Three-axis cable-driven heavy-load palletizing robot

Abstract

The invention provides a three-axis cable-driven heavy-load palletizing robot, and relates to the technical field of palletizing robotics.The three-axis cable-driven heavy-load palletizing robot comprises a rack component, and a driver component, a movable platform component, an end effector component, a cable assembly and a control assembly.According to the three-axis cable-driven heavy-load palletizing robot, through cable driving, the movement inertia is reduced, and the movement stability is improved; the end effector component can run at a high speed, balance is achieved through the dead weight of the movable platform component and the end effector component and the tension of the rope, due to the fact that the cable-driven heavy-load robot, the movable platform component and the end effector component have certain weight, the rope can be kept tensioned all the time, and the tension of the rope can be kept balanced with the gravity of the movable platform component; the device is simple in structure, low in manufacturing cost and low in requirement for the installation environment of a client, the rope, the pulley and other structures are simple, quick-wear parts are easy to replace, and therefore the device is easy to maintain, a large working space can be achieved by using few parts, and power consumption is low.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, and in particular to a three-axis cable-driven heavy-load palletizing robot. Background Art

[0002] As the main force of production automation and intelligent manufacturing, the research and development, manufacturing and application of industrial robots have become an important indicator of a country's scientific and technological innovation and manufacturing level. Facing the development trend of lightweight, flexible and intelligent equipment and increasingly complex and changeable production needs, rigid parallel robots still have bottlenecks to be broken through in terms of performance. This is mainly reflected in the use of rigid rods in the motion branch of parallel robots, which limits the further reduction of the mass of moving parts and the further improvement of motion efficiency. In addition, a large number of hinges such as rotating pairs, universal joints and ball joints are used in the motion branch of high-speed parallel robots. The motion range of the hinge limits the motion range of the moving platform, that is, the robot's workspace. At the same time, the hinge gap makes it difficult to ensure the high position accuracy and repeat positioning accuracy of the terminal moving platform. Secondly, the high-speed parallel robot adopts an active swing rod structure, and a precision reducer with a large reduction ratio is required in the drive unit. At the same time, transmission components such as precision ball joints are required in the motion chain, resulting in high costs and need to be improved. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems raised in the above background technology.

[0004] The present invention adopts the following technical scheme: a three-axis cable-driven heavy-load palletizing robot, comprising a frame component, wherein a driver component, a moving platform component, an end effector component, a cable assembly and a control assembly are arranged inside the frame component, wherein the frame component contains a frame body, the four corners of the frame body are fixedly connected with reinforcement members, and the bottom end of the frame body is fixedly connected with a fixing plate.

[0005] Preferably, the driver component contains a driver servo motor inside, a servo motor encoder is fixedly installed on the side of the driver servo motor, a reducer is fixedly installed on the other side of the driver servo motor, a reducer mounting plate is fixedly installed on the side of the driver reducer, a rope drum is fixedly installed on the output end of the reducer, a drum input end cover is fixedly installed on one end of the rope drum, and a drum output end cover is fixedly connected to the other end of the rope drum, an output shaft is fixedly connected to the inside of the rope drum, a bearing is fixedly connected to one end of the output shaft, a bearing is fixedly connected to the surface of the bearing, a bearing seat is fixedly connected to the surface of the bearing, a bearing cover is fixedly connected to the surface of the bearing, a rope pressure block is fixedly installed on the surface of the rope drum, and a rope is fixedly connected to the inside of the rope pressure block. Here, the motor can drive the rotation of the rope drum by deceleration, so that the rope is wound around the rope drum, and the rope length from the rope to the moving platform changes, thereby pulling the moving platform, and the encoder feeds back the angle of motor rotation in real time to achieve closed-loop control of motor rotation.

[0006] Preferably, the interior of the moving platform component includes a moving platform plate, a cable sheath is fixedly connected to the surface of the moving platform plate, a cable threading fixing plate is fixedly connected to the surface of the moving platform plate, a slewing support component is fixedly connected to the bottom of the moving platform plate, a moving platform reducer is fixedly connected to the top of the moving platform plate, and a moving platform servo motor is fixedly installed on the top of the moving platform reducer. Here, the moving platform servo motor and the moving platform reducer provide rotational power and rotational positioning for the slewing support component, and the slewing support component can rotate 360°. The slewing component is the Z-axis rotating component of the stacking device, which realizes the rotation of the stacked items around the vertical axis.

[0007] Preferably, the end effector component includes a suction cup fixing frame inside, a top suction cup is fixedly installed below the suction cup fixing frame, an air circuit solenoid valve is arranged above the suction cup fixing frame, side arm telescopic cylinders are arranged at both ends of the air circuit solenoid valve, a side arm linear slide is fixedly installed at one end of the side arm telescopic cylinder, a side clamp arm is slidably connected to the surface of the side arm linear slide, and a side clamp arm suction cup is fixedly installed on the surface of the side clamp arm. Here, the air circuit solenoid valve can control the on and off of the cylinder and the suction cup, and the side clamp arm can drive the side clamp arm suction cup to slide on the side arm linear slide.

[0008] Preferably, the cable assembly includes a fixed pulley assembly inside, a movable guide wheel assembly is arranged below the fixed pulley assembly, and the movable guide wheel assembly includes a hollow shaft inside, and the surface of the hollow shaft is rotatably connected to a movable guide wheel base. Here, the movable guide wheel base can rotate around the hollow shaft to adapt to different positions formed by the connection between the movable platform plate and the rope.

[0009] Preferably, the control component includes a user interface display screen, a switch button, a power distribution board and drive components. Here, the hardware outputs signals and power, so that the drive component and the end effector component can act according to a predetermined plan.

[0010] Preferably, the inside of the cable sheath is fixedly connected to the rope, the inside of the cable fixing plate is fixedly connected to the rope, and the output end of the movable platform reducer is fixedly connected to the slewing support component. Here, the rope can be fixed on the movable platform through the shuttle fixing plate.

[0011] Preferably, the output end of the side arm telescopic cylinder is fixedly connected to the side clamp arm, and a driver component is fixedly installed on the surface of the mounting plate. Here, the side arm telescopic cylinder is connected to the side clamp arm through the side arm linear slide rail to realize the opening and retraction of the side clamp arm, so as to realize the clamping of objects on both sides. At the same time, the cylinder has a large stroke, which can realize the grabbing of objects of different widths.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are:

[0013] In the present invention, the motion inertia is reduced through cable drive, and the end effector component can run at high speed, relying on the balance of the dead weight of the moving platform component and the end effector component and the rope tension. Because the cable drives the heavy-load robot, the moving platform component and the end effector component have a certain weight, the rope will always remain tensioned, and the rope tension will be balanced with the gravity of the moving platform component. The device has a simple structure, low cost, and low requirements on the customer's installation environment. In addition, the structure of the rope, pulley, etc. is simple, and it is easy to replace wearing parts, so the equipment is simple to maintain, a larger working space can be achieved by using fewer parts, and the power consumption is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of a three-axis cable-driven heavy-load palletizing robot is provided for the present invention;

[0015] Figure 2 The present invention provides a schematic diagram of a driver component of a three-axis cable-driven heavy-load palletizing robot;

[0016] Figure 3 The present invention provides a schematic diagram of the end effector components of a three-axis cable-driven heavy-load palletizing robot;

[0017] Figure 4 The present invention proposes a three-axis cable-driven heavy-load palletizing robot Figure 2 Enlarged view of point A in the middle;

[0018] Figure 5The present invention provides a partial schematic diagram of the gas circuit solenoid valve of a three-axis cable-driven heavy-load palletizing robot;

[0019] Figure 6 The present invention provides a partial schematic diagram of a linear slide rail of a side arm of a three-axis cable-driven heavy-load palletizing robot;

[0020] Figure 7 A partial diagram of a cable assembly of a three-axis cable-driven heavy-load palletizing robot proposed by the present invention;

[0021] Figure 8 The present invention provides a schematic diagram of a control component of a three-axis cable-driven heavy-load palletizing robot.

[0022] Legend:

[0023] 1. Frame components; 11. Frame; 12. Reinforcement; 13. Mounting plate; 14. Fixing plate; 2. Driver components; 21. Driver servo motor; 22. Servo motor encoder; 23. Driver reducer; 24. Reducer mounting plate; 25. Drum input end cover; 26. Rope drum; 27. Drum output end cover; 28. Output shaft; 29. ​​Bearing; 210. Bearing seat; 211. Bearing cover; 212. Rope pressing block; 3. Moving platform components; 31. Moving platform plate; 32. Rope sheath; 33. Rope threading fixing plate ; 34. Slewing bearing component; 35. Moving platform servo motor; 36. Moving platform reducer; 4. End actuator component; 41. Suction cup fixing bracket; 42. Top suction cup; 43. Air circuit solenoid valve; 44. Side arm telescopic cylinder; 45. Side arm linear slide rail; 46. Side clamp arm; 47. Side clamp arm suction cup; 5. Cable assembly; 51. Rope; 52. Fixed pulley assembly; 53. Moving guide wheel assembly; 54. Moving guide wheel base; 55. Hollow shaft; 6. Control assembly; 61. User interface display; 62. Switch button. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0026] Example

[0027] See also Figure 1-8The present invention provides a technical solution: a three-axis cable-driven heavy-load palletizing robot, comprising a frame component 1, wherein a driver component 2, a moving platform component 3, an end effector component 4, a cable component 5 and a control component 6 are arranged inside the frame component 1, wherein the frame component 1 comprises a frame body 11, wherein the four corners of the frame body 11 are fixedly connected with reinforcement members 12 to make the device stable, wherein a mounting plate 13 is fixedly connected to the top of the frame body 11, wherein a fixing plate 14 is fixedly connected to the bottom end of the frame body 11 to fix the frame body 11 on the ground, wherein the driver component 2 comprises a driver servo motor 21, wherein a servo motor encoder 22 is fixedly installed on the side of the driver servo motor 21, and a servo motor encoder 22 is fixedly installed on the other side of the driver servo motor 21 There is a driver reducer 23, a reducer mounting plate 2413 is fixedly installed on the side of the driver reducer 23, a rope 51 drum 26 is fixedly installed on the output end of the driver reducer 23, a drum input end cover 25 is fixedly installed on one end of the rope 51 drum 26, and a drum output end cover 27 is fixedly connected to the other end of the rope 51 drum 26. An output shaft 28 is fixedly connected to the inside of the rope 51 drum 26, and a bearing 29 is fixedly connected to one end of the output shaft 28. A bearing 29 seat is fixedly connected to the surface of the bearing 29, and a bearing 29 cover is fixedly connected to the surface of the bearing 29. A rope pressing block 212 is fixedly installed on the surface of the rope 51 drum 26, and a rope 51 is fixedly connected to the inside of the rope pressing block 212, so that the motor can drive the rope 51 through deceleration. The drum 26 rotates, and the rope 51 is wound around the rope 51 drum 26, so that the length of the rope 51 from the rope 51 to the moving platform changes, thereby pulling the moving platform, and the encoder feeds back the angle of rotation of the motor in real time, so as to realize closed-loop control of the rotation of the motor. The interior of the moving platform component 3 includes a moving platform plate 31, and the surface of the moving platform plate 31 is fixedly connected to a rope sheath 32, and the surface of the moving platform plate 31 is fixedly connected to a rope threading fixing plate 3314, and the bottom of the moving platform plate 31 is fixedly connected to a slewing support component 34, and the top of the moving platform plate 31 is fixedly connected to a moving platform reducer 36, and the top of the moving platform reducer 36 is fixedly installed with a moving platform servo motor 35, so that the moving platform servo motor 35 and the moving platform reducer 36 provide the slewing support component 34 with a certain rotation speed. Providing rotational power and rotational positioning, the slewing support component 34 can rotate 360°. The slewing component is the Z-axis rotating component of the palletizing device, which realizes the rotation of the stacked items around the vertical axis. The interior of the end actuator component 4 includes a suction cup fixing frame 41, and a top suction cup 42 is fixedly installed below the suction cup fixing frame 41. An air circuit solenoid valve 43 is arranged on the top of the suction cup fixing frame 41. Side arm telescopic cylinders 44 are arranged at both ends of the air circuit solenoid valve 43. A side arm linear slide 45 is fixedly installed at one end of the side arm telescopic cylinder 44. A side clamp arm 46 is slidably connected to the surface of the side arm linear slide 45. The side clamp arm 46 suction cup is fixedly installed on the surface of the side clamp arm 46, so that the air circuit solenoid valve 43 can control the on and off of the cylinder and the suction cup.The side clamp arm 46 can drive the side clamp arm 46 suction cup to slide on the side arm linear slide rail 45. The interior of the cable assembly 5 includes a fixed pulley assembly 52, and a movable guide wheel assembly 53 is arranged below the fixed pulley assembly 52. ​​The interior of the movable guide wheel assembly 53 includes a hollow shaft 55, and the surface of the hollow shaft 55 is rotatably connected to a movable guide wheel base 54, so that the movable guide wheel base 54 can rotate around the hollow shaft 55, so as to adapt to different positions and postures formed by the connection between the movable platform plate 31 and the rope 51. The interior of the control assembly 6 includes a user interface display screen 61, and the interior of the control assembly 6 includes a switch button 62. The interior of the control assembly 6 is provided with a distribution board and driving components, so that the hardware can output signals and power, so that the drive component 2 and The end effector component 4 moves according to the predetermined scheme, the inside of the cable sheath 32 is fixedly connected to the rope 51, the inside of the cable fixing plate 3314 is fixedly connected to the rope 51, the output end of the moving platform reducer 36 is fixedly connected to the slewing bearing component 34, so that the rope 51 can be fixed on the moving platform through the shuttle fixing plate 14, the output end of the side arm telescopic cylinder 44 is fixedly connected to the side clamping arm 46, and the driver component 2 is fixedly installed on the surface of the mounting plate 13, so that the side arm telescopic cylinder 44 is connected to the side clamping arm 46 through the side arm linear slide 45, so as to realize the opening and retraction of the side clamping arm 46, and realize the clamping of the objects on both sides. At the same time, the cylinder has a large stroke, which can realize the grabbing of objects of different widths.

[0028] Working principle: Palletizing robots generally work in conjunction with assembly lines. When an item reaches point A of the assembly line, the robot sends a signal to the robot control system through hardware detection (such as position sensing switch, visual detection system, etc.). After receiving the signal, the robot drives the control system hardware (such as PLC, motor driver, etc.) through the control program to control the rotation of the three-axis driver servo motor 21, so that the length of the three-axis rope 51 changes. The change in the length of the rope 51 pulls the platform component 3 to move, so that the platform assembly and the end effector reach point A, execute the grabbing of the target item, and then move to the set point B position (this position is adjusted according to the input stacking requirements and the placement of the items), and the end effector assembly releases the items to achieve the palletizing effect. This end effector assembly is provided with a rotatable Z-axis. If the actuator Z-axis rotates 180°, the front and back flip palletizing of the product can be realized.

[0029] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A three-axis cable-driven heavy-load palletizing robot, comprising a frame component (1), characterized in that: The frame component (1) is provided with a drive component (2), a moving platform component (3), an end effector component (4), a cable component (5) and a control component (6). The frame component (1) includes a frame body (11) inside. The four corners of the frame body (11) are fixedly connected with reinforcement members (12). The upper side of the frame body (11) is fixedly connected with a mounting plate (13). The bottom end of the frame body (11) is fixedly connected with a fixing plate (14).

2. The three-axis cable-driven heavy-load palletizing robot according to claim 1, characterized in that: The drive component (2) includes a drive servo motor (21) inside, a servo motor encoder (22) is fixedly mounted on the side of the drive servo motor (21), a drive reducer (23) is fixedly mounted on the other side of the drive servo motor (21), a reducer mounting plate (24) is fixedly mounted on the side of the drive reducer (23), a rope drum (26) is fixedly mounted on the output end of the reducer, a drum input end cover (25) is fixedly mounted on one end of the rope drum (26), and a drum output end cover (27) is fixedly connected to the other end of the rope drum (26); an output shaft (28) is fixedly connected to the inside of the rope drum (26), a bearing (29) is fixedly connected to one end of the output shaft (28), a bearing (29) seat is fixedly connected to the surface of the bearing (29), a bearing (29) cover is fixedly connected to the surface of the bearing (29), a rope pressing block (212) is fixedly mounted on the surface of the rope drum (26), and a rope (51) is fixedly connected to the inside of the rope pressing block (212).

3. The three-axis cable-driven heavy-load palletizing robot according to claim 1, characterized in that: The movable platform component (3) includes a movable platform plate (31) inside, a cable sheath (32) is fixedly connected to the surface of the movable platform plate (31), a cable fixing plate (33)(14) is fixedly connected to the surface of the movable platform plate (31), a slewing support component (34) is fixedly connected to the bottom of the movable platform plate (31), a movable platform reducer is fixedly connected to the top of the movable platform plate (31), and a movable platform servo motor (35) is fixedly installed on the top of the movable platform reducer.

4. The three-axis cable-driven heavy-load palletizing robot according to claim 1, characterized in that: The end effector component (4) includes a suction cup fixing frame (41) inside, a top suction cup (42) is fixedly installed below the suction cup fixing frame (41), an air circuit solenoid valve (43) is arranged above the suction cup fixing frame (41), side arm telescopic cylinders (44) are arranged at both ends of the air circuit solenoid valve (43), a side arm linear slide (45) is fixedly installed at one end of the side arm telescopic cylinder (44), a side clamping arm (46) is slidably connected to the surface of the side arm linear slide (45), and a side clamping arm suction cup (47) is fixedly installed on the surface of the side clamping arm (46).

5. The three-axis cable-driven heavy-load palletizing robot according to claim 1, characterized in that: The cable assembly (5) includes a fixed pulley assembly (52) inside, a movable guide wheel assembly (53) is arranged below the fixed pulley assembly (52), and the movable guide wheel assembly includes a hollow shaft (55) inside, and the surface of the hollow shaft (55) is rotatably connected to a movable guide wheel base (54).

6. The three-axis cable-driven heavy-load palletizing robot according to claim 1, characterized in that: The control component (6) contains a user interface display screen (61) inside, the control component (6) contains a switch button (62) inside, and a power distribution board and driving components are arranged inside the control component (6).

7. The three-axis cable-driven heavy-load palletizing robot according to claim 3, characterized in that: The interior of the cable sheath (32) is fixedly connected to the cable (51), the interior of the cable fixing plate (33) is fixedly connected to the cable (51), and the output end of the moving platform reducer (36) is fixedly connected to the slewing support component (34).

8. The three-axis cable-driven heavy-load palletizing robot according to claim 4, characterized in that: The output end of the side arm telescopic cylinder (44) is fixedly connected to the side clamping arm (46), and a driver component (2) is fixedly mounted on the surface of the mounting plate (13).

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