CN210968860U - Stacking robot capable of moving freely - Google Patents
Stacking robot capable of moving freely Download PDFInfo
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- CN210968860U CN210968860U CN201921605640.XU CN201921605640U CN210968860U CN 210968860 U CN210968860 U CN 210968860U CN 201921605640 U CN201921605640 U CN 201921605640U CN 210968860 U CN210968860 U CN 210968860U
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- 238000001514 detection method Methods 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 28
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 239000003814 drug Substances 0.000 abstract description 14
- 238000012856 packing Methods 0.000 abstract description 9
- 238000004806 packaging method and process Methods 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model discloses a freely movable palletizing robot, which comprises a chassis, a six-shaft palletizing robot hand detection mechanism and a control mechanism; the six-shaft stacking robot hand is arranged on the chassis, the detection mechanism is used for detecting the running state of the stacking robot and is connected with the control mechanism, and the control mechanism is used for controlling the running of the stacking robot. The bottom end of the six-shaft stacking robot is provided with the chassis, so that the six stacking robots can freely move in a warehouse, and the loading, unloading, carrying and other work of the medicine outer boxes can be carried out; the robot adopts six driving components to connect the base, the joint, the mechanical arm and the like, so that the robot has six degrees of freedom, has good flexibility and is suitable for working at almost any track or angle; through connecting the sucking disc subassembly in end connection department, the sucking disc subassembly snatchs the packing box that needs transported and carries out fast loading and unloading, has improved the efficiency of medicine loading and unloading.
Description
Technical Field
The utility model relates to a medicine handling device field especially relates to a pile up neatly machine people that can freely remove.
Background
In the last half of 2017, the accumulated business volume of express service enterprises in China is 173.2 hundred million pieces, and from the second quarter of the year, the normalization of China enters the hundred million pieces express times per day. In this context, the application of the logistics robot is becoming widespread. In the next 5-10 years, the use density of the logistics robot is estimated to reach about 5 persons per ten thousand. Therefore, the reduction of logistics cost is a hot issue of high concern in the whole society and is also the central importance of structural reform on the transportation supply side.
Artificial intelligence is the development trend of the future logistics industry, and in pharmaceutical enterprises, when a whole packing box filled with medicines is loaded and unloaded, more manual operations are needed, the overall efficiency is not high, and the artificial intelligence is a difficult point for improving the technical level of the whole pharmaceutical logistics transportation and storage industry.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model aims at providing a pile up neatly machine people that can freely remove, this robot passes through the chassis and freely walks, and six pile up neatly robots are compact, light and handy simultaneously, have six degrees of freedom, can the whole packing box of fast loading and unloading.
In order to realize the above purpose, the utility model discloses a technical scheme:
a freely movable palletizing robot comprises a chassis, a six-shaft palletizing robot hand detection mechanism and a control mechanism;
the six-shaft stacking robot is arranged on the chassis, the detection mechanism is used for detecting the running state of the stacking robot and is connected with the control mechanism, and the control mechanism is used for controlling the running of the stacking robot.
Further, the chassis comprises mecanum wheels, a chassis power assembly and a chassis frame;
the Mecanum wheels and the chassis power assemblies are both arranged on the chassis frame, and a plurality of groups of Mecanum wheels and the chassis power assemblies are arranged and correspond to each other one by one; the chassis power assembly comprises a first servo motor and a first speed reducer, the first servo motor is connected with the first speed reducer, and the first speed reducer is connected with the Mecanum wheel.
Further, the six-axis stacking robot comprises a robot driving assembly, a base, a first joint, a first mechanical arm, a second joint, a second mechanical arm, a third joint and a tail end connecting piece which are connected in sequence through the robot driving assembly, and a sucker assembly connected with the tail end connecting piece.
Further, the robot driving assembly comprises a first driving element, a second driving element, a third driving element, a fourth driving element, a fifth driving element and a sixth driving element;
the first driving piece is respectively and fixedly connected with the base and the first joint and is used for driving the first joint to rotate around the base;
the second driving piece is fixedly connected with the first joint and the first mechanical arm respectively and used for driving the first mechanical arm to rotate around the first joint, and the direction of the first joint rotating around the base is perpendicular to the direction of the first mechanical arm rotating around the first joint;
the third driving piece is fixedly connected with the first mechanical arm and the second joint respectively and used for driving the second joint to rotate around the first mechanical arm;
the fourth driving part is respectively fixedly connected with the second joint and the second mechanical arm and used for driving the second mechanical arm to rotate around the second joint, and the direction of the second joint rotating around the first mechanical arm is perpendicular to the direction of the second mechanical arm rotating around the second joint;
the fifth driving piece is respectively and fixedly connected with the second mechanical arm and the third joint and is used for driving the third joint to rotate around the second mechanical arm;
the sixth driving piece is respectively fixedly connected with the third joint and the tail end connecting piece and used for driving the tail end connecting piece to rotate around the third joint, and the direction of the third joint rotating around the second mechanical arm is perpendicular to the direction of the tail end connecting piece rotating around the third joint.
Furthermore, the first driving part, the second driving part, the third driving part, the fourth driving part, the fifth driving part and the sixth driving part all comprise a second servo motor and a second speed reducer, and the second servo motor is connected with the second speed reducer.
Further, the sucker assembly comprises a sucker connecting shaft, a sucker clamping plate and a vacuum sucker;
the sucking disc connecting axle is installed sucking disc splint rear end and fixed connection end-to-end connection spare, vacuum chuck is provided with a plurality ofly and evenly installs on the sucking disc splint, vacuum chuck's suction nozzle orientation sucking disc splint front end.
Further, the detection mechanism comprises a laser position sensor and a laser positioner; the laser position sensor is installed on the chassis, and the laser positioner is installed at the grabbing end of the six-axis stacking robot.
Further, the control mechanism comprises a chassis motor controller, a robot motor controller and a P L C controller, the chassis motor controller is connected with the first servo motor, the robot motor controller is connected with the second servo motor, and the P L C controller is connected with the chassis motor controller, the robot motor controller and the detection mechanism.
The utility model has the advantages that:
the bottom end of the six-shaft stacking robot is provided with the chassis, so that the six stacking robots can freely move in a warehouse, and the loading, unloading, carrying and other work of the medicine outer boxes can be carried out; the robot can be quickly positioned in a narrow space by utilizing the Mecanum wheels to walk, and the robot palletizer can walk in a straight way, an inclined way, a transverse way, an S-shaped way and the like.
The robot for the stacking robot of the utility model adopts six driving components to connect the base, the joint, the mechanical arm and the like, so that the robot has six degrees of freedom, has good flexibility and is suitable for the work of almost any track or angle; through connecting the sucking disc subassembly in end connection department, the sucking disc subassembly snatchs the packing box that needs transported and carries out fast loading and unloading, has improved the efficiency of medicine loading and unloading.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the chassis of the present invention;
fig. 3 is a schematic structural view of the six-axis stacking robot of the present invention;
FIG. 4 is a schematic structural view of the chuck assembly of the six-axis palletizing robot of the present invention;
FIG. 5 is a schematic connection diagram of each component of the six-axis stacking robot of the present invention;
FIG. 6 is a control schematic diagram of the present invention;
in the figure, the robot comprises a base plate 1, a base plate 11, a mecanum wheel 12, a base plate power assembly 121, a first servo motor 122, a first speed reducer 13, a base plate frame 13, a six-shaft stacking robot hand 2, a robot driving assembly 21, a first driving piece 211, a second driving piece 212, a second driving piece 213, a third driving piece 214, a fourth driving piece 215, a fifth driving piece 216, a sixth driving piece 217, a second servo motor 22, a base 23, a first joint 24, a first mechanical arm 25, a second joint 26, a second mechanical arm 27, a third joint 28, a tail end connecting piece 29, a sucker assembly 291, a sucker connecting shaft 292, a sucker plate 293, a vacuum sucker, a detection mechanism 3, a detection mechanism 31, a laser position sensor 32, a laser positioner, a control mechanism 4, a control mechanism 41, a base plate motor controller 42, a robot motor controller 43 and a P L C controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further explained with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
A freely movable palletizing robot, as shown in fig. 1 and 6, comprises a chassis 1, a six-shaft palletizing robot hand 2, a detection mechanism 3 and a control mechanism 4; the six-shaft palletizing robot hand 2 is arranged on the chassis 1, the detection mechanism 3 is used for detecting the running state of the palletizing robot and is connected with the control mechanism 4, and the control mechanism 4 is used for controlling the running of the palletizing robot. The chassis 1 is used for the six-shaft stacking robot 2 to walk; six pile up neatly machine hands 2 are used for snatching the medicine outer container that needs to be transported.
As a preferred solution of the present embodiment, as shown in fig. 2, the chassis 1 includes mecanum wheels 11, a chassis power assembly 12, and a chassis frame 13; the Mecanum wheels 11 and the chassis power assemblies 12 are both arranged on the chassis frame 13, and the Mecanum wheels 11 and the chassis power assemblies 12 are both provided with a plurality of groups and are in one-to-one correspondence; the chassis power assembly 12 includes a first servo motor 121 and a first reducer 122, the first servo motor 121 is connected to the first reducer 122, and the first reducer 122 is connected to the mecanum wheel 11.
When the chassis is used, the high-speed rotation of the first servo motor 121 is converted into low-speed rotation by the first reducer 122, and then the low-speed rotation is directly transmitted to the mecanum wheel 11 to drive the mecanum wheel 11 to rotate, so that the chassis 1 travels on the ground. In addition, the chassis has certain weight, stabilizes the robot hand, prevents because the robot hand gravity center skew is emptyd. In this embodiment, the first servo motor 121 is a dc servo motor of a type SMH60-40306EBC-1 manufactured by tenna motors ltd. The first retarder 122 is a retarder model PS090-A0205C1430, available from Taida corporation.
As a preferred embodiment, as shown in fig. 1 and 3, the six-axis palletizing robot 2 comprises a robot driving assembly 21, a base 22, a first joint 23, a first mechanical arm 24, a second joint 25, a second mechanical arm 26, a third joint 27 and a terminal connecting piece 28 which are connected in sequence by the robot driving assembly 21, and a sucker assembly 29 connected with the terminal connecting piece 28.
The base 22, the first joint 23, the first mechanical arm 24, the second joint 25, the second mechanical arm 26, the third joint 27 and the tail end connecting piece 28 are connected through the robot driving assembly 21, so that the robot has six degrees of freedom and good flexibility, and is suitable for work in almost any track or angle; the tail end connecting piece 28 is connected with a sucker component 29, the sucker component 29 grabs the packaging box to be transported for loading and unloading, and the whole packaging box containing the medicine is quickly loaded and unloaded.
As a preferred solution of the present embodiment, as shown in fig. 3 and 5, the robot driving assembly 21 includes a first driving element 211, a second driving element 212, a third driving element 213, a fourth driving element 214, a fifth driving element 215, and a sixth driving element 216;
the first driving member 211 is fixedly connected to the base 22 and the first joint 23, respectively, and is configured to drive the first joint 23 to rotate around the base 22;
the second driving component 212 is respectively fixedly connected with the first joint 23 and the first mechanical arm 24, and is used for driving the first mechanical arm 24 to rotate around the first joint 23, and the direction of the first joint 23 rotating around the base 22 is perpendicular to the direction of the first mechanical arm 24 rotating around the first joint 23;
the third driving element 213 is fixedly connected to the first mechanical arm 24 and the second joint 25, respectively, and is configured to drive the second joint 25 to rotate around the first mechanical arm 24;
the fourth driving part 214 is fixedly connected to the second joint 25 and the second mechanical arm 26, and is configured to drive the second mechanical arm 26 to rotate around the second joint 25, and a direction of rotation of the second joint 25 around the first mechanical arm 24 is perpendicular to a direction of rotation of the second mechanical arm 26 around the second joint 25;
the fifth driving member 215 is fixedly connected to the second mechanical arm 26 and the third joint 27, respectively, and is configured to drive the third joint 27 to rotate around the second mechanical arm 26;
the sixth driving member 216 is fixedly connected to the third joint 27 and the end connecting member 28, respectively, for driving the end connecting member 28 to rotate around the third joint 27, and the direction of rotation of the third joint 27 around the second mechanical arm 26 is perpendicular to the direction of rotation of the end connecting member 28 around the third joint 27.
In the embodiment, the robot hand only comprises two mechanical arms, each joint can be rotatably connected with the previous part and the next part, and the two rotation modes at the joints are perpendicular to each other, so that the robot hand can have six degrees of freedom through three joints. Compared with the existing huge and heavy robot with four mechanical arms and five joints required by six degrees of freedom, the robot hand in the embodiment has a simpler, more compact and lighter structure.
As an optimized solution of the present embodiment, as shown in fig. 6, each of the first driving element 211, the second driving element 212, the third driving element 213, the fourth driving element 214, the fifth driving element 215, and the sixth driving element 216 includes a second servo motor 217 and a second speed reducer, and the second servo motor 217 is connected to the second speed reducer. The second servo motor 217 is a loose servo motor, and the second speed reducer is a Hammernace speed reducer.
In this embodiment, the servo motor of the first driving member 211 is a loose servo motor of MDME202 type, and its own controller is used as the controller of the first driving member 211; the reducer of the first driving member 211 is a Hammernace series reducer of type 65A-BADB.
The servo motor of the second driving piece 212 adopts a loose servo motor with the model number of MDME152, and a controller of the servo motor is taken as a controller of the second driving piece 212; the reduction gear of the second drive member 212 is a Hammernace series reduction gear of type 50A-AABB.
The servo motor of the third driving member 213 is a loose servo motor with the model number of MSME084, and a controller of the loose servo motor is used as a controller of the third driving member 213; the speed reducer of the third driving member 213 is a Hammernace series speed reducer of a model number of 20A-FFP.
The servo motor of the fourth driving part 214 adopts a loose servo motor with the model number of MSME084, and a controller of the loose servo motor is taken as a controller of the fourth driving part 214; the speed reducer of the fourth driving member 214 is a Hammernace series speed reducer of a model number 20A-FFP.
The servo motor of the fifth driving element 215 adopts a loosening servo motor with the model number of MHMD041, a controller of the servo motor is used as a controller of the fifth driving element 215, and the speed reducer of the fifth driving element 215 adopts a Hammernace series speed reducer with the model number of 32A-NE L A.
The servo motor of the sixth driving element 216 is a loose servo motor with the model number of MHMD021, and a controller of the servo motor is used as a controller of the sixth driving element 216; the reduction gear of the sixth driving member 216 is a Hammernace series reduction gear of type 20A-GDI.
As an optimized solution of the present embodiment, as shown in fig. 4, the suction cup assembly 29 includes a suction cup connecting shaft 291, a suction cup clamping plate 292, and a vacuum suction cup 293; the sucking disc connecting shaft 291 is installed at the rear end of the sucking disc clamping plate 292 and is fixedly connected with the tail end connecting piece 28, the vacuum sucking discs 293 are provided with a plurality of sucking discs and are evenly installed on the sucking disc clamping plate 292, and suction nozzles of the vacuum sucking discs 293 face the front end of the sucking disc clamping plate 292.
The sucker assembly 29 is a grabbing component of the robot, and the vacuum sucker 293 is used for sucking the whole packaging box filled with medicines, so that the packaging box is easy to use, pollution-free and free of damage to grabbing. The vacuum chucks 293 of the present embodiment are provided in two rows, four in each row, and the vacuum chucks 293 are selected from the vacuum chucks of the japanese SMC corporation, model ZP2_ TF80HUJB50, and at the same time, the generator corresponding to the vacuum chucks of the japanese SMC corporation is selected, and the generator is controlled by the control mechanism to control the operation of the vacuum chucks 293.
As an optimized solution of the present embodiment, as shown in fig. 6, the detection mechanism 3 includes a laser position sensor 31 and a laser positioner 32; the laser position sensor 31 is arranged on the chassis 1, and the laser positioner 32 is arranged at the grabbing end of the six-axis palletizing robot 2.
In the embodiment, the laser position sensor 31 is used for sampling the position of the chassis 1 and uploading the position to the control mechanism, the control mechanism controls the Mecanum wheel 11 to rotate so as to enable the chassis to walk, and the laser position sensor 31 in the embodiment adopts a German P + F NMB-12GM series sensor. The laser positioner 32 is used for positioning the position of the medicine packing box, so that the six-axis stacking manipulator 2 moves to the position to grab, in the embodiment, a Vmt machine vision technical system of germany P + F company is selected as the laser positioner 32, and the system is integrated on the vacuum chuck 293 of the six-axis stacking manipulator 2 to perform motion control on the position and the posture of the manipulator wrist.
As an optimized solution of the present embodiment, as shown in fig. 6, the control mechanism 4 includes a chassis motor controller 41, a robot motor controller 42, and a P L C controller 43, the chassis motor controller 41 is connected to the first servo motor 121, the robot motor controller 42 is connected to the second servo motor 217, and the P L C controller 43 is connected to the chassis motor controller 41, the robot motor controller 42, and the detection mechanism 3.
In this embodiment, the first servo motor 121 connected to each mecanum wheel 11 is connected to a chassis motor controller 41 to control the operation of the mecanum wheel 11, the robot motor controller 42 controls the operation of each second servo motor 217, the P L C controller 43 is a control center of the entire robot, receives information uploaded by the detection mechanism, calculates and plans the traveling of the chassis 1 and the grasping of the palletizing robot 2, and transmits the information to the controllers to control the operations of the chassis 1 and the palletizing robot 2, the motor of the tenna motor company ltd in the above description is used as the chassis motor controller 41, the loose servo motor is used as the robot motor controller 42, and the P L C controller 43 is a P L C controller of the DVP-PM series.
For better understanding, the utility model discloses, following is to the theory of operation of the utility model make a complete description:
when the robot is used, the robot is firstly required to be moved to a loading and unloading position, the P L C controller 43 sends information to the four chassis motor controllers 41, each chassis motor controller 41 controls each first servo motor 121 to rotate according to the received information, the high-speed rotation of the first servo motor 121 is decelerated by the first decelerator 122 and transmitted to the Mecanum wheel 11, the Mecanum wheel 11 rotates to enable the robot to walk, the laser position sensor 31 collects the position information of the chassis while the robot walks, the position information is uploaded to the P L C controller 43, the P L C controller 43 corrects the running path according to the difference between the actual position and the theoretical position, the corrected information is transmitted to each chassis motor controller 41, each chassis motor controller 41 controls the corresponding Mecanum wheel 11 to rotate, and the robot is moved to the loading and unloading position.
When the medicine outer box is grabbed at the loading and unloading position, the P L C controller 43 controls the robot motor controllers 42 of the driving assemblies 21 to work, the robot motor controllers 42 control the second servo motors 217 to operate, the second speed reducer changes the high-speed rotation of the second servo motors into low-speed rotation to drive the mechanical arms, joints and the like to rotate, when the robot motor controllers rotate to the grabbing position, the laser positioner 32 positions the medicine packing box, the P L C controller 43 controls the vacuum chucks 293 to work to grab the packing box to be transported, then the robot motor controllers control the mechanical arms, joints and the like to rotate, the vacuum chucks 293 at the tail end of the robot move to the placing position of the medicine packing box, and the medicine packing box is put down.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a pile up neatly machine people that can freely remove which characterized in that: comprises a chassis (1), a six-shaft stacking robot arm (2), a detection mechanism (3) and a control mechanism (4);
the six-shaft stacking robot hand (2) is installed on the chassis (1), the detection mechanism (3) is used for detecting the running state of the stacking robot and is connected with the control mechanism (4), and the control mechanism (4) is used for controlling the running of the stacking robot.
2. The palletizing robot as recited in claim 1, wherein: the chassis (1) comprises Mecanum wheels (11), a chassis power assembly (12) and a chassis frame (13);
the Mecanum wheels (11) and the chassis power assemblies (12) are both installed on the chassis frame (13), and the Mecanum wheels (11) and the chassis power assemblies (12) are both provided with a plurality of groups and are in one-to-one correspondence; the chassis power assembly (12) comprises a first servo motor (121) and a first speed reducer (122), the first servo motor (121) is connected with the first speed reducer (122), and the first speed reducer (122) is connected with the Mecanum wheel (11).
3. The palletizing robot as recited in claim 2, wherein: the six-shaft stacking robot hand (2) comprises a robot driving assembly (21), a base (22), a first joint (23), a first mechanical arm (24), a second joint (25), a second mechanical arm (26), a third joint (27) and a terminal connecting piece (28) which are connected in sequence through the robot driving assembly (21), and a sucker assembly (29) connected with the terminal connecting piece (28).
4. The palletizing robot as recited in claim 3, wherein: the robot driving assembly (21) comprises a first driving element (211), a second driving element (212), a third driving element (213), a fourth driving element (214), a fifth driving element (215) and a sixth driving element (216);
the first driving piece (211) is fixedly connected with the base (22) and the first joint (23) respectively and used for driving the first joint (23) to rotate around the base (22);
the second driving piece (212) is fixedly connected with the first joint (23) and the first mechanical arm (24) respectively and used for driving the first mechanical arm (24) to rotate around the first joint (23), and the rotating direction of the first joint (23) around the base (22) is perpendicular to the rotating direction of the first mechanical arm (24) around the first joint (23);
the third driving piece (213) is fixedly connected with the first mechanical arm (24) and the second joint (25) respectively and used for driving the second joint (25) to rotate around the first mechanical arm (24);
the fourth driving part (214) is fixedly connected with the second joint (25) and the second mechanical arm (26) respectively and is used for driving the second mechanical arm (26) to rotate around the second joint (25), and the direction of rotation of the second joint (25) around the first mechanical arm (24) is perpendicular to the direction of rotation of the second mechanical arm (26) around the second joint (25);
the fifth driving piece (215) is fixedly connected with the second mechanical arm (26) and the third joint (27) respectively and used for driving the third joint (27) to rotate around the second mechanical arm (26);
the sixth driving piece (216) is respectively fixedly connected with the third joint (27) and the end connecting piece (28) and used for driving the end connecting piece (28) to rotate around the third joint (27), and the rotating direction of the third joint (27) around the second mechanical arm (26) is perpendicular to the rotating direction of the end connecting piece (28) around the third joint (27).
5. The palletizing robot as recited in claim 4, wherein: the first driving piece (211), the second driving piece (212), the third driving piece (213), the fourth driving piece (214), the fifth driving piece (215) and the sixth driving piece (216) respectively comprise a second servo motor (217) and a second speed reducer, and the second servo motor (217) is connected with the second speed reducer.
6. The palletizing robot as recited in claim 5, wherein: the sucker assembly (29) comprises a sucker connecting shaft (291), a sucker clamping plate (292) and a vacuum sucker (293);
sucking disc connecting axle (291) is installed sucking disc splint (292) rear end and fixed connection end-to-end connection (28), vacuum chuck (293) are provided with a plurality ofly and evenly install on sucking disc splint (292), the suction nozzle orientation of vacuum chuck (293) sucking disc splint (292) front end.
7. The palletizing robot as recited in claim 6, wherein: the detection mechanism (3) comprises a laser position sensor (31) and a laser positioner (32); the laser position sensor (31) is installed on the chassis (1), and the laser positioner (32) is installed at the grabbing end of the six-axis stacking robot arm (2).
8. Palletizing robot according to claim 7, characterized in that said control mechanism (4) comprises a chassis motor controller (41), a robot motor controller (42) and a P L C controller (43);
the chassis motor controller (41) is connected with the first servo motor (121), the robot motor controller (42) is connected with the second servo motor (217), and the P L C controller (43) is connected with the chassis motor controller (41), the robot motor controller (42) and the detection mechanism (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921605640.XU CN210968860U (en) | 2019-09-25 | 2019-09-25 | Stacking robot capable of moving freely |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921605640.XU CN210968860U (en) | 2019-09-25 | 2019-09-25 | Stacking robot capable of moving freely |
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| CN210968860U true CN210968860U (en) | 2020-07-10 |
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| CN201921605640.XU Expired - Fee Related CN210968860U (en) | 2019-09-25 | 2019-09-25 | Stacking robot capable of moving freely |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757331A (en) * | 2021-01-19 | 2021-05-07 | 成都工业职业技术学院 | Material turnover robot |
| CN113525830A (en) * | 2021-07-09 | 2021-10-22 | 博锲思智能装备(青岛)有限公司 | Automatic unpacking and upper plate production line for gypsum boards |
| CN113681533A (en) * | 2021-08-19 | 2021-11-23 | 广东白云学院 | Position adjustment structure and material conveying robot |
| CN114101931A (en) * | 2021-12-14 | 2022-03-01 | 安镁金属制品（深圳）有限公司 | Intelligent laser edge trimmer and edge trimming process |
| CN115072621A (en) * | 2022-06-10 | 2022-09-20 | 国网安徽省电力有限公司休宁县供电公司 | Multifunctional processing device for electric power pole and use method thereof |
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2019
- 2019-09-25 CN CN201921605640.XU patent/CN210968860U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757331A (en) * | 2021-01-19 | 2021-05-07 | 成都工业职业技术学院 | Material turnover robot |
| CN113525830A (en) * | 2021-07-09 | 2021-10-22 | 博锲思智能装备(青岛)有限公司 | Automatic unpacking and upper plate production line for gypsum boards |
| CN113525830B (en) * | 2021-07-09 | 2023-03-14 | 山东瑞邦智能装备股份有限公司 | Automatic unpacking and upper plate production line for gypsum boards |
| CN113681533A (en) * | 2021-08-19 | 2021-11-23 | 广东白云学院 | Position adjustment structure and material conveying robot |
| CN114101931A (en) * | 2021-12-14 | 2022-03-01 | 安镁金属制品（深圳）有限公司 | Intelligent laser edge trimmer and edge trimming process |
| CN115072621A (en) * | 2022-06-10 | 2022-09-20 | 国网安徽省电力有限公司休宁县供电公司 | Multifunctional processing device for electric power pole and use method thereof |
| CN115072621B (en) * | 2022-06-10 | 2024-03-19 | 国网安徽省电力有限公司休宁县供电公司 | Multifunctional processing device for electric pole and application method thereof |
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