Intelligent stacking robot system for stacking loader rocker arm side plates

Abstract

The utility model discloses an intelligent palletizing robot system for stacking loader rocker arm side plates, which comprises a conveying roller way and a palletizing robot body, the palletizing robot body is arranged on one side of the conveying roller way, a buffer platform is arranged on one side of the palletizing robot body, and the buffer platform is arranged on the other side of the palletizing robot body. A temporary storage platform is arranged on one side of the stacking robot body, an overturning area is arranged at the top end of the temporary storage platform, a non-overturning area is arranged at the top end of the temporary storage platform on one side of the overturning area, an overturning platform is arranged on the other side of the stacking robot body, two sets of air cylinders A are arranged on the side, close to the stacking robot body, of the conveying roller way, and the air cylinders A are connected with the conveying roller way. A push arm A is installed at the output end of each air cylinder A. A pressing plate is arranged at the top end of the conveying roller way in a sliding mode. According to the rocker arm side plate stacking device, different rocker arm side plates can be automatically grabbed, recognized, classified, carried and stacked, the labor intensity of workers is reduced, and the logistics transfer efficiency of the rocker arm side plates is improved.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, specifically to an intelligent palletizing robot system for stacking the side plates of a loader rocker arm. Background Technology

[0002] Currently, the main methods for transporting loader rocker arm side plates are forklift and overhead crane, and manual flipping is also used for turning the side plates. The whole process has the disadvantages of low automation, high labor intensity for employees, and low logistics efficiency. In order to improve the above shortcomings, an intelligent palletizing robot system for stacking loader rocker arm side plates is proposed.

[0003] For example, the hybrid box robot intelligent depalletizing and palletizing system disclosed in authorization announcement number CN210392961U includes a palletizing robot body, a palletizing robot base installed at the bottom of the palletizing robot body, an end effector installed at the picking end of the palletizing robot body, pallet conveyors installed on both sides of the palletizing robot body, a pallet conveyor installed at the rear of the palletizing robot body, and a pallet conveyor installed on the palletizing robot body.

[0004] The roller conveyor in front of the body, the pallet placed on the stacking conveyor and the pallet conveyor, the fence used to provide safety protection for the working range of the palletizing robot body, and the camera installed and fixed directly above the front end of the stacking conveyor;

[0005] While it achieves advantages such as small footprint and low cost, it does not solve the problem that existing palletizing robots are not conducive to automatically grasping, identifying, classifying, transporting and stacking different rocker arm side panels, which is not conducive to reducing the intensity of manual labor and affects the efficiency of rocker arm side panel logistics transfer. Utility Model Content

[0006] The purpose of this invention is to provide an intelligent palletizing robot system for stacking loader rocker arm side plates, in order to solve the problem mentioned in the background art that palletizing robots are not convenient for automatically grasping, identifying, classifying, transporting and stacking different rocker arm side plates, which is not conducive to reducing the intensity of manual labor and affects the efficiency of rocker arm side plate logistics transfer.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an intelligent palletizing robot system for stacking loader rocker arm side plates, comprising a conveyor roller and a palletizing robot body. The palletizing robot body is disposed on one side of the conveyor roller, and a buffer platform is disposed on one side of the palletizing robot body. A flipping area is disposed at the top of the buffer platform, and an unflipped area is disposed at the top of the buffer platform on one side of the flipping area. A flipping platform is disposed on the other side of the palletizing robot body. Two sets of A cylinders are disposed on the side of the conveyor roller near the palletizing robot body, and the A cylinders are connected to the conveyor roller. An A push arm is installed at the output end of each A cylinder. A pressure plate is slidably disposed at the top of the conveyor roller, and the pressure plate is connected to the A push arm. Multiple sets of rocker arm side plate bodies are disposed at equal intervals on the surface of the conveyor roller on one side of the pressure plate.

[0008] Preferably, the top of the flipping platform is symmetrically provided with flipping plates, and each flipping plate is provided with a pin on the side near the flipping platform, and the flipping plate is movably connected to the flipping platform through the pin.

[0009] Preferably, the bottom end of the flipping platform is movably equipped with two sets of B cylinders, and the output end of each B cylinder is equipped with a B push arm.

[0010] Preferably, each of the B push arms is provided with a linkage shaft at the end near the flip plate, and the B push arm is movably connected to the flip plate through the linkage shaft.

[0011] Compared with the prior art, the beneficial effects of this utility model are: the palletizing robot not only realizes the automated grasping, identification, classification, handling and stacking of different rocker arm side plates, reducing the intensity of manual labor, but also improves the efficiency of rocker arm side plate logistics transfer;

[0012] (1) By placing the rocker arm side plate body sequentially on the conveyor roller, the conveyor roller transports the rocker arm side plate body to the position of the palletizing robot body. This technology installs a through-beam induction switch on the roller, located on the inner wall of the conveyor roller. When the rocker arm side plate body moves to the position of the palletizing robot body, the through-beam induction switch detects and senses the rocker arm side plate body. After detecting the rocker arm side plate body, cylinder A is opened, which drives push arm A to move. Push arm A drives pressure plate A to move, so that pressure plate contacts rocker arm side plate body and pushes rocker arm side plate body to the side of the conveyor roller away from the palletizing robot body. Then, the palletizing robot body is operated, and the 2D vision equipment and laser rangefinder on the palletizing robot body are used to independently design vision and robot communication. The program, which is based on a self-designed robot visual data algorithm, helps the palletizing robot determine the height and planar position of the side plate, guiding the robot to grasp the rocker arm side plate. The 2D vision device of the palletizing robot determines whether the currently grasped rocker arm side plate has been flipped. If it has not been flipped, the palletizing robot moves the unflipped rocker arm side plate to the unflipped area on the buffer platform. The above operation is repeated and combined with the self-designed robot stacking program algorithm, the placement position of the workpiece can be automatically raised according to the number and thickness of the workpiece, so that the workpiece can be stacked one by one, avoiding workpiece interference. This realizes convenient automatic grasping, identification and classification of different rocker arm side plates, which facilitates the classification and stacking of rocker arm side plates.

[0013] (2) When it is necessary to flip the rocker arm side plate body, the palletizing robot body grabs the unflipped rocker arm side plate body and moves it to the flipping plate on the left. Then, the B cylinder is opened, and the B push arm is moved by the B cylinder. The B push arm drives the flipping plate to rotate around the pin shaft through the linkage shaft. The flipping platform provides movable support for it. The flipping plate drives the rocker arm side plate body to flip to the flipping plate on the right to complete the flipping work of the rocker arm side plate body. Then, the palletizing robot body is operated to grab and stack the rocker arm side plate body and place it in the flipping area. Through the self-designed palletizing robot program, it can place the workpiece on the flipping worktable for flipping according to the odd or even number of workpieces, so as to realize the automatic flipping of the rocker arm side plate, reduce the manual flipping, save manpower, and improve the efficiency of rocker arm side plate flipping. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 3 This is a top view of the structure of this utility model;

[0017] Figure 4 This is a side view sectional structural diagram of the conveyor roller conveyor of this utility model;

[0018] Figure 5 This is a three-dimensional structural diagram of the flipping platform of this utility model;

[0019] Figure 6 This is a front view cross-sectional structural diagram of the flipping platform of this utility model.

[0020] In the diagram: 1. Conveyor roller; 2. Palletizing robot body; 3. Buffer platform; 4. Rocker arm side plate body; 5. Tilting platform; 6. Cylinder A; 7. Push arm A; 8. Pressure plate; 9. Tilting plate; 10. Cylinder B; 11. Push arm B; 12. Linkage shaft; 13. Pin shaft; 14. Tilting area; 15. Untilted area. Detailed Implementation

[0021] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0022] Please see Figure 1-6 The present invention provides an embodiment of an intelligent palletizing robot system for stacking loader rocker arm side plates, comprising a conveyor roller 1 and a palletizing robot body 2. The palletizing robot body 2 is provided on one side of the conveyor roller 1, and a buffer platform 3 is provided on one side of the palletizing robot body 2. A flipping area 14 is provided at the top of the buffer platform 3, and an unflipped area 15 is provided at the top of the buffer platform 3 on one side of the flipping area 14. A flipping platform 5 is provided on the other side of the palletizing robot body 2. Two sets of A cylinders 6 are provided on the side of the conveyor roller 1 near the palletizing robot body 2, and the A cylinders 6 are connected to the conveyor roller 1. A push arm 7 is installed at the output end of each A cylinder 6. A pressure plate 8 is slidably provided at the top of the conveyor roller 1, and the pressure plate 8 is connected to the push arm 7. Multiple sets of rocker arm side plate bodies 4 are provided at equal intervals on the surface of the conveyor roller 1 on one side of the pressure plate 8.

[0023] The rocker arm side plate body 4 is placed sequentially on the conveyor roller 1, which transports it to the position of the palletizing robot body 2. This technology installs a through-beam sensor switch on the roller 1, located on the inner wall of the conveyor roller 1. When the rocker arm side plate body 4 moves to the position of the palletizing robot body 2, the through-beam sensor switch detects it. Upon detection, cylinder A 6 is activated, moving push arm A 7, which in turn moves pressure plate 8, causing it to contact the rocker arm side plate body 4 and push it to a position on the conveyor roller 1 away from the palletizing robot body 2. Then, the palletizing robot body 2 is operated, utilizing its 2D vision equipment and laser rangefinder to autonomously design vision and machine... The robot communication program and the self-designed robot visual data algorithm program help the palletizing robot body 2 determine the height and planar position of the side plate, and guide the palletizing robot body 2 to grasp the rocker arm side plate. The 2D vision device of the palletizing robot body determines whether the currently grasped rocker arm side plate body 4 has been flipped. If it has not been flipped, the palletizing robot body 2 moves the unflipped rocker arm side plate body 4 to the unflipped area 15 on the buffer platform 3. Then the above operation is repeated and combined with the self-designed robot stacking program algorithm, the placement position of the workpiece can be automatically raised according to the number and thickness of the workpiece, so that the workpiece can be stacked one by one, avoiding workpiece interference. It realizes convenient automatic grasping, identification and classification of different rocker arm side plates, which facilitates the classification and stacking of rocker arm side plates.

[0024] A flipping plate 9 is symmetrically arranged at the top of the flipping platform 5. A pin 13 is provided on the side of the flipping plate 9 close to the flipping platform 5. The flipping plate 9 is movably connected to the flipping platform 5 through the pin 13. Two sets of B cylinders 10 are movably arranged at the bottom of the flipping platform 5. The B cylinders 10 play the role of power drive. A B push arm 11 is installed at the output end of the B cylinders 10.

[0025] Each of the B push arms 11 is provided with a linkage shaft 12 at one end near the flip plate 9, and the B push arms 11 are movably connected to the flip plate 9 through the linkage shaft 12.

[0026] When it is necessary to flip the rocker arm side plate body 4, the palletizing robot body 2 grabs the unflipped rocker arm side plate body 4 and moves it to the flipping plate 9 on the left. Then, the B cylinder 10 is opened, which drives the B push arm 11 to move. The B push arm 11 drives the flipping plate 9 to rotate around the pin 13 via the linkage shaft 12. The flipping platform 5 provides movable support for it. The flipping plate 9 drives the rocker arm side plate body 4 to flip onto the flipping plate 9 on the right to complete the flipping work of the rocker arm side plate body 4. Afterwards, the palletizing robot body 2 is operated to grab and stack the rocker arm side plate body 4 and place it in the flipping area 14. Through its self-designed palletizing robot program, it can place the workpiece on the flipping worktable for flipping according to the odd or even number of times the workpiece is received, so as to realize the automatic flipping of the rocker arm side plate, reduce the need for manual flipping, save manpower, and improve the efficiency of rocker arm side plate flipping.

[0027] Working principle: The rocker arm side plate body 4 is placed sequentially on the conveyor roller 1, which transports it to the position of the palletizing robot body 2. This technology installs a through-beam sensor switch on the roller 1, located on the inner wall of the conveyor roller 1. When the rocker arm side plate body 4 moves to the position of the palletizing robot body 2, the through-beam sensor switch detects it. Upon detection, cylinder A 6 drives push arm A 7 to move, which in turn moves pressure plate 8, causing it to contact the rocker arm side plate body 4 and press the rocker arm... The side plate body 4 is pushed to a position on the conveyor roller 1 away from the palletizing robot body 2. Then, the palletizing robot body 2 is manipulated, utilizing its 2D vision equipment and laser rangefinder to autonomously design a vision-robot communication program and an algorithm program for the robot to process visual data. This helps the palletizing robot body 2 determine the height and planar position of the side plate, guiding it to grasp the rocker arm side plate. The 2D vision equipment determines whether the currently grasped rocker arm side plate body 4 has been flipped. If it has not been flipped, the palletizing robot body 2 drives the unflipped rocker arm side plate. The arm side plate body 4 is moved and placed in the unflipped area 15 on the buffer platform 3. This process is repeated, and combined with a self-designed robot stacking algorithm, the placement position of the workpieces is automatically raised based on the number and thickness of the workpieces, allowing for stacking workpieces one by one and avoiding interference. When the arm side plate body 4 needs to be flipped, the palletizing robot body 2 picks up the unflipped arm side plate body 4 and moves it onto the flipping plate 9 on the left. The B cylinder 10 drives the B push arm 11 to move, and the B push arm 11, via the linkage shaft 12, drives the flipping plate 9 to rotate via a pin. 13 is the axis of rotation, which is supported by the flipping platform 5. The flipping plate 9 drives the rocker arm side plate body 4 to flip onto the right flipping plate 9 to complete the flipping work of the rocker arm side plate body 4. Then, the palletizing robot body 2 is controlled to grab and stack the rocker arm side plate body 4 and place it in the flipping area 14. Through its self-designed palletizing robot program, it can place the workpiece on the flipping worktable for flipping according to the odd or even number of workpieces, so as to realize the automatic flipping of the rocker arm side plate. The above is the complete usage of the intelligent palletizing robot system for stacking the rocker arm side plates of the loader.

[0028] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any indirect modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. An intelligent palletizing robot system for stacking loader boom side plates, comprising a conveyor roller (1) and a palletizing robot body (2), characterized in that: A palletizing robot body (2) is provided on one side of the conveying roller (1), a buffer platform (3) is provided on one side of the palletizing robot body (2), a flipping area (14) is provided at the top of the buffer platform (3), an unflipped area (15) is provided at the top of the buffer platform (3) on one side of the flipping area (14), a flipping platform (5) is provided on the other side of the palletizing robot body (2), two sets of A cylinders (6) are provided on the side of the conveying roller (1) close to the palletizing robot body (2), and the A cylinders (6) are connected to the conveying roller (1). The output end of the A cylinders (6) is equipped with A push arms (7). A pressure plate (8) is slidably provided at the top of the conveying roller (1), and the pressure plate (8) is connected to the A push arms (7). Multiple sets of rocker arm side plate bodies (4) with equal spacing are provided on the surface of the conveying roller (1) on one side of the pressure plate (8).

2. The intelligent palletizing robot system for stacking loader boom side plates according to claim 1, characterized in that: The top of the flipping platform (5) is symmetrically provided with flipping plates (9), and each flipping plate (9) is provided with a pin (13) on the side close to the flipping platform (5), and the flipping plate (9) is movably connected to the flipping platform (5) through the pin (13).

3. The intelligent palletizing robot system for stacking loader boom side plates according to claim 1, characterized in that: The bottom end of the flipping platform (5) is movably equipped with two sets of B cylinders (10), and the output end of each B cylinder (10) is equipped with a B push arm (11).

4. The intelligent palletizing robot system for stacking loader boom side plates according to claim 3, characterized in that: Each of the B push arms (11) is provided with a linkage shaft (12) at one end near the flip plate (9), and the B push arms (11) are movably connected to the flip plate (9) through the linkage shaft (12).

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