High-speed three-dimensional intelligent combined manipulator

Abstract

The present invention relates to a high-speed three-dimensional intelligent combined manipulator, comprising a base (1), a servo rotating fixed frame (2), a combined manipulator fixed frame (3), a screw fixed frame (6), a hollow servo motor (7), a screw (8), and a supporting platform (9); the servo rotating fixed frame (2) is mounted on the base (1); the combined manipulator fixed frame (3) is arranged on the servo rotating fixed frame (2), a vertically arranged combined manipulator is arranged on the combined manipulator fixed frame (3), a screw fixed frame (6) is arranged at the grasping end of the combined manipulator, a hollow servo motor (7) is installed at the center of the screw fixed frame (6), and a screw (8) is arranged in the middle of the hollow servo motor (7); the supporting platform (9) is fixed on the screw fixed frame (6). Compared with the prior art, the present invention can avoid the singular point problem of other robots, has a fast working speed, high efficiency, a large range of motion, and has a strong carrying capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a high-speed three-dimensional intelligent combined manipulator. Background Art

[0002] With the rapid development of science and technology, technologies such as unmanned vending stereoscopic warehouses, e-commerce logistics temporary storage warehouses, line-side logistics temporary storage warehouses and intelligent logistics storage warehouses have great development potential. Taking the intelligent logistics storage warehouse as an example, orders can be placed through short-range and long-range APPs, and goods can be picked up in real time or by appointment. Through big data management, accurate replenishment, allocation of warehouse locations, and instant adjustment of sales of goods can be achieved. No one enters the warehouse, and storage and retrieval operations are realized through the robot in the warehouse, which is more environmentally friendly and convenient. Among them, the robot plays a very key role in the process.

[0003] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grasp, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in terms of structure and performance. A manipulator is mainly composed of three parts: an actuator, a drive mechanism and a control system. The actuator of the manipulator is divided into a hand, an arm and a trunk. The hand is installed at the front end of the arm and is a component used to grasp the workpiece. There are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type; the function of the arm is to guide the hand to accurately grasp the workpiece and transport it to the required position. In order for the manipulator to work correctly, the three degrees of freedom of the arm must be accurately positioned; the trunk is a bracket for installing the arm, power source and various actuators. There are four main types of driving mechanisms for manipulators, including hydraulic drive, pneumatic drive, electrical drive and mechanical drive. The control system completes specific actions by controlling the motors of each degree of freedom of the robot, while receiving information fed back by sensors to form a stable closed-loop control that can control the working sequence, arrival position, action time, movement speed, acceleration and deceleration, etc.

[0004] However, in the fields of unmanned vending stereoscopic warehouses, intelligent logistics storage quad warehouses, etc., there are still some problems with the application of manipulators. For example, when the manipulator stores and retrieves goods high on the shelf, it is easy to cause the two axes of the manipulator, such as the 4th and 6th axes, to be collinear, resulting in strange phenomena, reduced degrees of freedom of the manipulator arm, and loss of control of the manipulator. In addition, the manipulator is slow in the process of storing and retrieving goods. It takes 12 to 15 seconds to complete a storage or retrieval operation, resulting in low overall work efficiency.

[0005] Invention patent CN106737849A discloses an intelligent manipulator for warehousing, including a base, a bracket fixedly connected above the base, a control panel welded above the bracket, a support part fixedly connected above the base, a rotatable arm rotatably connected above the support part, a manipulator forearm rotatably connected on the right side of the rotatable arm, a clamping part fixedly connected on the right side of the manipulator forearm, a fixed block welded below the manipulator forearm, an auxiliary device bonded below the fixed block, the outer surface of the auxiliary device includes a controller and a rubber plate, and the interior of the auxiliary device includes a controller, a mounting seat, an electric telescopic rod, a connecting part and an iron rod. The intelligent manipulator for warehousing, after the clamping part clamps the object, places the object on the iron rod of the auxiliary device, the iron rod is tilted at a certain angle, and the object quickly reaches the designated position, which provides convenience for warehousing and transportation, and also improves efficiency to a certain extent. However, when the invented manipulator is clamping objects at high places, there is still a singular point problem, it is difficult to apply to objects that cannot be tilted, the manipulator moves slowly, and the auxiliary device does not improve work efficiency much. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a high-speed three-dimensional intelligent combined manipulator, which can avoid the singularity problem, work at a fast speed and high efficiency.

[0007] The purpose of the present invention can be achieved through the following technical solutions: a high-speed three-dimensional intelligent combined manipulator, comprising a base, a servo rotating fixed frame, a combined manipulator fixed frame, a combined manipulator, a screw fixed frame, a hollow servo motor, a screw and a supporting platform; the servo rotating fixed frame is installed on the base; the combined manipulator fixed frame is arranged on the servo rotating fixed frame, and a vertically arranged combined manipulator is arranged on the combined manipulator fixed frame, and a screw fixed frame is provided at the grasping end of the combined manipulator, a hollow servo motor is installed in the center of the screw fixed frame, and a screw is installed in the middle of the hollow servo motor; the supporting platform is fixed on the fixed frame; the combined manipulator drives the fixed frame to move up and down, left and right, and forward and backward to reach the target position, and drives the screw forward or backward through the hollow servo motor to push the goods to leave or enter the supporting platform.

[0008] Furthermore, the combined manipulator includes multiple driving mechanisms and robotic arms connected thereto, the multiple driving mechanisms are installed on the same vertical plane of the combined manipulator fixing frame, one end of the multiple robotic arms is connected to the corresponding driving mechanism, and the other end is connected to the screw fixing frame.

[0009] Furthermore, the mechanical arm is provided with three groups, including a guide arm at the upper part and a first load-bearing arm and a second load-bearing arm at both sides of the lower part, and the angle between adjacent mechanical arms is 120°. The use of this structure can make the mechanical arm more stable when working and have a stronger load-bearing capacity.

[0010] The mechanical arm is composed of a force arm and a double connecting rod, one end of the force arm is movably connected to one end of the double connecting rod, the other end of the force arm is fixedly connected to the output end of the driving mechanism, and the other end of the double connecting rod is movably connected to the screw fixing frame.

[0011] The double connecting rod is movably connected to the screw fixing frame through a ball and socket fixing piece. The ball and socket fixing can reduce the pressure of the fixing point, enhance the fixing strength, and improve the carrying capacity of the manipulator.

[0012] The length of the lever arm is 0.5 to 2 m, and the length of the connecting rod is 0.5 to 2 m. In the prior art, the spider arm structure is small in size and has a small range of motion. It is limited in application in situations where objects need to be moved over a large range, such as intelligent logistics warehousing equipment. The combined manipulator of the present invention combines the advantages of ordinary manipulators and spider arms, enlarges the size of the lever arm and the connecting rod structure, and increases the range of motion of the manipulator. It is suitable for occasions such as intelligent logistics warehousing equipment and unmanned vending stereoscopic warehouses. The lever arm and the connecting rod can be made of materials such as carbon fiber or hollow aluminum to ensure the structural strength of the combined manipulator.

[0013] The double connecting rods are two sets of connecting rods arranged in parallel, which can improve the load-bearing capacity of the connecting rods.

[0014] The driving mechanism includes a servo motor and a servo motor reducer. The servo motor reducer is connected to the servo motor to increase the torque, reduce the speed of the servo motor, improve the motion positioning accuracy, and ensure the smooth movement of the object. At the same time, the torque is increased, which can increase the force of the lever arm and enhance the carrying capacity of the manipulator.

[0015] The screw rod fixing frame always remains vertical during the movement, and the supporting platform always remains horizontal during the movement.

[0016] A fixing plate is vertically arranged on the supporting platform, which is connected to the screw rod fixing frame through the fixing plate. A round hole is arranged on the fixing plate, and the screw rod can pass through the round hole.

[0017] Furthermore, the supporting platform is also provided with slide rails and baffles to assist in pushing out or pulling in objects on the supporting platform and to prevent objects from falling from both sides.

[0018] One end of the screw rod is connected to a vacuum suction head, and the other end is connected to a vacuum extraction device. The vacuum suction head can provide traction when the screw rod pulls the object into the holding platform, so that the object enters the holding platform smoothly.

[0019] The present invention improves the actuator of the manipulator, and combines multiple mechanical arms into a combined manipulator and sets them vertically as the actuator of the manipulator, which can avoid the singular point problem, and at the same time, the working speed is faster and the working efficiency is higher. The structural dimensions of each mechanical arm of the combined manipulator are enlarged to expand its range of motion; in the prior art, spider arms are mostly set horizontally, and the force exerted by objects on each of their mechanical arms is the same. In the present invention, considering that the gravity of the object has different effects on mechanical arms at different positions, the mechanical arms are divided into guide arms and load-bearing arms by setting the installation positions and angles of each mechanical arm, thereby improving the overall load-bearing capacity of the mechanical arm and ensuring the stability and reliability of the work. In order to ensure the stability of the object during the rapid and large-scale movement of the manipulator actuator, a screw fixing frame is set at the end of the manipulator actuator, and the position relationship of each manipulator arm is controlled by a control system to ensure that the screw fixing frame always remains vertical during the movement of the actuator, thereby ensuring that the supporting platform on it always remains horizontal, and finally ensuring that the object remains horizontal during the movement. The servo motor reducer is used to reduce the speed of the manipulator arm movement and the baffle and other structures are set on the supporting platform to ensure the stability and safety of the manipulator of the present invention during operation. At the same time, the present invention is provided with a hollow servo motor and a screw at the center of the screw fixing frame, and a vacuum suction head and a vacuum pumping device are connected to the screw. The object leaves or enters the supporting platform by moving the screw forward or backward, which completely solves the interference problem of ordinary manipulators, greatly expands the size range of grasped objects, and has higher work efficiency. During operation, the screw rod retreats to pull the object into the supporting platform, realizing the horizontal pulling of the object. After that, the object is moved over a large range and quickly on the supporting platform through the movement of the manipulator. After reaching the target position, the screw rod is advanced to realize the horizontal pushing of the object.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The present invention combines the advantages of the manipulator and the spider arm. The hollow servo motor drives the lead screw forward or backward to push or pull objects in, which can avoid the singular point problem and work faster. It only takes 3 to 4 seconds to complete an object picking or placing operation, and the work efficiency is higher.

[0022] 2. The supporting platform of the present invention always remains horizontal during the movement, and can also move objects that cannot be tilted, such as valuable objects, and by adopting a servo motor reducer, the working speed is reduced to ensure the smooth movement of the object, with a wider range of applications and higher safety;

[0023] 3. By enlarging the arm of the manipulator and the size of the connecting rod structure, the manipulator's range of motion is expanded to 2 to 4 meters, which is suitable for intelligent logistics warehousing equipment, unmanned vending stereoscopic warehouses and other occasions;

[0024] 4. The carrying capacity of the manipulator is improved by enlarging the size of the force arm and the connecting rod structure, setting two groups of connecting rods, setting the installation angles between the guide arm, the first load-bearing arm, and the second load-bearing arm, using a ball-and-socket fixing structure, and reducing the speed of the servo motor reducer.

[0025] 5. Compared with existing manipulators, the structure is simpler and the cost is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a front view of the high-speed three-dimensional intelligent combined manipulator of the present invention;

[0027] Figure 2 It is a left view of the high-speed three-dimensional intelligent combined manipulator of the present invention;

[0028] Figure 3 A top view of the high-speed three-dimensional intelligent combined manipulator of the present invention;

[0029] Figure 4 It is a partial structural exploded diagram of the high-speed three-dimensional intelligent combined manipulator of the present invention;

[0030] Figure 5 This is a schematic diagram of the working state of the high-speed three-dimensional intelligent combined manipulator of the present invention;

[0031] In the figure: 1-base, 2-servo rotation fixing frame, 3-combined manipulator fixing frame, 4-mechanical arm, 5-driving mechanism, 6-screw fixing frame, 7-hollow servo motor, 8-screw, 9-supporting platform, 10-ball and socket fixing part, 11-vacuum suction head, 400-force arm, 401-double connecting rod, 41-guide arm, 42-first load-bearing arm, 43-second load-bearing arm, 900-fixed plate, 901-round hole, 902-slide rail, 903-baffle. DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The following embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to the following embodiments.

[0033] Example 1

[0034] like Figures 1 to 3As shown, a high-speed three-dimensional intelligent combined manipulator comprises a base 1, a servo rotating fixed frame 2, a combined manipulator fixed frame 3, a manipulator 4, a driving mechanism 5, a screw fixing frame 6, a hollow servo motor 7, a screw 8 and a holding platform 9; the servo rotating fixed frame 2 is mounted on the base 1; the combined manipulator fixed frame 3 is vertically arranged on the servo rotating fixed frame 2; the driving mechanism 5 is arranged on the combined manipulator fixed frame 3, and the output end of the driving mechanism 5 is movably connected with the manipulator 4; there are three manipulator arms 4, namely a guide arm 41, a first load-bearing arm 42 and a second load-bearing arm 43, and the installation angles between the three manipulator arms are 120° to each other; the screw fixing frame 6 is connected to the free end of the manipulator 4, and the screw fixing frame 6 always remains vertical during the movement; the hollow servo motor 7 is horizontally mounted at the center of the screw fixing frame 6, and a holding platform 9 is fixed on the screw fixing frame 6, and the holding platform 9 always remains horizontal during the movement of the manipulator, and a screw 8 is installed in the middle of the hollow servo motor 7, and the screw 8 is moved forward or backward by the operation of the hollow servo motor 7.

[0035] The mechanical arm 4 is composed of a force arm 400 and a double connecting rod 401, one end of the force arm 400 is movably connected to one end of the double connecting rod 401, the other end of the force arm 400 is fixedly connected to the output end of the driving mechanism 5, and the other end of the double connecting rod 401 is movably connected to the screw fixing frame 6. The length of the force arm 400 is 0.5 to 2 m, the length of the double connecting rod 401 is 0.5 to 2 m, and two groups of double connecting rods 401 are arranged in parallel. The force arm and the connecting rod can be made of carbon fiber material.

[0036] The driving mechanism 5 includes a servo motor and a servo motor reducer. There are three servo motors, and the output end of the servo motor is movably connected to the robot arm 4. The servo motor reducer is connected to the servo motor to increase the torque, reduce the speed of the servo motor, and improve the motion positioning accuracy. The output power of the servo motor is 0.4~4kW.

[0037] like Figure 4 As shown, the double connecting rod 401 is fixedly connected to the fixing frame 6 through the ball and socket fixing member 10. A fixing plate 900 is vertically arranged on the supporting platform 9, and is connected to the fixing frame 6 through the fixing plate 900. A round hole 901 is arranged on the fixing plate 900, and the screw rod 8 can pass through the round hole 901. A slide rail 902 and a baffle 903 are also arranged on the supporting platform 9. One end of the screw rod 8 is connected to a vacuum suction head 11, and the other end is connected to a vacuum extraction device.

[0038] like Figure 5 As shown, the high-speed three-dimensional intelligent combined manipulator is used in the intelligent logistics warehousing warehouse. The manipulator is located in the middle of the shelf, and the goods are taken or placed by the manipulator.

[0039] When working, the supporting platform 9 is brought close to the bottom of the goods, the screw rod 8 sucks the goods through the vacuum suction head 11, and the screw rod 8 is moved backward through the operation of the hollow servo motor 7, and the goods are moved into the supporting platform 9 to achieve the picking of the goods. Then, the goods on the supporting platform 9 are smoothly moved to the target position through the coordinated operation of the guide arm 41, the first load-bearing arm 42 and the second load-bearing arm 43, and the screw rod 8 is moved forward through the operation of the hollow servo motor 7, and the traction force of the vacuum suction head 11 disappears, and the goods are moved out of the supporting platform 9 to achieve the placement of the goods.

[0040] The high-speed three-dimensional intelligent combined manipulator of this embodiment has no singularity point, and the manipulator has a range of motion of 2 to 4 meters. It can also successfully complete the operation of taking or placing goods at high places, which takes 3 to 4 seconds. Compared with the prior art manipulator design, the time consumption is greatly reduced, and the work efficiency is significantly improved. The manipulator of the present invention can bear 5 to 50 kg, which can meet the load-bearing requirements of the manipulator for general goods.

[0041] The high-speed three-dimensional intelligent combined manipulator of this embodiment cooperates with the setting of a warehouse of a certain shape of intelligent logistics warehousing, occupies a small area and has a large capacity. The manipulator is used to take or place goods, and unmanned management can be achieved through short-range or remote control, saving labor costs.

[0042] Example 2

[0043] A high-speed three-dimensional intelligent combined manipulator can be used in an unmanned vending three-dimensional warehouse. The high-speed three-dimensional intelligent combined manipulator includes a base 1, a servo rotating fixed frame 2, a combined manipulator fixed frame 3, a mechanical arm 4, a driving mechanism 5, a screw fixed frame 6, a hollow servo motor 7, a screw 8 and a supporting platform 9; the servo rotating fixed frame 2 is installed on the base 1; the combined manipulator fixed frame 3 is vertically arranged on the servo rotating fixed frame 2; the driving mechanism 5 is arranged on the combined manipulator fixed frame 3, and the output end of the driving mechanism 5 is movably connected with the mechanical arm 4; the mechanical There are three arms 4, namely a guide arm 41, a first load-bearing arm 42 and a second load-bearing arm 43, and the installation angles between the three robotic arms are 120° to each other; a screw fixing frame 6 is connected to the free end of the robotic arm 4, and the screw fixing frame 6 always remains vertical during the movement; a hollow servo motor 7 is horizontally installed at the center of the screw fixing frame 6, and a supporting platform 9 is fixed on the screw fixing frame 6, and the supporting platform 9 always remains horizontal during the movement of the manipulator, and a screw 8 is installed in the middle of the hollow servo motor 7, and the screw 8 is moved forward or backward through the operation of the hollow servo motor 7.

[0044] The mechanical arm 4 is composed of a force arm 400 and a double connecting rod 401, one end of the force arm 400 is movably connected to one end of the double connecting rod 401, the other end of the force arm 400 is fixedly connected to the output end of the driving mechanism 5, and the other end of the double connecting rod 401 is movably connected to the screw fixing frame 6. Among them, the length of the force arm 400 is 0.5 to 2m, the length of the double connecting rod 401 is 0.5 to 2m, and the double connecting rod 401 is arranged in two groups in parallel, and the force arm and the connecting rod can be made of hollow aluminum tube material.

[0045] The driving mechanism 5 includes a servo motor and a servo motor reducer. There are three servo motors, and the output end of the servo motor is movably connected to the robot arm 4. The servo motor reducer is connected to the servo motor to increase the torque, reduce the speed of the servo motor, and improve the motion positioning accuracy. The output power of the servo motor is 0.4~4kW.

[0046] The double connecting rod 401 is fixedly connected to the fixing frame 6 through the ball and socket fixing member 10. A fixing plate 900 is vertically arranged on the supporting platform 9, and is connected to the fixing frame 6 through the fixing plate 900. The fixing plate 900 is provided with a round hole 901, and the screw rod 8 can pass through the round hole 901. The supporting platform 9 is also provided with a slide rail 902 and a baffle 903. One end of the screw rod 8 is connected to a vacuum suction head 11, and the other end is connected to a vacuum extraction device.

[0047] When working, the holding platform 9 is inserted into the bottom of the commodity, the screw rod 8 sucks the commodity through the vacuum suction head 11, and the screw rod 8 is moved backward through the operation of the hollow servo motor 7, and the commodity is moved into the holding platform 9 to achieve the picking of the commodity. Then, the commodity on the holding platform 9 is smoothly moved to the target position through the coordinated operation of the guide arm 41, the first load-bearing arm 42 and the second load-bearing arm 43, and the screw rod 8 is moved forward through the operation of the hollow servo motor 7, and the traction force of the vacuum suction head 11 disappears, and the commodity is moved out of the holding platform 9 to achieve the placement of the commodity.

[0048] The high-speed three-dimensional intelligent combined manipulator of this embodiment has no singularity points, and the manipulator has a range of motion of up to 2 to 4 meters. It can also successfully complete the operation of taking or placing goods at high places, which takes 3 to 4 seconds. Compared with the design of the prior art manipulator, the time consumption is greatly reduced, and the work efficiency is significantly improved. The goods that can be grasped by the manipulator of the present invention can be small objects with very light weight, such as biscuits and USB flash drives weighing 1 to 2 grams, or large items weighing 5 to 50 kilograms, which can meet the load-bearing requirements of the manipulator for general goods.

[0049] The high-speed three-dimensional intelligent combined manipulator of this embodiment cooperates with the setting of unmanned vending three-dimensional warehouse, occupies a small area and has a large capacity. The manipulator can be used to take or place goods, and unmanned management can be realized. Orders can be placed through short-range or long-range APP, and shopping can be done in real time or by appointment. The goods can be delivered directly to consumers, saving waiting time. The novel form will greatly change people's consumption habits and living habits.

[0050] Example 3

[0051] A high-speed three-dimensional intelligent combined manipulator can be used in an e-commerce logistics temporary storage warehouse, including a base 1, a servo rotating fixed frame 2, a combined manipulator fixed frame 3, a manipulator arm 4, a driving mechanism 5, a screw fixed frame 6, a hollow servo motor 7, a screw 8 and a supporting platform 9; the servo rotating fixed frame 2 is installed on the base 1; the combined manipulator fixed frame 3 is vertically arranged on the servo rotating fixed frame 2; the driving mechanism 5 is arranged on the combined manipulator fixed frame 3, and the output end of the driving mechanism 5 is movably connected to the manipulator arm 4; the manipulator arm 4 has three parts, which are divided into They are respectively a guide arm 41, a first load-bearing arm 42 and a second load-bearing arm 43, and the installation angles between the three robotic arms are 120° to each other; a screw fixing frame 6 is connected to the free end of the robotic arm 4, and the screw fixing frame 6 always remains vertical during the movement; a hollow servo motor 7 is horizontally installed at the center of the screw fixing frame 6, and a supporting platform 9 is fixed on the screw fixing frame 6, and the supporting platform 9 always remains horizontal during the movement of the manipulator, and a screw 8 is installed in the middle of the hollow servo motor 7, and the screw 8 is moved forward or backward through the operation of the hollow servo motor 7.

[0052] The mechanical arm 4 is composed of a force arm 400 and a double connecting rod 401, one end of the force arm 400 is movably connected to one end of the double connecting rod 401, the other end of the force arm 400 is fixedly connected to the output end of the driving mechanism 5, and the other end of the double connecting rod 401 is movably connected to the screw fixing frame 6. Among them, the length of the force arm 400 is 0.5 to 2m, the length of the double connecting rod 401 is 0.5 to 2m, and the double connecting rod 401 is arranged in two groups in parallel, and the force arm and the connecting rod can be made of hollow aluminum tube material.

[0053] The driving mechanism 5 includes a servo motor and a servo motor reducer. There are three servo motors, and the output end of the servo motor is movably connected to the robot arm 4. The servo motor reducer is connected to the servo motor to increase the torque, reduce the speed of the servo motor, and improve the motion positioning accuracy. The output power of the servo motor is 0.4~4kW.

[0054] The double connecting rod 401 is fixedly connected to the fixing frame 6 through the ball and socket fixing member 10. A fixing plate 900 is vertically arranged on the supporting platform 9, and is connected to the fixing frame 6 through the fixing plate 900. The fixing plate 900 is provided with a round hole 901, and the screw rod 8 can pass through the round hole 901. The supporting platform 9 is also provided with a slide rail 902 and a baffle 903. One end of the screw rod 8 is connected to a vacuum suction head 11, and the other end is connected to a vacuum extraction device.

[0055] When working, the holding platform 9 is inserted into the bottom of the commodity, the screw rod 8 sucks the commodity through the vacuum suction head 11, and the screw rod 8 is moved backward through the operation of the hollow servo motor 7, and the commodity is moved into the holding platform 9 to achieve the picking of the commodity. Then, the commodity on the holding platform 9 is smoothly moved to the target position through the coordinated operation of the guide arm 41, the first load-bearing arm 42 and the second load-bearing arm 43, and the screw rod 8 is moved forward through the operation of the hollow servo motor 7, and the traction force of the vacuum suction head 11 disappears, and the commodity is moved out of the holding platform 9 to achieve the placement of the commodity.

[0056] The high-speed three-dimensional intelligent combined manipulator of this embodiment has no singularity points, and the manipulator has a movement range of up to 2 to 4 meters. It can also successfully complete the picking or placing operations on high-placed goods, which takes 3 to 4 seconds. Compared with the prior art manipulator design, the time consumption is greatly reduced, and the work efficiency is significantly improved.

[0057] The high-speed three-dimensional intelligent combined manipulator of this embodiment cooperates with the setting of the e-commerce logistics temporary storage warehouse, occupies a small area and has a large capacity. The manipulator can take or place goods, realize unmanned management, speed up the circulation of goods, and reduce the labor intensity in the distribution process of goods. It is conducive to the establishment of an intelligent logistics system, which can realize full automation from order placement to product delivery, paperless warehouse management, and efficient management of the whole process.

[0058] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A high-speed three-dimensional intelligent combined manipulator, characterized in that: The invention comprises a base (1), a servo rotating fixed frame (2), a combined manipulator fixed frame (3), a screw fixed frame (6), a hollow servo motor (7), a screw (8) and a supporting platform (9); the servo rotating fixed frame (2) is mounted on the base (1); the combined manipulator fixed frame (3) is arranged on the servo rotating fixed frame (2); a combined manipulator arranged vertically is arranged on the combined manipulator fixed frame (3); a screw fixed frame (6) is arranged at the grasping end of the combined manipulator; a hollow servo motor (7) is installed at the center of the screw fixed frame (6); a screw (8) is arranged in the middle of the hollow servo motor (7); the supporting platform (9) is fixed on the screw fixed frame (6); the combined manipulator drives the screw fixed frame (6) to move up and down, left and right, and forward and backward to reach a target position, and drives the screw (8) forward or backward through the hollow servo motor (7), so as to push the goods to leave or enter the supporting platform (9); The combined manipulator comprises a plurality of drive mechanisms (5) and manipulator arms (4) connected thereto, the plurality of drive mechanisms (5) being mounted on the same vertical plane of the combined manipulator fixing frame (3), one end of the plurality of manipulator arms (4) being connected to the corresponding drive mechanism (5), and the other end being connected to the screw fixing frame (6).

2. The high-speed three-dimensional intelligent combined manipulator according to claim 1 is characterized in that: The mechanical arms (4) are provided with three groups, including a guide arm (41) located at the upper part and a first load-bearing arm (42) and a second load-bearing arm (43) located at both sides of the lower part, and the angle between adjacent mechanical arms (4) is 120°.

3. The high-speed three-dimensional intelligent combined manipulator according to claim 1 is characterized in that: The mechanical arm (4) is composed of a force arm (400) and a double connecting rod (401), one end of the force arm (400) is movably connected to one end of the double connecting rod (401), the other end of the force arm (400) is fixedly connected to the output end of the driving mechanism (5), and the other end of the double connecting rod (401) is movably connected to the screw fixing frame (6).

4. The high-speed three-dimensional intelligent combined manipulator according to claim 3 is characterized in that: The double connecting rod (401) is movably connected to the screw fixing frame (6) via a ball and socket fixing member (10); The length of the lever arm (400) is 0.5-2 m, and the length of the double connecting rod (401) is 0.5-2 m; The double connecting rods (401) are arranged in two groups in parallel.

5. The high-speed three-dimensional intelligent combined manipulator according to claim 1 is characterized in that: The driving mechanism (5) comprises a servo motor and a servo motor reducer, and the servo motor reducer is connected to the servo motor.

6. The high-speed three-dimensional intelligent combined manipulator according to claim 1 is characterized in that: The screw rod fixing frame (6) always remains vertical during the movement, and the supporting platform (9) always remains horizontal during the movement.

7. The high-speed three-dimensional intelligent combined manipulator according to claim 1 is characterized in that: The supporting platform (9) is vertically provided with a fixing plate (900), which is connected to the screw rod fixing frame (6) via the fixing plate (900). The fixing plate (900) is provided with a circular hole (901), and the screw rod (8) can pass through the circular hole (901).

8. The high-speed three-dimensional intelligent combined manipulator according to claim 7, characterized in that: The supporting platform (9) is also provided with a slide rail (902) and a baffle (903).

9. The high-speed three-dimensional intelligent combined manipulator according to claim 1, characterized in that: One end of the screw rod (8) is connected to a vacuum suction head (11), and the other end is connected to a vacuum extraction device.

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