Stacking manipulator and stacking equipment

Abstract

The utility model belongs to the related technical field of stacking equipment, and particularly relates to a stacking manipulator and stacking equipment. A stacking manipulator is provided with a multi-axis rotating mechanism with a free end capable of rotating at multiple angles, and a stacking mechanism is arranged at the free end; the stacking mechanism comprises a switching part and a stacking assembly, the switching part is connected to the free end, the first end of the switching part is connected with the stacking assembly, and a detection mounting position is arranged at the second end, away from the first end, of the switching part; and a detection mechanism is arranged, and the detection mechanism is connected to the detection mounting position so as to move along with the stacking assembly for detection. The detection mechanism is arranged on the detection mounting position of the stacking mechanism so as to move along with the stacking mechanism, so that no blind area exists in a scanning detection area due to swinging of the mechanical arm, and the potential collision risk is avoided.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the related technical field of stacking equipment, especially relates to a stacking manipulator and stacking equipment. BACKGROUND

[0002] With the continuous progress and development of science and technology, robots are continuously applied in production activities, in the process of using the mechanical hand, since the swing arm power provided by the motor is usually large, the mechanical hand force and torque are also very large, therefore, in use, avoiding the mechanical hand to hit personnel or hit the obstacle is the problem that the mechanical hand must consider in use and production. Especially in the process of stacking operation, the complex environment needs to avoid the collision of the mechanical hand to cause the damage of the mechanical hand or the damage of goods.

[0003] In some existing technologies, although physical fences are used for protection, there is still a possibility of colliding with people and obstacles. In some other technologies, sensors are also set up, but the sensors often have detection dead angles due to the movement of the mechanical hand, resulting in detection blind areas, and therefore there is a potential danger. SUMMARY

[0004] In order to solve the above problems, the utility model provides a kind of stacking manipulator and stacking equipment, by being arranged at the end of mechanical hand to realize real-time dynamic scanning,

[0005] The utility model discloses the purpose that is realized by the following technical scheme:

[0006] First, a kind of stacking manipulator, comprising:

[0007] Multi-axis rotating mechanism, including the free end that can be rotated at multiple angles;

[0008] Stacking mechanism, including adapter and stacking assembly, adapter is connected to free end, the first end of adapter is connected with stacking assembly, the second end of the adapter away from the first end is provided with detection installation site;And

[0009] Detection mechanism, detection mechanism is connected to detection installation site, to move detection with stacking assembly.

[0010] The palletizing manipulator is provided with a multi-axis rotating mechanism with a free end capable of rotating at multiple angles, and a palletizing mechanism is arranged on the free end; the palletizing mechanism comprises a switching part and a palletizing assembly, the switching part is connected to the free end, the first end of the switching part is connected to the palletizing assembly, and the second end of the switching part away from the first end is provided with a detection mounting position; and a detection mechanism is arranged, which is connected to the detection mounting position to move and detect along with the palletizing assembly. The detection mechanism is arranged on the detection mounting position of the palletizing mechanism to move along with the palletizing mechanism, so that the blind area of the scanning detection area caused by the swing of the mechanical arm is avoided, and the potential collision risk is avoided.

[0011] In some embodiments, the detection mechanism comprises a detection part and a mounting base, the detection part is fixed on the mounting base, and the mounting base is fixed on the detection mounting position.

[0012] By arranging the mounting base, the detection mechanism can follow the operation of the palletizing mechanism, and a large blind area caused by the swing of the mechanical arm is avoided.

[0013] In some embodiments, the mounting base is provided with a scanning mounting position, and the scanning mounting position is provided with at least one first fixing hole for fixing the detection part.

[0014] The first fixing hole of the scanning mounting position is used to fix and disassemble the detector, so that the installation is more flexible.

[0015] In some embodiments, the mounting base is provided with at least one second fixing hole on the side, and the detection mounting position is provided with at least one third fixing hole, and the third fixing hole is fixed in position with the second fixing hole.

[0016] The second fixing hole and the third fixing hole are arranged to fix the mounting base and the detection mounting position, and to enable the detection mechanism to be quickly disassembled and installed flexibly, so that the detection mechanism is more convenient to install.

[0017] In some embodiments, a fixing part is further included, which fixes the mounting base on the detection mounting position through the second fixing hole and the third fixing hole.

[0018] The fixing part is arranged to pass through the second fixing hole and the third fixing hole to fix, so that the fixing and installation are more convenient.

[0019] In some embodiments, the fixing part is a fixing screw, the fixing part is provided with a first part and a second part, one end of the first part is connected to one end of the second part, the radius of the first part is greater than the radius of the second part, and an abutting platform is arranged at the connection between the first part and the second part.

[0020] The two half-radii parts are arranged on the fixing part, and the abutting platform is arranged, so that the damage of the adapter caused by the too tight fixing of the detection mechanism is avoided.

[0021] In some embodiments, the installation base can adjust the installation angle relative to the detection installation position.

[0022] In some embodiments, flat parts are arranged on both sides of the first part,

[0023] Or flat parts are arranged on both sides of the first part, and the second fixing hole is a straight slot.

[0024] The flat parts and the straight slot are arranged to improve the stability of the radar fixing, and avoid the detection mechanism from being separated from the detection installation position when the mechanical arm is operating.

[0025] In some embodiments, the detection part includes a radar or a radar assembly; the radar scans the environment on the side.

[0026] Through the radar scanning, when obstacles are scanned in the activity range, the robot is stopped in time to avoid collision.

[0027] In the second aspect, the utility model provides a kind of stacking equipment, including the stacking robot of first aspect, control console;Driving slot is arranged on control console, and stacking robot is connected in driving slot, to drive multi-axis rotating mechanism multi-angle rotation by driving slot, and stacking assembly is provided with rotating motor, rotating motor is arranged on the end of adapter far from detection installation position, and rotating motor drive end is connected with stacking support, and multiple suction cups are arranged on stacking support.

[0028] By being provided with stacking robot on stacking equipment, detection mechanism can be moved with robot during stacking, and after detecting human body, robot is stopped in time to prevent collision.

[0029] The stacking robot and the stacking equipment have the following beneficial effects:

[0030] Multi-axis rotating mechanism with multiple angle rotating free end is arranged on stacking robot, and stacking mechanism is arranged on free end;Stacking mechanism includes adapter and stacking assembly, adapter is connected to free end, the first end of adapter is connected with stacking assembly, and the second end of adapter, which is away from the first end, is provided with detection installation position;And detection mechanism is arranged, and detection mechanism is connected to detection installation position to move detection with stacking assembly.Through the arrangement of detection mechanism on the detection installation position of stacking mechanism, detection mechanism moves with stacking mechanism, so that scanning detection area does not have blind area due to the swing of robot, and potential collision risk is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a perspective view of the stacking manipulator of the utility model;

[0032] Figure 2 is Figure 1 is an enlarged view of part a;

[0033] Figure 3 is a top view of the mounting base of the stacking manipulator of the utility model;

[0034] Figure 4 is a perspective view of the fixed part of the stacking manipulator of the utility model;

[0035] Figure 5 is a top view of the switching part of the stacking manipulator of the utility model;

[0036] Figure 6 is a perspective view of the stacking equipment of the utility model.

[0037] Reference signs:

[0038] 1, multi-axis rotating mechanism;

[0039] 2, stacking mechanism; 21, switching part; 211, detection mounting position; 212, third fixed hole; 213, abutting step; 22, stacking assembly;

[0040] 3, detection mechanism; 31, detection part; 32, mounting base; 321, scanning mounting position; 322, first fixed hole; 323, second fixed hole; 33, fixed part; 331, first part; 332, second part; 333, abutting platform;

[0041] 4, control console. DETAILED DESCRIPTION

[0042] It should be noted that the embodiments in the present application and the technical features in the embodiments can be combined with each other without conflict, and the detailed description in the specific implementation should be understood as the explanation and description of the purpose of the present application, and should not be regarded as improper limitation of the present application.

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the specific technical scheme of the present application will be further described in detail below in combination with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0044] In the embodiments of the present application, the terms "first", "second" are used only for descriptive purposes, and cannot be construed as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0045] In addition, in the embodiments of the present application, the orientation terms such as "upper", "lower", "left" and "right" are defined with respect to the orientation of the components shown in the drawings, and it should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and can be changed accordingly according to the change of the orientation of the components placed in the drawings.

[0046] In the embodiments of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral; can be directly connected, or indirectly connected through intermediate medium.

[0047] In the embodiments of the present application, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion. Without more limitation, the element defined by the sentence "include one" does not exclude the presence of another same element in the process, method, article or device including the element.

[0048] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to mean an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0049] Embodiment 1:

[0050] As shown in Figure 1 the embodiment provides a stacking manipulator, comprising:

[0051] A multi-axis rotating mechanism 1 comprising a free end capable of rotating at multiple angles;

[0052] A stacking mechanism 2 comprising a switching part 21 and a stacking assembly 22, the switching part 21 being connected to the free end, a first end of the switching part 21 being connected to the stacking assembly 22, and a second end of the switching part 21 away from the first end being provided with a detection mounting position 211; and

[0053] A detection mechanism 3 connected to the detection mounting position 211 to move detection following the stacking assembly 22.

[0054] Specifically, the multi-axis rotating mechanism 1 can be provided as a multi-section rotating assembly, which can include a rotating shaft and a connecting arm. The rotating assembly can be connected to the rotating shaft of another rotating assembly through the connecting arm to realize multi-axis rotation. The above-mentioned connection mode can have one or more connecting arms not connected to the rotating shaft of other rotating assemblies. The section of the connecting arm not connected to the rotating shaft can be set as a fixed end. There can also be a rotating shaft not connected to the connecting arm of other rotating assemblies, which can be set as a free end. The stacking mechanism 2 is provided, which is connected to the free end through the adapter 21. More specifically, the connecting part is connected to one side of the free end, and the rotation of the connecting part can be realized. The stacking assembly 22 can be a suction cup assembly, a mechanical claw assembly, or other assemblies that can realize the stacking function. The detection mounting position 211 is provided at the other end of the adapter 21 to set the detection device. The detection device is set at the end of the robot, i.e., the adapter 21, to realize synchronous rotation of the detection mounting position 211 and the stacking mechanism 2. This can avoid the scanning blind area caused by the mechanical arm blocking during the rotation of the mechanical arm after the fixed detection mechanism 3 is installed. The detection mechanism 3 can be a radar mechanism, a collision detector mechanism, an infrared detector mechanism, or other mechanisms that can be used for collision detection.

[0055] In some actual use modes, when the detection mechanism 3 detects obstacles in the detection space, more specifically, especially for human body detection, the detection mechanism 3 feeds back to the external control end and makes the entire stacking robot stop running,

[0056] The multi-axis rotating mechanism 1 with multiple angle rotating free ends is provided on the stacking robot, and the stacking mechanism 2 is provided on the free end. The stacking mechanism 2 includes the adapter 21 and the stacking assembly 22. The adapter 21 is connected to the free end. The first end of the adapter 21 is connected to the stacking assembly 22. The second end of the adapter 21 away from the first end is provided with the detection mounting position 211. The detection mechanism 3 is provided and connected to the detection mounting position 211 to move with the stacking assembly 22. The detection mechanism 3 is set on the detection mounting position 211 of the stacking mechanism to move with the stacking mechanism 2, so that the scanning detection area will not have a blind area due to the swing of the mechanical arm, and the potential collision risk is avoided.

[0057] The multi-axis rotating mechanism 1 is arranged on the stacking manipulator, and has a fixed end and a free end. The fixed end is fixed and immovable, and the free end can rotate at multiple angles. A stacking mechanism 2 is arranged on the free end. The stacking mechanism 2 is provided with a switching part 21 and a stacking assembly 22. The switching part 21 is connected to the free end, and the stacking assembly 22 is arranged at one end of the switching part 21 to realize the stacking function. The other end of the switching part 21 is provided with a detection mounting position 211. A detection mechanism 3 is arranged on the detection mounting position 211 to move and detect along with the stacking assembly 22. The detection mechanism 3 is arranged on the detection mounting position 211 of the stacking mechanism 2 to move along with the stacking mechanism 2, so that the scanning detection area does not have a blind area due to the swing of the mechanical arm, and potential collision risks are avoided.

[0058] Embodiment 2

[0059] As shown in Figures 2-5 , the present embodiment further illustrates and optimizes the structure proposed in embodiment 1, and the difference lies in that:

[0060] In some embodiments, the detection mechanism 3 includes a detection part 31 and a mounting base 32. The detection part 31 is fixed on the mounting base 32, and the mounting base 32 is fixed on the detection mounting position 211.

[0061] Specifically, by arranging the mounting base 32, the detection part 31 of the detection mechanism 3 is fixed on the detection mounting position 211. The mounting base 32 can avoid the situation that the detection part 31 cannot be installed due to the different shapes of the switching part 21 and the detection part 31. The mounting base 32 can be adapted to various detection parts 31. The detection part 31 can be a radar, a collision sensor, an infrared sensor, or other sensors for scanning and detecting objects. Furthermore, the radar can be a laser radar. In actual use of the stacking manipulator, the detector mainly detects human bodies, and temperature sensors and other related sensors can also be selected for auxiliary detection.

[0062] By arranging the mounting base 32, the detection mechanism 3 can follow the operation of the stacking mechanism 2 by arranging the mounting base 32 according to the claw on the detection mounting position 211, so as to avoid the large blind area caused by the swing of the mechanical arm.

[0063] In some embodiments, the mounting base 32 is provided with a scanning mounting position 321, and the scanning mounting position 321 is provided with at least one first fixing hole 322 to fix the detection part 31.

[0064] Specifically, the scanning installation site 321 can be provided with a first fixing hole 322 for fixing the detection part 31. The detector can be fixed on the scanning installation site 321 by screwing through the first fixing hole 322. Further, in some radar installation modes, the bottom of the radar is provided with an installation hole, which can be fixed by aligning the installation hole of the radar with the first fixing hole 322, so as to fix the radar on the scanning installation site 321. More specifically, the first fixing hole 322 can be four.

[0065] The first fixing hole 322 of the scanning installation site 321 is used to fix and disassemble the detector, so that the installation is more flexible.

[0066] In some embodiments, the installation base 32 is provided with at least one second fixing hole 323 on the side, and the detection installation site 211 is provided with at least one third fixing hole 212, which is aligned and fixed with the second fixing hole 323.

[0067] Specifically, the installation base 32 is provided with at least one second fixing hole 323 on the side, and the corresponding detection installation site 211 is provided with at least one third fixing hole 212 for alignment and fixing. More specifically, in actual use, the installation base 32 is rectangular, and the second fixing hole 323 is arranged on each corner of the installation base 32. The same number of third fixing holes 212 are arranged on the detection installation site 211, that is, four third fixing holes 212 can be aligned and fixed. Alternatively, more third fixing holes 212 can be arranged to realize flexible fixing of the detection installation site 211. The fixed mode can be fixed by screwing through the second fixing hole 323 and the third fixing hole 212, or by arranging a bolt, or by arranging a solid that can fill the second fixing hole 323 and the third fixing hole 212, and bonding and fixing. Alternatively, the second fixing hole 323 and the third fixing hole 212 can also be used as positioning holes for positioning the position of the installation base 32 on the detection installation site 211.

[0068] By arranging the second fixing hole 323 and the third fixing hole 212, the installation base 32 and the detection installation site 211 are fixed, and the detection mechanism 3 can be quickly disassembled and installed flexibly, which makes the installation of the detection mechanism 3 more convenient.

[0069] In some embodiments, a fixing part 33 is further included, which fixes the installation base 32 on the detection installation site 211 by passing through the second fixing hole 323 and the third fixing hole 212.

[0070] Specifically, the fixing part 33 is arranged to pass through the second fixing hole 323 and the third fixing hole 212 to be fixed on the detection installation site 211. The fixed mode can be screwing a threaded knob on the fixing part 33, the second fixing hole 323 and the third fixing hole 212, or filling and bonding, or inserting a bolt.

[0071] The fixing portion 33 can pass through the second fixing hole 323 and the third fixing hole 212, so that the fixing is more convenient.

[0072] In some embodiments, the fixing portion 33 is a fixing screw, and the fixing portion 33 is provided with a first part 331 and a second part 332. One end of the first part 331 is connected to one end of the second part 332. The radius of the first part 331 is greater than the radius of the second part 332. An abutting platform 333 is arranged at the connection between the first part 331 and the second part 332.

[0073] Specifically, the fixing portion 33 is a fixing screw, more specifically a cylindrical fixing screw, and is divided into a first part 331 and a second part 332. The first part 331 is arranged on the second part 332. The first part 331 is arranged outside the third fixing hole 212 and connected to the third fixing hole 212. The second part 332 is arranged inside the second fixing hole 323 and connected to the adapter 21. The radius of the first part 331 is greater than the radius of the second part 332. When the fixing screw knob is inside the adapter 21, the abutting platform 333 is used for limiting, avoiding damage to the inside of the adapter 21 caused by excessive depth of the screw. The limiting method can include abutting platform 333 limiting, and can also include clamping abutting platform 333 limiting. A third fixing hole 212 with a smaller hole diameter and a second part 332 of the fixing portion 33 with a consistent hole diameter can also be arranged. When fixed, the second part 332 is completely immersed in the third fixing hole 212, and the abutting platform 333 abuts on the fixed installation position.

[0074] The fixing portion 33 is arranged with two parts with different radii up and down, and is provided with an abutting platform 333, so as to avoid damage to the adapter 21 caused by excessive tightening when fixing the detection mechanism 3.

[0075] In some embodiments, the installation base 32 can adjust the installation angle relative to the detection installation position 211.

[0076] Specifically, by adjusting the installation depth of the fixing portion, such as the depth of the second part into the third fixing hole, the inclination degree of the installation base is changed, so as to change the detection angle.

[0077] In some embodiments, the first part 331 is provided with a flat position on both sides,

[0078] Or the first part 331 is provided with a flat position on both sides, and the second fixing hole 323 is a straight slot.

[0079] The first part 331 is provided with a flat position on both sides, which can facilitate the fixing and installation of the fixed part 33, and also has a positioning effect. In an optional manner, the first part 331 is provided with a flat position on both sides, and the second fixing hole 323 is a straight slot, which can better fix and install the base 32.

[0080] By setting the flat position and the straight slot, the stability of the radar fixing is improved, and the detection mechanism 3 is prevented from being separated from the detection installation position 211 during the operation of the mechanical arm.

[0081] In some embodiments, the detection part 31 includes a radar or a radar assembly; the radar scans the environment on the side.

[0082] Specifically, the radar bottom is provided with a mounting hole for being installed on the first fixing hole 322 of the installation base 32, and one side is provided with a data transmission port for transmitting data to an external control hub to feedback control the movement of the palletizing mechanical arm.

[0083] Through radar scanning, when obstacles are scanned in the activity range, the mechanical arm is stopped in time to avoid collision.

[0084] Embodiment 3:

[0085] As shown in Figure 6 The present embodiment proposes a palletizing device, which includes a palletizing mechanical arm as in the first aspect, and a control console 4; the control console 4 is provided with a driving groove, and the palletizing mechanical arm is connected in the driving groove to drive the multi-axis rotating mechanism 1 to rotate at multiple angles through the driving groove; the palletizing assembly 22 is provided with a rotating motor, the rotating motor is arranged on one end of the adapter part 21 away from the detection installation position 211, and the rotating motor driving end is connected with a palletizing support, and the palletizing support is provided with a plurality of suction cups.

[0086] Specifically, the palletizing device is provided with the palletizing mechanical arm as in the embodiments 1 and 2, the palletizing mechanical arm is arranged on the control console 4, the control console 4 is provided with a driving groove to drive the movement of the palletizing mechanical arm, and a rotatable driving seat can be further provided, so that when the palletizing mechanical arm is arranged on the rotating seat, the palletizing mechanical arm can be rotated to make the rotating angle of the palletizing mechanical arm wider and the palletizing mechanical arm more flexible. In the specific use of the palletizing assembly 22, a rotating motor is also arranged, the rotating motor is arranged on one end of the adapter part 21 away from the detection installation position 211, the rotating motor driving end is connected with a palletizing support, and the palletizing support is provided with a plurality of suction cups to realize the function of palletizing.

[0087] By providing the palletizing mechanical arm on the palletizing device, the detection mechanism 3 can move with the mechanical arm during palletizing, and the palletizing device can stop the operation of the palletizing mechanical arm in time after detecting the human body to prevent the mechanical arm from colliding.

[0088] The above sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A palletizing robot, characterized in that, The application relates to a multi-axis rotating mechanism (1) comprising a free end capable of multi-angle rotation; a stacking mechanism (2) comprising a connecting part (21) and a stacking assembly (22), the connecting part (21) being connected to the free end, a first end of the connecting part (21) being connected to the stacking assembly (22), and a second end of the connecting part (21) away from the first end being provided with a detection mounting position (211); and a detection mechanism (3) connected to the detection mounting position (211) to move detection along with the stacking assembly (22). The detection mechanism (3) comprises a detection part (31) and a mounting base (32), the detection part (31) being fixed on the mounting base (32), and the mounting base (32) being fixed on the detection mounting position (211). The mounting base (32) is provided with a scanning mounting position (321) provided with at least one first fixing hole (322) for fixing the detection part (31). The mounting base (32) is provided with at least one second fixing hole (323) on the side, and the detection mounting position (211) is provided with at least one third fixing hole (212) which is fixed in position with the second fixing hole (323).

2. The palletizing robot according to claim 1, characterized in that, The fixing part (33) is a fixing screw provided with a first part (331) and a second part (332), one end of the first part (331) is connected to one end of the second part (332), the radius of the first part (331) is larger than that of the second part (332), and an abutting platform (333) is arranged at the connection position of the first part (331) and the second part (332).

3. The palletizing robot according to claim 2, characterized in that, The mounting base (32) can be adjusted in the mounting angle relative to the detection mounting position (211).

4. The palletizing robot according to claim 2, characterized in that, The first part (331) is provided with a flat position on both sides, 5. The palletizing robot according to claim 4, characterized in that, The first part (331) is provided with a flat position on both sides, and the second fixing hole (323) is a straight slot.

6. The palletizing robot according to claim 5, characterized in that, The detection part (31) comprises a radar or a radar assembly; and the radar scans the surrounding environment.

7. The palletizing robot according to claim 6, characterized in that, The application further relates to a control console (4) provided with a driving slot, the stacking manipulator is connected in the driving slot, the multi-axis rotating mechanism (1) is driven to rotate at multiple angles through the driving slot, the stacking assembly (22) is provided with a rotating motor, the rotating motor is arranged on one end of the connecting part (21) away from the detection mounting position (211), a stacking support is connected to the driving end of the rotating motor, and a plurality of suction cups are arranged on the stacking support.

8. The palletizing robot according to claim 6, characterized in that, ​ ​ 9. The palletizing robot according to claim 2, characterized in that, ​ 10. A palletizing apparatus characterized by comprising: ​

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