Material sorting robot

Abstract

A material sorting robot, comprising a walking mechanism (1), a storage mechanism being provided at the top of the walking mechanism (1), the storage mechanism being multi-layer horizontally-arranged storage plates (2), two sides of the storage mechanism being provided with a same lifting and transverse moving mechanism (3), and a mechanical arm mechanism (4) being provided at the bottom of the lifting and transverse moving mechanism (3). The lifting and transverse moving mechanism (3) drives the mechanical arm mechanism (4) to move, and the mechanical arm mechanism (4) grabs materials; during grabbing, the mechanical arm mechanism (4) can wholly extend downwards and clamp the materials, thus achieving simple, convenient and rapid operations; then the lifting and transverse moving mechanism (3) drives the mechanical arm mechanism (4) that has grabbed the materials to move close to the storage mechanism and rise to a corresponding storage plate (2), and then drives the mechanical arm mechanism (4) to transversely move to a position right above the storage plate (2), and the mechanical arm mechanism (4) is opened; since the storage mechanism has multiple layers, more materials can be carried at a time, thus improving the sorting capability.

Description

A material picking robot Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a material picking robot. Background Art

[0002] With the rapid development of the modern logistics industry, high-tech technologies such as automation and computer technology are gradually being integrated into industrial design. Industrial robots, as the most typical mechatronic digital equipment, offer high added value and a wide range of applications. They are key technologies in advanced manufacturing and an emerging industry in the information society, playing a vital role in industry, future production, and social development. In robotic grasping and manipulation, a specific gripper is typically configured for each material, enabling the grasping and placement of that material.

[0003] When the robot's manipulator is working, when it clamps the material through the manipulator, the robotic arm first places the manipulator on top of the material, then lowers the manipulator, and finally clamps the material through the manipulator, and finally the manipulator places the material into the loading mechanism. During this process, the stability of the manipulator clamping the material needs to be ensured.

[0004] Chinese patent CN114643205A discloses a fast, multi-variety robotic material picking device and method. The device comprises a control cabinet, a picking robot, a transfer mechanism, a storage bin, a conveyor line, and a picking bin mounted on the conveyor line. The picking robot is located on one side of the conveyor line and mounted within the transfer mechanism, for picking materials from the storage bin into the picking bin. The transfer mechanism is equipped with a storage bin, which is connected to the control cabinet and receives material information and transports the storage bin into the picking robot's grasping range. The control cabinet is connected to the picking robot and the transfer mechanism via cables, controlling the picking robot to pick materials and transmitting material information to the transfer mechanism. This invention physically isolates the storage bin replacement and picking operations within the work area, allowing them to be performed in parallel without interfering with each other. This ensures high-speed, continuous material sorting for multi-variety, small-batch orders, improving the speed and efficiency of material sorting operations.

[0005] However, in order to sort a variety of materials, the patented device sacrifices flexibility, resulting in a fixed device that occupies a large space in a complex working environment and has poor practicality.

[0006] Therefore, it is necessary to invent a material picking robot that can make the device flexible and non-fixed, can pick materials of different types at the same time, and can pick more materials at one time.

[0007] Summary of the Invention

[0008] In response to the above problems, the present invention provides a material picking robot to solve the problems raised in the above background technology.

[0009] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a material picking robot, comprising a walking mechanism, a storage mechanism is arranged on the top of the walking mechanism, the storage mechanism is a multi-layer horizontal storage plate, the same lifting and transverse movement mechanism is arranged on both sides of the storage mechanism, and a manipulator mechanism is arranged at the bottom of the lifting and transverse movement mechanism.

[0010] Preferably, the lifting and transverse movement mechanism includes two vertical guide rails respectively installed on both sides of the storage plate, and a transverse hydraulic cylinder is provided on the front side of the sliding parts of the two vertical guide rails. The front side of the two transverse hydraulic cylinders is provided with the same support plate, and the bottom of the support plate is horizontally penetrated by a limit plate, and the top of the limit plate is teeth. A drive motor is provided on the top of the support plate, and a main gear is provided on the end of the output shaft of the drive motor. A through groove is provided on the top of the support plate, and the main gear is embedded in the through groove from the top of the support plate and meshes with the teeth on the top of the limit plate.

[0011] Preferably, the manipulator mechanism includes a main body plate, a vertical hydraulic cylinder is provided on the top of the main body plate, the vertical hydraulic cylinder is installed on the bottom surface of the limit plate, a sliding groove is provided at the bottom of the main body plate, two sliders are provided inside the sliding groove, a clamping claw is provided at the bottom of the slider, and return springs fixedly connected to the two ends of the sliding groove are provided on the opposite sides of the two sliders, a steel wire rope is provided on the side of the slider close to the bottom center of the support plate, the top of the steel wire rope is fixedly connected to the bottom surface of the limit plate, and a limit roller is provided at the corner position of the steel wire rope.

[0012] Preferably, a gear chain structure is provided at the bottom of each storage plate. The gear chain structure is divided into two groups, and a power rod is provided between the two groups. An auxiliary gear corresponding to the teeth on the top of the limit plate is provided in the middle of the power rod, and a suspended auxiliary plate is provided at the bottom of the gear chain structure.

[0013] Preferably, a T-shaped plate is provided on the top of the auxiliary plate, the top of the T-shaped plate is slidably connected to the bottom of the corresponding storage plate, the T-shaped plate is close to the front end of the storage plate, and a ball is embedded in the surface of the T-shaped plate.

[0014] Preferably, rubber pads are provided on opposite sides of the two clamping claws, and grooves are provided on the surfaces of the rubber pads.

[0015] Preferably, an indicator rod is horizontally inserted into the bottom ends of the two clamping claws, and a right-angle plate is provided on the opposite sides of the two clamping claws. A pressure sensor is provided at a position on the surface of the right-angle plate at the same height as the indicator rod.

[0016] Preferably, a horizontal spring is sleeved on the outer side of the indicator rod. When the horizontal spring is in a restored state, one end of the indicator rod is completely located inside the clamping claw, and the other end extends between the two clamping claws.

[0017] The technical effects and advantages of the present invention are as follows:

[0018] 1. The present invention drives the manipulator mechanism to move by lifting the transverse movement mechanism, and the manipulator mechanism grabs the material. When the manipulator mechanism grabs, it can extend downward and clamp it, which is simple and quick to operate. Then, the transverse movement mechanism is lifted to drive the manipulator mechanism that has grabbed the material to move close to the storage mechanism and rise to the corresponding storage plate. Then, the manipulator mechanism is driven to move transversely to just above the storage plate and open the manipulator mechanism. Moreover, since the storage mechanism is multi-layered, more materials can be carried at one time, thereby improving the picking capacity.

[0019] 2. The present invention causes the main gear to rotate through the teeth on the top of the limit plate, thereby driving the gear chain structure to work. The gear chain structure moves the auxiliary plate at its bottom that has stored the material to the rear side, and finally reserves enough space just above the storage plate to store larger materials. Only one operation is needed to drive the smaller materials backward and send the larger materials to the surface of the storage plate at the same time, which is more efficient. At the same time, since the small materials are located on the top of the rear auxiliary plate and the large materials are located on the top of the storage plate, the types of materials to be picked are increased, the orderly storage of materials is facilitated, and the practicality is better.

[0020] 3. The storage mechanism and the manipulator mechanism of the present invention are designed as an integrated whole, which is convenient for movement and walking, improves the flexibility of the device, and is more suitable for complex on-site working environments; the manipulator mechanism of the present invention makes it easier for operators to judge whether the material has been clamped through the design of the indicator rod, reducing the possibility of accidents in which the material is damaged due to improper clamping during the movement of the material.

[0021] 4. The present invention makes the auxiliary plate more stable through the ingenious design of the T-shaped plate, thereby improving the stability of the stored materials while storing more materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] FIG1 is a perspective schematic diagram of a material picking robot according to the present invention;

[0024] FIG2 is a front view of the material picking robot of the present invention;

[0025] FIG3 is an enlarged view of portion A of FIG2 of the present invention;

[0026] FIG4 is a main sectional view of the manipulator mechanism of the present invention.

[0027] In the figure: walking mechanism 1, storage plate 2, lifting and transverse movement mechanism 3, vertical guide rail 31, transverse hydraulic cylinder 32, support plate 33, limit plate 34, teeth 35, drive motor 36, main gear 37, manipulator mechanism 4, main plate 41, vertical hydraulic cylinder 42, slider 43, clamping claw 44, return spring 45, wire rope 46, gear chain structure 5, power rod 6, auxiliary gear 7, auxiliary plate 8, T-plate 9, rubber pad 10, indicator rod 11, right-angle plate 12, pressure sensor 13, horizontal spring 14. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "length," "width," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or location relationships, are based on the positions or location relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, in the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0030] The present invention provides a material picking robot as shown in Figures 1-4, including a walking mechanism 1, which is a universal wheel type. A storage mechanism is provided on the top of the walking mechanism 1, and the storage mechanism is a multi-layer horizontal storage plate 2. The same lifting and transverse movement mechanism 3 is provided on both sides of the storage mechanism, and a manipulator mechanism 4 is provided at the bottom of the lifting and transverse movement mechanism 3.

[0031] By lifting the transverse movement mechanism 3, the manipulator mechanism 4 is driven to move, and the material is grabbed by the manipulator mechanism 4. When the manipulator mechanism 4 grabs, the whole manipulator mechanism 4 can extend downward and clamp, which is easy to operate. Then, the transverse movement mechanism 3 is lifted to drive the manipulator mechanism 4 after grabbing the material to move close to the storage mechanism and rise to the corresponding storage plate 2. Then, the manipulator mechanism 4 is driven to move transversely to the top of the storage plate 2 and the manipulator mechanism 4 will be opened. Moreover, since the storage mechanism is multi-layered, more materials can be carried at a time, thereby improving the picking capacity.

[0032] Referring to Figures 1-3 of the specification, the lifting and transverse movement mechanism 3 includes two vertical guide rails 31 respectively installed on both sides of the storage plate 2, which are electrically controlled slide rails or other powered linear slide rails. A transverse hydraulic cylinder 32 is provided on the front side of the sliding parts of the two vertical guide rails 31, and the front side of the two transverse hydraulic cylinders 32 is provided with the same support plate 33. The bottom of the support plate 33 is horizontally penetrated and inserted with a limit plate 34. The top of the limit plate 34 is a tooth 35. A drive motor 36 is provided on the top of the support plate 33, and a main gear 37 is provided on the output shaft end of the drive motor 36. A through groove is provided on the top of the support plate 33, and the main gear 37 is embedded in the through groove from the top of the support plate 33 and meshes with the teeth 35 on the top of the limit plate 34.

[0033] When the lifting and transverse movement mechanism 3 is working, the vertical guide rail 31 can drive the support plate 33 at the front end of the transverse hydraulic cylinder 32 to move vertically, thereby making the manipulator mechanism 4 at the bottom move vertically, and the transverse hydraulic cylinder 32 can push the support plate 33, thereby driving the manipulator mechanism 4 at the bottom away from the storage plate 2, so that the manipulator mechanism 4 grabs the material at a distance. After the grabbing is completed, the transverse hydraulic cylinder 32 drives the manipulator mechanism 4 close to the storage plate 2 again, and finally drives the main gear 37 to rotate through the drive motor 36, and the main gear 37 moves the limit plate 34 horizontally, thereby driving the manipulator mechanism 4 and the material at its bottom to reach the top of the storage plate 2, and releases the material to complete the storage of the material.

[0034] Referring to Figures 1-4 of the specification, the manipulator mechanism 4 includes a main body plate 41, a vertical hydraulic cylinder 42 is provided on the top of the main body plate 41, the vertical hydraulic cylinder 42 is installed on the bottom surface of the limit plate 34, and the top of the vertical hydraulic cylinder 42 is embedded in the limit plate 34 to reduce the distance between the bottom end of the vertical hydraulic cylinder 42 and the limit plate 34. A sliding groove is provided at the bottom of the main body plate 41, two sliders 43 are provided inside the sliding groove, and a clamping claw 44 is provided at the bottom of the slider 43. The opposite sides of the two clamping claws 44 are provided with rubber pads 10, and the surface of the rubber pad 10 is provided with a groove. The rubber pad 10 on the surface of the clamping claw 44 can be deformed during clamping, thereby reducing damage to the material and increasing friction. At the same time, the opening of the groove can evacuate the air inside the groove when the rubber pad 10 is deformed, thereby achieving a negative pressure suction effect and improving the stability of clamping; the two sliders 43 are respectively provided with return springs 45 fixedly connected to the two ends of the sliding groove on the opposite sides, and a steel wire rope 46 is provided on one side of the slider 43 near the bottom center of the support plate 33. The top end of the steel wire rope 46 is fixedly connected to the bottom surface of the limit plate 34, and a limit roller is provided at the corner position of the steel wire rope 46.

[0035] When the manipulator mechanism 4 grabs the material, the vertical hydraulic cylinder 42 pushes the main plate 41 to move. During the downward movement of the main plate 41, the slider 43 is pulled by the wire rope 46, so that the two sliders 43 are close to each other. Finally, the slider 43 drives the clamping claw 44 to clamp the material. The material can be clamped by simply moving the vertical hydraulic cylinder 42 downward, which makes the operation easier.

[0036] Referring to Figures 2-3 of the specification, a gear chain structure 5 is provided at the bottom of each storage plate 2. The gear chain structure 5 is divided into two groups, and a power rod 6 is provided between the two groups. The middle part of the power rod 6 is provided with an auxiliary gear 7 corresponding to the teeth 35 at the top of the limit plate 34, and a suspended auxiliary plate 8 is provided at the bottom of the gear chain structure 5.

[0037] When picking, first use the manipulator mechanism 4 to pick up smaller materials. At this time, the vertical guide rail 31 drives the manipulator mechanism 4 to move to a height where the teeth 35 are lower than the auxiliary gear 7. At this time, when the driving motor 36 moves the limit plate 34 to the top of the storage plate 2 through the main gear 37, the teeth 35 will not touch the auxiliary gear 7, and then the gear chain structure 5 will not work, and the auxiliary plate 8 is in place. Then the clamping claw 44 is released to place the smaller materials on the auxiliary plate 8. Then, the manipulator mechanism 4 is used to pick up larger materials. The vertical guide rail 31 drives the manipulator mechanism 4 to a height where the teeth 35 are flush with the auxiliary gear 7. At this time, the driving motor 36 drives the limit plate 34 to the top of the storage plate 2 through the main gear 37. The teeth 35 will not touch the auxiliary gear 7, and then the gear chain structure 5 will not work, and the auxiliary plate 8 is in place. When the motor 36 drives the main gear 37 to move the limit plate 34, the teeth 35 on the top of the limit plate 34 will rotate the auxiliary gear 7, thereby driving the gear chain structure 5 to work. The gear chain structure 5 moves the auxiliary plate 8 at its bottom, which has already stored the material, to the rear side, and finally reserves enough space just above the storage plate 2 to store larger materials. It only needs to work once to drive the smaller materials backward and send the larger materials to the surface of the storage plate 2 at the same time, which is more efficient. At the same time, since the small materials are located on the top of the rear auxiliary plate 8 and the large materials are located on the top of the storage plate 2, the material picking capacity is increased and the orderly storage of materials is guaranteed, which is more practical.

[0038] 1-2 of the specification, a T-shaped plate 9 is provided on the top of the auxiliary plate 8. The top of the T-shaped plate 9 is slidably connected to the bottom of the corresponding storage plate 2. The T-shaped plate 9 is close to the front end of the storage plate 2, and a ball is embedded on the surface of the T-shaped plate 9.

[0039] Since the T-shaped plate 9 is close to the front end of the storage plate 2 and can slide back and forth at the bottom of the storage plate 2, when the auxiliary plate 8 is moved backward through the gear chain structure 5, the T-shaped plate 9 can pull up the auxiliary plate 8 to prevent the auxiliary plate 8 from tilting forward or backward. The ball bearings on the surface of the T-shaped plate 9 can reduce the friction when the T-shaped plate 9 moves.

[0040] 2 and 4 of the specification, the bottom ends of the two clamping claws 44 are horizontally connected with indicator rods 11, and the two clamping claws 44 are provided with right-angle plates 12 on the opposite sides. A pressure sensor 13 is provided on the surface of the right-angle plate 12 close to the indicator rod 11. The height of the pressure sensor 13 is the same as that of the indicator rod 11. The pressure sensor 13 is of MPX10 type. A horizontal spring 14 is sleeved on the outside of the indicator rod 11. When the horizontal spring 14 is in the restored state, one end of the indicator rod 11 is completely located inside the clamping claw 44, and the other end extends between the two clamping claws 44.

[0041] During clamping, when the indicator rod 11 is pushed and moved by the reaction force of the material, when the indicator rod 11 is completely pressed against the pressure sensor 13 at the right-angle plate 12, and when the detection pressure of the pressure sensor 13 no longer changes, it indicates that the indicator rod 11 is completely affected by the material and is pushed to a position flush with the vertical surface inside the clamping claw 44, indicating that the clamping claw 44 is completely in contact with the material.

[0042] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A material picking robot, comprising a walking mechanism (1), wherein a storage mechanism is arranged on the top of the walking mechanism (1), wherein the storage mechanism is a multi-layer horizontally arranged storage plate (2), characterized in that: The same lifting and transverse movement mechanism (3) is arranged on both sides of the storage mechanism, and a manipulator mechanism (4) is arranged at the bottom of the lifting and transverse movement mechanism (3); The lifting and transverse movement mechanism (3) comprises two vertical guide rails (31) respectively installed on both sides of the storage plate (2), the front sides of the sliding parts of the two vertical guide rails (31) are provided with transverse hydraulic cylinders (32), the front sides of the two transverse hydraulic cylinders (32) are provided with the same support plate (33), the bottom of the support plate (33) is provided with a limit plate (34) horizontally penetrating, the top of the limit plate (34) is provided with teeth (35), the top of the support plate (33) is provided with a driving motor (36), the output shaft end of the driving motor (36) is provided with a main gear (37), the top of the support plate (33) is provided with a through groove, the main gear (37) is embedded downward in the through groove and meshes with the teeth (35) at the top of the limit plate (34); A gear chain structure (5) is provided at the bottom of each storage plate (2), the gear chain structure (5) is divided into two groups, a power rod (6) is provided between the two groups, an auxiliary gear (7) corresponding to the teeth (35) at the top of the limit plate (34) is sleeved in the middle of the power rod (6), and a suspended auxiliary plate (8) is provided at the bottom of the gear chain structure (5).

2. The material picking robot according to claim 1, characterized in that: The manipulator mechanism (4) comprises a main body plate (41), a vertical hydraulic cylinder (42) is arranged on the top of the main body plate (41), the vertical hydraulic cylinder (42) is installed on the bottom surface of the limit plate (34), a sliding groove is arranged at the bottom of the main body plate (41), two sliders (43) are arranged inside the sliding groove, a clamping claw (44) is arranged at the bottom of the slider (43), and return springs (45) fixedly connected to the two ends of the sliding groove are arranged on the opposite sides of the two sliders (43), and a steel wire rope (46) is arranged on one side of the slider (43) close to the bottom center of the support plate (33), the top end of the steel wire rope (46) is fixedly connected to the bottom surface of the limit plate (34), and a limit roller is arranged at the corner position of the steel wire rope (46).

3. The material picking robot according to claim 1, characterized in that: A T-shaped plate (9) is arranged on the top of the auxiliary plate (8), the top of the T-shaped plate (9) is slidably connected to the bottom of the corresponding storage plate (2), the T-shaped plate (9) is close to the front end of the storage plate (2), and a ball bearing is embedded on the surface of the T-shaped plate (9).

4. The material picking robot according to claim 2, characterized in that: The two clamping claws (44) are each provided with a rubber pad (10) on one side opposite to the other, and a groove is provided on the surface of the rubber pad (10).

5. The material picking robot according to claim 2, characterized in that: The bottom ends of the two clamping claws (44) are horizontally plugged with indicator rods (11), and the two clamping claws (44) are provided with right-angle plates (12) on the opposite sides thereof. A pressure sensor (13) is provided on the surface of the right-angle plate (12) close to the indicator rod (11), and the height of the pressure sensor (13) is the same as that of the indicator rod (11).

6. The material picking robot according to claim 5, characterized in that: A horizontal spring (14) is sleeved on the outer side of the indicating rod (11). When the horizontal spring (14) is in a restored state, one end of the indicating rod (11) is completely located inside the clamping claw (44), and the other end extends between the two clamping claws (44).

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