High-speed ultra-long-distance material sorting and distributing robot

Abstract

The invention provides a high-speed and ultra-long-distance material sorting and distributing robot, and relates to the technical field of material sorting and distributing robots, the high-speed and ultra-long-distance material sorting and distributing robot comprises a rack component, in the high-speed and ultra-long-distance material sorting and distributing robot, through a rope driving mode, compared with a rigid robot, the motion inertia is remarkably reduced, an end effector can run at a high speed and a high speed, and the high-speed and ultra-long-distance material sorting and distributing robot is simple in structure and low in manufacturing cost; the device is very suitable for large-scale industrial manufacturing links, and has the advantages of low requirements on installation environments of customers, small occupied area, low requirements on transformation of existing workshops, convenience in installation and easiness in implementation of projects. The rope and the pulley assembly are simple and easy to maintain, quick-wear parts are convenient to replace, the working space is wide, compared with a common mechanical arm, a larger working space can be achieved by using fewer parts, excellent performance and economic benefits are shown, meanwhile, power consumption is smaller than that of a rigid robot, and factory energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of material sorting and distribution robots, and particularly to a high-speed and ultra-long-distance material sorting and distribution robot. Background Art

[0002] Industrial robots are the key force in production automation and intelligent manufacturing. With the increasingly complex and changeable production demands, lightweight, flexible, and intelligent have become the new trends in equipment development. However, there are obvious bottlenecks in the performance of rigid parallel robots. Their motion branches use rigid rods, making it difficult to further reduce the mass and improve the efficiency. At the same time, connecting components such as rotating pairs and universal joints limit the motion range of the robot, and the connecting gaps also affect the high position accuracy and repeated positioning accuracy of the end moving platform. In addition, high-speed parallel robots adopt an active swing rod structure, which requires a precision reducer with a large reduction ratio and precision transmission components, resulting in high costs. Traditional long-distance sorting and transmission generally use chains or racks, with complex mechanical structures and large wear. The traditional mechanical structure drive group on the moving platform has a large mass, cannot achieve high-speed movement, and has high motion energy consumption, which needs 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 art.

[0004] The present invention adopts the following technical scheme: A high-speed and ultra-long-distance material sorting and distribution robot, including a frame component. Inside the frame component, there are a driver component, a moving platform component, an end effector component, a cable assembly, and a control component. Inside the frame component, there is a frame body. Reinforcing members are fixedly connected to the four corners of the frame body. A mounting plate is fixedly connected to the upper surface of the frame body. A fixing plate is fixedly connected to the bottom end of the frame body. A guide rail is fixedly connected to the upper surface of the frame body.

[0005] Preferably, inside the driver component, there is a servo motor. An encoder is fixedly installed on the side of the servo motor. A driver reducer is fixedly installed on the other side of the servo motor. A mounting plate is fixedly installed on the side of the driver reducer. An output shaft is fixedly installed at the output end of the driver reducer. A cable drum is fixedly installed on the surface of the output shaft. A cable pressing block is fixedly connected to the surface of the cable drum. Bearings are fixedly connected to both ends of the output shaft. A bearing seat is fixedly connected to the surface of the bearing. A bearing cover is fixedly connected to the side of the bearing seat. The reducer mounting plate and the bearing seat are fixedly connected to the mounting plate through connecting bolts. Here, the motor can drive the rotation of the cable drum through the driver reducer. Through cable winding, the length of the cable to the moving platform changes, thereby pulling the moving platform component. The encoder real-time feedbacks the rotation angle of the motor to achieve the closed-loop control of the motor rotation.

[0006] Preferably, the interior of the moving platform component includes a moving platform frame. A material receiving hopper is fixedly installed on the upper surface of the moving platform frame. A cable passing fixing plate is fixedly installed on the surface of the moving platform frame. A roller is rotatably connected to the side surface of the moving platform frame. A material induction sensor is fixedly installed on the upper surface of the moving platform frame. The components on the moving platform frame are connected by fastening screws. Here, the moving platform moves its own position left and right through the ropes on the cable passing fixing plate, and the roller helps to make the movement smoother.

[0007] Preferably, the interior of the end effector component includes a semi-cover plate. The surface of the moving platform frame is fixedly connected to a flipping cylinder. A fixed connection is provided between the output end of the flipping cylinder and the semi-cover plate. Here, when the flipping plates of the flipping cylinders on both sides make a 90° flip, the opening and closing of the semi-cover plate can be realized, and the material receiving and discharging actions can be achieved.

[0008] Preferably, the interior of the cable assembly includes a fixed wheel shaft support. A fixed wheel rotating shaft is fixedly connected inside the fixed wheel shaft support. A fixed pulley is fixedly connected to the surface of the fixed wheel rotating shaft. The interior of the cable assembly includes a driven wheel bearing seat. A driven wheel rotating shaft is fixedly connected inside the driven wheel bearing seat. A driven wheel is fixedly connected to the surface of the driven wheel rotating shaft. A rope is in rolling connection with the surfaces of the driven wheel and the fixed pulley. The side surfaces of the fixed wheel shaft support and the driven wheel bearing seat are fixedly connected to an installation plate. A rope blocking rod is fixedly connected to the installation plate. Here, one end of the rope is fixed on the rope pressing block of the drum. After the rope winds around the spiral and comes out of the drum, it first passes through the fixed pulley and reaches the left side of the moving platform component, and is fixed at the left-side cable fixing point of the moving platform. The right-side cable fixing point of the moving platform is fixed to another rope. This rope extends to the right, reaches the driven wheel, turns 180° through the driven wheel, then extends to the left, passes through the cable sliding sleeve of the moving platform, reaches another pulley on the left side, and then winds around to the other end of the cable winding drum. Each robot is provided with 2 groups of parallel ropes, and each group of parallel ropes has 2 ropes.

[0009] Preferably, the interior of the control component includes a user interface display screen. The interior of the control component includes a switch button. A power distribution board and driving components are provided inside the control component. Here, the device can, according to the program setting, output signals and power in hardware, and drive the driver component and the end effector component to execute according to a predetermined plan.

[0010] Preferably, a discharge port is provided above the moving platform component. A blanking slope is provided below the moving platform component. A material distributing and receiving frame is fixedly installed below the blanking slope. Here, the materials received by the moving platform component from the discharge port are transported to the upper part of the blanking slope and then put down, and slide into the material distributing and receiving frame through the guidance of the blanking slope.

[0011] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0012] In the present invention, through the rope drive mode, compared with rigid robots, the moment of inertia is significantly reduced, enabling the end effector to operate at high speed and accelerate quickly. Its structure is simple, and the manufacturing cost is low, making it very suitable for large-scale application in industrial manufacturing. The equipment can be set up quickly, has loose requirements for the customer's installation environment, occupies a small area, has low requirements for the transformation of the existing workshop, and the project is easier to implement. The rope and pulley components are simple and easy to maintain, and it is convenient to replace vulnerable parts. Moreover, the working space is vast. Compared with ordinary robotic arms, the present invention can achieve a larger working space with fewer parts, demonstrating excellent performance and economic benefits. At the same time, the power consumption is smaller than that of rigid robots, reducing the energy consumption of the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic diagram of a high-speed and ultra-long-distance material sorting and distribution robot proposed by the present invention;

[0014] Figure 2 A high-speed and ultra-long-distance material sorting and distribution robot proposed by the present invention Figure 1 Enlarged view at position A in;

[0015] Figure 3 Internal schematic diagram of the driver component of a high-speed and ultra-long-distance material sorting and distribution robot proposed by the present invention;

[0016] Figure 4 Side view of a high-speed and ultra-long-distance material sorting and distribution robot proposed by the present invention;

[0017] Figure 5 A high-speed and ultra-long-distance material sorting and distribution robot proposed by the present invention Figure 4 Enlarged view at position B in.

[0018] MARKING DESCRIPTION:

[0019] 1. Frame components; 11. Frame body; 12. Reinforcing member; 13. Mounting plate; 14. Fixed plate; 15. Guide rail; 2. Driver components; 21. Servo motor; 22. Servo motor encoder; 23. Reducer; 24. Reducer mounting plate; 25. Rope drum; 26. Output shaft; 27. Bearing; 28. Bearing housing; 29. Bearing cover; 210. Rope pressing block; 211. Connecting bolt; 3. Moving platform components; 31. Moving platform frame; 32. Feeding hopper; 33. Rope passing fixing plate; 34. Roller; 35. Material induction sensor; 36. Fastening screw; 4. End effector components; 41. Half cover plate; 42. Tipping cylinder; 5. Cable assembly; 51. Cable; 52. Fixed pulley; 53. Driven wheel bearing housing; 54. Fixed wheel shaft support; 55. Fixed wheel rotating shaft; 56. Driven wheel rotating shaft; 57. Driven wheel; 58. Rope retaining rod; 6. Control system; 61. User interface display screen; 62. Switch button; 7. Discharge port; 8. Discharge ramp; 9. Material distributing and receiving frame. Detailed implementation manners

[0020] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0021] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the limitations of the specific embodiments disclosed in the following specification.

[0022] Embodiment

[0023] Please refer to Figures 1-5, the present invention provides a technical solution: a high-speed and ultra-long-distance material sorting and distribution robot, including a frame component 1. Inside the frame component 1, there are a drive component 2, a moving platform component 3, an end effector component 4, a cable assembly 5, and a control component. The inside of the frame component 1 includes a frame body 11. Reinforcing members 12 are fixedly connected to the four corners of the frame body 11. An installation plate 13 is fixedly connected to the top of the frame body 11, and the installation plate 13 is used to install the drive. A fixed plate 14 is fixedly connected to the bottom end of the frame body 11 for fixing the frame on the ground. A guide rail 15 is fixedly connected to the top of the frame body 11, so that the rollers 34 of the moving platform can slide on the guide rail 15. The drive component 2 includes a servo motor 21. An encoder is fixedly installed on the side of the servo motor 21. A drive reducer 23 is fixedly installed on the other side of the servo motor 21. An installation plate 13 is fixedly installed on the side of the drive reducer 23. An output shaft 26 is fixedly installed at the output end of the drive reducer 23. A cable drum 25 for the cable 51 is fixedly installed on the surface of the output shaft 26. A cable pressing block 210 is fixedly connected to the surface of the cable drum 25. Both ends of the output shaft 26 are fixedly connected with bearings 27. A bearing seat 27 is fixedly connected to the surface of the bearing 27. A bearing cover 27 is fixedly connected to the side of the bearing seat 27. The reducer installation plate 13 and the bearing seat 27 are fixedly connected to the installation plate 13 through a connecting bolt 211, so that the motor can drive the rotation of the cable drum 25 through the drive reducer 23. Through the winding of the cable 51, the length of the cable 51 to the moving platform changes, thereby pulling the moving platform component 3. The encoder real-time feedbacks the rotation angle of the motor to achieve the closed-loop control of the motor rotation. The moving platform component 3 includes a moving platform frame 31. A receiving hopper 32 is fixedly installed on the top of the moving platform frame 31. A cable-passing fixing plate 33 is fixedly installed on the surface of the moving platform frame 31. A roller 34 is rotatably connected to the side of the moving platform frame 31. A material induction sensor 35 is fixedly installed on the top of the moving platform frame 31. The components on the moving platform frame 31 are connected by fastening screws 36, so that the moving platform realizes the movement of its own position through the cable 51 on the cable-passing fixing plate 33 on the left and right. The roller 34 assists to make the movement more stable. The end effector component 4 includes a half cover plate 41. A flipping cylinder 42 is fixedly connected to the surface of the moving platform frame 31. The output end of the flipping cylinder 42 is fixedly connected to the half cover plate 41. When the flipping plates of the flipping cylinders 42 on both sides for opposite installation make a 90° flip, the opening and closing of the half cover plate 41 can be realized, and the receiving and discharging actions can be achieved. The cable assembly 5 includes a fixed wheel shaft support 54. A fixed wheel rotating shaft 55 is fixedly connected inside the fixed wheel shaft support 54. A fixed pulley 52 is fixedly connected to the surface of the fixed wheel rotating shaft 55. The cable assembly 5 includes a driven wheel bearing seat 53. A driven wheel rotating shaft 56 is fixedly connected inside the driven wheel bearing seat 53. A driven wheel 57 is fixedly connected to the surface of the driven wheel rotating shaft 56. A cable 51 is in rolling connection with the surfaces of the driven wheel 57 and the fixed pulley 52.The sides of the fixed wheel shaft support 54 and the driven wheel bearing seat 53 are fixedly connected to the mounting plate 13. A rope blocking rod 58 is fixedly connected to the mounting plate 13, such that one end of the rope 51 is fixed to the rope pressing block 210 of the drum. The rope 51 comes out of the drum after winding around the helix, first passes through the fixed pulley 52, reaches the left side of the moving platform component 3, and is fixed to the left fixed rope point of the moving platform. The right fixed rope point of the moving platform is fixed to another rope 51. This rope 51 extends to the right, reaches the driven wheel 57, turns 180° through the driven wheel 57, then extends to the left, passes through the moving platform cable sliding sleeve, reaches another fixed pulley 52 on the left, and then winds around to the other end of the rope winding drum. Each robot is provided with 2 groups of parallel ropes 51, and each group of parallel ropes 51 has 2 ropes 51. The interior of the control component contains a user interface display screen 61, the interior of the control component contains a switch button 62, and a power distribution board and drive components are arranged inside the control component, such that the device can output signals and power according to the program settings of the hardware, and drive the drive component 2 and the end effector component 4 to execute according to a predetermined plan. An outlet 7 is arranged above the moving platform component 3, a blanking ramp 8 is arranged below the moving platform component 3, and a material distribution and receiving frame 9 is fixedly installed below the blanking ramp 8, such that the materials received by the moving platform component 3 from the outlet 7 are transported above the blanking ramp 8 and then dropped, and slide into the material distribution and receiving frame 9 through the guidance of the blanking ramp 8.,

[0024] Working principle: The sorting and distribution robot generally works in cooperation with an assembly line. When an item reaches the outlet 7, through hardware detection such as a position induction switch, a signal is sent to the robot control system 6. After receiving the signal, the robot drives the hardware of the control system 6 through a control program, controls the servo motor 21 of the drive to rotate, changes the length of the rope 51, and the change in the length of the rope 51 pulls the moving platform to move, so that the end effector component 4 of the moving platform reaches below the outlet 7 to receive the target item, and then moves to the set blanking ramp 8. The flipping cylinder 42 of the end effector component 4 executes a flipping action, and the semi-cover plate 41 opens to release the item, achieving the purpose of sorting.

[0025] The above is only a preferred embodiment of the present invention, and it is not a limitation of the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A high-speed and ultra-long-distance material sorting and delivery 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 assembly (5) and a control assembly. 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 surface 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). The upper surface of the frame body (11) is fixedly connected with a guide rail (15).

2. The high-speed and ultra-long-distance material sorting and delivery robot according to claim 1, characterized in that: The driver component (2) comprises a servo motor (21) inside, an encoder is fixedly mounted on the side of the servo motor (21), a driver reducer (23) is fixedly mounted on the other side of the servo motor (21), a mounting plate (13) is fixedly mounted on the side of the driver reducer (23), an output shaft (26) is fixedly mounted on the output end of the driver reducer (23), a rope drum (25) is fixedly mounted on the surface of the output shaft (26), a rope pressing block (210) is fixedly connected to the surface of the rope drum (25), bearings (27) are fixedly connected at both ends of the output shaft (26), a bearing (27) seat is fixedly connected to the surface of the bearing (27), a bearing cover (29) is fixedly connected to the side of the bearing (27) seat, and the reducer mounting plate (13) and the bearing (27) seat are fixedly connected to the mounting plate (13) via connecting bolts (211).

3. The high-speed and ultra-long-distance material sorting and delivery robot according to claim 1, characterized in that: The movable platform component (3) includes a movable platform frame (31) inside, a material receiving funnel (32) is fixedly installed on the upper surface of the movable platform frame (31), a wire threading fixing plate (33) is fixedly installed on the surface of the movable platform frame (31), a roller (34) is rotatably connected to the side of the movable platform frame (31), a material sensing sensor (35) is fixedly installed on the upper surface of the movable platform frame (31), and the components on the movable platform frame (31) are connected by fastening screws (36).

4. The high-speed and ultra-long-distance material sorting and delivery robot according to claim 1, characterized in that: The end effector component (4) includes a half cover plate (41) inside, and a flip cylinder (42) is fixedly connected to the surface of the moving platform frame (31), and the output end of the flip cylinder (42) is fixedly connected to the half cover plate (41).

5. The high-speed and ultra-long-distance material sorting and delivery robot according to claim 1, characterized in that: The cable assembly (5) includes a fixed wheel shaft support (54) inside, a fixed wheel rotating shaft (55) is fixedly connected inside the fixed wheel shaft support (54), a fixed pulley (52) is fixedly connected to the surface of the fixed wheel rotating shaft (55), a driven wheel bearing seat (53) inside the driven wheel shaft (27) seat (53) is fixedly connected to the driven wheel rotating shaft (56), a driven wheel (57) is fixedly connected to the surface of the driven wheel rotating shaft (56), a rope (51) is rollingly connected to the surfaces of the driven wheel (57) and the fixed pulley (52), the side surfaces of the fixed wheel shaft support (54) and the driven wheel bearing seat (53) are fixedly connected to the mounting plate (13), and a rope blocking rod (58) is fixedly connected to the mounting plate (13).

6. The high-speed and ultra-long-distance material sorting and delivery robot according to claim 1, characterized in that: The control component contains a user interface display screen (61) inside, a switch button (62) inside, and a power distribution board and driving components inside.

7. The high-speed and ultra-long-distance material sorting and delivery robot according to claim 1, characterized in that: A material discharge slope (8) is arranged below the movable platform component (3), a material separation and receiving frame (9) is fixedly installed below the material discharge slope (8), and a material discharge port (7) is arranged above the movable platform component (3).

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