A palletizing robot with five axes

Abstract

The utility model discloses a kind of stacking mechanical arm and five-axis stacking robot, including turnover mechanism, elastic buffer mechanism and the suction cup assembly for adsorbing and grabbing, turnover mechanism includes turnover driver, first mounting plate, second mounting plate and the pivot between first mounting plate and second mounting plate, turnover driver is assembled in second mounting plate, and its driving end is rotationally connected in first mounting plate, to drive first mounting plate overturn relative to second mounting plate, suction cup assembly is connected in first mounting plate, and elastic buffer mechanism is used to provide compression buffer force for suction cup assembly, so more degrees of freedom can be increased to grasp posture, to realize complex multi-pile mode such as plane stacking and vertical stacking.

Description

Technical Field

[0001] This utility model relates to the field of palletizing equipment technology, specifically to a palletizing robotic arm and a five-axis palletizing robot, which is particularly suitable for palletizing and stacking cut stone. Background Technology

[0002] Traditional four-axis palletizing robots typically include a base rotation (swing) axis, an upper arm lifting axis, a lower arm telescopic axis, and a wrist swing axis, forming four degrees of freedom. This can meet basic palletizing needs, such as moving finished products from a waiting area to a packaging pallet position and stacking them simply. However, it can only achieve planar stacking and has limited gripping posture. Utility Model Content

[0003] To address the aforementioned problems, this invention provides a palletizing robotic arm and a five-axis palletizing robot, which can increase the gripping posture with more degrees of freedom, thereby realizing complex multi-palletizing modes such as planar stacking palletizing and vertical palletizing.

[0004] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0005] This utility model provides a palletizing robotic arm, including a flipping mechanism, an elastic buffer mechanism, and a suction cup assembly for adsorption and gripping; the flipping mechanism includes a flipping driver, a first mounting plate, a second mounting plate, and a rotating shaft disposed between the first mounting plate and the second mounting plate; the flipping driver is mounted on the second mounting plate, and its driving end is rotatably connected to the first mounting plate to drive the first mounting plate to flip relative to the second mounting plate; the suction cup assembly is connected to the first mounting plate, and the elastic buffer mechanism is used to provide compressive buffering force for the suction cup assembly.

[0006] Furthermore, the tilting actuator is a tilting cylinder, and the driving end of the tilting cylinder is rotatably connected to the first mounting plate.

[0007] Furthermore, the suction cup assembly includes a first suction cup, and the elastic buffer mechanism includes a first elastic buffer assembly. The first elastic buffer assembly includes a plurality of first guide posts that are movably inserted through the first mounting plate and a first spring that is movably sleeved on each of the first guide posts. The first suction cup is assembled on one end of the first guide post away from the first mounting plate. One end of the first spring is connected to the first mounting plate, and the other end is connected to the first suction cup.

[0008] Furthermore, the suction cup assembly includes at least one second suction cup, which is disposed on at least one side of the first suction cup, and the first suction cup and the second suction cup are spaced apart; the elastic buffer mechanism includes a second elastic buffer component for cooperating with each of the second suction cups, the second elastic buffer component includes a plurality of second guide posts that are movably inserted through the first mounting plate and a second spring that is movably sleeved on each of the second guide posts, the second suction cup being assembled on the end of the second guide post opposite to the first mounting plate; one end of the second spring is connected to the first mounting plate, and the other end is connected to the second suction cup.

[0009] Furthermore, a crossbeam is fitted to one end of the second guide post that protrudes from the first mounting plate. A lifting cylinder is fitted on the crossbeam. The lifting end of the lifting cylinder is movably inserted through the crossbeam and the first mounting plate and connected to the second suction cup to drive the second suction cup to rise and fall along the extension direction of the second guide post.

[0010] Furthermore, the first suction cup and / or the second suction cup are sponge suction cups.

[0011] Furthermore, the elastic buffer mechanism also includes a third elastic buffer assembly, which includes a third mounting plate, a plurality of third guide posts assembled on the third mounting plate, and a third spring movably sleeved on each of the third guide posts. The second mounting plate is movably sleeved on the third guide posts. One end of the third spring is connected to the second mounting plate, and the other end is connected to the third mounting plate.

[0012] Furthermore, it also includes a limiting mechanism; the limiting mechanism includes a first limiting rod and a second limiting rod, the first limiting rod being assembled between the first mounting plate and the second mounting plate to limit the safe distance between the first mounting plate and the second mounting plate; the second limiting rod being assembled between the second mounting plate and the third mounting plate to limit the safe distance between the second mounting plate and the third mounting plate.

[0013] Furthermore, the limiting mechanism also includes a first limiting switch for sensing the movement stroke of the suction cup assembly and / or a second limiting switch for sensing the movement stroke of the first mounting plate; and / or, the elastic force of the first spring is greater than the elastic force of the third spring.

[0014] This utility model provides a five-axis palletizing robot, including a robot body and the aforementioned palletizing robotic arm, wherein the palletizing robotic arm is connected to the motion end of the robot body.

[0015] The technical solution provided by this utility model has the following beneficial effects:

[0016] 1. By cooperating with the flipping mechanism, additional degrees of freedom of rotation or swing are provided to enable more posture adjustments, thus allowing for more flexible handling of items, enabling both horizontal and vertical palletizing, thereby improving its ability to adapt to different working scenarios.

[0017] 2. Five-axis palletizing robots can not only speed up operation, but also reduce error rates and further enhance the overall efficiency of the production line, thereby meeting the needs of improving production efficiency, reducing labor costs, and improving workplace safety. Attached Figure Description

[0018] Figure 1 The diagram shown is a schematic of the palletizing robot arm in the embodiment when it is not flipped.

[0019] Figure 2 The diagram shown is a schematic of the palletizing robot arm after flipping in the embodiment.

[0020] Figure 3 The diagram shown is a schematic of the operation of the five-axis palletizing robot in the embodiment. Detailed Implementation

[0021] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0022] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0023] Reference Figures 1 to 3 This embodiment provides a five-axis palletizing robot, including as follows: Figure 3 The robot body 200 and the palletizing robot arm 100 shown are connected to the moving end of the robot body 200. Therefore, the five-axis palletizing robot of this embodiment has five degrees of freedom, which can realize various complex palletizing modes such as planar stacking palletizing and vertical palletizing. It can also realize the adjustable posture of its execution end, which is especially suitable for palletizing and stacking sheet materials such as cut stone.

[0024] like Figure 1 As shown, the palletizing robot arm 100 includes a flipping mechanism 1, an elastic buffer mechanism 3, and a suction cup assembly 2 for adsorption and gripping. The elastic buffer mechanism 3 is used to provide compressive buffering force for the suction cup assembly 2.

[0025] The flipping mechanism 1 includes a flipping driver 11, a first mounting plate 12, a second mounting plate 13, and a rotating shaft 14 disposed between the first mounting plate 12 and the second mounting plate 13. Specifically, the flipping driver 11 is a flipping cylinder. The flipping driver 11 is mounted on the second mounting plate 13, and the driving end of the flipping driver 11 is hinged to the first mounting plate 12 through a rotating connector to drive the first mounting plate 12 to flip relative to the second mounting plate 13 and around the rotating shaft 14 between 0 and 90 degrees. Of course, in other embodiments, the flipping driver 11 can also be a servo motor equipped with a lead screw drive.

[0026] In this embodiment, the suction cup assembly 2 includes one first suction cup 21 and two second suction cups 22 located on both sides of the first suction cup 21. Both the first suction cup 21 and the second suction cup 22 are sponge suction cups, and the first suction cup 21 is spaced apart from the two second suction cups 22. Of course, in other embodiments, the number of second suction cups 22 can be one or more, or the first suction cup 21 can be used without the second suction cups 22. Therefore, the specific design of the suction cup assembly 2 depends on the size and weight of the sheet material to be stacked.

[0027] The elastic buffer mechanism 3 includes a first elastic buffer assembly 31 that engages with the first suction cup 21 and a second elastic buffer assembly 32 that engages with each of the second suction cups 22.

[0028] More specifically, such as Figure 1 As shown, the first elastic buffer assembly 31 includes four movable first guide posts 311 that pass through the first mounting plate 12 and a first spring 312 that is movably sleeved on each of the first guide posts 311. The first suction cup 21 is assembled on the lower end of the first guide post 311 away from the first mounting plate 12. The upper end of the first spring 312 is connected to the first mounting plate 12, and the lower end of the first spring 312 is connected to the first suction cup 21.

[0029] Each second elastic buffer assembly 32 includes two movable second guide posts 321 that pass through the first mounting plate 12 and a second spring 322 that is movably sleeved on each second guide post 321. Two second suction cups 22 are respectively assembled on the lower end of the corresponding second guide post 321 away from the first mounting plate 12. The upper end of the second spring 322 is connected to the first mounting plate 12, and the lower end of the second spring 322 is connected to the second suction cup 22.

[0030] One cross beam 6 is assembled on the upper ends of the two second guiding columns 321 on each side that penetrate through the first mounting plate 12. One lifting cylinder 4 is assembled on each cross beam 6. The lifting end of each lifting cylinder 4 is movably penetrated through the corresponding cross beam 6 and the first mounting plate 12 and is connected to the corresponding second suction cup 22 to drive the corresponding second suction cup 22 to lift and lower along the extending direction of the second guiding column 321. Of course, the lifting cylinder 4 can also be replaced by a lifting motor equipped with a screw drive.

[0031] During specific implementation, the maximum single suction force of each sponge suction cup can reach 160 kg. Therefore, according to the size and weight of different materials and through the coordination of the total control system of the five-axis palletizing robot, the suction cup combination or the working state of each suction cup can be automatically selected. For example,

[0032] When picking up small pieces of materials (i.e., with small weight), only the middle first suction cup 21 is used, and the two second suction cups 22 on both sides of it are retracted under the drive of the lifting cylinder 4 to avoid the second suction cups 22 contacting the materials and also avoid unnecessary interference.

[0033] When picking up large pieces of materials (i.e., with large weight), the two second suction cups 22 are extended outwards under the drive of the lifting cylinder 4 until they are flush with the first suction cup 21. At this time, the three suction cups adsorb the materials simultaneously and form a structure like the Chinese character 'Ri', and can pick up materials with a minimum size of 100*200 mm. Therefore, it can provide greater product compatibility.

[0034] Through the cooperation of the flipping mechanism 1, an additional rotational or swinging degree of freedom is provided to enable the five-axis palletizing robot to have the ability to perform more posture adjustments, so that it can carry items more flexibly, that is, it can perform both horizontal palletizing and vertical palletizing, thereby improving its ability to adapt to different working scenarios.

[0035] In addition, the five-axis palletizing robot can not only speed up the operation speed, but also reduce the error rate and further enhance the overall efficiency of the production line, thereby meeting the requirements of improving production efficiency, reducing labor costs and enhancing workplace safety.

[0036] In another preferred embodiment, as Figure 2 shown, the elastic buffer mechanism 3 further includes a third elastic buffer component 33. The third elastic buffer component 33 includes one third mounting plate 331, four third guiding columns 332 assembled on the third mounting plate 331, and third springs 333 that are movably sleeved on each third guiding column 332. The second mounting plate 13 is movably sleeved on the lower parts of each third guiding column 332. The upper ends of each third spring 333 are respectively connected to the second mounting plate 13, and the lower ends of each third spring 333 are respectively connected to the third mounting plate 331.

[0037] like Figure 2 As shown, the palletizing robot arm 100 also includes a limiting mechanism 5, which includes a first limiting rod 51, a second limiting rod 52, a first limiting switch 53 for sensing the movement stroke of the first suction cup 21 (i.e., the lifting trajectory parallel to the extension direction of the first guide post 311), and a second limiting switch 54 for sensing the movement stroke of the first mounting plate 12 (i.e., the flipping movement trajectory).

[0038] The first limiting rod 51 is assembled on the first mounting plate 12 and is located between the first mounting plate 12 and the second mounting plate 13 to limit the safe distance between the first mounting plate 12 and the second mounting plate 13.

[0039] The second limiting rod 52 is assembled on the third mounting plate 331 and is located between the second mounting plate 13 and the third mounting plate 331 to limit the safe distance between the second mounting plate 13 and the third mounting plate 331.

[0040] Of course, in other embodiments, the first limit rod 51, the second limit rod 52, the first limit switch 53, and the second limit switch 54 may also be optional accessories.

[0041] Furthermore, the number of guide posts and springs is not limited to this, and will not be detailed here.

[0042] When the flip drive 11 is not activated and the first mounting plate 12, the second mounting plate 13 and the third mounting plate 331 are parallel to each other, each of the first guide post 311 and the second guide post 321 can ensure that the first spring 312 and the second spring 322 maintain the positional accuracy of each suction cup during the compression action, and at the same time provide compression buffer force.

[0043] At the same time, the first limit rod 51 and the second limit rod 52 can also play the role of overpressure protection. Meanwhile, the first limit switch 53 and the second limit switch 54 respectively provide trigger signals for each spring to be compressed into place, so as to feed back to the overall control system of the five-axis palletizing robot, thereby stopping the operation of the relevant drive in time, that is, completing planar stacking or flat palletizing.

[0044] Furthermore, the palletizing robot arm 100 performs planar stacking and palletizing operations. When gripping materials, since the elastic force of each first spring 312 is greater than that of each third spring 333, the third springs 333 on the upper layer are compressed first to play a first buffering role. Then, each first spring 312 is compressed again to play a second buffering role, until each limit switch is triggered and a feedback signal is output. At this time, the palletizing robot arm 100 reaches the gripping position.

[0045] When the flip drive 11 rotates the first mounting plate 12 90 degrees, the upright palletizing operation begins. At this time, the second mounting plate 13 abuts against the limiting end of the rotating connector on the first mounting plate 12 to ensure accurate flipping angle and provide overpressure protection. Additionally, the first suction cup 21 and each of the second suction cups 22 also rotate 90 degrees. The first guide post 311 and the second guide post 321 respectively ensure the positional accuracy of each suction cup during the compression action of the corresponding springs. Simultaneously, the first spring 312 and the second spring 322 provide compression buffering force during the suction of materials by each suction cup, thus providing a buffering effect. Only the first limit switch 53 provides a trigger signal for the first spring 312 to be fully compressed and outputs a feedback signal. At this time, the palletizing robot arm 100 reaches the gripping position.

[0046] When the palletizing robot arm 100 performs the upright palletizing action, the first spring 312 and the second spring 322 located on the lower layer provide a compressive buffer force perpendicular to the suction cup direction to ensure that the material will not break or be damaged, and each of the first guide posts 311 and the second guide posts 321 can ensure the accuracy of the palletizing position.

[0047] like Figure 3 As shown, after the palletizing robot arm 100 picks up the material, it gradually approaches the material rack 300 with the cooperation of the robot body 200 until the first limit switch 53 is triggered to output a feedback signal. At this time, the palletizing robot arm 100 reaches the palletizing position and releases the vacuum of each suction cup, thus completing the palletizing process.

[0048] In this specific embodiment, the overall control system of the five-axis palletizing robot includes a suction cup control system, which specifically includes an electrical box, a pressure regulating valve, an air source pressure detection switch, a vacuum pressure detection switch, a vacuum generator, a filter, a one-way valve, an air storage tank, a valve island, and a pneumatic valve.

[0049] When the vacuum pressure switch detects that the system pressure is insufficient, the vacuum generator generates a vacuum and stores it in the outlet pipe until the set pressure value is reached.

[0050] During the suction operation, the solenoid valve in the valve island opens, and the pneumatic valve delivers vacuum to each suction cup until the set suction pressure is reached.

[0051] When the palletizing robot arm 100 reaches the palletizing position, the vacuum in the valve island is broken, the solenoid valve opens, and the positive pressure air reaches each suction cup position through the pressure regulating valve. At this time, the vacuum of each suction cup is released, that is, the material on the suction cup falls off, thus completing the palletizing operation.

[0052] In summary, the five-axis palletizing robot of this embodiment has the following advantages:

[0053] 1. Compared to the four degrees of freedom of existing four-axis robots, the five-axis palletizing robot in this embodiment has five degrees of freedom. It can not only realize various complex palletizing modes such as planar stacking palletizing and vertical palletizing, but also support independent control of each suction cup. That is, the posture of its execution end (i.e., suction cup assembly 2) is adjustable, thus having more degrees of freedom and better flexibility.

[0054] 2. Compared to existing four-axis robots that can only execute palletizing rules in a single direction, the five-axis palletizing robot in this embodiment supports multi-dimensional palletizing, thus adapting to complex scenarios and ensuring its diversity of stacking modes.

[0055] 3. The palletizing robot arm 100 adopts a compact and robust design, ensuring that it does not significantly increase its overall size or change its load capacity, while also guaranteeing sufficient rigidity and range of motion.

[0056] Therefore, the five-axis palletizing robot in this embodiment can break the posture limitations of the four-axis robot to improve the spatial flexibility of the execution end of the five-axis palletizing robot. It is designed with a multi-suction cup end execution structure and relies on the suction cup control system to enable different suction cups as needed. It can also improve the adaptability to materials of different sizes and shapes, and realize various complex palletizing modes such as flat placement and vertical placement, thereby improving palletizing efficiency, accuracy and safety.

[0057] Although the present invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined in the appended claims, and all such changes shall be within the scope of protection of the present invention.

Claims

1. A palletizing robotic arm, characterized in that: It includes a flipping mechanism, an elastic buffer mechanism, and a suction cup assembly for adsorption and gripping; The flipping mechanism includes a flipping driver, a first mounting plate, a second mounting plate, and a rotating shaft disposed between the first mounting plate and the second mounting plate; The flip driver is mounted on the second mounting plate, and its driving end is rotatably connected to the first mounting plate to drive the first mounting plate to flip relative to the second mounting plate; the suction cup assembly is connected to the first mounting plate, and the elastic buffer mechanism is used to provide compressive buffering force for the suction cup assembly.

2. The palletizing robotic arm according to claim 1, characterized in that: The flipping driver is a flipping cylinder, and the driving end of the flipping cylinder is rotatably connected to the first mounting plate.

3. The palletizing robotic arm according to claim 1, characterized in that: The suction cup assembly includes a first suction cup, and the elastic buffer mechanism includes a first elastic buffer component. The first elastic buffer component includes a plurality of first guide posts that are movably inserted through the first mounting plate and a first spring that is movably sleeved on each of the first guide posts. The first suction cup is assembled on the end of the first guide post that is away from the first mounting plate. One end of the first spring is connected to the first mounting plate, and the other end is connected to the first suction cup.

4. The palletizing robotic arm according to claim 3, characterized in that: The suction cup assembly includes at least one second suction cup, which is disposed on at least one side of the first suction cup, and the first suction cup and the second suction cup are spaced apart. The elastic buffer mechanism includes a second elastic buffer component for cooperating with each of the second suction cups. The second elastic buffer component includes a plurality of second guide posts that are movably inserted through the first mounting plate and a second spring that is movably sleeved on each of the second guide posts. The second suction cup is assembled on the end of the second guide post opposite to the first mounting plate. One end of the second spring is connected to the first mounting plate, and the other end is connected to the second suction cup.

5. The palletizing robotic arm according to claim 4, characterized in that: The second guide post has a crossbeam attached to one end that protrudes from the first mounting plate. A lifting cylinder is mounted on the crossbeam. The lifting end of the lifting cylinder is movably inserted through the crossbeam and the first mounting plate and connected to the second suction cup to drive the second suction cup to rise and fall along the extension direction of the second guide post.

6. The palletizing robotic arm according to claim 4, characterized in that: The first suction cup and / or the second suction cup are sponge suction cups.

7. The palletizing robotic arm according to any one of claims 3-6, characterized in that: The elastic buffer mechanism further includes a third elastic buffer assembly, which includes a third mounting plate, a plurality of third guide posts assembled on the third mounting plate, and a third spring movably sleeved on each of the third guide posts. The second mounting plate is movably sleeved on the third guide posts. One end of the third spring is connected to the second mounting plate, and the other end is connected to the third mounting plate.

8. The palletizing robotic arm according to claim 7, characterized in that: It also includes a limiting mechanism; the limiting mechanism includes a first limiting rod and a second limiting rod, the first limiting rod being assembled between the first mounting plate and the second mounting plate to limit the safe distance between the first mounting plate and the second mounting plate; The second limiting rod is assembled between the second mounting plate and the third mounting plate to limit the safe distance between the second mounting plate and the third mounting plate.

9. The palletizing robotic arm according to claim 8, characterized in that: The limiting mechanism further includes a first limiting switch for sensing the movement stroke of the suction cup assembly and / or a second limiting switch for sensing the movement stroke of the first mounting plate; and / or, the elastic force of the first spring is greater than the elastic force of the third spring.

10. A five-axis palletizing robot, characterized in that: It includes a robot body and a palletizing robotic arm as described in any one of claims 1-9, wherein the palletizing robotic arm is connected to the moving end of the robot body.

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