Loading and unloading robot with double mechanical arms

Abstract

The utility model discloses a double-mechanical-arm loading and unloading robot which comprises a moving assembly, two robot grabbing assemblies are installed on the moving assembly, a lifting material taking platform assembly is arranged between the two robot grabbing assemblies, a turnover conveying assembly is arranged on the rear side of the lifting material taking platform assembly, and the turnover conveying assembly is provided with a lifting material taking platform. The lifting and conveying assemblies are arranged on the two sides of the overturning and conveying assembly, the feeding and taking platform assembly is arranged on the rear side of the overturning and conveying assembly, and the lifting and taking platform assembly, the overturning and conveying assembly, the lifting and conveying assembly and the feeding and taking platform assembly are installed on the moving assembly. The robot is provided with the two robot grabbing assemblies, goods can be grabbed at the same time, the robot grabbing assemblies are of a suction cup type structure, and goods are grabbed firmly; and the two lifting conveying assemblies are arranged to be matched with the feeding and taking platform assembly so that different products can be conveyed in different ways.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic loading and unloading equipment, in particular to a dual-mechanical-arm loading and unloading robot. Background Art

[0002] With the continuous advancement of technology, the logistics and transportation industry has grown rapidly. Furthermore, with the increasing number of transported goods, more and more intelligent robots have been deployed in the transport and transshipment industry, greatly improving transportation efficiency while reducing labor intensity during transportation. However, the loading and unloading process of cargo by loading and unloading robots requires multi-angle adjustment of the robotic arms. Existing robots are prone to unstable grasping during the grasping process, and goods cannot be transported and sorted in multiple channels. Utility Model Content

[0003] The purpose of the present invention is to provide a dual-manipulator loading and unloading robot to solve the problems mentioned in the background technology. To achieve the above purpose, the present invention provides the following technical solutions: a dual-manipulator loading and unloading robot, comprising a moving assembly, a robot gripping assembly mounted on the moving assembly, two robot gripping assemblies, a lifting and retrieving platform assembly disposed between the two robot gripping assemblies, a flip conveying assembly disposed on the rear side of the lifting and retrieving platform assembly, lifting and retrieving assemblies disposed on both sides of the flip conveying assembly, a feeding and retrieving platform assembly disposed on the rear side of the flip conveying assembly, the lifting and retrieving platform assembly, the flip conveying assembly, the lifting and retrieving platform assembly, and the feeding and retrieving platform assembly are mounted on the moving assembly.

[0004] Preferably, the robot grasping assembly includes a mounting seat, a Z-axis lifting column is installed inside the mounting seat, the top of the Z-axis lifting column is connected to a six-axis robotic arm, and the six-axis robotic arm is connected to a suction cup gripper assembly.

[0005] Preferably, the suction cup gripper assembly includes a suction cup gripper seat, a plurality of gripper suction cups are mounted on the suction cup gripper seat, the gripper suction cups are connected to a vacuum extractor via a pipe, and the vacuum extractor is mounted on the moving assembly.

[0006] The lifting and retrieving platform assembly and the lifting and conveying assembly have the same partial structure, both of which include a mounting plate, a lifting motor is installed at the bottom of the mounting plate, the lifting motor output end of the lifting motor of the lifting and retrieving platform assembly is connected to the driving wheel, the driving wheel is connected to the driven wheel through a synchronous belt, the driven wheel is connected to the lifting screw, the lifting motor of the lifting conveying assembly is directly connected to the lifting screw, the lifting screw is rotatably installed on the mounting plate, the lifting screw is threadedly connected to the middle of the moving plate, the two ends of the moving plate are connected to one side of the bottom of the lifting frame, the two ends of the moving plate are connected to sliders, the sliders are slidably connected to slide rails, the slide rails are installed on the mounting plate, the top of the lifting frame is connected to the conveying plate, and rotating rollers are rotatably installed on the conveying plate, the rotating rollers are connected by a driving belt, one of the rotating rollers is connected to the driving motor, the driving motor is installed on the conveying plate, a buffer column is installed on the mounting plate, and a buffer spring is installed on the top of the buffer column.

[0007] Preferably, a lifting cylinder is further installed on the conveying plate of the lifting material reclaiming platform assembly, the top of the lifting cylinder is connected to the lifting plate, and a plurality of lifting blocks are installed on the top of the lifting plate, and the lifting blocks are located between adjacent rotating rollers.

[0008] Preferably, the flipping and conveying assembly includes a column, a flip frame is rotatably mounted on the column, one end of the flip frame is connected to a flip motor, a flip bracket is mounted on the flip frame, the flip motor is connected to the column, driving rollers are rotatably mounted on both ends of the flip bracket, a driving belt is tensioned between the two driving rollers, one of the driving rollers is connected to the output end of the conveying motor, the conveying motor is mounted on the flip bracket, a flip suction cup is mounted on the flip bracket, the flip suction cup is connected to a vacuum pump through a pipeline, a lifting and blocking cylinder is mounted on the end of the column, the output end of the lifting and blocking cylinder is connected to the blocking bracket, and a blocking roller is rotatably mounted on the blocking bracket.

[0009] Preferably, the feeding and retrieving platform assembly includes a variable angle conveying platform, the bottom of the variable angle conveying platform is rotatably connected to the output end of the angle push rod, the angle push rod is installed on the fixed frame through a bracket, the fixed frame is rotatably connected to multiple rollers, the multiple rollers are connected by belts, one of the rollers is connected to a roller motor, the roller motor is installed on the fixed frame, the variable angle conveying platform is rotatably connected to the fixed frame, multiple guide roller shafts are rotatably installed on the variable angle conveying platform, guide rollers are installed on the guide roller shafts, the ends of the guide roller shafts are connected to driving gears, and the multiple driving gears are connected by driving toothed belts, one of the guide roller shafts is connected to a guide motor, and the guide motor is installed on the variable angle conveying platform.

[0010] Preferably, a guide bracket is installed on the side of the variable-angle conveying platform, and a guide side wheel is rotatably installed on the guide bracket.

[0011] Preferably, the moving assembly includes a chassis frame, a plurality of moving motors are installed on both sides of the chassis frame, the moving motors are connected to moving wheels via a rotating shaft, and rubber tracks are installed between the multiple moving wheels on the same side.

[0012] The technical effects and advantages of the utility model are as follows: the robot is provided with two robot grabbing components, which can grab goods at the same time. The robot grabbing components adopt a suction cup structure, and the goods are firmly grabbed; two lifting and conveying components are provided to cooperate with the feeding and retrieving platform components to carry out the separate transportation of different products. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural diagram of the utility model;

[0014] Figure 2 This is a schematic diagram of the structure of the robot grasping component of the present utility model;

[0015] Figure 3 This is a schematic structural diagram of the lifting and reclaiming platform assembly of the utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the flip conveying assembly of the present utility model;

[0017] Figure 5 This is a schematic diagram of the structure of the lifting and conveying assembly of the utility model;

[0018] Figure 6 This is a schematic structural diagram of the feeding and reclaiming platform component of the utility model;

[0019] Figure 7 This is a schematic diagram of the structure of the mobile component of the utility model;

[0020] In the figure, 1. Robot gripping assembly; 2. Flipping conveying assembly; 3. Lifting conveying assembly; 4. Feeding and retrieving platform assembly; 5. Moving assembly; 6. Lifting and retrieving platform assembly; 11. Mounting seat; 12. Z-axis lifting column; 13. Six-axis robotic arm; 14. Suction cup gripper seat; 15. Gripper suction cup; 16. Vacuum extractor; 21. Column; 22. Flipping frame; 23. Flipping motor; 24. Driving roller; 25. Flipping suction cup; 26. Lifting and blocking cylinder; 27. Blocking bracket; 28. Blocking roller; 41. Variable angle conveying platform; 42. Angle push rod ; 43. Fixed frame; 44. Roller; 45. Guide roller shaft; 46. Guide roller; 47. Guide bracket; 48. Guide side wheel; 51. Chassis frame; 52. Mobile motor; 53. Rubber track; 61. Mounting plate; 62. Lifting motor; 63. Driving wheel; 64. Synchronous belt; 65. Driven wheel; 66. Lifting screw; 67. Mobile plate; 68. Lifting frame; 69. Slider; 610. Slide rail; 611. Conveyor plate; 612. Rotating roller; 613. Driving belt; 614. Buffer column; 615. Buffer spring; 616. Lifting block. DETAILED DESCRIPTION

[0021] In order to make the technical means for realizing the present invention, the creative features, the purpose and the effect easily understood, the present invention is further explained below in conjunction with specific diagrams. In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection or a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two components.

[0022] Example

[0023] like Figure 1-7The figure shows a dual-arm loading and unloading robot, including a moving component 5, on which a robot gripping component 1 is installed. There are two robot gripping components 1, through which cartons and other goods can be stacked to a designated location or destacking for transportation; a lifting and retrieving platform component 6 is provided between the two robot gripping components 1, and the lifting and retrieving platform component 6 can provide a material conveying platform for the goods grasped by the robot gripping component 1; a flipping conveying component 2 is provided on the rear side of the lifting and retrieving platform component 6, through which cartons and other goods can be flipped and transferred to a designated location; lifting conveying components 3 are provided on both sides of the flipping conveying component 2, and the lifting conveying component 3 can adjust the height and realize the function of conveying goods; a feeding and retrieving platform component 4 is provided on the rear side of the flipping conveying component 2, through which the feeding and retrieving platform component 4 can be docked with an external conveyor belt to realize the function of transporting items; the lifting and retrieving platform component 6, the flipping conveying component 2, the lifting conveying component 3 and the feeding and retrieving platform component 4 are installed on the moving component 1, and the entire device can be moved to a designated location through the moving component 1.

[0024] Among them, the robot grasping component 1 includes a mounting base 11, a Z-axis lifting column 12 is installed inside the mounting base 11, the top of the Z-axis lifting column 12 is connected to the six-axis robotic arm 13, the six-axis robotic arm 13 is connected to the suction cup gripper seat 14 of the suction cup gripper assembly, and a plurality of gripper suction cups 15 are installed on the suction cup gripper seat 14, the gripper suction cup 15 is connected to the vacuum extractor 16 through a pipe, and the vacuum extractor 16 is installed on the moving component 5; when using the robot grasping component 1, the height of the entire suction cup gripper assembly can be changed by the Z-axis lifting column 12, so that goods of different heights can be grasped or stacked, the direction of the gripper suction cup 15 is adjusted by the six-axis robotic arm 13, and the gripper suction cup 15 is pressed against the surface of the goods to be grasped or stacked, the vacuum extractor 16 draws vacuum to make the gripper suction cup 15 grab the goods, and then the angle is adjusted by the six-axis robotic arm 13 to move the goods.

[0025] Among them, the lifting and reclaiming platform assembly 6 includes a mounting plate 61, a lifting motor 62 is installed at the bottom of the mounting plate 61, the output end of the lifting motor 62 is connected to the driving wheel 63, the driving wheel 63 is connected to the driven wheel 65 through a synchronous belt 64, the driven wheel 65 is connected to the lifting screw 66, the lifting screw 66 is rotatably installed on the mounting plate 61, the lifting screw 66 is threadedly connected to the middle of a moving plate 67, the two ends of the moving plate 67 are connected to one side of the bottom of the lifting frame 68, the bottom of the two ends of the moving plate 68 are connected to sliders 69, the sliders 69 are slidably connected to the slide rails 610, the slide rails 610 are installed on the mounting plate 61, the top of the lifting frame 68 is connected to the conveying plate 611, and the conveying plate 611 is rotatably installed with rotating rollers 612, and the rotating rollers 612 are connected between the rotating rollers 612. They are connected through a drive belt 613, one of the rotating rollers 612 is connected to a drive motor, the drive motor is installed on the conveying plate 611, a buffer column 614 is installed on the mounting plate 61, and a buffer spring 615 is installed on the top of the buffer column 614; when in use, the lifting motor 62 drives the lifting screw 66 to rotate, thereby driving the slider 69 to slide along the slide rail 610, so that the movable plate 67 drives the lifting frame 68 to lift, so that the lifting frame 68 drives the conveying plate 611 to rise, and the goods are placed on the rotating roller 612 on the conveying plate 611, and the goods are transported along the conveying plate 611 by the drive motor. During the lifting and lowering process of the conveying plate 611, the buffer column 614 cooperates with the buffer spring 615 to provide buffering.

[0026] The lifting and reclaiming platform assembly 6 and the lifting and conveying assembly 3 have the same structure. The lifting motor 62 of the lifting and conveying assembly 3 is directly connected to the lifting screw 66;

[0027] Among them, a jacking cylinder is also installed on the conveying plate 611 of the lifting and material-collecting platform assembly 6, the top of the jacking cylinder is connected to the jacking plate, and multiple jacking blocks 616 are installed on the top of the jacking plate. The jacking blocks 616 are located between adjacent rotating rollers 612. The jacking cylinder drives the jacking blocks 616 to rise so that the goods can be lifted up.

[0028] Among them, the flip conveying assembly 2 includes a column 21, a flip frame 22 is rotatably installed on the column 21, one end of the flip frame 22 is connected to the flip motor 23, a flip bracket 23 is installed on the flip frame 22, the flip motor 23 is connected to the column 21, and driving rollers 24 are rotatably installed at both ends of the flip bracket 23. A driving belt is stretched between the two driving rollers 24, one of the driving rollers 24 is connected to the output end of the conveying motor, and the conveying motor is installed on the flip bracket 23. A flip suction cup 25 is installed on the flip bracket 23, and the flip suction cup 25 is connected to the vacuum pump 16 through a pipeline. The end of the column 21 is installed It is equipped with a lifting and blocking cylinder 26, the output end of which is connected to a blocking bracket 27, and a blocking roller 28 is rotatably installed on the blocking bracket 27; when using this component, the goods to be flipped are placed on the flip bracket 23, the flip suction cup 25 adsorbs the goods, and the flip motor 23 drives the flip frame 22 to flip, so that the goods are flipped and placed on the lifting and conveying component 3, and transported by the lifting and conveying component 3. The blocking roller 28 is raised by the lifting and blocking cylinder 26, which can limit the goods and prevent them from being sent out of the flip bracket 23, making it easier for the flip suction cup 25 to adsorb them later.

[0029] Among them, the feeding and reclaiming platform assembly 4 includes a variable angle conveying platform 41, the bottom of the variable angle conveying platform 41 is rotatably connected to the output end of the angle push rod 42, the angle push rod 42 is installed on the fixed frame 43 through a bracket, and a plurality of rollers 44 are rotatably connected to the fixed frame 43. The plurality of rollers 44 are connected by belts, one of the rollers 44 is connected to the roller motor, and the roller motor is installed on the fixed frame 43. The variable angle conveying platform 41 is rotatably connected to the fixed frame 43, and a plurality of guide roller shafts 45 are rotatably installed on the variable angle conveying platform 41. Guide rollers 46 are installed on the guide roller shafts 45. The ends of the guide roller shafts 45 are connected to the driving gears, and the plurality of driving gears are connected by a driving toothed belt, one of the guide roller shafts 45 is connected to the guide motor, and the guide motor is installed on the variable angle conveying platform 41; the rollers 44 are driven by the roller motor to move to transport the goods, and the goods are transported to the variable angle conveying platform 41. The angle of the variable angle conveying platform 41 is adjusted by the angle push rod 42 to adapt to external conveyor belts of different heights, and the guide motor drives the guide rollers 46 to deliver the goods to the external conveyor belt.

[0030] Among them, a guide bracket 47 is installed on the side of the variable angle conveying platform 41, and a guide side wheel 48 is rotatably installed on the guide bracket 47. The guide side wheel 48 can guide the goods on the variable angle conveying platform 41 to prevent the goods from falling.

[0031] Among them, the moving component 5 includes a chassis frame 51, and multiple moving motors 52 are installed on both sides of the chassis frame 51. The moving motor 52 is connected to the moving wheel through a rotating shaft. Rubber tracks 53 are installed between the multiple moving wheels on the same side. The rubber tracks 53 are driven by the moving motor 52 to run, so that it can move to the specified position.

[0032] The working process and principle of the present invention are as follows: when the device is used for destacking, the rubber crawler 53 is driven by the mobile motor 52 to move the device to the braking position, and the angle push rod 42 is used to drive the variable angle conveying platform 41 to adjust the angle so as to adapt to the external conveyor belt, and the direction of the grabber suction cup 15 is adjusted by the six-axis robot 13, and the grabber suction cup 15 is pressed against the surface of the goods to be grabbed or stacked, and the vacuum extractor 16 draws vacuum to grab the goods by the grabber suction cup 15, and then the six-axis robot 13 is used to adjust the angle to move the goods, and the goods are placed on the lifting and retrieving platform assembly 6, and the lifting motor 62 drives the lifting screw 66 to rotate, thereby driving the slider 69 to slide along the slide rail 610, so that the moving plate 67 drives the lifting frame 68 to lift, so that the lifting frame 68 drives the conveying plate 611 to rise, and the goods The goods are placed on the rotating roller 612 on the conveyor plate 611, and the driving motor drives the goods to be transported along the conveyor plate 611, and the goods are transported to the lifting conveyor component 3. Similarly, the height of the lifting conveyor component 3 is adjusted, and the height of the lifting conveyor component 3 is adapted to the height of the feeding and retrieving platform component 4. The goods are transported to the feeding and retrieving platform component 4, and the roller 44 is driven by the roller motor to move for goods transportation. The goods are transported to the variable angle conveying platform 41, and the guide motor drives the guide roller 46 to send the goods to the external conveyor belt; when the goods need to be flipped, the goods to be flipped are placed on the flipping bracket 23, the flipping suction cup 25 adsorbs the goods, and the flipping motor 23 drives the flipping frame 22 to flip, so that the goods are flipped and placed on the lifting conveyor component 3, and transported by the lifting conveyor component 3.

[0033] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dual-arm loading and unloading robot, comprising a moving assembly, characterized in that: A robot grabbing assembly is installed on the mobile assembly, and there are two robot grabbing assemblies. A lifting and picking platform assembly is provided between the two robot grabbing assemblies. A flip conveying assembly is provided on the rear side of the lifting and picking platform assembly. Lifting conveying assemblies are provided on both sides of the flip conveying assembly. A feeding and picking platform assembly is provided on the rear side of the flip conveying assembly. The lifting and picking platform assembly, the flip conveying assembly, the lifting conveying assembly and the feeding and picking platform assembly are installed on the mobile assembly.

2. The dual-arm loading and unloading robot according to claim 1, characterized in that: The robot grasping assembly includes a mounting seat, a Z-axis lifting column is installed inside the mounting seat, the top of the Z-axis lifting column is connected to a six-axis robotic arm, and the six-axis robotic arm is connected to a suction cup gripper assembly.

3. The dual-arm loading and unloading robot according to claim 2, characterized in that: The suction cup gripper assembly includes a suction cup gripper seat, a plurality of gripper suction cups are installed on the suction cup gripper seat, the gripper suction cups are connected to a vacuum pump through a pipeline, and the vacuum pump is installed on the moving assembly.

4. The dual-arm loading and unloading robot according to claim 1, characterized in that: The lifting and retrieving platform assembly and the lifting conveying assembly have the same structure, both include a mounting plate, a lifting motor is installed at the bottom of the mounting plate, the lifting motor output end of the lifting motor of the lifting and retrieving platform assembly is connected to the driving wheel, the driving wheel is connected to the driven wheel through a synchronous belt, the driven wheel is connected to the lifting screw, the lifting motor of the lifting conveying assembly is directly connected to the lifting screw, the lifting screw is rotatably installed on the mounting plate, the lifting screw is threadedly connected to the middle of the moving plate, the two ends of the moving plate are connected to one side of the bottom of the lifting frame, the two ends of the moving plate are connected to sliders, the sliders are slidably connected to slide rails, the slide rails are installed on the mounting plate, the top of the lifting frame is connected to the conveying plate, and rotating rollers are rotatably installed on the conveying plate, the rotating rollers are connected by a driving belt, one of the rotating rollers is connected to the driving motor, the driving motor is installed on the conveying plate, a buffer column is installed on the mounting plate, and a buffer spring is installed on the top of the buffer column.

5. The dual-arm loading and unloading robot according to claim 4, characterized in that: A lifting cylinder is also installed on the conveying plate of the lifting material taking platform assembly, the top of the lifting cylinder is connected to the lifting plate, and a plurality of lifting blocks are installed on the top of the lifting plate. The lifting blocks are located between adjacent rotating rollers.

6. The dual-arm loading and unloading robot according to claim 1, characterized in that: The flip conveying assembly includes a column, a flip frame is rotatably mounted on the column, one end of the flip frame is connected to a flip motor, a flip bracket is installed on the flip frame, the flip motor is connected to the column, driving rollers are rotatably mounted on both ends of the flip bracket, a driving belt is tensioned between the two driving rollers, one of the driving rollers is connected to the output end of the conveying motor, the conveying motor is mounted on the flip bracket, a flip suction cup is installed on the flip bracket, the flip suction cup is connected to a vacuum pump through a pipeline, a lifting and blocking cylinder is installed on the end of the column, the output end of the lifting and blocking cylinder is connected to the blocking bracket, and a blocking roller is rotatably mounted on the blocking bracket.

7. The dual-arm loading and unloading robot according to claim 1, characterized in that: The feeding and retrieving platform assembly includes a variable-angle conveying platform, the bottom of the variable-angle conveying platform is rotatably connected to the output end of the angle push rod, the angle push rod is installed on the fixed frame through a bracket, and the fixed frame is rotatably connected to multiple rollers, and the multiple rollers are connected by belts, one of the rollers is connected to a roller motor, and the roller motor is installed on the fixed frame, the variable-angle conveying platform is rotatably connected to the fixed frame, and multiple guide roller shafts are rotatably installed on the variable-angle conveying platform, and guide rollers are installed on the guide roller shafts. The ends of the guide roller shafts are connected to driving gears, and the multiple driving gears are connected by driving toothed belts, one of the guide roller shafts is connected to a guide motor, and the guide motor is installed on the variable-angle conveying platform.

8. The dual-arm loading and unloading robot according to claim 7, characterized in that: A guide bracket is installed on the side of the variable-angle conveying platform, and a guide side wheel is rotatably installed on the guide bracket.

9. The dual-arm loading and unloading robot according to claim 1, characterized in that: The moving assembly includes a chassis frame, a plurality of moving motors are installed on both sides of the chassis frame, the moving motors are connected to moving wheels through a rotating shaft, and rubber tracks are installed between the multiple moving wheels on the same side.

Images