A six-axis walking robot loading and unloading equipment

Abstract

This utility model discloses a six-axis robotic loading and unloading device, comprising a gripping mechanism, a walking mechanism, a data acquisition and control mechanism, and a conveying mechanism. The gripping mechanism and the data acquisition and control mechanism are respectively mounted on the walking mechanism. The conveying mechanism includes a lifting conveyor roller assembly, a movable conveyor roller assembly, and a transition conveyor belt assembly. The lifting conveyor roller assembly is mounted on the front support of the walking mechanism, the movable conveyor roller assembly is mounted on one side of the walking mechanism, and the transition conveyor belt assembly connects the rear end of the lifting conveyor roller assembly and the front end of the movable conveyor roller assembly. This utility model has multiple applications, and is particularly suitable for materials transported by outdoor vehicles and materials temporarily stacked in warehouses. It can quickly grip materials of different stacking heights and place them onto the conveying device, achieving fully automated loading and unloading of goods.

Description

Technical Field

[0001] This utility model relates to a material loading and unloading device, and more particularly to a six-axis walking robot loading and unloading device. Background Technology

[0002] With the rapid development of logistics, automated loading and unloading equipment is widely used. This equipment includes fixed and mobile types. Fixed loading and unloading equipment has its robotic arm and conveyor belt permanently installed in a specific location. The robotic arm's suction cups pick up materials and place them on the conveyor for transport. The robotic arm typically moves back and forth along a pre-programmed control route, repeatedly grabbing materials. This type of fixed loading and unloading equipment can only grab materials within its reach, resulting in a small grabbing range. It can only operate on fixed conveyor lines and cannot be used for temporary materials transported by vehicles or temporarily stored in warehouses. Mobile loading and unloading equipment usually mounts the robotic arm on a traveling mechanism, with a movable temporary conveyor device on one side of the traveling mechanism. The traveling mechanism moves to a nearby material location, where the robotic arm grabs the material, which is then transported by the temporary conveyor. This type of mobile loading and unloading equipment can handle temporary materials transported by vehicles or temporarily stored in warehouses. However, the robotic arm on this type of walking mechanism can only grasp materials within a certain range. If the materials are piled too high or too low, it takes a long time for the robotic arm to pick them up and place them onto the conveyor. To allow the robotic arm to quickly pick up materials and place them onto the conveyor, the position of the piled materials needs to be adjusted appropriately. If the overall height of the piled materials is too low, replenishment should be done promptly, requiring workers to assist in replenishment at the loading and unloading site. Limited loading and unloading space can also affect the smooth progress of loading and unloading operations. If the materials are piled too high, workers need to assist in adjusting the height of the pile when using loading and unloading equipment, which is time-consuming and labor-intensive. If the materials are piled too low, there is not enough space to pile them up, which will also affect the efficiency of loading and unloading operations. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of the existing technology by providing a six-axis walking robot loading and unloading device. This device has multiple applications and is particularly suitable for materials transported by outdoor vehicles and materials temporarily stacked in warehouses. It can quickly grab materials of different stacking heights and place them on the conveyor device to achieve fully automated loading and unloading of goods.

[0004] The technical solution adopted by this utility model to achieve the above-mentioned objectives is as follows: a six-axis walking robot loading and unloading device, including a gripping mechanism, a walking mechanism, a data acquisition and control mechanism, and a conveying mechanism. The gripping mechanism and the data acquisition and control mechanism are respectively mounted on the walking mechanism. The conveying mechanism includes a lifting conveyor roller assembly, a movable conveyor roller assembly, and a transition conveyor belt assembly. The lifting conveyor roller assembly is mounted on the front support of the walking mechanism, the movable conveyor roller assembly is mounted on one side of the walking mechanism, and the transition conveyor belt assembly is connected between the rear end of the lifting conveyor roller assembly and the front end of the movable conveyor roller assembly. The lifting conveyor roller assembly includes a lifting base plate, a lifting mechanism, and roller assembly I. The lifting base plate is connected to the track wheel bracket inside the walking mechanism. The lifting mechanism is mounted on the upper surface of the lifting base plate. Roller assembly I is connected to the top of the lifting mechanism. A transfer bracket is provided at the front end of the movable conveyor roller assembly, and the transition conveyor belt assembly is connected between roller assembly I and the transfer bracket.

[0005] A further technical solution of this utility model is: the movable conveying roller assembly includes roller assembly II and a support column supported under roller assembly II. The bottom end of the support column is connected to a wheel. The adapter bracket includes two support plates symmetrically connected to the outside of the frontmost support column. A sliding groove is provided at the upper end of the support plate. The extension direction of the sliding groove is parallel to the conveying direction of the movable conveying roller assembly.

[0006] A further technical solution of this utility model is: the roller mounting frame of the roller assembly I is connected to a pair of transition supports on the rear side, the support shafts at the front and rear ends of the transition conveyor belt assembly protrude from the end faces of the belt bracket, the two ends of the front support shaft of the transition conveyor belt assembly are respectively hinged to the transition supports, and the two ends of the rear support shaft of the transition conveyor belt assembly are respectively positioned in the grooves of the two support plates.

[0007] A further technical solution of this utility model is: the transition conveyor belt assembly is vertically connected to one side of the roller assembly I, and a steering mechanism capable of controlling the material's direction of rotation is provided on the inner side of the roller assembly I facing the transition conveyor belt assembly.

[0008] A further technical solution of this utility model is: the walking mechanism is a track wheel, a mechanical arm mounting base is connected to the track wheel bracket, the gripping mechanism includes a mechanical arm and a suction cup connected to the front end of the mechanical arm, and the mechanical arm connecting device is installed on the mechanical arm mounting base.

[0009] A further technical solution of this utility model is: the acquisition and control mechanism includes a control cabinet and a camera device. The control cabinet is installed on the mounting platform connected to the track wheel bracket. A power supply and control device are provided inside the control cabinet. The camera bracket is connected to the upper surface of the rear end of the mounting platform. The camera device is installed on the upper end of the camera bracket. The camera device is connected to the control device through a circuit.

[0010] This utility model discloses a six-axis walking robot loading and unloading device with the following advantages: The conveying mechanism includes a lifting conveyor roller assembly, a movable conveyor roller assembly, and a transition conveyor belt assembly. The lifting conveyor roller assembly is mounted on the front support of the walking mechanism. The overall height of the lifting conveyor roller assembly can be controlled according to the height of the material to be grabbed. By controlling the lifting mechanism to rise or fall, the roller assembly I is controlled to be at the same height as the material. This allows the robotic arm to quickly place the material onto the roller assembly I, eliminating the need for frequent restocking by workers. A transition conveyor belt assembly is connected between the roller assembly I and the movable conveyor roller assembly, with the rear end of the transition conveyor belt assembly positioned in the grooves of the two support plates at the front end of the movable conveyor roller assembly. Regardless of changes in the height of the roller assembly I, the transition conveyor belt assembly can always be stably connected between the rear end of the roller assembly I and the front end of the movable conveyor roller assembly, efficiently conveying materials continuously to the rear end of the movable conveyor roller assembly, achieving fully automated loading and unloading. Because of the walking mechanism and movable conveyor roller assembly, this utility model can be moved to different locations, making it suitable for a wide range of applications, especially for materials transported by outdoor vehicles and materials temporarily stacked in warehouses.

[0011] The following description, in conjunction with the accompanying drawings and embodiments, further illustrates a six-axis walking robot loading and unloading device according to the present invention. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a six-axis walking robot loading and unloading equipment according to this utility model; Figure 2 yes Figure 1 This is another view of a six-axis walking robot loading and unloading equipment; Figure 3 This is a partial view of the transition conveyor assembly connecting roller assembly I and the movable conveyor roller assembly; Explanation of reference numerals: 1-Grabbing mechanism, 2-Lifting conveyor roller assembly, 3-Transition conveyor belt assembly, 4-Collection and control mechanism, 5-Movable conveyor roller assembly, 6-Walking mechanism, 7-Lifting base plate, 8-Lifting mechanism, 9-Roller assembly I, 10-Transfer bracket, 11-Slide groove, 12-Roller assembly II, 13-Wheel, 14-Support column, 15-Robot arm, 16-Suction cup, 17-Robot arm mounting base, 18-Camera device, 19-Camera bracket, 20-Control cabinet, 21-Crawler wheel, 22-Mounting platform, 23-Material, 24-Steering mechanism, 25-Transfer bracket, 26-Support shaft. Detailed Implementation

[0013] like Figures 1 to 3 As shown, this utility model discloses a six-axis walking robot loading and unloading equipment for loading and unloading materials 23, including a gripping mechanism 1, a walking mechanism 6, a transition conveyor belt assembly 4, and a conveying mechanism.

[0014] like Figures 1 to 3 As shown, the walking mechanism 6 is a tracked wheel 21. Only a partial structure of the tracked wheel is shown in the figure. The tracked wheel used in this utility model is an existing structure, and its structure will not be described in detail here. The gripping mechanism 1 and the transition conveyor belt assembly 4 are respectively mounted on the walking mechanism 6. A robotic arm mounting base 17 is connected to the tracked wheel bracket. A mounting platform 22 connected to the tracked wheel bracket is provided on the rear side of the robotic arm mounting base 17. The gripping mechanism 1 includes a robotic arm 15 and a suction cup 16 connected to the front end of the robotic arm 15. The robotic arm 15 is mounted on the robotic arm mounting base 17 through a connecting device. The robotic arm 15 is a six-axis robotic arm. The six-axis robotic arm used in this utility model is an existing structure, and its structure will not be described in detail here. The transition conveyor belt assembly 4 includes a control cabinet 20 and a camera device 18. The control cabinet 20 is mounted on the mounting platform 22 connected to the tracked wheel bracket. A power supply and control device are provided inside the control cabinet 20. The control device is not the inventive point of this utility model and is not shown in the figure. The camera bracket 19 is connected to the upper surface of the rear end of the mounting platform 22. The camera device 18 is mounted on the upper end of the camera bracket 19. The camera device 18 is connected to the control device through a circuit. The camera device 18 can transmit the captured information to the control device through the circuit. The control device can issue appropriate control signals based on the collected information.

[0015] like Figures 1 to 3 As shown, the conveying mechanism includes a lifting conveyor roller assembly 2, a movable conveyor roller assembly 5, and a transition conveyor belt assembly 3. The lifting conveyor roller assembly 2 is mounted on the front support of the traveling mechanism 6, and the rear end of the front support of the traveling mechanism 6 is connected to the track wheel support. The movable conveyor roller assembly 5 is located on one side of the traveling mechanism 6, and the transition conveyor belt assembly 3 connects the rear end of the lifting conveyor roller assembly 2 and the front end of the movable conveyor roller assembly 5. The lifting conveyor roller assembly 2 includes a lifting base plate 7, a lifting mechanism 8, and a roller assembly I 9. The lifting base plate 7 is connected to the track wheel support inside the traveling mechanism 6, and the lifting base plate 7 can move forward and backward together with the traveling mechanism 6. The lifting mechanism 8 is mounted on the upper surface of the lifting base plate 7. In this embodiment, the lifting mechanism 8 is a scissor-type lifting mechanism 8. The structure of the scissor-type lifting mechanism is existing technology, and its structure will not be described in detail here. The roller assembly I 9 is connected to the top of the lifting mechanism 8. The roller assembly I 9 includes a roller mounting frame and a roller I mounted on the roller mounting frame. The roller mounting frame of roller assembly I9 is ​​connected to a pair of transition supports 25 on the rear side, and the transition supports 25 are provided with hinge holes.

[0016] like Figures 1 to 3As shown, a transition bracket 10 is provided at the front end of the movable conveyor roller assembly 5, and the transition conveyor belt assembly 3 is connected between the roller assembly I 9 and the transition bracket 10. The movable conveyor roller assembly 5 includes a roller assembly II 12 and a support column 14 supported under the roller assembly II 12. Wheels 13 are connected to the bottom end of the support column 14. The movable conveyor roller assembly 5 can be installed in a predetermined position and can also be moved during use. The transition bracket 10 includes two symmetrically fixed support plates connected to the outer side of the foremost support column 14. A long, narrow groove 11 is provided at the upper end of the support plate, and the extension direction of the groove 11 is parallel to the conveying direction of the movable conveyor roller assembly 5. The support shafts 26 at both ends of the transition conveyor belt assembly 3 protrude from the end faces of the belt support. The two ends of the front support shaft 26 of the transition conveyor belt assembly 3 are hinged to the hinge holes of the transition support 25, and the two ends of the rear support shaft 26 of the transition conveyor belt assembly 3 are positioned in the grooves 11 of the two support plates. The transition conveyor belt assembly 3 is vertically connected to one side of the roller assembly I9. Inside the roller assembly I9, which is directly opposite the transition conveyor belt assembly 3, there is a steering mechanism 24 that can control the direction of the material. The steering mechanism 24 is an existing structure, and its structure will not be described in detail here.

[0017] During operation, the movable conveyor roller assembly 5 is first installed near the material stacking location. The walking mechanism 6 is then moved to one side of the movable conveyor roller assembly 5, and the transition conveyor belt assembly 3 is installed between the roller assembly I9 and the adapter bracket 10 at the front end of the movable conveyor roller assembly 5. The control device is activated, and the camera device 18 captures the material position information on site and transmits it to the control device. The control device controls the lifting mechanism 8 to move and adjust the roller assembly I9 to a suitable height according to the material stacking height. Then, the control device controls the robotic arm 15 to grab the material and place it on the roller assembly I9. The roller assembly I9 then conveys the material backward. When it reaches the turning mechanism 24, the material is turned 90 degrees and enters the transition conveyor belt assembly 3. From the transition conveyor belt assembly 3, it enters the movable conveyor roller assembly 5 and continues to be conveyed backward. During the material grabbing process of the robotic arm 15, the camera device 18 continuously transmits material information to the control device. When the material stacking height reaches the height of the lifting mechanism 8 preset by the control program, the control device issues an adjustment command for the lifting mechanism 8 and adjusts the lifting mechanism 8 to a suitable height, lifting and lowering according to the material stacking height. This allows the robot to quickly place the material onto the roller assembly I9 when the material height changes. When the height of the lifting mechanism 8 changes, the rear support shaft 26 of the transition conveyor belt assembly 3 slides autonomously in the slide groove 11 of the adapter bracket 10. Regardless of whether the roller assembly I9 rises or falls with the lifting mechanism 8, the transition conveyor belt assembly 3 can always be stably connected between the roller assembly I9 and the adapter bracket 10, ensuring stable material transportation.

[0018] The above embodiments are merely preferred embodiments of this utility model. The structure of this utility model is not limited to the forms listed in the above embodiments. Any modifications, equivalent substitutions, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A six-axis walking robot loading and unloading device, comprising a gripping mechanism (1), a walking mechanism (6), a data acquisition and control mechanism (4), and a conveying mechanism. The gripping mechanism (1) and the data acquisition and control mechanism (4) are respectively mounted on the walking mechanism (6). The conveying mechanism comprises a lifting conveyor roller assembly (2), a movable conveyor roller assembly (5), and a transition conveyor belt assembly (3). The lifting conveyor roller assembly (2) is mounted on the front support of the walking mechanism (6), the movable conveyor roller assembly (5) is mounted on one side of the walking mechanism (6), and the transition conveyor belt assembly (3) is connected to the lifting conveyor roller assembly (6). Between the rear end of the roller assembly (2) and the front end of the movable conveyor roller assembly (5), the lifting conveyor roller assembly (2) includes a lifting base plate (7), a lifting mechanism (8) and roller assembly I (9). The lifting base plate (7) is connected to the track wheel bracket inside the walking mechanism (6). The lifting mechanism (8) is installed on the upper surface of the lifting base plate (7). The roller assembly I (9) is connected to the top of the lifting mechanism (8). The front end of the movable conveyor roller assembly (5) is provided with a transfer bracket (10). The transition conveyor belt assembly (3) is connected between the roller assembly I (9) and the transfer bracket (10).

2. The six-axis walking robot loading and unloading equipment as described in claim 1, characterized in that, The movable conveying roller assembly (5) includes roller assembly II (12) and support column (14) supported under roller assembly II (12). The bottom end of the support column (14) is connected to a wheel (13). The adapter bracket (10) includes two support plates symmetrically connected to the outside of the frontmost support column (14). A sliding groove (11) is provided at the upper end of the support plate. The extension direction of the sliding groove (11) is parallel to the conveying direction of the movable conveying roller assembly (5).

3. The six-axis walking robot loading and unloading equipment as described in claim 2, characterized in that, The roller assembly I (9) has a pair of transition supports (25) connected to the rear end side of the roller mounting frame. The support shafts (26) at the front and rear ends of the transition conveyor belt assembly (3) protrude from the end faces of the belt brackets. The two ends of the front support shaft (26) of the transition conveyor belt assembly (3) are hinged to the transition supports (25). The two ends of the rear support shaft (26) of the transition conveyor belt assembly (3) are positioned in the grooves (11) of the two support plates.

4. The six-axis walking robot loading and unloading equipment as described in claim 3, characterized in that, The transition conveyor belt assembly (3) is vertically connected to one side of the roller assembly I (9), and a steering mechanism (24) capable of controlling the material's direction is provided inside the roller assembly I (9) facing the transition conveyor belt assembly (3).

5. The six-axis walking robot loading and unloading equipment as described in claim 1, characterized in that, The walking mechanism (6) is a track wheel (21), and a mechanical arm mounting base (17) is connected to the track wheel bracket. The gripping mechanism (1) includes a mechanical arm (15) and a suction cup (16) connected to the front end of the mechanical arm (15). The mechanical arm (15) is mounted on the mechanical arm mounting base (17) through a connecting device.

6. The six-axis walking robot loading and unloading equipment as described in claim 5, characterized in that, The acquisition and control mechanism (4) includes a control cabinet (20) and a camera device (18). The control cabinet (20) is installed on the mounting platform (22) connected to the track wheel bracket. The control cabinet (20) is equipped with a power supply and control device inside. The camera bracket (19) is connected to the upper surface of the rear end of the mounting platform (22). The camera device (18) is installed on the upper end of the camera bracket (19). The camera device (18) is connected to the control device through a circuit.

Images