Intelligent Robot Material Automatic Loading Method Based on Intelligent Rail Manipulator

Abstract

The present invention discloses an intelligent robot material automatic feeding method based on an intelligent track manipulator, which includes a track manipulator and an intelligent robot. The automatic feeding method comprises the following steps: A. Feeding on the track; B. Feeding along the track; C. The intelligent robot arrives; The intelligent robot travels to one side of the material stopping station. After the sensor detects that the intelligent robot has arrived, the intelligent robot stops; D. The intelligent robot feeds; After the intelligent robot arrives and stops, the manipulator starts. The manipulator transports the material from the material stopping station to the material supporting station of the intelligent robot and then resets. When the manipulator moves the material out of the material stopping station, the in-place detection device detects that there is no material at the material stopping station, and steps A and B are repeated; E. After the intelligent robot is loaded with materials, it leaves the track and the manipulator, and the next intelligent robot enters, and steps C and D are cyclically performed. The advantage of the present invention is that it can greatly improve the feeding efficiency of the intelligent robot.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robot feeding, and in particular to an automatic feeding method for intelligent robot materials based on an intelligent rail manipulator. Background Art

[0002] In the current logistics, production, and warehousing fields, the use of automated intelligent vehicles for material transportation is the industry development trend. Intelligent vehicles have functions of automatic identification and path planning, can automatically avoid obstacles, and achieve automatic transportation of materials between different workshops. Therefore, intelligent vehicles are often referred to as logistics robots or intelligent robots. During the automatic transportation process of intelligent vehicles, the feeding of materials is an important factor restricting the transportation efficiency of intelligent robots, and the speed of material feeding directly affects the transportation efficiency of intelligent robots.

[0003] In the prior art, for the transportation and feeding of plates by intelligent robots, suction cups are usually used. For example, a double-rail feeding mechanism for a MAIA automatic loading and unloading machine disclosed in Chinese Patent No. CN2021101136263 on April 9, 2021, includes a loading and unloading machine main body, a suction cup feeding component, a material conveying and feeding component, a carrier frame, and a blanking tray, and the suction cup is used to complete the suction and transportation of materials. The disadvantages of the prior art are as follows: The suction cup can only transport one plate at a time. When transporting multiple plates, the suction cup continuously makes reciprocating movements, with extremely low efficiency, seriously affecting the transportation efficiency of intelligent robots. Summary of the Invention

[0004] Based on the above deficiencies in the prior art, the present application discloses an automatic feeding method for intelligent robot materials based on an intelligent rail manipulator, which can achieve automatic feeding of intelligent robots and greatly improve the delivery efficiency of intelligent robots.

[0005] To achieve the above object, the present invention proposes the following technical solutions.

[0006] An automatic feeding method for intelligent robot materials based on an intelligent rail manipulator includes:

[0007] A rail manipulator, including a rail and a loading station and a stop station that are arranged to lift relative to the rail. The stop station is provided with a reciprocating rail and a manipulator of an intelligent robot, the loading station is equipped with a metering device corresponding to the material, and the stop station is equipped with a position detection device;

[0008] An intelligent robot, including a material supporting station;

[0009] The automatic feeding method includes the following steps:

[0010] A. Orbital feeding: The stop feeding station is in the lowered position. When the in-position detection device detects that there is no material at the stop feeding station and the track is in a stationary state, the feeding station rises to receive the material. When the metering device detects that the feeding station is full of material, the feeding station descends and the material falls onto the track.

[0011] B. Track feeding: The track moves to carry the material to the stop feeding station. When the in-position detection device detects that the material has arrived, the track stops and the stop feeding station rises to lift the material.

[0012] C. Intelligent robot in position: The intelligent robot moves to one side of the stop feeding station. There is a sensor corresponding to the intelligent robot set at the stop feeding station. After the sensor detects that the intelligent robot is in position, the intelligent robot stops.

[0013] D. Intelligent robot feeding: After the intelligent robot stops in position, the manipulator starts. The manipulator transports the material from the stop feeding station to the material supporting station of the intelligent robot and then resets. When the manipulator moves the material out of the stop feeding station, the in-position detection device detects that there is no material at the stop feeding station, and steps A and B are repeated.

[0014] E. After the intelligent robot is loaded with the material, it leaves the track and the manipulator, and the next intelligent robot enters, and steps C and D are cycled.

[0015] In this application, the metering device provided on the intelligent track completes the sufficient transportation of the material on the intelligent track. After the material is sufficient at the feeding station, the material is sent to the stop feeding station through the track, and the stop feeding station rises to lift the material, so that the edge of the material is lifted away from the track, and then in cooperation with the manipulator, the stacked materials can be transported to the intelligent robot at one time. The intelligent track expands the space for stacking materials, separates the feeding position on the track from the feeding position on the intelligent robot, and the intelligent track serves as a temporary stop area, facilitating the continuous feeding of materials. Therefore, through this application, the feeding efficiency of the intelligent robot can be greatly improved, and the feeding effect is good.

[0016] Preferably, in step D, when the intelligent robot is feeding, if the intelligent robot is provided with several material supporting stations, the feeding is preferably to the material supporting station farther away from the track first. Several material supporting stations on the intelligent robot transport materials together, with multi-point cooperation, improving the material transportation efficiency of the intelligent robot. The feeding sequence is from far to near. After the feeding at the last material supporting station is completed, it is convenient for the intelligent robot to drive away directly, thus saving the occupation time during the alternation of intelligent robots and further improving the feeding efficiency.

[0017] Preferably, there are two material supporting stations on the intelligent robot, and the two material supporting stations are arranged along the direction perpendicular to the track. In step D, the manipulator can move correspondingly to the two material supporting stations. The two material supporting stations are arranged perpendicular to the track, and the lateral movement trajectory of the manipulator only needs to be controlled in the direction perpendicular to the track, so that the transportation path of the manipulator is shorter, which is convenient to control the positioning accuracy of the manipulator transportation and improve the feeding efficiency of the intelligent robot.

[0018] Preferably, there are two parallel and synchronously running tracks, and the feeding station and the material stopping station are both located between the two tracks; the material is stacked plates, and the relative two ends of the plates are respectively placed on the two tracks, and the lateral dimension and the longitudinal dimension of the material stopping station are respectively smaller than the lateral dimension and the longitudinal dimension of the material. Since the lateral dimension and the longitudinal dimension of the material stopping station are both smaller than the material, when the center of the material corresponding to the material stopping station is jacked up, the edges of the material are suspended, which is convenient for the intelligent robot to grab, and then batch transport the stacked materials, improving the feeding efficiency.

[0019] Preferably, the material supporting station includes a material supporting bottom plate and a protection plate arranged on the straight line perpendicular to the track. The protection plates are located on both sides of the material supporting bottom plate, and the height of the protection plate is higher than the height of the material supporting bottom plate. The material is lifted by the material supporting bottom plate, which is convenient to cooperate with the manipulator that grabs the lower edge of the material and convenient for the intelligent manipulator to retreat. The protection plate protects the material and prevents the material from slipping.

[0020] Preferably, the manipulator includes a translation component arranged perpendicular to the track axis in the plane of the parallel tracks. There is a lifting component on the translation component and a material taking claw driven by the lifting component. The claw toes are in a C-shaped structure with the opening facing downwards. The material taking claw includes two groups of parallel claw toes, and the intelligent robot runs to the lower side of the manipulator. The intelligent robot directly moves to the lower side of the manipulator, and the manipulator only needs to move in the straight direction and longitudinally of the vertical track to complete material taking and feeding on the intelligent robot, shortening the feeding path of the manipulator and improving the feeding efficiency of the intelligent robot.

[0021] Preferably, the translation component includes a translation frame in the plane of the parallel tracks. There is a translation guide rail perpendicular to the track axis on the translation frame. A lifting frame slides on the translation guide rail. The upper end of the material taking claw is provided with four connecting rings arranged in a matrix. The connecting rings are connected and cooperated with a pulley group through a suspension rope. The other end of the suspension rope is connected to a driving motor arranged on the lifting frame. A telescopic limit rod is arranged at the center position corresponding to the four connecting rings on the lower side of the lifting frame, and the telescopic limit rod is connected to the material taking claw. Through the cooperation of the four connecting rings and the pulley group of the suspension rope, the synchronous lifting of the four corners of the material taking claw is realized. Through the setting of the telescopic limit rod, the deflection of the material taking claw is avoided, so as to ensure the holding of the gripping function during the lifting and moving of the material taking claw. The translation guide rail realizes the sliding guidance of the lifting frame and ensures the reliability of the movement of the lifting and the driving motor, etc.

[0022] Preferably, the material stop station includes a number of spaced material stop plates, and the in-place detection device uses an infrared induction device. The infrared induction device can reliably detect the situation of the material at the material stop station, quickly feedback to stop the operation of the track when the material arrives, and then facilitate the subsequent lifting of the material stop station and the response control of the manipulator.

[0023] Preferably, the material taking claw adopts an integral fixed structure, and the lower rod of the telescopic limit rod is fixedly connected to the material taking claw. The material taking claw is an integral structure, and the material is lifted by supporting the four edges of the material, rather than clamping the material, which will not cause surface damage to the material, nor is it a single adsorption of a vacuum suction cup, improving the efficiency of material transfer.

[0024] Preferably, the metering device adopts a height detection device or a weight detection device corresponding to the material or a counting device for the material. The height detection device and the counting device are installed outside the track, and both can use infrared sensors. When used as a height detection device, the height of the material is detected by the occlusion feedback of the infrared sensor. When used as a counting device, when the infrared sensor senses the set number of times, it means that the material feeding is completed, and the subsequent process can be carried out. The weight detection device needs to be set at the bottom of the feeding station to ensure the reliability of the track feeding through weighing. Each of the three methods has its advantages and disadvantages, and one or more methods can be used in this application for the metering of track feeding.

[0025] The beneficial effects of the present invention are: it can transport the stacked materials to the intelligent robot at one time, expand the space for material stacking through the intelligent track, and the intelligent track serves as a temporary material stop area, facilitating the continuous feeding of materials. Through this application, the feeding efficiency of the intelligent robot can be greatly improved. Description of the Drawings

[0026] Figure 1 is a schematic structural diagram of the track manipulator applied in the present invention.

[0027] Figure 2 is a schematic structural diagram of the cooperation between the track and the intelligent robot in the present invention.

[0028] Figure 3 is a schematic structural diagram of the intelligent robot in the present invention.

[0029] Figure 4 is a schematic structural diagram of the material taking claw in the present invention.

[0030] In the figure: stock support station 101, bottom plate unit 11, protective plate 12, wheel 102, chassis 103, elastic impact rod 104, track 2, frame 20, loading station 21, material stop station 22, pressure sensor 23, station plate 201, material 202, electric cylinder 203, guide rod 204, material stop plate 205, weight detection device 206, in-place detection device 207, translation frame 3, translation guide rail 31, lifting frame 32, lifting slider 33, walking wheel 34, telescopic limit rod 35, lifting rope 36, drive motor 37, wire winding wheel 38, material grabbing claw 4, connecting rod 41, claw toe 42. Detailed implementation manner

[0031] The present invention will be further described below in conjunction with the accompanying drawings and the detailed implementation manner.

[0032] Embodiment 1

[0033] As Figures 1 to 4 shown, an intelligent robot material 202 automatic loading method based on an intelligent track 2 manipulator includes an intelligent track 2 manipulator and an intelligent robot.

[0034] The rail 2 manipulator includes a rail 2, a loading station 21 and a material stopping station 22 which are arranged to be lifted relative to the rail 2. There are two parallel and synchronously running rails 2. The rail 2 can be driven in an approximate belt manner, so that the rail 2 makes a one-way rotary operation, thereby realizing the one-way movement on the upper side of the rail 2. The loading station 21 and the material stopping station 22 are both located between the two rails 2; both the loading station 21 and the material stopping station 22 include a station plate 201. The material 202 is stacked plates, and the relative two ends of the plates are respectively erected on the two rails 2. The width of the station plate 201 is smaller than the gap between the two rails 2. The station plate 201 is driven to lift by a linear element such as a cylinder, a hydraulic cylinder or an electric cylinder 203. A guide rod 204 is arranged on the lower side of the station plate 201 to assist in guiding. A guide hole or a linear bearing is arranged on the frame 20 where the rail 2 is located to slidably cooperate with the lifting of the guide rod 204, so as to ensure the stability of the lifting of the station plate 201. The horizontal dimension and the vertical dimension of the station plate 201 of the material stopping station 22 are respectively smaller than the horizontal dimension and the vertical dimension of the material 202. The material stopping station 22 includes a plurality of spaced material stopping plates 205. The material stopping plates 205 are located above the station plate 201 of the material stopping station 22. The material stopping station 22 is provided with a reciprocating rail 2 and a manipulator of an intelligent robot. The loading station 21 is equipped with a measuring device corresponding to the material 202. The measuring device adopts a height detection device or a weight detection device 206 corresponding to the material 202 or a counting device of the material 202. In this embodiment, a weighing sensor arranged on the upper end surface of the station plate 201 of the loading station 21 is used as the weight detection device 206. The material stopping station 22 is equipped with a position detection device 207. The position detection device 207 adopts an infrared induction device; the infrared induction device includes an infrared emitter arranged on the material stopping station 22. The infrared emitter is located at one end of the upper end of the station plate 201 of the material stopping station 22 far from the loading station 21. An infrared receiver corresponding to the infrared emitter is arranged above the material stopping station 22. The manipulator includes a translation component arranged perpendicular to the axis of the rail 2 on the plane parallel to the rail 2. A lifting component and a material taking claw 4 driven by the lifting component are arranged on the translation component. The material taking claw 4 includes two groups of parallel claw toes 42. The claw toes 42 are C-shaped structures with the openings facing downwards. The distance between the two groups of claw toes 42 is equal to the distance between the two rails 2. A parallel connecting rod 41 is arranged between the two groups of claw toes 42. The opening size of the C-shaped opening of the claw toes 42 is larger than the length size of the station plate 201 of the material stopping station 22 and smaller than the length size of the material 202, ensuring that the lower end of the claw toes 42 can slide into the lower side of the material 202 located on the material stopping station 22 from the direction perpendicular to the rail 2. The intelligent robot runs to the lower side of the manipulator. The material taking claw 4 adopts an integral fixed structure. The material taking claw 4 cannot be telescoped or folded and is a rigid structure, with stable and reliable structure.

[0035] The translation component includes a translation frame 3 parallel to the plane where the parallel rails 2 are located. On the translation frame 3, there are translation guide rails 31 perpendicular to the axis of the rails 2. The translation frame 3 is of a frame structure. There are two parallel translation guide rails 31 on the translation frame 3, and the space between the two translation guide rails 31 is empty. A lifting frame 32 is slidably arranged on the translation guide rails 31, and the lifting frame 32 is located between the two translation guide rails 31. The lifting frame 32 is of a "T" - shaped structure. At the transverse two ends of the lifting frame 32, there are lifting sliders 33 that are slidably matched with the translation guide rails 31. A traveling motor is fixedly arranged on the lifting sliders 33. The traveling motor is drivingly connected to traveling wheels 34, and the traveling wheels 34 are in contact and cooperation with the translation guide rails 31 to provide the power for movement. The lower end of the lifting frame 32 is connected to a telescopic limit rod 35. At the upper end of the material - taking claw 4, there are four connecting rings arranged in a matrix. The connecting rings are connected and cooperated with a pulley block through a lifting rope 36. The other end of the lifting rope 36 is connected to a driving motor 37 arranged on the lifting frame 32. On the lifting frame 32, there is a mounting plate for installing the driving motor 37. A wire - winding wheel 38 is arranged on the driving motor 37. Through the servo - synchronous driving of the four driving motors 37, the synchronous driving of the four wire - winding wheels 38 corresponding to the four lifting ropes 36 is completed, and the coordinated lifting of the four corners of the material - taking claw 4 is completed. The telescopic limit rod 35 corresponds to the central position of the four connecting rings. The lower rod of the telescopic limit rod 35 is fixedly connected to the material - taking claw 4. The upper rod of the telescopic limit rod 35 is fixedly connected to the lifting frame 32, and the upper rod and the lower rod are slidably sleeved and matched. The cross - sectional shape of the telescopic limit rod 35 is a rounded rectangle, which can not only avoid stress concentration but also prevent the rotation between the two rods.

[0036] The intelligent robot includes a material - supporting station 101 and a chassis 103 with wheels 102; a power source and a control circuit are arranged inside the chassis 103. Anti - collision radars and signal receiving and transmitting devices are arranged on the periphery of the chassis 103. The material - supporting station 101 is arranged on the upper end surface of the chassis 103. There are two material - supporting stations 101 on the intelligent robot, and the two material - supporting stations 101 are arranged along the direction of the vertical rail 2. The material - supporting station 101 includes a material - supporting bottom plate and a protection plate 12 arranged on the straight line of the vertical rail 2. The material - supporting bottom plate includes several bottom - plate units 11 arranged in parallel at intervals, and the bottom - plate units 11 and the protection plate 12 are arranged in parallel. The protection plate 12 is located on both sides of the material - supporting bottom plate, and the height of the protection plate 12 is higher than that of the material - supporting bottom plate.

[0037] Based on the above mechanism, the automatic feeding method of the present application includes the following steps:

[0038] A. Feeding on the rail 2; the stop - feeding station 22 is in the descending position. When the in - place detection device 207 detects that there is no material at the stop - feeding station 22, the rail 2 is in a static state. The feeding station 21 rises to receive the material. When the metering device detects that the feeding station 21 is full of materials, the feeding station 21 descends, and the material 202 falls on the rail 2;

[0039] B. Feeding by Track 2: Track 2 moves to carry the material 202 to the material stop station 22. When the in-place detection device 207 detects the arrival of the material 202, Track 2 stops, and the material stop station 22 rises to lift the material 202. There are five spaced temporary stop positions for temporary material stop between the loading station 21 and the material stop station 22 of Track 2. When the material 202 reaches the material stop station 22, the material 202 has been stopped at all the temporary stop positions.

[0040] C. Arrival of the intelligent robot: The intelligent robot moves to one side of the material stop station 22. There is a sensor corresponding to the intelligent robot on the material stop station 22. After the sensor detects the arrival of the intelligent robot, the sensor can be set as the pressure sensor 23 located on the side of Track 2. An elastic bumper 104 is provided on the intelligent robot to correspond to the pressure sensor 23 to ensure the reliability of the arrival of the intelligent robot. When the elastic bumper 104 hits the pressure sensor 23, it means that the intelligent robot has arrived, and at this time, the intelligent robot stops. At this time, the intelligent robot is directly below the translation frame 3, and the translation guide rail 31 is also directly above the material taking station.

[0041] D. Loading by the intelligent robot: After the intelligent robot arrives and stops, the manipulator starts. At this time, the projection of the manipulator on the plane where Track 2 is located is on one side of the material stop station 22. Then the manipulator drives the material taking claw 4 to first move downward until the height of the lower claw toe 42 of the material taking claw 4 corresponds to the lower side of the material 202 on the material stop station 22. After the downward movement stops, the manipulator moves horizontally along the translation guide rail 31 until the claw toe 42 of the material taking claw 4 moves to the opposite side of the lower side of the material 202, and then controls the material taking claw 4 to rise. The material taking claw 4 drives the stacked batch of plates to rise to a position higher than the upper end of the material taking platform guard plate 12. The manipulator moves linearly along the translation guide rail 31 to above the material supporting station 101. By presetting the lifting amount and horizontal movement amount of the manipulator through the PLC program, it is ensured that the position of the manipulator corresponds to the material supporting station 101. Then, by controlling the material taking claw 4 to descend, the loading of the material 202 onto the intelligent robot is completed. After the loading is completed, the material taking claw 4 can be set to descend a certain height as needed, so that the gap between the claw toes 42 of the material taking claw 4 corresponds to the space between the lower end of the material 202 and the upper end face of the chassis 103. Then the manipulator slides along the translation guide rail 31 so that the material taking claw 4 corresponds to the outside of the material 202, and then by controlling the material taking claw 4 to rise and the linear movement of the manipulator, the manipulator can be reset relative to Track 2. The manipulator transports the material 202 from the material stop station 22 to the material supporting station 101 of the intelligent robot and then resets. When the manipulator moves the material 202 out of the material stop station 22, the in-place detection device 207 detects that there is no material at the material stop station 22, and steps A and B are repeated.

[0042] E. After both material supporting stations 101 on the intelligent robot are loaded with the material 202, it leaves Track 2 and the manipulator, and the next intelligent robot enters, and steps C and D are cycled.

[0043] In step D, when the intelligent robot is loading materials, the manipulator can correspondingly move to two material supporting stations 101, and the material supporting station 101 farther from the track 2 is given priority for loading.

[0044] This application expands the stacking space of the materials 202 through the intelligent track 2, separating the loading positions of the materials 202 on the track 2 and the intelligent robot. The intelligent track 2 serves as a temporary material stop area, facilitating the continuous loading of the materials 202. By using the material grabbing claw 4 to batch transport the plates from the track 2 to the intelligent robot, the loading efficiency of the intelligent robot can be significantly improved, and the loading effect is good.

[0045] An automatic material loading method for an intelligent robot of materials 202 based on a manipulator of an intelligent track 2, including a manipulator of the track 2 and an intelligent robot.

[0046] The rail 2 manipulator includes a rail 2, a loading station 21 and a material stop station 22 which are arranged to lift relative to the rail 2. There are two parallel and synchronously running rails 2. The rail 2 can be driven in an approximate belt manner to make the rail 2 perform a one-way rotary operation, so as to realize the one-way movement on the upper side of the rail 2. The loading station 21 and the material stop station 22 are both located between the two rails 2; both the loading station 21 and the material stop station 22 include a station plate 201. The material 202 is stacked plates, and the opposite ends of the plates are respectively erected on the two rails 2. The width of the station plate 201 is smaller than the gap between the two rails 2. The station plate 201 is driven to lift by a linear element such as a cylinder, a hydraulic cylinder or an electric cylinder 203. A guide rod 204 is arranged on the lower side of the station plate 201 to assist in guiding. A guide hole or a linear bearing is arranged on the frame 20 where the rail 2 is located to slidably cooperate with the lifting of the guide rod 204, so as to ensure the stability of the lifting of the station plate 201. The horizontal and vertical dimensions of the station plate 201 of the material stop station 22 are respectively smaller than the horizontal and vertical dimensions of the material 202. The material stop station 22 includes a plurality of spaced material stop plates 205. The material stop plates 205 are located above the station plate 201 of the material stop station 22. The material stop station 22 is provided with a reciprocating rail 2 and a manipulator of an intelligent robot. The loading station 21 is equipped with a metering device corresponding to the material 202. The metering device adopts a height detection device or a weight detection device 206 corresponding to the material 202 or a counting device for the material 202. In this embodiment, a weighing sensor arranged on the upper end face of the station plate 201 of the loading station 21 is used as the weight detection device 206. The material stop station 22 is equipped with a position detection device 207. The position detection device 207 adopts an infrared induction device; the infrared induction device includes an infrared emitter arranged on the material stop station 22. The infrared emitter is located at one end of the upper end of the station plate 201 of the material stop station 22 far from the loading station 21. An infrared receiver corresponding to the infrared emitter is arranged above the material stop station 22. The manipulator includes a translation component arranged perpendicular to the axis of the rail 2 on the plane parallel to the rail 2. An elevating component and a material taking claw 4 driven by the elevating component are arranged on the translation component. The material taking claw 4 includes two groups of parallel claw toes 42. The claw toes 42 are C-shaped structures with openings facing downwards. The distance between the two groups of claw toes 42 is equal to the distance between the two rails 2. Parallel connecting rods 41 are arranged between the two groups of claw toes 42. The opening size of the C-shaped opening of the claw toes 42 is larger than the length size of the station plate 201 of the material stop station 22 and smaller than the length size of the material 202, ensuring that the lower end of the claw toes 42 can slide into the lower side of the material 202 located on the material stop station 22 from the direction perpendicular to the rail 2. The intelligent robot runs to the lower side of the manipulator. The material taking claw 4 adopts an integral fixed structure. The material taking claw 4 cannot be telescoped or folded and is a rigid structure with stable and reliable structure.

[0047] The translation component includes a translation frame 3 parallel to the plane of the parallel rails 2. A translation guide rail 31 perpendicular to the axis of the rails 2 is provided on the translation frame 3. The translation frame 3 is of a frame structure. A lifting frame 32 is slidably provided on the translation guide rail 31. The lifting frame 32 is of a "T" - shaped structure. Lifting sliders 33 slidably engaged with the translation guide rail 31 are respectively provided at the transverse two ends of the lifting frame 32. A traveling motor is fixedly provided on the lifting slider 33. The traveling motor is drivingly connected to a traveling wheel 34. The traveling wheel 34 is in contact and cooperation with the translation guide rail 31 to provide the power for movement. The lower end of the lifting frame 32 is connected to a telescopic limiting rod 35. Four connecting rings arranged in a matrix are provided at the upper end of the material - taking claw 4. The connecting rings are connected and cooperated with a pulley block through a lifting rope 36. The other end of the lifting rope 36 is connected to a driving motor 37 provided on the lifting frame 32. An installation plate for installing the driving motor 37 is provided on the lifting frame 32. A wire - winding wheel 38 is provided on the driving motor 37. Through the servo - synchronous driving of the four driving motors 37, the synchronous driving of the four wire - winding wheels 38 corresponding to the four lifting ropes 36 is completed, and the coordinated lifting of the four corners of the material - taking claw 4 is completed. The telescopic limiting rod 35 is correspondingly located at the central position of the four connecting rings. The lower rod of the telescopic limiting rod 35 is fixedly connected to the material - taking claw 4. The upper rod of the telescopic limiting rod 35 is fixedly connected to the lifting frame 32. The upper rod and the lower rod are slidably sleeved and cooperated. The cross - sectional shape of the telescopic limiting rod 35 is a rounded rectangle, which can not only avoid stress concentration but also prevent rotation between the two rods.

[0048] The intelligent robot includes a material - supporting station 101 and a chassis 103 with wheels 102; a power source and a control circuit are arranged inside the chassis 103. Anti - collision radars and signal receiving and transmitting devices are arranged on the periphery of the chassis 103. The material - supporting station 101 is arranged on the upper end surface of the chassis 103. There are two material - supporting stations 101 on the intelligent robot. The two material - supporting stations 101 are arranged along the direction of the vertical rails 2. The material - supporting station 101 includes a material - supporting bottom plate and a protective plate 12 arranged on the straight line of the vertical rails 2. The material - supporting bottom plate includes several bottom - plate units 11 arranged in parallel at intervals. The bottom - plate units 11 and the protective plate 12 are arranged in parallel. The protective plate 12 is located on both sides of the material - supporting bottom plate. The height of the protective plate 12 is higher than that of the material - supporting bottom plate.

[0049] Based on the above mechanism, the automatic feeding method of the present application includes the following steps:

[0050] A. Feeding on the rails 2; the stop - feeding station 22 is in the descending position. The in - place detection device 207 detects that there is no material at the stop - feeding station 22, and the rails 2 are in a stationary state. The feeding station 21 rises to receive the material. When the metering device detects that the feeding station 21 is full of material, the feeding station 21 descends, and the material 202 falls on the rails 2;

[0051] B. Feeding by Track 2: Track 2 moves to carry material 202 to the material stop station 22. When the in-place detection device 207 detects the arrival of material 202, Track 2 stops, and the material stop station 22 rises to lift material 202. There are five spaced temporary stop positions for temporary material stop between the loading station 21 and the material stop station 22 of Track 2. When material 202 reaches the material stop station 22, all the temporary stop positions have stopped material 202.

[0052] C. Arrival of the intelligent robot: The intelligent robot moves to one side of the material stop station 22. There is a sensor corresponding to the intelligent robot on the material stop station 22. After the sensor detects the arrival of the intelligent robot, the sensor can be set as the pressure sensor 23 located on the side of Track 2. An elastic bumper 104 is set on the intelligent robot to correspond to the pressure sensor 23 to ensure the reliability of the arrival of the intelligent robot. When the elastic bumper 104 hits the pressure sensor 23, it means the intelligent robot has arrived, and at this time, the intelligent robot stops. At this time, the intelligent robot is directly below the translation frame 3, and the translation guide rail 31 is also directly above the material taking station.

[0053] D. Loading by the intelligent robot: After the intelligent robot arrives and stops, the manipulator starts. At this time, the projection of the manipulator on the plane where Track 2 is located is on one side of the material stop station 22. Then the manipulator drives the material taking claw 4 to first move downward until the height of the lower claw toe 42 of the material taking claw 4 corresponds to the lower side of material 202 on the material stop station 22. After the downward movement stops, the manipulator moves horizontally along the translation guide rail 31 until the claw toe 42 of the material taking claw 4 moves to the opposite side of the lower side of material 202, and then controls the material taking claw 4 to rise. The material taking claw 4 drives the stacked batch of plates to rise to a position higher than the upper end of the material taking platform guard plate 12. The manipulator moves linearly along the translation guide rail 31 to the upper part of the material supporting station 101. The lifting amount and horizontal movement amount of the manipulator are preset through the PLC program to ensure the position correspondence between the manipulator and the material supporting station 101. Then, by controlling the material taking claw 4 to descend, the loading of material 202 on the intelligent robot is completed. After the loading is completed, the material taking claw 4 can be set to descend a certain height as needed, so that the gap between the claw toes 42 of the material taking claw 4 corresponds to the space between the lower end of material 202 and the upper end face of the chassis 103. Then the manipulator slides along the translation guide rail 31 so that the material taking claw 4 corresponds to the outside of material 202, and then by controlling the material taking claw 4 to rise and the linear movement of the manipulator, the reset of the manipulator relative to Track 2 can be completed. After the manipulator transports material 202 from the material stop station 22 to the material supporting station 101 of the intelligent robot and resets, when the manipulator removes material 202 from the material stop station 22, the in-place detection device 207 detects that there is no material at the material stop station 22, and steps A and B are repeated.

[0054] E. After both material supporting stations 101 on the intelligent robot are loaded with material 202, it leaves Track 2 and the manipulator, and the next intelligent robot enters, and steps C and D are cycled.

[0055] In step D, when the intelligent robot is loading materials, the manipulator can correspondingly move to the two material supporting stations 101, and the material supporting station 101 farther from the track 2 is given priority for loading.

[0056] The present application expands the stacking space of the materials 202 through the intelligent track 2, so that the loading positions of the materials 202 on the track 2 and the loading positions on the intelligent robot are separated. The intelligent track 2 serves as a temporary material stopping area, facilitating the continuous loading of the materials 202. By using the material taking claws 4 to transport the plates from the track 2 to the intelligent robot in batches, the loading efficiency of the intelligent robot can be significantly improved, and the loading effect is good.

Claims

1. An intelligent robot material automatic feeding method based on an intelligent track manipulator, characterized in that, Comprising: An orbital manipulator, including an orbit, a loading station and a material stopping station which are arranged to lift relative to the orbit. The material stopping station is provided with a reciprocating orbit and a manipulator of an intelligent robot. The loading station is equipped with a metering device corresponding to the material, and the material stopping station is equipped with a position detection device; An intelligent robot, including a material supporting station; The automatic feeding method includes the following steps: A. Feeding on the orbit; the material stopping station is in the lowered position. When the position detection device detects that there is no material at the material stopping station and the orbit is in a stationary state, the loading station rises to receive the material. When the metering device detects that the material at the loading station is sufficient, the loading station descends, and the material falls onto the orbit; B. Feeding the material on the orbit; the orbit moves to drive the material to the material stopping station. When the position detection device detects that the material has arrived, the orbit stops, and the material stopping station rises to lift the material; C. The intelligent robot arrives; the intelligent robot moves to one side of the material stopping station. A sensor corresponding to the intelligent robot is arranged on the material stopping station. After the sensor detects that the intelligent robot has arrived, the intelligent robot stops; D. The intelligent robot feeds the material; after the intelligent robot arrives and stops, the manipulator starts. The manipulator transports the material from the material stopping station to the material supporting station of the intelligent robot and then resets. When the manipulator moves the material out of the material stopping station, the position detection device detects that there is no material at the material stopping station, and steps A and B are repeated; E. After the intelligent robot has loaded the material, it leaves the orbit and the manipulator, and the next intelligent robot enters, and steps C and D are cycled; The manipulator includes a translation component arranged perpendicular to the axis of the orbit on the plane parallel to the orbit. An elevating component and a material taking claw driven by the elevating component are arranged on the translation component. The material taking claw includes two groups of parallel claw toes, and the claw toes are C-shaped structures with the openings facing downwards. The translation component includes a translation frame parallel to the plane of the orbit. A translation guide rail perpendicular to the axis of the orbit is arranged on the translation frame. There are two parallel and synchronously running orbits. The loading station and the material stopping station are both located between the two orbits. The material is stacked plates, and the opposite ends of the plates are respectively placed on the two orbits. An elevating frame is slidably arranged on the translation guide rail. Four connection rings arranged in a matrix are provided at the upper end of the material taking claw. The connection rings are connected with a pulley block through a suspension rope, and the other end of the suspension rope is connected with a driving motor arranged on the elevating frame. An expansion limiting rod is arranged at the central position corresponding to the four connection rings on the lower side of the elevating frame, and the expansion limiting rod is connected with the material taking claw.

2. The automatic material feeding method for an intelligent robot based on an intelligent rail manipulator according to claim 1, characterized in that, In step D, when the intelligent robot feeds the material, if the intelligent robot is provided with a plurality of material supporting stations, the feeding is preferably to the material supporting station farther from the orbit.

3. An intelligent robot material automatic feeding method based on an intelligent track manipulator according to claim 1 or 2, characterized in that, The intelligent robot is provided with two material supporting stations, and the two material supporting stations are arranged along the direction perpendicular to the orbit. In step D, the manipulator can correspondingly move to the two material supporting stations.

4. An intelligent robot material automatic feeding method based on an intelligent rail manipulator according to claim 1, characterized in that, The lateral dimension and the longitudinal dimension of the material stopping station are respectively smaller than the lateral dimension and the longitudinal dimension of the material.

5. An intelligent robot material automatic feeding method based on an intelligent track manipulator according to claim 1 or 2, characterized in that, The material supporting station includes a material supporting bottom plate and a protection plate arranged on the straight line perpendicular to the orbit. The protection plates are located on both sides of the material supporting bottom plate, and the height of the protection plates is higher than the height of the material supporting bottom plate.

6. The automatic material loading method for an intelligent robot based on an intelligent rail manipulator according to claim 1, characterized in that, The intelligent robot moves to the lower side of the manipulator.

7. An automatic material feeding method for an intelligent robot based on an intelligent track manipulator according to claim 1, characterized in that, The material stopping station includes a plurality of spaced material stopping plates, and the position detection device adopts an infrared induction device.

8. An automatic material feeding method for an intelligent robot based on an intelligent rail manipulator according to claim 1, characterized in that, The material taking claw adopts an integral fixed structure, and the lower rod of the telescopic limit rod is fixedly connected with the material taking claw.

9. The automatic material loading method for an intelligent robot based on an intelligent rail manipulator according to claim 1, characterized in that, The metering device adopts a height detection device or a weight detection device corresponding to the material or a counting device for the material.

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