A material picking manipulator device with multiple rotating working heads

Abstract

The multi-rotating working head material picking manipulator device of the present invention includes a reciprocating motion mechanism, an angle adjustment mechanism, and a picking structure; the angle adjustment mechanism includes a first driving device, a group of first transmission mechanisms, multiple angle adjustment shafts, and multiple clutchable connecting mechanisms; when the connecting mechanism is in a closed state, the angle adjustment shaft drives the connecting mechanism and the reciprocating motion mechanism to rotate. The present invention achieves the purpose of adjusting the angle of each picking structure individually. Compared with traditional technologies, the algorithm is simple, the operation difficulty is reduced, and the fault tolerance rate is high. In the present invention, the reciprocating motion mechanism includes a second driving device and a second transmission shaft; the second transmission shaft is sleeved with the angle adjustment shaft, and one end of the second transmission shaft is connected to the picking structure, and the other end is connected to the second driving device, so as to achieve the effect that the second transmission shaft and the angle adjustment shaft cooperate smoothly and do not interfere with each other, avoiding the problem of needing to overcome torque in traditional technologies.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and more particularly to a multi-rotating working head material picking manipulator device. Background Art

[0002] A manipulator is an automated device that mimics certain movements and functions of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. It can be programmed to perform a variety of tasks, combining the advantages of both human and mechanical devices in terms of structure and performance. Manipulators are the earliest industrial robots and the earliest modern robots. They can replace heavy labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Consequently, they are widely used in sectors such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy.

[0003] Currently, most robots are single-head robots, which can only pick up and manipulate one material at a time, resulting in low production efficiency. Multi-head robots that can simultaneously adjust the angle of materials require a separate motor control for each pick-up head, resulting in a complex transmission structure and high production costs.

[0004] To simplify the structure of multi-head manipulators and reduce costs, existing technologies employ a structure in which multiple pickup heads share a single motor. For example, Chinese invention patent publication number CN 109397322 A, entitled "A Structure and Control Method for a Robotic Pick-and-Place Workhead," utilizes a mounting plate and a linear drive mechanism that drives the mounting plate in linear motion. The mounting plate is equipped with multiple suction rods and clutches that correspond to each other and drive the suction rods in reciprocating motion along the mounting plate's direction of motion. The manipulator's pick-and-place workhead also includes a rotary drive mechanism that rotates the multiple suction rods. In this solution, when the electromagnet is energized to pick up material, and the device resets, the rotating shaft rotates all the material, preventing the rotation of the suction rods from being individually controlled. All the material on the suction rods rotates, aligning the material angles. This results in the cumulative correction angles of each suction rod, complicating the control algorithm. Furthermore, as the suction rod head rotates, the reset mechanism located above it distorts and deforms, generating circumferential torque. This forces the suction rod head below it to overcome this torque to maintain its position, compromising usability.

[0005] Furthermore, robots often require multi-dimensional motion. For example, the connecting shaft of some robot heads needs to both extend and retract, and also rotate with the motor's drive. Conventional connecting mechanisms use an electromagnetic clutch to engage and disengage two separate shafts. However, if both the rotating and retractable shafts need to be clutched, improvements to the connecting mechanism are necessary. Summary of the Invention

[0006] The primary purpose of the present invention is to address the above-mentioned defects and shortcomings and provide a multi-rotating working head material picking robot device that can independently control the angle correction of the picking structure, simplify the program algorithm, facilitate operation, and reduce costs.

[0007] Another object of the present invention is to provide a multi-rotating working head material picking robot device with a long service life, in which the reciprocating motion mechanism and the angle adjustment mechanism are reasonably arranged, the second transmission shaft can be extended and retracted, the angle adjustment shaft can be controlled, and the picking head does not need to overcome circumferential torque.

[0008] In order to achieve the above purpose, the specific technical solution adopted by the present invention is:

[0009] The multi-rotating working head material picking robot device described in the present invention includes a reciprocating motion mechanism, an angle adjustment mechanism, and a picking structure; the reciprocating motion mechanism is connected to the picking structure to realize the reciprocating motion of the picking structure; the angle adjustment mechanism includes a first driving device, a group of first transmission mechanisms, multiple angle adjustment shafts, and multiple clutchable connecting mechanisms, the first transmission mechanism is respectively connected to the first driving device and the angle adjustment shaft, and the connecting mechanism is respectively connected to the angle adjustment shaft and the reciprocating motion mechanism. When the connecting mechanism is in a closed state, the angle adjustment shaft drives the connecting mechanism and the reciprocating motion mechanism to rotate.

[0010] In order to better adjust the angle of the picking structure, the first transmission mechanism includes a first transmission shaft connected to the first driving device, and a gear system connected to the first transmission shaft and the angle adjustment shaft respectively.

[0011] In order to improve structural stability, the first transmission mechanism further includes a coupling provided between the first driving device and the first transmission shaft.

[0012] To avoid circumferential torsion, the reciprocating mechanism includes a second drive device and a second transmission shaft. The second transmission shaft is socketed with the angle adjustment shaft, with one end connected to the pickup structure and the other end connected to the second drive device. By using this socketed coupling of the second transmission shaft and the angle adjustment shaft, the second transmission shaft is used to reciprocate the pickup structure, while the angle adjustment shaft, which is socketed with the second transmission shaft, is used to adjust the pickup structure's angle. This ensures smooth, non-interfering coordination between the second transmission shaft and the angle adjustment shaft, enabling both vertical extension and retraction of the second transmission shaft and rotation of the angle adjustment shaft, thus avoiding the need to overcome torsion in conventional technologies.

[0013] To save space and optimize the layout, the angle adjustment shaft is a hollow shaft that is sleeved onto the reciprocating mechanism. The reciprocating mechanism is used to cause the pickup mechanism to move linearly. The angle adjustment shaft is sleeved onto the outside of the reciprocating drive shaft to drive the reciprocating mechanism to rotate, and in turn, the pickup mechanism to follow the rotation, thereby achieving a compact structure and a reasonable layout.

[0014] In order to better achieve clutching, the connecting mechanism includes a turntable connected to the angle adjustment shaft, and a clutch member connected to the reciprocating motion mechanism and capable of abutting against the turntable.

[0015] To cushion the impact of the clutch member contacting the turntable, ensuring the angle adjustment shaft can stably drive the reciprocating mechanism, the clutch member employs an electromagnetic clutch structure. This structure comprises a base, a column mounted on the base, an elastic member sleeved on the column, and a magnetic element. One end of the elastic member is connected to the column, and the other end is connected to the magnetic element. The free end of the magnetic element abuts the turntable. When the electromagnetic connection mechanism is energized, the magnetic element moves toward the turntable under the influence of magnetic force, achieving contact between the two. To mitigate the effects of impact, an elastic member is mounted on the column to cushion the impact, effectively protecting the electromagnetic connection mechanism and extending its service life.

[0016] In order to achieve better transmission and uniform force, the columns are T-shaped structures, and there are multiple columns evenly spaced along the circumference.

[0017] In order to increase friction, a first friction plate is provided at the free end of the magnetic body, and a second friction plate is provided at the contact surface between the turntable and the free end of the magnetic body.

[0018] In order to facilitate installation and improve the stability of the device, the multi-rotating working head material picking robot device also includes a mounting frame with a multi-layer plate structure, and the mounting frame includes a first frame plate, a second frame plate, a third frame plate, a fourth frame plate and a fifth frame plate arranged in sequence from top to bottom; the second driving device is arranged between the first frame plate and the second frame plate, and the second transmission shaft passes through the second to fifth frame plates and is connected to the picking structure located on the outside of the fifth frame plate; the first driving device is installed on the second frame plate, and the first transmission shaft passes through the third frame plate and is connected to the gear train arranged between the third frame plate and the fourth frame plate; the connecting mechanism is arranged between the fourth frame plate and the fifth frame plate.

[0019] In order to enhance the stability of the transmission, the reciprocating motion mechanism also includes a pneumatic rotary joint, a connecting piece connected to one end of the second driving device, a rotating base connected to the other end of the second driving device, and a bearing seat connected to the rotating base. The stator of the pneumatic rotary joint is installed on the first frame plate, the rotor of the pneumatic rotary joint is connected to the connecting piece, and the bearing seat is arranged on the second frame plate.

[0020] In order to improve the stability of the structure, bearings are provided at the connections between the first transmission shaft and the third frame plate and the fourth frame plate.

[0021] In order to facilitate use and improve structural stability, the connection mechanism is an electromagnetic connection mechanism, and is provided with a turntable installed on the lower side of the fourth frame plate. The turntable is connected to the axial positioning member, and the axial positioning member is connected to the second transmission shaft.

[0022] In order to further enhance the stability of the structure, the axial positioning member is a spring washer or a round nut.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The angle adjustment mechanism of the present invention includes a first drive device, a group of first transmission mechanisms, multiple angle adjustment shafts, and multiple connecting mechanisms, wherein the connecting mechanism includes a turntable connected to the angle adjustment shaft, and a clutch connected to the reciprocating motion mechanism and capable of abutting against the turntable. When the angle of the picking structure is adjusted, the clutch moves toward the turntable until the two abut against each other to generate friction, so that the reciprocating motion mechanism follows the rotation of the angle adjustment shaft. When angle adjustment is not required, the clutch is separated from the turntable, and the picking mechanism reciprocates only under the action of the reciprocating motion mechanism. In this way, the angle adjustment of each picking structure can be controlled individually, which is simpler than traditional technologies, reduces the difficulty of operation, and has a high fault tolerance rate.

[0025] On this basis, to avoid circumferential torsion, the present invention comprises a reciprocating mechanism comprising a second drive device and a second transmission shaft; the second transmission shaft is sleeved with the angle adjustment shaft, one end of which is connected to the pickup structure and the other end is connected to the second drive device. By adopting the sleeved coupling of the second transmission shaft and the angle adjustment shaft, the reciprocating motion of the pickup structure is achieved by the second transmission shaft, while the angle adjustment shaft sleeved with the second transmission shaft is used to adjust the angle of the pickup structure. This ensures that the second transmission shaft and the angle adjustment shaft cooperate smoothly and do not interfere with each other, enabling both the vertical extension and contraction of the second transmission shaft and the rotation of the angle adjustment shaft, thus avoiding the need to overcome torsion problems in conventional technologies.

[0026] The present invention will be further described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure in a preferred embodiment of the present invention.

[0028] Figure 2 It is a schematic diagram of the main structure in a preferred embodiment of the present invention.

[0029] Figure 3It is a schematic side view of the structure in a preferred embodiment of the present invention.

[0030] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure along the AA section line.

[0031] Figure 5 Schematic diagram of the cross-sectional structure of the connecting mechanism in a preferred embodiment of the present invention.

[0032] Figure 6 for Figure 5 Schematic diagram of the locally enlarged structure at point A in the middle.

[0033] Description of reference numerals:

[0034] 1 Reciprocating motion mechanism, 11 Second drive device, 12 Second transmission shaft, 13 Pneumatic rotary joint, 14 Connecting member, 15 Rotating base, 16 Bearing seat, 2 Angle adjustment mechanism, 21 First drive device, 22 First transmission mechanism, 23 Angle adjustment shaft, 24 Connecting mechanism, 221 First transmission shaft, 222 Gear train, 241 Turntable, 242 Clutch, 2421 Base, 2422 Column, 2423 Elastic member, 2424 Magnetic body, 3 Pickup structure, 4 Mounting frame, 41 First frame plate, 42 Second frame plate, 43 Third frame plate, 44 Fourth frame plate, 45 Fifth frame plate, 5 Bearing, 6 First friction plate, 7 Second friction plate, 8 Adjusting bolt DETAILED DESCRIPTION

[0035] The present invention will be further explained and illustrated below through specific implementation methods. It should be understood that the purpose of the following implementation methods is to make the technical solutions of the present invention clearer and easier to understand, and does not limit the scope of protection of the claims.

[0036] like Figure 1 As shown, the multi-rotating working head material picking robot device of this embodiment includes a reciprocating motion mechanism 1, an angle adjustment mechanism 2, and a picking structure 3; the reciprocating motion mechanism 1 is connected to the picking structure 3 to realize the reciprocating motion of the picking structure 3; the angle adjustment mechanism 2 includes a first driving device 21, a group of first transmission mechanisms 22, multiple angle adjustment shafts 23, and multiple connecting mechanisms 24, the first transmission mechanism 22 is respectively connected to the first driving device 21 and the angle adjustment shaft 23, the angle adjustment shaft 23 is connected to the reciprocating motion mechanism 1 to realize the rotation of the reciprocating motion mechanism 1, the connecting mechanism 24 includes a turntable 241 connected to the angle adjustment shaft 23, and a clutch 242 connected to the reciprocating motion mechanism 1 and capable of abutting against the turntable; when the angle of the picking structure 3 is adjusted, the magnetic body 2424 of the clutch 242 moves toward the turntable 241 until the two abut to generate friction, so as to realize the rotation of the reciprocating motion mechanism 1 following the angle adjustment shaft 23.

[0037] like Figure 2 As shown, in a preferred embodiment, to better adjust the angle of the pickup structure, the first transmission mechanism 22 includes a first transmission shaft 221 connected to the first drive device 21, and a gear train 222 respectively connected to the first transmission shaft 221 and the angle adjustment shaft 23. To improve structural stability, the first transmission mechanism 22 also includes a coupling provided between the first drive device 21 and the first transmission shaft 221.

[0038] like Figures 2-4 As shown, in a preferred embodiment, in order to improve the stability of the device, the multi-rotating working head material picking robot device also includes a mounting frame 4 of a multi-layer plate structure, and the mounting frame 4 includes a first frame plate 41, a second frame plate 42, a third frame plate 43, a fourth frame plate 44 and a fifth frame plate 45 arranged in sequence from top to bottom; the second driving device 11 is arranged between the first frame plate 41 and the second frame plate 42, and the second transmission shaft 12 passes through the second to fifth frame plates 42, 43, 44, 45 and is connected to the picking structure 3 located on the outside of the fifth frame plate 45; the first driving device 21 is installed on the second frame plate 42, and the first transmission shaft 221 passes through the third frame plate 43 and is connected to the gear train 222 arranged between the third frame plate 43 and the fourth frame plate 44; the connecting mechanism 24 is arranged between the fourth frame plate 44 and the fifth frame plate 45. To enhance transmission stability, the reciprocating mechanism 1 further includes a pneumatic rotary joint 13, a connector 14 connected to one end of the second drive device 11, a rotating base 15 connected to the other end of the second drive device 11, and a bearing seat 16 connected to the rotating base 15. The stator of the pneumatic rotary joint 13 is mounted on the first frame plate 41, the rotor of the pneumatic rotary joint 13 is connected to the connector 14, and the bearing seat 16 is disposed on the second frame plate 42. To enhance structural stability, bearings 5 ​​are provided at the connection between the first transmission shaft 221 and the third and fourth frame plates 43 and 44. For ease of use and enhanced structural stability, the connecting mechanism 24 is an electromagnetic connecting mechanism and is provided with a turntable mounted on the lower side of the fourth frame plate 44. The turntable is connected to an axial positioning member, which is in turn connected to the second transmission shaft. To further enhance structural stability, the axial positioning member is a spring washer or a round nut.

[0039] like Figures 5-6As shown, in a preferred embodiment, to cushion the impact force when the clutch member 242 contacts the turntable 241, thereby ensuring that the angle adjustment shaft 23 stably drives the reciprocating mechanism 1, the connecting mechanism 24 is an electromagnetic connecting mechanism. The clutch member 242 includes a base 2421, a column 2422 mounted on the base 2421, an elastic member 2423 sleeved on the column 2422, and a magnetic body 2424. The elastic member 2423 is connected to the column 2422 at one end and to the magnetic body 2424 at the other end. The free end of the magnetic body 2424 abuts the turntable 241. When the electromagnetic connecting mechanism 24 is energized, the magnetic body 2424 moves toward the turntable 241 under the influence of the magnetic force, abutting the turntable 241. To mitigate the impact force, an elastic member 2423 is provided on the magnetic body 2424 to cushion the impact force, effectively protecting the electromagnetic connecting mechanism 24 and extending its service life. In order to increase the friction force, the free end of the magnetic body 2424 is provided with a first friction plate 6 (the magnetic body can be an annular groove structure, and the first friction plate is an annular friction plate that matches the free end of the magnetic body), and the contact surface between the turntable 241 and the free end of the magnetic body 2424 is provided with a second friction plate 7. In order to better realize the transmission and make the force uniform, the column 2422 is a T-shaped structure, and there are multiple columns 2422 and they are evenly spaced along the circumference. In order to save space and reasonably layout the structure, the angle adjustment shaft 23 is a hollow shaft that is sleeved with the reciprocating motion mechanism 1. The reciprocating motion mechanism 1 is used to make the picking structure 3 perform linear movement. The angle adjustment shaft 23 is sleeved on the outside of the transmission shaft of the reciprocating motion 1 to drive the reciprocating motion mechanism 1 to rotate and then drive the picking structure 3 to follow the rotation, thereby achieving the purpose of compact structure and reasonable layout. To avoid circumferential torsion, the reciprocating mechanism 1 includes a second drive device 11 and a second transmission shaft 12. The second transmission shaft 12 is sleeved with the angle adjustment shaft 23, with one end connected to the pickup structure 3 and the other end connected to the second drive device 11. By adopting the sleeved coupling of the second transmission shaft 12 and the angle adjustment shaft 23, the second transmission shaft 12 is used to achieve the reciprocating motion of the pickup structure 3, while the angle adjustment shaft 23 sleeved with the second transmission shaft 12 is used to achieve the angle adjustment of the pickup structure 3. This ensures that the second transmission shaft 12 and the angle adjustment shaft 23 cooperate smoothly and do not interfere with each other. This allows the second transmission shaft 12 to extend and retract, while also allowing the angle adjustment shaft 23 to rotate, thus avoiding the need to overcome torsion in conventional technologies.

[0040] The working principle of the present invention is as follows:

[0041] The second drive device (which can be a cylinder) 11 is activated to transmit the linear reciprocating power to the pickup mechanism 3 via the second transmission shaft 12 passing through the hollow angle adjustment shaft 23, thereby achieving the up and down movement of the pickup mechanism 3. The electromagnetic connection mechanism 24 is energized, activating the first drive device 21. The first transmission shaft 221 transmits the rotational power to the gear train 222, causing the angle adjustment shaft 23 to rotate, which in turn drives the turntable 241 to rotate. At this time, the first friction plate 6 on the magnetic body 2424 and the second friction plate 7 on the turntable 241 abut against each other due to the attraction generated between the magnetic body 2424 and the turntable 241. The turntable 241 then drives the clutch 242 to rotate, which in turn drives the second transmission shaft 12 of the reciprocating mechanism 1 to rotate, thereby achieving the angle adjustment of the pickup mechanism 3 connected to the second transmission shaft 12. The angle adjustment of a single pickup mechanism 3 is achieved by changing the energized and de-energized state of the electromagnetic connection mechanism 24. In order to better adjust the upper and lower heights of the clutch 242, an adjusting bolt 8 can be set on the base 2421 to facilitate installation and debugging to ensure that the distance between the clutch 242 and the turntable 241 is appropriate. This can ensure that the movement distance of the magnetic body 2424 is appropriate, so that the magnetic body 2424 can abut against the turntable 241 to generate friction and drive the rotation of the clutch 242.

[0042] The present invention is described through embodiments, but does not constitute a limitation of the present invention. With reference to the description of the present invention, other changes to the disclosed embodiments are easy for professionals in this field to think of, and such changes should fall within the scope defined by the claims of the present invention.

Claims

1. A multi-rotating working head material picking manipulator device, characterized by: It comprises a reciprocating motion mechanism (1), an angle adjustment mechanism (2), and a picking structure (3); the reciprocating motion mechanism (1) is connected to the picking structure (3) to achieve reciprocating motion of the picking structure (3); The angle adjustment mechanism (2) comprises a first driving device (21), a group of first transmission mechanisms (22), a plurality of angle adjustment shafts (23), and a plurality of detachable connecting mechanisms (24), wherein the first transmission mechanism (22) is respectively connected to the first driving device (21) and the angle adjustment shaft (23), and the connecting mechanism (24) is respectively connected to the angle adjustment shaft (23) and the reciprocating motion mechanism (1). When the connecting mechanism (24) is in a closed state, the angle adjustment shaft (23) drives the connecting mechanism (24) and the reciprocating motion mechanism (1) to rotate. The reciprocating motion mechanism (1) comprises a second driving device (11) and a second transmission shaft (12); the second transmission shaft (12) is sleeved with the angle adjustment shaft (23), and one end of the second transmission shaft is connected to the pickup structure (3), and the other end is connected to the second driving device (11); The first transmission mechanism (22) comprises a first transmission shaft (221) connected to the first driving device (21), and a gear train (222) respectively connected to the first transmission shaft (221) and the angle adjustment shaft (23); a coupling is provided between the first driving device (21) and the first transmission shaft (221); The connecting mechanism (24) comprises a turntable (241) connected to the angle adjustment shaft (23), and a clutch member (242) provided on the second transmission shaft (12) and capable of abutting against the turntable (241); the clutch member (242) is an electromagnetic clutch structure, comprising a base (2421), a column (2422) provided on the base (2421), an elastic member (2423) sleeved on the column (2422), and a magnetic body (2424); one end of the elastic member (2423) is connected to the column (2422), and the other end is connected to the magnetic body (2424); the free end of the magnetic body (2424) abuts against the turntable (241), and a first friction plate (6) and a second friction plate (7) are provided at the contact point between the magnetic body (2424) and the turntable (241).

2. The multi-rotating working head material picking manipulator device according to claim 1, characterized in that: The columns (2422) are T-shaped structures, and there are multiple of them, which are evenly spaced along the circumference.

3. The multi-rotating working head material picking manipulator device according to claim 1, characterized in that: The multi-rotating working head material picking manipulator device further comprises a mounting frame (4) of a multi-layer plate structure, wherein the mounting frame (4) comprises a first frame plate (41), a second frame plate (42), a third frame plate (43), a fourth frame plate (44) and a fifth frame plate (45) arranged in sequence from top to bottom; The second driving device (11) is arranged between the first frame plate (41) and the second frame plate (42); the second transmission shaft (12) passes through the second to fifth frame plates (42, 43, 44, 45) and is connected to the picking structure (3) located outside the fifth frame plate (45); the first driving device (21) is installed on the second frame plate (42); the first transmission shaft (221) passes through the third frame plate (43) and is connected to the gear train (222) arranged between the third frame plate (43) and the fourth frame plate (44); the connecting mechanism (24) is arranged between the fourth frame plate (44) and the fifth frame plate (45).

4. The multi-rotating working head material picking manipulator device according to claim 3, characterized in that: The reciprocating motion mechanism (1) further comprises a pneumatic rotary joint (13), a connecting piece (14) connected to one end of the second drive device (11), a rotating base (15) connected to the other end of the second drive device (11), and a bearing seat (16) connected to the rotating base (15); the stator of the pneumatic rotary joint (13) is mounted on the first frame plate (41); the rotor of the pneumatic rotary joint (13) is connected to the connecting piece (14); and the bearing seat (16) is arranged on the second frame plate (42).

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