dust attachment on the outside, which affects the detection accuracy;

[0016] 2. The provided emergency stop component can stop the robotic arm urgently when the actuator is about to collide with materials (or others), and can protect the palletizing robot and other approaching objects in case of emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0018] Figure 1 It is a front structural schematic diagram of the present utility model;

[0019] Figure 2 It is a structural schematic diagram of the detection unit of the present utility model;

[0020] Figure 3 It is a structural schematic diagram of the emergency stop component of the present utility model;

[0021] Figure 4 It is a side vertical sectional view of the detection unit of the present utility model;

[0022] Figure 5 It is a structural schematic diagram of the ranging component of the present utility model;

[0023] Figure 6 It is a structural schematic diagram of the mounting plate of the present utility model;

[0024] In the figure: 1. Base; 2. Robotic arm; 3. Driving unit; 4. Actuator; 5. Detection unit; 51. Protective shell; 52. Emergency stop component; 521. Mounting sleeve; 522. Press-type emergency stop switch; 523. Limit sleeve; 524. Spring; 53. Ranging component; 531. Mounting plate; 5311. Slag discharge pipe; 5312. Through groove; 532. External gear disk; 533. Glass lens; 534. Motor; 535. Gear; 536. Collection box; 537. Scraping blade; 538. Protective cover; 539. Ranging sensor module. Detailed implementation manners

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0026] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0027] Embodiment:

[0028] Please refer to Figures 1-6 , the present utility model provides a technical solution: an adjustable palletizing robot, including a robotic arm 2, a base 1 located at the bottom of the robotic arm 2 for installing the robotic arm 2, and an actuator 4 installed at the end of the robotic arm 2 for grasping materials; a detection unit 5 is installed on one side of the actuator 4, and a drive unit 3 is installed on one side of the robotic arm 2;

[0029] The detection unit 5 includes a protective shell 51, an emergency stop component 52 and a ranging component 53. The protective shell 51 is vertically installed on one side of the actuator 4, and the emergency stop component 52 and the ranging component 53 are embedded in the protective shell 51. It should be noted that multiple groups of detection units 5 are provided and are distributed around the side of the actuator 4;

[0030] The distance measurement component 53 includes a mounting disc 531, an external gear disc 532, a glass lens 533, a motor 534, a gear 535, a collection box 536, a wiper blade 537, a protective cover 538 and a distance measurement sensor module 539. The mounting disc 531 is vertically mounted on the inner sidewall of the protective housing 51. The external gear disc 532 is embedded inside the mounting disc 531 and is rotatably connected to the mounting disc 531. The glass lens 533 is embedded in the middle position inside the external gear disc 532. The motor 534 is horizontally mounted at the edge position of the mounting disc 531. The gear 535 is embedded at the edge position of the mounting disc 531. The collection box 536 is embedded inside the protective housing 51 and is detachably connected to the protective housing 51. The wiper blade 537 is inclined and mounted at the inner bottom of the mounting disc 531. A through hole horizontally aligned with the mounting disc 531 is provided on the sidewall of the protective housing 51. The protective cover 538 is embedded inside the through hole. The distance measurement sensor module 539 is horizontally mounted at the middle position inside the protective housing 51 and is horizontally aligned with the glass lens 533. Specifically, the distance measurement sensor module 539 can detect the distance between the actuator 4 and the material, improving the grasping accuracy. At the same time, the glass lens 533 can provide a sealing and protective effect for the distance measurement sensor module 539, facilitating use in a dusty environment. The wiper blade 537 and other structures cooperate with each other to scrape off the dust attached to the surface of the glass lens 533, preventing the dust from affecting the detection accuracy of the distance measurement sensor module 539.

[0031] Preferably, the emergency stop component 52 includes a mounting sleeve 521, a push-button emergency stop switch 522, a limiting sleeve 523 and a spring 524. The limiting sleeve 523 is horizontally mounted inside the protective housing 51. One end of the mounting sleeve 521 is embedded inside the limiting sleeve 523 and is slidably connected to the limiting sleeve 523. The other end of the mounting sleeve 521 passes through the protective housing 51 and extends to the outside, and is slidably connected to the protective housing 51. The push-button emergency stop switch 522 is embedded inside the mounting sleeve 521. The spring 524 is embedded between the mounting sleeve 521 and the limiting sleeve 523. Specifically, when the push-button emergency stop switch 522 touches the material, it will compress the spring 524 and retract into the limiting sleeve 523 together with the mounting sleeve 521. While triggering the push-button emergency stop switch 522, it can prevent the push-button emergency stop switch 522 from being damaged by collision.

[0032] Preferably, the gear 535 is drivingly connected to the motor 534, and the gear 535 meshes with the external gear disc 532. The motor 534 drives the external gear disc 532 to rotate through the cooperation of the gear 535, thereby driving the glass lens 533 to rotate to scrape off the dust attached to the outer surface.

[0033] Preferably, the wiper blade 537 is located between the outer side of the glass lens 533 and the protective case 51, and the edge of the wiper blade 537 is closely attached to the glass lens 533. The provided wiper blade 537 can clean the dust adhering to the outer wall of the glass lens 533.

[0034] Preferably, a through groove 5312 is formed at the bottom of the mounting plate 531, and a slag discharge pipe 5311 is installed at the bottom of the through groove 5312. The slag discharge pipe 5311 is communicated with the collection box 536. The provided through groove 5312 and slag discharge pipe 5311 can guide the dust scraped by the wiper blade 537 into the collection box 536.

[0035] Preferably, a soft brush is installed on the side of the wiper blade (537) close to the glass lens (533). Specifically, the provided soft brush can cooperate with the wiper blade (537) to remove the dust adhering to the surface of the glass lens (533).

[0036] Working principle: The driving unit 3 drives the robotic arm 2 to operate on the base 1. The actuator 4 at the end of the robotic arm 2 grabs and transports the materials for palletizing. The ranging sensor module 539 of the ranging component 53 will monitor the distance between the actuator 4 and the adjacent materials, so that the palletizing robot can adjust the running path of the robotic arm 2. When the palletizing robot operates in a dusty space, dust will adhere to the outer surface of the glass lens 533 in the middle area of the protective cover 538 of the ranging component 53. The motor 534 will drive the external gear disc 532 to rotate through the gear 535, thereby driving the glass lens 533 to rotate. When the glass lens 533 rotates, it will drive the dust adhering to its surface through the protective cover 538 to move accordingly. When it passes by the wiper blade 537, the wiper blade 537 will scrape off the dust and guide it into the collection box 536 through the through groove 5312 and the slag discharge pipe 5311, so as to keep the ranging sensor module 539 unobstructed by dust. When the dust floating in the air affects the sensor and causes the actuator 4 to accidentally collide with the outer wall of the material, the push-button emergency stop switch 522 of the emergency stop component 52 will first come into contact with the material, thereby triggering the emergency stop effect. And if the push-button emergency stop switch 522 continues to be stressed after being triggered, it will retract into the limit sleeve 523 together with the mounting sleeve 521 to avoid being damaged by collision.

[0037] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

Claims

1. An adjustable palletizing robot, characterized in that: It includes a robotic arm (2), a base (1) located at the bottom of the robotic arm (2) for installing the robotic arm (2), and an actuator (4) installed at the end of the robotic arm (2) for grasping materials; a detection unit (5) is installed on one side of the actuator (4), and a drive unit (3) is installed on one side of the robotic arm (2); The detection unit (5) includes a protective shell (51), an emergency stop component (52) and a ranging component (53). The protective shell (51) is vertically installed on one side of the actuator (4), and the emergency stop component (52) and the ranging component (53) are embedded and installed inside the protective shell (51); The ranging component (53) includes a mounting disc (531), an external gear disc (532), a glass lens (533), a motor (534), a gear (535), a collection box (536), a wiper blade (537), a protective cover (538) and a ranging sensor module (539). The mounting disc (531) is vertically installed on the inner side wall of the protective shell (51). The external gear disc (532) is embedded inside the mounting disc (531) and is rotatably connected to the mounting disc (531). The glass lens (533) is embedded and installed at the middle position inside the external gear disc (532). The motor (534) is horizontally installed at the edge position of the mounting disc (531). The gear (535) is embedded and set at the edge position of the mounting disc (531). The collection box (536) is embedded and set inside the protective shell (51) and is detachably connected to the protective shell (51). The wiper blade (537) is obliquely installed at the inner bottom of the mounting disc (531). A through hole horizontally aligned with the mounting disc (531) is opened on the side wall of the protective shell (51). The protective cover (538) is embedded and installed inside the through hole. The ranging sensor module (539) is horizontally installed at the middle position inside the protective shell (51) and is horizontally aligned with the glass lens (533).

2. The adjustable palletizing robot according to claim 1, wherein: The emergency stop component (52) includes a mounting sleeve (521), a push-button emergency stop switch (522), a limit sleeve (523) and a spring (524). The limit sleeve (523) is horizontally installed inside the protective shell (51). One end of the mounting sleeve (521) is embedded inside the limit sleeve (523) and is slidably connected to the limit sleeve (523). The other end of the mounting sleeve (521) penetrates through the protective shell (51) and extends to the outside and is slidably connected to the protective shell (51). The push-button emergency stop switch (522) is embedded and installed inside the mounting sleeve (521). The spring (524) is embedded and installed between the mounting sleeve (521) and the limit sleeve (523).

3. The adjustable palletizing robot according to claim 1, wherein: The gear (535) is drivingly connected to the motor (534), and the gear (535) meshes with the external gear disc (532).

4. An adjustable palletizing robot according to claim 1, wherein: The wiper blade (537) is located between the glass lens (533) and the protective shell (51), and the edge of the wiper blade (537) is closely attached to the glass lens (533).

5. An adjustable palletizing robot according to claim 1, characterized in that: A through groove (5312) is formed at the bottom of the mounting disc (531), and a slag discharge pipe (5311) is installed at the bottom of the through groove (5312). The slag discharge pipe (5311) communicates with a collection box (536).

6. The adjustable palletizing robot according to claim 1, wherein: A soft brush is installed on one side of the wiper blade (537) close to the glass lens (533).

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